CN106068900B - Automatic control system, control method and control device for combine harvester - Google Patents
Automatic control system, control method and control device for combine harvester Download PDFInfo
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- CN106068900B CN106068900B CN201610457893.1A CN201610457893A CN106068900B CN 106068900 B CN106068900 B CN 106068900B CN 201610457893 A CN201610457893 A CN 201610457893A CN 106068900 B CN106068900 B CN 106068900B
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- ceding
- taiwan
- clutch
- signal
- shelling
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
- Combines (AREA)
Abstract
The present invention relates to a kind of automatic control system, control method and control devices for combine harvester.Automatically control system includes：The shelling clutch control section for engaging with detaching for the shelling clutch for controlling combine harvester；The ceding of Taiwan clutch control section for engaging with detaching for the ceding of Taiwan clutch for controlling combine harvester；The ceding of Taiwan that the ceding of Taiwan for controlling combine harvester reversely rotates inverts control unit；Controller for receiving the signal input for inverting control unit from shelling clutch control section, ceding of Taiwan clutch control section and the ceding of Taiwan；It receives the drive signal from controller and executes the shelling clutch operating mechanism of action；It receives the drive signal from controller and executes the ceding of Taiwan clutch operating mechanism of action；And it receives the drive signal from controller and executes the ceding of Taiwan reversing clutch operating mechanism of action.Automatic control system can greatly improve the operating efficiency of combine harvester, extend its service life.
Description
Technical field
The present invention relates to a kind of manipulation device for agricultural machinery, relate more specifically to a kind of for combine harvester
Automatic operation device further relates to a kind of automatic control method for combine harvester and related automatic control device.
Background technology
The background of related of the present invention is illustrated below, but these explanations might not constitute the existing of the present invention
Technology.
The steerable system of wheat harvester and multi-functional seed combine harvester currently on the market mostly uses manual side
Formula.Before operation, engine is first started, in low engine speed, shelling clutch handle is first operated, makes shelling clutch
Device engages, at this time the shelling system of combine harvester, cleaning and sorting system, wind turbine, chopper, sprinkling apparatus and miscellaneous remaining seed elevator
Equal components are started to work.Then ceding of Taiwan clutch is operated again, makes its engagement, at this time gap bridge system and ceding of Taiwan system starts.
Finally engine speed is promoted to working speed.The process of manual operation is very heavy, and is susceptible to maloperation, increases
The failure rate of the workpieces such as belt, engine, and reduce its service life.
The specific limitation of manual operation is as described below, when driver's pull-up shelling clutch operating handle or pushes behaviour
When making handle, expansion tightening wheel is from disengaged position to binding site, and driving wheel is exactly the power output end of engine during this, at this time
It is required that engine is run in lower-speed state, belt is otherwise easily burnt.In addition, ceding of Taiwan clutch must be in low engine speed state
And shelling clutch combine in the state of pull-up, sequence cannot on the contrary, otherwise can cause engine band heavy load start, and
And it is very dangerous.In addition, both ceding of Taiwan reversing clutch and ceding of Taiwan clutch cannot be opened simultaneously, one can only be opened every time
It is a.
Since driver's operation error etc. may result in the generation of case above, workpiece is damaged, reduces related work
Make component life, this patent purpose is exactly, in conjunction with vehicle present case, to judge whether to be suitably executed after driver makes operation
Relevant operation, and operation is made to become simpler, it is convenient.After cancelling original mechanical handling structure, mode of operation becomes
Electric signal input mode can stick up class's switch either other switch forms, can be arranged on operation panel or more work(
On energy handrail.Make more laborsaving operation, intelligence and facility, is also beneficial to the layout of cab control part.Simultaneously because our
Case substitutes traditional machinery or fluid pressure line transmission mechanism, is more advantageous to complete vehicle structure layout.The technical solution is mainly applicable in
In agricultural grain harvest machinery, including but not limited to type wheat harvester, Multifunctional combine-harvester and rice harvester.
Invention content
For various problems existing in the prior art, the present invention proposes a kind of shelling dress that can realize combine harvester
It sets and the control system of the sequential firing of header device, corresponding control methods and relative control apparatus.Below to according to this hair
Bright automatic control system, corresponding control methods and the control device work for combine harvester is illustrated with generality.
The present invention proposes a kind of automatic control system for combine harvester comprising：For controlling combine harvester
Shelling clutch engagement and the shelling clutch control section that detaches；Ceding of Taiwan clutch for controlling combine harvester
The ceding of Taiwan clutch control section for engaging and detaching；The ceding of Taiwan that the ceding of Taiwan for controlling combine harvester reversely rotates inverts control
Component；For receiving control unit is inverted from shelling clutch control section, ceding of Taiwan clutch control section and the ceding of Taiwan
The controller of signal input；It receives the drive signal from controller and executes the shelling clutch operating mechanism of action；It receives
Drive signal from controller and the ceding of Taiwan clutch operating mechanism for executing action；And receive the driving letter from controller
Number and execute the ceding of Taiwan reversing clutch operating mechanism of action.
