CN114402801A - Ramie harvesting bundle diameter self-adaptive control device and method - Google Patents
Ramie harvesting bundle diameter self-adaptive control device and method Download PDFInfo
- Publication number
- CN114402801A CN114402801A CN202210026106.3A CN202210026106A CN114402801A CN 114402801 A CN114402801 A CN 114402801A CN 202210026106 A CN202210026106 A CN 202210026106A CN 114402801 A CN114402801 A CN 114402801A
- Authority
- CN
- China
- Prior art keywords
- tension
- ramie
- bundling
- rope
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 240000008564 Boehmeria nivea Species 0.000 title claims abstract description 93
- 238000003306 harvesting Methods 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 47
- 244000025254 Cannabis sativa Species 0.000 claims abstract description 17
- 235000012766 Cannabis sativa ssp. sativa var. sativa Nutrition 0.000 claims abstract description 17
- 235000012765 Cannabis sativa ssp. sativa var. spontanea Nutrition 0.000 claims abstract description 17
- 235000009120 camo Nutrition 0.000 claims abstract description 17
- 235000005607 chanvre indien Nutrition 0.000 claims abstract description 17
- 239000011487 hemp Substances 0.000 claims abstract description 17
- 230000000712 assembly Effects 0.000 claims abstract description 7
- 238000000429 assembly Methods 0.000 claims abstract description 7
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 36
- 229910052799 carbon Inorganic materials 0.000 claims description 27
- 230000003993 interaction Effects 0.000 claims description 15
- 238000012417 linear regression Methods 0.000 claims description 13
- 229910002804 graphite Inorganic materials 0.000 claims description 9
- 239000010439 graphite Substances 0.000 claims description 9
- 238000012549 training Methods 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000004033 diameter control Methods 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims 9
- 230000007246 mechanism Effects 0.000 abstract description 16
- 230000008859 change Effects 0.000 abstract description 6
- 241000196324 Embryophyta Species 0.000 description 9
- 230000000694 effects Effects 0.000 description 7
- 239000000428 dust Substances 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000003756 stirring Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000013013 elastic material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004753 textile Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 230000008275 binding mechanism Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000003967 crop rotation Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 238000011478 gradient descent method Methods 0.000 description 1
- 238000012804 iterative process Methods 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/06—Harvesting of standing crops of flax or similar fibrous plants
- A01D45/065—Harvesting of standing crops of flax or similar fibrous plants of fibrous plants other than flax, e.g. ramie, sisal, hemp, jute, Spanish grass, raffia
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D59/00—Equipment for binding harvested produce
- A01D59/02—Packers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The invention discloses a self-adaptive control device and method for ramie harvesting bundle diameter, and belongs to the technical field of ramie bundling. The control device comprises a rope feeding assembly, a device body and a controller, wherein a bundling rope enters the device body through the rope feeding assembly, a plurality of ball assemblies arranged along the conveying direction of the bundling rope, a tension detection assembly and a tension control assembly are arranged in the device body; the ramie bundle comprises a ramie bundle body, a ball assembly, a tension detection assembly, a controller and a tension control assembly, wherein the ramie bundle body is provided with a space, the ball assembly is arranged in the space, the tension detection assembly is used for detecting the tension of the ramie bundle body when knotting is carried out, the tension control assembly receives signals of the controller, and the size of the ramie bundle diameter is controlled in a self-adaptive mode. The ramie bundling tension can be controlled in real time, the harvester does not change due to factors such as walking speed, ramie cutting and conveying speed or hemp stalk form change in different harvesting periods when working, the bundling diameter is adjusted when the harvester stops, the failure rate of a bundling mechanism is reduced, and the operation efficiency is improved.
Description
Technical Field
The invention relates to the technical field of ramie bundling, in particular to a method and a device for controlling the bundle diameter of a CD-type or D-type knotter of a ramie cutting and bundling combined harvester.
Background
The ramie is a perennial herbaceous plant, mature hemp stalk fiber is an important textile raw material, and seed leaves or twigs can be used as green feed. China has ramie output accounting for more than 90% of the world's ramie output, and the ramie is also called ' Chinese grass ', and the development of ramie resources has important significance for improving the income of farmers and developing textile, livestock raising and the like.
The ramie is harvested 3-5 times in 5-11 months every year, the first 1-crop-rotation ramie is best in growth, the average plant height can reach 2000mm, and the plant diameter can reach 10 mm; the average plant height of the 2 nd harvest is about 1500mm, and the plant diameter is 7 mm; the average plant height of the 3 rd crop is about 1100mm, and the plant diameter is about 6 mm; the average plant diameter of the 4 th crop is 1000mm, and the plant diameter is about 5 mm; the hemp stems are obviously short and long in the 5 th harvesting.
The crop density and the ramie stalk shape of each batch of ramie are obviously different, and the newly developed ramie combine harvester in the industry gradually replaces the manual collection of the ramie, and can complete the cutting, conveying and collecting work of the ramie at one time. In order to facilitate large-scale transportation, bundling is required to be carried out synchronously during harvesting to form a hemp stalk with uniform and firm bundling diameter, and the bundling diameter is controlled according to the requirements of subsequent processing such as transportation and the like.
