CN108307788B - Harvesting device and harvester - Google Patents
Harvesting device and harvester Download PDFInfo
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- CN108307788B CN108307788B CN201711370773.9A CN201711370773A CN108307788B CN 108307788 B CN108307788 B CN 108307788B CN 201711370773 A CN201711370773 A CN 201711370773A CN 108307788 B CN108307788 B CN 108307788B
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- harvester
- motor
- controller
- pressure sensor
- harvesting device
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/10—Harvesting of standing crops of sugar cane
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/02—Driving mechanisms or parts thereof for harvesters or mowers electric
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
- A01D75/185—Avoiding collisions with obstacles
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention provides a harvesting device and a harvester, and relates to the technical field of agricultural machinery, wherein the harvesting device comprises a controller, a pressure sensor, a harvester and a first motor; the first motor is connected with the harvester and used for driving the harvester to rotate; the first motor and the pressure sensor are both connected with the controller; the pressure sensor is used for detecting pressure data received by the first motor and transmitting the pressure data to the controller; when the pressure data is higher than the preset pressure value, the controller controls to close the first motor so as to stop the rotation of the harvester. The harvesting device can stop the harvester from rotating when the harvester is blocked or touches a hard object, so that the situation that the harvester still operates to cause collision when the height of the harvester is changed in the prior art is avoided; moreover, the effect that the pressure sensor can produce is not influenced by factors such as terrain or visibility, and the practicability is strong.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a harvesting device and a harvester.
Background
At present, the sugarcane harvesting mode in China still mainly takes manual work as the main mode, manual cutting and loading and transporting are carried out in the most original mode, the labor intensity in the whole process is high, and the working efficiency is low. With the rapid development of economy in China in recent years, the labor cost is continuously improved, so that the profit of the sugarcane industry is continuously reduced, and the sugarcane planting area is reduced year by year. Therefore, the manual transition of the sugarcane harvesting mode to the professional machinery is imperative.
The harvester is one of the key components that cut the sugar cane stalks for transport by the harvester to subsequent processing steps. Due to variations in terrain, soil composition and feed rates, it is desirable to prevent the harvester from being jammed or touching hard objects during field operations, resulting in harvester damage. Most manufacturers now control the operation of the harvester by manually adjusting the height of the harvester by hand and by the driver's observation, and some manufacturers have also begun to try to use terrain following systems with their own controls.
However, the effect of preventing damage to the harvester and related components by changing the height of the harvester is poor; in addition, because the working condition near the harvester is complex, dust flies and the visibility is low, and the practicability of the terrain following system is poor.
Disclosure of Invention
The invention aims to provide a harvesting device and a harvesting machine, which aim to improve the poor effect of preventing a harvester and related parts from being damaged by changing the height of the harvester in the prior art; in addition, due to the fact that the working condition near the harvester is complex, dust flies and the visibility is low, and the practicability of the terrain following system is poor.
The invention provides a harvesting device, which comprises a controller, a pressure sensor, a harvester and a first motor, wherein the pressure sensor is arranged on the harvester; the first motor is connected with the harvester and used for driving the harvester to rotate; the first motor and the pressure sensor are both connected with the controller; the pressure sensor is used for detecting pressure data received by the first motor and transmitting the pressure data to the controller; when the pressure data is higher than the preset pressure value, the controller controls to close the first motor so as to stop the rotation of the harvester.
Furthermore, the harvesting device also comprises a telescopic piece; one end of the telescopic piece is used for being connected with the mounting beam, and the other end of the telescopic piece is connected with the harvester; the extensible member is connected with the controller, and when pressure data that pressure sensor detected was higher than the pressure value of predetermineeing, the controller control extensible member shrink so that the distance between harvester and the ground increases.
Furthermore, the telescopic part is a telescopic oil cylinder.
Furthermore, the harvesting device also comprises a conveying box; the telescopic piece is connected with the harvester through the conveying box; the conveying box is used for being hinged with the mounting beam.
Furthermore, both ends of the telescopic piece are respectively used for being hinged with the mounting beam and the conveying box.
Furthermore, the harvesting device also comprises a control valve; the controller is connected with the telescopic oil cylinder through a control valve; when the pressure data detected by the pressure sensor is higher than a preset pressure value, the controller controls the control valve to be closed so as to enable the telescopic oil cylinder to contract.
