CN104982149A - Intelligent control device and control method of guide plate of combined harvester - Google Patents
Intelligent control device and control method of guide plate of combined harvester Download PDFInfo
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- CN104982149A CN104982149A CN201510429006.5A CN201510429006A CN104982149A CN 104982149 A CN104982149 A CN 104982149A CN 201510429006 A CN201510429006 A CN 201510429006A CN 104982149 A CN104982149 A CN 104982149A
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Abstract
The invention relates to an intelligent control device and an intelligent control method of a guide plate of a combined harvester, and belongs to the field of agricultural harvest machinery driving mechanisms. The control device is mainly used for a grain combined harvester, in order to solve the problem that crop threshing time and motion stroke of a threshing device of the existing combined harvesters are difficult to control. The intelligent control method of the guide plate includes firstly detecting operation signals of grain feed quantity, grain losses and an included angle between the guide plate and the shaft centerline of a threshing cylinder and the like by means of a surface-mounted pressure sensor, a grain loss sensor and an angular displacement sensor, sending the operation signals into a microcontroller by a signal conditioning circuit, and conducting set value preprocessing; secondly controlling a driving device according to a calculated value change output signal; and finally adjusting the included angle between the guide plate and the center line of the cylinder of the combined harvester through gears and chains by the driving device. The control device can control crop movement speed, reduce threshing loss, reduce clogging failure rate, and greatly improve intelligent degree of operation of the combine harvester, and is also suitable for other types of combine harvesters.
Description
Technical field
The invention belongs to agricultural harvesters driving mechanism field, be specifically related to combined harvester deflector intelligent controlling device and control method.
Background technology
Depart from the core component that separator is combined harvester, cane speed of axially-movable in installed threshing separator depends on the channelization angle of cylinder top cover baffle upper plate, along with variety of crops improvement and output increased, Chinese scholars has started the research to deflector control method.Document " characteristics of motion of application atom tracer technical research crop in axial-flow type drum " [grain and oil processing and food machinery, 1983(1): 43-47] point out to reduce longitudinal axial flow roller top cover deflector channelization angle, the movement travel of material in longitudinal axial flow again de-separator can be added, reduce seed entrainment loss; The guiding device of the disclosed full feeding combined harvester of Chinese patent CN201290250Y, have employed and be provided with in trapezoidal baffle plate on deflector top, deflector bottom is provided with draws fishplate bar, and the avris of deflector is provided with the shirt rim of arc with multiple screw; Chinese patent CN2932976Y full feeding rice and wheat combined harvester threshing head cover, disclose comprise top cover, the multiple deflectors be installed on by bearing pin in top cover, be installed on outside top cover by the spring adjustment structure having the gear lid of several angle orientation grooves, handle, bearing pin form, each deflector connects into an entirety by connecting rod, and the end of handle is connected to one by bearing pin and one of them deflector; Chinese patent CN202232166U flow guide plate in separation device, discloses the deflector structure in air-sucking type stripping harvesting combined harvester grain separating cleaning device, improves the object that precleaning collects the clean rate reduction energy loss of cereal; The deflector structure of a Chinese patent CN203340614U combined harvester feeding system, to disclose deflector and centre of the drum's line be angle is 33-37 degree, and the spacing of adjacent deflector is 83-87mm.By adjusting the distance between the angle of deflector and adjacent baffle, make deflector layout design on guiding arc plate reasonable, adapt to various crop feeding, feed quantity is large, not easily blocks.Although above-mentioned part document and patent optimize deflector structure parameter and have carried out experimental study to deflector, to a certain degree controlling the holdup time of crop in threshing cavity, ensure that Different Crop obtains good Threshing, but relevant deflector Angle ambiguity is all in experimental study or manual operation stage, can not in real time according to the change of crop feed quantity and the real-time operation of threshing damaed cordition, intelligence degree is lower, the complexity of field crops characteristic can not be adapted to, the change of landform and the crop change that locally density is unequal, directly affect rice damage degree and sheller unit performance.Up to now, in document, patent and relevant report disclosed in China, not yet see the report of installed threshing separator intelligence deflector.
Summary of the invention
The present invention is applicable to the intelligent controlling device and the control method that detect the Feeding Quantity in Combine, seed damage, measurement threshing cylinder deflector channelization angle and seek deflector channelization angle optimum apjustment position, can be under the best threshing performance of guarantee, relation between exploration feed quantity, seed damage and channelization angle change provides test basis, has great importance to raising installed threshing separator transaction capabilities and intelligence degree.
