CN113498675A - Sugarcane harvester blade disc profile modeling cutting platform - Google Patents
Sugarcane harvester blade disc profile modeling cutting platform Download PDFInfo
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- CN113498675A CN113498675A CN202110773631.7A CN202110773631A CN113498675A CN 113498675 A CN113498675 A CN 113498675A CN 202110773631 A CN202110773631 A CN 202110773631A CN 113498675 A CN113498675 A CN 113498675A
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- 230000033228 biological regulation Effects 0.000 claims description 10
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/10—Harvesting of standing crops of sugar cane
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D47/00—Headers for topping of plants, e.g. stalks with ears
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Abstract
The invention relates to a sugarcane harvester cutter disc profiling cutting platform which comprises a cutter disc lifting system, a cutter disc driving system, a cutter disc height automatic adjusting control system and a rack, wherein the cutter disc lifting system is connected with the cutter disc driving system through a connecting rod; the cutter lifting system is arranged on two longitudinal beams at the front end of the rack; the cutter head driving system is arranged on a bottom cross beam of the rack and is positioned at the rear end of the rack; the automatic cutter head height adjusting and controlling system is arranged on a right cross beam obliquely arranged on the frame. The platform adopts an angle sensor to measure the relative angle between the profiling wheel and the profiling rod, and the controller calculates the actual height of the cutter head through a cutter head height mathematical model so as to control the opening and closing of the electromagnetic directional valve, thereby controlling the expansion of the hydraulic cylinder and achieving the purpose of controlling the height of the cutter head in real time. According to the invention, the height of the cutter head is automatically adjusted by using the hydraulic cylinder instead of manual adjustment, so that the accuracy of the height of the cutter head is greatly improved, and the harvesting loss and the broken ends of the sugarcane are reduced. The platform has the advantages of simple structure, low manufacturing cost, convenience in maintenance and strong practicability.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a profile cutting platform for a cutter disc of a sugarcane harvester.
Background
In china, sugar cane is an important raw material for the sugar industry. The planting area of the sugarcane accounts for 85 percent of the planting area of the sugar in China. In brazil and other countries, sugarcane is also an important raw material for bioethanol and biomass power generation, and sugarcane yield has become an important factor for national regulation of energy proportion. In China, sugarcane is mainly planted in southern tropical areas such as Guangxi, Guangdong, Yunnan and the like, and the areas are heterogeneous sugarcane fields. During the harvesting process, the height of the cutter head can be adjusted manually by a machine hand. If the cutter head is set too high, sugarcane loss and breakage can increase. On the contrary, the cutter head is arranged too low, so that the roots of the sugarcane are damaged, and the next-year germination is influenced. Therefore, automatic control of the height of the cutter head of the sugarcane harvester is a key factor of the mechanical sugarcane harvester.
Due to the complex field operation environment, the control of the height of the cutter head is still manually controlled in China, and a manipulator cannot ensure the required height of the cutter head. Therefore, the development of a control system capable of automatically adjusting the height of the cutter head is an effective method for improving the harvesting efficiency.
The existing measuring method of the height of the cutter head can be divided into direct measurement and indirect measurement. Direct measurement methods mainly include ultrasonic sensors, machine vision, and electromagnetic induction. Shanmu et al studied a method for measuring the height of a cutter head based on an electromagnetic induction method, but the detection accuracy of the method is easily influenced by the shielding of sugarcane and weeds in the field. He uses an image method to identify the height of the cutterhead, making the detection error larger due to the dust that is prevalent during harvesting. Indirect measurement methods include a mechanical contact method and a hydraulic pressure sensing method. Saggers et al found that the depth of cut into the soil could be determined by collecting the pressure of the cutterhead hydraulic motor. White et al have studied an automatic control system for the height of the cutterhead based on the pressure of the hydraulic motor, the maximum error of the system being 0.8cm and the minimum cutting depth being 2.6 cm.
In the invention, a cutting platform based on a land wheel is developed to control the height of the cutter head, and a method is innovatively designed to evaluate the performance of a cutter head height control system. The invention can provide a certain reference for the design and development of the cutter head height of the sugarcane harvester in the future.
