• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A device for controlling the position of a discharge device (30) of an agricultural harvesting machine (10) comprises an actuator (34, 38) for adjusting the angle of rotation of the discharge device (30) about an at least vertical axis and / or a horizontal axis (40) and a Control device (50) which is connected to an input device (52) for adjusting commands and configured to control the actuator (34, 38) in response to an adjustment command such that the discharge device (30) with an acceleration predetermined by the control device (50) and / or end speed. The control device (50) determines the acceleration and / or end speed of the discharge device (30) depending on the length (I) of the discharge device (30).
    公开号:BE1024115B1
    申请号:E2014/0291
    申请日:2014-04-28
    公开日:2017-11-16
    发明作者:Rolf Koch
    申请人:Deere & Company；
    IPC主号:
    专利说明:

    Einrichtuna to the taxuna of the position of a foreign exchange of an agricultural
    harvester
    The invention relates to a device for controlling the position of a discharge device of an agricultural harvesting machine, with an actuator for adjusting the angle of rotation of the discharge to an at least vertical axis and / or a horizontal axis and a control device for controlling the actuator, which is connected to an input device for adjusting commands and is configured to control the actuator to an adjustment so that the discharge device moves with an acceleration and / or end speed specified by the control device.
    State of the art
    When harvesting agricultural goods in a field, it is common practice for a harvester to load a transporting vehicle with harvested goods next to it. The transport vehicle, such as a towed trailer or a truck, is loaded by an unloading device of the harvesting machine with the harvested good, for example, a forage harvester through an ejection manifold and a combine harvester through a discharge tube. The discharge device is usually mounted rotatably about a vertical axis on the harvester and pivotable between a rest position in which it is oriented approximately parallel to the longitudinal axis of the harvester, and a working position in which it extends transversely to the direction of travel of the harvester. In addition, the height of the discharge-side end of the discharge device may be variable, as well as the position of a discharge flap which defines the angle at which the harvested crop is discharged. In the simplest case, the position of the discharge device is controlled manually by the driver of the harvesting machine. However, as a harvester can be equipped with different length discharge devices, for example, depending on the width of the crop header used (DE 101 34 137 A1) or adjusted (DE 102 11 706 A1) can be used to control the Verstellaktoren the discharge However, the parameters (acceleration, end speed) remain the same, the response of the discharge on adjustment inputs in short discharge devices is usually too slow and too long in long discharge devices too fast, because at a certain, achieved by the actuator angular velocity of the discharge end of the discharge device traveled path Proportional to the length of the discharge device. With a short discharge device, it thus takes longer than desirable until the discharge device is aligned with a desired location of the transport vehicle, and with a long discharge device it is difficult to accurately approach a desired point. This problem consists in the rotation of the discharge means about an at least approximately vertical axis (i.e., the lateral displacement of its discharge end) and a height adjustment of the discharge means (i.e., a pivoting of the discharge end of the discharge means relative to the chassis of the harvesting machine about a horizontal axis).
    DE 10 2011 053 163 A1 describes a field chipper whose discharge chute is moved with an actuating speed which depends on the throw distance (i.e., the distance between the point of rotation of the discharge chute and the point of impingement of the crop on the transport vehicle). To detect the throw, the position of an end mounted on the chute flap is detected, which determines the direction of ejection of the crop relative to the horizontal. However, the problem that the distance traveled by the discharge end of the discharge device depends on the length of the discharge device is not solved.
    Aufaabe
    The problem underlying the invention is seen to provide a device for controlling the position of a discharge device of an agricultural Emtemaschine, in which the mentioned problems do not occur or to a lesser extent. Lösunq
    This problem is solved according to the invention by the teaching of claim 1, wherein in the other claims features are listed, which further develop the solution in an advantageous manner.
    A device for controlling the position of a discharge device of an agricultural harvesting machine comprises an actuator for adjusting the angle of rotation of the discharge device about an at least vertical axis and / or a horizontal axis and a control device for controlling the actuator. The control device is connected to an input device for adjusting commands and is programmed such that it controls the actuator in response to an adjustment command in such a way that the discharge device moves at an acceleration and / or end speed determined by the control device, which depends on the length of the discharge device.
