CN111795766A - Potato harvester traction resistance testing device and testing method - Google Patents
Potato harvester traction resistance testing device and testing method Download PDFInfo
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- CN111795766A CN111795766A CN201910276138.7A CN201910276138A CN111795766A CN 111795766 A CN111795766 A CN 111795766A CN 201910276138 A CN201910276138 A CN 201910276138A CN 111795766 A CN111795766 A CN 111795766A
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- G—PHYSICS
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- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
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- G—PHYSICS
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Abstract
The invention provides a traction resistance testing device and a traction resistance testing method for a potato harvester, which are convenient to articulate and adjust and wide in application range. The testing device comprises a mechanical unit and a control unit, wherein the mechanical unit comprises a suspension mechanism and a traction mechanism, the traction mechanism comprises a traction seat and a tension-compression sensor installation body, the tension-compression sensor installation body comprises a sensor installation disc I and a sensor installation disc II, two ends of a tension-compression sensor are respectively arranged on a sensor support I and a sensor support II, and the sensor support I and the traction seat are connected into a whole; the control unit comprises a vehicle-mounted control system, a wireless communication unit and a monitoring terminal, the vehicle-mounted control system comprises a controller, the controller is connected with the tension and compression sensor, the monitoring terminal inputs working parameters and various control instructions of the harvester and sends the instructions down through the wireless communication unit, the controller receives the instructions and converts the instructions into analog control signals, and the analog control signals collect measurement data of the tension sensor and are uploaded to the monitoring terminal through the wireless communication unit.
Description
Technical Field
The invention relates to a traction resistance testing device of a potato harvester, which is arranged on a corresponding potato harvester and used for measuring the traction resistance of the potato harvester and a testing method, and belongs to the field of agricultural machinery.
Background
China is the biggest potato producing country in the world, the planting area and the yield are at the top of the world, and with the continuous improvement of the level of agricultural mechanization, the demand on potato harvesting machinery is increasing day by day. However, most of the existing potato harvester adopts a fixed digging shovel, the traction resistance and the traction power are excessively consumed, and the small and medium-sized working units often show the condition of insufficient traction force and traction power. Therefore, relevant researches on resistance reduction and consumption reduction during potato digging and harvesting are carried out, effective ways and methods for resistance reduction and consumption reduction during potato harvesting are explored, and the method has very important significance for improving the mechanized harvesting level and the mechanical harvesting efficiency of potatoes in China, reducing the operation cost and the operation energy consumption, reducing the labor intensity of farmers, increasing the income of farmers and the like.
In recent years, certain research is also carried out on a traction resistance testing device of a potato harvester in China. The gorgeous engineering college of Shenyang agriculture university realizes the real-time test of the advancing resistance of the digging shovel by researching a dynamic parameter test system of the soil tank of the agricultural machinery, but does not perform mechanical analysis aiming at the stress condition of the digging shovel. Aiming at the problems of large traction resistance, unreasonable design and installation, large fuel consumption, low production efficiency and the like of the existing potato harvesting machine, such as the Li Xiang of the inner Mongolia agriculture university and the like, a fixed triangular plane digging shovel is used as a research object, a potato digging resistance testing device is designed, a field test is carried out, the influence of the face inclination angle, the edge inclination angle and the advancing speed of the digging shovel on the traction resistance is analyzed, the traction resistance is used as an optimization index, and a better parameter combination is obtained. Wuhaiping, Shanxi university of agriculture, takes a 4S-80 vibration type potato excavator as a research object, adopts ZZLB-1 type mechanical self-recording pull meter, a DCR-TRV75E camera and other test equipment, designs a dynamic test device and performs traction resistance tests under different operation conditions in order to find out the actual resistance reduction effect of a vibration shovel screen.
The test devices do not perform test tests under a real operating environment, and data results are unreliable; or the adjustment is not convenient, the adjustment effect is not ideal, and the use requirements of different regions and different potato varieties are difficult to adapt; or the structure is complex, the manufacturing cost is high, the method only stays in the research and exploration stage, and the popularization value is not high.
