CN111436276A - Header profiling system and control method thereof - Google Patents
Header profiling system and control method thereof Download PDFInfo
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- CN111436276A CN111436276A CN202010252973.XA CN202010252973A CN111436276A CN 111436276 A CN111436276 A CN 111436276A CN 202010252973 A CN202010252973 A CN 202010252973A CN 111436276 A CN111436276 A CN 111436276A
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- header
- height
- lifting
- control unit
- profiling system
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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
- A01D41/14—Mowing tables
- A01D41/145—Header lifting devices
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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
- A01D41/14—Mowing tables
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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
- A01D41/14—Mowing tables
- A01D41/141—Automatic header control
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
A header profiling system and a control method thereof relate to the technical field of agricultural machinery, and the control method of the header profiling system comprises the steps of starting an automatic control unit; in the moving process of the header, the header floats up and down under the action of the hydraulic energy accumulator; detecting the height of the header; when the height of the header rises to the triggering height, the lifting driving mechanism is started, and the lifting driving mechanism drives the header to rise to the stopping height; after the time is delayed for setting the time T1, the lifting driving mechanism drives the header to descend to the working height; the working height is less than the triggering height. The header profiling system applies the control method. According to the header profiling system and the control method thereof, the automatic lifting mechanism assists the hydraulic energy accumulator to control the header to take off and land, so that the header profiling capability is better, and the header can still return to the working height after avoiding the obstacle with larger size.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a header profiling system and a control method thereof.
Background
When the cutting table of the harvester, particularly a low stubble harvester, encounters an obstacle in the moving process, the cutting table profiling system controls the cutting table to move away from the obstacle, so that the harvester is prevented from being incapable of moving continuously at the obstacle due to the clamping of the cutting table.
At present, a header profiling system utilizes a hydraulic energy storage device and an energy storage device switch valve to enable hydraulic energy of a hydraulic energy storage device to act on a header lifting oil cylinder when working, so that the header can be automatically profiled and raised for a certain distance when encountering an obstacle in the working process, and the header profiling system avoids the field undulating ground.
If the obstacle with larger size needs to be avoided, the pressure of the hydraulic energy accumulator needs to be increased, however, when the pressure of the hydraulic energy accumulator is adjusted to be too high, the profiling capability of the header is increased, the header is easy to profile and rise, but after the header rises, the supporting force of the header and the oil cylinder forms balance at a new position due to the change of the supporting moment of the oil cylinder of the header, so that the header cannot be lowered to the working height again, and the use of the header is influenced.
Disclosure of Invention
The invention aims to provide a header profiling system and a control method thereof, which can control the header to take off and land through an automatic lifting mechanism to assist a hydraulic energy accumulator, so that the header profiling capability is better, and the header profiling system can still return to the working height after avoiding a barrier with a larger size.
The invention is realized by the following steps:
a method of controlling a header profiling system, comprising:
starting an automatic control unit;
in the moving process of the header, the header floats up and down under the action of a hydraulic energy accumulator;
detecting the height of the header;
when the height of the header rises to a trigger height, a lifting driving mechanism is started, and the lifting driving mechanism drives the header to rise to a stop height;
after the time delay is set for time T1, the header is driven by the lifting driving mechanism to descend to a working height, wherein the working height is smaller than the triggering height.
In a possible embodiment, the process of detecting the height of the header is realized by detecting an angle α between a set position of the header and a horizontal plane through an angle sensor connected with the set position of the header, and converting the relative height of the header through the angle α.
In a possible implementation, the process of the lifting driving mechanism driving the header to ascend is specifically:
and a lifting electromagnetic valve is switched on, oil enters a lifting oil cylinder, the lifting oil cylinder swings to enable the position of the header connected with the lifting oil cylinder to be lifted, and when the height of the header reaches the final height, the lifting electromagnetic valve is switched off.