Before each crop of the harvester is harvested, the bundling control requirement is estimated manually according to the growth vigor of the crops, the crop density and the field walking condition, and the bundling diameter control part of the automatic knotter of the harvester is adjusted. Usually, a knotter control part clamps a bundling rope through a fixed spring to adjust tension, and controls feeding amount to trigger knotting action to realize bundling and rough bundling diameter setting, so that real-time adjustment cannot be realized during operation. Because the walking speed of harvester during operation, cutting knife cut numb conveying speed, bundle speed etc. can change along with the current condition in field ground, ramie form, crop density difference, simply lean on mechanical parts fixed control bundle footpath mode adaptability is limited, causes easily: the rope is loosened due to too loose bundling tension, the bundling speed is reduced to form blockage, or the knotting device is abraded and the bundling rope is broken due to too large bundling tension, the bundling rate is reduced, and the bundled ropes are different in size. Frequent stopping is required to adjust the bundling mechanical structure or manual intervention bundling process. Therefore, the real-time bundling diameter control method which actively adapts to the change of the harvesting form and density of each ramie stubble and the change of the walking speed, the ramie cutting and conveying speed and the bundling speed of the harvester is realized, and the method has important significance for improving the harvesting operation efficiency and the bundling quality of the ramie.
Many technical solutions for ramie bundling or automatic knotter of harvester exist through search, but the technical problems to be solved are different. For example, patent application No. 2019105076635 discloses a ramie reaper-binder; the bundling machine comprises a machine body, a power travelling mechanism, a cutting knife mechanism, a clamping and conveying mechanism and a bundling mechanism, wherein the feeding end of the clamping and conveying mechanism is positioned above the cutting knife mechanism, the bundling mechanism is positioned at the discharging end of the clamping and conveying mechanism, the clamping and conveying mechanism comprises a machine frame and a conveying channel arranged on the machine frame, a conveying chain is rotatably connected to the machine frame and is positioned on one side of the width of the conveying channel, and a material stirring piece is arranged on the conveying chain; a pushing device is arranged on the other side of the width of the conveying channel, the pushing device comprises elastic material stirring rods, the elastic material stirring rods are arranged in a row along the length direction of the conveying channel, and material blocking rods are arranged at the end parts of the elastic material stirring rods; the feed end of the conveying channel is rotatably connected with a material stirring wheel and a material baffle plate, and the material baffle plate and the material stirring wheel are respectively positioned on two opposite sides of the feed end of the conveying channel. Although the application can overcome the problems of unstable conveying, easy blockage and easy breakage of the ramie to a certain extent, the control effect of the ramie harvesting and bundling diameter is still influenced by factors such as the speed of the vehicle, the rotating speed of the ramie conveying disc and the like, and the operation efficiency is still to be further improved.
Disclosure of Invention
1. Technical problem to be solved by the invention
In order to solve the technical problem, the invention provides a ramie harvesting bundle diameter self-adaptive control device and a method; the ramie bundling tension can be controlled in real time, the harvester does not change due to factors such as walking speed, ramie cutting and conveying speed or ramie stalk form during working, the bundling diameter is adjusted by stopping, the failure rate of a bundling mechanism is reduced, and the operation efficiency is improved.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention discloses a ramie harvesting bundle diameter self-adaptive control device which comprises a rope feeding assembly, a device body and a controller, wherein a bundling rope enters the device body through the rope feeding assembly, a plurality of ball assemblies arranged along the conveying direction of the bundling rope, a tension detection assembly and a tension control assembly are arranged in the device body; the ramie bundle comprises a ramie bundle body, a ball assembly, a tension detection assembly, a controller and a tension control assembly, wherein the ramie bundle body is provided with a space, the ball assembly is arranged in the space, the tension detection assembly is used for detecting the tension of the ramie bundle body when knotting is carried out, the tension control assembly receives signals of the controller, and the size of the ramie bundle diameter is controlled in a self-adaptive mode.
Furthermore, the automatic bundling machine further comprises a human-computer interaction screen, a walking speed sensor, a cutting speed sensor and a conveying bundling speed sensor, wherein the human-computer interaction screen, the walking speed sensor, the cutting speed sensor and the conveying bundling speed sensor are all electrically connected with the controller.
Furthermore, the rope feeding assembly comprises a rope feeding power roller and a rope feeding follow-up supporting roller; the rope feeding power roller is driven by a hub motor and is provided with an encoder; the encoder feeds data back to the controller.
Furthermore, the tension detection assembly comprises a tension detection roller, a detection roller bearing, a support sheet and a strain sheet; the tension detection roller is connected with the detection roller bearing, one end of the detection roller bearing is provided with a support sheet, two side faces of the support sheet are respectively provided with a strain gauge R1 and a strain gauge R2, and the strain gauges R1 and R2 are electrically connected with the controller.
Furthermore, the tension control assembly comprises a tension control supporting roller and a tension control driving roller, the tension control driving roller is connected with a fixed bearing through a central shaft, the fixed bearing is fixed by a bearing clamping seat, the bearing clamping seat is connected with a telescopic rod of a servo electric cylinder, and the bearing clamping seat can be driven by the telescopic rod to reciprocate vertically in the conveying direction of the binding rope.
