CN110637609A - Header height adjusting device of full-automatic ensiling equipment and control method - Google Patents
Header height adjusting device of full-automatic ensiling equipment and control method Download PDFInfo
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- CN110637609A CN110637609A CN201910973168.3A CN201910973168A CN110637609A CN 110637609 A CN110637609 A CN 110637609A CN 201910973168 A CN201910973168 A CN 201910973168A CN 110637609 A CN110637609 A CN 110637609A
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- height
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D47/00—Headers for topping of plants, e.g. stalks with ears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- Engineering & Computer Science (AREA)
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- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention provides a header height adjusting device and a control method of full-automatic ensiling equipment, which comprises a header body, a stubble height profiling device, a hydraulic system and a control system, wherein the header body comprises: header, high detection device, upper bracket frame, lower carriage, pneumatic cylinder, high profile modeling device includes: lifting slide, spout, slide bar, reset spring, rotary rod, location shelves pole, locating pin a, touch land wheel, locating pin b, sensor, hydraulic system include: hydraulic tank, hydraulic motor, overflow valve, throttle check valve, balanced valve, solenoid directional valve, pneumatic cylinder, control system includes: height sensor, touch-sensitive screen, PLC, intermediate circuit, solenoid valve. The invention belongs to the technical field of agricultural machinery manufacturing, is convenient to use, has a severe environment when a distance measuring sensor works on a header, can provide a good working environment for the sensor through the height profiling device, improves the measuring precision and prolongs the service life of the sensor.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a cutting table height adjusting device and a control method of full-automatic ensiling equipment.
Background
The straw resources in China are very rich, the animal husbandry develops quickly, and the manufacture of the straw into the farming and animal husbandry feed is a direction of sustainable development. The results header that current ensiling was equipped is mostly manual control, through the manual regulation header height, the operation is complicated, the precision is low, the stubble height that stays of crops has very big influence to the agricultural production of next season and the straw utilization in season, in equipping the course of the work, the driver need operate whole platform machine, the height of header is taken into account to the flawless, when working on the topography of some unevenness, it is complicated to stay the highly regulated of stubble, to the header of current automatically regulated height, also very big difficulty, the regulation precision is low, and the header of current automatically regulated height, its operational environment is abominable, sensor measurement accuracy is low and the life-span is short.
Disclosure of Invention
The invention aims to provide a device and a control method for monitoring the height of a header and automatically adjusting the height of the header in real time by using full-automatic ensiling equipment, aiming at the defects.
The technical scheme adopted for solving the technical problems is as follows: a header height adjusting device and a control method of full-automatic ensiling equipment comprise a header body, a stubble height profiling device, a hydraulic system and a control system; the header body includes: the cutting table comprises a cutting table 1, a height profiling device 10, an upper supporting rod 11, a lower supporting rod 12 and a hydraulic cylinder 13; the stubble height profiling device comprises: the device comprises a lifting sliding plate 14, a return spring 15, a sliding rod 16, a rotating rod 17, a sliding groove 18, a positioning gear lever 19, a positioning pin a20, a ground contact wheel 21, a positioning pin b22 and a sensor 23; the hydraulic system comprises: the hydraulic cylinder 13, the balance valve 24, the electromagnetic directional valve 26, the throttle check valve 27, the overflow valve 28, the hydraulic pump 29 and the hydraulic tank 30; the control system includes: the height sensor 23, a touch screen, a PLC, an intermediate line and an electromagnetic valve; the power of a hydraulic system of the device is from a tractor fuel machine, a power supply of a control system is a tractor storage battery, the working principle of the device is that the height of the header 1 is detected through a height profiling device 10, the hydraulic system is controlled through the control system to drive a header bracket to complete the height adjustment of the header 1 according to requirements, a ground contact wheel 21 contacts the ground, the distance between a sliding pin and a positioning pin a20 is equal to the distance between a positioning pin a20 and a positioning pin b22, when the height of the header 1 changes, the ground contact wheel 21 drives a rotating rod 17 to rotate, the rotating rod 17 drives a sliding rod 16 to move, the sliding rod 16 slides in a sliding groove 18 to drive a lifting sliding plate 14 to move up and down, the vertical distance between the lifting sliding plate 14 and the bottom of the header 1 is equal to the vertical distance between the bottom of the header 1 and the positioning pin b22, the vertical distance between the positioning pin b22 and the ground is compensated through the placement position, and the height range is 50-150mm, the PLC performs operation and analysis, if the height range is 50-150mm, no action is required, if the height range is not 50-150mm, the PLC sends an instruction to the electromagnetic valve according to the requirement, the height of the header 1 is adjusted through the action of the hydraulic cylinder 13, and the action is stopped when the height range is 50-150 mm.
