CN110235601A - Combined harvester cutting height automatic regulating system and regulation method - Google Patents
Combined harvester cutting height automatic regulating system and regulation method Download PDFInfo
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- CN110235601A CN110235601A CN201910389103.4A CN201910389103A CN110235601A CN 110235601 A CN110235601 A CN 110235601A CN 201910389103 A CN201910389103 A CN 201910389103A CN 110235601 A CN110235601 A CN 110235601A
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- taiwan
- ceding
- hydraulic cylinder
- combined harvester
- gyration
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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
- A01D41/02—Self-propelled combines
-
- 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
-
- 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)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention discloses combined harvester cutting height automatic regulating system and regulation methods, including mechanical touch sensors, ultrasonic sensor, the hydraulic system for adjusting cutting height and controller.Mechanical touch sensors and ultrasonic sensor combine detection ceding of Taiwan terrain clearance, to improve the accuracy of detection, reduce error when single-sensor detects.Wherein mechanical touch sensors drive angular transducer rotation by gauge finder, and then calculate terrain clearance, and mechanical touch sensors can realize rotation when combined harvester is fallen back and is turned to, to guarantee that gauge finder stuck will not fracture.Controller is transferred to after mechanical touch sensors and ultrasonic sensor detection signal, is gone up and down the ceding of Taiwan by ratio valve regulation hydraulic cylinder extension after controller calculation process, is finally ensured cutting height holding in a certain range.
Description
Technical field
The invention belongs to field of agricultural mechanical automation, more particularly to combined harvester cutting height automatic regulating system
And regulation method.
Background technique
China's combined harvester yield is big but automatization level is not high, and China's combined harvester is automating not in recent years
Disconnected development.Realize that joint combined harvester cutting height auto-control ensures to obtain stable toothing and is beneficial to obtain stable feed
Enter amount and reduce grain loss, also facilitates farming next time.The regulation of cutting height at present mainly passes through driver rule of thumb
It is manually operated to complete, driver's large labor intensity.In the prior art, there is using gauge finder the dress for controlling cutting height
It sets, but gauge finder easily sink in soft paddy field, large error, and the profiling in harvester turning can be generated when encountering stalk
Plate is influenced gauge finder performance by lateral force；There is also the system for controlling cutting height using ultrasonic sensor, but ultrasound
Influence of the wave sensor vulnerable to sundries such as stalk, soil blocks.So detecting cutting height using single-sensor, there are larger mistakes
Poor and reliability is low, regulates and controls cutting height currently without a set of reliable system.
Summary of the invention
It is current to solve the object of the present invention is to provide combined harvester cutting height automatic regulating system and regulation method
The problem of poor reliability that single-sensor controls cutting height, mitigates the operation intensity of driver, improves cutting height control
The accuracy of system.
The present invention through the following technical solutions to achieve the above objectives:
Combined harvester cutting height automatic regulating system, including it is ultrasonic sensor, mechanical touch sensors, hydraulic
System and controller, mechanical touch sensors are installed on combine harvester header two sides, and are located at the rear of cutter, ultrasound
Wave sensor is installed on inside the nearside divider on combined harvester both sides, and ultrasonic sensor and mechanical touch sensors will acquire
Information be transferred to controller, controller passes through hydraulic system and adjusts ceding of Taiwan height.
In above scheme, the mechanical touch sensors include gauge finder, angular transducer, and one end cap of gauge finder is at angle
It spends in the sensing shaft of sensor, angular transducer is mounted on the thin plate of connector, and the multi-diameter shaft of connector is installed on shell,
Shell is mounted in mounting bracket, and thin plate is equipped with square bar far from the side of multi-diameter shaft, between shell and mounting bracket front and back sides
Equipped with reduction torsion spring, torsional spring is cased in the sensing shaft of angular transducer.
In above scheme, the shell front and back end sets two first cylindrical bodies, and mounting bracket front and back end is equipped with the second cylinder
Body is mounted on the second cylindrical body among reduction torsion spring, and both ends are stuck on the first cylindrical body of shell.
In above scheme, the torsional spring lower end is stuck in gauge finder upper surface, and two ends are stuck on the multi-diameter shaft of connector.
In above scheme, the gauge finder is the narrow thin plate of bowed curved surface.