    In other words, the control means will receive a signal regarding the length of the discharge means, i. the distance between its pivot point about the vertical axis of the harvester and its discharge end supplied. The control device receives adjustment commands from an input device and controls the actuator for horizontal and / or vertical adjustment of the position of the discharge device relative to the harvesting machine such that the actuator directs the discharge device to an adjustment command with a predetermined acceleration and / or final speed depending on the length of the discharge device moved in the desired direction. In this way, the problem mentioned at the beginning is solved.
    In particular, the control device controls the acceleration and / or end speed of the discharge device approximately proportional to the length of the discharge device.
    The input device can be manually controlled by the operator. In another embodiment, the adjustment commands can come from an automatic, which can detect the transport vehicle, for example, optically.
    The length of the discharge device can be manually input by the operator of the Emtemaschine by entering the length directly in meters or other MaBeinheit or selected at predetermined lengths. There is also the possibility that it inputs or selects a type of the discharge device and the control device evaluates the length on the basis of the type entered, for example by sending it e.g. read from a table.
    In another embodiment, the control device can automatically detect the length of the discharge device. For this purpose, the discharge device may comprise at least one exchangeable segment whose length is coded in a plug which can be connected to the control device. Based on the known length of the discharge device and the length of the segment taken from the plug coding calculates the
    Control device, the total length of the discharge. In the case of a length-varying discharge device (see DE 102 11 706 A1), the length of the adjustable part can be detected by means of a sensor.
    Working Example
    In the drawings, a closer described below embodiment of the invention is shown. It shows:
    1 a harvester in side view and in a schematic representation,
    Fig. 2 is a block diagram of a device for controlling the position of the discharge device of the Emtemaschine, and
    Fig. 3 is a view of an input device.
    A self-propelled field harvester-type harvesting machine 10, shown in FIG. 1, is constructed on a frame 12 carried by powered front and steerable rear wheels 14 and 16. The operation of the harvesting machine 10 is carried out by a driver's cab 18, from which a Erntegutaufnahmevorrichtung 20 is visible. By means of the Erntegutaufnahmevorrichtung 20 received from the ground Good, z. B. Grass is supplied via a feed channel 22 with pre-press rollers 24 a chipper drum 26, which hacks it into small pieces and gives it a Nachbeschleuniger 28. The estate leaves the harvesting machine 10 to a transporting vehicle traveling alongside a discharge means 30 in the form of a discharge chute. Between the chipper drum 26 and the post-accelerator 28 may be inserted a Nachzerkleinerungsvorrichtung 32, which can be expanded to grass harvester or spent in an ineffective open position.
    The position of the discharge device 30 can be changed by two actuators 34 and 38. A first actuator 34 in the form of a hydraulic motor serves to rotate the discharge device 30 rotatably supported on a turntable 36 about a vertical axis. The actuator 30 thus makes it possible to turn the discharge device 30 backwards into the transport position shown in FIG. 1, or to the left or right next to the harvester 10 to spend. A second actuator 38 in the form of a hydraulic cylinder is set up to pivot the discharge device 30 about a horizontal axis 40 lying at its upstream end. The second actuator 38 thus defines the height of the downstream end 42 of the discharge device 30. A third actuator 40 in the form of a
    Electric motor serves to pivot an ejector flap 44 at the downstream end 42 of the discharge 30. The adjustable ejector flap 44 allows to set the angle to the horizontal, below which the harvested Good leaves the discharge device 30.
    FIG. 2 shows a block diagram which shows the structure of the device for controlling the position of the discharge device 30. A control device 50 in the form of a microprocessor or microcontroller is connected to an input device 52 and a memory device 54.
    Furthermore, the control device 50 is connected to two electromagnetically controlled valves 56 and 58, which in turn are hydraulically connected on the input side to a device 62 for providing hydraulic fluid under operating pressure (eg a pressure vessel or a pump) and on the output side each having one of the actuators 34 and 38 in operative connection. The actuators 34 and 38 are connected by two hydraulic lines to the valves 56 and 58, respectively, because the actuator 34 is a hydraulic motor operable in two directions of rotation and the actuator 38 is a double-acting hydraulic cylinder. Via a control circuit 60 and an at least two-core cable 68, the control device 50 is connected to the actuator 40.
    Finally, the controller 50 is connected to three sensors 62, 64 and 66. The sensor 62 detects the position of the first actuator 34, thus providing information about the respective pivot angle of the discharge device 30 about the vertical axis. The second sensor 64 detects the position of the second actuator 38 and provides information about the pivoting angle of the discharge device 30 about the horizontal axis 40. The third sensor 66 provides information about the position of the third actuator, i. H. the swivel angle of the ejection flap 44th
    The memory device 54 may be monolithically integrated into the controller 50 or connected by wires to it. The memory device 54 is non-volatile in order to prevent the data stored in it from being lost after the ignition or battery failure of the harvester 10 is lost. For this purpose, a backup battery can be provided or static RAMs are used.