Automatic control system according to the present invention for combine harvester can by controller receive from shelling from
The signal of clutch control unit, ceding of Taiwan clutch control section and ceding of Taiwan reversing clutch control unit inputs, and passes through inside
Logic is set and the operation order of threshing apparatus and the ceding of Taiwan, is sequentially grasped to shelling clutch operating mechanism and ceding of Taiwan clutch
Make mechanism or ceding of Taiwan reversing clutch operating mechanism sends out start signal, to realize shelling clutch and ceding of Taiwan clutch or cut
The control of platform reversing clutch, therefore the threshing apparatus of combine harvester and the maloperation of the ceding of Taiwan can be avoided.Therefore, according to this
The automatic control system for combine harvester of invention can greatly improve the operating efficiency of combine harvester, and extend
The service life of combine harvester.
One preferred embodiment of the automatic control system according to the present invention for combine harvester, shelling clutch
Control unit, ceding of Taiwan clutch control section and ceding of Taiwan reversion control unit may include rocker switch or button switch.
In another preferred embodiment of the automatic control system according to the present invention for combine harvester, shelling
Clutch operating mechanism is used to control first on the belt being arranged between the active drive wheel and driven wheel of shelling clutch
Tensioning wheel, so that active drive wheel is drivingly engaged or detached with driven wheel.
Another preferred embodiment of automatic control system according to the present invention for combine harvester, ceding of Taiwan clutch
Device operating mechanism is used to control the second tensioning on the belt being arranged between the active drive wheel and driven wheel of ceding of Taiwan clutch
Wheel, so that active drive wheel is drivingly engaged or detached with driven wheel.
In another preferred embodiment of the automatic control system according to the present invention for combine harvester, the ceding of Taiwan
Reversing clutch operating mechanism is used to control on the belt being arranged between the reverse drive wheel and driven wheel of ceding of Taiwan clutch
Third tensioning wheel is drivingly engaged or is detached with driven wheel so as to be driven reverse wheel.
An also preferred embodiment for automatic control system according to the present invention for combine harvester, the automatic behaviour
Control system can also include buzzer and display, and buzzer can be used for sending out information warning to outside, and display can be used
In the relevant information for sending out information warning or display combine harvester to outside.
The invention further relates to a kind of automatic control methods for combine harvester, and this approach includes the following steps：First,
It obtains Engine Start Signal and starts the engine of combine harvester；Then, it obtains shelling clutch engagement signal and starts
Machine rotary speed information；Then, judge whether engine speed is less than preset rotation speed by engine speed information：If engine turns
Speed be less than preset rotation speed, then according to shelling clutch engagement signal change shelling clutch operating mechanism state with by shelling from
Clutch drives to engagement state；If engine speed is not less than preset rotation speed, signal is sent out to engine so that engine
Reduction of speed is to preset rotation speed hereinafter, then changing the state of shelling clutch operating mechanism according to shelling clutch engagement signal to incite somebody to action
Shelling clutch drives to engagement state；Finally, ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal are obtained,
Change ceding of Taiwan clutch operating machine according to the ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal that are received
The state of structure or ceding of Taiwan reversing clutch operating mechanism with by the ceding of Taiwan clutch or the ceding of Taiwan reversing clutch drive to
Engagement state.
By logic control method as described above according to the present invention can make the starting of engine, threshing apparatus rise
The reversion of dynamic and the ceding of Taiwan the starting or the ceding of Taiwan is carried out according to specified sequence, and before being started to each apparatus for work
The rotating speed of engine is detected, so that threshing apparatus and the ceding of Taiwan start in the state that engine is in low speed respectively, from
And the starting of combine harvester is made more to smooth out, it prevents from generating damage to the component of combine harvester, is conducive to extend joint and receives
The service life of cutting mill.
One preferred embodiment of the automatic control method according to the present invention for combine harvester, in combining
Before the engine start of machine, step is also made the following judgment, that is, judges whether to receive shelling clutch engagement signal or the ceding of Taiwan
Clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, if the judgment is Yes, it is determined that be maloperation signal, and connecing
Information warning is sent out after receiving above-mentioned signal.
In another preferred embodiment of the automatic control method according to the present invention for combine harvester, inciting somebody to action
Shelling clutch drives to engagement state, also makes the following judgment step, that is, judges whether to receive the engagement of ceding of Taiwan clutch
Signal or ceding of Taiwan reversing clutch engagement signal, if the judgment is Yes, it is determined that be maloperation signal, and upon receipt of the signals
Send out information warning.
In another preferred embodiment of the automatic control method according to the present invention for combine harvester, obtaining
The engine speed information of combine harvester is obtained when taking ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal,
If engine speed is less than preset rotation speed, changed according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal
The state for becoming ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism, by ceding of Taiwan clutch or the ceding of Taiwan invert from
Clutch drives to engagement state；If engine speed is not less than preset rotation speed, signal is sent out to engine so that engine
Reduction of speed is to preset rotation speed hereinafter, then changing the ceding of Taiwan according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal
The state of clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism drives ceding of Taiwan clutch or ceding of Taiwan reversing clutch
It moves to engagement state.
Automatic control method according to the present invention for combine harvester can ensure the operating member of combine harvester
It sequentially starts, so that combine harvester can be started more successfully.Combine harvester can be realized by controller
Each operation part anti-misoperation, to prevent the damage to the operation part of combine harvester, to improve joint receive
The operating efficiency of cutting mill extends its service life.