Further, the harvesting device also comprises a second motor; the second motor is connected with the harvester and used for driving the harvester to move; the second motor is connected with the controller, and when the pressure data detected by the pressure sensor is higher than a preset pressure value, the controller controls to close the second motor so as to stop the harvester from moving.
Further, the harvesting device also comprises a hydraulic pump; the hydraulic pump is used for driving the second motor and is electrically connected with the controller; when the pressure data detected by the pressure sensor is higher than the preset pressure value, the controller controls the hydraulic pump to be closed so as to enable the second motor to be closed.
Furthermore, the harvesting device also comprises an operating handle; the operating handle is fixedly connected with the hydraulic pump; the controller is connected with the hydraulic pump through an operating handle; when the pressure data detected by the pressure sensor is higher than the preset pressure value, the controller controls the operating handle to rotate so as to close the hydraulic pump.
Furthermore, the invention also provides a harvester which comprises a harvesting device.
According to the harvesting device provided by the invention, in the using process, the first motor drives the harvester to rotate so as to cut off the sugarcane; when the harvester is blocked or touches a hard object, the pressure of the first motor rises, the pressure sensor transmits detected pressure data to the controller, and the controller controls the first motor to be closed so as to stop the rotation of the harvester, thereby ensuring that the harvester is not damaged.
Therefore, the harvesting device can stop the harvester from rotating when the harvester is blocked or touches a hard object, so that the situation that the harvester still runs to cause collision when the height of the harvester in the prior art is changed is avoided; moreover, the effect that the pressure sensor can produce is not influenced by factors such as terrain or visibility, and the practicability is strong.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural view of a harvesting device provided by an embodiment of the invention;
FIG. 2 is a flow chart of operation of a harvesting apparatus provided in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart illustrating operation of a harvesting apparatus according to another embodiment of the present invention;
fig. 4 is a flow chart illustrating operation of a harvesting apparatus according to yet another embodiment of the present invention.
Icon: 1-a controller; 2-a pressure sensor; 3-a harvester; 4-a first motor; 5-a telescopic member; 6-conveying box; 7-mounting the beam; 8-control valve; 9-a second motor; 10-a hydraulic pump; 11-a control valve; 51-telescopic oil cylinder.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, their indicated orientations or positional relationships are based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic structural view of a harvesting device provided by an embodiment of the invention; as shown in fig. 1, the harvesting apparatus provided in this embodiment includes a controller 1, a pressure sensor 2, a harvester 3, and a first motor 4; the first motor 4 is connected with the harvester 3, and the first motor 4 is used for driving the harvester 3 to rotate; the first motor 4 and the pressure sensor 2 are both connected with the controller 1; the pressure sensor 2 is used for detecting pressure data received by the first motor 4 and transmitting the pressure data to the controller 1; when the pressure data is higher than the preset pressure value, the controller 1 controls to turn off the first motor 4 to stop the rotation of the harvester 3.
Wherein, the harvester 3 adopts a disc harvester 3.
Further, the first motor 4 is a hydraulic motor.
Further, there may be a plurality of harvesters 3 and a plurality of first motors 4, and the plurality of harvesters 3 and the plurality of first motors 4 are disposed in one-to-one correspondence. This can improve the cutting efficiency of the sugarcane.
Further, the pressure sensor 2 may be one or more. When the pressure sensor 2 is one, the pressure sensor 2 detects pressure data received by the first motors 4, and when the pressure received by the first motors 4 is higher than a preset pressure value, the controller 1 controls to turn off the first motors 4, so that the harvesters 3 stop rotating at the same time.
When the number of the pressure sensors 2 is plural, the plural pressure sensors 2 are provided in one-to-one correspondence with the plural first motors 4, and are configured to detect pressure data received by the corresponding first motors 4. When the pressure received by the one or more first motors 4 is higher than the preset pressure value, the controller 1 controls to turn off the one or more first motors 4 to stop the rotation of the one or more harvesters 3.
Further, the preset pressure value is: when the harvester 3 jams or touches a hard object, the pressure rises to the value indicating that the harvester 3 and the related parts are damaged by continued operation of the harvester 3.
In the harvesting device provided by the embodiment, in the use process, the first motor 4 drives the harvester 3 to rotate so as to cut off the sugarcane; when the harvester 3 is blocked or touches a hard object, the pressure of the first motor 4 rises, the pressure sensor 2 transmits the detected pressure data to the controller 1, and the controller 1 controls the first motor 4 to be closed so as to stop the rotation of the harvester 3, thereby ensuring that the harvester 3 is not damaged.