The header 1 is arranged at the head of the ensiling equipment and is connected to a frame of the tractor 3 through an upper support rod 11 and a lower support rod 12;
the height profiling device 10 is arranged on the right side of the header 1, and the height is adjusted through a hydraulic system;
the hydraulic system is a part of the hydraulic system of the whole ensiling equipment and is controlled by a control system of the whole ensiling equipment;
the control system is a sub-control system of the complete machine control system of the ensiling equipment;
the automatic height adjusting device completes the automatic header height adjusting action through the hydraulic system, the control system and the height profiling device, the height profiling device provides a good working environment for the sensor, the measuring precision is improved, and the service life of the sensor is prolonged;
the upper support rod 11 and the lower support rod 12 are connected with the tractor 3 and the header 1 through spherical hinges;
the hydraulic cylinder 13 is connected with the lower support rod 12 and the tractor 3 through a spherical hinge, and the hydraulic cylinder 13 assists in adjusting the height of the header;
a straight notch is formed in the middle of the lifting sliding plate 14, and a rotating rod 17 is fixed;
the positioning pin a20 is installed in the middle of the rotating rod 17.
Drawings
Fig. 1 is a schematic overall structure diagram of a fully-automatic ensiling facility.
Fig. 2 is a schematic structural diagram of the header.
Fig. 3 is a schematic structural diagram of a header height profiling device.
Fig. 4 is a schematic view of a pneumatic system.
Fig. 5 is a schematic diagram of a control system.
Fig. 6 is a header height control flow chart.
In the figure: the device comprises a header 1, a throwing barrel 2, a tractor 3, a storage box 4, a control system integration box 5, a hydraulic system integration box 6, a bundling machine 7, a lifting frame 8, a film coating machine 9, a high profiling device 10, an upper supporting rod 11, a lower supporting rod 12, a hydraulic cylinder 13, a lifting sliding plate 14, a return spring 15, a sliding rod 16, a rotating rod 17, a sliding chute 18, a positioning stop rod 19, a positioning pin a, a ground contact wheel 21, a positioning pin b22, a height sensor 23, a balance valve 24, a hydraulic pipe 25, an electromagnetic reversing valve 26, a throttling check valve 27, an overflow valve 28, a hydraulic pump 29 and a hydraulic box 30.
Detailed Description
The height adjusting device and the control method of the fully automatic header of the ensiling equipment of the present invention are described in detail below with reference to the accompanying drawings 1 to 6 of the specification.
As shown in figure 1, the full-automatic ensiling equipment is installed on a tractor 3, the tractor 3 starts in the reverse direction during working, a cutting table 1 is installed at the tail of the tractor 3, a throwing cylinder 2 is installed on the cutting table 1, the throwing cylinder 2 sends ensiling straws collected by the cutting table 1 to a storage box 4, a conveying belt in the storage box 4 conveys the straws to a bundling machine 7 according to requirements, the bales are sent to a film wrapping machine 10 after bundling is completed, the film wrapping machine 10 drives a film frame 9 to wrap the films, the bales are thrown to the ground through a lifting frame 8 after the film wrapping is completed, a control system of the whole equipment is integrated in a control system integration box 5, and an air pressure system is integrated in an air pressure system integration box 6.
As shown in fig. 2, a fully automatic ensiling rig header apparatus, the header body comprising: the height of the header 1 is detected through the height profiling device 10, and then the support frame 12 is driven to move through the hydraulic cylinder 13, so that the height of the header 1 is adjusted.