According to the technical scheme of invention, described combined harvester deflector intelligent controlling device, it is characterized in that, comprise master controller, deflector driving mechanism, deflector governor motion, detecting sensor, display unit, acoustic-optic alarm, angular displacement sensor clip, clip dead lever and threshing cylinder, deflector driving mechanism comprises spider gear, servomotor, servomotor firm banking, rubber blanket and chain, deflector governor motion comprises spider gear, deflector rotating shaft fixture, rubber blanket, deflector reinforcement, deflector group, wherein deflector group is generally made up of multiple (as 35) screw type deflector, adopt chain interlock each other and driven by servomotor, detecting sensor comprises SMD pressure sensor, grain loss sensor and angular displacement sensor, described master controller is connected with acoustic-optic alarm with deflector driving mechanism, deflector governor motion, detecting sensor, display unit respectively, described deflector governor motion is connected with deflector driving mechanism, and deflector driving mechanism is fixed on threshing cylinder top cover, described master controller, display unit and acoustic-optic alarm are arranged in reaping machine driver's cabin, SMD pressure sensor is arranged on installed threshing separator cereal porch, grain loss sensor is arranged on below notch board, angular displacement sensor traveling electrode is connected with deflector rotating shaft, its shell is fixed on angular displacement sensor clip, and is installed on threshing cylinder top cover by clip dead lever.
Deflector governor motion regulates deflector group and threshing cylinder shaft centre line relative position by servomotor, and angle is adjustable within the scope of 0 ~ 180 °.
Detecting sensor comprises SMD pressure sensor for gathering grain feed quantity, for gathering the grain loss sensor of grain threshing damage and the angular displacement sensor for gathering deflector angle; And carry out use processing by the information feeding master controller that SMD pressure sensor, grain loss sensor and angular displacement sensor obtain by signal processing circuit, and show with pre-set value calculation deviation value, numerical value and judge sounding and lighting alarm, output a control signal to deflector driving mechanism and deflector governor motion.
Master controller comprises industrial computer and display, data acquisition card, fieldbus, fieldbus controller and control software design, and control software design adopts VC++ programming, and data acquisition card frequency acquisition is 400KHz.
The intelligent control method of described combined harvester deflector intelligent controlling device, adopts following steps:
A is according to test data, and under the best threshing efficiency condition of guarantee, determine the constant interval of the information fusion standard value of master controller 1, this standard value measures by bench test, and structure and the running parameter of its structure and running parameter and actual condition are identical;
B detecting sensor 4 obtains crop feed quantity, grain loss and deflector angle change information, and be transferred to master controller 1 and mate with the standard value preset, calculation deviation value also shows;
C exceedes the zone of reasonableness of preset standard value when master controller 1 calculation deviation value, is also automatically regulated by acoustic-optic alarm prompting driver.
In threshing course, gather grain feed quantity, deflector angle and grain threshing by SMD pressure sensor, grain loss sensor and angular displacement sensor and damage job information, and by master controller carry out use processing with preset standard value mate, calculation deviation value also shows; When master controller calculation deviation value is above standard the zone of reasonableness of value, also automatically regulated by acoustic-optic alarm prompting driver, output a control signal to deflector driving mechanism, by driving mechanisms control deflector governor motion, ensure the best threshing performance of combined harvester.
Master controller, display unit and acoustic-optic alarm are installed in driver's cabin, are convenient to driver's observation.
Master controller comprises industrial computer and display, data acquisition card, fieldbus, fieldbus controller and control software design, and control software design adopts VC++ programming, and data acquisition card frequency acquisition is 400KHz.
The invention has the beneficial effects as follows: combined harvester deflector intelligent controlling device and control method can improve the automaticity of combined harvester, alleviate the labour intensity of driver, improve existing combined harvester operating efficiency, there is provided test basis to the relation between exploration feed quantity, seed least disadvantage rate and channelization angle change, raising installed threshing separator transaction capabilities and intelligence degree have important meaning.
Accompanying drawing explanation
Fig. 1 is the structure composition frame chart of combined harvester deflector intelligent controlling device.
Fig. 2 is the structural front view of combined harvester deflector intelligent controlling device.
Fig. 3 is combined harvester deflector Based Intelligent Control block diagram.
Fig. 4 combined harvester deflector Based Intelligent Control operational flowchart.
In figure: master controller 1, deflector driving mechanism 2 comprises spider gear 201, servomotor 202, servomotor firm banking 203, rubber blanket 204 and chain 205, deflector governor motion 3 comprises spider gear 301, deflector rotating shaft fixture 302, rubber blanket 303, deflector reinforcement 304, deflector 305, detecting sensor 4 comprises SMD pressure sensor 401, grain loss sensor 402 and angular displacement sensor 403, display unit 5, acoustic-optic alarm 6, angular displacement sensor clip 7, clip dead lever 8 and threshing cylinder 9.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Combined harvester deflector intelligent controlling device, comprises master controller 1, deflector driving mechanism 2, deflector governor motion 3, detecting sensor 4, display unit 5, acoustic-optic alarm 6, angular displacement sensor clip 7, clip dead lever 8 and threshing cylinder 9.