Further, the present invention also provides a kind of automatic control device for combine harvester, the automatic control devices
Including：Control unit；The first acquisition unit communicatedly being connect with control unit is used to obtain Engine Start Signal and incites somebody to action
Engine Start Signal is sent to control unit, and control unit controls the engine start of combine harvester；It is logical with control unit
The second acquisition unit of letter ground connection, is used to obtain shelling clutch engagement signal and engine speed information；It is single with control
The judging unit that member and second acquisition unit communicatedly connect, is used to judge that engine speed is by engine speed information
It is no to be less than preset rotation speed：If engine speed is less than preset rotation speed, control unit changes according to shelling clutch engagement signal
Become the state of shelling clutch operating mechanism driving shelling clutch to engagement state；If engine speed is not less than pre-
If rotating speed, then control unit to engine sends out signal so that drop engine speed is to preset rotation speed hereinafter, then control unit root
Change the state of shelling clutch operating mechanism according to shelling clutch engagement signal driving shelling clutch to engagement state；
The third acquiring unit communicatedly being connect with control unit is used to obtain ceding of Taiwan clutch engagement signal or ceding of Taiwan reversion clutch
Device engagement signal, control unit change according to the ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal that are received
Become the state of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism with by ceding of Taiwan clutch or the ceding of Taiwan invert from
Clutch drives to engagement state.
One preferred embodiment of the automatic control device according to the present invention for combine harvester, this is automatically controlled
Device further includes the first judgment module communicatedly being connect with control unit, which will before the engine is started
Shelling clutch engagement signal, ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversing clutch engagement signal of acquisition are determined as accidentally grasping
Make signal, and information warning is sent out after receiving above-mentioned signal.
In another preferred embodiment of the automatic control device according to the present invention for combine harvester, this is automatic
Control device further includes the second judgment module communicatedly being connect with control unit, and the second judgment module will make shelling clutch
The ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal received before driving to engagement state is determined as maloperation
Signal, and send out information warning after receiving above-mentioned signal.
It, should be certainly in another preferred embodiment of the automatic control device according to the present invention for combine harvester
Dynamic control device further includes the 4th acquiring unit communicatedly being connect with control unit, and the 4th acquiring unit obtains single in third
Member obtains combine harvester engine when receiving ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal turns
Fast information, if engine speed is less than preset rotation speed, control unit is inverted according to ceding of Taiwan clutch engagement signal or the ceding of Taiwan
Clutch engagement signal changes the state of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism, by the ceding of Taiwan from
Clutch or ceding of Taiwan reversing clutch drive to engagement state；If engine speed be not less than preset rotation speed, control unit to
Engine sends out signal so that drop engine speed is to preset rotation speed hereinafter, then control unit is according to ceding of Taiwan clutch engagement signal
Or ceding of Taiwan reversing clutch engagement signal changes the state of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism,
Driving ceding of Taiwan clutch or ceding of Taiwan reversing clutch to engagement state.
Description of the drawings
The specific embodiment part provided by referring to the drawings, the features and advantages of the present invention will become more
It is readily appreciated that, in the accompanying drawings：
Fig. 1 is the schematic diagram of the clutch according to the present invention for combine harvester.
Fig. 2 is the structure diagram of the automatic control system according to the present invention for combine harvester.
Fig. 3 is the flow chart of the automatic control method according to the present invention for combine harvester.
Fig. 4 is the structure diagram of the automatic operation device according to the present invention for combine harvester.
Specific implementation mode
Exemplary embodiments of the present invention are described in detail with reference to the accompanying drawings.Illustrative embodiments are retouched
It states merely for the sake of demonstration purpose, and is definitely not to the present invention and its application or the limitation of usage.
The present invention proposes a kind of automatic control system for combine harvester, below with reference first to attached drawing 1 to according to this
The clutch for combine harvester of invention is briefly described.As shown in Figure 1, the clutch 50 for combine harvester wraps
It includes the driving wheel 52 coupled with the driving engine of combine harvester, the threshing apparatus for driving combined harvester or cuts
The driven wheel 54 of platform, the belt 56 being arranged between driving wheel 52 and driven wheel 54 and setting are on belt 56 so that belt
56 tensioning apparatus for being tensioned or loosening in driving wheel 52 and driven wheel 54, which may include being engaged with belt 56
Tensioning wheel 58 and it is arranged to operate tensioning wheel 58 so as to its tightening belt 56 or loosen the operating mechanism of belt 56
60.It can control driving wheel 52 and the engagement of driven wheel 54 by controlling the flexible of operating mechanism 60 and detach, to control
The mode of operation of the ceding of Taiwan or threshing apparatus that are driven by this clutch.Here, operating mechanism 60 can also be electric pushrod,
Hydraulic cylinder and other clutch operating mechanisms, in the embodiment shown in fig. 1, electric pushrod shows as preferred embodiment
Go out.
2 pairs of automatic control systems 10 according to the present invention for combine harvester carry out specifically referring to the drawings
It is bright.The automatic control system 10 includes：The shelling clutch for engaging with detaching for the shelling clutch for controlling combine harvester
Device control unit 12；The ceding of Taiwan clutch control section for engaging with detaching for the ceding of Taiwan clutch for controlling combine harvester
14；The ceding of Taiwan reversing clutch control unit 16 that the ceding of Taiwan for controlling combine harvester reversely rotates；Carry out autospasy for receiving
The signal of paddy clutch control section 12, ceding of Taiwan clutch control section 14 and ceding of Taiwan reversing clutch control unit 16 is defeated
The controller 18 entered；It receives the drive signal from controller 18 and executes the shelling clutch operating mechanism 20 of action；It receives
Drive signal from controller 18 and the ceding of Taiwan clutch operating mechanism 22 for executing action, and receive from controller 18
Drive signal and the ceding of Taiwan reversing clutch operating mechanism 24 for executing action.