In a possible embodiment, the process of the header descending driven by the lifting driving mechanism is as follows:
the descending electromagnetic valve is connected, oil flows out of the lifting oil cylinder, the lifting oil cylinder swings to enable the position of the header connected with the lifting oil cylinder to be lowered, and when the height of the header reaches the working height, the descending electromagnetic valve is disconnected.
In one possible implementation, the delay setting time T1 is 500ms to 1500 ms.
In a possible embodiment, further comprising: and inputting the triggering height and the terminating height through a human-computer interaction terminal.
In a possible embodiment, a manual control unit is also included;
after the manual control unit is started, the automatic control unit is closed, and the height of the header is controlled through a manual control piece of the manual control unit;
and after the manual control unit is closed, the automatic control unit is started.
In one possible embodiment, after the manual control unit is turned on,
when the lifting solenoid valve is turned on by the manual control unit, an on-off valve of the hydraulic accumulator is opened, so that pressure oil enters the hydraulic accumulator;
when the manual control unit sends an instruction for switching on the descending electromagnetic valve, the switch valve of the hydraulic accumulator is closed, and the descending electromagnetic valve is opened after the set time T2 is delayed;
and after the header is lowered to the working height, closing the descending electromagnetic valve, and opening a switch valve of the hydraulic accumulator after T2 is delayed for a set time.
The header profiling system comprises a header and an automatic control unit, wherein the automatic control unit comprises a lifting driving mechanism, a hydraulic energy accumulator, an automatic control mechanism and a sensing mechanism, the header is connected with the lifting driving mechanism, the lifting driving mechanism is connected with the hydraulic energy accumulator, and the sensing mechanism is used for detecting the height of the header; the automatic control mechanism is respectively connected with the lifting driving mechanism and the sensing mechanism, and is used for moving the header upwards to the stopping height through the lifting driving mechanism when the header rises to the triggering height under the action of the hydraulic accumulator, and moving the header downwards after the delay set time T1 so that the header reaches the working height.
In a possible embodiment, the header further comprises a manual control unit comprising a manual control connected with the lifting drive mechanism for controlling the header lifting movement by the lifting drive mechanism.
The beneficial effects of the invention at least comprise:
the header profiling system and the control method thereof are applied to the combine harvester, in the using process, the header is located at the working height and moves along with the movement of the combine harvester, when the header passes through a road section with slight fluctuation in a field, the header automatically moves upwards under the action of the hydraulic energy accumulator to avoid obstacles, and after the header moves to the position without the obstacles, the header automatically moves downwards under the action of the gravity of the header and the hydraulic energy accumulator, so that the header returns to the working height. When the road surface barrier is great, the header is great at the upward movement of hydraulic accumulator's effect down for when the height of header reaches the trigger height, lift actuating mechanism starts, and lift actuating mechanism drives the header and continues to rise, and is up to the termination height. The header stays at the termination height for a set time to wait for the combine to walk over the position of the obstacle so that the header avoids the obstacle. Then the lifting driving mechanism drives the header to descend and finally return to the working height of the header.
In the area with smaller obstacle size, the header adjusts the height through the hydraulic accumulator to avoid the obstacle; in the area with larger size of the obstacle, the header is adjusted in height by the lifting driving mechanism to avoid the obstacle. So set up, need not to improve the profile modeling ability of header through the pressure that increases hydraulic accumulator, still can get back to working height after avoiding the great barrier of size.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a control flow chart of an automatic control unit in a control method of a header profiling system provided by an embodiment of the invention;
fig. 2 is an assembly view of a header, a lifting drive mechanism and an angle sensor in the header profiling system provided by the embodiment of the invention;
fig. 3 is a first hydraulic flow path diagram of a header profiling system provided by an embodiment of the invention;
fig. 4 is a second hydraulic flow path diagram of a header profiling system provided by an embodiment of the invention;
fig. 5 is a hydraulic schematic diagram of a header profiling system provided by an embodiment of the invention;
fig. 6 is an electrical schematic diagram of a header profiling system provided by an embodiment of the invention.
