CN114208486A - Hybrid power torque compensation mechanism and control strategy for crawler-type combine harvester - Google Patents
Hybrid power torque compensation mechanism and control strategy for crawler-type combine harvester Download PDFInfo
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- CN114208486A CN114208486A CN202111422808.5A CN202111422808A CN114208486A CN 114208486 A CN114208486 A CN 114208486A CN 202111422808 A CN202111422808 A CN 202111422808A CN 114208486 A CN114208486 A CN 114208486A
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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
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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
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
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Abstract
The invention provides a hybrid power torque compensation mechanism of a crawler-type combine harvester and a control strategy, comprising a driving device, a compensation device, a transmission device and a combine harvester working unit; the compensation device comprises an outer belt wheel, a one-way clutch, a sun gear, a driving belt wheel, a compensation motor and a driven belt wheel; the outer belt wheel and the one-way clutch are coaxially arranged, the driving belt wheel is fixedly connected with the one-way clutch, the inner hole of the one-way clutch is provided with inner teeth which are meshed with the sun gear, the compensation motor is connected with the sun gear, and the driven belt wheel is in transmission connection with the working unit of the combine harvester; the engine is in transmission connection with the combine harvester working unit through a transmission device, and the control center controls the compensation motor and/or the generator to work as a motor according to the detection values obtained by the torque sensors. The invention can not only meet the real-time monitoring of the feeding load of each working part of the combine harvester, but also carry out multi-scale real-time regulation and control through the torque compensation device and the power hybrid control device.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a hybrid power torque compensation mechanism of a crawler-type combine harvester and a control strategy.
Background
With the continuous promotion of agricultural mechanization, the combine harvester gradually becomes indispensable agricultural equipment in agricultural development, and the crawler-type combine harvester is developed rapidly due to high working efficiency and adaptation to various crop types. The crawler-type combine harvester mainly comprises a cutting device, a conveying device, a threshing device, a cleaning device and a transmission device. After being cut by the cutting device, the crops are conveyed to the threshing device from the header through the conveying device, the threshing cylinder rotates at a high speed, the primary separation of grains and materials is completed in a friction, impact or combing mode, the separated grains are further subjected to secondary separation through the cleaning device, so that grains with low impurity content are obtained, and the grains finally enter the grain bin through the grain conveying auger. In the harvesting process, the loads of the cutting device, the threshing device and the cleaning device fluctuate along with the variation of the feeding amount of crops, and the harvester is characterized by being obviously different from other types of machines.
With the rapid development of agricultural chemistry to multiple regions, problems of the crawler-type combine harvester during the working process are gradually revealed. The complex working environment and the imperfect agricultural planting technology cause the load of each workpiece of the combine harvester to be constantly changed in the harvesting process, and the load fluctuation becomes a big problem influencing the working efficiency of the crawler-type combine harvester. The vibration cause of the combine harvester is related to the feeding of materials to a great extent, when the feeding amount of the materials at each working part fluctuates, the machine body can generate serious vibration, and when the feeding amount fluctuates further, the rotating shaft of the working part of the combine harvester can generate insufficient torque or even halt faults, so that the harvesting efficiency is seriously influenced, and the economic loss is caused. Therefore, there is a need to find a way to optimize combine operating performance that can cope with feed load fluctuations.
In recent years, the problem of large load fluctuation during the operation of a combine harvester has been emphasized and studied to various degrees from various aspects. Effective monitoring and control of the various operating components of a tracked combine is an effective way to address this problem. The prior art discloses a load monitoring system of a combine harvester, which can monitor the load of working components such as a header, a threshing roller, a conveying trough and the like, and can further process and analyze the monitored signals; the prior art discloses a blocking fault early warning and alarming device of a combine harvester, which can carry out real-time monitoring and abnormal alarming on a threshing cylinder and a grain conveying auger of the combine harvester, and the load abnormality of a working part can be fed back in time; aiming at the torque insufficiency caused by the sudden load change of a working component, the prior art discloses a method for compensating the torque of an automobile engine, which can meet the working torque of a vehicle by predicting the change margin of the load in advance and then selecting the modes of increasing the opening of an engine throttle valve, limiting extra load and increasing the idling speed of the engine.