Automatic control system 10 according to the present invention for combine harvester can be received by controller 18 come autospasy
The signal of paddy clutch control section 12, ceding of Taiwan clutch control section 14 and ceding of Taiwan reversing clutch control unit 16 inputs,
And by internal logic setting and the operation order of threshing apparatus and the ceding of Taiwan, sequentially to 20 He of shelling clutch operating mechanism
Ceding of Taiwan clutch operating mechanism 22 or ceding of Taiwan reversing clutch operating mechanism 24 send out start signal, to pass through shelling clutch
Operating mechanism 20 operates the tensioning wheel of shelling clutch, so that shelling clutch is in engagement state, thus shelling is made to fill
It sets and is in mode of operation；By ceding of Taiwan clutch operating mechanism 22 or ceding of Taiwan reversing clutch operating mechanism 24 respectively to the ceding of Taiwan from
The tensioning wheel of clutch or ceding of Taiwan reversing clutch is operated, and the ceding of Taiwan is thus made to be in mode of operation.Since control can be passed through
The control of shelling clutch and ceding of Taiwan clutch or ceding of Taiwan reversing clutch is realized in logic control in device 18, therefore can be kept away
Exempt from the threshing apparatus of combine harvester and the maloperation of the ceding of Taiwan.Therefore, the automatic behaviour according to the present invention for combine harvester
Control system 10 can greatly improve the operating efficiency of combine harvester, and extend the service life of combine harvester.
The shelling clutch control section 12 of automatic control system 10 according to the present invention for combine harvester, the ceding of Taiwan
Clutch control section 14 and ceding of Taiwan reversing clutch control unit 16 may include rocker switch or button switch.It can lead to
It crosses simple switch form and realizes that shelling clutch engagement signal and ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch connect
The input for closing signal, to easily control the ceding of Taiwan or threshing apparatus.
The shelling clutch operating mechanism 20 of automatic control system 10 according to the present invention for combine harvester is used for
The first tensioning wheel on the belt between the active drive wheel and driven wheel of shelling clutch is arranged in control, so that active drive
Wheel is drivingly engaged or is detached with driven wheel.So that threshing apparatus switches between mode of operation and halted state.
Further, the ceding of Taiwan clutch operating machine of the automatic control system 10 according to the present invention for combine harvester
Structure 22 is used to control the second tensioning wheel on the belt being arranged between the active drive wheel and driven wheel of ceding of Taiwan clutch, so that
Active drive wheel is drivingly engaged or is detached with driven wheel.So that the ceding of Taiwan is cut between mode of operation and halted state
It changes.
In addition, the ceding of Taiwan reversing clutch of the automatic control system 10 according to the present invention for combine harvester operates machine
Structure 24 is used to control the third tensioning wheel on the belt being arranged between the reverse drive wheel and driven wheel of ceding of Taiwan clutch, so that
Wheel is driven reverse drivingly to engage or detach with driven wheel.So that the ceding of Taiwan between reverse turn operation state and halted state into
Row switching.
Normal starting for the ease of combine harvester and normal operation, it is according to the present invention for combine harvester from
Dynamic control system 10 can also include buzzer and display, and buzzer and display can be used for sending out warning letter to outside
Breath, for example detect that the ceding of Taiwan clutch control section 14 of combine harvester is pressed in controller 18 and need to make ceding of Taiwan clutch
When engagement, if controller 18 detects that shelling clutch is in discrete state at this time, buzzer sends out alarm sound, display
Device display alarm information, for proposing to warn to driver, while controller control ceding of Taiwan clutch continues to keep separation shape
State, until the shelling clutch engagement of combine harvester.Alternatively, when controller detects the ceding of Taiwan clutch of combine harvester
Device control unit 14 be pressed need to make ceding of Taiwan clutch engage when, controller 18 is detected the rotating speed of engine, if
Detect that engine is in the state that runs at high speed, then buzzer and display send out alarm, and driver is prompted to need to start
Machine is down to low speed could execute the bonding operation of ceding of Taiwan clutch later.Display can also be used to show present engine rotating speed,
It can also be used as that more visual indication is shown to the alternating interface between man and computer of driver by other.
The invention further relates to a kind of automatic control method for combine harvester, the autocontrol method may include with
Lower step：First, the engine of Engine Start Signal and the combine harvester is obtained；Then, shelling clutch is obtained to connect
Close signal and engine speed information；Then, judge whether engine speed is less than preset rotation speed by engine speed information：
It is such as below in 1000rpm in engine speed if engine speed is less than preset rotation speed, then according to shelling from
Clutch engagement signal changes the state of shelling clutch operating mechanism driving shelling clutch to engagement state；If started
Machine rotating speed is not less than preset rotation speed, for example then sends out signal to engine in the case of 1000rpm or more in engine speed
So that drop engine speed is to preset rotation speed hereinafter, then changing shelling clutch operating mechanism according to shelling clutch engagement signal
State driving shelling clutch to engagement state；Finally, it obtains ceding of Taiwan clutch engagement signal or the ceding of Taiwan inverts clutch
Device engagement signal, according to the ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal that are received change the ceding of Taiwan from
The state of clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism is to drive ceding of Taiwan clutch or ceding of Taiwan reversing clutch
To engagement state.