Furthermore, the ball assembly comprises a transverse ball and a longitudinal ball, the transverse ball and the longitudinal ball are arranged in pairs and are symmetrically arranged by taking the binding rope as a center, and the binding rope moves in a space wrapped by the transverse ball and the longitudinal ball.
Furthermore, the ball assembly further comprises a protective shell, the protective shell comprises a longitudinal sliding groove and a transverse sliding groove which are perpendicular to each other, groove covers are arranged on the side surfaces of the longitudinal sliding groove and the transverse sliding groove, and two end shafts of the transverse ball and the longitudinal ball are limited in the groove covers.
Furthermore, a spring carbon brush is arranged between the ball assemblies, the spring carbon brush comprises a spring and a graphite carbon brush, and one end or two ends of the spring are connected with the graphite carbon brush.
According to the self-adaptive control method for the ramie harvesting bundle diameter, a controller of a control device detects strain gauges R1 and R2 according to a man-machine interaction screen, a tension detection strain gauge, a cutting speed sensor, a conveying bundling speed sensor and information of target bundle diameter, bundle rope tension, ramie cutting speed, ramie conveying disc conveying speed and harvester running speed obtained by a traveling speed sensor, the tension of the bundle rope is adjusted by obtaining a telescopic rod control moment of a servo electric cylinder through a pre-training linear regression model, and then the size of the bundle diameter is controlled, and meanwhile, the size of the bundle diameter is corrected through a PID link through the actual bundle diameter fed back by an encoder.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
(1) according to the self-adaptive control method for the ramie harvesting bundle diameter, the actual conditions of variables influencing the size of the bundle diameter can be sensed by a man-machine interaction screen, tension detection strain gauges R1 and R2, a ramie cutting and conveying speed sensor, a walking speed sensor and a push rod stretching amount and fed back to a controller, a controller control system calculates and adjusts the telescopic rod control torque of a servo electric cylinder according to a pre-trained linear regression model, real-time control of the size of the ramie harvesting bundle diameter is completed, the control effect of the ramie harvesting bundle diameter is not influenced by the speed of a vehicle and the rotating speed of a ramie conveying disc, and the self-adaptive control method has strong self-adaptability and robustness.
(2) According to the ramie harvesting bundle diameter self-adaptive control method, the encoder is arranged on the rope conveying power roller of the rope conveying assembly, the actual bundle diameter is fed back through the encoder, and the size of the bundle diameter is corrected through the PID link, so that the precision and the robustness of the device for controlling the bundle diameter are further improved.
(3) According to the self-adaptive control device for the ramie harvesting bundle diameter, the ball assembly and the spring carbon brush are arranged, so that the transverse and longitudinal friction coefficients of the movement of the bundling rope in the device can be reduced to the maximum extent, the order of magnitude of friction resistance can be ignored compared with the minimum resolution of tension adjustment, the control precision of tension is ensured, the bundling rope is limited to move in a space wrapped by the transverse ball and the longitudinal ball, rope falling of the bundling rope can be avoided, the failure rate of a bundling mechanism is reduced, and the operation efficiency is improved.
(4) According to the self-adaptive control device for the ramie harvesting bundle diameter, the structure design of the rope feeding assembly, the ball assembly, the tension detection assembly and the tension control assembly is simple and reasonable, the detection and control requirements can be met, and meanwhile, the self-adaptive control device has the advantages of low manufacturing cost and convenience in operation, and has high popularization and application values.
Drawings
FIG. 1 is a schematic structural diagram of a ramie harvesting bundle diameter self-adaptive control device according to the invention;
FIG. 2 is a detail view of the rope feeding mechanism of the present invention;
FIG. 3 is a schematic structural view of a rubber boot according to the present invention;
FIG. 4 is a schematic view of the principle of the tension generation of the lashing wire of the present invention; in fig. 4, T is a tension control roll moment; r is the radius of the tension control roll; f is the tension of the binding rope;
fig. 5 is a detail view showing a carbon brush according to the present invention;
FIG. 6 is a detail view of the ball mounting groove of the present invention;
FIG. 7 is a detail view of the ball assembly of the present invention;
FIG. 8 is a detail view of the tension sensing assembly of the present invention;
FIG. 9 is an exploded view of a portion of the tension sensing assembly of the present invention;
FIG. 10 is a detail view of the tension control assembly of the present invention;
FIG. 11 is a schematic illustration of ramie harvesting according to the present invention;
FIG. 12 is a schematic block diagram of a controller according to the present invention;
FIG. 13 is a flow chart of self-adaptive control of ramie harvesting bundle diameter according to the present invention
Fig. 14 is a schematic diagram of self-adaptive control of ramie harvesting bundle diameter in the invention.