The invention provides a monitoring scheme or a control scheme for load change, the monitoring and alarming of the load are favorable for receiving working condition information, but for the crawler-type combine harvester, the change of the load has instantaneity and difficult predictability, and the change of the load seriously affects the working state.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a hybrid power torque compensation mechanism and a control strategy of a crawler-type combine harvester, which can meet the requirement of real-time monitoring of feeding loads of all working parts of the combine harvester, can also carry out multi-scale real-time regulation and control through a torque compensation device and a power hybrid control device, reduces the influence of load change on all working parts of the harvester, and further ensures the working efficiency and the working quality of the combine harvester.
The present invention achieves the above-described object by the following technical means.
A hybrid torque compensation mechanism of a crawler-type combine harvester comprises a driving device, a compensation device, a transmission device and a combine harvester working unit;
the driving device comprises an engine, a generator, an inverter, a storage battery, a control center and a torque sensor; the engine is in transmission connection with the generator, the inverter and the control center are sequentially connected in series, and the storage battery is connected with the control center; the engine provides power for the working unit of the combine harvester; the generator is used as power generated by the motor and is connected with the working unit of the combine harvester;
the compensation device comprises an outer belt wheel, a one-way clutch, a sun gear, a driving belt wheel, a compensation motor and a driven belt wheel; the outer belt wheel and the one-way clutch are coaxially mounted, the driving belt wheel is fixedly connected with the one-way clutch, an inner hole of the one-way clutch is provided with inner teeth which are meshed with the sun gear, the compensation motor is connected with the sun gear, and the driven belt wheel is in transmission connection with the working unit of the combine harvester; the storage battery provides electric energy for the compensation motor and the generator serving as the motor respectively;
the engine is in transmission connection with the combine harvester working unit through a transmission device, the plurality of torque sensors are used for detecting the torque of the combine harvester working unit, and the control center controls the compensation motor and/or the generator to work as a motor according to the detection values of the plurality of torque sensors and is used for compensating power.
Further, combine work unit includes reciprocating type cutting knife device, threshing cylinder device, cleaning device and screw conveyer, compensating device is installed respectively to reciprocating type cutting knife device, threshing cylinder device, cleaning device and screw conveyer.
Further, the control center obtains the SOC value of the storage battery, and the control center controls the generator to charge the storage battery or controls the storage battery to provide electric energy for the generator serving as the motor according to the SOC value of the storage battery.
A control strategy of a hybrid torque compensation mechanism of a crawler-type combine harvester comprises the following steps:
collecting working torque M of working unit of combine harvester by torque sensoriWherein i is represented as the ith work unit;
the control center determines the upper limit M of the torque threshold of the ith working unit according to the historical statistical valueimaxAnd lower torque threshold limit Mimin；
When M isi<MiminWhen the control center is used, the control center controls the generator to generate electric energy to charge the storage battery;
when M isi>MimaxWhen the control center is used for controlling the compensation motor or the generator to serve as the motor to respectively supplement power for the working unit of the combine harvester or controlling the compensation motor and the generator to serve as the motor to jointly supplement power for the working unit of the combine harvester;
when M isimin<Mi<MimaxAnd when the first working unit is in the normal interval, the control center judges that the ith working unit of the combine harvester is in the normal interval.