In the figure:
1-a cutting table; 2-a hydraulic oil cylinder; 3-a hydraulic accumulator; 4-accumulator switching valve; 5-hydraulic control one-way valve; 6-lifting electromagnetic valve; 7-a safety overflow valve; 8-an angle sensor; 9-mounting a bracket; 10-power oil circuit; 11-return oil circuit; 12-a single chip microcomputer; 13-a power supply; 14-a fuse; 15-a potentiometer; 16-manual up switch; 17-a manual down switch; 18-a human-computer interaction terminal; 19-one-way throttle valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or the orientations or positional relationships that the products of the present invention are conventionally placed in when in use, and are merely used to facilitate the description of the present invention and to simplify the description, and do not indicate or imply that the header profiling system or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; 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.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
First embodiment
Referring to fig. 1, the present embodiment provides a method for controlling a header profiling system, including:
starting an automatic control unit;
in the moving process of the header, the header floats up and down under the action of the hydraulic energy accumulator;
detecting the height of the header;
when the height of the header rises to the triggering height, the lifting driving mechanism is started, and the lifting driving mechanism drives the header to rise to the stopping height;
after the time is delayed for setting the time T1, the lifting driving mechanism drives the header to descend to the working height;
the working height is less than the triggering height.
The header profiling system and the control method thereof are applied to the combine harvester, the header is at the working height in the using process, the header moves along with the movement of the combine harvester, when the header passes through a section with slight fluctuation in the field, the header automatically moves upwards under the action of the hydraulic energy accumulator to avoid obstacles, and after the header moves to the place without obstacles, the header automatically moves downwards under the action of the gravity of the header and the hydraulic energy accumulator, so that the header returns to the working height. When the road surface barrier is great, the header is great at the upward movement of hydraulic accumulator's effect down for when the height of header reaches the trigger height, lift actuating mechanism starts, and lift actuating mechanism drives the header and continues to rise, and is up to the termination height. The header stays at the termination height for a set time to wait for the combine to walk over the position of the obstacle so that the header avoids the obstacle. Then the lifting driving mechanism drives the header to descend and finally return to the working height of the header.
In the area with smaller obstacle size, the header adjusts the height through the hydraulic accumulator to avoid the obstacle; in the area where the obstacle size is large (the distance between the highest point of the obstacle and the ground is larger than the triggering height of the header), the header is adjusted in height by the lifting drive mechanism to avoid the obstacle.
Specifically, detect the high accessible angle sensor of header, angle sensor installs on the header, header and lift actuating mechanism's hydraulic cylinder connection, and hydraulic cylinder takes place to swing when flexible to make the altitude variation of header, and angle sensor's on the header angle also changes, therefore the height of header is converted out to the angle of accessible angle sensor.
In a feasible implementation scheme, the process of detecting the height of the header specifically comprises the steps of detecting an angle α between a set position of the header and a horizontal plane through an angle sensor connected with the set position of the header, and converting the height of the header through an angle α.
Specifically, the lift driving mechanism includes a lift cylinder and a lift solenoid valve including a lift solenoid valve and a lower solenoid valve. The lifting oil cylinder can directly drive the cutting table to move up and down when stretching, or two ends of the lifting oil cylinder are respectively hinged with the frame and the cutting table of the combine harvester, and specifically, the lifting oil cylinder is hinged with the edge area of the top surface or the bottom surface of the cutting table. The lifting oil cylinder drives the header to swing relative to the frame when the header is telescopic, so that the height of the header is changed. When the lifting electromagnetic valve is opened, the header is moved upwards by the lifting oil cylinder so as to lift the height of the header; when the descending electromagnetic valve is opened, the header is moved downwards by the lifting oil cylinder so as to reduce the height of the header.