As shown in fig. 3, a stubble height profiling device of a cutting platform of a full-automatic ensiling equipment comprises: 14 lifting slide plates, 15 return springs, 16 sliding rods, 17 rotating rods, 18 sliding chutes, 19 positioning shift rods, 20 positioning pins a, 21 ground contact wheels and 22 positioning pins b, 23 sensors.
As shown in fig. 4, a hydraulic system of a header height adjusting device of a full-automatic ensiling equipment is integrated in a hydraulic integration box 6, and the working process of the hydraulic system is as follows: the hydraulic pump 29 is installed in the tractor 3, the hydraulic pump 29 sucks hydraulic oil from the hydraulic tank 30, compresses and pressurizes the hydraulic oil, the relief valve 28 is installed in the hydraulic system, and the pressurized hydraulic oil is sent to the inlet of the electromagnetic valve 26 through the hydraulic oil pipe 25, sent to the balance valve 24 through the electromagnetic valve 26 and the one-way throttle valve 27, and then sent to the hydraulic cylinder 13.
As shown in fig. 5, a control system of a header height adjusting device of a full-automatic ensiling equipment, the working process of the control system is as follows: height sensor 23, operable touch screen, main control PLC, intermediate circuit, solenoid valve 26.
As shown in fig. 6, a control flow chart of a header height adjusting device of a full-automatic ensiling equipment detects the height of a header 1 through a sensor 23, a PLC judges whether the height is within a height range of 50-150mm, if not, judges whether the height of the header 1 is within the height range of 50-150mm, if so, the header 1 descends, if not, the header 1 ascends, and the sensor 23 monitors in real time and circulates the flow until the height of the header 1 is within a reasonable range.
When the header 1 works, the ground contact wheel 21 contacts the ground, the distance between the sliding pin 16 and the positioning pin a20 is equal to the distance between the positioning pin a20 and the positioning pin b22, when the height of the header 1 changes, the ground contact wheel 21 drives the rotating rod 17 to rotate, the rotating rod 17 drives the sliding rod 16 to move, the sliding rod 16 slides in the sliding groove 18 and drives the sliding plate 14 to move up and down, the vertical distance between the sliding plate 14 and the bottom of the header 1 is equal to the vertical distance between the bottom of the header 1 and the positioning pin b22, the vertical distance between the positioning pin b22 and the ground is compensated through the placement position of the height sensor 23, the height sensor 23 monitors that the distance between the height sensor and the lifting sliding plate 14 is equal to the distance between the bottom of the header 1 and the ground, the height range is 50-150mm, the PLC performs calculation and analysis, if the height range is 50-150mm, the height of the header 1 is adjusted through the action of the hydraulic cylinder 13, the header is judged to meet the height range of 50-150mm, and the header stops acting.
The above description is only an embodiment of the present invention, and those skilled in the art should also be able to cover the scope of the present invention within the scope of the present invention as long as the technical solution for achieving the object of the present invention by substantially the same means.
Claims (2)
1. A header height adjusting device and a control method of full-automatic ensiling equipment are characterized in that: the cutting table comprises a cutting table body, a stubble height profiling device, a hydraulic system and a control system; the header body includes: the cutting table (1), a height profiling device (10), an upper supporting rod (11), a lower supporting rod (12) and a hydraulic cylinder (13); the stubble height profiling device comprises: the device comprises a lifting sliding plate (14), a return spring (15), a sliding rod (16), a rotating rod (17), a sliding chute (18), a positioning stop lever (19), a positioning pin a (20), a ground contact wheel (21), a positioning pin b (22) and a sensor (23); the hydraulic system comprises: the hydraulic system comprises a hydraulic cylinder (13), a balance valve (24), an electromagnetic directional valve (26), a throttling one-way valve (27), an overflow valve (28), a hydraulic pump (29) and a hydraulic tank (30); the control system includes: the height sensor (23), the touch screen, the PLC, the intermediate line and the electromagnetic valve; the power of a hydraulic system of the device is from a tractor fuel machine, a power supply of a control system is a tractor storage battery, the working principle of the device is that the height of a header (1) is detected through a height profiling device (10), the hydraulic system is controlled to drive a header bracket to complete the height adjustment of the header (1) through the control system according to requirements, a ground contact wheel (21) contacts the ground in the working process, the distance between a sliding pin and a positioning pin a (20) is equal to the distance between the positioning pin a (20) and a positioning pin b (22), when the height of the header (1) changes, the ground contact wheel (21) drives a rotary rod (17) to rotate, the rotary rod (17) drives a sliding rod (16) to move, the sliding rod (16) slides in a sliding groove (18) to drive a lifting sliding plate (14) to move up and down, the vertical distance between the lifting sliding plate (14) and the bottom of the header (1) is equal, the vertical distance between a positioning pin b (22) and the ground is compensated through the placement position of a height sensor (23), the height sensor (23) monitors that the distance between the height sensor (23) and a lifting sliding plate (14) is equal to the distance between the bottom of a header (1) and the ground, the height range is 50-150mm, PLC performs operation analysis, if the height range is 50-150mm, no action is needed, if the height range is not 50-150mm, the PLC sends an instruction to an electromagnetic valve according to requirements, the height of the header (1) is adjusted through the action of a hydraulic cylinder (13), the height range is judged to be 50-150mm, and the action is stopped.