Combined harvester cutting height method for automatically regulating, ultrasonic sensor and mechanical touch sensors detect itself
Terrain clearance, and it is conveyed to controller, received signal is converted to height for the stubble left value by controller, calculates being averaged for valid data
Value be used as the current height for the stubble left, judge the current height for the stubble left whether setting the height for the stubble left within the scope of, if not, controller by
Current height for the stubble left value calculates hydraulic cylinder extension amount, controls taiwan cut off and landing by adjusting proportioning valve driving hydraulic cylinder.
Further, the result of the mechanical touch sensors detection is converted to the formula of the height for the stubble left are as follows: H=S*cos
α-h, wherein α is the angle value that angular transducer is measured, and H is cutter terrain clearance, and h is mechanical touch sensors installation site
Away from cutter vertical range, S be sensing shaft on mechanical touch sensors rotation center to gauge finder and ground contact points away from
From.
Further, the formula of the hydraulic cylinder extension amount are as follows:Wherein L is hydraulic cylinder extension amount, and A is the ceding of Taiwan centre of gyration
To the distance of cutter position, B be the ceding of Taiwan centre of gyration to hydraulic cylinder at a distance from ceding of Taiwan contact point, C arrives for the ceding of Taiwan centre of gyration
The distance of the hydraulic cylinder centre of gyration, D are the vertical range of the ceding of Taiwan centre of gyration and ground, and E is the length of hydraulic cylinder initial position,
γ is cutter position to the line and hydraulic cylinder of the ceding of Taiwan centre of gyration and ceding of Taiwan contact point between the line of the ceding of Taiwan centre of gyration
Angle, θ is hydraulic cylinder and ceding of Taiwan contact point to turn round to the line of the ceding of Taiwan centre of gyration and the hydraulic cylinder centre of gyration to the ceding of Taiwan
Angle between the line of the heart, β are the hydraulic cylinder centre of gyration to the line of the ceding of Taiwan centre of gyration and the angle of vertical direction.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention detects cutting height using two kinds of sensors of ultrasonic sensor and mechanical touch sensors,
Two kinds of sensors are located at before and after cutter, can more accurately calculate cutter terrain clearance by the measurement of two kinds of sensors,
It improves the accuracy of detection, reduce error when single-sensor detects, realize that the stabilization of no manual intervention cuts stubble.
(2) mechanical touch sensors in the present invention are by gauge finder, connector, angular transducer, rolling bearing units, shell
Body, torsional spring composition.When combined harvester is fallen back, the angular transducer in the mechanical touch sensors can be around connector
Axis rotation is lifted, to guarantee that gauge finder stuck will not fracture；When combined harvester turns to, the mechanical touch sensors
Entirety can be rotated around the axis of shell, and mechanical touch sensors reset under reduction torsion spring and gravity after steering.
Detailed description of the invention
Fig. 1 is sensor mounting location schematic diagram；
Fig. 2 is mechanical touch sensors structural schematic diagram；
Fig. 3 is mechanical touch sensors main parts size structural schematic diagram, and Fig. 3 (a) is schematic diagram of housing structure, Fig. 3
It (b) is connecting-piece structure schematic diagram, Fig. 3 (c) is mounting support structure schematic diagram, and Fig. 3 (d) is gauge finder structural schematic diagram, Fig. 3
It (e) is reduction torsion spring structural schematic diagram, Fig. 3 (f) is torsion spring structure diagram；
Fig. 4 is ultrasonic sensor schematic view of the mounting position, and Fig. 4 (a) is ultrasonic sensor installation site three-dimensional figure, figure
4 (b) be ultrasonic sensor installation site main view；
Fig. 5 is ceding of Taiwan hydraulic system composition figure；
Fig. 6 is cutting height control flow chart；
Fig. 7 is that hydraulic cylinder extension amount calculates schematic diagram.
Wherein, 1- nearside divider, 2- ultrasonic sensor, 3- cutter, 4- mechanical touch sensors, 5- hydraulic cylinder, 6- shell
Body, 7- connector, 8- mounting bracket, 9- gauge finder, 10- angular transducer, 11- reduction torsion spring, 12- torsional spring, 13- clamp screw
Nail, 14- rolling bearing units, 15-L type mounting plate, the first multi-diameter shaft of 601-, the first cylindrical body of 602-, the second multi-diameter shaft of 701-, 702-
Square bar, the second cylindrical body of 801-.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings, but the scope of protection of the present invention is not limited thereto.
The present embodiment combination endless-track type rice-wheat combines combined harvester to illustrate particular content of the invention.