In a feasible implementation scheme, the process that the lifting driving mechanism drives the header to ascend specifically comprises the following steps:
and the lifting electromagnetic valve is switched on, the lifting oil cylinder enables the position of the header connected with the lifting oil cylinder to be lifted, and when the height of the header reaches the final height, the lifting electromagnetic valve is switched off.
The process that the header descends is driven by the lifting driving mechanism:
the descending electromagnetic valve is connected, the lifting oil cylinder enables the position of the cutting table connected with the lifting oil cylinder to be lowered, and when the height of the cutting table reaches the working height, the descending electromagnetic valve is disconnected.
When the lift cylinder swings to drive the header to lift, the lift driving mechanism drives the header to rise, and the process specifically comprises the following steps:
and when the height of the header reaches the final height, the lifting electromagnetic valve is switched off.
The process that the header descends is driven by the lifting driving mechanism:
the descending electromagnetic valve is connected, oil flows out of the lifting oil cylinder, the lifting oil cylinder swings reversely to enable the position of the header connected with the lifting oil cylinder to be lowered, and when the height of the header reaches the working height, the descending electromagnetic valve is disconnected.
After the lifting electromagnetic valve is disconnected, the descending electromagnetic valve is opened after the time delay setting time is needed, so that the header stays for a certain time at the stopping height to avoid the obstacles.
In one possible embodiment, the delay setting time T1 is 500ms to 1500 ms. For example, the delay setting time may be 500ms, 1000ms, 1200ms, or 1500 ms.
Preferably, the delay setting time is 1000 ms.
It should be noted that the working height is a height at which the header normally operates, and a certain error is allowed to exist in the final staying working height of the header, that is, for example, when the optimal value of the working height is X, a certain error Y is allowed to exist, and when the final height of the header is smaller than X + Y and larger than X-Y, it can be determined that the header enters the working height. Alternatively, the working height is directly set to a certain interval, for example, the working height ranges from X-Y to X + Y, and the working heights are all within the range.
As shown in fig. 1, the process of controlling the header to ascend and descend by the automatic control unit specifically includes:
the height of the header is detected, when the height of the header reaches a trigger height (or is higher than the trigger height), the lifting electromagnetic valve is switched on, the hydraulic oil cylinder of the lifting driving mechanism drives the header to ascend, and when the height of the header reaches a termination height (or is higher than the termination height), the lifting electromagnetic valve is switched off, and the header stops at the current height (at the moment, the height of the header is more than or equal to the termination height). And after the time is set in a delayed manner, after the header avoids the obstacle, the descending electromagnetic valve is switched on, the hydraulic oil cylinder of the lifting driving mechanism drives the header to descend until the absolute value of the difference value between the height of the header and the working height is smaller than or equal to a set error (namely the distance between the height of the header and the working height is within a set error range), the descending electromagnetic valve is switched off, and the adjusting process is finished.
In a preferred embodiment, the trigger height and the termination height are entered via a Human Machine Interface (HMI). So set up, the operator can be according to the demand by oneself through the input of human-computer interaction terminal trigger height and termination height, lift actuating mechanism's intervention height promptly to and the final height of raising of header sets for according to the actual ground condition for the operator, can adjust header floating performance in a flexible way, avoids little undulation ground to make the height of automatic control unit constantly reciprocating motion regulation header.
In a preferred embodiment, the header profiling system further comprises a manual control unit; at this moment, the control method of the header profiling system further comprises a mode of controlling the header to ascend and descend through a manual control unit, specifically:
after the manual control unit is started, the automatic control unit is closed, and the height of the header is controlled through a manual control piece of the manual control unit;
after the manual control unit is closed, the automatic control unit is opened.
The process of controlling the header to ascend and descend through the manual control unit is as follows:
when the header is controlled to ascend through the manual control unit, the manual control piece is started, the ascending electromagnetic valve is started through the manual control piece, and the ascending and descending driving mechanism drives the header to move upwards; when the header is controlled to descend through the manual control unit, the manual control piece enables the descending electromagnetic valve to be opened, and the lifting driving mechanism drives the header to move downwards.