The reference numerals in the schematic drawings illustrate:
1. a rope barrel; 2. bundling the ropes; 31. a rope feeding power roller; 311. a hub motor; 312. an encoder; 32. a rope feeding follow-up supporting roller; 33. a rubber sleeve; 4. a device body; 41. mounting holes; 51. a single-ended spring carbon brush; 52. a double-ended spring carbon brush; 53. a double-ended long spring carbon brush; 5a, a spring; 5b, graphite carbon brushes; 6. a ball assembly; 61. a longitudinal sliding groove; 62. a slot cover; 621. a ball mounting groove; 622. a slot cover mounting hole; 63. a transverse sliding groove; 64. a transverse ball; 65. longitudinal balls; 7. a tension detection assembly; 71. a tension detection roller; 72. detecting a roller mounting hole; 73. a bayonet lock; 74. detecting roller fixing holes; 75. detecting a roller bearing; 76. a bearing snap spring; 77. a support sheet; 78. a fixed shaft; 79. a sealing plate; 791. a wire outlet hole; 81. a tension control support roller; 82. the supporting roller fixes the bearing; 91. a tension control drive roll; 92. fixing the bearing; 93. a servo electric cylinder; 931. a telescopic rod; 94. a bearing cartridge; 95. fixing screws; 96. fixing the screw rod; 97. a central shaft; 101. a dust cover; 102. and a dust cover fixing hole.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Example 1
With reference to fig. 1, the self-adaptive ramie harvesting bundle diameter control device of the present embodiment includes a rope feeding assembly, a device body 4 and a controller, wherein a bundling rope 2 is disposed in a rope barrel 1, and the other end of the bundling rope 2 enters the device body 4 through the rope feeding assembly. The device body 4 is provided with a plurality of mounting holes 41, wherein part of the mounting holes 41 are used for connecting and fixing the control device with the harvester, and part of the mounting holes 41 are used for mounting the controller.
A plurality of ball assemblies 6 arranged along the conveying direction of the binding rope are arranged in the device body 4, the binding rope 2 moves in a space defined by the ball assemblies 6, and a tension detection assembly 7 and a tension control assembly are also arranged in the device body 4; a tension detecting assembly 7 and a tension controlling assembly are provided between the ball assemblies 6, wherein the tension detecting assembly 7 detects the tension of the twine when knotting and transmits a signal to the controller. The tension control assembly receives signals of the controller and adaptively controls the size of the ramie bundle diameter.
In practical application, the controller can utilize the tension control component to finish self-adaptive control of the ramie bundle diameter according to the received tension information of the binding rope.
Example 2
The self-adaptive ramie harvesting bundle diameter control device of the embodiment is further provided with a human-computer interaction screen, a walking speed sensor, a cutting speed sensor and a conveying bundling speed sensor (namely, a ramie cutting and conveying speed sensor shown in fig. 1) on the basis of the embodiment 1, wherein the human-computer interaction screen, the walking speed sensor and the ramie cutting and conveying speed sensor are all electrically connected with the controller. The man-machine interaction screen mainly completes the bundling state display and system initialization configuration work of the ramie harvester, stores the configuration data of each batch of harvesting, forms an optimal bundling control scheme according to the bundling quality, and provides user reference for automatic initialization work.
In practical application, the controller can obtain the telescopic moment of the push rod of the servo electric cylinder and control the size of the bundle diameter through a pre-training linear regression model according to the target bundle diameter input by a driver through a human-computer interaction screen and the tension of the bundling rope when the tension detecting component 7 detects knotting, the ramie cutting speed and the ramie conveying speed obtained by the ramie cutting conveying speed sensor and the running speed information of the harvester obtained by the walking speed sensor, and has strong adaptivity and robustness, and the control effect of the ramie harvesting bundle diameter is not influenced by the speed of the vehicle and the rotating speed of the ramie conveying disc.
Example 3
In the self-adaptive control device for the ramie harvesting bundle diameter, a rope feeding assembly is designed on the basis of embodiment 2. Referring to fig. 2 and 3, specifically, the following steps are performed: the rope feeding assembly comprises a rope feeding power roller 31 and a rope feeding follow-up supporting roller 32, the bundling rope 2 is arranged between the rope feeding power roller 31 and the rope feeding follow-up supporting roller 32, the rope feeding power roller 31 is driven by a hub motor 311, and an encoder 312 is arranged; the encoder 312 feeds data back to the controller. The in-wheel motor 311 matches the rope feeding speed according to the bundling speed detected by the controller, ensures that the rope feeding speed is not less than the bundling speed, and actively transmits the bundling rope to the tension control assembly. The encoder 312 feeds back the current rope feeding speed and rope length information to the controller according to each bundling period.
Further, the outermost layer structure of the power roller 31 and the rope-feeding follow-up support roller 32 is a rubber sleeve 33 as shown in FIG. 3, ensuring that the twine does not slip during movement.
In practical application, the controller can obtain the telescopic moment of the push rod of the servo electric cylinder and control the size of the bundle diameter through the pre-training linear regression model according to the target bundle diameter input by a driver through the human-computer interaction screen, the tension of the bundling rope detected by the tension detection assembly 7 during knotting, the ramie cutting speed and the ramie conveying disc conveying speed obtained by the ramie cutting conveying speed sensor and the harvester running speed information obtained by the walking speed sensor. Meanwhile, the actual bundle diameter fed back by the encoder 312 can be used for correcting the bundle diameter size through a PID link, so that the precision and robustness of the device for controlling the bundle diameter are further improved.