Disclosure of Invention
In order to overcome the defects of the traction resistance testing device of the existing potato harvester, the invention provides the traction resistance testing device and the traction resistance testing method of the potato harvester, which have the advantages of convenient hanging adjustment, wide application range, compact structure, lower cost and reliable work.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a traction resistance testing device of a potato harvester comprises a mechanical unit and a control unit, wherein the mechanical unit comprises a suspension mechanism and a traction mechanism, the suspension mechanism is connected with a three-point suspension system of a tractor, the traction mechanism comprises a traction seat and a tension and compression sensor installation body, the tension and compression sensor installation body comprises a sensor installation disc I and a sensor installation disc II, the sensor installation disc I is arranged on a sensor support seat I, the sensor installation disc II is arranged on a sensor support seat II, two ends of the tension and compression sensor are respectively arranged on a sensor support seat I and a sensor support seat II, the sensor support seat I and the traction seat are connected into a whole, the sensor support seat I and the sensor support seat II are both of a U-shaped structure with outward openings, and the opening directions of the sensor support seat I and the sensor support seat II are oppositely arranged; the control unit comprises a vehicle-mounted control system, a wireless communication unit and a monitoring terminal, the vehicle-mounted control system comprises a controller, the controller is connected with the tension and compression sensor, the monitoring terminal inputs working parameters and various control instructions of the harvester and sends the instructions down through the wireless communication unit, the controller receives the instructions and converts the instructions into analog control signals, and the analog control signals collect measurement data of the tension sensor and are uploaded to the monitoring terminal through the wireless communication unit.
On the basis of the traction resistance testing device of the potato harvester, the traction seat comprises a machine connecting part connected with the harvester and a sensor connecting part connected with the tension and compression sensor mounting body, and the sensor connecting part is arranged in a downward inclination mode relative to the machine connecting part.
On the basis of the traction resistance testing device for the potato harvester, the machine connecting part is connected with the harvester through the pin shaft I, and the sensor connecting part is connected with the sensor mounting disc I into a whole through the upper connecting plate, the lower connecting plate and the pin shaft III.
On the basis of the traction resistance testing device of the potato harvester, the suspension mechanism comprises a transverse support and two side supports, the transverse support and the side supports form a triangular structure, an upper suspension pin connecting plate and a lower suspension pin connecting seat are arranged at three top points of the triangular structure respectively, and a sensor mounting disc II is arranged on the transverse support.
On the basis of the traction resistance testing device of the potato harvester, the suspension mechanism is connected to a rear three-point suspension device of the tractor in a hanging manner by an upper suspension pin penetrating through an upper suspension pin connecting plate and a lower suspension pin penetrating through a suspension pin connecting seat.
On the basis of the traction resistance testing device of the potato harvester, a hanging support connecting plate and a hanging support reinforcing plate are quickly hung between a hanging mechanism and a traction seat through hanging pins.
On the basis of the traction resistance testing device of the potato harvester, the sensor mounting disc II is connected with the transverse support into a whole through the left connecting plate, the right connecting plate and the pin shaft II.
On the basis of the traction resistance testing device of the potato harvester, the tension and compression sensor is an S-shaped sensor.
On the basis of the traction resistance testing device of the potato harvester, the controller is an MSP430 series single-chip microcomputer, the input end of the MSP430 series single-chip microcomputer is connected with the tension sensor, the MSP430 series single-chip microcomputer is communicated with the wireless communication unit through an RS232 protocol, and the wireless communication unit is communicated with the monitoring terminal through a 433 module.
A test method is carried out by using the traction resistance test device of the potato harvester, the traction force of a tractor acts on a tension and compression sensor of a tension and compression sensor mounting body through a suspension mechanism, an operator inputs a traction resistance test instruction through a monitoring terminal, the instruction is issued through a 433 module, a controller of a vehicle-mounted control system receives the control instruction, drives the tension and compression sensor to acquire measurement data and upload the measurement data to the controller, then uploads the measurement data to the monitoring terminal through the 433 module, and the measurement data is displayed and stored in real time in a dynamic curve mode to obtain a first traction resistance; meanwhile, the controller obtains a second traction resistance according to an algorithm and uploads the second traction resistance to the monitoring terminal; the controller compares the first traction resistance and the second traction resistance in real time, and if the difference value of the first traction resistance and the second traction resistance exceeds a specified value, the monitoring terminal gives an alarm.