Therefore, the harvesting device can stop the rotation of the harvester 3 when the harvester 3 is blocked or touches a hard object, so that the collision condition caused by the fact that the harvester 3 in the prior art still runs when the height is changed is avoided; moreover, the effect that the pressure sensor 2 can produce is not affected by factors such as topography and visibility, and the practicability is high.
FIG. 2 is a flow chart of operation of a harvesting apparatus provided in accordance with an embodiment of the present invention; as shown in fig. 1 and 2, on the basis of the above embodiment, further, the harvesting device further comprises a telescopic member 5; one end of the telescopic piece 5 is used for being connected with the mounting beam 7, and the other end of the telescopic piece is connected with the harvester 3; the telescopic piece 5 is connected with the controller 1, and when the pressure data detected by the pressure sensor 2 is higher than a preset pressure value, the controller 1 controls the telescopic piece 5 to contract so as to increase the distance between the harvester 3 and the ground.
Wherein, extensible member 5 can be telescopic link or telescopic cylinder.
Further, one end of the telescopic member 5 may be fixedly connected with the mounting beam 7, and the other end may be fixedly connected with the harvester 3.
Furthermore, the telescopic part 5 can be provided with a plurality of telescopic parts 5, and the bearing capacity can be improved by the plurality of telescopic parts 5.
In this embodiment, in the use process, when the pressure data detected by the pressure sensor 2 is higher than the preset pressure value, the controller 1 turns off the first motor 4 to stop the rotation of the harvester 3; at the same time, the controller 1 controls the telescopic member 5 to contract, thereby lifting the harvester 3, increasing the distance between the harvester 3 and the ground, thereby moving away from the obstacle. Stopping harvester 3 feeding and raising harvester 3 two kinds of modes cooperation can be better protection harvester 3, prevent that it from receiving the damage.
As shown in fig. 2, in addition to the above embodiment, the extensible member 5 is an extensible cylinder 51.
In this embodiment, the telescopic cylinder 51 has a small volume and a large force, and is easy to operate. In use, when the pressure data detected by the pressure sensor 2 is higher than the pressure value, the controller 1 controls the telescopic cylinder 51 to contract, thereby increasing the distance between the harvester 3 and the ground.
As shown in fig. 1 and 2, on the basis of the above embodiment, further, the harvesting device further comprises a conveying box 6; the telescopic piece 5 is connected with the harvester 3 through a conveying box 6; the transport box 6 is intended to be articulated with a mounting beam 7.
Wherein the conveying box 6 is used for conveying the sugarcane cut by the harvester 3 to other devices of the harvester so as to continue the next processing flow.
Further, the conveying box 6 is fixedly connected with the harvester 3.
In this embodiment, the telescopic member 5 is connected to the harvester 3 via a transfer box 6 during use. Since the delivery box 6 is connected to the harvester 3, when the telescopic member 5 is retracted, the telescopic member 5 raises the delivery box 6, thereby raising the harvester 3. The arrangement that the conveying box 6 is hinged to the mounting beam 7 enables the mounting beam 7 to bear part of the weight of the conveying box 6, the stress of the telescopic piece 5 is shared, and the service life of the telescopic piece 5 is prolonged.
As shown in fig. 1, in addition to the above embodiment, further, both ends of the telescopic member 5 are respectively used for being hinged with the mounting beam 7 and the conveying box 6.
In this embodiment, in the use, when 5 both ends articulated settings of extensible member can make it flexible, drive transport case 6 and reciprocate to drive harvester 3 and reciprocate.
As shown in fig. 2, on the basis of the above embodiment, further, the harvesting device further comprises a control valve 8; the controller 1 is connected with the telescopic oil cylinder 51 through a control valve 8; when the pressure data detected by the pressure sensor 2 is higher than the preset pressure value, the controller 1 controls the control valve 8 to close to contract the telescopic cylinder 51.
Wherein the control valve 8 is a reversing valve.
Further, the harvesting device may further include a control valve 11; the controller 1 is connected with the first motor 4 through a control valve 11; when the pressure data detected by the pressure sensor 2 is higher than the preset pressure value, the controller 1 controls the control valve 11 to close to stop the operation of the first motor 4.
Further, the control valve 11 is a change valve.
