WO2019178986A1 - 收获机脱出物自动均布装置与自动调节方法 - Google Patents

收获机脱出物自动均布装置与自动调节方法 Download PDF

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Publication number
WO2019178986A1
WO2019178986A1 PCT/CN2018/095529 CN2018095529W WO2019178986A1 WO 2019178986 A1 WO2019178986 A1 WO 2019178986A1 CN 2018095529 W CN2018095529 W CN 2018095529W WO 2019178986 A1 WO2019178986 A1 WO 2019178986A1
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Prior art keywords
plate
returning
dither
electric cylinder
shaking
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Ceased
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PCT/CN2018/095529
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English (en)
French (fr)
Inventor
徐立章
周蓥
李耀明
唐忠
马征
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Jiangsu University
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Jiangsu University
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Priority to US16/982,054 priority Critical patent/US11039573B2/en
Publication of WO2019178986A1 publication Critical patent/WO2019178986A1/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
    • A01F7/00—Threshing apparatus
    • A01F7/02—Threshing apparatus with rotating tools
    • A01F7/04—Threshing apparatus with rotating tools with axles transverse to the feeding direction
    • 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
    • A01D41/1271—Control or measuring arrangements specially adapted for combines for measuring crop flow
    • A01D41/1272—Control or measuring arrangements specially adapted for combines for measuring crop flow for measuring grain flow
    • 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
    • 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
    • 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
    • A01D41/1271—Control or measuring arrangements specially adapted for combines for measuring crop flow
    • 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
    • A01D41/1276—Control or measuring arrangements specially adapted for combines for cleaning mechanisms
    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D43/00—Mowers combined with apparatus performing additional operations while mowing
    • A01D43/08—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters
    • A01D43/085—Control or measuring arrangements specially adapted therefor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/28—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull
    • A01D75/282—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull acting on the grain cleaning and separating device
    • 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
    • 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

Definitions

  • the invention belongs to the field of intelligent control of combine harvester, in particular to an automatic uniform distribution device and an automatic adjustment method for the combined harvester.
  • the lateral distribution of the axon-flow threshing separation device is in the form of two sides high and low in the middle, which will lead to the formation of deposits on both sides of the cleaning sieve surface, affecting the screening and other problems, which will inevitably reduce the cleaning efficiency. Performance is declining.
  • the more uniform the distribution of the degranulation device on the sieve surface the more favorable the permeation of the grain and the blowing of the airflow, and the cleaning efficiency and performance can be significantly improved under the condition of a clear cleaning area.
  • Patent CN201510157999.5 discloses an intelligent adjustment mechanism and adjustment method for the distribution of the separation of the axial flow threshing separation device, and the seed cleaning loss detected by the grain cleaning loss detection controller is sampled information, and the opening degree of the deflector
  • the stepping type electric push rod is changed by providing a plurality of arc-shaped bottom plates and a spring release device including a stepped electric push rod, a plurality of flow guiding assemblies, and a spring under the concave screen.
  • the displacement adjusts the opening of the baffle in the flow guiding assembly, avoiding problems such as partial deposition of the exudate on the sieve surface, resulting in a decrease in the cleaning performance, and the distribution of the exudates is relatively uniform.
  • the device indirectly evaluates the uniformity of the effusion on the sieve surface through the loss signal of the grain loss force sensor. Only the estimated distribution of the effluent can be estimated. The real-time monitoring sensor without the effluent flow can not accurately measure the flow of the effluent in real time. , adjust sensitivity and effect is poor.
  • the present invention provides a combined harvest. Machine automatic release device and automatic adjustment method.
  • an automatic homogenizing device for the combined harvester including a shearing threshing separation device, an axial flow threshing separation device, a residual auger and a vibrating screen, and the vibrating screen a shaking plate and a returning plate are disposed above the two ends, the shaking plate is located below the shearing threshing separation device, and the returning plate is located below the axial flow threshing drum and the agitating agitator
  • the plate is disposed on a side of the cut-off threshing separation device where the falling object is installed with a shaking plate guiding mechanism, and the shaking plate is provided with a shaking plate ejecting detecting device at the discharge port, and the returning plate is located at the shaft
  • a returning plate guide mechanism is installed on a side where the falling agent of the flow degranulation separation device falls, and a returning plate take-off detecting device is installed at a discharge port of the returning plate, and the shaking plate detecting device and the returning plate
  • the dither plate guiding mechanism comprises a first ball stud, a dither plate electric cylinder fixing bracket, a dither plate electric cylinder, a dither plate welding plate, a dither plate diversion bar and a first link;
  • One end of the plate guide bar is connected to the dither plate by a hinge, and the dither plate electric cylinder is connected to the lower side of the dither plate through the dither plate electric cylinder fixing bracket, and the first ball head push rod is pushed by the dither plate electric cylinder, thereby driving the rotation of the hinge.
  • the angle of the dither plate guide bar can be adjusted on the dither plate, and the other end of the dither plate baffle is connected with the first link through the dither plate soldering plate to realize the linkage of each dither plate guide bar.
  • the jitter plate ejecting object detecting device includes a shaking plate detecting device mounting bracket, and the shaking plate detecting device mounting bracket is mounted with a shaking plate ejecting object detecting plate, and the shaking plate ejecting object detecting plate is mounted below There is a jitter plate force sensor, and both ends of the mounting plate of the jitter plate detecting device are connected to the frame through the shock plate damping damping I and the shaking plate damping damping II.