Further, when the torques of 2 working parts at most are all higher than the corresponding torque upper limit MimaxWhen the power is supplied to the working units of the combine harvester, the control center controls the generator to serve as a motor to respectively supplement power to the corresponding working units of the combine harvester through a transmission system;
when all the working part torques are higher than the corresponding torque upper limit MimaxWhen the power is supplied to the working unit of the combine harvester, the control center controls the corresponding compensation motor to supply power to the working unit of the combine harvester;
when the i-th working member has a torque MiAbove the upper torque limit MimaxAnd 1.2 times, the control center controls the compensation motor and the generator to be used as a motor to supplement power for the corresponding working unit of the combine harvester together.
Further, the control center obtains the SOC value of the storage battery and a set storage battery charging threshold Q0Comparing, when the set charging threshold Q of the storage battery0<When the SOC value of the storage battery is obtained, the control center controls the generator to generate electric energy to charge the storage battery; when M isi>MimaxIf the SOC value of the storage battery is smaller than the set storage battery charging threshold value Q0And the control center sends out an alarm signal.
The invention has the beneficial effects that:
1. the hybrid power torque compensation mechanism and the control strategy of the crawler-type combine harvester can perform multi-scale torque compensation according to the actual working state of the combine harvester. Based on load and torque information received by the control center, the hybrid torque compensation mechanism of the combine harvester can selectively use one or more prime movers to compensate the missing torque, the prime movers comprise compensation motors and generators, and meanwhile, the reasonable distribution of the power of the engines can be realized by adjusting the charging and discharging states of the generators, so that the power compensation and the stable operation of the combine harvester in the operation process are ensured to the greatest extent.
2. The hybrid power torque compensation mechanism and the control strategy of the crawler-type combine harvester can realize the efficient utilization of the reserve power of the combine harvester, and achieve the effect of saving energy consumption. The hybrid torque compensation mechanism and the control method of the combine harvester change part of reserve power into electric energy for storage while ensuring that the reserve power can cope with basic load fluctuation. When the working power of the combine harvester is lower than the average power set by the engine, the redundant reserve power is used for generating power by the storage battery, so as to deal with load fluctuation and prevent the situation that the working performance is influenced by the load fluctuation in the cutting, threshing, cleaning and grain conveying links.
3. The hybrid power torque compensation mechanism and the control strategy of the crawler-type combine harvester can realize real-time monitoring on the working state of the combine harvester and ensure the working efficiency. The control method can realize closed-loop control of cutting, threshing, cleaning and grain conveying of the combine harvester, monitors and feeds back the load condition of the working part in real time through the torque sensor, and continues to monitor the working condition of the combine harvester after the compensation process is completed by the generator and the compensation motor. The closed-loop control can ensure the real-time performance and the accuracy of torque compensation to the maximum extent, and the real-time working efficiency of the combine harvester is ensured.
4. The hybrid power torque compensation mechanism and the control strategy of the crawler-type combine harvester can realize timely response to the fluctuation of the feeding load and the driving load of the combine harvester under the condition that the output power of an engine is not changed. The monitoring and control can be performed on the premise that the output power of the engine is constant. The combine harvester is relatively complicated to operate, and a driver does not need to adjust the opening degree of the accelerator in the harvesting process, so that the invention can not only ensure timely response to the load fluctuation of the combine harvester, but also ensure that the output power of an engine is kept in a high-efficiency output interval to the maximum extent under the condition of not changing the opening degree of the accelerator.
Drawings
FIG. 1 is a schematic diagram of a hybrid torque compensation mechanism of a crawler combine harvester according to the invention.
Fig. 2 is a schematic diagram of the hybrid power of the combine harvester of the present invention.
Fig. 3a is a front view of the compensating device.
Fig. 3b is a top view of the compensation device.
FIG. 4 is a flow chart of a control strategy for a hybrid torque compensation mechanism of a tracked combine harvester according to the present invention.
Fig. 5 is a schematic diagram of the hybrid power energy transfer of the combine harvester of the present invention.
Fig. 6 is a schematic view of the compound cutting knife device of the present invention.
Fig. 7 is a schematic view of a threshing cylinder arrangement according to the invention.