In this embodiment, in the use, when pressure sensor 2 detected pressure data was higher than the preset pressure value, controller 1 closed control valve 8 to make flexible hydro-cylinder 51 shrink, flexible hydro-cylinder 51 shrink and then raise harvester 3, increase the distance between harvester 3 and the ground, prevent that harvester 3 from receiving the damage.
FIG. 3 is a flow chart illustrating operation of a harvesting apparatus according to another embodiment of the present invention; FIG. 4 is a flow chart illustrating operation of a harvesting apparatus according to yet another embodiment of the present invention; as shown in fig. 3 and 4, on the basis of the above embodiment, further, the harvesting device further comprises a second motor 9; the second motor 9 is connected with the harvester 3, and the second motor 9 is used for driving the harvester 3 to move; the second motor 9 is connected to the controller 1, and when the pressure data detected by the pressure sensor 2 is higher than a preset pressure value, the controller 1 controls to turn off the second motor 9 to stop the harvester 3 from advancing.
In this embodiment, during use, when the pressure data detected by the pressure sensor 2 is higher than the preset pressure value, the controller 1 controls to turn off the second motor 9 to stop the travel of the harvester 3. At the same time, the controller 1 turns off the first motor 4 to stop the rotation of the harvester 3, which can protect the harvester 3 from being damaged. In addition, under the cooperation of stopping harvester 3 and advancing two kinds of modes, controller 1 still can control the shrink of extensible member 5 to mention harvester 3, increase the distance between harvester 3 and the ground, thereby keep away from the barrier, and adopt harvester 3 to stop advancing simultaneously, stop the feeding and stop three kinds of modes mating action, protection harvester 3 that like this can be better, extension harvester 3's life, the practicality is stronger.
As shown in fig. 3 and 4, on the basis of the above embodiment, further, the harvesting device further comprises a hydraulic pump 10; the hydraulic pump 10 is used for driving the second motor 9, and the hydraulic pump 10 is electrically connected with the controller 1; when the pressure data detected by the pressure sensor 2 is higher than a preset pressure value, the controller 1 controls the hydraulic pump 10 to be turned off to turn off the second motor 9.
Wherein, the second motor 9 is a hydraulic motor.
Further, when the pressure data detected by the pressure sensor 2 is higher than a preset pressure value, the controller 1 cuts off the vehicle traveling command, sends the set command to the hydraulic pump 10 through a line, changes the swing angle of the hydraulic pump, and enables the output of the hydraulic pump to be zero, so that the hydraulic motor stops working, and the harvester 3 stops moving forward.
In this embodiment, the harvesting device further comprises a hydraulic pump 10. In the using process, when the pressure data detected by the pressure sensor 2 is higher than the preset pressure value, the controller 1 controls the hydraulic pump 10 to be closed, the second motor 9 cannot be driven, so that the second motor 9 is closed, and the harvester 3 stops to continue to move.
On the basis of the embodiment, further, the harvesting device also comprises an operating handle; the operating handle is fixedly connected with the hydraulic pump 10; the controller 1 is connected with the hydraulic pump 10 through an operating handle; when the pressure data detected by the pressure sensor 2 is higher than a preset pressure value, the controller 1 controls the operation handle to rotate to turn off the hydraulic pump 10.
Wherein the operation handle is rotated to change the swing angle of the hydraulic pump 10 to zero output, thereby stopping the second motor 9.
In this embodiment, the harvesting apparatus further comprises an operating handle. In the use process, when the pressure data detected by the pressure sensor 2 is higher than the preset pressure value, the controller 1 controls the operation handle to rotate, and the operation handle is fixedly connected with the hydraulic pump 10 and rotates to close the hydraulic pump 10, so that the second motor 9 cannot be driven, the second motor 9 is closed, and the harvester 3 stops to continue to advance.
On the basis of the above embodiment, further, the embodiment of the invention also provides a harvester, which comprises a harvesting device.
In this embodiment, the harvester includes a harvesting device. In use, the first motor 4 drives the harvester 3 to rotate so as to cut the sugarcane; when the harvester 3 is blocked or touches a hard object, the pressure of the first motor 4 rises, the pressure sensor 2 transmits the detected pressure data to the controller 1, and the controller 1 controls the first motor 4 to be closed so as to stop the rotation of the harvester 3, thereby ensuring that the harvester 3 is not damaged.