Before the engine start of combine harvester, all signal inputs are regarded as maloperation, i.e., all operations refer to
Order is not performed.Therefore, what which received and executed first is the instruction for starting engine.Starting engine
Later, it is sequentially performed the engagement of the engagement and ceding of Taiwan clutch of shelling clutch, or is sequentially performed shelling clutch
The engagement of engagement and ceding of Taiwan reversing clutch.If the instruction sequences mistake received, the controller of combine harvester are regarded
For maloperation, and received instruction is not executed.
According to the present invention in the automatic control method of combine harvester, receive from external shelling from
Also be detected to whether ceding of Taiwan clutch or ceding of Taiwan reversing clutch have engaged when clutch engagement signal, when detect the ceding of Taiwan from
When clutch or engaged ceding of Taiwan reversing clutch, alarm is sent out by the warning device such as buzzer or display, is carried
Show that operating personnel need to be such that ceding of Taiwan clutch or ceding of Taiwan reversing clutch detaches.If detect ceding of Taiwan clutch or the ceding of Taiwan invert from
Clutch is in discrete state, then changes the state of shelling clutch operating mechanism, so that shelling clutch engages.It in this way can be true
It protects before the engagement of ceding of Taiwan clutch and completes the engagement of shelling clutch, i.e., make the engagement of shelling clutch first, then again
Bonding operation is executed to ceding of Taiwan clutch.To prevent combine harvester each operation part maloperation.
Similarly, it in the automatic control method according to the present invention for combine harvester, is receiving from outside
When ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, to shelling clutch whether in engagement state progress
Detection, when detecting that shelling clutch is in discrete state, controller alert prompts operating personnel that need to first make to take off
Paddy clutch engages.When detecting that shelling clutch is in engagement state, then controller changes ceding of Taiwan clutch operating mechanism
Or the state of ceding of Taiwan reversing clutch operating mechanism, so that ceding of Taiwan clutch or ceding of Taiwan reversing clutch are in engagement state.
Automatic control method according to the present invention for combine harvester, receive ceding of Taiwan clutch engagement signal or
The rotating speed of the engine of combine harvester is detected when ceding of Taiwan reversing clutch engagement signal, if engine speed is less than
Preset rotation speed then changes ceding of Taiwan clutch operating machine according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal
The state of structure or ceding of Taiwan reversing clutch operating mechanism, ceding of Taiwan clutch or ceding of Taiwan reversing clutch are driven to joint shape
State；If engine speed be not less than preset rotation speed, send out signal to engine so that drop engine speed to preset rotation speed with
Under, then according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal change ceding of Taiwan clutch operating mechanism or
The state of ceding of Taiwan reversing clutch operating mechanism, ceding of Taiwan clutch or ceding of Taiwan reversing clutch are driven to engagement state.
When receiving from external ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, controller is first to engine
Rotating speed be detected, if detecting that engine is in runs at high speed under state (such as engine speed be higher than 1000rpm),
It then needs to carry out reduction of speed to engine, because the state that runs at high speed is not suitable for connecing for ceding of Taiwan clutch or ceding of Taiwan reversing clutch
It closes.In this way, the automatic control method according to the present invention for combine harvester is beneficial to the starting of combine harvester, and
Be conducive to protect combine harvester, engine or the ceding of Taiwan is prevented to be damaged when clutch engages.
Below to being grasped to combine harvester using the automatic control method according to the present invention for combine harvester
The operating process of work is briefly described.Driver is before starting engine, if shelling clutch control section 12 or cut
Platform clutch control section 14 has been pressed, and at this time can set controller 18 to the state for not allowing to start.Because such as
Fruit starts engine in this state, it will causes engine bringing onto load to start, is had adverse effect to engine, or even meeting
Damage engine；In addition, if having near combine harvester at this time staff or other people etc., for these people's right and wrong
It is often unsafe.Controller 18 is judged as maloperation after receiving these inputs, will send instructions to buzzer and reminds driving
Personnel, and any action is not executed, wait drivers by shelling clutch control section 12 or ceding of Taiwan clutch control section
It, can normal starting engine after 14 releases.
Illustrate the operating process of ceding of Taiwan clutch engagement below.After engine normal starting, shelling clutch is first pressed
Control unit 12, for example be button, controller 18 is first detected the rotating speed of engine.If at the engine detected
It is more than preset rotation speed (assuming that engine speed is more than 1000rpm) in fast state or rotating speed, then controller 18 passes through buzzer
Or display sends out warning, and signal is sent to the ECU of engine by CAN buses, so that ECU controls drop engine speed, directly
It is in lower-speed state (assuming that being less than 1000rpm) to engine.If detecting that engine is in lower-speed state, further to cutting
Platform clutch control section (for example being button) 14 or ceding of Taiwan reversing clutch control unit (for example being button) 16 whether by
It presses and is judged, if one of both is pressed, controller 18 is regarded as maloperation, passes through buzzer or display
Warning is sent out, until ceding of Taiwan clutch control section 14 or ceding of Taiwan reversing clutch control unit 16 are released.If the ceding of Taiwan from
Clutch control unit 14 or ceding of Taiwan reversing clutch control unit 16 are not pressed, then controller 18 send instructions to shelling from
Clutch operating mechanism 20, herein such as be electric pushrod, electric pushrod can be made to shrink, drive shelling clutch expansion tightening wheel with
Driving driving wheel is set drivingly to be engaged with driven wheel.It is of course also possible to make electric pushrod elongation (for example rise according to actual conditions
Bearing up pulley is arranged in the case of the inside of belt wheel), to make clutch enter engagement state from discrete state.Here, shelling from
Clutch operating mechanism 20 can also be hydraulic mechanism.
