CN115152421A - Automatic posture adjusting system and method for small-sized corn harvester in hilly and mountainous areas - Google Patents
Automatic posture adjusting system and method for small-sized corn harvester in hilly and mountainous areas Download PDFInfo
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- CN115152421A CN115152421A CN202211029080.4A CN202211029080A CN115152421A CN 115152421 A CN115152421 A CN 115152421A CN 202211029080 A CN202211029080 A CN 202211029080A CN 115152421 A CN115152421 A CN 115152421A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/02—Harvesting of standing crops of maize, i.e. kernel harvesting
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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
- A01D41/02—Self-propelled 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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Abstract
The invention discloses an automatic posture adjusting system and method of a small corn harvester in hilly and mountainous areas, wherein the adjusting system comprises an adjusting mechanism and a hydraulic adjusting system, and the adjusting mechanism is provided with a rear driving wheel, a walking transmission rocker arm mechanism, a walking gearbox output shaft, a double-acting telescopic hydraulic oil cylinder and a hexagonal shaft; the adjusting method comprises the steps of detecting an attitude angle through an IMU attitude sensor, controlling a three-position three-way electromagnetic directional valve and a three-position four-way electromagnetic directional valve through an STM32 relay control module to realize adjustment of hydraulic oil cylinders of a left adjusting branch and a right adjusting branch, controlling the swing angle of the tail end walking transmission rocker arm mechanism, achieving stepless adjustment of the heights of rear driving wheels on two sides, and adjusting the frame attitude of the small corn harvester in hilly and mountainous areas. The invention can improve the stability of the harvester in the slope operation; the height between the frame of the harvester and the ground can be increased, and the problems of poor passing performance of the corn harvesting machine and the problem of the frame dragging the ground are solved.
Description
Technical Field
The invention relates to agricultural machinery, in particular to an automatic posture adjusting system and method of a small corn harvester in hilly and mountainous areas.
Background
Aiming at the problem that a large-scale self-propelled harvester cannot enter the operation in hilly and mountain areas and small farmer scattered land parcels, a hand-held small-scale corn ear-picking straw crushing harvester is researched and developed, and the defects that the existing harvester is complex in structure, prone to failure and poor in running stability are overcome. The device is mainly designed aiming at the current situations of small land, narrow road, difficult harvesting and the like in hilly and mountainous areas. The corn harvester can realize the work of ear picking, peeling and the like of the corn in the hilly and mountain areas with severe conditions. In order to meet the operation requirements of special plots such as hilly and mountainous areas, the stability of the small-sized corn harvester during operation on sloping fields needs to be considered, and the problem directly reflects whether the corn harvester can perform safe operation under special environments. Therefore, the posture adjusting mechanism is added on the small hilly and mountainous area corn harvester and is used for adjusting the gravity center position of the hilly and mountainous area corn harvester and improving the stability of the harvesting machine.
For being suitable for hilly and mountainous area plot maize results difficulty, machines stability, reliability and poor trafficability characteristic's problem, this research and development have posture adjustment's small-size maize plucking ear of grain integrative harvester of skinning, this harvester has solved hilly and mountainous area small-size maize harvester and has turned round difficult and trafficability characteristic, poor trafficability characteristic's problem when the hilly and mountainous area small-size maize harvester is operated in the hilly ground.
Disclosure of Invention
The invention aims to provide an automatic posture adjusting system and method for a small corn harvester in hilly and mountainous areas.