On the basis of the test method of the traction resistance test device of the potato harvester, the calculation method of the traction resistance II comprises the following steps:
（1）
wherein F is the traction resistance of the harvester, alpha is the inclination angle of the shovel surface, N0 is the normal load of the soil acting on the digging shovel surface, Ff is the adhesive force of the soil to the shovel surface, Fa is the friction force of the soil to the shovel surface,
mu 1 is the friction coefficient between the soil and the digging shovel, Ca is the soil adhesion coefficient, and F0 is the area of the digging shovel;
(2) taking soil as a research object, analyzing the stress of the soil in the horizontal direction and the vertical direction, jointly solving the stress with the formula, and obtaining the soil after finishing:
wherein C is a soil cohesion factor, mu is a soil internal friction factor, beta is a front failure plane inclination angle, Z is a calculation coefficient, G is soil gravity on a shovel surface,
and F1 is the soil shear area,
and B is the accelerating force of the soil moving along the shovel surface,
wherein gamma is the soil bulk density, L1 is the distance that soil stretches out along the shovel tip, L2 is the distance that soil stretches out along the shovel tail, L0 is the distance d1 that soil thickness from the shovel tip to the shovel tail, d is diggingDigging depth h is the inclined height of the shovel surface.
The invention has the advantages that:
the invention can be quickly debugged and installed according to the operation condition, is conveniently hung on a single-row or double-row potato harvesting machine, has compact structure and lower cost, can obtain traction resistance data in real time and store and analyze the data, reduces the operation cost and the operation energy consumption, and lightens the labor intensity of farmers.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a schematic structural view of a traction device in a resistance testing state;
FIG. 2 is a schematic structural view of a traction device in a harvesting operation and a transportation state;
FIG. 3 is a schematic view of a suspension mechanism;
FIG. 4 is a schematic structural view of a tension/compression sensor mounting body;
FIG. 5 is a block diagram of a control unit;
the sensor comprises a pin shaft I, a traction seat I, a sensor mounting disc I, a sensor support I, a sensor 5, a tension and compression sensor 6, a sensor support II, a pin shaft II, an upper suspension pin 8, a suspension mechanism 9, a lower suspension pin 10, a suspension pin 11, a sensor mounting disc II, a pin shaft III, a suspension support connecting plate 14, a suspension support reinforcing plate 15, an upper suspension pin connecting plate 16, a lower suspension pin connecting seat 17, a side bracket 18, a tension and compression sensor mounting body 19, a machine connecting part 20, a sensor connecting part 21, an upper connecting plate 22, a lower connecting plate 23, a right connecting plate 24, a left connecting plate 25 and a transverse bracket 26.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
A traction resistance testing device of a potato harvester comprises a mechanical unit and a control unit, wherein the mechanical unit comprises a suspension mechanism and a traction mechanism, the suspension mechanism penetrates through an upper suspension pin connecting plate 16 and a lower suspension pin 10 through a suspension pin connecting seat 17 through an upper suspension pin 8 to be connected with a three-point suspension system of a tractor, the traction mechanism comprises a traction seat 2 and a tension and compression sensor mounting body 19, the tension and compression sensor mounting body comprises a sensor mounting disc I3 and a sensor mounting disc II 12, the sensor mounting disc I3 is arranged on a sensor support I4, the sensor mounting disc II 12 is arranged on a sensor support II 6, two ends of a tension and compression sensor 5 are respectively arranged on the sensor support I4 and the sensor support II 6, the sensor support I4 is connected with the traction seat 2 into a whole, the sensor support I4 and the sensor support II 6 are both of U-shaped structures with outward openings, and the opening directions of the sensor support I4 and the sensor support II 6 are oppositely arranged; the control unit includes vehicle control system, wireless communication unit and monitor terminal, vehicle control system includes the controller, the controller is connected and is drawn pressure sensor 5, monitor terminal inputs harvester working parameter and various control command, and issue the instruction through wireless communication unit, the controller received the instruction and converts analog control signal into, gather tension sensor measured data, and upload to monitor terminal through wireless communication unit, with dynamic curve mode display and storage measured data, monitor terminal still has the data derivation function, conveniently carry out data analysis, can send alarm signal through the bee calling organ with the controller intercommunication when the system is unusual.