  • the dither plate electric cylinder is connected to an output end of the online detection controller, and the dither plate force sensor is connected to an input end of the online detection controller.
  • the returning plate guiding mechanism comprises a second connecting rod, a returning plate welding plate, a returning plate electric cylinder fixing bracket, a returning plate electric cylinder, a second ball head push rod and a returning plate guide bar;
  • One end of the plate baffle is connected to the returning plate by a hinge, and the returning plate electric cylinder is connected to the lower side of the returning plate through the returning plate electric cylinder fixing bracket, and the second ball stud is pushed by the returning plate electric cylinder to drive the hinge
  • the rotation of the returning plate can be adjusted at an angle on the returning plate, and the other end of the returning plate of the returning plate is connected by the returning plate welding plate and the second connecting rod to realize the linkage of each of the guiding bars.
  • the returning plate ejecting device detecting device includes a returning plate detecting device mounting bracket, and a returning plate ejecting object detecting plate is mounted above the returning plate detecting device mounting bracket, and the returning plate ejecting object detecting plate is installed under the returning plate A return path force sensor, the two ends of the return plate detecting device are connected to the frame through the return plate damping damping I and the returning plate damping damping II.
  • the returning plate electric cylinder is connected to an output end of the online detecting controller, and the returning plate force sensor is connected to an input end of the online detecting controller.
  • the invention also provides a method for automatically adjusting the combined harvester extract, characterized in that it comprises the following steps:
  • the jitter plate force sensor measures the laterally different regions of the jitter plate discharge port, and the flow rate of the corresponding material is A 1 , A 2 , A 3 ⁇ A n (in kg/s), at the same time, the returning plate force sensor (1005) measured the returning plate (8) in the lateral direction of the discharge port 1,2,3 ⁇ n (3 ⁇ n ⁇ 6) corresponding to the out Flow rate B 1 , B 2 , B 3 ⁇ B n (unit kg/s);
  • the online detection controller adaptive adjustment model takes each detection quantity as an input quantity, and calculates a standard deviation ⁇ c of C 1 , C 2 , C 3 ⁇ C n by calculation, and determines ⁇ c ⁇ ⁇ a , if yes Keep the current position of the baffle, and the automatic adjustment of the excretion ends; if not, the total decanted flow rate C 1 , C 2 , C 3 ⁇ C n (3 ⁇ n ⁇ 6), C n will be obtained in real time.
  • the control weight model of the flow guiding mechanism of the returning plate establishes an adaptive adjustment model for the leveling weight of the ejecting material; the corresponding control signal is output in real time to control the displacement change of the first ball-headed push rod of the shaking plate electric cylinder and the returning plate electric cylinder respectively.
  • step S5 Returning to step S2, until ⁇ c ⁇ ⁇ a , the current position of the buck is maintained, and the automatic adjustment of the effluent ends.
  • the beneficial effects of the invention are as follows: (1) detecting the flow rate of the ejected materials in the lateral regions by the force sensor and transmitting the flow to the on-line detecting controller, comparing the real-time flow rate of each region online, and the online detecting controller controlling the divergent plate guiding mechanism and the returning plate guide The flow mechanism adjusts the lateral decanting material of the discharge port of the return conveying device to make the distribution of the exudate uniform, so as to improve the cleaning efficiency and performance.
  • (2) According to the present invention by arranging 3-6 force sensors in the lateral position of the dither plate and the return plate discharge port, the flow rate of the ejected material in the lateral direction of the dither plate and the return plate 3-6 regions is directly detected.
  • the standard deviation of the regional exudate flow rate is directly and efficiently used as an index for evaluating whether or not the exudates are uniformly distributed.
  • the invention automatically adjusts the diversion mechanism through the on-line detection and control system composed of the force sensor, the on-line detection controller, the electric cylinder and the direct current power source, so that the decanted material brought into the cleaning chamber is automatically distributed in real time, which is beneficial to the permeation of the grain.
  • the sifting and airflow blowing can significantly improve the cleaning efficiency and performance under the condition of clear cleaning area. It is suitable for the uniform harvesting of the combine harvester of various threshing drum combinations, such as cutting axial flow device and multi-cut flow.
  • the present invention is also suitable for uniform distribution of various crops such as wheat, soybean, rice, rapeseed, corn, etc., and is not affected by crop characteristics, which will greatly promote the technological progress in the field of adaptive control of harvesting machinery in China. ,with broadly application foreground.
  • Figure 1 is a front view of the automatic homogenizing device for the combine harvester.
  • Fig. 2 is a schematic view of the detecting device for the jitter plate.
  • Figure 3 is a front view of the divergent plate guiding mechanism.
  • Figure 4 is a top view of the divergent plate guiding mechanism.
  • Figure 5 is a front view of the return plate guide mechanism.
  • Fig. 6 is a top view of the flow guiding mechanism of the returning plate.
  • Figure 7 is a schematic view of the return plate detecting device for the return plate.
  • Figure 8 is a flow chart of the automatic detection and control of the combined harvester extract.