In order to solve the technical problems, the invention adopts the following technical means:
an automatic posture adjusting system of a small corn harvester in hilly and mountainous areas comprises an adjusting mechanism and a hydraulic adjusting system, wherein the adjusting mechanism is provided with a rear driving wheel, a walking transmission rocker arm mechanism, a walking gearbox output shaft, a double-acting telescopic hydraulic oil cylinder and a hexagonal shaft; two ends of the adjusting hydraulic cylinder are respectively connected with the rack and the walking transmission rocker arm mechanism through pin shafts; the upper end of the walking gearbox is fixed with the rack, an output shaft of the walking gearbox drives a hexagonal shaft to realize power output through a chain wheel and a chain in a transmission rocker arm mechanism, and the hexagonal shaft is connected with a rear driving wheel; the front driven wheel is connected with the frame, and the height of the front driven wheel can be adjusted; the hydraulic adjusting system comprises an oil tank, a filter, a hydraulic pump, a direct-acting overflow valve, a reed-free one-way valve, a three-position three-way electromagnetic directional valve, a three-position four-way electromagnetic directional valve, a throttle speed regulating valve, a rack, an IMU attitude sensor, an upper computer attitude monitoring and control system and an STM32 relay control module, and is provided with an adjusting main line and an adjusting branch line, wherein the adjusting main line is provided with the oil tank, the filter, the hydraulic pump, the reed-free one-way valve and the three-position three-way electromagnetic directional valve which are sequentially connected and arranged; the left adjusting branch and the right adjusting branch are arranged in parallel and respectively adjust a left wheel and a right wheel of the rear driving wheel; the left adjusting branch and the right adjusting branch are respectively provided with a three-position four-way electromagnetic reversing valve and a throttling speed regulating valve, and the three-position four-way electromagnetic reversing valve is connected with the three-position three-way electromagnetic reversing valve; the three-position four-way electromagnetic directional valve is connected with the adjusting hydraulic oil cylinder through a throttle speed regulating valve; the frame is provided with an IMU attitude sensor, an upper computer attitude monitoring and control system and an STM32 relay control module, the IMU attitude sensor is electrically connected with the upper computer attitude monitoring and control system to transmit monitoring information to the IMU attitude sensor, and the upper computer attitude monitoring and control system is connected with and controls the three-position three-way electromagnetic reversing valve and the three-position four-way electromagnetic reversing valve through the STM32 relay control module.
One end of a shell of the walking transmission rocker arm mechanism is connected with a power output shaft of the gearbox, the other end of the shell of the walking transmission rocker arm mechanism is connected with a wheel walking output shaft and a leveling hydraulic cylinder, power transmission is achieved through a chain and a chain wheel inside the transmission rocker arm, and the swing angle is achieved by means of telescopic change of a hydraulic cylinder and rotation angle of the shell of the rocker arm.
The IMU attitude sensor is used for detecting the attitude angle, the STM32 relay control module is used for controlling the three-position three-way electromagnetic directional valve and the three-position four-way electromagnetic directional valve to realize the adjustment of the hydraulic cylinders of the left adjusting branch and the right adjusting branch, the swing angle of the tail end walking transmission rocker arm mechanism is controlled, the height of rear driving wheels at two sides is adjusted in a stepless mode, and the frame attitude of the small corn harvester in hilly and mountainous areas is adjusted.
Compared with the prior art, the invention has the following beneficial effects: the posture adjusting mechanism achieves the purpose of adjusting the posture angle of the rack by utilizing the supporting height difference between the rear driving wheel and the rack. The hydraulic cylinders on the left side and the right side of the frame are mainly used for extending or shortening, and the supporting heights of the centers of the tires on the two sides and the frame are controlled, so that a height difference is formed, the tires have different attitude angles on different slopes, the frame support is kept horizontal, and the stability of the frame support during operation on the slopes is improved. Simultaneously, can realize adjusting hills mountain area small-size maize picker's frame and ground height through adjusting hydraulic cylinder flexible length simultaneously, solve when the harvest maize ear of grain at the bottom of the northeast mountain area ditch, maize harvesting machine trafficability characteristic is poor, the problem that the frame drags the ground. The invention improves the safety of the agricultural machine and prevents the agricultural machine from side turning to hurt operators or the agricultural machine per se when the agricultural machine operates in a place with a slope.
The pipeline of the output end of the hydraulic pump is connected with the input end of the direct-acting overflow valve, and the output end of the direct-acting overflow valve is connected with the oil tank. When the high-pressure hydraulic oil provided by the hydraulic pump is in overpressure, the hydraulic oil can return to the oil tank again through the direct-acting overflow valve, and the functions of overload protection and pressure stabilization are achieved.
The adjusting method of the automatic posture adjusting system of the small corn harvester in the hilly and mountainous areas comprises the following steps:
(a) When the small corn harvester in the hilly and mountainous areas is not operated, the three-position three-way electromagnetic directional valve on the main road is in a right conduction state, hydraulic oil provided by the hydraulic pump cannot enter the hydraulic oil cylinder through the three-position three-way electromagnetic directional valve, the hydraulic oil cylinder is in an initial position and is conducted on the right, and the hydraulic oil cannot flow to the hydraulic oil cylinder from the hydraulic pump and only can flow to the oil tank from the hydraulic oil cylinder.