After shelling clutch operating mechanism 20 moves to designated position, a signal can be sent to controller 18, control
Device 18 stops powering to operating mechanism 20.Then lower cutting table clutch control section (such as button) 14, controller 18 are pressed again
It after receiving signal, and monitors that shelling clutch control section 12 has been pressed, then the rotating speed of engine is detected.
If engine is under lower-speed state, controller 18 sends to ceding of Taiwan clutch operating mechanism 22 and instructs, and operating mechanism 22 is dynamic
Make, so that ceding of Taiwan clutch is in engagement state.If engine is not in lower-speed state, controller 18, which is not sent first, to be referred to
It enables to ceding of Taiwan clutch operating mechanism 22, but sends instructions to buzzer and display, to remind driver.It controls simultaneously
Device 18 sends signal by CAN bus to the ECU of engine, so that ECU controls drop engine speed, engine is made to be in low speed shape
State and then ceding of Taiwan clutch is operated by operating mechanism 22.After the engagement of ceding of Taiwan clutch, driver adds
Large throttle is so that engine is rapidly reached working speed.
Illustrate the operating process of ceding of Taiwan reversing clutch engagement below.After engine normal starting, first press shelling from
Clutch control unit 12, for example be button, controller 18 is first detected the rotating speed of engine.If what is detected starts
Machine is in fast state (assuming that engine speed is more than 1000rpm), then controller 18 sends out police by buzzer or display
Show, and signal is sent to the ECU of engine by CAN bus, so that ECU controls drop engine speed, until engine is in low
Fast state (assuming that being less than 1000rpm).If detecting that engine is in lower-speed state, further to ceding of Taiwan clutch control portion
Whether part (for example being button) 14 or ceding of Taiwan reversing clutch control unit (for example being button) 16 have been pressed and have been judged, such as
Fruit one of both is pressed, then controller 18 is regarded as maloperation, warning is sent out by buzzer or display, until the ceding of Taiwan
Clutch control section 14 and ceding of Taiwan reversing clutch control unit 16 are released.If 14 He of ceding of Taiwan clutch control section
Ceding of Taiwan reversing clutch control unit 16 is not pressed, then controller 18 sends instructions to shelling clutch operating mechanism 20,
Shelling clutch operating mechanism 20 acts, and the expansion tightening wheel of shelling clutch is driven to move so that driving driving wheel is driven with driven wheel
Ground engages.For example shelling clutch operating mechanism 20 can be electric pushrod, electric pushrod can be made to shrink, it is of course also possible to
Electric pushrod is set to extend (such as in the case where the inside in belt wheel is arranged in expansion tightening wheel) according to actual conditions, to make clutch
Device enters engagement state from discrete state.
After shelling clutch operating mechanism 20 moves to designated position, a signal can be sent to controller 18, control
Device 18 stops powering to shelling clutch operating mechanism 20.Then again by lower cutting table reversing clutch control unit (such as to press
Button) 16, after controller 18 receives signal, and monitor that shelling clutch control section 12 has been pressed, then to engine
Rotating speed be detected.If engine is under lower-speed state, controller 18 is sent out to ceding of Taiwan reversing clutch operating mechanism 24
Instruction is sent, ceding of Taiwan reversing clutch operating mechanism 24 is shunk, so that ceding of Taiwan reversing clutch is in engagement state.If engine
It is not in lower-speed state, then controller 18 does not send instructions to ceding of Taiwan reversing clutch operating mechanism 24 first, but sends instruction
To buzzer and display, to remind driver.Controller 18 sends signal by CAN bus to the ECU of engine simultaneously,
So that ECU controls drop engine speed, engine is made to be in lower-speed state and then by ceding of Taiwan reversing clutch operating mechanism 24
Ceding of Taiwan reversing clutch is operated.After the engagement of ceding of Taiwan reversing clutch, driver opens the throttle so that engine
It is rapidly reached working speed.It is then possible to carry out harvesting using combine harvester.