  • the automatic homogenizing device for the combine harvester of the present embodiment includes a shearing threshing and separating device 1, a shaking plate extract detecting device 2, a shaking plate 3, a shaking plate guiding mechanism 4, and a multi-duct fan 5,
  • the dither plate guiding mechanism 4 is installed at The shaking plate 3 is located below the shearing and threshing separation device 1 and above the vibrating screen 11, and the ejected material of the chopping and separating device 1 is uniformly distributed and shaken to the front end of the vibrating screen 11
  • the cleaning efficiency and the quality of the cleaning are significantly improved;
  • the returning plate guide cloth mechanism 9 is mounted on the returning plate 5;
  • the returning plate 5 is located below the axial flow threshing drum 6 and above the vibrating screen 11 for the axial flow degranulation
  • the shaker plate extract detecting device 2 includes a shake plate damping damping I 201, a shake plate take-off detecting plate 202, a shaking plate damping damping II 203, a shaking plate detecting device mounting bracket 204, and a shaking plate force sensor. 205; the jitter plate extract detecting plate 202 and the shaking plate force sensor 202 are vertically connected to the shaking plate detecting device mounting bracket 204, and then connected to the frame through the shaking plate damping damping I 201 and the shaking plate damping damping II 203.
  • the jitter plate ejecting detection plate 202 is used for the discharge port of the dither plate 3 to monitor the real-time flow rate of the ejecting material in the corresponding area of the dither plate detecting plate.
  • the number of the jitter plate exudation detecting plates 202 is selected according to the unevenness of the exudates, and the number is determined according to the actual machine geometry.
  • the jitter plate force sensor 205 needs to select an appropriate range according to the actual machine feed amount and installation position. Among them, the jitter plate force sensor 205 needs to select an appropriate range according to the actual machine feeding amount and installation position.
  • the shake plate guide mechanism 4 includes a first ball pusher 401, a shaker plate electric cylinder fixed bracket 402, a shaker plate electric cylinder 403, a shake plate weld plate 404, a shaker plate guide bar 405, and The first link 406; one end of the dither plate guide bar 405 is connected to the dither plate 3 by a hinge, and the dither plate electric cylinder 403 is connected to the lower side of the dither plate 3 via the dither plate electric cylinder fixing bracket 402, and passes through the dither plate electric cylinder 403.
  • the first link 406 is connected to realize the linkage of each of the dither plate guide bars; wherein the number of the dither plate guide bars 405 is 2-5, the height is 30 mm-50 mm, and the length is 100 mm-400 mm, which is required according to the actual machine geometry. Theoretical calculations and experimental verification are confirmed.
  • the return path guide mechanism 9 as shown in FIGS. 5 and 6 includes a second link 901, a return plate welding plate 902, a return path electric cylinder fixing bracket 903, a return path electric cylinder 904, a second ball push rod 905, and a return stroke.
  • the angle adjustment range is 0°-180°, and the other end passes through the return plate welding plate 902 and
  • the second link 901 is connected to realize the linkage of the respective return plate guide bars; the number of the return plate guide bars 906 is 2-5, the height is 30mm-50mm, the length is 100mm-400mm, and the theoretical calculation is performed according to the actual machine geometry. And test verification confirmed.
  • the returning plate exudate detecting device 10 includes a returning plate damping damping I 1001, a returning plate ejecting detecting plate 1002, a returning plate damping damping II 1003, a returning plate detecting device mounting bracket 1004, and a returning plate force sensor. 1005; the returning plate ejecting detection plate 1002 and the returning plate force sensor 1005 are vertically connected to the returning plate detecting device mounting bracket 1004, and then connected to the frame through the returning plate damping damping I 1001 and the returning plate damping damping II 1003.
  • the returning plate ejecting detection plate 1002 is used for monitoring the discharge port of the returning plate 8 for monitoring the real-time flow of the corresponding material in the corresponding area of the shaking plate detecting plate; the returning plate force sensor 1005 is selected according to the actual feeding amount and installation position of the machine. The right range. The return stroke force sensor 1005 needs to select an appropriate range according to the actual machine feed amount and installation position.
  • the combined harvester onboard DC power supply is supplied to the online detection controller 12, and the jitter plate force sensor 205 and the return path force sensor 1005 are connected to the online detection controller 12, and the jitter plate is detected by the device 4 and the return path.
  • the flow rate of the ejected material of the shaking plate 3 and the discharge port of the returning plate 8 detected by the plate ejecting device 10 is transmitted to the online detecting controller 12 in real time; the online detecting controller 12 outputs the control signal according to the established automatic adjusting model.
  • the dither plate electric cylinder 403 and the return path electric cylinder 904 respectively drive the dither plate flow guiding mechanism 405 and the return path baffle mechanism 906 to automatically adjust the lateral uniformity of the exudate to be entered into the cleaning chamber, so that the egress to enter the cleaning chamber Maintaining a uniform horizontal distribution in real time, laying the foundation for improved cleaning performance and efficiency.
  • the embodiment further provides a method for automatically adjusting the combined harvester extract, comprising the following steps: (S1) referring to the crop characteristics and the relevant national standards of the harvesting machine, according to the throughput capacity of the combined harvester threshing and cleaning device, through theoretical calculation and The rack test determines the release leveling index ⁇ a of the extract; (S2) the jitter plate force sensor 205 measures the corresponding out-of-plane of the laterally different regions of the output plate of the jitter plate 3, 1, 2, 3 ⁇ n (3 ⁇ n ⁇ 6) The flow rate of the material is A 1 , A 2 , A 3 ⁇ A n (unit kg/s), and at the same time, the return path plate sensor (1005) measures the laterally different areas of the return plate (8) of the return plate 1, 2, 3 ⁇ n(3 ⁇ n ⁇ 6) corresponding dew flow rate B 1 , B 2 , B 3 ⁇ B n (unit kg/s); (S3) detonation flow signal of the collected dither plate 3 A 1 ,
  • the corresponding control signals are output in real time to control the dither plate electric cylinder 403 and the return plate electric cylinder 903 respectively.