(b) When the small corn harvester in hilly and mountainous areas is operated on sloping fields, the IMU attitude sensor can detect the attitude of the frame in real time, the upper computer attitude monitoring and control system can calculate control quantity according to the deviation value and send the control quantity to the STM32 relay control module, and the STM32 relay control module is used for carrying out attitude adjustment on the three-position three-way electromagnetic directional valve and the three-position four-way electromagnetic directional valve to enable the three-position three-way electromagnetic directional valve to be in a left-position conducting state, so that hydraulic oil provided by the hydraulic pump can smoothly enter the left adjusting branch and the right adjusting branch;
(c) When the small-sized corn harvester in hilly and mountainous areas needs to be lifted at the right side to keep the frame of the machine body horizontal when the operation is carried out on sloping fields, the side inclination angle of the IMU attitude sensor is 0-90 degrees, and the three-position three-way electromagnetic directional valve and the three-position four-way electromagnetic directional valve of the right adjusting branch are in a left-position conducting state; hydraulic oil provided by a hydraulic pump flows into a three-position four-way electromagnetic directional valve and a throttle speed regulating valve of a right adjusting branch after passing through a reed-free one-way valve and a three-position three-way electromagnetic directional valve, a rodless cavity of the hydraulic oil cylinder is pushed, a frame of a right machine body is lifted, and when the detection angle of an IMU attitude sensor is 0 degree, horizontal adjustment is finished;
(d) When the right side of the small-sized corn harvester in hilly and mountainous areas needs to be lowered to keep the frame of the machine body horizontal when the operation is carried out on sloping fields, the side inclination angle of the IMU attitude sensor 15 is 0-90 degrees, the three-position three-way electromagnetic directional valve is in a left-position conduction state, and the three-position four-way electromagnetic directional valve of the right adjusting branch is in a right-position conduction state; hydraulic oil provided by a hydraulic pump flows into a right branch three-position four-way electromagnetic directional valve and a throttle speed regulating valve of a right adjusting branch after passing through a springless one-way valve and a three-position three-way electromagnetic directional valve, and pushes a rod cavity of a hydraulic oil cylinder of the right adjusting branch, so that a frame of a right machine body is lowered, and when the detection angle of an IMU attitude sensor is 0 degree, horizontal adjustment is finished;
(e) When the small corn harvester in hilly and mountainous areas needs to be lifted or lowered on the left side during the operation on sloping fields, and the frame of the machine body keeps horizontal, the adjustment process of the machine body is the same as that of the right adjustment branch;
(f) The small corn harvester in hilly and mountainous areas needs the rear side to be lifted simultaneously, the elevation angle of the attitude angle is 0-90 degrees at the moment, or the rear side is lowered simultaneously, the depression angle of the attitude angle is 0-90 degrees at the moment, hydraulic oil coming out of the three-position three-way electromagnetic directional valve flows into the left adjusting branch and the right adjusting branch respectively, enters the hydraulic oil cylinder through the three-position four-way electromagnetic directional valve and the throttle speed regulating valve respectively, and the adjustment is finished when the detection angle of the IMU attitude sensor is 0 degree.
Drawings
Fig. 1 is a perspective view of the invention.
FIG. 2 is a front view of a corn harvester with which the invention is useful.
Fig. 3 is a bottom view of fig. 2.
Fig. 4 is a working principle diagram of the present invention.
Fig. 5 is a block diagram of the system of the present invention.
Fig. 6 is a control schematic of the present invention.
FIG. 7 is an enlarged view of the work interface of the upper computer attitude monitoring and control system of FIG. 6.
Description of the reference numerals: 1. a rear drive wheel; 2. a walking transmission rocker arm mechanism; 3. an output shaft of the walking gearbox; 4. a hydraulic cylinder; 5. a hexagonal shaft; 6. an oil tank; 7. a filter; 8. a hydraulic pump; 9. a direct-acting overflow valve; 10. a springless check valve; 11. a three-position three-way electromagnetic directional valve; 12. a three-position four-way electromagnetic directional valve; 13. a throttle speed regulating valve; 14. a frame; an IMU attitude sensor; 16. an upper computer posture monitoring and control system; stm32 relay control module.