Disclosure of Invention
The sugarcane harvester aims at solving the problems that the sugarcane harvesting loss is large and the breakage rate is high due to the fact that the height of a cutter head of the conventional sugarcane harvester is manually adjusted. The invention provides a profiling cutting platform based on a cutter head of a sugarcane harvester, which adopts an angle sensor to measure the relative angle between a profiling wheel and a profiling rod, and a controller calculates the actual height of the cutter head through a mathematical model of the height of the cutter head so as to control the opening and closing of an electromagnetic directional valve, thereby controlling the expansion and contraction of a hydraulic cylinder and achieving the purpose of controlling the height of the cutter head in real time.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a sugarcane harvester blade disc profile modeling cutting platform includes: a cutter lifting system, a cutter driving system, a cutter height automatic adjusting control system and a frame 15;
the cutter head lifting system is arranged on two longitudinal beams at the front end of the rack 15; the cutter head driving system is arranged on a bottom cross beam of the rack 15 and is positioned at the rear end of the rack 15; the automatic cutter head height adjusting and controlling system is arranged on a right cross beam obliquely arranged on the frame 15.
On the basis of the scheme, the cutter head lifting system comprises: the cutter head cutting frame 3, the two linear sliding rails 2, the profiling rod 7, the profiling wheel 8, the cutter head shaft 9, the cutter head 10, the right-angle steering gear 4 and the elastic coupling 5;
the two linear sliding rails 2 are respectively arranged on two longitudinal beams at the front end of the rack 15, and two ends of the cutter head cutting frame 3 are respectively arranged on the two linear sliding rails 2;
one end of the profiling rod 7 is arranged at the lower part of the left end of the cutter head cutting frame 3, the profiling wheel 8 is arranged at the other end of the profiling rod 7, the profiling wheel 8 is in contact with the ground, and in the process of operation advancing, the profiling wheel 8 can move up and down along with the fluctuation of the ground, so that the profiling rod 7 can swing at a certain angle;
the right-angle steering gear 4 is fixed in the middle of the cutter head cutting frame 3 and connected with the cutter head shaft 9 through the elastic coupling 5, the cutter head shaft 9 is fixed on the cutter head cutting frame 3 through two bearings, and the cutter head 10 is arranged on the cutter head shaft 9.
On the basis of the scheme, the cutter head driving system comprises: a speed regulating motor 13 and a coupling 14;
the speed regulation motor 13 is connected with the right-angle steering gear 4 through the coupler 14, the speed regulation motor 13 drives the right-angle steering gear 4 to rotate through the coupler 14, and the right-angle steering gear 4 is used for converting horizontal rotation motion into vertical rotation motion, so that the speed regulation rotation motion of the cutter head 10 is realized.
On the basis of the scheme, the automatic cutter height adjusting and controlling system comprises: the device comprises a hydraulic cylinder 1, a controller, an angle sensor 6, an electromagnetic directional valve, a left relay, a right relay, a touch screen and a pull rope sensor;
the controller is respectively connected with the touch screen, the angle sensor 6, the pull rope sensor, the left relay and the right relay are both connected with the electromagnetic directional valve, and the electromagnetic directional valve is connected with the hydraulic cylinder 1;
one end of the hydraulic cylinder 1 is arranged on an upper cross beam at the front end of the frame 15, the other end of the hydraulic cylinder is hinged with the upper end of the cutter head cutting frame 3 through a bolt, and the telescopic action of the hydraulic cylinder 1 drives the cutter head cutting frame 3 to vertically move up and down, so that the height of a cutter head is adjusted;
the pull rope sensor is arranged on the hydraulic cylinder 1 and used for measuring the telescopic length of the hydraulic cylinder 1 and sending the telescopic length of the hydraulic cylinder 1 to the controller;
the angle sensor 6 is arranged at one end of the profiling rod 7 and used for collecting the swing angle information of the profiling rod 7 and sending the collected angle information to the controller;
the touch screen is communicated with the controller through RS485 and is used for manually setting the height range of the cutter head, displaying the real-time height of the cutter head and displaying the telescopic length of the hydraulic cylinder;
the high mathematical model of blade disc is established according to the high scope of the blade disc of manual setting to the controller, the actual height of blade disc is calculated through angle information and the high mathematical model of blade disc that angle sensor 6 sent, if the actual height of blade disc > the upper limit of blade disc high scope, then trigger right relay, pneumatic cylinder 1 indentation, the blade disc descends, if the actual height of blade disc < the lower limit of blade disc high scope, then trigger left relay, pneumatic cylinder 1 stretches out, the blade disc rises, if the actual height that the lower limit of blade disc high scope is less than or equal to the blade disc is less than or equal to the upper limit of blade disc high scope, then the blade disc is motionless.
On the basis of the scheme, the controller is a Siemens S7-200 controller.
On the basis of the scheme, a soil tank car connecting point 12 is arranged at the right rear end of the rack 15, the soil tank car connecting point 12 is used for connecting a soil tank car, and the soil tank car is used for providing a 24V power supply for the whole platform.