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  • Environmental Sciences (AREA)
  • Threshing Machine Elements (AREA)

Abstract

提供一种联合收获机脱出物自动均布装置及自动调节方法。联合收获机脱出物自动均布装置包括切流脱粒分离装置（1）、抖动板脱出物检测装置（2）、抖动板（3）、抖动板导流机构（4）、轴流脱粒分离装置（6）、杂余搅龙（7）、回程板（8）、回程板导流机构（9）、回程板脱出物检测装置（10）、振动筛（11）和在线检测控制器（12）。通过在抖动板（3）和回程板（8）的出料口下方横向位置布置力传感器（205，1005）检测脱出物在抖动板（3）和回程板（8）横向区域的流量，将各区域脱出物流量的差值作为评价脱出物是否均布的指标；通过力传感器（205，1005）、在线检测控制器（12）和电动缸（403，904）组成的在线检测控制系统自适应调控抖动板和回程板导流机构的角度，实现联合收获机待清选脱出物的实时自动均布，有利于其籽粒的透筛和气流的吹托，在清选面积一定的条件下，能显著提高清选效率和清选性能。

Description

收获机脱出物自动均布装置与自动调节方法 技术领域
本发明属于联合收获机智能化控制领域，具体是一种联合收获机脱出物自动均布装置与自动调节方法。
背景技术
目前，随着高产水稻的大面积推广，对水稻收获的机械化要求也越来越高，要求联合收获机在保证良好的作业性能的同时，向大喂入量、高效率发展。而且，自动化和农业化也是现代农业机械的一个重要衡量标准。但我国的联合收获机智能化水平还比较低，较为缺少能够根据动态脱出物规律自适应调节的工作部件。轴流脱粒分离装置脱出物在离心力作用下，横向分布呈两边高中间低的规律，从而会导致清选筛筛面两侧脱出物形成堆积、影响透筛等问题，必然使得清选效率降低、性能下降。脱粒分离装置脱出物在筛面上的分布越均匀，越有利于籽粒的透筛和气流的吹托，在清选面积一定的条件下，能显著提高清选效率和性能。为解决这种轴流脱粒分离装置脱出物分布不均匀的问题，提高清选效率，国内学者展开了积极研究，如专利CN202059769U所公开的切纵流全喂入联合收割机振动清选筛，其顶筛前端上翘，与鱼鳞筛所在平面呈0.1°-25°的夹角，顶筛安装有多个导向板。通过顶筛及导向板分别解决了脱出物在纵向、横向过于密集分布的问题，但是没有自适应装置，不能实时检测脱出物分布进而自适应调控。专利CN201510157999.5所公开的一种轴流脱粒分离装置脱出物分布智能调节机构与调节方法，以籽粒清选损失检测控制器检测到的籽粒清选损失量为采样信息，以导流板开度为被控对象，通过在凹板筛下方设置多个包括步进式电动推杆、设置有多个导流组件的圆弧底板和弹簧的脱出物装置，实现了改变步进式电动推杆的位移来调节导流组件中导流板开度，避免了脱出物在筛面上局部堆积造成清选性能下降等问题，使脱出物分布较为均匀。但是该装置通过籽粒损失力传感器采集损失量信号间接评价筛面的脱出物均匀度，只能进行估计脱出物大概分布，没有脱出物流量实时监测传感器不能准确进行实时测量脱出物流量更无法实时调节，调节灵敏度和效果较差。
发明内容
针对现有技术中存在的轴流脱粒分离装置因脱出物分布不均匀导致清选筛筛面两侧堆积、影响透筛，从而导致清选效率和性能显著下降的不足，本发明提供了联合收获机脱出物自动均布装置与自动调节方法。
为实现上述发明目的，本发明采取的技术方案为：联合收获机脱出物自动均布装置，包括切流脱粒分离装置、轴流脱粒分离装置、杂余搅龙和振动筛，所述振动筛的两端上方设置有抖动板和回程板，所述抖动板位于所述切流脱粒分离装置的下方，所述回程板位于所述轴流脱粒滚筒和所述杂余搅龙的下方，所述抖动板位于所述切流脱粒分离装置脱出物落入的一侧安装有抖动板导流机构，所述抖动板的出料口处安装有抖动板脱出物检测装置，所述回程板位于所述轴流脱粒分离装置脱出物落入的一侧安装有回程板导流机构，所述回程板的出料口处安装有回程板脱出物检测装置，所述抖动板脱出物检测装置和所述回程板脱出物检测装置均与在线检测控制器的输入端连接，所述在线检测控制器用来控制所述抖动板导流机构和所述回程板导流机构的动作过程。
上述方案中，所述抖动板导流机构包括第一球头推杆，抖动板电动缸固定支架，抖动板电动缸，抖动板焊板，抖动板导流条和第一连杆；所述抖动板导流条的一端通过铰链连接在抖动板上，抖动板电动缸通过抖动板电动缸固定支架连接在抖动板下侧，通过抖动板电动缸推动第一球头推杆，从 而带动铰链的转动，使抖动板导流条能在抖动板上角度可调，所述抖动板导流条的另一端通过抖动板焊板和第一连杆连接，实现各个抖动板导流条的联动。
上述方案中，所述抖动板脱出物检测装置包括抖动板检测装置安装支架，所述抖动板检测装置安装支架的上方安装有抖动板脱出物检测板，所述抖动板脱出物检测板的下方安装有抖动板力传感器，所述抖动板检测装置安装支架的两端通过抖动板减振阻尼I和抖动板减振阻尼II连接在机架上。