As shown in Figure 1, combined harvester cutting height automatic regulating system includes ultrasonic sensor 2, mechanical contact
Sensor 4, the hydraulic system 5 for adjusting cutting height and controller.Mechanical touch sensors 4 are installed on combining
Machine cut platform two sides, and it is located at the rear of cutter 3；Ultrasonic sensor 2 is installed on inside the nearside divider 1 on combined harvester both sides,
Positioned at the front of cutter 3.
As shown in Figure 2,3, mechanical touch sensors 4 are passed by shell 6, connector 7, mounting bracket 8, gauge finder 9, angle
13, four 10, two reduction torsion springs 11 of sensor, torsional spring 12, holding screw rolling bearing units 14 form.Fig. 3 (a) is shell 6, shell
6 front and back ends are respectively welded with first multi-diameter shaft 601 and two first cylindrical bodies 602, left and right ends are respectively provided with two circular holes.Its
In, the first multi-diameter shaft 601 is installed in the rolling bearing units 14 of mounting bracket, when gauge finder 9 is by lateral force, entire shell
Body 6 includes that enclosure interior part can be rotated around the first multi-diameter shaft 601；First cylindrical body 602 of two sides passes through when rotating
Reduction torsion spring 11 plays reset role；Two circular holes of left and right ends are for installing rolling bearing units 14.Fig. 3 (b) is connector 7, even
Fitting 7 is formed by second multi-diameter shaft 701 and one piece of plate sheet welding.Wherein, the second multi-diameter shaft 701 is installed on usheing to seat for shell
In bearing 14, when combined harvester is fallen back, angular transducer 10 and connector 7 can be rotated around the second multi-diameter shaft 701；In thin plate
Between be equipped with a big hole and two small sircle holes, be used for setting angle sensor 10；Thin plate prolongs far from 701 side of the second multi-diameter shaft
Stretching has a square bar 702, square bar 702 when combined harvester works normally from position-limiting action, limited angular sensor 10 is around the
Two multi-diameter shafts 701 rotate down.Fig. 3 (c) is mounting bracket 8, and 8 front and back end of mounting bracket is respectively provided with two circular holes and one second
Cylindrical body 801, side are set there are four circular hole, and the position of two circular holes setting of front and back end guarantees that shell 6 when rotated will not be with
Mounting bracket 8 interferes.Wherein, two circular holes of front and back end are for installing rolling bearing units 14, and the second cylindrical body 801 is for pacifying
Fill reduction torsion spring 11；Four circular holes of side are used to entire mechanical touch sensors 4 being installed on combine harvester header side
Side.Fig. 3 (d) is gauge finder 9, and gauge finder 9 is arch, is made of the narrow thin plate of one section of curved surface and a ring-shaped cylinder, ring-shaped cylinder
It covers in the sensing shaft of angular transducer 10, ring-shaped cylinder is equipped with a circular hole, by holding screw 13 that gauge finder 9 is fixed
On the axis of angular transducer 10.Fig. 3 (e) is reduction torsion spring 11, and 11 intermediate sleeve of reduction torsion spring is multiple on the second cylindrical body 801
Position 11 both ends of torsional spring are stuck on the first cylindrical body 602 of shell 6.Fig. 3 (f) is torsional spring 12, and 12 sets of torsional spring in angular transducer 10
Sensing shaft on, 12 lower end of torsional spring is stuck in 9 upper surface of gauge finder, and 12 liang of ends of torsional spring are stuck in the second multi-diameter shaft of connector 7
701.Torsional spring 12 remains gauge finder 9 and ground face contact for giving gauge finder 9 one power downward always.Combining
Always with ground face contact, 9 bending degree of gauge finder changes gauge finder 9 with surface relief when machine works, and angular transducer 10 is just
9 angle change value of gauge finder can be measured, and then extrapolates cutting height variation.When combined harvester is fallen back, due to gauge finder 9
It will receive along the power on gauge finder direction, angular transducer 10 can be lifted around the rotation of the second multi-diameter shaft 701, to guarantee profiling
Plate 9 stuck will not fracture.It is mechanical since gauge finder 9 is by the lateral force from soil or stalk when combined harvester turns to
Touch sensor can integrally be rotated around the first multi-diameter shaft 601 of shell 6, and mechanical touch sensors are multiple after steering
It is resetted under position torsional spring 11 and gravity.