Detailed Description
The present invention is further illustrated by the following examples.
Referring to fig. 1-7, the automatic posture adjusting system of the small-sized corn harvester in hilly and mountainous areas of the invention comprises an adjusting mechanism and a hydraulic adjusting system; the adjusting mechanism is provided with a rear driving wheel 1, a walking transmission rocker arm mechanism 2, a walking gearbox output shaft 3, a double-acting telescopic hydraulic oil cylinder 4 and a hexagonal shaft 5; two ends of the adjusting hydraulic cylinder 4 are respectively connected with the frame and the walking transmission rocker arm mechanism 2 through pin shafts; the upper end of a walking gearbox 3 is fixed with the frame, an output shaft of the walking gearbox 3 drives a hexagonal shaft 5 to realize power output through a chain wheel and a chain in a transmission rocker arm mechanism 2, and the hexagonal shaft 5 is connected with a rear driving wheel 1; the front driven wheel is connected with the frame, and the height of the front driven wheel can be adjusted; the hydraulic adjusting system comprises an oil tank 6, a filter 7, a hydraulic pump 8, a direct-acting overflow valve 9, a reed-free one-way valve 10, a three-position three-way electromagnetic directional valve 11, a three-position four-way electromagnetic directional valve 12, a throttling speed regulating valve 13, a rack 14, an IMU attitude sensor 15, an upper computer attitude monitoring and control system 16 and an STM32 relay control module 17, and is provided with an adjusting main line and an adjusting branch line, wherein the adjusting main line is provided with the oil tank 6, the filter 7, the hydraulic pump 8, the reed-free one-way valve 10 and the three-position three-way electromagnetic directional valve 11 which are sequentially connected and arranged; the left adjusting branch and the right adjusting branch are arranged in parallel and respectively adjust a left wheel and a right wheel of the rear driving wheel; the left adjusting branch and the right adjusting branch are respectively provided with a three-position four-way electromagnetic directional valve 12 and a throttling speed regulating valve 13, and the three-position four-way electromagnetic directional valve 12 is connected with a three-position three-way electromagnetic directional valve 11; the three-position four-way electromagnetic directional valve 12 is connected with the adjusting hydraulic oil cylinder 4 through a throttling speed regulating valve 13; an IMU attitude sensor 15, an upper computer attitude monitoring and control system 16 and an STM32 relay control module 17 are arranged on the rack 14, the IMU attitude sensor 15 is electrically connected with the upper computer attitude monitoring and control system 16 to transmit monitoring information to the upper computer attitude monitoring and control system, and the upper computer attitude monitoring and control system 16 is connected with and controls the three-position three-way electromagnetic reversing valve 11 and the three-position four-way electromagnetic reversing valve 12 through the STM32 relay control module 17.
The battery 18 is electrically connected as a power source to the electrical components of the system to provide electrical power. The battery 18 is a +12V lead storage battery, supplies power to the upper computer posture monitoring and control system 16 and the STM32 relay controller module 17 through a 12V stabilized voltage power supply module, and realizes the on-off control of the electromagnet through the STM32 relay controller module 17 to the power supply control of the electromagnet coil. Supplying power to the IMU attitude sensor 15 through a +12V to +5V voltage-stabilized power supply module; and the three-position three-way electromagnetic directional valve 11 and the three-position four-way electromagnetic directional valve 12 are supplied with power through a +12V to +24V stabilized power supply module.
The posture angle is detected through the IMU posture sensor 15, the hydraulic oil cylinders 4 of the left adjusting branch and the right adjusting branch are adjusted through the control of the STM32 relay control module 17 on the three-position three-way electromagnetic reversing valve 11 and the three-position four-way electromagnetic reversing valve 12, the swing angle of the tail end walking transmission rocker arm mechanism 2 is controlled, the height of the rear driving wheels 1 on two sides is adjusted in a stepless mode, and the frame posture of the small corn harvester in the hilly and mountainous areas is adjusted.