上述方案中，所述抖动板电动缸与所述在线检测控制器的输出端连接，所述抖动板力传感器与所述在线检测控制器的输入端连接。
上述方案中，所述回程板导流机构包括第二连杆，回程板焊板，回程板电动缸固定支架，回程板电动缸、第二球头推杆和回程板导流条；所述回程板导流条的一端通过铰链连接在回程板上，所述回程板电动缸通过回程板电动缸固定支架连接在回程板下侧，通过回程板电动缸推动第二球头推杆，从而带动铰链的转动，使回程板导流条能在回程板上角度可调，所述回程板导流条的另一端通过回程板焊板和第二连杆连接，实现各个导流条联动。
上述方案中，所述回程板脱出物检测装置包括回程板检测装置安装支架，所述回程板检测装置安装支架上方安装有回程板脱出物检测板，所述回程板脱出物检测板的下方安装有回程板力传感器，所述回程板脱出物检测装置的两端通过回程板减振阻尼I和回程板减振阻尼II连接在机架上。
上述方案中，所述回程板电动缸与所述在线检测控制器的输出端连接，所述回程板力传感器与所述在线检测控制器的输入端连接。
本发明还提供了一种联合收获机脱出物自动调节方法，其特征在于，包括以下步骤：
S1：参照作物特性和收获机械国家标准，根据联合收获机脱粒清选装置的吞吐能力，通过理论计算和台架试验确定脱出物额定调平指数σ a；
S2：抖动板力传感器测得抖动板出料口横向不同区域1,2,3···n(3≤n≤6)对应的脱出物流量为A 1、A 2、A 3···A n(单位kg/s)，同时，回程板力传感器(1005)测得的回程板(8)出料口横向不同区域1,2,3···n(3≤n≤6)对应的脱出物流量B 1、B 2、B 3···B n(单位kg/s)；
S3：对采集的抖动板脱出物流量信号A 1、A 2、A 3···A n(单位kg/s)和回程板(8)脱出物流量B 1、B 2、B 3···B n(单位kg/s)的信号进行异常数据替代、缺失数据补齐、数据消噪预处理后，对应相加、放大得到待喂入清选装置的总脱出物流量C 1、C 2、C 3···C n(3≤n≤6)传输到在线检测控制器；
S4：在线检测控制器自适应调节模型以各检测量为输入量，经过计算求出C 1、C 2、C 3···C n的标准差σ c，判定σ c≤σ a，如果是，保持导流条当前位置，脱出物自动调节结束；如果否，将实时获取的各区域总脱出物流量C 1、C 2、C 3···C n(3≤n≤6)，C n＝f(α，β，t，C n)(3≤n≤6)、抖动板导流机构角度α和回程板导流机构角度β的参数时间序列进行聚类分析，揭示抖动板导流机构角度α，回程板导流机构β和各区域脱出物流量C n之间的规律C n＝f(α，β，t，C n)(3≤n≤6)，研究抖动板导流机构和回程板导流机构的调控权重模型，建立脱出物调平权重的自适应调整模型；实时输出相应的控制信号来控制抖动板电动缸和回程板电动缸分别驱动第一球头推杆的位移改变a和和第二球头推杆的位移改变b，以使抖动板导流条机构的角度和回程板导流条机构的角度各调节α＝f(a，α)和β＝f(b，β)；比较C 1、C 2、C 3···C n得出C min，设定C 调＝C min-C 平，根据C n＝f(α，β，t，C n)(3≤n≤6)和脱出物调平权重的自适应模型，反求需要调节的a和b；其中C min为各区域脱出物量最小值，C 调为调出的脱出物量，C 平为各区域脱出物量的平均数；
S5：回到步骤S2，直至σ c≤σ a时，保持导流条当前位置，脱出物自动调节结束。
本发明的有益效果:(1)通过力传感器检测横向各区域脱出物的流量传给在线检测控制器，在线比较各个区域实时的流量，在线检测控制器再控制抖动板导流机构和回程板导流机构对回程输送装置出料口横向脱出物进行调节，使脱出物分布均匀，以提高清选效率和性能。(2)本发明通过在抖动板和回程板出料口的横向位置布置3-6个力传感器，直接检测脱出物在抖动板和回程板横向3-6个区域的脱出物的流量，将各区域脱出物流量的标准差作为评价脱出物是否均布的指标，直接高效。(3)本发明通过力传感器、在线检测控制器，电动缸和直流电源组成的在线检测控制系统自动调控导流机构，使带进入清选室的脱出物自动实时均布，有利于籽粒的透筛和气流的吹托，在清选面积一定的条件下，能显著提高清选效率和性能，适用于各种脱粒滚筒组合的联合收获机脱出物均布，如切轴流装置、多切流+双纵轴流脱粒装置、横轴流+横轴流等多滚筒脱粒分离装置。(4)本发明并且同样适应于如小麦、大豆、水稻、油菜、玉米等多种作物的脱出物均布，不受作物特性的影响，将极大地推动我国收获机械自适应控制领域的技术进步，具有广阔的应用前景。
附图说明
图1联合收获机脱出物自动均布装置主视图。
图2抖动板脱出物检测装置示意图。
图3抖动板导流机构正视图。
图4抖动板导流机构俯视图。
图5回程板导流机构正视图。
图6回程板导流机构俯视图。