FIG. 8 is a schematic view of a cleaning plant according to the present invention.
Fig. 9 is a schematic view of the conveying device of the screw conveyor of the invention.
In the figure:
1-a drive device; 101-an engine; 102-a generator; 103-an inverter; 104-a storage battery; 105-a control center; 106-a torque sensor; 2-a compensation device; 201-outer pulley; 202-one-way clutch; 203-sun gear; 204-a driving pulley; 205-a compensation motor; 206-a belt; 207-driven pulley; 208-a motor pulley; 209-compensation motor A; 210-compensation motor B; 3-a transmission device; 301-engine pulley; 302-generator pulley; 303-engine output shaft pulley; 304-an engine output shaft; 305-a bearing seat; 306-a cutter pulley; 307-drum pulley; 308-a fan pulley; 309-auger belt wheel; 4-a working unit; 401-reciprocating knife device; 4011-reciprocating knife; 4012-cutter drive shaft; 4013-bearing seat A; 4014-torque sensor A; 4015-cutter drive shaft; 402-a threshing cylinder device; 4021-threshing cylinder; 4022-drum secondary pulley; 4023-drum compensation pulley; 4024-drum shaft pulley; 4025-drum clutch shaft; 4026-drum clutch; 4027-a drum driven pulley; 4028-bearing seat B; 4029-torque sensor B; 403-a cleaning device; 4031-cleaning fan; 4032-fan secondary pulley; 4033-fan compensation pulley; 4034-fan shaft pulley; 4035-fan clutch shaft; 4036-fan clutch; 4037-fan driven pulley; 4038-bearing seat C; 4039-torque sensor C; 404-auger conveying means; 4041-grain conveying auger; 4042-auger secondary pulley; 4043-auger compensation pulley; 4044-auger shaft pulley; 4045-auger clutch shaft; 4046-auger clutch; 4047-auger driven pulley; 4048-bearing seat D; 4049-torque sensor D;
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, 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 by those skilled in the art according to specific situations.
As shown in fig. 1 and 2, the hybrid torque compensation mechanism of the crawler combine harvester comprises a driving device 1, a compensation device 2, a transmission device 3 and a combine harvester working unit 4;
the drive device 1 includes an engine 101, a generator 102, an inverter 103, a battery 104, a control center 105, and a torque sensor 106; the engine 101 is in transmission connection with the generator 102, the inverter 103 and the control center 105 are sequentially connected in series, and the storage battery 104 is connected with the control center 105; the engine 101 provides power for the combine harvester working unit 4; the generator 102 is connected with the combine harvester working unit 4 as the power generated by the motor; the battery 104 and the torque sensor 106 are connected in parallel to the control center 105. The engine 101 is in transmission connection with the combine harvester working unit 4 through the transmission device 3, a plurality of torque sensors 106 are used for detecting the torque of the combine harvester working unit 4,
the transmission device 3 comprises an engine belt pulley 301, a generator belt pulley 302, an engine output shaft belt pulley 303 and an engine output shaft 304; the engine belt wheel 301 is in transmission connection with the generator belt wheel 302, the engine output shaft belt wheel 303 is in transmission connection with the engine belt wheel 301, and the engine output shaft belt wheel 303 is fixed at one end of the engine output shaft 304 through a key; the other end of the engine output shaft 304 is in transmission connection with the combine working unit 4 through a plurality of belt wheels.
As shown in fig. 3a and 3b, the compensating device 2 includes an outer pulley 201, a one-way clutch 202, a sun gear 203, a driving pulley 204, a compensating motor 205, a belt 206, and a driven pulley 207; the outer belt wheel 201 and the one-way clutch 202 are coaxially mounted, the driving belt wheel 204 is fixedly connected with the one-way clutch 202, gear teeth on the inner side of the one-way clutch 202 are meshed with the sun gear 203 and are in transmission connection, the compensation motor 205 is fixedly connected with the sun gear 203 through a key, and the driven belt wheel 207 is in transmission connection with the outer belt wheel through a belt 206; the transmission mode of the outer belt pulley 201 and the driven belt pulley 207 can be replaced by gear transmission; a clutch may be added between the compensation motor 205 and the sun gear 203.
