CN211721136U - Sugarcane harvester and front-mounted header undercut depth control device thereof - Google Patents
Sugarcane harvester and front-mounted header undercut depth control device thereof Download PDFInfo
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- CN211721136U CN211721136U CN201922193498.9U CN201922193498U CN211721136U CN 211721136 U CN211721136 U CN 211721136U CN 201922193498 U CN201922193498 U CN 201922193498U CN 211721136 U CN211721136 U CN 211721136U
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Abstract
The utility model provides a sugarcane harvester and preceding suspension header undercut degree of depth controlling means thereof, this sugarcane harvester includes preceding suspension header undercut degree of depth controlling means, and the device includes: the profiling wheel is connected with the left and right sugarcane lifters and is provided with a corner sensor to measure a parameter theta of the profiling wheel; the hydraulic electric control proportional valve is connected with the sugarcane lifter lifting oil cylinder, the front suspension header lifting oil cylinder, the sugarcane cutting hydraulic motor and the sugarcane undercutting hydraulic motor, and a pressure sensor and a flow sensor are mounted on the hydraulic electric control proportional valve so as to measure a power consumption parameter N of the undercut motor; and the automatic undercut depth adjusting controller is connected with the corner sensor and the hydraulic electric control proportional valve to receive the parameter theta of the contour wheel and the power consumption parameter N of the undercut motor, and controls the sugarcane lifter lifting cylinder and the front suspension cutting table lifting cylinder to adjust the lifting of the left and right sugarcane lifters and the front suspension cutting table through a PID (proportion integration differentiation) fuzzy control algorithm, so that the automatic control of the undercut depth of the sugarcane is realized.
Description
Technical Field
The utility model relates to a sugarcane harvester, especially a sugarcane harvester and preceding suspension header undercut degree of depth controlling means thereof.
Background
Sugarcane is one of the main sugar crops in the world, and the annual average planting area of the sugarcane in the world is about 2200 ten thousand hectares. The main distribution is in brazil, india, china, cuba, australia and other countries. The sugarcane planting area of China is about 170 million hectares, and the sugarcane planting area is mainly distributed in Guangxi, Yunnan and Guangdong provinces. The sugarcane harvesting has three basic modes of whole stalk harvesting, sectional harvesting and sectional harvesting. In countries where full mechanization is achieved, such as australia, the united states, etc., the predominant model of sugar cane harvesting is the large-scale sectioned combine harvester. At present, sugarcane harvesters used in sugarcane main production areas in China mainly comprise large and medium-sized segmental combined harvesters, whole-stalk sugarcane combine harvesters and introduced large segmental sugarcane combine harvesters.
The sugarcane combine harvester is divided into a whole-stalk sugarcane combine harvester and a cutting type combine harvester, and the harvesting flow of the whole-stalk sugarcane combine harvester is generally as follows: supporting sugarcane in rows, root cutting, feeding, conveying whole stalks, peeling leaves and collecting the sugarcane; the harvesting flow of the segmental combine harvester is generally as follows: separating rows, supporting sugarcane, root cutting, feeding, conveying whole stalks, cutting into sections, removing impurities, collecting sugarcane and conveying, or supporting sugarcane, root cutting, cutting into sections, conveying, removing impurities and collecting sugarcane and conveying; the whole-stalk type and segmental type combined harvester has the common characteristics that the root is cut at the front part of the combined harvester, the root cutting quality of the sugarcane harvester is an important index of the harvesting performance, the sugarcane is perennial root crops, the root cutting quality directly influences the broken end degree of the perennial root and the plant density and yield of the sugarcane in the next year, in order to ensure the cutting quality of the perennial root of the sugarcane harvest, the cutting knife is basically required to be cut in 5cm of soil, and the cutting in 5cm of soil is adopted to improve the cutting quality of the perennial root and the germination growth rate of the perennial root in the next year, and greatly reduce the root cutting loss of the sugarcane; at present, the whole-stalk type and segmented sugarcane combine harvester used in China mainly has two modes in the aspect of control of the undercut height: one is that when the sugarcane combine harvester works, a harvester driver reduces a header to a certain extent according to years of driving experience, and the height of the header is properly adjusted according to the terrain change judged by the driver and the machine load condition in the continuous operation process, so that the mode is greatly influenced by human factors and terrain change factors of land blocks, and the sugarcane root cutting quality cannot be stably ensured; the other is an imported large-scale segmenting sugarcane harvester, the sugarcane root cutting depth is automatically adjusted and controlled according to the change of the power consumption (or oil circuit pressure) of an root cutting motor, the sugarcane root cutting quality is better when the sugarcane is harvested in a land with more balanced growth density and smoother planting land, but the sugarcane root cutting quality is poor when the sugarcane is harvested in the planting land with uneven growth density and large change of land terrain, the main sugarcane planting areas in China are mainly concentrated in the places such as Guangxi, Yunnan and Guangdong, most of the planting land is hilly and mountainous regions, the land terrain change is large, and about 70% of the planting land is perennial sugarcane, and the growth density is uneven.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that the above-mentioned problem to prior art provides a sugarcane harvester and preceding suspension header undercut degree of depth controlling means thereof.
In order to achieve the purpose, the utility model provides a front suspension cutting table undercut depth control device of a sugarcane harvester, which is arranged on the front suspension cutting table of the sugarcane harvester, wherein the front suspension cutting table is provided with a left sugarcane lifter, a right sugarcane lifter, a sugarcane lifter lift cylinder, a front suspension cutting table lift cylinder, a sugarcane cutting section hydraulic motor and a sugarcane undercut hydraulic motor, the left sugarcane lifter and the right sugarcane lifter are respectively connected with the front suspension cutting table, one end of the sugarcane lifter lift cylinder is connected with the front suspension cutting table, and the other end of the sugarcane lifter lift cylinder is connected with the left sugarcane lifter and the right sugarcane lifter; the one end of preceding suspension header lift cylinder with preceding suspension header is connected, preceding suspension header lift cylinder's the other end with cane harvesting machine's frame is connected, wherein, preceding suspension header undercut degree of depth controlling means includes:
the profiling wheel is respectively connected with the left sugarcane lifter and the right sugarcane lifter and is provided with a corner sensor which measures the terrain change of the bottom of the sugarcane trench and obtains a parameter theta of the profiling wheel;
the hydraulic electric control proportional valve is connected with the sugarcane lifter lifting oil cylinder, the front suspension header lifting oil cylinder, the sugarcane cutting hydraulic motor and the sugarcane undercutting hydraulic motor, a pressure sensor and a flow sensor are mounted on the hydraulic electric control proportional valve, and the hydraulic electric control proportional valve measures the power consumption change of the sugarcane undercutting hydraulic motor and obtains an undercut motor power consumption parameter N; and
and the automatic undercut depth adjusting controller is connected with the corner sensor and the hydraulic electric control proportional valve, receives the profile wheel parameter theta and the undercut motor power consumption parameter N, obtains a corresponding result instruction through a PID (proportion integration differentiation) fuzzy control algorithm, and controls the sugarcane lifter lifting cylinder and/or the front suspension header lifting cylinder to correspondingly adjust the lifting of the left sugarcane lifter, the right sugarcane lifter and the front suspension header according to the result instruction.
Foretell sugarcane harvester's preceding suspension header undercut depth control device, wherein, the profile wheel includes profile wheel body, profile wheel arm and profile wheel connecting pin, the one end of profile wheel arm is passed through wheel body connecting pin and is installed on the profile wheel body, profile wheel connecting pin installs the other end of profile wheel arm, the corner sensor is installed on the profile wheel connecting pin.
The front suspension cutting table undercut depth control device of the sugarcane harvester is characterized in that a mounting hole is formed in the end face of the profiling wheel connecting pin shaft, and the corner sensor is mounted in the mounting hole.
The device for controlling the root cutting depth of the front suspension cutting platform of the sugarcane harvester is characterized in that the left sugarcane lifter is connected with the front suspension cutting platform through an upper sugarcane lifter connecting rod and a lower sugarcane lifter connecting rod respectively to form a four-bar mechanism, and the right sugarcane lifter is connected with the front suspension cutting platform through another upper sugarcane lifter connecting rod and another lower sugarcane lifter connecting rod to form a four-bar mechanism.
The front suspension cutting table undercut depth control device of the sugarcane harvester is characterized in that the sugarcane lifter lifting oil cylinder is a double-acting oil cylinder.
The device for controlling the undercut depth of the front suspension cutting table of the sugarcane harvester is characterized in that one end of the sugarcane lifter lifting oil cylinder is connected with the front suspension cutting table, and the other end of the sugarcane lifter lifting oil cylinder is connected with the lower connecting rod of the sugarcane lifter.
The front suspension cutting table undercut depth control device of the sugarcane harvester is characterized in that the hydraulic electric control proportional valve is connected with the sugarcane lifter lifting oil cylinder, the front suspension cutting table lifting oil cylinder, the sugarcane sectioning hydraulic motor and the sugarcane undercut hydraulic motor through hydraulic connecting pipelines.
The front suspension header undercut depth control device of the sugarcane harvester is characterized in that the undercut depth automatic adjusting controller is connected with the corner sensor and the hydraulic electric control proportional valve through an electric control wiring harness.
The front suspension cutting table undercut depth control device of the sugarcane harvester is characterized in that the lower end of the front suspension cutting table is connected with a rack of the sugarcane harvester through a connecting arm of the front suspension cutting table.
In order to better achieve the above object, the utility model also provides a sugarcane harvester, wherein, including foretell sugarcane harvester's front suspension header undercut depth control device.
The technical effects of the utility model reside in that:
the utility model discloses at the supporting during operation of sugarcane harvester, through the change of profile modeling wheel perception sugarcane trench bottom topography, through the change of hydraulic sensor perception sugarcane undercut motor power consumption, receive trench bottom topography change and undercut motor power consumption change instruction through the CAN bus, carry out PID fuzzy control algorithm, and according to the corresponding result of algorithm, the control hydrovalve action, and control leading header and control the lift of holding up the sugarcane ware, realize the automatic regulation and control of undercut degree of depth precision scope, it is big to have solved current sugarcane harvester undercut degree of depth manual control difficulty and difference, or the problem that single undercut motor power consumption control accuracy degree is low, the automatic regulation and control accuracy of sugarcane undercut degree of depth is high.
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
Drawings
Fig. 1 is a left perspective view of a front suspension header undercut depth control apparatus according to an embodiment of the present invention;
FIG. 2 is a right isometric view of FIG. 1;
fig. 3 is a schematic structural view of a copying wheel according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the ground detection of the copying wheel according to an embodiment of the present invention.
Wherein the reference numerals
1 Right sugarcane lifter
2 left sugarcane lifter
3 connecting rod on sugarcane lifter
4-turn angle sensor
5 lifting oil cylinder of sugarcane lifter
6 lower connecting rod of sugarcane lifter
7 profiling wheel
71 copying wheel body
72 wheel body connecting pin shaft
73 profile wheel arm
74 copying wheel connecting pin shaft
8 front suspension cutting table
9 front suspension header connecting arm
10 front suspension cutting table lift cylinder
11 hydraulic electric control proportional valve
12 hydraulic connecting pipeline
13 electric control wire harness
14 undercut depth automatic adjustment controller
15-segment hydraulic motor
16 undercut hydraulic motor
Detailed Description
The following describes the structural and operational principles of the present invention in detail with reference to the accompanying drawings:
the utility model discloses a sugarcane harvester, including front suspension header undercut degree of depth controlling means, and adopt front suspension header undercut degree of depth control method to realize the automatic regulation and control of sugarcane undercut degree of depth, the sugarcane results in-process has been realized, the automatic regulation and control of undercut degree of depth precision scope, it is big to have solved current sugarcane harvester undercut degree of depth artificial control difficulty and difference, or adopt the problem that single undercut motor power consumption control accuracy is low, this sugarcane harvester's automatic regulation and control accuracy of sugarcane undercut degree of depth is high, high durability and convenient use, be applicable to multiple topography, it is little to receive operating personnel's artificial influence factor. The composition, structure, mutual position relation, connection relation and function etc. of other parts of this harvester are more ripe prior art, and the event does not do the repeated description here, and it is only right below the utility model discloses a front suspension header undercut depth control device gives detailed description.
Referring to fig. 1 and 2, fig. 1 is a left perspective view of a front suspension header undercut depth control device according to an embodiment of the present invention, and fig. 2 is a right perspective view of fig. 1. The utility model discloses a front-mounted header undercut depth control device installs on the front-mounted header 8 of sugarcane harvester, front-mounted header 8 makes its lower extreme be connected with the frame of sugarcane harvester through front-mounted header linking arm 9, and front-mounted header lift cylinder 10 one end is connected with front-mounted header 8 upper end, and the other end is connected with the frame, be provided with left sugarcane lifter 2 on the front-mounted header 8, right sugarcane lifter 1, sugarcane lifter lift cylinder 5, front-mounted header lift cylinder 10, sugarcane dissection hydraulic motor 15 and sugarcane undercut hydraulic motor 16, left sugarcane lifter 2 and right sugarcane lifter 1 are connected with front-mounted header 8 respectively, the one end of sugarcane lifter lift cylinder 5 with front-mounted header 8 is connected, the other end of sugarcane lifter lift cylinder 5 with left sugarcane lifter 2, right sugarcane lifter 1 are connected; preceding suspension header lift cylinder 10's one end with preceding suspension header 8 is connected, preceding suspension header lift cylinder 10's the other end with cane harvesting machine's frame is connected, preceding suspension header undercut degree of depth controlling means includes: the profiling wheel 7 is respectively connected with the left sugarcane lifter 2 and the right sugarcane lifter 1, and the profiling wheel 7 is provided with a corner sensor 4 and is used for measuring the terrain change of the bottom of the sugarcane trench and obtaining a parameter theta of the profiling wheel; the hydraulic electric control proportional valve 11 is connected with the sugarcane lifter lifting oil cylinder 5, the front suspension header lifting oil cylinder 10, the sugarcane sectioning hydraulic motor 15 and the sugarcane undercutting hydraulic motor 16 through a hydraulic connecting pipeline 12, a pressure sensor and a flow sensor are mounted on the hydraulic electric control proportional valve 11 and used for measuring power consumption change of the sugarcane undercutting hydraulic motor 16 and obtaining an undercut motor power consumption parameter N, wherein the pressure sensor mainly senses oil way pressure of the undercut motor and the like, and the flow sensor senses oil way flow of the undercut motor and the like and is used for calculating the undercut motor power consumption parameter N; and an automatic undercut depth adjusting controller 14, which is connected with the corner sensor 4 and the hydraulic electric control proportional valve 11 through an electric control wiring harness 13, and is used for receiving the profile wheel parameter theta and the undercut motor power consumption parameter N, obtaining a corresponding result instruction through a PID fuzzy control algorithm, and controlling the sugarcane lifter lifting cylinder 5 and/or the front suspension header lifting cylinder 10 to correspondingly adjust the lifting of the left sugarcane lifter 2, the right sugarcane lifter 1 and the front suspension header 8 according to the result instruction, so as to realize automatic sugarcane undercut depth adjustment.
Referring to fig. 3, fig. 3 is a schematic structural view of a copying wheel according to an embodiment of the present invention. The profiling wheel 7 of the embodiment is respectively connected with the pin shafts of the left sugarcane lifter 2 and the right sugarcane lifter 1, and the pin shaft of the profiling wheel 7 is provided with the corner sensor 4 for sensing the parameter theta of the profiling wheel. The copying wheel 7 comprises a copying wheel body 71, a copying wheel arm 73 and a copying wheel connecting pin 74, one end of the copying wheel arm 73 is installed on the copying wheel body 71 through a wheel body connecting pin 72, the copying wheel connecting pin 74 is installed at the other end of the copying wheel arm 73, and the corner sensor 4 is installed on the copying wheel connecting pin 74. Preferably, an installation hole is formed in the end surface of the copying wheel connecting pin 74, and the rotation angle sensor 4 is installed in the installation hole.
In this embodiment, the left sugarcane lifter 2 is connected with the front-mounted cutting platform 8 through a sugarcane lifter upper connecting rod 3 and a sugarcane lifter lower connecting rod 6 respectively to form a four-bar mechanism, and the right sugarcane lifter 1 is connected with the front-mounted cutting platform 8 through another sugarcane lifter upper connecting rod 3 and a sugarcane lifter lower connecting rod 6 respectively to form a four-bar mechanism. The sugarcane lifter lifting cylinder 5 is preferably a double-acting cylinder, one end of the sugarcane lifter lifting cylinder 5 is connected with the front suspension cutting table 8, the other end of the sugarcane lifter lifting cylinder 5 is connected with the sugarcane lifter lower connecting rod 6, and the left sugarcane lifter 2 and the right sugarcane lifter 1 are controlled to lift through the stretching of the sugarcane lifter lifting cylinder 5.
Referring to fig. 4, fig. 4 is a schematic diagram of a contour wheel detection ground according to an embodiment of the present invention. The method is a schematic diagram of the contour wheel 7 for detecting the fluctuation change of the ground (ditch bottom), wherein A is a schematic diagram of each parameter of the contour wheel 7 when the ground is flat, B is a schematic diagram of each parameter of the contour wheel when the ground is convex, and C is a schematic diagram of each parameter of the contour wheel 7 when the ground is concave. Assuming that the height difference between the position of the copying wheel 7 when the ground of the trench bottom is raised and the ground of the trench bottom is flat is delta h, and the height difference between the position of the copying wheel 7 when the ground of the trench bottom is recessed and the ground of the trench bottom is flat is delta h' and theta2', the formula is as follows:
Δh＝L cosθ0-L cosθ2
wherein, the delta h is the height difference of the position of the contour wheel 7 when the ground is convex and when the ground is flat; delta h' is the height difference between the position of the contour wheel 7 when the ground is sunken and the position of the contour wheel when the ground is flat, L is the central distance between the wheel body connecting pin shaft 72 and the contour wheel connecting pin shaft 74, and theta0The distance between the front end of the cutter and the base plate of the sugarcane lifter is adjusted to be H0-h0The included angle theta between the central connecting line of the two pin shafts and the vertical beam of the sugarcane lifter at the moment2The included angle theta between the central line of the two pin shafts and the vertical beam of the sugarcane lifter when the profiling wheel is raised due to the raised terrain of the trench bottom1The angle difference theta between the position where the connecting line of the two pin shafts is located when the topographic bulge of the ditch bottom and the ditch bottom are flat2The included angle theta between the central line of two pin shafts and the vertical beam of the sugarcane lifter when the profiling wheel falls down due to the subsidence of the terrain at the bottom of the ditch1The' is the angle difference of the position where the connecting line of the two pin shafts is located when the trench bottom is landed and flat.
The utility model discloses a when sugarcane harvester and front-mounted header undercut degree of depth controlling means were worked together, all instrument equipment start in the initial stage were ready to finish, opened sugarcane planting ground to the sugarcane harvester and were ready to going, according to the utility model discloses undercut degree of depth profile control means's parameter initialization flow operation acquires ridge height parameter H on the spot0Contour wheel parameter θ0And an undercut motor power consumption parameter N0And the parameters are input into an automatic undercut depth adjusting controller 14 to finish the initialization of the parameters of the profile control device, the sugarcane harvester lifts the cutting table and the sugarcane lifter according to instructions to operate, simultaneously receives a profile wheel parameter theta and an undercut motor power consumption parameter N in real time, and performs fuzzy self-adaptive PID control on the difference change according to the difference between the profile wheel parameter theta and the undercut motor power consumption parameter N received in real time and an initial set value. Wherein, a ridge height parameter H is obtained, a sugarcane planting ridge height parameter H of the sugarcane harvester operation plot is measured and the average value is used as the initialization ridge height parameter H0(ii) a Obtaining a parameter theta of a contour wheel, and hanging a cutting table 8 in front to reach a cutting height h of sugarcane ratoon with a cutting knife meeting the agronomic requirements0The position of the sugarcane lifter lifting oil cylinder 5 is adjusted to adjust the distance between the front end of the cutting knife and the sugarcane lifter base plate to H0-h0At this time, the angle θ at which the copying wheel 7 is located is used as the initialized copying wheel parameter θ0(ii) a Obtaining a power consumption parameter N of an undercut motor, wherein the sugarcane harvester is in a ridge height parameter H0And a profile wheel parameter θ0Continuously operating for 10-20 m in a regulation range state, and measuring the root cutting horseA power consumption parameter N is reached, and the average power consumption is calculated as the power consumption parameter N of the initialized undercut motor0. Detecting the power consumption parameter N of the undercut motor through a pressure sensor and a flow sensor in the hydraulic electric control proportional valve 11, and initializing the power consumption parameter N of the undercut motor0Comparing; if N > N0Or N < N0Calculating a contour wheel parameter theta and comparing the calculated contour wheel parameter theta with the initialized contour wheel parameter theta0Comparing; if theta is equal to theta0Generating a result instruction for keeping the height of the front suspension header 8 unchanged; if theta > theta0Generating a result instruction of the ascending of the front suspension header 8; if theta < theta0Then a result instruction for lowering the front suspended header 8 is generated. According to a result instruction of the front suspension cutting platform 8 rising, the automatic undercut depth adjusting controller 14 controls the front suspension cutting platform lifting oil cylinder 10 to adjust the front suspension cutting platform 8 to rise until N is equal to N0(ii) a Or, according to a result instruction of the descending of the front suspended cutting platform 8, the automatic undercut depth adjusting controller 14 controls the front suspended cutting platform lifting cylinder 10 to adjust the descending of the front suspended cutting platform 8 until N is equal to N0。
In the embodiment, the controller on the sugarcane harvester receives the parameter theta of the contour wheel and the power consumption parameter N of the undercut motor in real time, and firstly, the power consumption parameter N of the undercut motor is initialized0Setting a contrast ratio, dividing into two cases of more or less than N, then N > N0Or N < N0Respectively setting the real-time contour wheel parameter theta and the initialized contour wheel parameter theta under two conditions0Setting parameter comparison, further dividing each case into three interfaces of large interface, small interface and high interface, and analyzing the three interfaces respectively if theta is equal to theta0Generating a result instruction for keeping the height of the front suspension header 8 unchanged; if theta > theta0Generating a result instruction of the ascending of the front suspension header 8; if theta < theta0Then a result instruction for lowering the front suspended header 8 is generated. The automatic undercut depth adjusting controller 14 sends out an instruction, and the corresponding hydraulic electronic control proportional valve 11 acts according to the instruction, so that the self-adaptive lifting of the cutting table and the sugarcane lifter is completed.
The utility model discloses a profile modeling wheel perception sugarcane trench bottom topography changes, and through the automatically controlled proportional valve of hydraulic pressure in pressure sensor and the change of flow sensor perception sugarcane undercut motor power consumption, undercut degree of depth automatic regulation controller passes through CAN bus receipt trench bottom topography change and undercut motor power consumption change instruction, carry out PID fuzzy control algorithm, according to the corresponding result of algorithm, thereby control hydraulic valve action, control leading header and a left side, the lift of sugarcane ware is held up on the right side, realize the automatic regulation and control of undercut degree of depth, it is big to have solved prior art sugarcane harvester undercut degree of depth artificial control difficulty and difference, or the difficult problem that single dependence undercut motor power consumption control accuracy is low.
Naturally, the present invention can be embodied in many other forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be made by one skilled in the art without departing from the spirit or essential attributes thereof, and it is intended that all such changes and modifications be considered as within the scope of the appended claims.
Claims (10)
1. A front suspension cutting table undercut depth control device of a sugarcane harvester is installed on a front suspension cutting table of the sugarcane harvester, a left sugarcane lifter, a right sugarcane lifter, a sugarcane lifter lifting oil cylinder, a front suspension cutting table lifting oil cylinder, a sugarcane cutting hydraulic motor and a sugarcane undercut hydraulic motor are arranged on the front suspension cutting table, the left sugarcane lifter and the right sugarcane lifter are respectively connected with the front suspension cutting table, one end of the sugarcane lifter lifting oil cylinder is connected with the front suspension cutting table, and the other end of the sugarcane lifter lifting oil cylinder is connected with the left sugarcane lifter and the right sugarcane lifter; the one end of preceding suspension header lift cylinder with the preceding suspension header is connected, the other end of preceding suspension header lift cylinder with the frame of sugarcane harvester is connected, its characterized in that, preceding suspension header undercut degree of depth controlling means includes:
the profiling wheel is respectively connected with the left sugarcane lifter and the right sugarcane lifter and is provided with a corner sensor which measures the terrain change of the bottom of the sugarcane trench and obtains a parameter theta of the profiling wheel;
the hydraulic electric control proportional valve is connected with the sugarcane lifter lifting oil cylinder, the front suspension header lifting oil cylinder, the sugarcane cutting hydraulic motor and the sugarcane undercutting hydraulic motor, a pressure sensor and a flow sensor are mounted on the hydraulic electric control proportional valve, and the hydraulic electric control proportional valve measures the power consumption change of the sugarcane undercutting hydraulic motor and obtains an undercut motor power consumption parameter N; and
and the automatic undercut depth adjusting controller is connected with the corner sensor and the hydraulic electric control proportional valve, receives the profile wheel parameter theta and the undercut motor power consumption parameter N, obtains a corresponding result instruction through a PID (proportion integration differentiation) fuzzy control algorithm, and controls the sugarcane lifter lifting cylinder and/or the front suspension header lifting cylinder to correspondingly adjust the lifting of the left sugarcane lifter, the right sugarcane lifter and the front suspension header according to the result instruction.
2. A sugarcane harvester front suspension header undercut depth control device as claimed in claim 1, characterized in that the profile wheel comprises a profile wheel body, a profile wheel arm and a profile wheel connecting pin, one end of the profile wheel arm is mounted on the profile wheel body through a wheel body connecting pin, the profile wheel connecting pin is mounted at the other end of the profile wheel arm, and the rotation angle sensor is mounted on the profile wheel connecting pin.
3. An undercut depth control device for a front suspension header of a sugarcane harvester as claimed in claim 2, wherein the end face of the copying wheel connecting pin is provided with a mounting hole, and the rotation angle sensor is mounted in the mounting hole.
4. An undercut depth control apparatus for a front-mounted header of a sugarcane harvester as claimed in claim 1, 2 or 3, wherein the left sugarcane lifter is connected to the front-mounted header by a sugarcane lifter upper connecting rod and a sugarcane lifter lower connecting rod, respectively, and forms a four-bar linkage, and the right sugarcane lifter is connected to the front-mounted header by another sugarcane lifter upper connecting rod and a sugarcane lifter lower connecting rod, respectively, and forms a four-bar linkage.
5. A sugarcane harvester front suspension header undercut depth control device as claimed in claim 4, wherein the sugarcane lifter lift cylinder is a double-acting cylinder.
6. An undercut depth control device for a front suspension header of a sugarcane harvester as claimed in claim 5, wherein one end of the sugarcane lifter lift cylinder is connected to the front suspension header and the other end of the sugarcane lifter lift cylinder is connected to the sugarcane lifter lower connecting rod.
7. A front suspension header undercut depth control device of a sugarcane harvester as claimed in claim 1, 2 or 3, characterized in that the hydraulic electrically controlled proportional valve is connected with the sugarcane lifter lift cylinder, the front suspension header lift cylinder, the sugarcane sectioning hydraulic motor and the sugarcane undercut hydraulic motor through hydraulic connecting lines.
8. An undercut depth control for a front suspension header of a sugar cane harvester according to claim 1, 2 or 3, wherein the automatic undercut depth adjustment control is connected to the corner sensor and the hydraulically controlled proportional valve by an electrically controlled harness.
9. A sugarcane harvester undercut depth control apparatus as claimed in claim 1, 2 or 3, wherein the lower end of the forward suspended header is connected to the frame of the sugarcane harvester by a forward suspended header connecting arm.
10. A sugar cane harvester comprising a front suspended header undercut depth control of a sugar cane harvester according to any one of claims 1 to 9.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922193498.9U CN211721136U (en) | 2019-12-06 | 2019-12-06 | Sugarcane harvester and front-mounted header undercut depth control device thereof |
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| CN201922193498.9U CN211721136U (en) | 2019-12-06 | 2019-12-06 | Sugarcane harvester and front-mounted header undercut depth control device thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114868510A (en) * | 2022-07-08 | 2022-08-09 | 农业农村部南京农业机械化研究所 | Automatic digging depth regulating and controlling method of intelligent fresh potato combine harvester |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114868510A (en) * | 2022-07-08 | 2022-08-09 | 农业农村部南京农业机械化研究所 | Automatic digging depth regulating and controlling method of intelligent fresh potato combine harvester |
| CN114868510B (en) * | 2022-07-08 | 2022-10-11 | 农业农村部南京农业机械化研究所 | Automatic digging depth regulating and controlling method of intelligent fresh potato combine harvester |
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