图7回程板板脱出物检测装置示意图。
图8联合收获机脱出物自动检测控制工作流程图。
图中：1-切流脱粒分离装置2-抖动板脱出物检测装置3-抖动板4-抖动板导流机构5-多风道风机6-轴流脱粒分离装置7-杂余搅龙8-回程板9-回程板导流机构10-回程板脱出物检测装置11-振动筛12-在线检测控制器201-抖动板减振阻尼I 202-抖动板脱出物检测板203-抖动板减振阻尼II 204-抖动板检测装置安装支架205-抖动板力传感器401-第一球头推杆402-抖动板电动缸固定支架403-抖动板电动缸404-抖动板焊板405-抖动板导流条406-第一连杆901-第二连杆902-回程板焊板903-回程板电动缸固定支架904-回程板电动缸905-第二球头推杆906-回程板导流条1001-回程板减振阻尼I 1002-回程板脱出物检测板1003-回程板减振阻尼II 1004-抖动板检测装置安装支架1005-回程脱出物力传感器
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。
如图1，本实施例的联合收获机脱出物自动均布装置包括切流脱粒分离装置1，抖动板脱出物检测装置2，抖动板3，抖动板导流机构4，多风道风机5，轴流脱粒分离装置6，杂余搅龙7，回程板8,回程板导流机构9，回程板脱出物检测装置10，振动筛11和在线检测控制器12；抖动板导流机构4安装在抖动板3上；抖动板3位于切流脱粒分离装置1的下方和振动筛11的上方，将切流脱粒分离装置1的脱出物经过均布、抖动向后输送到振动筛11的前端，从而显著提高清选效率和清选质量；回程板导流布机构9安装在回程板5上；回程板5位于轴流脱粒滚筒6的下方和振动筛11的上 方，用于将轴流脱粒分离装置6的脱出物和杂余搅龙7输送上来的二次杂余经过抖动、均布回程输送到振动筛11的前端，从而增加清选效率和清选质量。
如图2所示，抖动板脱出物检测装置2包括抖动板减振阻尼I 201,抖动板脱出物检测板202，抖动板减振阻尼II 203，抖动板检测装置安装支架204和抖动板力传感器205；抖动板脱出物检测板202和抖动板力传感器202垂直连接在抖动板检测装置安装支架204上，再通过抖动板减振阻尼I 201和抖动板减振阻尼II 203连接在机架上，使抖动板脱出物检测板202正对于抖动板3的出料口，用于监测抖动板检测板对应区域脱出物的实时流量。其中，所述抖动板脱出物检测板202的数量根据脱出物不均匀规律选择3-6个，需根据实际机器几何尺寸确定。抖动板力传感器205需根据实际机器的喂入量和安装位置选择合适的量程。其中，抖动板力传感器205需根据实际机器的喂入量和安装位置选择合适的量程。
如图3和4所示，抖动板导流机构4包括第一球头推杆401，抖动板电动缸固定支架402，抖动板电动缸403，抖动板焊板404，抖动板导流条405和第一连杆406；抖动板导流条405的一端通过铰链连接在抖动板3上，抖动板电动缸403通过抖动板电动缸固定支架402连接在抖动板3下侧，通过抖动板电动缸403推动第一球头推杆401，从而带动铰链的转动，使抖动板导流条405能在抖动板3上角度可调，角度调节范围0°-180°，另一端通过抖动板焊板404和第一连杆406连接，实现各个抖动板导流条联动；其中，抖动板导流条405数量实际应用选择2-5个，高度30mm-50mm，长度100mm-400mm，需根据实际机器几何尺寸进行理论计算和试验验证确定。
如图5和6所述的回程板导流机构9包括第二连杆901，回程板焊板902，回程板电动缸固定支架903，回程板电动缸904、第二球头推杆905和回程板导流条906；回程板导流条906的一端通过铰链连接在回程板8上，回程板电动缸904通过回程板电动缸固定支架903连接在回程板8下侧，通过回程板电动缸904推动第二球头推杆901，从而带动铰链的转动，使回程板导流条906能在回程板8上角度可调，角度调节范围0°-180°，另一端通过回程板焊板902和第二连杆901连接，实现各个回程板导流条联动；回程板导流条906数量实际应用选择2-5个，高度30mm-50mm，长度100mm-400mm，需根据实际机器几何尺寸进行理论计算和试验验证确定。
如图7所示，回程板脱出物检测装置10包括回程板减振阻尼I 1001,回程板脱出物检测板1002，回程板减振阻尼II 1003，回程板检测装置安装支架1004和回程板力传感器1005；回程板脱出物检测板1002和回程板力传感器1005垂直连接在回程板检测装置安装支架1004上，再通过回程板减振阻尼I 1001和回程板减振阻尼II 1003连接在机架上，使回程板脱出物检测板1002正对于回程板8的出料口，用于监测抖动板检测板对应区域脱出物的实时流量；回程板力传感器1005需根据实际机器的喂入量和安装位置选择合适的量程。回程板力传感器1005需根据实际机器的喂入量和安装位置选择合适的量程。