The compensation device 2 specifically works as follows: when the compensation motor 205 does not work, the driving pulley 204 inputs the power of the engine 101 into the compensation device 2, the driving pulley 204 drives the one-way clutch 202 to rotate in the same direction, the one-way clutch 202 drives the outer pulley 201 to rotate in the same direction, the outer pulley 201 is connected with the driven pulley 208 through the belt 206 and transmits the power to the driven pulley 207, and the driven pulley 207 drives the workpiece shaft fixedly connected with the driven pulley 207 to rotate; when the compensation motor 206 works, the compensation motor 205 drives the sun gear 203 to rotate, and the sun gear 203 enables the one-way clutch 202 to have the same rotating speed with the sun gear through the gear teeth, so that the rotating speed of the outer belt wheel 201 is changed; the compensation motor 205 has the effects of increasing power and changing rotating speed, thereby achieving the effect of compensating torque.
The working unit 4 includes a reciprocating cutter device 401, a drum device 402, a fan device 403, and an auger device 404.
As shown in fig. 6, the reciprocating cutter device comprises a reciprocating cutter 4011, a cutter transmission shaft, a bearing seat a, a torque sensor a and a cutter shaft pulley 4015; the cutting knife transmission shaft 4012 is in transmission connection with the reciprocating cutting knife 4011 through a universal shaft; bearing frame A installs on cutting knife transmission shaft 4012, torque sensor A4014 installs at cutting knife transmission shaft 4012 terminally for receive the transmission shaft moment of torsion, cutting knife shaft band pulley 4015 fixed mounting is connected by gear drive on cutting knife transmission shaft 4012 and with compensation arrangement, and cutting knife band pulley 306 fixed mounting is on engine output shaft 303, the cutting knife band pulley passes through the belt drive with compensation arrangement and is connected. The power of the engine 101 is transmitted from the cutter pulley 306 to the compensating device 2, and finally transmitted to the cutter transmission shaft 4012, and the power of the compensating motor a209 is transmitted from the compensating device 2 to the cutter transmission shaft 4012.
As shown in fig. 7, the threshing cylinder device 402 includes a threshing cylinder 4021, a cylinder secondary pulley 4022, a cylinder compensation pulley 4023, a cylinder shaft pulley 4024, a cylinder clutch shaft 4025, a cylinder clutch 4026, a cylinder driven pulley 4027, a bearing housing B4028, and a torque sensor B4029; the roller belt pulley 307 is fixedly arranged on the engine output shaft 304, the roller secondary belt pulley 4022 is connected with the roller belt pulley 307 through a belt, the roller secondary belt pulley 4022 is fixedly connected with the outer ring of the roller compensation belt pulley 4023, the roller compensation belt pulley 4023 is in transmission connection with the roller shaft belt pulley 4024 through a belt, and the roller shaft belt pulley 4024 is fixedly arranged on one side of the threshing roller; the bearing seat B4028 is arranged on one side of the threshing cylinder, the torque sensor B4029 is arranged on the other side of the threshing cylinder, and the bearing seat B4028 and the torque sensor B4029 are both connected with the frame and play a role in fixing the threshing cylinder; the output end of the compensation motor B210 is fixedly provided with a motor belt pulley 208, and the motor belt pulley 208 is connected with a roller driven belt pulley through a belt; the drum driven pulley 4027 is fixedly connected to one side of a drum clutch shaft 4025, a fan clutch 4026 is arranged in the middle of the drum clutch shaft 4025, and the other side of the drum clutch shaft 4025 is connected to a sun gear at the center of the drum compensation pulley 4027.