On the basis of the scheme, wheels 11 are arranged at four corners of the frame 15, and the wheels 11 are used for supporting and moving the platform.
The invention has the following beneficial technical effects:
according to the invention, the height of the cutter head is automatically adjusted by using the hydraulic cylinder instead of manual adjustment, so that the accuracy of the height of the cutter head is greatly improved, and the harvesting loss and the broken ends of the sugarcane are reduced.
The invention has the advantages of simple structure, low manufacturing cost, convenient maintenance and strong practicability.
Drawings
The invention has the following drawings:
fig. 1 is a schematic structural view of a profile cutting platform of a cutter head of a sugarcane harvester.
Fig. 2 is a block diagram of an automatic height adjustment control system for a cutter head.
FIG. 3 is a flow chart of an automatic adjustment control system for the height of the cutter head.
In the figure: 1. a hydraulic cylinder; 2. a linear slide rail; 3. a cutter head cutting frame; 4. a right angle diverter; 5. an elastic coupling; 6. an angle sensor; 7. a profiling rod; 8. a profiling wheel; 9. a cutter head shaft; 10. a cutter head; 11. a wheel; 12. a soil tank car connection point; 13. a speed-regulating motor; 14. a coupling; 15. and a frame.
Detailed Description
The present invention is described in further detail below with reference to figures 1-3.
As shown in fig. 1, the sugarcane harvester cutterhead profiling cutting platform is mainly divided into a cutterhead lifting system, a cutterhead driving system, an automatic cutterhead height adjusting and controlling system and a frame 15;
the cutter head lifting system is arranged on two longitudinal beams at the front end of the rack 15; the cutter head driving system is arranged on a bottom cross beam of the rack 15 and is positioned at the rear end of the rack 15; the automatic cutter head height adjusting and controlling system is arranged on a right cross beam obliquely arranged on the frame 15.
The cutter head lifting system comprises: the cutter head cutting frame 3, the two linear sliding rails 2, the profiling rod 7, the profiling wheel 8, the cutter head shaft 9, the cutter head 10, the right-angle steering gear 4 and the elastic coupling 5;
the two linear sliding rails 2 are respectively arranged on two longitudinal beams at the front end of the rack 15, and two ends of the cutter head cutting frame 3 are respectively arranged on the two linear sliding rails 2;
one end of the profiling rod 7 is arranged at the lower part of the left end of the cutter head cutting frame 3, the profiling wheel 8 is arranged at the other end of the profiling rod 7, the profiling wheel 8 is in contact with the ground, and in the process of operation advancing, the profiling wheel 8 can move up and down along with the fluctuation of the ground, so that the profiling rod 7 can swing at a certain angle;
the right-angle steering gear 4 is fixed in the middle of the cutter head cutting frame 3 and connected with the cutter head shaft 9 through the elastic coupling 5, the cutter head shaft 9 is fixed on the cutter head cutting frame 3 through two bearings, and the cutter head 10 is arranged on the cutter head shaft 9.
The cutterhead drive system includes: a speed regulating motor 13 and a coupling 14;
the speed regulation motor 13 is connected with the right-angle steering gear 4 through the coupler 14, the speed regulation motor 13 drives the right-angle steering gear 4 to rotate through the coupler 14, and the right-angle steering gear 4 is used for converting horizontal rotation motion into vertical rotation motion, so that the speed regulation rotation motion of the cutter head 10 is realized.
The high automatically regulated control system of blade disc includes: the device comprises a hydraulic cylinder 1, a controller, an angle sensor 6, an electromagnetic directional valve, a left relay, a right relay, a touch screen and a pull rope sensor;
as shown in fig. 2, the controller is respectively connected with the touch screen, the angle sensor 6, the pull rope sensor, the left relay and the right relay are both connected with the electromagnetic directional valve, and the electromagnetic directional valve is connected with the hydraulic cylinder 1;
one end of the hydraulic cylinder 1 is arranged on an upper cross beam at the front end of the frame 15, the other end of the hydraulic cylinder is hinged with the upper end of the cutter head cutting frame 3 through a bolt, and the telescopic action of the hydraulic cylinder 1 drives the cutter head cutting frame 3 to vertically move up and down, so that the height of a cutter head is adjusted;
the pull rope sensor is arranged on the hydraulic cylinder 1 and used for measuring the telescopic length of the hydraulic cylinder 1 and sending the telescopic length of the hydraulic cylinder 1 to the controller;
the angle sensor 6 is arranged at one end of the profiling rod 7 and used for collecting the swing angle information of the profiling rod 7 and sending the collected angle information to the controller;
the touch screen is communicated with the controller through RS485 and is used for manually setting the height range of the cutter head, displaying the real-time height of the cutter head and displaying the telescopic length of the hydraulic cylinder;
as shown in fig. 3, the controller establishes a cutter head height mathematical model according to a manually set cutter head height range, calculates the actual height of the cutter head through angle information sent by the angle sensor 6 and the cutter head height mathematical model, if the actual height of the cutter head is greater than the upper limit of the cutter head height range, triggers the right relay, retracts the hydraulic cylinder 1, descends the cutter head, if the actual height of the cutter head is less than the lower limit of the cutter head height range, triggers the left relay, extends the hydraulic cylinder 1, ascends the cutter head, if the actual height of the cutter head is less than or equal to the lower limit of the cutter head height range, the cutter head is not moved.