Example 4
In the self-adaptive control device for the ramie harvesting bundle diameter of the embodiment, the structure design is carried out on the ball assembly 6, the tension detection assembly 7 and the tension control assembly on the basis of the embodiment 3.
Referring to fig. 6 and 7, the ball assembly 6 includes a transverse ball 64, a longitudinal ball 65, and a protective housing, the protective housing includes a longitudinal sliding groove 61 and a transverse sliding groove 63 which are perpendicular to each other, a groove cover 62 is disposed on the side of the longitudinal sliding groove 61 and the transverse sliding groove 63, a ball mounting groove 621 and a groove cover mounting hole 622 are disposed on the groove cover 62, and the groove cover mounting hole 622 is a threaded hole. The transverse ball 64 and the longitudinal ball 65 are arranged in pairs and are symmetrically arranged with the twine 2 as the center, and both ends of the transverse ball 64 and the longitudinal ball 65 are axially defined in the ball mounting grooves 621. The setting of capping 62 can play dust seal on the one hand, protects the ball and supports the gliding effect of ball, and the spring carbon brush that on the other hand says below also is fixed through capping 62, can effectively prevent that the spring carbon brush from droing. The twine 2 moves in the space enclosed by the transverse balls 64 and the longitudinal balls 65.
Referring to fig. 5, a spring carbon brush is arranged between the ball assembly 6, the spring carbon brush includes a spring 5a and a graphite carbon brush 5b, and one end or two ends of the spring 5a are connected to the graphite carbon brush 5 b. The spring 5a is used for supporting the graphite carbon brush 5b and simultaneously has a buffering effect on the movement of the ball bearings. The graphite carbon brush 5b serves to support the adjacent balls and reduce contact friction. The spring carbon brushes are divided into a single-head spring carbon brush 51, a double-head spring carbon brush 52 and a double-head long spring carbon brush 53, and are selected according to actual use requirements.
The ball subassembly and the spring carbon brush that this embodiment set up can furthest reduce the horizontal, vertical coefficient of friction that the bundle rope removed in the device, make frictional resistance order of magnitude compare ignoreable with the minimum resolution ratio of tension regulation, guaranteed tensile control accuracy, and the bundle rope is restricted and is removed in the space that horizontal ball and vertical ball wrapped up, can avoid tying taking off of rope, has reduced the fault rate of tying the mechanism, has improved the operating efficiency.
With reference to fig. 8 and 9, the tension detection assembly 7 employs a plurality of pressure strain gauges to be temperature compensated, and performs tension detection based on the wheatstone bridge principle. The tension detection device specifically comprises a tension detection roller 71, a detection roller bearing 75, a support sheet 77 and a strain sheet; a detection roller mounting hole 72 is formed in the center of the tension detection roller 71, and a fixed shaft 78 passes through the detection roller mounting hole 72 and is connected with the tension detection roller 71 through a bayonet 73. The other end of the fixed shaft 78 is connected with the detection roller bearing 75 through a bearing snap spring 76, one end of the detection roller bearing 75 is provided with a support sheet 77, two side surfaces of the support sheet 77 are respectively provided with a strain gauge R1 and a strain gauge R2, and the support sheet 77 is an elastic support steel sheet. The outside of tension detection roller 71 also sets up the protection casing, and the side of this protection casing sets up closing plate 79, sets up exit hole 791 on the closing plate 79, and the cable of foil gage R1, R2 passes through exit hole 791 and wears out, and electric connection controller passes through detection roller fixed orifices 74 through the screw rod between protection casing, the closing plate 79 and realizes fixing.
With reference to fig. 1 and 10, the tension control assembly includes a tension control support roller 81 and a tension control drive roller 91, the tension control support roller 81 is provided with a support roller fixing bearing 82, the tension control drive roller 91 is connected with a fixing bearing 92 through a central shaft 97, the fixing bearing 92 is fixed by a bearing clamping seat 94, the two bearing clamping seats are connected through a fixing screw 95, the bearing clamping seat 94 is connected with an expansion link 931 of a servo electric cylinder 93 through a fixing screw 96, and the bearing clamping seat 94 can move back and forth in the driving direction of a vertical binding rope under the driving of the expansion link 931.
The present embodiment further provides a dust cover 101 at the tension control support roller 81 and the tension control drive roller 91, and the dust cover 101 is connected to the apparatus body 4 by inserting bolts into the dust cover fixing holes 102.
The structural design of sending rope subassembly, ball subassembly, tension detection subassembly, tension control subassembly in this embodiment is simple, reasonable, can satisfy and detect and control the demand, have low in manufacturing cost concurrently, the advantage of the operation of being convenient for, have higher popularization and application and worth.
Example 5
With reference to fig. 11 to 14, in the self-adaptive control method for ramie harvesting bale diameter according to the embodiment, a controller is designed by using a processor such as an MCU or an ARM, and is respectively communicated with a human-computer interaction screen, a rope feeding assembly, a miniature servo electric cylinder, and various speed detection sensors through common communication interfaces and protocols such as a CAN/RS 485; and meanwhile, the data detection and control output of the binding rope tension detection strain gauges R1 and R2 and the system state are completed through analog and digital interfaces.