The power of the engine 101 is transmitted to the drum secondary pulley 4022 by the drum pulley 307, then transmitted to the drum compensating pulley 4023, and transmitted to the threshing drum 4021 by the outer ring of the drum compensating pulley 4023; the power of the compensating motor B210 is transmitted from the motor pulley 208 to the drum driven pulley 4027, then to the drum clutch shaft 4025, then to the sun gear at the center of the drum compensating pulley 4023, and finally to the threshing drum 4021;
as shown in fig. 8, the cleaning device 403 includes a cleaning fan 4031, a fan secondary pulley 4032, a fan compensating pulley 4033, a fan shaft pulley 4034, a fan clutch 4035, a fan clutch 4036, a fan driven pulley 4037, a bearing seat C4038 and a torque sensor C4039; a fan pulley 308 is fixedly mounted on the engine output shaft 304, the fan secondary pulley 4032 is connected with the fan pulley 307 through a belt, the fan secondary pulley 4032 is fixedly connected with the outer ring of the fan compensation pulley 4033, the fan compensation pulley 4033 is in transmission connection with a fan shaft pulley 4034 through a belt, and the fan shaft pulley 4034 is fixedly mounted on one side of the cleaning fan 4031; the bearing seat C4038 is arranged on one side of the cleaning fan 4031, the torque sensor C4039 is arranged on the other side of the cleaning fan 4031, and the bearing seat C4038 and the torque sensor C4039 are both connected with the frame and play a role in fixing the cleaning fan 4031; the output end of the compensation motor B210 is fixedly provided with a motor belt pulley 208, and the motor belt pulley 208 is connected with a fan driven belt pulley through a belt; the fan driven pulley 4037 is fixedly connected to one side of the fan clutch shaft 4035, the fan clutch 4035 is arranged in the middle of the fan clutch shaft 4035, and the other side of the fan clutch shaft 4036 is connected with a sun gear in the center of the fan compensation pulley 4037.
The power of the engine 101 is transmitted to a fan secondary pulley 4032 through a fan pulley 307, then transmitted to a fan compensation pulley 4033, and transmitted to a cleaning fan 4031 through the outer ring of the fan compensation pulley 4033; the power of the compensation motor B210 is transmitted from the motor pulley 208 to the fan driven pulley 4037, then to the fan clutch shaft 4035, then to the sun gear at the center of the fan compensation pulley 4033, and finally to the cleaning fan 4031.
As shown in fig. 9, the auger delivery device 404 includes a grain conveying auger 4041, a fan secondary pulley 4042, a fan compensating pulley 4043, a fan shaft pulley 4044, a fan clutch shaft 4045, a fan clutch 4046, a fan driven pulley 4047, a bearing seat D4048, and a torque sensor D4049; the fan belt wheel 308 is fixedly arranged on the engine output shaft 304, the fan secondary belt wheel 4042 is connected with the fan belt wheel 307 through a belt, the outer ring of the fan secondary belt wheel 4042 is fixedly connected with the outer ring of the fan compensation belt wheel 4043, the fan compensation belt wheel 4043 is in transmission connection with the fan shaft belt wheel 4044 through a belt, and the fan shaft belt wheel 4044 is fixedly arranged on one side of the grain conveying auger 4041; the bearing seat D4048 is arranged on one side of the grain conveying auger 4041, the torque sensor D4049 is arranged on the other side of the grain conveying auger 4041, and the bearing seat D4048 and the torque sensor D4049 are both connected with the rack and play a role in fixing the grain conveying auger 4041; the output end of the compensation motor B210 is fixedly provided with a motor belt pulley 208, and the motor belt pulley 208 is connected with a fan driven belt pulley through a belt; the fan driven belt wheel 4047 is fixedly connected to one side of a fan clutch shaft 4045, the middle of the fan clutch shaft 4045 is provided with the fan clutch 4045, and the other side of the fan clutch shaft 4046 is connected with a sun gear at the center of the fan compensation belt wheel 4047.