The controller is a Siemens S7-200 controller.
The right rear end of the frame 15 is provided with a soil box car connecting point 12, the soil box car connecting point 12 is used for connecting a soil box car, and the soil box car is used for providing a 24V power supply for the whole platform.
The four corners of the frame 15 are provided with wheels 11, and the wheels 11 are used for supporting and moving the platform.
Those not described in detail in this specification are within the skill of the art.
Claims (7)
1. The utility model provides a sugarcane harvester blade disc profile modeling cutting platform which characterized in that includes: a cutter lifting system, a cutter driving system, a cutter height automatic adjusting control system and a frame (15);
the cutter head lifting system is arranged on two longitudinal beams at the front end of the rack (15); the cutter head driving system is arranged on a bottom cross beam of the rack (15) and is positioned at the rear end of the rack (15); the automatic cutter head height adjusting and controlling system is arranged on a right cross beam obliquely arranged on the rack (15).
2. The cane harvester cutterhead profiling cutting platform of claim 1, wherein the cutterhead lifting system includes: the cutter head cutting frame (3), two linear sliding rails (2), a profiling rod (7), a profiling wheel (8), a cutter head shaft (9), a cutter head (10), a right-angle steering gear (4) and an elastic coupling (5);
the two linear sliding rails (2) are respectively arranged on two longitudinal beams at the front end of the rack (15), and two ends of the cutter head cutting frame (3) are respectively arranged on the two linear sliding rails (2);
one end of the profiling rod (7) is arranged at the lower part of the left end of the cutter head cutting frame (3), the profiling wheel (8) is arranged at the other end of the profiling rod (7), the profiling wheel (8) is in contact with the ground, and in the process of operation advancing, the profiling wheel (8) can move up and down along with the height fluctuation of the ground, so that the profiling rod (7) can swing at a certain angle;
the right-angle steering gear (4) is fixed in the middle of the cutter head cutting frame (3) and connected with the cutter head shaft (9) through the elastic coupling (5), the cutter head shaft (9) is fixed on the cutter head cutting frame (3) through two bearings, and the cutter head (10) is arranged on the cutter head shaft (9).
3. The cane harvester cutterhead profiling cutting platform of claim 2, wherein the cutterhead drive system includes: a speed regulating motor (13) and a coupling (14);
the speed regulation motor (13) is connected with the right-angle steering gear (4) through the coupler (14), the speed regulation motor (13) drives the right-angle steering gear (4) to rotate through the coupler (14), and the right-angle steering gear (4) is used for converting horizontal rotation motion into vertical rotation motion, so that the speed regulation rotation motion of the cutter head (10) is realized.
4. The cane harvester cutterhead profiling cutting platform of claim 3, wherein the cutterhead height automatic adjustment control system comprises: the device comprises a hydraulic cylinder (1), a controller, an angle sensor (6), an electromagnetic directional valve, a left relay, a right relay, a touch screen and a pull rope sensor;
the controller is respectively connected with the touch screen, the angle sensor (6), the pull rope sensor, the left relay and the right relay are both connected with the electromagnetic directional valve, and the electromagnetic directional valve is connected with the hydraulic cylinder (1);
one end of the hydraulic cylinder (1) is arranged on an upper cross beam at the front end of the rack (15), the other end of the hydraulic cylinder is hinged with the upper end of the cutter cutting frame (3) by adopting a bolt, and the telescopic action of the hydraulic cylinder (1) drives the cutter cutting frame (3) to vertically move up and down, so that the height of a cutter is adjusted;
the pull rope sensor is arranged on the hydraulic cylinder (1) and used for measuring the telescopic length of the hydraulic cylinder (1) and sending the telescopic length of the hydraulic cylinder (1) to the controller;
the angle sensor (6) is arranged at one end of the profiling rod (7) and is used for acquiring the swing angle information of the profiling rod (7) and sending the acquired angle information to the controller;
the touch screen is communicated with the controller through RS485 and is used for manually setting the height range of the cutter head, displaying the real-time height of the cutter head and displaying the telescopic length of the hydraulic cylinder;
the high mathematical model of blade disc is established according to the high scope of the blade disc of manual setting to the controller, the actual height of blade disc is calculated through angle information and the high mathematical model of blade disc that angle sensor (6) sent, if the actual height of blade disc > the upper limit of blade disc high scope, then trigger right relay, pneumatic cylinder (1) indentation, the blade disc descends, if the actual height of blade disc < the lower limit of blade disc high scope, then trigger left relay, pneumatic cylinder (1) is stretched out, the blade disc rises, if the actual height that the lower limit of blade disc high scope is less than or equal to the blade disc is less than or equal to the upper limit of blade disc high scope, then the blade disc is motionless.