The controller detects strain gauges R1 and R2 according to a man-machine interaction screen, a hemp cutting and conveying speed sensor and target bale diameter, rope tension, hemp cutting speed, hemp conveying disc conveying speed and harvester running speed information obtained by a walking speed sensor, a control moment of a telescopic rod 931 of the servo electric cylinder 93 is obtained through a pre-training linear regression model, the size of the bale diameter is controlled, and meanwhile, the actual bale diameter fed back by the encoder 312 is corrected through a PID link.
When the bundling is finished and the bundling rope is cut, the tension borne by the bundling rope can be suddenly reduced, and the rope can be prevented from being disengaged under the constraint of the tension control assembly.
The linear regression model for controlling the telescopic moment of the push rod of the servo electric cylinder is obtained by the following method:
firstly, a data set required by model training is obtained, and the harvester is driven to operate at different rope tension, hemp cutting speed, conveying speed, driving speed and servo electric cylinder push rod telescopic torque. The tension of the binding rope, the hemp cutting speed, the conveying speed, the running speed, the telescopic moment of a push rod of a servo electric cylinder and the binding diameter of the binding are recorded by a tension detection strain gauge, a rotating speed of a cutting knife, a rotating speed sensor of a hemp conveying disc, a walking speed sensor of a harvester, a controller and a coder of a rope conveying mechanism. And obtaining data sets of different binding rope tensions, different hemp cutting speeds, different conveying speeds, different traveling speeds and different binding diameters under the telescopic moment of the push rod of the servo electric cylinder.
And learning by utilizing a data set to obtain a linear regression model for controlling the telescopic moment of the push rod of the servo electric cylinder by the expected bundle diameter. Definition vector x ═ x1；x2；x3；x4；x5) Wherein x is1、x2、x3、x4、x5Respectively representing the desired bale diameter, bale cord tension, cut hemp speed, delivery speed and travel speed. The expression form of the prediction function of the telescopic moment of the push rod of the servo electric cylinder under the condition of a given input vector x is as follows:
f(x)＝w1x1+w2x2+w3x3+w4x4+w5x5+b
expressed in vector form as:
f(x)＝xw+b，
wherein w ═ w1；w2；w3；w4；w5)T，w1、w2、w3、w4、w5The importance of the expected bundle diameter, the tension of the binding rope, the hemp cutting speed, the conveying speed and the running speed in prediction is visually expressed. By obtaining a data set D (D ∈ { (x)1，y1)，(x2，y2)，……，(xm，ym) In which y isiAnd training to obtain a prediction function f (x) of the telescopic moment of the push rod of the servo electric cylinder for each group of data servo electric cylinder push rod telescopic moment.
The goal of the linear regression model is to find the parameters w and b such that f (x)i)＝xiw + b as close as possible to yiThe method finds the parameters w and b by minimizing the mean square error. Merging w and b into a column vector
Let X be (X; 1), then:
therefore, the minimum mean square error can be expressed as:
order:
to pair
The derivation yields:
when X is presentTWhen X is a full rank matrix or a positive timing matrix, order
The following can be obtained:
when X is presentTWhen X does not satisfy the full-rank matrix or the positive definite matrix, a gradient descent method is adopted for solving, and the iterative update of gradient descent is as follows:
where α is the learning rate, which is a hyper-parameter required for gradient descent. An iterative process of gradient descent can be obtained as follows:
order to
The final linear regression model learned is then:
the device obtains the telescopic target moment of the push rod of the servo electric cylinder through a linear regression model and controls the size of the bundle diameter, and in order to further improve the precision and robustness of the device for controlling the bundle diameter, the actual bundle diameter fed back by an encoder is corrected through a PID link.
The controller of the embodiment processes various input information according to the design of the multiple linear regression bundling control model, and adjusts the torque output level of the tension control servo electric cylinder in real time according to the calculation result. During the adjustment period, the closed-loop control precision is improved according to the strain gauge data fed back by the tension of the binding rope. In addition, the control system evaluates the working capacity of the knotter of the current bundling mechanism in real time through the bundling rotating speed, the rope feeding rotating speed and the tension range: when the speed of a vehicle or the ramie feeding amount is increased sharply, an operator of the harvester is prompted to pay attention to the adjustment of the operation speed through the human-computer interaction screen and the state indicating component, the binding mechanism is prevented from being blocked by binding overload and foreign matters, the control effect of the ramie harvesting binding diameter is not influenced by the speed of the vehicle and the rotating speed of the ramie conveying disc, and the self-adaptability and the robustness are high.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. The utility model provides a ramie is reaped and is tied adaptive control device of footpath, is including sending rope subassembly, device body (4) and controller, ties rope (2) and send rope subassembly entering device body (4), its characterized in that: a plurality of ball assemblies (6) arranged along the conveying direction of the binding rope, a tension detection assembly (7) and a tension control assembly are arranged in the device body (4); the ramie bundling device is characterized in that the bundling rope (2) moves in a space limited by the ball assembly (6), the tension detection assembly (7) detects the tension of the bundling rope during knotting, and the tension control assembly receives signals of the controller and adaptively controls the diameter of the ramie bundle.