As shown in Figure 1, master controller 1 is connected with acoustic-optic alarm 6 with deflector driving mechanism 2, deflector governor motion 3, detecting sensor 4, display unit 5 respectively; Deflector governor motion 3 is connected with deflector driving mechanism 2, and deflector driving mechanism 2 is fixed on threshing cylinder top cover; Master controller 1 and display unit 7 are arranged in reaping machine driver's cabin; Master controller 1 and deflector driving mechanism 2, between detecting sensor 4 and display unit 5, information transmission adopts CAN, and between acoustic-optic alarm 6, information transmission adopts RS232 communication mode.
As shown in Figure 2, deflector driving mechanism 2 comprises spider gear 201, servomotor 202, servomotor firm banking 203, rubber blanket 204 and chain 205, deflector governor motion 3 comprises spider gear 301, deflector rotating shaft fixture 302, rubber blanket 303, deflector reinforcement 304, deflector 305, detecting sensor 4 comprises SMD pressure sensor 401, grain loss sensor 402 and angular displacement sensor 403, SMD pressure sensor 401 is arranged on installed threshing separator cereal porch, grain loss sensor 402 is arranged on below notch board, angular displacement sensor 403 traveling electrode is connected with deflector rotating shaft, its shell is fixed on angular displacement sensor clip 7, and be installed on threshing cylinder 9 top cover by clip dead lever 8.
As shown in Figure 3 and Figure 4, combined harvester deflector intelligent control method and operating process are:
Master controller 1 carries out signals collecting to SMD pressure sensor 401, grain loss sensor 402 and angular displacement sensor 403 successively according to setting value.And feed back in master controller 1, after control software design process, change deviate is sent to deflector driving mechanism 2, then controls deflector governor motion 3 pairs of deflectors by deflector driving mechanism 2 and regulate, thus obtain best threshing efficiency.
The specific implementation process of a kind of combined harvester deflector of this model intelligent controlling device is, master controller 1 reads SMD pressure sensor 401, grain loss sensor 402 and angular displacement sensor 403 Information Monitoring successively; Detecting sensor 4 is for gathering grain feed quantity, deflector angle and grain threshing damage job information, and be transferred to master controller 1 and mate with the standard value preset, calculation deviation value also shows; Output a control signal to deflector driving mechanism 2, then control deflector governor motion by deflector driving mechanism 2; When master controller 1 calculation deviation value is above standard the zone of reasonableness of value, industrial computer and display are pointed out driver by acoustic-optic alarm 6 and are automatically regulated, to guarantee best threshing efficiency.
Claims (5)
1. combined harvester deflector intelligent controlling device, is characterized in that, comprises master controller (1), deflector driving mechanism (2), deflector governor motion (3), detecting sensor (4), display unit (5), acoustic-optic alarm (6), angular displacement sensor clip (7), clip dead lever (8) and threshing cylinder (9), deflector driving mechanism (2) comprises spider gear (201), servomotor (202), servomotor firm banking (203), rubber blanket (204) and chain (205), deflector governor motion (3) comprises spider gear (301), deflector rotating shaft fixture (302), rubber blanket (303), deflector reinforcement (304), deflector group (305), wherein deflector group (305) is generally made up of 3 ~ 5 screw type deflectors, and adopt chain interlock each other and driven by servomotor (202), detecting sensor (4) comprises SMD pressure sensor (401), grain loss sensor (402) and angular displacement sensor (403), described master controller (1) is connected with acoustic-optic alarm (6) with deflector driving mechanism (2), deflector governor motion (3), detecting sensor (4), display unit (5) respectively, described deflector governor motion (3) is connected with deflector driving mechanism (2), and deflector driving mechanism (2) is fixed on threshing cylinder top cover, described master controller (1), display unit (5) and acoustic-optic alarm (6) are arranged in reaping machine driver's cabin, SMD pressure sensor (401) is arranged on installed threshing separator cereal porch, grain loss sensor (402) is arranged on below notch board, angular displacement sensor (403) traveling electrode is connected with deflector rotating shaft, its shell is fixed on angular displacement sensor clip (7), and is installed on threshing cylinder (9) top cover by clip dead lever (8).
2. combined harvester deflector intelligent controlling device as claimed in claim 1, it is characterized in that, deflector governor motion (3) regulates deflector group (305) and threshing cylinder (9) shaft centre line relative position by servomotor (202), and angle is adjustable within the scope of 0 ~ 180 °.