The traction seat 2 comprises a machine connecting part 20 connected with the harvester and a sensor connecting part 21 connected with the tension and compression sensor mounting body, and the sensor connecting part 21 is arranged obliquely downwards relative to the machine connecting part 20 to ensure that the traction seat 2 does not interfere with a transmission shaft in work. The machine connecting part 20 is connected with the harvester through a pin shaft I1, and the sensor connecting part 21 is connected with the sensor mounting disc I3 into a whole through an upper connecting plate 22, a lower connecting plate 23 and a pin shaft III 13. Referring to fig. 2, the potato harvester can be shielded from its test drag function when in harvest operation and transport conditions. In order to improve the turning performance of the ground head, improve the ground clearance and strengthen the overall strength of the traction mechanism, a hanging support connecting plate 14 and a hanging support reinforcing plate 15 are quickly hung between the hanging mechanism 9 and the traction seat 2 through a hanging pin 11, and when a pin shaft III 13 is pulled out, the tension and compression sensor 5 of the tension and compression sensor mounting body 19 is ensured to be in an unstressed state.
The sensor mounting disc II 12 is connected with the transverse support 26 into a whole through a left connecting plate 25, a right connecting plate 24 and a pin shaft II 7.
The suspension mechanism comprises a transverse support 26 and two side supports 18, the transverse support 26 and the side supports 18 form a triangular structure, an upper suspension pin connecting plate 16 and a lower suspension pin connecting seat 17 are arranged at three top points of the triangular structure respectively, the suspension mechanism is connected to a suspension point on a tractor through an upper suspension pin 8, an upper connecting hole and a lower connecting hole are formed in the upper suspension pin connecting plate 16, and the suspension mechanism can be selectively installed according to different upper suspension sizes of the tractor to increase the adaptability of the suspension mechanism. The suspension mechanism is connected to a lower suspension point of the tractor in a hanging mode through a lower suspension pin 10, an upper connecting hole and a lower connecting hole are formed in a lower suspension pin connecting seat 17, installation can be selected according to different lower suspension sizes of the tractor, and installation adaptability is improved.
The middle part of the suspension mechanism is provided with a sensor mounting disc II 12, and the sensor mounting disc II 12 can rotate around a mounting shaft thereof, so that the tension and compression sensor mounting mechanism 19 can measure force accurately and cannot generate interference phenomenon when the ground fluctuates.
The tension and compression sensor 5 is an S-shaped sensor.
The controller is an MSP430 series single-chip microcomputer, the input end of the MSP430 series single-chip microcomputer is connected with the tension sensor, the MSP430 series single-chip microcomputer is communicated with the wireless communication unit through an RS232 protocol, and the wireless communication unit is communicated with the monitoring terminal through a 433 module.
A test method is carried out by using the traction resistance test device of the potato harvester, the traction force of a tractor acts on a tension and compression sensor of a tension and compression sensor mounting body through a suspension mechanism, an operator inputs a traction resistance test instruction through a monitoring terminal, the instruction is issued through a 433 module, a controller of a vehicle-mounted control system receives the control instruction, drives the tension and compression sensor to acquire measurement data and upload the measurement data to the controller, then uploads the measurement data to the monitoring terminal through the 433 module, and the measurement data is displayed and stored in real time in a dynamic curve mode to obtain a first traction resistance; meanwhile, the controller obtains a second traction resistance according to an algorithm and uploads the second traction resistance to the monitoring terminal; the controller compares the first traction resistance and the second traction resistance in real time, and if the difference value of the first traction resistance and the second traction resistance exceeds a specified value, the monitoring terminal gives an alarm.