如图8所示，联合收获机机载直流电源供电给在线检测控制器12，抖动板力传感器205、回程板力传感器1005与在线检测控制器12相连，将抖动板脱出物检测装置4和回程板脱出物检测装置10检测到的抖动板3和回程板8的出料口的脱出物流量实时传给在线检测控制器12；在线检测控制器12再根据建立的自动调节模型，输出控制信号控制抖动板电动缸403和回程板电动缸904分别驱 动抖动板导流机构405和回程板导流机构906来自动调节待进入清选室的脱出物的横向均匀度，使进入清选室的脱出物保持实时横向分布均匀，为提高清选性能和效率奠定基础。
本实施例还提供一种联合收获机脱出物自动调节方法，包括以下步骤：(S1)参照作物特性和相关收获机械国家标准，根据联合收获机脱粒清选装置的吞吐能力，通过理论计算和台架试验确定脱出物额定调平指数σ a；(S2)抖动板力传感器205测得抖动板3出料口横向不同区域1,2,3···n(3≤n≤6)对应的脱出物流量为A 1、A 2、A 3···A n(单位kg/s)，同时，回程板力传感器(1005)测得的回程板(8)出料口横向不同区域1,2,3···n(3≤n≤6)对应的脱出物流量B 1、B 2、B 3···B n(单位kg/s)；(S3)对采集的抖动板3脱出物流量信号A 1、A 2、A 3···A n(单位kg/s)和回程板8脱出物流量B 1、B 2、B 3···B n(单位kg/s)的信号进行异常数据替代、缺失数据补齐、数据消噪预处理后，对应相加、放大得到待喂入清选装置的总脱出物流量C 1、C 2、C 3···C n(3≤n≤6)传输到在线检测控制器12；(S4)在线检测控系统的自适应调节模型以各检测量为输入量，经过计算求出C 1、C 2、C 3···C n的平均数C 平和标准差σ c，判定σ c≤σ a，如果是，保持导流条当前位置，脱出物自动调节结束；如果否，将实时获取的各区域总脱出物流量C 1、C 2、C 3···C n(3≤n≤6)，C n＝f(α，β，t，C n)(3≤n≤6)，抖动板导流机构角度α和回程板导流机构角度β的参数时间序列进行聚类分析，揭示抖动板导流机构角度α，回程板导流机构β和各区域脱出物流量C n之间的规律C n＝f(α，β，t，C n)(3≤n≤6)，研究抖动板导流机构和回程板导流机构的调控权重模型，建立脱出物调平权重的自适应调整模型；实时输出相应的控制信号来控制抖动板电动缸403和回程板电动缸903分别驱动第一球头推杆401和第二球头推杆905的位移改变a和b，以使抖动板导流条机构的角度和回程板导流条机构的角度各调节α＝f(a，α)和β＝f(b，β)，其中a和b需要比较C 1、C 2、C 3···C n得出C min，设定C 调＝C min-C 平，其中C min为各区域脱出物量最小值，C 调为调出的脱出物量，C 平为各区域脱出物量的平均数；根据C n＝f(α，β，t，C n)(3≤n≤6)和脱出物调平权重的自适应模型，反求得出；转到S(2)。
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 (8)

  1. 联合收获机脱出物自动均布装置，包括切流脱粒分离装置(1)、轴流脱粒分离装置(6)、杂余搅龙(7)和振动筛(11)，所述振动筛(11)的两端上方设置有抖动板(3)和回程板(8)，所述抖动板(3)位于所述切流脱粒分离装置(1)的下方，所述回程板(8)位于所述轴流脱粒滚筒(6)和所述杂余搅龙(7)的下方，其特征在于，所述抖动板(3)位于所述切流脱粒分离装置(1)脱出物落入的一侧安装有抖动板导流机构(4)，所述抖动板(3)的出料口处安装有抖动板脱出物检测装置(2)，所述回程板(8)位于所述轴流脱粒分离装置(6)脱出物落入的一侧安装有回程板导流机构(9)，所述回程板(8)的出料口处安装有回程板脱出物检测装置(10)，所述抖动板脱出物检测装置(2)和所述回程板脱出物检测装置(10)均与在线检测控制器(12)的输入端连接，所述在线检测控制器(12)用来控制所述抖动板导流机构(4)和所述回程板导流机构(9)的动作过程。
  2. 根据权利要求1所述的联合收获机脱出物自动均布装置，其特征在于，所述抖动板导流机构(4)包括第一球头推杆(401)，抖动板电动缸固定支架(402)，抖动板电动缸(403)，抖动板焊板(404)，抖动板导流条(405)和第一连杆(406)；所述抖动板导流条(405)的一端通过铰链连接在抖动板(3)上，抖动板电动缸(403)通过抖动板电动缸固定支架(402)连接在抖动板(3)下侧，通过抖动板电动缸(403)推动第一球头推杆(401)，从而带动铰链的转动，使抖动板导流条(405)能在抖动板(3)上角度可调，所述抖动板导流条(405)的另一端通过抖动板焊板(404)和第一连杆(406)连接，实现各个抖动板导流条(405)的联动。