3. combined harvester deflector intelligent controlling device as claimed in claim 1, it is characterized in that, detecting sensor (4) comprises SMD pressure sensor (401) for gathering grain feed quantity, for gathering the grain loss sensor (402) of grain threshing damage and the angular displacement sensor (403) for gathering deflector angle; And carry out use processing by information feeding master controller (1) that SMD pressure sensor (401), grain loss sensor (402) and angular displacement sensor (403) obtain by signal processing circuit, and show with pre-set value calculation deviation value, numerical value and judge sounding and lighting alarm, output a control signal to deflector driving mechanism (2) and deflector governor motion (3).
4. the combined harvester deflector intelligent controlling device as described in claim 1 or 3, it is characterized in that, master controller (1) comprises industrial computer and display, data acquisition card, fieldbus, fieldbus controller and control software design, control software design adopts VC++ programming, and data acquisition card frequency acquisition is 400KHz.
5. the intelligent control method of combined harvester deflector intelligent controlling device described in claim 1, is characterized in that, adopts following steps:
A) according to test data, under the best threshing efficiency condition of guarantee, determine the constant interval of the information fusion standard value of master controller (1), this standard value measures by bench test, and structure and the running parameter of its structure and running parameter and actual condition are identical;
B) detecting sensor (4) obtains crop feed quantity, grain loss and deflector angle change information, and be transferred to master controller (1) and mate with the standard value preset, calculation deviation value also shows;
C) when master controller (1) calculation deviation value exceedes the zone of reasonableness of preset standard value, also automatically regulated by acoustic-optic alarm (6) prompting driver.
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Cited By (6)
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| CN106376295A (en) * | 2016-09-26 | 2017-02-08 | 江苏大学 | Harvester with self-adaptive adjustable working parameters of threshing and separating device |
| CN106717499A (en) * | 2016-11-22 | 2017-05-31 | 中联重机股份有限公司 | Straw millstone and its control system and control method and combined harvester |
| WO2019178986A1 (en) * | 2018-03-20 | 2019-09-26 | 江苏大学 | Automatic uniform distribution apparatus for threshed material from harvester and automatic adjusting method therefor |
| CN113412724A (en) * | 2021-06-21 | 2021-09-21 | 湖南农业大学 | Harvester capable of secondarily detecting feeding amount and adjusting threshing gap and adjusting method thereof |
| CN114711016A (en) * | 2022-03-15 | 2022-07-08 | 中国农业大学 | Threshing loss-based multi-parameter combined regulation and control system and method for combined harvester |
| CN114885681A (en) * | 2022-06-20 | 2022-08-12 | 武汉理工大学 | Fastest descending line guide plate adaptive to straw proportion recovery device |
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| US20060189361A1 (en) * | 2003-07-29 | 2006-08-24 | Deere & Company | Frusto-conical drum infeed and threshing region for a combine rotor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106376295A (en) * | 2016-09-26 | 2017-02-08 | 江苏大学 | Harvester with self-adaptive adjustable working parameters of threshing and separating device |
| CN106376295B (en) * | 2016-09-26 | 2020-01-24 | 江苏大学 | Harvester with threshing, separating and cleaning device with working parameters capable of being adjusted in self-adaptive mode |
| CN106717499A (en) * | 2016-11-22 | 2017-05-31 | 中联重机股份有限公司 | Straw millstone and its control system and control method and combined harvester |
| WO2019178986A1 (en) * | 2018-03-20 | 2019-09-26 | 江苏大学 | Automatic uniform distribution apparatus for threshed material from harvester and automatic adjusting method therefor |
| US11039573B2 (en) | 2018-03-20 | 2021-06-22 | Jiangsu University | Automatic uniform distribution apparatus and automatic adjusting method for threshed material from harvester |
| CN113412724A (en) * | 2021-06-21 | 2021-09-21 | 湖南农业大学 | Harvester capable of secondarily detecting feeding amount and adjusting threshing gap and adjusting method thereof |
| CN113412724B (en) * | 2021-06-21 | 2022-04-15 | 湖南农业大学 | Harvester capable of secondarily detecting feeding amount and adjusting threshing gap and adjusting method thereof |
| CN114711016A (en) * | 2022-03-15 | 2022-07-08 | 中国农业大学 | Threshing loss-based multi-parameter combined regulation and control system and method for combined harvester |
| CN114885681A (en) * | 2022-06-20 | 2022-08-12 | 武汉理工大学 | Fastest descending line guide plate adaptive to straw proportion recovery device |
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| CN104982149B (en) | 2017-05-10 |
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