The calculation method of the second traction resistance is as follows:
（1）
wherein F is the traction resistance of the harvester, alpha is the inclination angle of the shovel surface, N0 is the normal load of the soil acting on the digging shovel surface, Ff is the adhesive force of the soil to the shovel surface, Fa is the friction force of the soil to the shovel surface,
mu 1 is the friction coefficient between the soil and the digging shovel, Ca is the soil adhesion coefficient, and F0 is the area of the digging shovel;
(2) taking soil as a research object, analyzing the stress of the soil in the horizontal direction and the vertical direction, jointly solving the stress with the formula, and obtaining the soil after finishing:
wherein C is a soil cohesion factor, mu is a soil internal friction factor, beta is a front failure plane inclination angle, Z is a calculation coefficient, G is soil gravity on a shovel surface,
and F1 is the soil shear area,
and B is the accelerating force of the soil moving along the shovel surface,
wherein, gamma is the soil bulk density, L1 is the distance that soil stretches out along the shovel point, L2 is the distance that soil stretches out along the shovel tail, L0 is the distance d1 that soil shovel point to shovel tail is soil thickness, d is the excavation depth, and h is the shovel face slope height.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. 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 (11)
1. The utility model provides a potato class harvester drag test device which characterized in that: comprises a mechanical unit and a control unit, wherein the mechanical unit comprises a suspension mechanism and a traction mechanism, the suspension mechanism is connected with a three-point suspension system of a tractor, the traction mechanism comprises a traction seat and a tension-compression sensor installation body, the tension-compression sensor installation body comprises a sensor installation disc I (3) and a sensor installation disc II (12), the sensor installation disc I (3) is arranged on a sensor support I (4), the sensor installation disc II (12) is arranged on a sensor support II (6), two ends of a tension-compression sensor (5) are respectively arranged on the sensor support I (4) and the sensor support II (6), the sensor support I (4) is connected with the traction seat (2) into a whole, and the sensor support I (4) and the sensor support II (6) are U-shaped structures with outward openings, the opening directions of the sensor support I (4) and the sensor support II (6) are arranged oppositely; the control unit comprises a vehicle-mounted control system, a wireless communication unit and a monitoring terminal, the vehicle-mounted control system comprises a controller, the controller is connected with a tension and compression sensor (5), the monitoring terminal inputs working parameters and various control instructions of the harvester and issues the instructions through the wireless communication unit, the controller receives the instructions and converts the instructions into analog control signals, and the analog control signals acquire measurement data of the tension sensor and upload the measurement data to the monitoring terminal through the wireless communication unit.
2. The potato harvester traction resistance testing device of claim 1, characterized in that: the traction seat (2) comprises a machine connecting part (20) connected with the harvester and a sensor connecting part (21) connected with the tension and compression sensor mounting body, and the sensor connecting part (21) is arranged in a downward inclined mode relative to the machine connecting part (20).
3. The potato harvester traction resistance testing device of claim 2, characterized in that: the machine connecting part (20) is connected with the harvester through a pin shaft I (1), and the sensor connecting part (21) is connected with the sensor mounting disc I (3) into a whole through an upper connecting plate (22), a lower connecting plate (23) and a pin shaft III (13).
4. The potato harvester traction resistance testing device of claim 1, characterized in that: the suspension mechanism comprises a transverse support (26) and two side supports (18), the transverse support (26) and the side supports (18) form a triangular structure, an upper suspension pin connecting plate (16) and a lower suspension pin connecting seat (17) are arranged at three top points of the triangular structure respectively, and a sensor mounting disc II (12) is arranged on the transverse support (26).
5. The potato harvester traction resistance testing device of claim 4, characterized in that: the suspension mechanism is connected to a rear three-point suspension device of the tractor in a hanging way by an upper suspension pin (8) penetrating through an upper suspension pin connecting plate (16) and a lower suspension pin (9) penetrating through a suspension pin connecting seat (17).