Compared with the prior art, the invention has the following beneficial effects: the posture adjusting mechanism achieves the purpose of adjusting the posture angle of the frame by utilizing the supporting height difference between the rear driving wheel 1 and the frame 14. The hydraulic oil cylinders 4 on the left side and the right side of the frame are mainly used for extending or shortening, and the supporting heights of the centers of the tires on the two sides and the frame are controlled, so that a height difference is formed, the tires have different attitude angles on different slopes, the level of a frame support is kept, and the stability of the frame support during operation on the slopes is improved. Simultaneously, can realize adjusting hills mountain area small-size maize picker's frame and ground height through adjusting hydraulic cylinder 4 flexible length simultaneously, solve when the harvest maize ear of grain at the bottom of the northeast mountain area ditch, maize harvesting machine trafficability characteristic is poor, the problem that the frame drags the ground.
The pipeline of the output end of the hydraulic pump 8 is connected with the input end of a direct-acting overflow valve 9, and the output end of the direct-acting overflow valve 9 is connected with the oil tank 6. When the high-pressure hydraulic oil provided by the hydraulic pump 8 is in overpressure, the hydraulic oil can return to the oil tank 6 again through the direct-acting overflow valve 9, so that the functions of overload protection and pressure stabilization are achieved.
The adjusting method of the automatic posture adjusting system of the small corn harvester in the hilly and mountainous areas comprises the following steps:
when the small corn harvester in the hilly and mountainous areas is not operated, the three-position three-way electromagnetic directional valve 11 on the trunk line is in a right conduction state, hydraulic oil provided by the hydraulic pump 8 cannot enter the hydraulic oil cylinder 4 through the three-position three-way electromagnetic directional valve 11, the hydraulic oil cylinder 4 is in an initial position and is conducted on the right, and the hydraulic oil cannot flow to the hydraulic oil cylinder 4 from the hydraulic pump 8 and only can flow to the oil tank 6 from the hydraulic oil cylinder 4.
b, when the small corn harvester is located in a hilly mountain area for operation, the IMU attitude sensor 15 can detect the attitude of the rack 14 in real time, the upper computer attitude monitoring and control system 16 can calculate the control quantity according to the deviation value and send the control quantity to the STM32 relay control module 17, the STM32 relay control module 17 is used for carrying out attitude adjustment on the three-position three-way electromagnetic reversing valve 11 and the three-position four-way electromagnetic reversing valve 12, the three-position three-way electromagnetic reversing valve 11 is in a left-position conducting state, and hydraulic oil provided by the hydraulic pump 8 can smoothly enter a left adjusting branch and a right adjusting branch;
c, when the right side of the small corn harvester in the hilly and mountainous areas needs to be lifted to enable the frame of the machine body to be kept horizontal when the operation is carried out on the sloping fields, the side inclination angle of the IMU attitude sensor 15 is 0-90 degrees, and the three-position three-way electromagnetic directional valve 11 and the three-position four-way electromagnetic directional valve 12 of the right adjusting branch are in a left-position conducting state; hydraulic oil provided by a hydraulic pump 8 flows into a three-position four-way electromagnetic directional valve 12 and a throttle speed regulating valve 13 of a right adjusting branch after passing through a springless one-way valve 10 and a three-position three-way electromagnetic directional valve 11, a rodless cavity of a hydraulic oil cylinder 4 is pushed, a right side machine body frame is lifted, and when the detection angle of an IMU attitude sensor 15 is 0 degree, horizontal adjustment is finished;
d, when the right side of the small corn harvester in the hilly and mountainous areas needs to be lowered to enable the frame of the machine body to be kept horizontal when the operation is carried out on the sloping fields, the side inclination angle of the IMU attitude sensor 15 is 0-90 degrees, the three-position three-way electromagnetic directional valve 11 is in a left-position conducting state, and the three-position four-way electromagnetic directional valve 12 of the right adjusting branch is in a right-position conducting state; hydraulic oil provided by a hydraulic pump 8 flows into a right branch three-position four-way electromagnetic directional valve 12 and a throttle speed regulating valve 13 of a right adjusting branch after passing through a springless one-way valve 10 and a three-position three-way electromagnetic directional valve 11, and pushes a rod cavity of a hydraulic oil cylinder 4 of a right path, so that a right frame is lowered, and when the detection angle of an IMU attitude sensor 15 is 0 degree, horizontal adjustment is finished;
e, when the small-sized corn harvester in hilly and mountainous areas needs to be lifted or lowered on the left side during sloping field operation, and the frame of the machine body is kept horizontal, the adjusting process of the small-sized corn harvester is the same as that of the right adjusting branch;
f, the small corn harvester in hilly and mountainous areas needs to be lifted at the same time at the rear side, the elevation angle of the attitude angle is 0-90 degrees at the moment, or the rear side is lowered at the same time, the depression angle of the attitude angle is 0-90 degrees at the moment, hydraulic oil coming out of the three-position three-way electromagnetic directional valve 11 flows into the left adjusting branch and the right adjusting branch respectively, enters the hydraulic oil cylinder 4 through the three-position four-way electromagnetic directional valve 12 and the throttle speed regulating valve 13 respectively, and is adjusted when the detection angle of the IMU attitude sensor 15 is 0 degree.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, which is defined in the appended claims.