Further, after the manual control unit is started, when the lifting electromagnetic valve is started through the manual control unit, the switch valve of the hydraulic accumulator is opened, so that pressure oil enters the hydraulic accumulator;
when the manual control unit sends an instruction for starting the descending electromagnetic valve, the switch valve of the energy accumulator is closed, and the descending electromagnetic valve is opened after the time T2 is set in a delayed mode;
after the header is lowered to the working height, the descending electromagnetic valve is closed, and the switch valve of the hydraulic accumulator is opened after the time T2 is set in a delayed mode.
The delay setting time T2 may be 80 ms-150 ms, for example, T2 is 80ms, 100ms, 135ms, or 150 ms. Preferably, the delay setting time T2 is a delay of 100 ms.
The manual control unit is provided with a manual control piece which can be a rocker, a pull rod, a key, a knob and other structures, and the lifting of the header is controlled by the manual control piece. The manual control unit is mostly used for the oversize preceding barrier, and the operator judges that can make the header better avoid the outdated use through manual operation. For example, the manual control element is a key, and specifically includes an ascending key and a descending key, after the operator presses the ascending key, the automatic control unit is closed, the ascending solenoid valve is opened, so that the ascending driving mechanism drives the header to move upward, if the operator presses the ascending key for a long time, the header continues to move upward, and after the header moves to a position where the operator considers that the obstacle can be avoided, the operator releases the ascending key, the ascending solenoid valve is closed, the header stops ascending, and stays at the current position. The header gradually avoids the obstacles along with the movement of the combine harvester, after an operator confirms that the header avoids the obstacles, the operator presses the descending key, the descending electromagnetic valve is started, the header moves downwards until the header moves to the working height, the descending electromagnetic valve is automatically closed, and the header suspends at the working height.
Second embodiment
As shown in fig. 2 to 6, the present embodiment provides a header 1 profiling system to which the control method of the header 1 profiling system provided in the first embodiment described above is applied. The header 1 profiling system comprises a header 1 and an automatic control unit, the automatic control unit comprises a lifting driving mechanism, a hydraulic energy accumulator 3, an automatic control mechanism and a sensing mechanism, the header 1 is connected with the lifting driving mechanism, the lifting driving mechanism is connected with the hydraulic energy accumulator 3, and the sensing mechanism is used for detecting the height of the header 1; the automatic control mechanism is respectively connected with the lifting driving mechanism and the sensing mechanism, and is used for moving the header 1 upwards to the stopping height through the lifting driving mechanism when the header 1 rises to the triggering height under the action of the hydraulic energy accumulator 3, and moving the header 1 downwards after the delay set time T1 so that the header 1 reaches the working height.
Further, the header 1 profiling system further comprises a human-computer interaction terminal 18, the human-computer interaction terminal 18 is connected with the automatic control mechanism, and the human-computer interaction terminal 18 is used for inputting the triggering height and the terminating height of the mobile header 1 to the automatic control mechanism.
The lifting driving mechanism is provided with a lifting electromagnetic valve 6, the lifting electromagnetic valve 6 can have a lifting position and a descending position, or the lifting electromagnetic valve 6 comprises a lifting electromagnetic valve and a descending electromagnetic valve, and the automatic control mechanism is respectively connected with the lifting electromagnetic valve and the descending electromagnetic valve.
The automatic control mechanism can be a single chip microcomputer 12, a P L C automatic control device and the like, as shown in FIG. 6, when the automatic control mechanism is the single chip microcomputer 12, the lifting electromagnetic valve 6, the man-machine interaction terminal 18 and the energy accumulator switch valve 4 of the hydraulic energy accumulator 3 are respectively connected to the input port of the single chip microcomputer 12, in addition, the single chip microcomputer 12 is further connected with a power supply 13, a fuse 14 is arranged on a passage of the single chip microcomputer 12 connected with the power supply 13, and the single chip microcomputer 12 is further connected with a potentiometer 15.