5. The sugar cane harvester cutterhead profiling cutting platform of claim 4, wherein the controller is a siemens S7-200 controller.
6. The sugarcane harvester cutterhead profile cutting platform of claim 1, wherein the right rear end of the frame (15) is provided with a soil box car connection point (12), the soil box car connection point (12) is used for connecting a soil box car, and the soil box car is used for providing a 24V power supply for the whole platform.
7. The sugarcane harvester cutterhead profile cutting platform of claim 1, wherein wheels (11) are provided at each of the four corners of the frame (15), the wheels (11) being used to support and move the platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110773631.7A CN113498675B (en) | 2021-07-08 | Cutter head copying cutting platform of sugarcane harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110773631.7A CN113498675B (en) | 2021-07-08 | Cutter head copying cutting platform of sugarcane harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113498675A true CN113498675A (en) | 2021-10-15 |
| CN113498675B CN113498675B (en) | 2024-07-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114342646A (en) * | 2022-01-19 | 2022-04-15 | 华中农业大学 | Profiling detection and self-adaptive adjustment system for header ground clearance |
| CN117617000A (en) * | 2023-12-06 | 2024-03-01 | 中国农业大学 | Single multi-angle two-stage profiling header and profiling method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102124863A (en) * | 2011-03-01 | 2011-07-20 | 温岭市宏顺机械有限公司 | Contouring and cutting feed device of cane harvester |
| CN203399525U (en) * | 2013-07-25 | 2014-01-22 | 河南合宇机械制造有限公司 | Cutting knife copying device of cane harvesting machine |
| CN109964637A (en) * | 2019-03-20 | 2019-07-05 | 中国农业大学 | Cane harvesting machine furrow bilateral ground contour control system |
| CN110352707A (en) * | 2019-08-23 | 2019-10-22 | 柳州市孚桂智能科技有限公司 | The automatic profiling servomechanism and its control method of cane harvesting machine |
| CN211881120U (en) * | 2020-03-31 | 2020-11-10 | 雷沃重工股份有限公司 | Silage quick-witted header copying device |
| CN215601973U (en) * | 2021-07-08 | 2022-01-25 | 中国农业大学 | Sugarcane harvester blade disc profile modeling cutting platform |
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102124863A (en) * | 2011-03-01 | 2011-07-20 | 温岭市宏顺机械有限公司 | Contouring and cutting feed device of cane harvester |
| CN203399525U (en) * | 2013-07-25 | 2014-01-22 | 河南合宇机械制造有限公司 | Cutting knife copying device of cane harvesting machine |
| CN109964637A (en) * | 2019-03-20 | 2019-07-05 | 中国农业大学 | Cane harvesting machine furrow bilateral ground contour control system |
| CN110352707A (en) * | 2019-08-23 | 2019-10-22 | 柳州市孚桂智能科技有限公司 | The automatic profiling servomechanism and its control method of cane harvesting machine |
| CN211881120U (en) * | 2020-03-31 | 2020-11-10 | 雷沃重工股份有限公司 | Silage quick-witted header copying device |
| CN215601973U (en) * | 2021-07-08 | 2022-01-25 | 中国农业大学 | Sugarcane harvester blade disc profile modeling cutting platform |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114342646A (en) * | 2022-01-19 | 2022-04-15 | 华中农业大学 | Profiling detection and self-adaptive adjustment system for header ground clearance |
| CN117617000A (en) * | 2023-12-06 | 2024-03-01 | 中国农业大学 | Single multi-angle two-stage profiling header and profiling method |
| CN117617000B (en) * | 2023-12-06 | 2024-05-03 | 中国农业大学 | Single multi-angle two-stage profiling header and profiling method |
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