  3. 根据权利要求2所述的联合收获机脱出物自动均布装置，其特征在于，所述抖动板脱出物检测装置(2)包括抖动板检测装置安装支架(204)，所述抖动板检测装置安装支架(204)的上方安装有抖动板脱出物检测板(202)，所述抖动板脱出物检测板(202)的下方安装有抖动板力传感器(205)，所述抖动板检测装置安装支架(204)的两端通过抖动板减振阻尼I(201)和抖动板减振阻尼II(203)连接在机架上。
  4. 根据权利要求3所述的联合收获机脱出物自动均布装置，其特征在于，所述抖动板电动缸(403)与所述在线检测控制器(12)的输出端连接，所述抖动板力传感器(205)与所述在线检测控制器(12)的输入端连接。
  5. 根据权利要求1所述的联合收获机脱出物自动均布装置，其特征在于，所述回程板导流机构(9)包括第二连杆(901)，回程板焊板(902)，回程板电动缸固定支架(903)，回程板电动缸(904)、第二球头推杆(905)和回程板导流条(906)；所述回程板导流条(906)的一端通过铰链连接在回程板(8)上，所述回程板电动缸(904)通过回程板电动 缸固定支架(903)连接在回程板(8)下侧，通过回程板电动缸(904)推动第二球头推杆(901)，从而带动铰链的转动，使回程板导流条(906)能在回程板(8)上角度可调，所述回程板导流条(906)的另一端通过回程板焊板(902)和第二连杆(901)连接，实现各个导流条联动。
  6. 根据权利要求5所述的联合收获机脱出物自动均布装置，其特征在于，所述回程板脱出物检测装置(10)包括回程板检测装置安装支架(1004)，所述回程板检测装置安装支架(1004)上方安装有回程板脱出物检测板(1002)，所述回程板脱出物检测板(1002)的下方安装有回程板力传感器(1005)，所述回程板脱出物检测装置(10)的两端通过回程板减振阻尼I(1001)和回程板减振阻尼II(1003)连接在机架上。
  7. 根据权利要求6所述的联合收获机脱出物自动均布装置，其特征在于，所述回程板电动缸(904)与所述在线检测控制器(12)的输出端连接，所述回程板力传感器(1005)与所述在线检测控制器(12)的输入端连接。
  8. 联合收获机脱出物自动调节方法，其特征在于，包括以下步骤：
    S1：参照作物特性和收获机械国家标准，根据联合收获机脱粒清选装置的吞吐能力，通过理论计算和台架试验确定脱出物额定调平指数σ a；
    S2：抖动板力传感器(205)测得抖动板(3)出料口横向不同区域1,2,3···n(3≤n≤6)对应的脱出物流量为A 1、A 2、A 3···A n(单位kg/s)，同时，回程板力传感器(1005)测得的回程板(8)出料口横向不同区域1,2,3···n(3≤n≤6)对应的脱出物流量B 1、B 2、B 3···B n(单位kg/s)；
    S3：对采集的抖动板(3)脱出物流量信号A 1、A 2、A 3···A n(单位kg/s)和回程板(8)脱出物流量B 1、B 2、B 3···B n(单位kg/s)的信号进行异常数据替代、缺失数据补齐、数据消噪预处理后，对应相加、放大得到待喂入清选装置的总脱出物流量C 1、C 2、C 3···C n(3≤n≤6)传输到在线检测控制器(12)；
    S4：在线检测控制器(12)自适应调节模型以各检测量为输入量，经过计算求出C 1、C 2、C 3···C n的标准差σ c，判定σ c≤σ a，如果是，保持导流条当前位置，脱出物自动调节结束；如果否，将实时获取的各区域总脱出物流量C 1、C 2、C 3···C n(3≤n≤6)，C n＝f(α，β，t，C n)(3≤n≤6)、抖动板导流机构角度α和回程板导流机构角度β的参数时间序列进行聚类分析，揭示抖动板导流机构角度α，回程板导流机构β和各区域脱出物流量C n之间的规律C n＝f(α，β，t，C n)(3≤n≤6)，研究抖动板导流机构和回程板导流机构的调控权重模型，建立脱出物调平权重的自适应调整模型；实时输出相应的控制信号来控制抖动板电动缸 (403)和回程板电动缸(903)分别驱动第一球头推杆(401)的位移改变a和和第二球头推杆(905)的位移改变b，以使抖动板导流条机构的角度和回程板导流条机构的角度各调节α＝f(a，α)和β＝f(b，β)；比较C 1、C 2、C 3···C n得出C min，设定C 调＝C min-C 平，根据C n＝f(α，β，t，C n)(3≤n≤6)和脱出物调平权重的自适应模型，反求需要调节的a和b；其中C min为各区域脱出物量最小值，C 调为调出的脱出物量，C 平为各区域脱出物量的平均数；
    S5：回到步骤S2，直至σ c≤σ a时，保持导流条当前位置，脱出物自动调节结束。
PCT/CN2018/095529 2018-03-20 2018-07-13 收获机脱出物自动均布装置与自动调节方法 Ceased WO2019178986A1 (zh)

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