The present invention also proposes that a kind of automatic control device 40 for combine harvester, the automatic control device 40 can be used
Make the controller of combine harvester according to the present invention, as shown in figure 4, showing the structure diagram of automatic control device 40.According to
The present invention the automatic control device 40 for combine harvester include：Control unit 42；It is communicatedly connect with control unit 42
First acquisition unit 44, first acquisition unit 44 is for obtaining Engine Start Signal and be sent to Engine Start Signal
Control unit 42, control unit 42 control the engine start of combine harvester；Second communicatedly connect with control unit 42
Acquiring unit 46, second acquisition unit 46 is for obtaining shelling clutch engagement signal and engine speed information；It is single with control
The judging unit 43 that member 42 and second acquisition unit 46 communicatedly connect, judging unit 43 by engine speed information for being sentenced
Whether disconnected engine speed is less than preset rotation speed：If engine speed is less than preset rotation speed, control unit 42 is according to shelling
Clutch engagement signal changes the state of shelling clutch operating mechanism driving shelling clutch to engagement state；If hair
Motivation rotating speed is not less than preset rotation speed, then control unit 42 to engine send out signal so that drop engine speed to preset rotation speed with
Under, then control unit 42 according to shelling clutch engagement signal change shelling clutch operating mechanism state with by shelling from
Clutch drives to engagement state；And the third acquiring unit 48 communicatedly being connect with control unit 42, third acquiring unit 48
For obtaining ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, control unit 42 is according to the ceding of Taiwan received
Clutch engagement signal or ceding of Taiwan reversing clutch engagement signal invert clutch to change ceding of Taiwan clutch operating mechanism or the ceding of Taiwan
The state of device operating mechanism is driving ceding of Taiwan clutch or ceding of Taiwan reversing clutch to engagement state.
Automatic control device 40 according to the present invention for combine harvester further includes communicatedly connecting with control unit 42
The first judgment module connect, first judgment module by the shelling clutch engagement signal obtained before the engine is started, cut
Platform clutch engagement signal or ceding of Taiwan reversing clutch engagement signal are determined as maloperation signal, and after receiving the signal
Send out information warning.Automatic control device 40 further includes the second judgment module communicatedly being connect with control unit, this second is sentenced
The ceding of Taiwan clutch engagement signal received before making shelling clutch drive to engagement state or the ceding of Taiwan are inverted clutch by disconnected module
Device engagement signal is determined as maloperation signal, and sends out information warning after receiving the signal.
Further, further include communicatedly connect with control unit for the automatic control device of combine harvester 40
Four acquiring units, the 4th acquiring unit third acquiring unit 48 receive ceding of Taiwan clutch engagement signal or the ceding of Taiwan invert from
The engine speed information of combine harvester is obtained when clutch engagement signal, and executes step as described below, if engine
Rotating speed is less than preset rotation speed, then control unit changes according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal
Ceding of Taiwan clutch or the ceding of Taiwan are inverted clutch by the state of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism
Device drives to engagement state；If engine speed be not less than preset rotation speed, control unit 42 to engine send out signal with
Make drop engine speed to preset rotation speed hereinafter, then control unit 42 inverts clutch according to ceding of Taiwan clutch engagement signal or the ceding of Taiwan
Device engagement signal changes the state of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism, by ceding of Taiwan clutch
Or ceding of Taiwan reversing clutch drives to engagement state.
Automatic control system, autocontrol method and correlation according to the present invention for combine harvester automatically controls
Device can ensure that the operating member of combine harvester sequentially starts, so that combine harvester can more successfully rise
It is dynamic.The anti-misoperation that each operation part of combine harvester can be realized by controller, to prevent to combine harvester
The damage of operation part extend its service life to improve the operating efficiency of combine harvester.
Although with reference to illustrative embodiments, invention has been described, but it is to be understood that the present invention does not limit to
The specific implementation mode that Yu Wenzhong is described in detail and shows, without departing from claims limited range, this
Field technology personnel can make various improvement or modification to the illustrative embodiments.
Claims (6)
1. a kind of automatic control method for combine harvester, which is characterized in that the automatic control method includes following step
Suddenly：
It obtains Engine Start Signal and starts the engine of the combine harvester；
Obtain shelling clutch engagement signal and engine speed information；
Judge whether the engine speed is less than preset rotation speed by the engine speed information：
If the engine speed is less than preset rotation speed, shelling clutch is changed according to the shelling clutch engagement signal
The state of operating mechanism is driving the shelling clutch to engagement state；
If the engine speed is not less than preset rotation speed, signal is sent out to the engine so that the drop engine speed
To preset rotation speed hereinafter, then changing the state of shelling clutch operating mechanism according to the shelling clutch engagement signal to incite somebody to action
The shelling clutch drives to engagement state；
Ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal are obtained, according to the ceding of Taiwan clutch engagement signal
Or the ceding of Taiwan reversing clutch engagement signal changes ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism
State driving the ceding of Taiwan clutch or the ceding of Taiwan reversing clutch to engagement state, wherein
It is driven to engagement state by the shelling clutch, also makes the following judgment step：
Judge whether to receive ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal,
If the judgment is Yes, it is determined that be maloperation signal, and information warning is sent out after receiving the signal.
2. the automatic control method according to claim 1 for combine harvester, wherein
Before the engine start of the combine harvester, step is also made the following judgment：
Judge whether to receive shelling clutch engagement signal or ceding of Taiwan clutch engagement signal or the engagement of ceding of Taiwan reversing clutch
Signal,
If the judgment is Yes, it is determined that be maloperation signal, and information warning is sent out after receiving the signal.