The power of the engine 101 is transmitted to a fan secondary belt wheel 4042 by a fan belt wheel 307, then transmitted to a fan compensation belt wheel 4043, and transmitted to a grain conveying auger 4041 by the outer ring of the fan compensation belt wheel 4043; the power of the compensation motor B210 is transmitted to the fan driven pulley 4047 by the motor pulley 208, then transmitted to the fan clutch shaft 4045, then transmitted to the sun gear at the center of the fan compensation pulley 4043, and finally transmitted to the grain conveying auger 4041.
As shown in fig. 4 and 5, the control strategy of the hybrid torque compensation mechanism of the crawler-type combine harvester of the invention comprises the following steps:
acquisition of the operating torque M of the combine working unit 4 by means of the torque sensor 106iWherein i is represented as the ith work unit; i e (1,2,3,4), wherein M1For the working torque, M, of the reciprocating knife device 4012For the operating torque of the drum device 402, M3For the operating torque of the fan unit 403, M4Is the operating torque of the auger apparatus 404.
The control center 105 determines the upper limit M of the torque threshold of the ith working unit according to the historical statistical valueimaxAnd lower torque threshold limit Mimin；
When M isi<MiminMeanwhile, the control center 105 controls the generator 102 to generate electric energy to charge the storage battery 104;
when M isimin<Mi<MimaxThe control center 105 then determines the ith working unit of the combine4 is in the normal interval;
when M isi>MimaxWhen the power is supplied to the combine working unit 4, the control center 105 controls the compensation motor 205 or the generator 102 to serve as a motor to respectively supplement power to the combine working unit 4 or controls the compensation motor 205 and the generator 102 to serve as motors to jointly supplement power to the combine working unit 4;
when the torques of 2 working parts at most are all higher than the corresponding upper torque limit MimaxWhen the power is supplied to the working unit 4, the control center 105 controls the generator 102 to serve as a motor to respectively supplement power to the corresponding working units 4 of the combine harvester through a transmission system;
when all the working part torques are higher than the corresponding torque upper limit MimaxThen, the control center 105 controls the corresponding compensation motor 205 to supplement power to the corresponding combine working unit 4;
when the i-th working member has a torque MiAbove the upper torque limit Mimax1.2 times, the control center 105 controls the compensation motor 205 and the generator 102 to act as motors to jointly supplement power to the corresponding combine working unit 4.
Before power is supplemented, the control center 105 obtains the SOC value of the storage battery 104 and a set storage battery charging threshold Q0Comparing, when the set charging threshold Q of the storage battery0<When the SOC value of the battery 104 is obtained, the control center 105 controls the generator 102 to generate electric energy to charge the battery 104; when M isi>MimaxIf the SOC value of the battery 104 is smaller than the set battery charging threshold Q0The control center 105 sends an alarm signal.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. A hybrid torque compensation mechanism of a crawler-type combine harvester is characterized by comprising a driving device (1), a compensation device (2), a transmission device (3) and a combine harvester working unit (4);
the drive device (1) comprises an engine (101), a generator (102), an inverter (103), a storage battery (104), a control center (105) and a torque sensor (106); the engine (101) is in transmission connection with the generator (102), the inverter (103) and the control center (105) are sequentially connected in series, and the storage battery (104) is connected with the control center (105); the engine (101) provides power for the combine harvester working unit (4); the generator (102) is used as the power generated by the motor and is connected with the working unit (4) of the combine harvester;
the compensating device (2) comprises an outer belt wheel (201), a one-way clutch (202), a sun gear (203), a driving belt wheel (204), a compensating motor (205) and a driven belt wheel (207); the outer belt wheel (201) and the one-way clutch (202) are coaxially mounted, the driving belt wheel (204) is fixedly connected with the one-way clutch (202), the inner hole of the one-way clutch (202) is provided with inner teeth which are meshed with the sun gear (203), the compensation motor (205) is connected with the sun gear (203), and the driven belt wheel (207) is in transmission connection with the combine harvester working unit (4); the accumulator (104) provides electric energy for the compensation motor (205) and the generator (102) as a motor respectively;
the engine (101) is in transmission connection with the combine harvester working unit (4) through the transmission device (3), the plurality of torque sensors (106) are used for detecting the torque of the combine harvester working unit (4), and the control center (105) controls the compensation motor (205) and/or the generator (102) to work as a motor according to the detected values of the plurality of torque sensors (106) for compensating power.