6. The potato harvester traction resistance testing device of claim 4, characterized in that: a fast hanging support connecting plate (14) and a hanging support reinforcing plate (15) are arranged between the hanging mechanism and the traction seat (2) through hanging pins (11).
7. The potato harvester traction resistance testing device of claim 4, characterized in that: the sensor mounting disc II (12) is connected with the transverse support (19) into a whole through a left connecting plate (25), a right connecting plate (24) and a pin shaft II (7).
8. The potato harvester traction resistance testing device of any one of claims 1 to 6, characterized in that: the tension and compression sensor (5) is an S-shaped sensor.
9. The potato harvester traction resistance testing device of any one of claims 1 to 6, characterized in that: the controller is an MSP430 series single-chip microcomputer, the input end of the MSP430 series single-chip microcomputer is connected with the tension sensor, the MSP430 series single-chip microcomputer is communicated with the wireless communication unit through an RS232 protocol, and the wireless communication unit is communicated with the monitoring terminal through a 433 module.
10. A testing method by using the device for testing the traction resistance of the potato harvester of claim 8 is characterized in that: traction force of the tractor acts on a tension and compression sensor (5) of a tension and compression sensor mounting body (19) through a suspension mechanism, an operator inputs a traction resistance test instruction through a monitoring terminal, the instruction is issued through a 433 module, a controller in the vehicle-mounted control system receives the control instruction, drives the tension and compression sensor (5) to acquire measurement data and upload the measurement data to the controller, and then uploads the measurement data to the monitoring terminal through the 433 module, and the measurement data are displayed and stored in real time in a dynamic curve mode to obtain first traction resistance; meanwhile, the controller obtains a second traction resistance according to an algorithm and uploads the second traction resistance to the monitoring terminal; the controller compares the first traction resistance and the second traction resistance in real time, and if the difference value of the first traction resistance and the second traction resistance exceeds a specified value, the monitoring terminal gives an alarm.
11. The testing method of the traction resistance testing device of the potato harvester according to claim 9, characterized in that: the calculation method of the second traction resistance is as follows:
（1）
wherein F is the traction resistance of the harvester, alpha is the inclination angle of the shovel surface, N0 is the normal load of the soil acting on the digging shovel surface, Ff is the adhesive force of the soil to the shovel surface, Fa is the friction force of the soil to the shovel surface,
mu 1 is the friction coefficient between the soil and the digging shovel, Ca is the soil adhesion coefficient, and F0 is the area of the digging shovel;
(2) taking soil as a research object, analyzing the stress of the soil in the horizontal direction and the vertical direction, jointly solving the stress with the formula, and obtaining the soil after finishing:
wherein C is a soil cohesion factor, mu is a soil internal friction factor, beta is a front failure plane inclination angle, Z is a calculation coefficient, G is soil gravity on a shovel surface,
and F1 is the soil shear area,
and B is the accelerating force of the soil moving along the shovel surface,
wherein, gamma is the soil bulk density, L1 is the distance that soil stretches out along the shovel point, L2 is the distance that soil stretches out along the shovel tail, L0 is the distance d1 that soil shovel point to shovel tail is soil thickness, d is the excavation depth, and h is the shovel face slope height.
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| CN201910276138.7A CN111795766A (en) | 2019-04-08 | 2019-04-08 | Potato harvester traction resistance testing device and testing method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284767A (en) * | 2020-11-13 | 2021-01-29 | 重庆长安汽车股份有限公司 | Device and method for testing durability of automobile traction and traction assembly |
| CN114489031A (en) * | 2022-01-26 | 2022-05-13 | 上海联适导航技术股份有限公司 | Flat leveling operation overload control system and method based on satellite |
-
2019
- 2019-04-08 CN CN201910276138.7A patent/CN111795766A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112284767A (en) * | 2020-11-13 | 2021-01-29 | 重庆长安汽车股份有限公司 | Device and method for testing durability of automobile traction and traction assembly |
| CN114489031A (en) * | 2022-01-26 | 2022-05-13 | 上海联适导航技术股份有限公司 | Flat leveling operation overload control system and method based on satellite |
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