3. the automatic control method according to claim 1 for combine harvester, wherein
The joint is obtained when obtaining the ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversing clutch engagement signal to receive
The engine speed information of cutting mill,
If the engine speed is less than preset rotation speed, inverted according to the ceding of Taiwan clutch engagement signal or the ceding of Taiwan
Clutch engagement signal changes the state of the ceding of Taiwan clutch operating mechanism or the ceding of Taiwan reversing clutch operating mechanism, with
The ceding of Taiwan clutch or ceding of Taiwan reversing clutch are driven to engagement state；
If the engine speed is not less than the preset rotation speed, signal is sent out to the engine so that the engine
Reduction of speed is to the preset rotation speed hereinafter, then being engaged according to the ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversing clutch
Signal changes the state of the ceding of Taiwan clutch operating mechanism or the ceding of Taiwan reversing clutch operating mechanism, by the ceding of Taiwan
Clutch or ceding of Taiwan reversing clutch drive to engagement state.
4. a kind of automatic control device for combine harvester, including：
Control unit,
The first acquisition unit communicatedly being connect with described control unit, the first acquisition unit is for obtaining engine start
The Engine Start Signal is simultaneously sent to described control unit by signal, and described control unit controls the combine harvester
Engine start；
The second acquisition unit communicatedly being connect with described control unit, the second acquisition unit is for obtaining shelling clutch
Engagement signal and engine speed information；
The judging unit communicatedly being connect with described control unit and the second acquisition unit, the judging unit is for passing through
The engine speed information judges whether the engine speed is less than preset rotation speed：
If the engine speed is less than the preset rotation speed, described control unit is engaged according to the shelling clutch to be believed
Number change shelling clutch operating mechanism state driving the shelling clutch to engagement state；
If the engine speed be not less than the preset rotation speed, described control unit to the engine send out signal with
Make the drop engine speed to the preset rotation speed hereinafter, then described control unit is according to the shelling clutch engagement signal
Change the state of shelling clutch operating mechanism driving the shelling clutch to engagement state；
The third acquiring unit communicatedly being connect with described control unit, the third acquiring unit is for obtaining ceding of Taiwan clutch
Engagement signal or ceding of Taiwan reversing clutch engagement signal, described control unit is according to the ceding of Taiwan clutch engagement signal or the ceding of Taiwan
Reversing clutch engagement signal come change the state of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism with will
The ceding of Taiwan clutch or the ceding of Taiwan reversing clutch drive to engagement state, wherein further include：
The second judgment module communicatedly being connect with described control unit, second judgment module will make the shelling clutch
The ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal that device receives before driving to engagement state are determined as accidentally grasping
Make signal, and information warning is sent out after receiving the signal.
5. the automatic control device according to claim 4 for combine harvester further includes：
The first judgment module communicatedly being connect with described control unit, first judgment module will be in the engine starts
Shelling clutch engagement signal, ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversing clutch engagement signal obtained before is determined as
Maloperation signal, and send out information warning after receiving the signal.
6. the automatic control device according to claim 4 for combine harvester further includes：
The 4th acquiring unit communicatedly being connect with described control unit, the 4th acquiring unit is in the third acquiring unit
The combine harvester is obtained when receiving the ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversing clutch engagement signal
Engine speed information,
If the engine speed is less than preset rotation speed, described control unit according to the ceding of Taiwan clutch engagement signal or
The ceding of Taiwan reversing clutch engagement signal changes the shape of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism
State drives the ceding of Taiwan clutch or ceding of Taiwan reversing clutch to engagement state；
If the engine speed be not less than the preset rotation speed, described control unit to the engine send out signal with
Make the drop engine speed to preset rotation speed hereinafter, then described control unit is according to the ceding of Taiwan clutch engagement signal or institute
The state that ceding of Taiwan reversing clutch engagement signal changes ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism is stated,
Driving the ceding of Taiwan clutch or ceding of Taiwan reversing clutch to engagement state.
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| CN201610457893.1A CN106068900B (en) | 2016-06-22 | 2016-06-22 | Automatic control system, control method and control device for combine harvester |
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| CN201610457893.1A CN106068900B (en) | 2016-06-22 | 2016-06-22 | Automatic control system, control method and control device for combine harvester |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102488259B1 (en) * | 2017-08-01 | 2023-01-13 | 주식회사 대동 | Electronic controlled engine RPM control device and method of Whole culm discharging type combine, Whole culm discharging type combine containing the same |
| CN107409606A (en) * | 2017-08-31 | 2017-12-01 | 天津职业技术师范大学 | United reaper high position unloading control system and control method |
| CN110089262A (en) * | 2018-01-31 | 2019-08-06 | 雷沃重工股份有限公司 | Drum rotation speed control method and device |
| CN111567225A (en) * | 2020-05-27 | 2020-08-25 | 江苏沃得农业机械股份有限公司 | Automatically controlled separation and reunion structure |
| CN112997678A (en) * | 2021-03-01 | 2021-06-22 | 潍柴雷沃重工股份有限公司 | Automatic grain unloading control system and method for harvester and harvester |
| CN113212334B (en) * | 2021-05-11 | 2022-07-26 | 第一拖拉机股份有限公司 | Operation safety control device and control method for grain crop harvesting robot |
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| JP2011092091A (en) * | 2009-10-29 | 2011-05-12 | Kubota Corp | Combine harvester |
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Address after: 241080 Anhui province Wuhu City mountain Economic Development Zone E Xi Road No. 16 Patentee after: Zhonglian Agricultural Machinery Co., Ltd Address before: 241080 Anhui province Wuhu City mountain Economic Development Zone E Xi Road No. 16 Patentee before: ZOOMLION HEAVY MACHINERY Co.,Ltd. |
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