2. The header height adjusting device and the control method of the full-automatic ensiling equipment according to claim 1 are characterized in that the header (1) is mounted at the head of the ensiling equipment and is connected to a frame of a tractor (3) through an upper support rod (11) and a lower support rod (12); the height profiling device (10) is arranged on the right side of the header (1) and is used for adjusting the height through a hydraulic system; the hydraulic system is a part of the hydraulic system of the whole ensiling equipment and is controlled by a control system of the whole ensiling equipment; the control system is a sub-control system of the complete machine control system of the ensiling equipment; the automatic height adjusting device completes the automatic header height adjusting action through the hydraulic system, the control system and the height profiling device, the height profiling device provides a good working environment for the sensor, the measuring precision is improved, and the service life of the sensor is prolonged; the upper supporting rod (11) and the lower supporting rod (12) are connected with the tractor (3) and the header (1) through spherical hinges; the hydraulic cylinder (13) is connected with the lower support rod (12) and the tractor (3) through a spherical hinge, and the hydraulic cylinder (13) assists in adjusting the height of the header; a straight notch is formed in the middle of the lifting sliding plate (14) and a rotating rod (17) is fixed; the positioning pin a (20) is arranged in the middle of the rotating rod (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910973168.3A CN110637609B (en) | 2019-10-14 | 2019-10-14 | Full-automatic silage equipment header height adjusting device and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910973168.3A CN110637609B (en) | 2019-10-14 | 2019-10-14 | Full-automatic silage equipment header height adjusting device and control method |
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| CN110637609A true CN110637609A (en) | 2020-01-03 |
| CN110637609B CN110637609B (en) | 2023-06-20 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113383644A (en) * | 2021-05-27 | 2021-09-14 | 山拖农机装备有限公司 | Automatic control device for reducing header loss for wheat harvester and control method thereof |
| CN113892349A (en) * | 2021-11-03 | 2022-01-07 | 唐山鑫万达实业股份有限公司 | Large-scale silage harvester header and power transmission method thereof |
| CN112268726B (en) * | 2020-10-27 | 2022-06-10 | 黑龙江省农业机械工程科学研究院 | Test device for detecting ground posture of header |
| CN117716880A (en) * | 2024-02-07 | 2024-03-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112268726B (en) * | 2020-10-27 | 2022-06-10 | 黑龙江省农业机械工程科学研究院 | Test device for detecting ground posture of header |
| CN113383644A (en) * | 2021-05-27 | 2021-09-14 | 山拖农机装备有限公司 | Automatic control device for reducing header loss for wheat harvester and control method thereof |
| CN113383644B (en) * | 2021-05-27 | 2022-07-08 | 山拖农机装备有限公司 | Automatic control device for reducing header loss for wheat harvester and control method thereof |
| CN113892349A (en) * | 2021-11-03 | 2022-01-07 | 唐山鑫万达实业股份有限公司 | Large-scale silage harvester header and power transmission method thereof |
| CN117716880A (en) * | 2024-02-07 | 2024-03-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
| CN117716880B (en) * | 2024-02-07 | 2024-04-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
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| CN110637609B (en) | 2023-06-20 |
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