2. A hybrid torque compensation mechanism of a crawler-type combine harvester according to claim 1, characterized in that the combine harvester working unit (4) comprises a reciprocating cutter device (401), a threshing cylinder device (402), a cleaning device (403) and an auger conveying device (404), the reciprocating cutter device (401), the threshing cylinder device (402), the cleaning device (403) and the auger conveying device (404) being respectively provided with a compensation device (2).
3. The hybrid torque compensation mechanism of a crawler combine according to claim 1, wherein the control center (105) obtains the SOC value of the battery (104), and the control center (105) controls the generator (102) to charge the battery (104) or controls the battery (104) to supply electric power to the generator (102) as a motor according to the SOC value of the battery (104).
4. A control strategy for a hybrid torque compensating mechanism for a tracked combine according to claim 1, comprising the steps of:
the working torque M of the working unit (4) of the combine harvester is acquired by a torque sensor (106)iWherein i is represented as the ith work unit;
the control center (105) determines the upper limit M of the torque threshold of the ith working unit according to the historical statistical valueimaxAnd lower torque threshold limit Mimin；
When M isi＜MiminWhen the battery is charged, the control center (105) controls the generator (102) to generate electric energy to charge the storage battery (104);
when M isi＞MimaxWhen the power is supplied to the combine harvester working unit (4), the control center (105) controls the compensation motor (205) or the generator (102) to be used as a motor to respectively supplement power to the combine harvester working unit (4) or controls the compensation motor (205) and the generator (102) to be used as motors to jointly supplement power to the combine harvester working unit (4);
when M isimin＜Mi＜MimaxAnd then, the control center (105) judges that the ith working unit (4) of the combine harvester is positioned in a normal interval.
5. The control strategy for a hybrid torque compensating mechanism for a tracked combine according to claim 4,
when the torques of 2 working parts at most are all higher than the corresponding upper torque limit MimaxWhen the power is supplied to the working unit (4), the control center (105) controls the generator (102) to be used as a motor to respectively supplement power to the corresponding working units (4) of the combine harvester through a transmission system;
when all the working part torques are higher than the corresponding torque upper limit MimaxWhen the power is supplied to the working unit (4), the control center (105) controls the corresponding compensation motor (205) to supplement power to the corresponding combine harvester working unit (4);
when the i-th working member has a torque MiAbove the upper torque limit Mimax1.2 times of the total power of the power source, the control center (105) controls the compensation motor (205) and the generator (102) to jointly serve as motors to supplement power for the corresponding combine harvester working unit (4).
6. The control strategy of a hybrid torque compensation mechanism of a tracked combine harvester according to claim 4, characterized in that the control center (105) is based on the acquired SOC value of the battery (104) and a set battery charging threshold Q0Comparing, when the set charging threshold Q of the storage battery0When the SOC value of the storage battery (104) is less than the acquired SOC value, the control center (105) controls the generator (102) to generate electric energy to charge the storage battery (104); when M isi＞MimaxWhen the SOC value of the battery (104) is less than the set battery charging threshold Q0The control center (105) sends out an alarm signal.
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| WO2013115281A1 (en) * | 2012-01-30 | 2013-08-08 | ヤンマー株式会社 | Combine |
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