In a possible embodiment, the header further comprises a manual control unit, wherein the manual control unit comprises a manual control part, the manual control part is connected with the lifting driving mechanism, and the manual control part is used for controlling the header 1 to move up and down through the lifting driving mechanism.
The manual control unit further comprises a manual up switch 16 and a manual down switch 17.
The manual control element can be a rocker, a key, a knob or a pull rod and the like, and is used for controlling the on-off state of the manual ascending switch 16 and the manual descending switch 17.
A manual rising switch 16 and a manual falling switch 17 are also respectively connected with the input port of the singlechip 12.
In the present embodiment, the sensing mechanism may be a displacement sensor, a laser sensor, an angle sensor 8, or the like, and preferably, the sensing mechanism is the angle sensor 8.
As shown in fig. 3, 4 and 5, the lifting driving mechanism is preferably a hydraulic driving device, and specifically, the lifting driving mechanism includes a hydraulic cylinder 2, a lifting solenoid valve 6 and an accumulator switch valve 4 of the hydraulic accumulator 3 are arranged on an oil path of the hydraulic cylinder 2, and the lifting solenoid valve 6 is used for controlling oil to flow into the lifting cylinder via an oil inlet path or enabling the oil in the lifting cylinder to flow into an oil return tank via an oil return path 11. So that the lifting oil cylinder can drive the cutting table 1 to carry out lifting motion in a larger range. The energy accumulator switch valve 4 is used for controlling the on-off of an oil path between the hydraulic energy accumulator 3 and the hydraulic oil cylinder 2, so that oil in the hydraulic energy accumulator 3 flows into the hydraulic oil cylinder 2, or the oil in the hydraulic oil cylinder 2 flows into the hydraulic energy accumulator 3. So that the lifting oil cylinder drives the cutting table 1 to move up and down in a relatively small range.
In a preferred embodiment, as shown in fig. 4, the number of hydraulic rams 2 is two, and two hydraulic rams 2 are respectively connected to two different positions of the header 1, for example, two hydraulic oil tanks are respectively connected to two sides of the header 1. And oil paths between the two hydraulic oil cylinders 2 are connected in parallel, so that the two hydraulic oil cylinders 2 can be synchronously stretched.
As shown in fig. 5, a check throttle valve 19 and a pilot operated check valve 5 are provided between the hydraulic cylinder 2 and the lift solenoid valve 6, and a relief valve 7 is provided between the power oil passage 10 and the return oil passage 11. The oil path of the accumulator switch valve 4 is communicated with the oil path between the one-way throttle valve 19 and the pilot-controlled check valve 5.
As shown in fig. 2, the header 1 is articulated to the frame of the combine harvester by means of a swing lever, and an angle sensor 8 is mounted to the top edge region of the header 1 by means of a mounting bracket 9. One end of the lifting oil cylinder is hinged with a frame of the combine harvester, the other end of the lifting oil cylinder is hinged with the edge area of the top of the cutting table 1, and the hinged point of the lifting oil cylinder and the cutting table 1 is located beside the mounting bracket 9. So set up, when lift cylinder is flexible, lift cylinder drives the relative frame swing of header 1 to make the angle between angle sensor 8 and the horizontal plane change. Since there is a one-to-one correlation between the change in angle of the angle sensor 8 and the height of the header 1, the height of the header 1 can be calculated from the angle detected by the angle sensor 8.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control method of a header profiling system is characterized by comprising the following steps:
starting an automatic control unit;
in the moving process of the header, the header floats up and down under the action of a hydraulic energy accumulator;
detecting the height of the header;
when the height of the header rises to a trigger height, a lifting driving mechanism is started, and the lifting driving mechanism drives the header to rise to a stop height;
after the time delay is set for time T1, the header is driven by the lifting driving mechanism to descend to a working height, wherein the working height is smaller than the triggering height.