Claims (3)
1. The utility model provides a hilly mountain area small-size maize picker's automatic posture adjustment system and method, includes guiding mechanism and hydraulic pressure adjustment system, its characterized in that:
the adjusting mechanism is provided with a rear driving wheel (1), a walking transmission rocker mechanism (2), a walking gearbox output shaft (3), a double-acting telescopic hydraulic oil cylinder (4) and a hexagonal shaft (5); two ends of the adjusting hydraulic oil cylinder (4) are respectively connected with the rack and the walking transmission rocker arm mechanism (2) through pin shafts; the upper end of a walking gearbox (3) is fixed with the rack, an output shaft (3) of the walking gearbox drives a hexagonal shaft (5) through a transmission rocker arm mechanism (2), and the hexagonal shaft (5) is connected with a rear driving wheel (1);
the hydraulic adjusting system comprises an oil tank (6), a filter (7), a hydraulic pump (8), a direct-acting overflow valve (9), a reed-free check valve (10), a three-position three-way electromagnetic directional valve (11), a three-position four-way electromagnetic directional valve (12), a throttling speed regulating valve (13), a rack (14), an IMU attitude sensor (15), an upper computer attitude monitoring and controlling system (16) and an STM32 relay control module (17), and is provided with an adjusting main line and an adjusting branch line, wherein the adjusting main line is provided with the oil tank (6), the filter (7), the hydraulic pump (8), the reed-free check valve (10) and the three-position three-way electromagnetic directional valve (11) which are sequentially connected and arranged; the left adjusting branch and the right adjusting branch are arranged in parallel and respectively adjust a left wheel and a right wheel of the rear driving wheel; the left adjusting branch and the right adjusting branch are respectively provided with a three-position four-way electromagnetic directional valve (12) and a throttling speed regulating valve (13), and the three-position four-way electromagnetic directional valve (12) is connected with the three-position three-way electromagnetic directional valve (11); the three-position four-way electromagnetic directional valve (12) is connected with the adjusting hydraulic oil cylinder (4) through a throttling speed regulating valve (13); the three-position three-way electromagnetic reversing valve is characterized in that an IMU attitude sensor (15), an upper computer attitude monitoring and control system (16) and an STM32 relay control module (17) are arranged on the rack (14), the IMU attitude sensor (15) is electrically connected with the upper computer attitude monitoring and control system (16) and transmits monitoring information to the IMU attitude monitoring and control system, and the upper computer attitude monitoring and control system (16) is connected with and controls the three-position three-way electromagnetic reversing valve (11) and the three-position four-way electromagnetic reversing valve (12) through the STM32 relay control module (17).
2. The automatic attitude adjustment system of small-sized corn harvesters in hilly and mountainous areas of claim 1, wherein: the pipeline of the output end of the hydraulic pump (8) is connected with the input end of a direct-acting overflow valve (9), and the output end of the direct-acting overflow valve (9) is connected with an oil tank (6).