2. The ramie harvesting bundle diameter adaptive control device according to claim 1, characterized in that: still include human-computer interaction screen, walking speed sensor, cutting speed sensor and carry and beat a bundle speed sensor, this human-computer interaction screen, walking speed sensor, cutting speed sensor and carry and beat a bundle speed sensor and all with controller electric connection.
3. The ramie harvesting bundle diameter adaptive control device according to claim 2, characterized in that: the rope feeding assembly comprises a rope feeding power roller (31) and a rope feeding follow-up supporting roller (32); the rope feeding power roller (31) is driven by a hub motor (311) and is provided with an encoder (312); the encoder (312) feeds data back to the controller.
4. The ramie harvesting bundle diameter adaptive control device according to claim 3, characterized in that: the tension detection assembly (7) comprises a tension detection roller (71), a detection roller bearing (75), a support sheet (77) and a strain sheet; the tension detection roller (71) is connected with the detection roller bearing (75), one end of the detection roller bearing (75) is provided with a support sheet (77), two side surfaces of the support sheet (77) are respectively provided with a strain gauge R1 and a strain gauge R2, and the strain gauges R1 and R2 are electrically connected with a controller.
5. The ramie harvesting bundle diameter adaptive control device according to claim 4, characterized in that: the tension control assembly comprises a tension control supporting roller (81) and a tension control driving roller (91), the tension control driving roller (91) is connected with a fixed bearing (92) through a central shaft (97), the fixed bearing (92) is fixed by a bearing clamping seat (94), the bearing clamping seat (94) is connected with a telescopic rod (931) of a servo electric cylinder (93), and the bearing clamping seat (94) can be driven by the telescopic rod (931) to vertically tie the rope in the conveying direction to move back and forth.
6. The ramie harvesting bundle diameter adaptive control device according to any one of claims 1 to 5, characterized in that: the ball assembly (6) comprises transverse balls (64) and longitudinal balls (65), the transverse balls (64) and the longitudinal balls (65) are arranged in pairs and symmetrically arranged by taking the bundling rope (2) as a center, and the bundling rope (2) moves in a space wrapped by the transverse balls (64) and the longitudinal balls (65).
7. The ramie harvesting bundle diameter adaptive control device according to claim 6, characterized in that: the ball assembly (6) further comprises a protective shell, the protective shell comprises a longitudinal sliding groove (61) and a transverse sliding groove (63) which are perpendicular to each other, a groove cover (62) is arranged on the side surfaces of the longitudinal sliding groove (61) and the transverse sliding groove (63), and shafts at two ends of a transverse ball (64) and a longitudinal ball (65) are limited in the groove cover (62).
8. The ramie harvesting bundle diameter adaptive control device according to claim 7, characterized in that: the ball assembly (6) between be provided with the spring carbon brush, the spring carbon brush include spring (5a) and graphite carbon brush (5b), graphite carbon brush (5b) are connected to spring (5a) one end or both ends.
9. A ramie harvesting bundle diameter self-adaptive control method is characterized by comprising the following steps: the controller of the control device pre-trains a linear regression model to obtain the stretching torque of a push rod of a servo electric cylinder to adjust the tension of the bundling rope according to different target bundling diameters, bundling rope tension, hemp cutting speed, hemp conveying disc conveying speed and harvester running speed data, so as to realize bundle diameter size control, and meanwhile, the bundle diameter size is corrected through a PID link through the fed-back actual bundling diameter.
10. An adaptive control method using the ramie harvesting bale diameter control device of any one of claims 5 to 8, characterized in that: the controller detects strain gauges R1 and R2 according to a man-machine interaction screen, tension, a cutting speed sensor and a conveying bundling speed sensor, target bundling diameter, bundling rope tension, hemp cutting speed, hemp conveying disc conveying speed and harvester running speed information obtained by the traveling speed sensor, control moment of a telescopic rod (931) of a servo electric cylinder (93) is obtained through a pre-training linear regression model to adjust bundling rope tension, bundling diameter size control is further achieved, and meanwhile actual bundling diameter fed back through an encoder (312) is corrected through a PID link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210026106.3A CN114402801B (en) | 2022-01-11 | 2022-01-11 | Ramie harvesting bundling diameter self-adaptive control device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210026106.3A CN114402801B (en) | 2022-01-11 | 2022-01-11 | Ramie harvesting bundling diameter self-adaptive control device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114402801A true CN114402801A (en) | 2022-04-29 |