As shown in figure 4, ultrasonic sensor 2 is installed on inside combined harvester nearside divider 1, combined harvester nearside divider 1
Bottom be not provided with bottom plate, side is not provided with side plate, will not influence ultrasonic sensor work；Inside 1 back plate of nearside divider
L-type mounting plate 15 is installed, ultrasonic sensor 2 is installed on L-type mounting plate 15 by bolt, 2 direction of ultrasonic sensor
Ground setting.
As shown in figure 5, the hydraulic system 5 for adjusting cutting height include hydraulic oil pump, it is overflow valve, proportioning valve, hydraulic
Cylinder, hydraulic cylinder connect forming circuit with hydraulic oil pump by proportioning valve, and in the loop, proportioning valve is according to controller for overflow valve parallel connection
The electric signal of output carries out continuous control to load flow or pressure, and then controlling hydraulic cylinder makes the ceding of Taiwan reach predetermined altitude.
As shown in fig. 6, including the following steps: when combining machine operation
S1: initialization sets the cutting height range and sensor performance parameter and location parameter of permission；
S2: judging whether that driver is needed to be manually operated, high without using combine harvester cutting stubble if being operated manually
Automatic regulating system is spent, is otherwise carried out in next step；
S3: ultrasonic sensor and mechanical touch sensors detect itself terrain clearance, and the signal that will test is defeated
Give controller；
S4: controller receives the signal of two mechanical touch sensors and two ultrasonic sensors, and four are sensed
The signal of device is respectively converted into height for the stubble left value, and rejecting wrong data is the number to differ greatly with last time output height for the stubble left value
According to taking remaining valid data to calculate average value as the current height for the stubble left；Wherein, angle is measured by mechanical touch sensors
The method that value calculates cutting height is as follows:
As shown in fig. 7, cutting height, that is, cutter terrain clearance H, can be acquired by the deformation (2) of formula (1), wherein α is angle
Angle value measured by sensor 10 is spent, h is mechanical touch sensors installation site away from cutter vertical range, and S connects for machinery
For the rotation center of sensing shaft to gauge finder at a distance from ground contact points, h, S are known quantity on touch sensor.
H=S*cos α-h (2)
S5: after calculating the current height for the stubble left, judging whether the current height for the stubble left is setting within the scope of the height for the stubble left, if
The current height for the stubble left then returns to S2 within the scope of the setting height for the stubble left；If the current height for the stubble left is not in setting height for the stubble left model
In enclosing, then carry out in next step；
S6: controller calculates hydraulic cylinder extension amount by current height for the stubble left value, by adjusting proportioning valve driving hydraulic cylinder
Taiwan cut off and landing is controlled, when the current height for the stubble left is greater than setting maximum value, ratio valve core moves to right position, and hydraulic cylinder shortens, the ceding of Taiwan
Decline；When the current height for the stubble left is less than setting minimum value, ratio valve core moves to left position, hydraulic cylinder elongation, and the ceding of Taiwan rises；Its
In, the method for calculating hydraulic cylinder extension amount by current height for the stubble left value is as follows:
It is acquired as shown in fig. 7, hydraulic cylinder extension amount L can be combined by formula (3), (4).Wherein A is that the ceding of Taiwan centre of gyration arrives
The distance of cutter position, B be the ceding of Taiwan centre of gyration to hydraulic cylinder at a distance from ceding of Taiwan contact point, C is the ceding of Taiwan centre of gyration to liquid
The distance of the cylinder pressure centre of gyration, D are the vertical range of the ceding of Taiwan centre of gyration and ground, and E is the length of hydraulic cylinder initial position, γ
For cutter position to the ceding of Taiwan centre of gyration line and hydraulic cylinder and ceding of Taiwan contact point between the line of the ceding of Taiwan centre of gyration
Angle, θ are hydraulic cylinder and ceding of Taiwan contact point to the line of the ceding of Taiwan centre of gyration and the hydraulic cylinder centre of gyration to the ceding of Taiwan centre of gyration
Line between angle, β is the hydraulic cylinder centre of gyration to the line of the ceding of Taiwan centre of gyration and the angle of vertical direction, wherein A,
B, C, D, E, γ, β are known quantity.
(E+L)2=B2+C2-2BCcosθ (4)
The example is the preferred embodiments of the present invention, but present invention is not limited to the embodiments described above.It is not carrying on the back
Under the premise of substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement or
Modification all belongs to the scope of protection of the present invention.