Therefore, the harvesting device can stop the rotation of the harvester 3 when the harvester 3 is blocked or touches a hard object, so that the collision condition caused by the fact that the harvester 3 in the prior art still runs when the height is changed is avoided; moreover, the effect that the pressure sensor 2 can produce is not affected by factors such as topography and visibility, and the practicability is high.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A harvesting apparatus, comprising: a controller, a pressure sensor, a harvester and a first motor;
the first motor is connected with the harvester and used for driving the harvester to rotate; the first motor and the pressure sensor are both connected with the controller; the pressure sensor is used for detecting pressure data received by the first motor and transmitting the pressure data to the controller; when the pressure data is higher than a preset pressure value, the controller controls to close the first motor so as to stop the rotation of the harvester;
the harvesting device further comprises a control valve; the controller is connected with the first motor through the control valve; when the pressure data detected by the pressure sensor is higher than a preset pressure value, the controller controls the control valve to close so as to stop the first motor;
the harvesting device also comprises a telescopic piece; one end of the telescopic piece is used for being connected with the mounting beam, and the other end of the telescopic piece is connected with the harvester; the telescopic piece is connected with the controller, and when the pressure data detected by the pressure sensor is higher than a preset pressure value, the controller controls the telescopic piece to contract so as to increase the distance between the harvester and the ground;
the harvesting device further comprises a second motor; the second motor is connected with the harvester and is used for driving the harvester to move forwards; the second motor is connected with the controller, and when the pressure data detected by the pressure sensor is higher than a preset pressure value, the controller controls to close the second motor so as to stop the harvester from moving.
2. The harvesting device of claim 1, wherein the telescoping member is a telescoping cylinder.
3. The harvesting device of claim 1, further comprising a transport box;
the telescopic piece is connected with the harvester through the conveying box; the conveying box is used for being hinged with the mounting beam.
4. A harvesting apparatus according to claim 3, wherein the telescopic member is adapted at each end for articulation with the mounting beam and the transport box.
5. The harvesting device of claim 2, further comprising a control valve;
the controller is connected with the telescopic oil cylinder through the control valve; when the pressure data detected by the pressure sensor is higher than a preset pressure value, the controller controls the control valve to be closed so as to enable the telescopic oil cylinder to contract.
6. The harvesting device of claim 1, further comprising a hydraulic pump;
the hydraulic pump is used for driving the second motor and is electrically connected with the controller; when the pressure data detected by the pressure sensor is higher than a preset pressure value, the controller controls the hydraulic pump to be closed so as to enable the second motor to be closed.
7. The harvesting device of claim 6, further comprising an operating handle;
the operating handle is fixedly connected with the hydraulic pump; the controller is connected with the hydraulic pump through the operating handle; when the pressure data detected by the pressure sensor is higher than a preset pressure value, the controller controls the operating handle to rotate so as to enable the hydraulic pump to be closed.
8. A harvester comprising a harvesting device according to any one of claims 1 to 7.
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| CN201711370773.9A CN108307788B (en) | 2017-12-19 | 2017-12-19 | Harvesting device and harvester |
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| CN201711370773.9A CN108307788B (en) | 2017-12-19 | 2017-12-19 | Harvesting device and harvester |
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| CN108307788A CN108307788A (en) | 2018-07-24 |
| CN108307788B true CN108307788B (en) | 2020-06-02 |
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| CN110506492B (en) * | 2019-06-05 | 2022-10-18 | 丰疆智能科技研究院(常州)有限公司 | Agricultural cutting system, hydraulic module and agricultural cutting method |
| CN113940186B (en) * | 2021-11-15 | 2022-09-27 | 南京苏美达智能技术有限公司 | Control method of intelligent mower |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103430696A (en) * | 2013-07-22 | 2013-12-11 | 四川泛水基电液机械有限责任公司 | Intelligent cane harvesting machine and automatic control method |
| CN105491875A (en) * | 2013-07-02 | 2016-04-13 | 凯斯纽荷兰(中国)管理有限公司 | Method and apparatus for control of base cutter height for multiple row sugar cane harvesters |
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2017
- 2017-12-19 CN CN201711370773.9A patent/CN108307788B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105491875A (en) * | 2013-07-02 | 2016-04-13 | 凯斯纽荷兰(中国)管理有限公司 | Method and apparatus for control of base cutter height for multiple row sugar cane harvesters |
| CN103430696A (en) * | 2013-07-22 | 2013-12-11 | 四川泛水基电液机械有限责任公司 | Intelligent cane harvesting machine and automatic control method |
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