3. The method of adjusting an automatic attitude adjustment system of a small corn harvester in hilly and mountainous areas as claimed in claim 1, comprising the steps of:
(a) When the small corn harvester in the hilly and mountainous areas is not operated, the three-position three-way electromagnetic directional valve (11) on the trunk line is in a right conduction state, hydraulic oil provided by the hydraulic pump (8) cannot enter the hydraulic oil cylinder (4) through the three-position three-way electromagnetic directional valve (11), and the hydraulic oil cylinder (4) is in an initial position;
(b) When the small corn harvester is located in hilly and mountainous areas for operation, the IMU attitude sensor (15) can detect the attitude of the rack (14) in real time, the upper computer attitude monitoring and control system (16) can calculate the control quantity according to the deviation value and send the control quantity to the STM32 relay control module (17), the three-position three-way electromagnetic directional valve (11) and the three-position four-way electromagnetic directional valve (12) are subjected to attitude adjustment through the STM32 relay control module (17), so that the three-position three-way electromagnetic directional valve (11) is in a left-position conducting state, and hydraulic oil provided by the hydraulic pump (8) can smoothly enter the left adjusting branch and the right adjusting branch;
(c) When the small-sized corn harvester in hilly and mountainous areas needs to be lifted at the right side to keep the frame of the machine body horizontal when the operation is carried out on the sloping field, the side inclination angle of the IMU attitude sensor (15) is 0-90 degrees, and the three-position three-way electromagnetic directional valve (11) and the three-position four-way electromagnetic directional valve (12) of the right adjusting branch are in a left-position conducting state; hydraulic oil provided by a hydraulic pump (8) flows into a three-position four-way electromagnetic directional valve (12) and a throttle speed regulating valve (13) of a right adjusting branch after passing through a springless one-way valve (10) and a three-position three-way electromagnetic directional valve (11) to push a rodless cavity of a hydraulic oil cylinder (4) so as to lift a right side frame of the body, and when the detection angle of an IMU attitude sensor (15) is 0 degree, horizontal adjustment is finished;
(d) When the small-sized corn harvester in hilly and mountainous areas needs to be lowered on the right side to keep the frame of the machine body horizontal when the operation is carried out on the sloping field, the side inclination angle of the IMU attitude sensor 15 is 0-90 degrees, the three-position three-way electromagnetic directional valve (11) is in a left-position conducting state, and the three-position four-way electromagnetic directional valve (12) of the right adjusting branch is in a right-position conducting state; hydraulic oil provided by a hydraulic pump (8) flows into a right branch three-position four-way electromagnetic directional valve (12) and a throttle speed regulating valve (13) of a right adjusting branch after passing through a springless one-way valve (10) and a three-position three-way electromagnetic directional valve (11) to push a rod cavity of a hydraulic oil cylinder (4) of the right path, so that a frame of a right machine body is lowered, and when the detection angle of an IMU attitude sensor (15) is 0 degree, horizontal adjustment is finished;
(e) When the small corn harvester in hilly and mountainous areas needs to be lifted or lowered on the left side during the operation on sloping fields, and the frame of the machine body keeps horizontal, the adjustment process of the machine body is the same as that of the right adjustment branch;
(f) The small corn harvester in hilly and mountainous areas needs the rear side to be lifted simultaneously, the elevation angle of the attitude angle is 0-90 degrees at the moment, or the rear side is reduced simultaneously, the depression angle of the attitude angle is 0-90 degrees at the moment, hydraulic oil coming out of the three-position three-way electromagnetic directional valve (11) flows into the left adjusting branch and the right adjusting branch respectively, and enters the hydraulic oil cylinder (4) through the three-position four-way electromagnetic directional valve (12) and the throttling speed regulating valve (13) respectively, and when the detection angle of the IMU attitude sensor (15) is 0 degree, the adjustment is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211029080.4A CN115152421A (en) | 2022-08-26 | 2022-08-26 | Automatic posture adjusting system and method for small-sized corn harvester in hilly and mountainous areas |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211029080.4A CN115152421A (en) | 2022-08-26 | 2022-08-26 | Automatic posture adjusting system and method for small-sized corn harvester in hilly and mountainous areas |
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| Publication Number | Publication Date |
|---|---|
| CN115152421A true CN115152421A (en) | 2022-10-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211029080.4A Pending CN115152421A (en) | 2022-08-26 | 2022-08-26 | Automatic posture adjusting system and method for small-sized corn harvester in hilly and mountainous areas |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115152421A (en) |
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2022
- 2022-08-26 CN CN202211029080.4A patent/CN115152421A/en active Pending
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