    In FIG. 3, the input device 52 is shown in more detail. It is realized in the form of a multi-function handle 72, which is attached to the top of a pivotable arm 70. The arm 70 is arranged laterally next to the workplace in the driver's cab 18. By pivoting the arm 70 about a horizontal, arranged at its lower end transversely to the direction of travel pivot axis, the driving speed of the harvester 10 can be specified in a conventional manner.
    The multi-function handle 72 has three rocker switches 74, 76, 78, which are electrically connected to the control device 50. The first rocker switch 74 serves to actuate the first actuator 34. If the left half of the first rocker switch 74 is depressed, hydraulic fluid is applied to the first actuator 34 via the control device 50 and the first valve 56 in such a way that the discharge device 30 moves in a first direction turns, z. B. clockwise. Similarly, if the right half of the first rocker switch 74 is depressed, hydraulic fluid is applied to the first actuator 30 via the control device 50 and the first valve 56 in such a way that the discharge device 30 rotates in the opposite direction. If the first rocker switch 74 is not actuated, the first actuator 34 stops.
    The second rocker switch 76 is used to actuate the second actuator 38. If the obéré half of the second rocker switch 76 is depressed, is applied via the control device 50 and the second valve 58, the second actuator 38 in such a manner with hydraulic fluid that the discharge device 30 in the vertical direction to the Axis 40 pivoted upwards. If the lower half of the second rocker switch 76 is depressed analogously, the second actuator 38 is emptied of hydraulic fluid via the control device 50 and the second valve 58, so that the discharge device 30 descends in the opposite direction downwards. If the second rocker switch 76 is not actuated, the second actuator 38 stops.
    The third rocker switch 78 serves to actuate the third actuator 40. If the obéré half of the third rocker switch 78 is depressed, the control device 50 and the control circuit 60, the third actuator 40 is electrically applied so that the ejector flap 44 is pivoted upward. Similarly, when the lower half of the third rocker switch 76 is depressed, the third actuator 38 is electrically energized via the control device 50 and the control circuit 60 in such a way that the ejection flap 44 rotates in the opposite direction. If the third rocker switch 78 is not actuated, the third actuator 40 is stationary.
    In this way, allow the three rocker switches 74,76 and 78, the discharge device 30 to position such that picked up by the harvester 10 Good on a
    Transport vehicle arrives.
    The discharge device 30 is composed of two segments 80 and 82, which are connected by flanges 86 screwed together. The first segment 80 is fixed to the turntable 36 and constitutes an inner part of the discharge device 30, while the second, outer segment 82 connects outward to the first segment 80. At the flanges 86, the line 68 is interrupted by a connector 88. After the flanges 86 of the segments 80, 82 and the plug connection 88 have been separated, an additional segment 84 can be inserted between the segments 80 and 82 to accommodate the length of the discharge device 30 to a wider header 20 (e.g., for corn harvesting). The additional segment 84 is coupled by means of screw connections through its flanges 86 with the flanges of the other segments 80, 82. The additional segment 84 is provided with a portion 68 'of the conduit having end-to-end connections 88' each coupled to the associated connector 88 of the other segments 80,82. The connector 88 'of the additional segment includes a grounded pin 92 which is connected to the controller 50 via a sense line 90. In the connector 88 of the second segment 82, however, this pin 90 is not grounded.
    Accordingly, the controller 50 can detect from the sense line 90 whether the additional segment 84 is installed (then the sense line 90 is grounded) or not (then the sense line 90 is not grounded). The length of the other segments 80, 82 produced in the production of the harvester or later programmed in takes the control device 50 from the memory 54 as well. In the first case, the control device 50 extracts from the memory device a first pair of values for the acceleration of the actuators 34 and 38 and their Final speed and in the second case a second pair of values, which provides greater values for the acceleration and the end speed than the first value pair.