| CN114402801B CN114402801B (en) | 2024-01-30 |
Family
ID=81270885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210026106.3A Active CN114402801B (en) | 2022-01-11 | 2022-01-11 | Ramie harvesting bundling diameter self-adaptive control device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114402801B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090217827A1 (en) * | 2006-07-28 | 2009-09-03 | Tom Duenwald | Round baler with scale and moisture meter |
| CN201772963U (en) * | 2009-09-23 | 2011-03-23 | 杨金保 | Cantilever dynamic tension sensor |
| CN104541762A (en) * | 2015-01-09 | 2015-04-29 | 浙江理工大学 | Band saw type leaf vegetable harvesting device |
| CN104776950A (en) * | 2015-04-20 | 2015-07-15 | 中国农业大学 | Device for on-line monitoring tension of different positions of binding rope for square binder |
| CN104884351A (en) * | 2013-05-29 | 2015-09-02 | 株式会社日清制粉集团本社 | Binding device for rod-shaped body, bound body of rod-shaped body, and binding method for rod-shaped body |
| DE102018104286A1 (en) * | 2018-02-26 | 2019-08-29 | Claas Selbstfahrende Erntemaschinen Gmbh | Self-propelled forage harvester |
| KR20200040584A (en) * | 2018-10-10 | 2020-04-20 | 주식회사 제이피에스 | System for controlling tension of band used for packing coil |
| CN211895309U (en) * | 2020-03-10 | 2020-11-10 | 苏州和福汽车饰件有限公司 | A cloth rewinder tension detects roller for compound leather |
| CN112243707A (en) * | 2020-11-19 | 2021-01-22 | 新疆新研牧神科技有限公司 | Bundling machine feeding amount monitoring system and bundling machine |
| US20220000036A1 (en) * | 2020-07-01 | 2022-01-06 | Agco Corporation | Twine tension control assembly |
-
2022
- 2022-01-11 CN CN202210026106.3A patent/CN114402801B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090217827A1 (en) * | 2006-07-28 | 2009-09-03 | Tom Duenwald | Round baler with scale and moisture meter |
| CN201772963U (en) * | 2009-09-23 | 2011-03-23 | 杨金保 | Cantilever dynamic tension sensor |
| CN104884351A (en) * | 2013-05-29 | 2015-09-02 | 株式会社日清制粉集团本社 | Binding device for rod-shaped body, bound body of rod-shaped body, and binding method for rod-shaped body |
| CN104541762A (en) * | 2015-01-09 | 2015-04-29 | 浙江理工大学 | Band saw type leaf vegetable harvesting device |
| CN104776950A (en) * | 2015-04-20 | 2015-07-15 | 中国农业大学 | Device for on-line monitoring tension of different positions of binding rope for square binder |
| DE102018104286A1 (en) * | 2018-02-26 | 2019-08-29 | Claas Selbstfahrende Erntemaschinen Gmbh | Self-propelled forage harvester |
| KR20200040584A (en) * | 2018-10-10 | 2020-04-20 | 주식회사 제이피에스 | System for controlling tension of band used for packing coil |
| CN211895309U (en) * | 2020-03-10 | 2020-11-10 | 苏州和福汽车饰件有限公司 | A cloth rewinder tension detects roller for compound leather |
| US20220000036A1 (en) * | 2020-07-01 | 2022-01-06 | Agco Corporation | Twine tension control assembly |
| CN112243707A (en) * | 2020-11-19 | 2021-01-22 | 新疆新研牧神科技有限公司 | Bundling machine feeding amount monitoring system and bundling machine |
Non-Patent Citations (1)
| Title |
|---|
| 王春光, 杨明韶, 高焕文, 童淑敏, 李林: "打捆机草捆后捆绳张力的测试研究", 内蒙古农业大学学报(自然科学版), no. 03, pages 78 - 82 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114402801B (en) | 2024-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9681605B2 (en) | Harvester feed rate control | |
| US11751511B2 (en) | Bale forming control system and method | |
| US20100287898A1 (en) | Ground speed implement height control adjustment rate on agricultural vehicles | |
| US9854744B2 (en) | Adjusting bale density setting based on bale weight and/or moisture | |
| US11528844B2 (en) | Automatic harvesting and collecting device for sisal hemp leaves | |
| EP2765848B1 (en) | Pick-up with movable windguard | |
| CN114402801A (en) | Ramie harvesting bundle diameter self-adaptive control device and method | |
| CN201976446U (en) | Front-hanging reed harvester | |
| CN101002527A (en) | Conveyer of sugarcane harvester | |
| KR101287852B1 (en) | Round bailing device of realtime weight sensing variable type | |
| CN108811690A (en) | Cut bundle all-in-one machine and crops system of processing | |
| CN1469945A (en) | Method for operating drawing equipment and drawing equipment | |
| CN104704983A (en) | Picking table of harvester for peony fruits for oil | |
| CN203353200U (en) | Telescopic adjustment device of harvester stalk pushing wheel | |
| CN212660589U (en) | Mulberry twig reaper-binder with height-adjustable harvesting cutter disc | |
| EP2409563A1 (en) | In-feed apparatus for a forage harvester | |
| CN208648286U (en) | A kind of high-efficient semiautomatic arched shed winder is put away sports equipment all-in-one machine | |
| CN112772020A (en) | Machine is retrieved to plastic film | |
| CN207109159U (en) | A kind of new heckling machine hackle clamp device | |
| CN114847007B (en) | Seedling pulling device of soybean harvester and control method | |
| KR101228567B1 (en) | Baling device for chopped feed crop | |
| CN205946590U (en) | Self -propelled hydraulic pressure straw baling press | |
| CN218072527U (en) | Film supply frame for bundling machine | |
| CN211047873U (en) | Turn round comb formula tea-oil camellia fruit and pick device | |
| CN217470766U (en) | Reverse flexible ear of grain device of plucking of fresh corn |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |