WO2018076428A1 - 一种纵轴流联合收获机排草粉碎自适应抛撒装置及其控制方法 - Google Patents

一种纵轴流联合收获机排草粉碎自适应抛撒装置及其控制方法 Download PDF

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Publication number
WO2018076428A1
WO2018076428A1 PCT/CN2016/106705 CN2016106705W WO2018076428A1 WO 2018076428 A1 WO2018076428 A1 WO 2018076428A1 CN 2016106705 W CN2016106705 W CN 2016106705W WO 2018076428 A1 WO2018076428 A1 WO 2018076428A1
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Prior art keywords
grass
real
adaptive
width
axial flow
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PCT/CN2016/106705
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English (en)
French (fr)
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徐立章
李洋
李耀明
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Jiangsu University
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Jiangsu University
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Priority to US15/742,368 priority Critical patent/US10820518B2/en
Publication of WO2018076428A1 publication Critical patent/WO2018076428A1/zh
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/40—Arrangements of straw crushers or cutters
    • 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
    • A01D41/1243—Devices for laying-out or distributing the straw
    • 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
    • A01D41/06—Combines with headers
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/18—Threshing devices
    • A01F12/22—Threshing cylinders with teeth
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/44—Grain cleaners; Grain separators
    • A01F12/446—Sieving means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F12/00—Parts or details of threshing apparatus
    • A01F12/60—Grain tanks

Definitions

  • the invention belongs to the technical field of agricultural equipment, and relates to a combine harvester, in particular to a vertical axis flow combined harvester, a grass crushing adaptive dispersing device and a control method thereof.
  • the existing combine harvester needs to be equipped with a grass crushing and dispersing device at work, and its function is: discharging the stalks and the like which are generated after the threshing, smashing by the smashing and dispersing device, throwing it out of the machine, and uniformly covering the field. .
  • the device can smash the stalks, and the farmers do not need to collect and incinerate them, which saves labor costs and avoids environmental pollution; on the other hand, after the stalks are crushed and thrown, they can be directly used as fertilizers and strengthen the soil.
  • the fertility plays a role in increasing crop yields.
  • Chinese patent CN2050301413U discloses a new vertical axial flow harvester straw pulverizer, which designs a new type of blade structure and fan-assisted throwing structure.
  • the primary and secondary cutter shafts adopt a partial multi-spiral design to solve the traditional vertical axial flow pulverizer.
  • the knife blade is entangled in grass, missing and cut, and it has the characteristics of wide throwing width and high safety.
  • the structure of the model is relatively complicated, and the space for grazing is small, which cannot meet the demand for smashing and dispersing of the large-feeding combine harvester.
  • Chinese patent CN2040314130U discloses a grass cutter suitable for a self-propelled combine harvester, the cover is installed at the grass outlet of the combine harvester, and the grass cutter is provided with a guide plate for evenly spreading the straw and the like.
  • the cover is installed at the grass outlet of the combine harvester, and the grass cutter is provided with a guide plate for evenly spreading the straw and the like.
  • the flow direction of the stalk is concentrated in one position, and the effective diffusion cannot be obtained.
  • the local load of the pulverizer is too large, the efficiency of the smashing and scattering is lowered, and the guide plate is The tilt angle cannot be adjusted adaptively.
  • Chinese patent CN2051356144U discloses a novel straw pulverizer suitable for a full-feed type combine harvester, in which the active blade and the driven blade are staggered, and the drive shaft is connected with the power take-off shaft of the combine harvester.
  • the model has a simple structure and low power loss. Since the grass guide plate is not installed, the stalk is unevenly distributed at the exit of the model after pulverization, and the diffusion is not achieved, and the throwing effect is not satisfactory.
  • Chinese patent CN 105432242A discloses a hanging drum mower comprising a lower seat combination, a fixed knife combination, a movable knife combination and an upper cover combination
  • the lower seat combination comprises a lower seat body and a plurality of lower guide grass boards, and a fixed knife combination It is fixed on one side of the lower seat body, and the movable knife combination is axially supported in the lower seat body, and the upper cover combined fixed cover is combined on the upper side of the lower seat combination, and the upper cover combination includes an upper cover body and a plurality of upper guide grass plates.
  • the structure of the invention is simple, the grass is very sufficient, and a plurality of obliquely inclined guiding plates are arranged at the grass opening, so that the grass can be evenly scattered in the field.
  • the inclination of the split guide plate can be adjusted manually, However, it cannot be adaptively adjusted in real time based on the condition of the machine.
  • an adaptive grass dispersing device and a control method thereof are provided, which are matched with a large feed amount vertical axis flow combined harvester, and can meet the combined harvester at 5-14 kg. /s feed amount of grass crushing and dispersing demand, and compact structure, the stems discharged from the threshed and the sieve surface can be effectively crushed and thrown, the grassing space is large, the crushing efficiency is high, the throwing is uniform, and the throwing The width can be adjusted adaptively.
  • the utility model relates to a vertical axis flow combined harvester grazing grazing adaptive dispersing device, characterized in that the grazing grazing adaptive dispersing device comprises a vertical axial flow grass guiding device, a stalk residual pulverizing device and a wind direction wind speed detecting device
  • the stalk residual pulverizing device is located at the lower rear of the vertical axial flow grass guiding device, the adjustable width wide dispersing device is installed on the grass side behind the stalk residual pulverizing device, and the wind direction wind speed detecting device is installed in the combine harvester grain box.
  • the upper middle area is unobstructed by other components and can measure the wind speed and wind direction at the working position of the machine.
  • the cutting area identification device is installed above the combine harvester grain box, close to the outside of the combine harvester grain box, and the cutting area identification device The detection range is larger than the width of the combine harvester header, the working speed sensor is installed on the combined harvester drive wheel, and the pulverization speed sensor is installed at the cutter shaft of the stalk residual pulverizing device;
  • the adjustable width and width dispersing device comprises a servo electric cylinder and a throwing width adjusting mechanism, wherein the servo electric cylinder and the throwing width adjusting mechanism are installed outside the dispersing device cover, and the input end of the servo electric cylinder is connected with the adaptive dispersing real-time control system.
  • the output end of the servo electric cylinder is connected with the throwing width adjusting mechanism;
  • the throwing width adjusting mechanism comprises a throwing guide blade, a first connecting rod, a second connecting rod, a third connecting rod, an intermediate connecting plate, a support rod,
  • the first movable pin, the second movable pin and the third movable pin are evenly distributed on the lateral width of the spreading device cover, and the front end of the spreading blade is connected to the spreading device cover by a hinge,
  • the end hinge is connected to the first connecting rod, and the rear end of the weeding blade can be rotated by the front hinge, and the first connecting rod is connected to the intermediate connecting plate through the first movable pin, the second connecting One end of the rod is connected to one end of the third connecting rod through a third movable pin shaft, the other end of the second connecting rod is connected to the intermediate connecting plate via a second movable pin shaft, and the other end of the third connecting rod is fixed to the servo electric cylinder
  • the intermediate connecting plate is mounted on the
  • the wind direction wind speed detecting device is configured to detect wind direction and wind speed at a machine working position in real time, and transmit the measured wind direction and wind speed data to an adaptive dispersing real-time control system in real time;
  • the cutting zone identification device comprises a CCD camera, an image processing unit and a signal output interface.
  • the image recognition range of the CCD camera is larger than the width of the combine harvester header (1), and the CCD camera is used for continuously shooting the combine harvester heading header.
  • the images on both sides are extracted by the image processing unit. According to the difference of the morphological characteristics of the crops in the area to be cut upright and neatly arranged and the straws in the cut area are evenly scattered on the low stubble, the combine harvester is recognized.
  • the left and right sides of the direction are respectively the area to be cut or the cut area, and then converted into control signals, which are transmitted to the adaptive dispersing real-time control system;
  • the working speed sensor is configured to measure the forward speed of the machine in real time according to the rotational speed of the combined harvester driving wheel, and transmit the working speed parameter to the adaptive dispersing real-time control system in real time;
  • the pulverizing speed sensor is used for real-time measuring the rotation speed of the blade of the grass cutter, and the speed of the short stem is thrown, and the speed parameter of the short stem is transmitted online to the adaptive real-time control system;
  • the adaptive dispersing real-time control system considers the wind direction value, the wind speed value, the machine working speed, and the short stem throwing speed parameter as independent variables, and calculates a real-time scatter trajectory of the stem stalk according to the established trajectory model;
  • the adaptive real-time control system is used to treat the positional parameters of the machine's forward direction, the area to be cut and the cut area as independent variables.
  • the required width of the stem is calculated in real time.
  • the real-time dispersal trajectory of the stalk and the span width required for the stalk miscellaneous real-time, the fuzzy control theory is used to calculate the actual adjustment parameters of the servo electric cylinder, and then the servo electric cylinder is driven to drive the width adjustment mechanism to change the grass.
  • the inclination of the board realizes the full width and width of the stalk.
  • the number of the throwing width adjusting mechanisms is 2-6
  • the number of the servo electric cylinders is 2-6
  • the number of the throwing and guiding boards included in each throwing width adjusting mechanism is 1-3. Piece.
  • the vertical axial flow grass guiding device comprises a longitudinal axial flow threshing drum, a longitudinal axial flow drum top cover, a longitudinal axial flow top cover grass guide plate, a concave screen, a grass cutting board, a grass guiding arc plate, and a diversion
  • the strip consists of a vertical axial flow drum top cover located above the longitudinal axial flow threshing drum, and a longitudinal axial flow top cover grass guide plate is mounted on the inner wall of the longitudinal axial flow drum top cover, and the vertical axis flow top cover grass guide plate lower edge and longitudinal
  • the outermost edge of the axial flow threshing drum is 10mm-130mm apart, and the concave screen is installed below the longitudinal axial flow threshing drum.
  • the central axis of the concave screen coincides with the axis of the longitudinal axial flow threshing drum, and the longitudinal axial flow threshing drum and concave plate Between sieves
  • the gap is 10mm-60mm
  • the grass board is installed at the tail of the concave screen, and the width of the grass opening formed by the tail of the grass and the vertical axial flow threshing drum is 200mm-400mm
  • the grass guiding plate is located inside the grass opening,
  • An arc plate composed of two plane plates and three curved panels
  • the first plane is fixed on the grass board, the first curved surface, the second curved surface, and the third curved surface are arranged side by side, and the side edges are sequentially connected, and the two shunt bars are respectively Fixing at a boundary between the first curved surface and the second curved surface, the second curved surface and the third curved surface, the top ends of the first curved surface, the second curved surface and the third curved surface are located on a horizontal line and are fixed
  • the number of the vertical axis flow top cover grass guide plates is 4-6, and the vertical axis flow top cover grass guide plate installation direction is toward the grass discharge port direction, that is, the flow direction of the stem is the same, and the vertical axis flow top cover
  • the plane formed by the head and tail of the grass guide plate is at an angle of 5°-20° with the axis of the longitudinal axial flow threshing drum.
  • the stalk residual pulverizing device comprises a lawn mower upper cover, a grass cutter and a grass cutter bottom plate, wherein the axis of the grass cutter shaft is located at 0 mm-200 mm below the sieve surface of the cleaning device, and the grass cutter
  • the horizontal distance between the cutter shaft and the innermost side of the grass discharge port is 240mm-600mm, and the upper end of the upper cover of the lawn mower is connected to the outermost side of the grass discharge port, and the lower end of the upper cover of the grass cutter is connected with the grass cutter, and the lawn mower is covered.
  • a grass-bearing space of about 0.25 m 3 is formed between the shell, the grass guide plate and the bottom of the lawn mower.
  • the bottom of the lawn mower is located 0 mm-130 mm below the screen surface of the cleaning device.
  • the adaptive throwing real-time control system obtains the wind direction value and the wind speed value at the machine working position in real time through the wind direction wind speed detecting device, the working speed sensor obtains the machine working speed in real time, and the crushing speed sensor (10) acquires in real time.
  • the short stem throwing speed and the cutting zone identification device obtain parameters such as the forward direction of the machine, the position information of the to-be-cut zone and the cut zone, and the like, to characterize the working state of the grass-crushing adaptive dispersing device;
  • the adaptive real-time control system preprocesses the acquired real-time parameters, including suppressing interference, improving signal-to-noise ratio, and missing data to eliminate the influence of random and uncertain factors on subsequent data analysis.
  • the adaptive dispersing real-time control system considers the wind direction value, wind speed value, machine working speed and short stem throwing speed parameter as independent variables, and calculates the real-time dispersing trajectory of stem stalk according to the established trajectory model;
  • the adaptive dispersing real-time control system regards the positional parameters of the machine's forward direction, the area to be cut and the cut area as independent variables. According to the established full-width spread model, the required throwing width of the stems in real time is calculated.
  • the adaptive dispersing real-time control system calculates the actual adjustment parameters of the servo electric cylinder according to the real-time dispersing trajectory of the stalk and the real-time throwing width of the stem and the residual control, and then controls the servo electric cylinder to drive the dispersal.
  • the width adjustment mechanism thereby changing the inclination of the throwing grass guide plate, and realizing the full width and width of the stem stalk.
  • the throwing width of the present invention can be adaptively adjusted according to parameters such as machine working speed, wind speed, wind direction, cut area, and position to be cut, so as to achieve full width and width of the stem stalk, which can be broken.
  • the stalks are evenly scattered in the field, and the stalks can be prevented from being thrown into the area to be cut; the invention has good adaptability to the large-feed combine harvester and can satisfy the feeding amount of 5-14 kg.
  • the vertical axis flow combine harvester the grass is crushed and thrown.
  • the present invention installs a grass guiding arc plate and a shunt bar at the position of the grass cutting mouth, and the stem is diverted into three grass strips through the diversion of the grass guiding arc plate and the diversion bar, and the lateral width of the grass band is close to the stem after the diffusion.
  • the lateral width of the inlet of the scum residual pulverizing device makes the smashing load of the stalk residual pulverizing device relatively uniform; the space of the grass between the traditional smashing and dispersing device and the vertical axial flow roller is small, in the case of large feeding amount Under the circumstance, the amount of straw and broken spikes is greatly increased, and clogging is easy to occur.
  • This scheme moves the grass cutter down, increases the space of the grass, and solves the problem of excessive grass discharge due to the vertical axial flow threshing drum. The grass is not smooth, the grass breaker is blocked and so on.
  • the debris discharged from the screen surface of the cleaning device can also enter the grass cutter, and the waste and the stem can simultaneously achieve the crushing and spreading, and the air flow formed by the rotation of the blade of the grass cutter is enhanced.
  • the airflow velocity at the tail of the screen on the cleaning device is beneficial to the waste discharge at the tail of the upper screen surface and improves the cleaning performance.
  • Figure 1 is a schematic left side view showing the structure of a vertical axis flow combined harvester grazing adaptive scattering device.
  • Figure 2 is a schematic plan view showing the structure of the adjustable width and width dispersing device.
  • Fig. 3 is a schematic view showing the working state of the turf crushing adaptive dispersing device of the longitudinal axial flow combined harvester.
  • Figure 4 is a schematic left side view showing the structure of the vertical axial flow grass guiding device.
  • Fig. 5 is a three-dimensional view of a 45° viewing angle structure of the grass guiding arc plate and the right side of the shunt bar and three curved surfaces of the grass guiding arc plate.
  • Fig. 6 is a schematic rear view showing the structure of the vertical-flow combined harvester grazing adaptive scattering device.
  • Fig. 7 is a flow chart showing the operation of the vertical axis flow combined harvester grazing adaptive scattering device.
  • Figure 1 is a schematic left side view showing the structure of the vertical axial flow combined harvester grazing adaptive scattering device, and the longitudinal axial flow combined harvester grazing adaptive scatter device comprises a vertical axial flow grass guiding device 5, stalk The residual pulverizing device 11, the wind direction wind speed detecting device 4, the cutting zone identifying device 2, the working speed sensor 8, the pulverizing rotation speed sensor 10, the adjustable width and width dispersing device 13, and the adaptive dispersing real-time control system.
  • the stalk residual pulverizing device 11 is located at the lower rear side of the vertical axial flow grass guiding device 5, the adjustable width wide dispersing device 13 is installed on the hopper side behind the stalk residual pulverizing device 11, and the wind direction wind speed detecting device 4 is installed in the joint
  • the upper middle area of the harvester grain tank 3 is not blocked by other parts of the machine, and the wind speed and direction of the wind at the machine working position can be measured.
  • the cutting area identification device 2 is installed above the combine harvester grain tank 3, near the combine harvester.
  • the detection range of the cutting zone identification device 2 is larger than the width of the combine harvester header 1, the working speed sensor 8 is mounted on the combine harvester drive wheel, and the pulverization rotation speed sensor 10 is mounted on the stalk residual pulverizing device 11 knife shaft.
  • the stem is diverted and diffused in the vertical axis flow grass guiding device 5, uniformly discharged into the stalk residual pulverizing device 11, and then pulverized into the adjustable width wide dispersing device 13, and thrown to field.
  • the wind direction wind speed detecting device 4, the cutting area identifying device 2, the working speed sensor 8, and the crushing speed sensor 10 transmit the measured parameters online to the adaptive dispersing real-time control system, and are processed by the adaptive dispersing real-time control system, and can be controlled according to the working condition.
  • the amplitude modulation wide dispersing device 13 realizes adaptive adjustment of the spreading width.
  • Figure 2 is a schematic plan view showing the structure of the adjustable width and width dispersing device. It includes a servo electric cylinder 1301 and a throwing width adjustment mechanism 1302.
  • the servo electric cylinder 1301 and the throwing width adjusting mechanism 1302 are installed outside the dispersing device casing 1302-10, and the input end of the servo electric cylinder 1301 is connected with the adaptive dispersing real-time control system, and the output end of the servo electric cylinder 1301 and the spreading width are The adjustment mechanism 1302 is connected.
  • the throwing width adjusting mechanism 1302 is made of a throwing grass board 1302-9, a first link 1302-8, a second link 1302-3, a third link 1302-1, an intermediate connecting plate 1302-5, and a support rod.
  • the servo electric cylinder 1301 is mounted outside the dispersing device casing 1302-10, and the dispersing grass guiding plate 1302-9 is evenly distributed on the lateral width of the dispersing device casing 1302-10, and the front end thereof is connected to the dispersing device casing 1302-10 through a hinge.
  • the first link 1302-8 is connected to the intermediate connecting plate 1302-5 through the first movable pin 1302-6, and one end of the second link 1302-3 passes through the third movable pin 1302-2 and the third link 1302.
  • One end of the -1 is connected, the other end of the second link 1302-3 is connected to the intermediate connecting plate 1302-5 via the second movable pin 1302-4, and the other end of the third link 1302-1 is fixed to the servo electric cylinder.
  • the intermediate connecting plate 1302-5 is mounted on the support rod 1302-7, the support rod 1302-7 is an L-shaped rod, and the intermediate connecting plate 1302-5 can be centered on the upper arm of the support rod 1302-7 Rotating, the lower arm of the support rod 1302-7 is fixed to the side of the dispenser housing 1302-10.
  • the number of the throwing width adjusting mechanisms 1302 is two.
  • the number of the servo electric cylinders 1301 is two
  • the number of the throwing and guiding boards 1302-9 included in each of the throwing width adjusting mechanisms 1302 is two.
  • the block that is, the number of the throwing and guiding grass boards 1302-9 is a total of four pieces, which are uniformly arranged in the axial direction on the inner side of the spreading device cover, that is, the servo electric cylinder 1301 on the left side is controlled by the throwing width adjusting mechanism 1302.
  • the inclination angles of the two left throwing guide plates 1302-9 are separately adjusted, and the servo electric cylinder 1301 on the right side can individually adjust the inclination angles of the two right throwing guide sheets 1302-9 by controlling the throwing width adjusting mechanism 1302.
  • the adaptive dispersing real-time control system can control the left and right servo electric cylinders 1301 to move linearly, and then adjust the inclination of the left and right sides of the weeding board 1302-9 to achieve the purpose of adjusting the spreading width.
  • Figure 3 is a schematic view showing the operation state of the vertical-flow combined harvester grazing adaptive scattering device.
  • the adaptive throwing real-time control system controls the servo electric cylinders 1301 on the left and right sides of the adjustable width and width dispersing device 13 to respectively move to the left side.
  • the inclination angles of the two throwing blades 1302-9 are slightly to the left, and the inclination angles of the two throwing blades 1302-9 on the right side are largely to the right, so that the broken stems are not thrown to be cut.
  • zone 201 On the crop of zone 201, the grain is prevented from falling off, and the width of the throwing is spread as far as possible to the cut zone 202, which is favorable for evenly tiling the broken stem and the waste in the field; when the combined harvester advances to the left, it is cut.
  • the adaptive dispersing real-time control system controls the servo electric cylinders 1301 on the left and right sides of the adjustable width and width dispersing device to respectively move, so that the left side of the two pieces of the dip of the grass board 1302-9 Substantially to the left, the inclination of the two throwing blades 1302-9 on the right side is slightly to the right, so that the broken stems and debris can not be thrown onto the crops in the area to be cut 201, preventing the grains from falling off. Throw the width as much as possible
  • the spread of zone 202 facilitates even tiling of the broken stems and debris in the field.
  • Figure 7 is a flow chart showing the operation of the vertical axial flow combined harvester grazing adaptive scattering device.
  • the adaptive throwing real-time control system acquires the wind direction value and the wind speed value at the machine working position in real time by the wind direction wind speed detecting device 4, the working speed sensor 8 obtains the machine working speed in real time, and the crushing speed sensor 10 acquires in real time.
  • the short stem throwing speed and the cutting zone identification device 2 acquire the machine forward direction, the to-be-cut zone 201 and the real time in real time.
  • the position information of the cut zone 202 and other parameters are used to characterize the working state of the grass crushing adaptive dispersing device.
  • the adaptive real-time control system preprocesses the acquired real-time parameters, including suppressing interference, improving signal-to-noise ratio, and missing data to eliminate the influence of random and uncertain factors on subsequent data analysis.
  • the adaptive dispersing real-time control system considers the wind direction value, wind speed value, machine working speed and short stem throwing speed parameter as independent variables. According to the established motion trajectory model, the real-time dispersal trajectory of stem stalk is calculated; adaptive dispersal
  • the real-time control system regards the forward direction of the machine, the position parameters of the to-be-cut zone 201 and the cut zone 201 as independent variables, and calculates the throwing width required for the real-time stalk miscellaneous according to the established full-width spread model.
  • the actual adjustment parameters of the servo electric cylinder 1301 are calculated by using the fuzzy control theory, and then the servo electric cylinder 1301 is driven to drive the dispersing width adjustment mechanism 1302. Thereby, the inclination of the throwing grass board 1302-9 is changed, and the adaptive adjustment of the full width and width of the stem stalk is realized.
  • the vertical axial flow grass guiding device 5 includes a longitudinal axial flow threshing drum 503, a longitudinal axial flow drum top cover 501, a vertical axial flow top cover grass guide plate 502, a concave plate sieve 504, and a grass blocking plate 505. , grass guiding arc plate 506, shunt bar 507.
  • the vertical axial flow drum top cover 501 is located above the longitudinal axial flow threshing drum 503, and the vertical axial flow top cover grass guide plate 502 is mounted on the inner wall of the longitudinal axial flow drum top cover 501, and the vertical axial flow top cover grass guide plate 502 lower edge
  • the outermost edge of the longitudinal axial flow threshing drum 503 is 10 mm to 130 mm apart, and the concave screen 504 is installed below the longitudinal axial flow threshing drum 503.
  • the center line of the concave screen 504 coincides with the axis of the longitudinal axial flow threshing drum 503.
  • the gap between the axial flow threshing drum 503 and the concave screen 504 is 10 mm - 60 mm
  • the grass board 505 is mounted on the tail of the concave screen 504
  • the width is 200mm-400mm.
  • the grass guiding plate 506 is mounted on the grass board 505 inside the grass opening 6, and the diverter strip 507 is mounted on the grass guiding plate 506.
  • the stalk after the threshing process enters the hopper opening 6 under the action of the vertical axial flow top cover grass 502 and the longitudinal axial flow threshing drum 503, and then passes through the guide vane 506 and the diverting strip 507.
  • the shunting action is diffused into three grass strips. After the diffusion, the lateral width of the straw strip is close to the lateral width of the inlet of the stalk residual pulverizing device 11, so that the smashing residual pulverizing device 11 has a relatively uniform pulverizing load.
  • FIG. 5 is a schematic view showing the structure of the grass guiding arc plate and the splitter bar at the upper right angle of 45°.
  • the grass guiding arc plate 506 is an arc plate composed of two plane plates and three curved panels, and the first plane 506-1 is fixed on the grass board 505, the first curved surface 506-2, the second curved surface 506-3, The third curved surface 506-4 is arranged side by side, and the side edges are sequentially connected, and the two splitter bars 507 are respectively fixed to the first curved surface 506-2 and the second curved surface 506-3, the second curved surface 506-3 and the third curved surface 506-4.
  • the first curved surface 506-2, the second curved surface 506-3, and the third curved surface 506-4 are located on a horizontal line, and are fixed on the sidewall of the grass opening 6, the first curved surface 506-2,
  • the trailing ends of the second curved surface 506-3 and the third curved surface 506-4 are also located on a horizontal line, and are connected to the leftmost side of the stalk residual pulverizing device 11, and are parallel to the lateral direction of the stalk residual pulverizing device 11;
  • the horizontal line at the top of each surface is at an angle of 90° to the horizontal line at the end, the second flat
  • the face 506-5 is located behind the third curved surface 506-4, and the lateral width of the trailing end of the second plane 506-5 and the trailing ends of the three curved surfaces is similar to the lateral width of the stalk residual pulverizing device 11.
  • the grass guiding plate 506 and the branching bar 507 together function to divert and diffuse the stem.
  • FIG. 6 a schematic rear view of the structure of the vertical-flow combined harvester grazing adaptive scattering device is shown.
  • the stem at the grass opening 6 diffuses from the upper right side under the diversion diffusion of the grass guiding arc plate 506 and the shunt bar 507.
  • the grass guiding arc plate 506 can be slightly modified, and the structure of the grass guiding arc plate 506 flows along the longitudinal axis of the vertical centerline of the threshing drum 503.
  • the stalk residual pulverizing apparatus 11 includes a lawn mower upper casing 7, a grass cutter 1101, and a lawn mower bottom plate 12.
  • the axis of the cutter 1101 cutter shaft is located at 0mm-200mm below the sieve surface 9 of the cleaning device, and the horizontal distance between the cutter shaft 1101 cutter shaft and the innermost side of the grass discharge port 6 is 240mm-600mm, and the lawn mower upper cover
  • the upper end of the 7 is connected to the outermost side of the grass opening 6, and the lower end of the upper cover 7 of the lawn mower is connected to the grass cutter 1101.
  • the upper cover of the lawn mower 7, the grass guiding plate 506, and the grass floor 12 of the grass mower are formed.
  • the 0.25 m 3 grass-bearing space solves the problem that the grass is not smooth due to excessive instantaneous grass discharge 503, and the grass cutter 1101 is blocked.
  • the bottom plate 12 of the lawn mower is located 0 mm-130 mm below the screen surface 9 of the cleaning device, and the stalk which is guided and diffused by the grass guiding plate 506 and the branching strip 507 and the residue discharged from the screen surface 9 of the cleaning device can simultaneously Entering into the grass-bearing space formed by the lawnmower shell 7, the grass guiding arc plate 506 and the grass cutter bottom plate 12, the stalk and the waste are crushed under the action of the grass cutter 1101 and the cutting blade, and the crushed The stalks and the stalks enter the adjustable width and wide dispersing device 13 along the bottom of the lawn mower 12, which improves the smashing and spreading performance.
  • the air flow formed by the rotation of the blade of the grass cutter 1101 enhances the airflow speed at the tail of the screen surface 9 of the cleaning device, which is beneficial to the waste discharge of the tail portion of the upper screen surface 9 and improves the cleaning performance.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Combines (AREA)
  • Crushing And Pulverization Processes (AREA)
  • Threshing Machine Elements (AREA)
  • Adjustment And Processing Of Grains (AREA)
  • Outside Dividers And Delivering Mechanisms For Harvesters (AREA)
  • Harvester Elements (AREA)

Abstract

一种纵轴流联合收获机排草粉碎自适应抛撒装置，该装置包括纵轴流排草导流装置（5）、茎秆杂余粉碎装置（11）、风向风速检测装置（4）、割区识别装置（2）、作业速度传感器（8）、粉碎转速传感器（10）、可调幅宽抛撒装置（13）、自适应抛撒实时控制系统。还提供了一种控制方法控制该装置进行抛撒。使用该装置和方法，抛撒幅宽能够根据机器作业速度、风速、风向、已割区、待割区位置进行自适应调节，实现茎秆杂余的全幅宽抛撒，可使碎茎杆杂余均匀抛撒在田间，还能够避免碎茎杆杂余抛撒到待割区。

Description

一种纵轴流联合收获机排草粉碎自适应抛撒装置及其控制方法 技术领域
本发明属于农业装备技术领域，涉及联合收获机，尤其是一种纵轴流联合收获机排草粉碎自适应抛撒装置及其控制方法。
背景技术
现有的联合收获机在工作时都需要配备排草粉碎抛撒装置，其功用是：将脱粒后产生的茎秆等杂物排出，经过粉碎抛撒装置粉碎后抛撒出机外，均匀覆盖在田地上。一方面此装置可以将茎秆粉碎，农民不需要对其进行收集和焚烧，节省了劳动成本，同时避免了环境污染；另一方面茎秆经过粉碎抛撒后，可以直接入土作为肥料，增强了土壤的肥力，起到了增加作物产量的作用。
中国专利CN2050301413U公开了一种新型纵轴流收获机秸秆粉碎机，设计了一种新型的刀片结构和风机助抛结构，其主次刀轴采用局部多螺旋设计，解决了传统纵轴流粉碎机定刀刀刃缠草、漏切等问题，并且其具有抛幅宽、安全性高等特点。但是该机型结构较为复杂，排草空间较小，不能满足大喂入量联合收获机的排草粉碎抛撒需求。
中国专利CN2040314130U公开了一种适用于自走式联合收割机的碎草机，其罩壳安装于联合收割机出草口处，并且碎草机中设有导向板，可将碎秸秆等均匀抛撒在地中，但是从脱粒滚筒排出的茎秆进入碎草机时，茎秆流动方向集中在一个位置，无法得到有效扩散，粉碎机局部负荷过大，降低了粉碎抛撒的效率，并且导向板的倾角不能自适应调节。
中国专利CN2051356144U公开了一种适用于全喂入式联合收获机的新型秸秆粉碎机，其主动刀片与从动刀片交错排列，主动轴与联合收获机动力输出轴带传动连接。该机型结构简单，损耗功率较低。由于没有安装导草板，粉碎后茎秆在该机型出口处分布不均匀，没有实现扩散，抛撒效果不理想。
中国专利CN 105432242A公开了一种悬挂式滚筒碎草机,包括下座组合、定刀组合、动刀组合和上盖组合，下座组合包括下座体和多个下导草板，定刀组合固定在下座体一侧，动刀组合轴向支撑在下座体内，上盖组合固定盖合在下座组合上侧，上盖组合包括上盖体和多个上导草板。本发明结构简单，碎草十分充分，且出草口处设有多个向上斜置的分撒导向板，可使碎草均匀抛撒在田间。虽然分撒导向板的倾角可以手动调节， 但是其不能根据机器作业状况进行实时自适应调节。
上述专利除了存在所述的技术缺点外，都无法实现将联合收获机振动筛上筛面尾部排出的杂余也进行粉碎和全幅宽抛撒。
此外，随着我国家庭农场等谷物规模化生产的形成以及超级稻等高产作物的种植面积的逐步扩大，对联合收获机在大喂入量下的粉碎和全幅宽抛撒提出了更高的要求。现有市场上使用的传统秸秆粉碎抛撒装置的处理能力和容量与大喂入量收获流量不匹配，茎秆粉碎和抛撒的效果均不理想。
发明内容
为了解决上述排草粉碎抛撒装置的技术缺点，提供一种与大喂入量纵轴流联合收获机相配套的排草粉碎自适应抛撒装置及其控制方法，能满足联合收获机在5-14kg/s喂入量下的排草粉碎抛撒需求，且结构紧凑、脱粒后的茎杆与筛面排出的杂余都能得到有效的粉碎抛撒、排草空间大、粉碎效率高、抛撒均匀、抛撒幅宽能够自适应调节。
本发明采取的技术方案如下：
一种纵轴流联合收获机排草粉碎自适应抛撒装置，其特征在于，所述排草粉碎自适应抛撒装置由纵轴流排草导流装置、茎秆杂余粉碎装置、风向风速检测装置、割区识别装置、作业速度传感器、粉碎转速传感器、可调幅宽抛撒装置、自适应抛撒实时控制系统组成；
茎秆杂余粉碎装置位于纵轴流排草导流装置的后下方，可调幅宽抛撒装置安装于茎秆杂余粉碎装置后方的排草侧，风向风速检测装置安装于联合收获机粮箱的上方中间区域，不受其他部件的阻挡，可测得机器作业位置处的风速和风向，割区识别装置安装于联合收获机粮箱的上方，靠近联合收获机粮箱的外侧，割区识别装置的检测范围大于联合收获机割台的幅宽，作业速度传感器安装于联合收获机驱动轮上，粉碎转速传感器安装于茎秆杂余粉碎装置刀轴处；
所述可调幅宽抛撒装置包括伺服电动缸、抛撒幅宽调节机构，伺服电动缸和抛撒幅宽调节机构安装在抛撒装置罩壳的外侧，伺服电动缸的输入端与自适应抛撒实时控制系统连接，伺服电动缸的输出端与抛撒幅宽调节机构连接；所述抛撒幅宽调节机构包括抛撒导草板、第一连杆、第二连杆、第三连杆、中间连接板、支撑杆、第一活动销轴、第二活动销轴和第三活动销轴，抛撒导草板均匀分布在抛撒装置罩壳横向宽度上，且抛撒导草板的前端与抛撒装置罩壳通过铰链连接、后端铰链连接在第一连杆上，抛撒导草板后端能以前端铰链为轴旋转，第一连杆通过第一活动销轴连接在中间连接板上，第二连 杆的一端通过第三活动销轴与第三连杆的一端相连，第二连杆的另一端通过第二活动销轴连接在中间连接板上，第三连杆的另一端固定在伺服电动缸轴上的杆端关节上，中间连接板安装在支撑杆上，支撑杆为L型杆，中间连接板能以支撑杆上臂为圆心旋转，支撑杆下臂固定在抛撒装置罩壳的侧面；
所述风向风速检测装置用于实时检测机器作业位置处的风向和风速，并将测得的风向和风速数据实时传输到自适应抛撒实时控制系统；
所述割区识别装置包括CCD摄像头、图像处理单元和信号输出接口，CCD摄像头的图像识别范围大于联合收获机割台(1)的幅宽，CCD摄像头用于不断拍摄联合收获机前进方向割台两侧的图像，通过图像处理单元对拍摄到图像进行特征提取，根据待割区作物直立、整齐排列与已割区秸秆均匀抛撒在低矮留茬上形态特征的不同，识别出联合收获机前进方向的左右两侧分别为待割区还是已割区，再转化为控制信号，传输到自适应抛撒实时控制系统；
所述作业速度传感器用于根据联合收获机驱动轮的转速实时测得机器的前进速度，并将作业速度参数实时传输到自适应抛撒实时控制系统；
所述粉碎转速传感器用于实时测得的碎草机刀轴的转速，得出短茎杆抛出速度，再将短茎杆抛出速度参数在线传输到自适应抛撒实时控制系统；
所述自适应抛撒实时控制系统将风向值、风速值、机器作业速度、短茎杆抛出速度参数视为自变量，根据所建立的运动轨迹模型，计算出茎秆杂余实时抛撒轨迹；自适应抛撒实时控制系统将机器前进方向、待割区和已割区的位置参数视为自变量，根据所建立的全幅宽抛撒模型，计算出茎杆杂余实时所需要的抛撒幅宽；并根据茎秆杂余实时抛撒轨迹和茎杆杂余实时所需抛撒幅宽，应用模糊控制理论计算出伺服电动缸的实际调节参数，进而控制伺服电动缸驱动抛撒幅宽调节机构，从而改变抛撒导草板的倾角，实现茎秆杂余的全幅宽抛撒。
进一步地，所述抛撒幅宽调节机构的数量为2-6个，所述伺服电动缸的数量为2-6个，每一个抛撒幅宽调节机构包含的抛撒导草板的数量为1-3块。
进一步地，所述纵轴流排草导流装置由纵轴流脱粒滚筒、纵轴流滚筒顶盖、纵轴流顶盖导草板、凹板筛、挡草板、导草弧板、分流条组成，纵轴流滚筒顶盖位于纵轴流脱粒滚筒上方，纵轴流顶盖导草板安装于纵轴流滚筒顶盖的内壁上，纵轴流顶盖导草板的下边沿与纵轴流脱粒滚筒的最外缘相距10mm-130mm，凹板筛安装在纵轴流脱粒滚筒的下方，凹板筛的中心轴线与纵轴流脱粒滚筒的轴线重合，纵轴流脱粒滚筒与凹板筛之间 的间隙为10mm-60mm，挡草板安装于凹板筛的尾部，挡草板与纵轴流脱粒滚筒尾部形成的排草口宽度为200mm-400mm；导草弧板位于排草口内部，是由两个平面板与三个曲面板组成的弧板；第一平面固定在挡草板上，第一曲面、第二曲面、第三曲面并列设置、且侧边依次相连，两个分流条分别固定在第一曲面与第二曲面、第二曲面与第三曲面的交界处，第一曲面、第二曲面、第三曲面的顶端位于一条水平线上、并且固定在排草口的侧壁上，第一曲面、第二曲面、第三曲面的尾端也位于一条水平线上、与茎秆杂余粉碎装置的横向方向平行、并且和茎秆杂余粉碎装置最左侧相连；3个曲面顶端所在的水平线与尾端所在的水平线呈90°夹角，第二平面位于第三曲面后下方，第二平面的尾端与3个曲面的尾端共同形成的横向宽度近似于茎秆杂余粉碎装置的横向宽度。
进一步地，所述纵轴流顶盖导草板数量为4-6条，纵轴流顶盖导草板安装方向朝向排草口方向，即与茎秆的流动方向一致，纵轴流顶盖导草板首尾相连形成的平面与纵轴流脱粒滚筒的轴线呈5°-20°夹角。
进一步地，所述茎秆杂余粉碎装置包括碎草机上罩壳、碎草机和碎草机底板，碎草机刀轴的轴线位于清选装置上筛面下方0mm-200mm处，碎草机刀轴与排草口最内侧之间的水平距离为240mm-600mm，碎草机上罩壳的上端与排草口最外侧相连，碎草机上罩壳的下端与碎草机相连，碎草机上罩壳、导草弧板、碎草机底板之间形成了约0.25m3的容草空间。
进一步地，所述碎草机底板位于清选装置上筛面下方0mm-130mm。
所述的纵轴流联合收获机排草粉碎自适应抛撒装置的自适应抛撒实时控制方法，其特征在于，主要包括以下步骤：
(1)联合收获机作业时，自适应抛撒实时控制系统通过风向风速检测装置实时获取机器作业位置处的风向值和风速值、作业速度传感器实时获取机器作业速度、粉碎转速传感器(10)实时获取短茎杆抛出速度、割区识别装置实时获取机器前进方向、待割区和已割区的位置信息等参数，来表征排草粉碎自适应抛撒装置的作业状态；
(2)自适应抛撒实时控制系统对获取的实时参数进行预处理，主要包括抑制干扰、提高信噪比、缺失数据补齐，以消除随机、不确定性因素对后续数据分析的影响；
(3)自适应抛撒实时控制系统将风向值、风速值、机器作业速度、短茎杆抛出速度参数视为自变量，根据所建立的运动轨迹模型，计算出茎秆杂余实时抛撒轨迹；自适应抛撒实时控制系统将机器前进方向、待割区和已割区的位置参数视为自变量，根据所建立的全幅宽抛撒模型，计算出茎杆杂余实时所需要的抛撒幅宽；
(4)自适应抛撒实时控制系统根据茎秆杂余实时抛撒轨迹和茎杆杂余实时所需抛撒幅宽，应用模糊控制理论计算出伺服电动缸的实际调节参数，进而控制伺服电动缸驱动抛撒幅宽调节机构，从而改变抛撒导草板的倾角，实现茎秆杂余的全幅宽抛撒。
综上所述，本发明的抛撒幅宽能够根据机器作业速度、风速、风向、已割区、待割区位置等参数，进行自适应调节，实现茎秆杂余的全幅宽抛撒，可使碎茎杆杂余均匀抛撒在田间，还能够避免碎茎杆杂余抛撒到待割区；本发明对大喂入量的联合收获机有很好的适应性，能够满足在5-14kg喂入量的情况下纵轴流联合收割机的排草粉碎抛撒需求。
另外，本发明在排草口位置安装了导草弧板和分流条，茎秆经过导草弧板的导流和分流条的分流作用，扩散成为三条草带，扩散后草带横向宽度接近茎秆杂余粉碎装置进口的横向宽度，使得茎秆杂余粉碎装置粉碎负荷比较均匀；传统的排草粉碎抛撒装置与纵轴流滚筒之间的容草空间较小，在大喂入量的情况下，排出的秸秆、断穗等数量也大大增加，容易发生堵塞，而本方案将碎草机下移，增大了容草空间，解决了因纵轴流脱粒滚筒瞬时排草过多造成的排草不流畅、碎草机堵塞等问题。
通过降低碎草机位置，清选装置上筛面排出的杂余，也可进入碎草机中，杂余和茎杆同时实现了粉碎抛撒，并且碎草机刀片旋转形成的空气流动，增强了清选装置上筛面尾部气流速度，有利于上筛面尾部杂余的排出，提高了清选性能。
附图说明
图1是纵轴流联合收获机排草粉碎自适应抛撒装置结构示意左视图。
图2是可调幅宽抛撒装置结构示意俯视图。
图3是纵轴流联合收获机排草粉碎自适应抛撒装置作业状态示意图。
图4是纵轴流排草导流装置结构示意左视图。
图5是导草弧板、分流条右上45°视角结构示意图和导草弧板3个曲面的三维图。
图6是纵轴流联合收获机排草粉碎自适应抛撒装置结构示意后视图。
图7是纵轴流联合收获机排草粉碎自适应抛撒装置作业流程图。
图中：
1：联合收获机割台，2：割区识别装置，3：联合收获机粮箱，4：风向风速检测装置，5：纵轴流排草导流装置，6：排草口，7：碎草机上罩壳，8：作业速度传感器，9：清选装置上筛面，10：粉碎转速传感器，11：茎秆杂余粉碎装置，12：碎草机底板，13：可调幅宽抛撒装置，201：待割区，202：已割区，501：纵轴流滚筒顶盖，502：纵轴流顶盖导草板，503：纵轴流脱粒滚筒，504：凹板筛，505：挡草板，506：导草弧板，507： 分流条，1101：碎草机，1301：伺服电动缸，1302：抛撒幅宽调节机构，506-1：第一平面，506-2：第一曲面，506-3：第二曲面，506-4：第三曲面，506-5：第二平面，1302-1：第三连杆，1302-2：第三活动销轴，1302-3：第二连杆，1302-4：第二活动销轴，1302-5：中间连接板，1302-6：第一活动销轴，1302-7：支撑杆，1302-8：第一连杆，1302-9：抛撒导草板，1302-10：抛撒装置罩壳。
具体实施方式
下面结合附图以及具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。
图1所示为纵轴流联合收获机排草粉碎自适应抛撒装置的结构示意左视图，纵轴流联合收获机排草粉碎自适应抛撒装置包括纵轴流排草导流装置5、茎秆杂余粉碎装置11、风向风速检测装置4、割区识别装置2、作业速度传感器8、粉碎转速传感器10、可调幅宽抛撒装置13、自适应抛撒实时控制系统。茎秆杂余粉碎装置11位于纵轴流排草导流装置5的后下方，可调幅宽抛撒装置13安装于茎秆杂余粉碎装置11后方的排草侧，风向风速检测装置4安装于联合收获机粮箱3的上方中间区域，不受机器其他部件的阻挡，可测得机器作业位置处的风速和风向，割区识别装置2安装于联合收获机粮箱3的上方，靠近联合收获机粮箱3的外侧，割区识别装置2的检测范围大于联合收获机割台1的幅宽，作业速度传感器8安装于联合收获机驱动轮上，粉碎转速传感器10安装于茎秆杂余粉碎装置11刀轴处。经过脱粒过程后的茎杆在纵轴流排草导流装置5中被导流和扩散，均匀排出到茎秆杂余粉碎装置11中，再经过粉碎进入到可调幅宽抛撒装置13，抛撒到田间。风向风速检测装置4、割区识别装置2、作业速度传感器8、粉碎转速传感器10将所测参数在线传输到自适应抛撒实时控制系统，经过自适应抛撒实时控制系统的处理，根据作业状况控制可调幅宽抛撒装置13，从而实现了抛撒幅宽的自适应调节。
图2所示为可调幅宽抛撒装置的结构示意俯视图。其包括伺服电动缸1301、抛撒幅宽调节机构1302。伺服电动缸1301和抛撒幅宽调节机构1302安装在抛撒装置罩壳1302-10的外侧，伺服电动缸1301的输入端与自适应抛撒实时控制系统连接，伺服电动缸1301的输出端与抛撒幅宽调节机构1302连接。所述抛撒幅宽调节机构1302由抛撒导草板1302-9、第一连杆1302-8、第二连杆1302-3、第三连杆1302-1、中间连接板1302-5、支撑杆1302-7、第一活动销轴1302-6、第二活动销轴1302-4和第三活动销轴1302-2组成。伺服电动缸1301安装在抛撒装置罩壳1302-10外侧，抛撒导草板1302-9均匀分布在抛撒装置罩壳1302-10横向宽度上，其前端与抛撒装置罩壳1302-10通过铰链连接，后端 安装在第一连杆1302-8上，抛撒导草板1302-9后端能以前端铰链为轴旋转，抛撒导草板1302-9与第一连杆1302-8之间也是通过铰链连接，第一连杆1302-8通过第一活动销轴1302-6连接在中间连接板1302-5上，第二连杆1302-3的一端通过第三活动销轴1302-2与第三连杆1302-1的一端相连，第二连杆1302-3的另一端通过第二活动销轴1302-4连接在中间连接板1302-5上，第三连杆1302-1的另一端固定在伺服电动缸1301轴上的杆端关节上，中间连接板1302-5安装在支撑杆1302-7上，支撑杆1302-7为L型杆，中间连接板1302-5能以支撑杆1302-7上臂为圆心旋转，支撑杆1302-7下臂固定在抛撒装置罩壳1302-10的侧面。所述抛撒幅宽调节机构1302的数量为2个，相应的，所述伺服电动缸1301的数量为2个，每一个抛撒幅宽调节机构1302包含的抛撒导草板1302-9的数量为2块，即所述抛撒导草板1302-9的数量一共为4块，沿轴向均布安装在抛撒装置罩壳内侧，即左侧的伺服电动缸1301通过控制抛撒幅宽调节机构1302，可单独调节左侧两块抛撒导草板1302-9的倾角，右侧的伺服电动缸1301通过控制抛撒幅宽调节机构1302，可单独调节右侧两块抛撒导草板1302-9的倾角。自适应抛撒实时控制系统可控制左右两侧伺服电动缸1301作直线移动，进而分别完成左右两侧的抛撒导草板1302-9倾角的调节，达到调节抛撒幅宽的目的。
图3所示为纵轴流联合收获机排草粉碎自适应抛撒装置的作业状态示意图。当联合收获机前进方向左侧为待割区201、右侧为已割区202时，自适应抛撒实时控制系统控制可调幅宽抛撒装置13左右两侧的伺服电动缸1301分别运动，使左侧的两块抛撒导草板1302-9的倾角稍稍偏向左边，右侧的两块抛撒导草板1302-9的倾角大幅度的偏向右边，这样能够碎茎杆杂余不会被抛撒到待割区201的作物上，防止谷粒脱落，同时抛撒幅宽尽可能的向已割区202扩散，有利于碎茎杆和杂余在田间均匀平铺；当联合收获机前进方向左侧为已割区202、右侧为待割区201时，自适应抛撒实时控制系统控制可调幅宽抛撒装置左右两侧的伺服电动缸1301分别运动，使左侧的两块抛撒导草板1302-9的倾角大幅度偏向左边，右侧的两块抛撒导草板1302-9的倾角稍稍偏向右边，这样能够碎茎杆和杂余不会被抛撒到待割区201的作物上，防止谷粒脱落，同时抛撒幅宽尽可能的向已割区202扩散，有利于碎茎杆和杂余在田间均匀平铺。
图7所示为纵轴流联合收获机排草粉碎自适应抛撒装置的作业流程图。当联合收获机进行收获作业时，自适应抛撒实时控制系统通过风向风速检测装置4实时获取机器作业位置处的风向值和风速值、作业速度传感器8实时获取机器作业速度、粉碎转速传感器10实时获取短茎杆抛出速度、割区识别装置2实时获取机器前进方向、待割区201和 已割区202的位置信息等参数，来表征排草粉碎自适应抛撒装置的作业状态。自适应抛撒实时控制系统对获取的实时参数进行预处理，主要包括抑制干扰、提高信噪比、缺失数据补齐，以消除随机、不确定性因素对后续数据分析的影响。自适应抛撒实时控制系统将风向值、风速值、机器作业速度、短茎杆抛出速度参数视为自变量，根据所建立的运动轨迹模型，计算出茎秆杂余实时抛撒轨迹；自适应抛撒实时控制系统将机器前进方向、待割区201和已割区201的位置参数视为自变量，根据所建立的全幅宽抛撒模型，计算出茎杆杂余实时所需要的抛撒幅宽。再根据茎秆杂余实时抛撒轨迹和茎杆杂余实时所需抛撒幅宽，应用模糊控制理论计算出伺服电动缸1301的实际调节参数，进而控制伺服电动缸1301驱动抛撒幅宽调节机构1302，从而改变抛撒导草板1302-9的倾角，实现茎秆杂余的全幅宽抛撒的自适应调节。
如图4所示，纵轴流排草导流装置5包括纵轴流脱粒滚筒503、纵轴流滚筒顶盖501、纵轴流顶盖导草板502、凹板筛504、挡草板505、导草弧板506、分流条507。纵轴流滚筒顶盖501位于纵轴流脱粒滚筒503上方，纵轴流顶盖导草板502安装于纵轴流滚筒顶盖501的内壁上，纵轴流顶盖导草板502的下边沿与纵轴流脱粒滚筒503的最外缘相距10mm-130mm，凹板筛504安装在纵轴流脱粒滚筒503的下方，凹板筛504的中心线与纵轴流脱粒滚筒503的轴线重合，纵轴流脱粒滚筒503与凹板筛504之间的间隙为10mm-60mm，挡草板505安装于凹板筛504的尾部，挡草板505与纵轴流脱粒滚筒503尾部形成的排草口6宽度为200mm-400mm。导草弧板506安装于挡草板505上，位于排草口6内部，分流条507安装在导草弧板506上。经过脱粒过程后的茎秆在纵轴流顶盖导草板502和纵轴流脱粒滚筒503旋转的作用下进入到排草口6中，再经过导草弧板506的导流和分流条507的分流作用，扩散成为三条草带，扩散后草带的横向宽度接近茎秆杂余粉碎装置11进口的横向宽度，使得茎秆杂余粉碎装置11粉碎负荷比较均匀。
图5所示为导草弧板和分流条右上45°视角的结构示意图。所述导草弧板506是两个平面板与三个曲面板组成的弧板，第一平面506-1固定在挡草板505上，第一曲面506-2、第二曲面506-3、第三曲面506-4并列设置、且侧边依次相连，两个分流条507分别固定在第一曲面506-2与第二曲面506-3、第二曲面506-3与第三曲面506-4的交界处，第一曲面506-2、第二曲面506-3、第三曲面506-4的顶端位于一条水平线上，并且固定在排草口6的侧壁上，第一曲面506-2、第二曲面506-3、第三曲面506-4的尾端也位于一条水平线上，和茎秆杂余粉碎装置11最左侧相连，并且与茎秆杂余粉碎装置11的横向方向平行；3个曲面顶端所在的水平线与尾端所在的水平线呈90°夹角，第二平 面506-5位于第三曲面506-4后下方，第二平面506-5的尾端与3个曲面的尾端共同形成的横向宽度近似于茎秆杂余粉碎装置11的横向宽度。导草弧板506、分流条507共同起着对茎杆进行导流分流和扩散的作用。
如图6所示，为纵轴流联合收获机排草粉碎自适应抛撒装置的结构示意后视图。从后视图方向看，如果纵轴流脱粒滚筒503的旋转方向为顺时针时，排草口6处的茎秆在导草弧板506和分流条507的导流扩散作用下，从右上方扩散至碎草机1101整个轴向范围；如果纵轴流脱粒滚筒503为逆时针旋转，导草弧板506可以稍作修改，导草弧板506的结构沿纵轴流脱粒滚筒503竖直中心线对称反转，同时去除第二平面506-5，实现排草口6处的茎秆在导草弧板和分流条的作用下，从左上方扩散至碎草机1101整个轴向范围。
如图1、6所示，所述茎秆杂余粉碎装置11包括碎草机上罩壳7、碎草机1101和碎草机底板12。碎草机1101刀轴的轴线位于清选装置上筛面9下方0mm-200mm处，碎草机1101刀轴与排草口6最内侧之间的水平距离为240mm-600mm，碎草机上罩壳7的上端与排草口6最外侧相连，碎草机上罩壳7的下端与碎草机1101相连，碎草机上罩壳7、导草弧板506、碎草机底板12之间形成了约0.25m3的容草空间，解决了因纵轴流脱粒滚筒503瞬时排草过多造成的排草不流畅、碎草机1101堵塞等问题。碎草机底板12位于清选装置上筛面9下方0mm-130mm，经过导草弧板506、分流条507导流扩散后的茎秆和清选装置上筛面9排出的杂余，可同时进入由碎草机上罩壳7、导草弧板506和碎草机底板12形成的容草空间，茎秆和杂余在碎草机1101动、定刀片切削作用下实现了粉碎，粉碎后的茎秆和杂余沿碎草机底板12进入可调幅宽抛撒装置13，提高了粉碎抛撒性能。同时碎草机1101的刀片旋转形成的空气流动，增强了清选装置上筛面9尾部气流速度，有利于上筛面9尾部杂余的排出，提高了清选性能。
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。

Claims (7)

  1. 一种纵轴流联合收获机排草粉碎自适应抛撒装置，其特征在于，所述排草粉碎自适应抛撒装置由纵轴流排草导流装置(5)、茎秆杂余粉碎装置(11)、风向风速检测装置(4)、割区识别装置(2)、作业速度传感器(8)、粉碎转速传感器(10)、可调幅宽抛撒装置(13)、自适应抛撒实时控制系统组成；
    茎秆杂余粉碎装置(11)位于纵轴流排草导流装置(5)的后下方，可调幅宽抛撒装置(13)安装于茎秆杂余粉碎装置(11)后方的排草侧，风向风速检测装置(4)安装于联合收获机粮箱(3)的上方中间区域，不受其他部件的阻挡，可测得机器作业位置处的风速和风向，割区识别装置(2)安装于联合收获机粮箱(3)的上方，靠近联合收获机粮箱(3)的外侧，割区识别装置(2)的检测范围大于联合收获机割台(1)的幅宽，作业速度传感器(8)安装于联合收获机驱动轮上，粉碎转速传感器(10)安装于茎秆杂余粉碎装置(11)刀轴处；
    所述可调幅宽抛撒装置(13)包括伺服电动缸(1301)、抛撒幅宽调节机构(1302)，伺服电动缸(1301)和抛撒幅宽调节机构(1302)安装在抛撒装置罩壳(1302-10)的外侧，伺服电动缸(1301)的输入端与自适应抛撒实时控制系统连接，伺服电动缸(1301)的输出端与抛撒幅宽调节机构(1302)连接；所述抛撒幅宽调节机构(1302)包括抛撒导草板(1302-9)、第一连杆(1302-8)、第二连杆(1302-3)、第三连杆(1302-1)、中间连接板(1302-5)、支撑杆(1302-7)、第一活动销轴(1302-6)、第二活动销轴(1302-4)和第三活动销轴(1302-2)，抛撒导草板(1302-9)均匀分布在抛撒装置罩壳(1302-10)横向宽度上，且抛撒导草板(1302-9)的前端与抛撒装置罩壳(1302-10)通过铰链连接、后端铰链连接在第一连杆(1302-8)上，抛撒导草板(1302-9)后端能以前端铰链为轴旋转，第一连杆(1302-8)通过第一活动销轴(1302-6)连接在中间连接板(1302-5)上，第二连杆(1302-3)的一端通过第三活动销轴(1302-2)与第三连杆(1302-1)的一端相连，第二连杆(1302-3)的另一端通过第二活动销轴(1302-4)连接在中间连接板(1302-5)上，第三连杆(1302-1)的另一端固定在伺服电动缸(1301)轴上的杆端关节上，中间连接板(1302-5)安装在支撑杆(1302-7)上，支撑杆(1302-7)为L型杆，中间连接板(1302-5)能以支撑杆(1302-7)上臂为圆心旋转，支撑杆(1302-7)下臂固定在抛撒装置罩壳(1302-10)的侧面；
    所述风向风速检测装置(4)用于实时检测机器作业位置处的风向和风速，并将测得的风向和风速数据实时传输到自适应抛撒实时控制系统；
    所述割区识别装置(2)包括CCD摄像头、图像处理单元和信号输出接口，CCD摄像头的图像识别范围大于联合收获机割台(1)的幅宽，CCD摄像头用于不断拍摄联合收获机前进方向割台两侧的图像，通过图像处理单元对拍摄到图像进行特征提取，根据待割区作物直立、整齐排列与已割区秸秆均匀抛撒在低矮留茬上形态特征的不同，识别出联合收获机前进方向的左右两侧分别为待割区(201)还是已割区(202)，再转化为控制信号，传输到自适应抛撒实时控制系统；
    所述作业速度传感器(8)用于根据联合收获机驱动轮的转速实时测得机器的前进速度，并将作业速度参数实时传输到自适应抛撒实时控制系统；
    所述粉碎转速传感器(10)用于实时测得的碎草机(1101)刀轴的转速，得出短茎杆抛出速度，再将短茎杆抛出速度参数在线传输到自适应抛撒实时控制系统；
    所述自适应抛撒实时控制系统将风向值、风速值、机器作业速度、短茎杆抛出速度参数视为自变量，根据所建立的运动轨迹模型，计算出茎秆杂余实时抛撒轨迹；自适应抛撒实时控制系统将机器前进方向、待割区和已割区的位置参数视为自变量，根据所建立的全幅宽抛撒模型，计算出茎杆杂余实时所需要的抛撒幅宽；并根据茎秆杂余实时抛撒轨迹和茎杆杂余实时所需抛撒幅宽，应用模糊控制理论计算出伺服电动缸(1301)的实际调节参数，进而控制伺服电动缸(1301)驱动抛撒幅宽调节机构(1302)，从而改变抛撒导草板(1302-9)的倾角，实现茎秆杂余的全幅宽抛撒。
  2. 根据权利要求1所述的纵轴流联合收获机排草粉碎自适应抛撒装置，其特征在于，所述抛撒幅宽调节机构(1302)的数量为2-6个，所述伺服电动缸(1301)的数量为2-6个，每一个抛撒幅宽调节机构(1302)包含的抛撒导草板(1302-9)的数量为1-3块。
  3. 根据权利要求1所述的纵轴流联合收获机排草粉碎自适应抛撒装置，其特征在于，所述纵轴流排草导流装置(5)由纵轴流脱粒滚筒(503)、纵轴流滚筒顶盖(501)、纵轴流顶盖导草板(502)、凹板筛(504)、挡草板(505)、导草弧板(506)、分流条(507)组成，纵轴流滚筒顶盖(501)位于纵轴流脱粒滚筒(503)上方，纵轴流顶盖导草板(502)安装于纵轴流滚筒顶盖(501)的内壁上，纵轴流顶盖导草板(502)的下边沿与纵轴流脱粒滚筒(503)的最外缘相距10mm-130mm，凹板筛(504)安装在纵轴流脱粒滚筒(503)的下方，凹板筛(504)的中心轴线与纵轴流脱粒滚筒(503)的轴线重合，纵轴流脱粒滚筒(503)与凹板筛(504)之间的间隙为10mm-60mm，挡草板(505)安装于凹板筛(504)的尾部，挡草板(505)与纵轴流脱粒滚筒(503)尾部形成的排草口(6)宽度为200mm-400mm；导草弧板(506)位于排草口(6)内部，是由两个平面板 与三个曲面板组成的弧板；第一平面(506-1)固定在挡草板(505)上，第一曲面(506-2)、第二曲面(506-3)、第三曲面(506-4)并列设置、且侧边依次相连，两个分流条(507)分别固定在第一曲面(506-2)与第二曲面(506-3)、第二曲面(506-3)与第三曲面(506-4)的交界处，第一曲面(506-2)、第二曲面(506-3)、第三曲面(506-4)的顶端位于一条水平线上、并且固定在排草口(6)的侧壁上，第一曲面(506-2)、第二曲面(506-3)、第三曲面(506-4)的尾端也位于一条水平线上、与茎秆杂余粉碎装置(11)的横向方向平行、并且和茎秆杂余粉碎装置(11)最左侧相连；3个曲面顶端所在的水平线与尾端所在的水平线呈90°夹角，第二平面(506-5)位于第三曲面(506-4)后下方，第二平面(506-5)的尾端与3个曲面的尾端共同形成的横向宽度近似于茎秆杂余粉碎装置(11)的横向宽度。
  4. 根据权利要求4所述的纵轴流联合收获机排草粉碎自适应抛撒装置，其特征在于，所述纵轴流顶盖导草板(502)数量为4-6条，纵轴流顶盖导草板(502)安装方向朝向排草口(6)方向，即与茎秆的流动方向一致，纵轴流顶盖导草板(502)首尾相连形成的平面与纵轴流脱粒滚筒(503)的轴线呈5°-20°夹角。
  5. 根据权利要求1所述的纵轴流联合收获机排草粉碎自适应抛撒装置，其特征在于，所述茎秆杂余粉碎装置(11)包括碎草机上罩壳(7)、碎草机(1101)和碎草机底板(12)，碎草机(1101)刀轴的轴线位于清选装置上筛面(9)下方0mm-200mm处，碎草机(1101)刀轴与排草口(6)最内侧之间的水平距离为240mm-600mm，碎草机上罩壳(7)的上端与排草口(6)最外侧相连，碎草机上罩壳(7)的下端与碎草机(1101)相连，碎草机上罩壳(7)、导草弧板(506)、碎草机底板(12)之间形成了约0.25m3的容草空间。
  6. 根据权利要求5所述的纵轴流联合收获机排草粉碎自适应抛撒装置，其特征在于，所述碎草机底板(12)位于清选装置上筛面(9)下方0mm-130mm。
  7. 根据权利要求1-6中任一项所述的纵轴流联合收获机排草粉碎自适应抛撒装置的自适应抛撒实时控制方法，其特征在于，主要包括以下步骤：
    (1)联合收获机作业时，自适应抛撒实时控制系统通过风向风速检测装置(4)实时获取机器作业位置处的风向值和风速值、作业速度传感器(8)实时获取机器作业速度、粉碎转速传感器(10)实时获取短茎杆抛出速度、割区识别装置(2)实时获取机器前进方向、待割区和已割区的位置信息等参数，来表征排草粉碎自适应抛撒装置的作业状态；
    (2)自适应抛撒实时控制系统对获取的实时参数进行预处理，主要包括抑制干扰、提高信噪比、缺失数据补齐，以消除随机、不确定性因素对后续数据分析的影响；
    (3)自适应抛撒实时控制系统将风向值、风速值、机器作业速度、短茎杆抛出速度参数视为自变量，根据所建立的运动轨迹模型，计算出茎秆杂余实时抛撒轨迹；自适应抛撒实时控制系统将机器前进方向、待割区和已割区的位置参数视为自变量，根据所建立的全幅宽抛撒模型，计算出茎杆杂余实时所需要的抛撒幅宽；
    (4)自适应抛撒实时控制系统根据茎秆杂余实时抛撒轨迹和茎杆杂余实时所需抛撒幅宽，应用模糊控制理论计算出伺服电动缸(1301)的实际调节参数，进而控制伺服电动缸(1301)驱动抛撒幅宽调节机构(1302)，从而改变抛撒导草板(1302-9)的倾角，实现茎秆杂余的全幅宽抛撒。
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