Claims (8)
1. combined harvester cutting height automatic regulating system, which is characterized in that including ultrasonic sensor (2), Mechanical Contact
Formula sensor (4), hydraulic system (5) and controller, mechanical touch sensors (4) are installed on combine harvester header two
Side, and it is located at the rear of cutter (3), the nearside divider (1) that ultrasonic sensor (2) is installed on combined harvester both sides is internal, surpasses
The information of acquisition is transferred to controller by sonic sensor (2) and mechanical touch sensors (4), and controller passes through hydraulic system
(5) ceding of Taiwan height is adjusted.
2. combined harvester cutting height automatic regulating system according to claim 1, which is characterized in that the machinery connects
Touch sensor (4) includes gauge finder (9), angular transducer (10), biography of (9) one end cap of gauge finder in angular transducer (10)
Feel on axis, angular transducer (10) is mounted on the thin plate of connector (7), and the multi-diameter shaft of connector (7) is installed on shell (6)
On, shell (6) is mounted on mounting bracket (8), and thin plate is equipped with square bar, shell (6) and mounting bracket far from the side of multi-diameter shaft
(8) reduction torsion spring (11) are equipped between front and back sides, are cased with torsional spring (12) in the sensing shaft of angular transducer (10).
3. combined harvester cutting height automatic regulating system according to claim 2, which is characterized in that the shell
(6) front and back end sets two first cylindrical bodies (602), and mounting bracket (8) front and back end is equipped with the second cylindrical body (801), reduction torsion spring
(11) intermediate to be mounted on the second cylindrical body (801), both ends are stuck on the first cylindrical body (602) of shell (6).
4. combined harvester cutting height automatic regulating system according to claim 2, which is characterized in that the torsional spring
(12) lower end is stuck in gauge finder (9) upper surface, and two ends are stuck on the multi-diameter shaft of connector (7).
5. combined harvester cutting height automatic regulating system according to claim 2, which is characterized in that the gauge finder
It (9) is the narrow thin plate of bowed curved surface.
6. combined harvester cutting height method for automatically regulating, which is characterized in that ultrasonic sensor and mechanical contact sensing
Device detects itself terrain clearance, and is conveyed to controller, and received signal is converted to height for the stubble left value by controller, calculates effective
The average value of data judges the current height for the stubble left whether within the scope of the setting height for the stubble left, if not as the current height for the stubble left
, controller calculates hydraulic cylinder extension amount by current height for the stubble left value, pass through adjust proportioning valve driving hydraulic cylinder control the ceding of Taiwan
Lifting.
7. combined harvester cutting height method for automatically regulating according to claim 6, which is characterized in that the machinery connects
The result of touch sensor detection is converted to the formula of the height for the stubble left are as follows: H=S*cos α-h, wherein α measures for angular transducer
Angle value, H be cutter terrain clearance, h be mechanical touch sensors installation site away from cutter vertical range, S connects for machinery
The rotation center of sensing shaft is to gauge finder at a distance from ground contact points on touch sensor.
8. combined harvester cutting height method for automatically regulating according to claim 6 or 7, which is characterized in that the liquid
The formula of cylinder pressure stroke are as follows:Wherein A is ceding of Taiwan revolution
Center to cutter position distance, B be the ceding of Taiwan centre of gyration to hydraulic cylinder with ceding of Taiwan contact point at a distance from, C for the ceding of Taiwan turn round in
The heart is to the distance of the hydraulic cylinder centre of gyration, and D is the vertical range of the ceding of Taiwan centre of gyration and ground, and E is hydraulic cylinder initial position
Length, γ are line and hydraulic cylinder and the line of ceding of Taiwan contact point to the ceding of Taiwan centre of gyration of the cutter position to the ceding of Taiwan centre of gyration
Between angle, θ is hydraulic cylinder and ceding of Taiwan contact point to the line of the ceding of Taiwan centre of gyration and the hydraulic cylinder centre of gyration to the ceding of Taiwan time
Turn the angle between the line at center, β is the hydraulic cylinder centre of gyration to the line of the ceding of Taiwan centre of gyration and the angle of vertical direction.
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| CN201910389103.4A CN110235601B (en) | 2019-05-10 | 2019-05-10 | Automatic stubble cutting height regulating system and method for combine harvester |
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| CN201910389103.4A CN110235601B (en) | 2019-05-10 | 2019-05-10 | Automatic stubble cutting height regulating system and method for combine harvester |
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| CN110235601B CN110235601B (en) | 2021-09-10 |
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