    When one of the keys of the first rocker switch 74 is actuated, the control device 50 thus causes the valve 56 to act on the first actuator 34 in such a way that it first moves the discharge device 30 with a (fixed, predetermined value from the memory 54) acceleration until the (fixed, predetermined by the value from the memory 54) final speed is reached. The discharge device 30 is therefore rotated with constant acceleration and then with a constant terminal speed, wherein reference is made to the feedback values of the sensor 62. The acceleration and final speed are smaller with the auxiliary segment 84 installed than with the additional segment 84 not installed.
    Likewise, when one of the keys of the second rocker switch 76 is actuated, the control device 50 causes the control device 50 to act on the valve 58 to act on the second actuator 38 in such a way that it first supplies the discharge device 30 with a (fixed value determined by the value from the memory 54 ) Acceleration increases or decreases until the (fixed, given by the value from the memory 54) final speed is reached. The discharge device 30 is thus moved at a constant acceleration and then at a constant terminal speed, wherein reference is made to feedback values of the sensor 64. The acceleration and final speed are smaller with the auxiliary segment 84 installed than with the additional segment 84 not installed.
    At a smaller length I of the discharge device 30 (between the pivot point of the turntable 36 and the end 42), the acceleration and the end speed of the discharge device 30 achieved when the actuators 34 and 38 are actuated are therefore greater than at a longer length I after the insertion of the segment 84 In both cases, the reaction of the end of the discharge device 30 to an actuation of one of the rocker switches 74, 76 is thus approximately the same. Thus, the operability of the discharge device 30 is inde pendent of the length I of the discharge device 30 than before.
    In another embodiment, the length I of the discharge device 30 may be input to an input unit 94 or selected from predetermined lengths or types of discharge devices 30. The controller 50 then uses the entered or selected length or derives it from the type entered.
    The input device 52 can also be realized by a camera 96 with an image processing system, which optically detect the position of the transport vehicle and give the setting commands to the control device 50.
    权利要求:
    Claims (6)
    [1]
    Patentansprûche
    1. Device for controlling the position of a discharge device (30) of an agricultural harvesting machine (10), having an actuator (34, 38) for adjusting the angle of rotation of the discharge device (30) about an at least vertical axis and / or a horizontal axis (40) and a control device (50) for activating the actuator (34, 38), which is connected to an input device (52) for adjusting commands and configured to control the actuator (34, 38) in response to an adjustment command in such a way that the discharge device (30 ) is moved with an acceleration and / or end speed specified by the control device (50), characterized in that the control device (50) is configured to control the acceleration and / or end speed of the discharge device (30) depending on the length (I) of the discharge device ( 30).
    [2]
    2. Device according to claim 1, wherein the control device (30) is arranged to control the acceleration and / or end speed approximately proportional to the length (I) of the discharge device (30).
    [3]
    3. Device according to claim 1 or 2, wherein the input device (52) is manually or automatically controllable.
    [4]
    4. Device according to one of the preceding claims, wherein the length of the discharge device (30) can be manually entered or selected or selbsttätig detected.
    [5]
    5. Device according to claim 4, wherein the discharge device (30) comprises at least one exchangeable segment (84), the length of which is coded in a plug connection (88 ') which can be connected to the control device (50).
    [6]
    6. harvesting machine (10) with a discharge device (30), characterized by a device according to one of the preceding claims.
    类似技术:
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    同族专利:
    公开号 | 公开日
    DE102013208304B3|2014-07-31|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE69519885T2|1994-03-16|2001-05-23|Ford New Holland Nv|Unloading agent for forage harvesters|
    DE19848127A1|1998-10-19|2000-04-20|Claas Selbstfahr Erntemasch|Device for controlling a transfer device|
    DE10134137B4|2001-07-13|2006-02-23|Maschinenfabrik Bernard Krone Gmbh|Self-propelled agricultural harvester|
    DE10211706A1|2002-03-16|2003-09-25|Deere & Co|Discharge device for an agricultural harvesting machine|
    DE102011053163A1|2011-08-31|2013-02-28|Claas Selbstfahrende Erntemaschinen Gmbh|System for controlling a transfer device|CN105123095B|2015-09-22|2017-05-03|雷沃重工股份有限公司|Combine harvester with stem chopper|
    法律状态:
    2018-02-12| FG| Patent granted|Effective date: 20171116 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE201310208304|DE102013208304B3|2013-05-06|2013-05-06|Device for controlling position of discharge device of agricultural harvester in transport vehicle e.g. tractor, has controller determining acceleration and/or final velocity of discharge device by depending on length of discharge device|
    DE102013208304.1|2013-05-06|
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