2. The header profiling system control method according to claim 1, wherein the header height is detected by detecting an angle α between a set position of the header and a horizontal plane through an angle sensor connected with the set position of the header, and the relative height of the header is converted through the angle α.
3. The control method of the header profiling system according to claim 2, wherein the process of driving the header to ascend by the elevating driving mechanism is specifically as follows:
and a lifting electromagnetic valve is switched on, oil enters a lifting oil cylinder, the lifting oil cylinder swings to enable the position of the header connected with the lifting oil cylinder to be lifted, and when the height of the header reaches the final height, the lifting electromagnetic valve is switched off.
4. The control method of the header profiling system according to claim 2, wherein the process of the header descending driven by the lifting driving mechanism is as follows:
the descending electromagnetic valve is connected, oil flows out of the lifting oil cylinder, the lifting oil cylinder swings to enable the position of the header connected with the lifting oil cylinder to be lowered, and when the height of the header reaches the working height, the descending electromagnetic valve is disconnected.
5. The control method of the header profiling system of claim 1, wherein the delay setting time T1 is 500 ms-1500 ms.
6. The method of controlling a header profiling system according to claim 1, further comprising: and inputting the triggering height and the terminating height through a human-computer interaction terminal.
7. The method of controlling a header profiling system according to claim 1, further comprising a manual control unit;
after the manual control unit is started, the automatic control unit is closed, and the height of the header is controlled through a manual control piece of the manual control unit;
and after the manual control unit is closed, the automatic control unit is started.
8. A control method of a header profiling system according to claim 7, wherein after the manual control unit is turned on,
when the lifting solenoid valve is turned on by the manual control unit, an on-off valve of the hydraulic accumulator is opened, so that pressure oil enters the hydraulic accumulator;
when the manual control unit sends an instruction for switching on the descending electromagnetic valve, the switch valve of the hydraulic accumulator is closed, and the descending electromagnetic valve is opened after the set time T2 is delayed;
after the header is lowered to the working height, closing the descending electromagnetic valve, and opening a switch valve of the hydraulic accumulator after delaying the set time T2;
the delay setting time T2 is 80 ms-150 ms.
9. A header profiling system, which is applied with a control method of the header profiling system according to any one of claims 1 to 8, and is characterized by comprising a header and an automatic control unit, wherein the automatic control unit comprises a lifting driving mechanism, a hydraulic accumulator, an automatic control mechanism and a sensing mechanism, the header is connected with the lifting driving mechanism, the lifting driving mechanism is connected with the hydraulic accumulator, and the sensing mechanism is used for detecting the height of the header; the automatic control mechanism is respectively connected with the lifting driving mechanism and the sensing mechanism, and is used for moving the header upwards to the stopping height through the lifting driving mechanism when the header rises to the triggering height under the action of the hydraulic accumulator, and moving the header downwards after the delay set time T1 so that the header reaches the working height.
10. A header profiling system according to claim 9 further comprising a manual control unit including a manual control connected with the lift drive mechanism for controlling the header lifting movement by the lift drive mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010252973.XA CN111436276A (en) | 2020-04-01 | 2020-04-01 | Header profiling system and control method thereof |
Applications Claiming Priority (1)
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| CN113775582A (en) * | 2021-09-23 | 2021-12-10 | 中国铁建重工集团股份有限公司 | Hydraulic control system for profiling of cutting table in agricultural harvesting equipment and control method thereof |
| CN114667840A (en) * | 2022-04-21 | 2022-06-28 | 潍柴雷沃重工股份有限公司 | Control method and system of mower header and mower |
| US12022772B2 (en) | 2021-01-22 | 2024-07-02 | Deere & Company | Agricultural header control |
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Application publication date: 20200724 |