CN106612931A - High copying system and method for harvesting table of maize harvesting machine - Google Patents
High copying system and method for harvesting table of maize harvesting machine Download PDFInfo
- Publication number
- CN106612931A CN106612931A CN201611081072.9A CN201611081072A CN106612931A CN 106612931 A CN106612931 A CN 106612931A CN 201611081072 A CN201611081072 A CN 201611081072A CN 106612931 A CN106612931 A CN 106612931A
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- China
- Prior art keywords
- harvesting
- profiling
- platform
- hydraulic cylinder
- angular displacement
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- Pending
Links
- 238000003306 harvesting Methods 0.000 title claims abstract description 41
- 240000008042 Zea mays Species 0.000 title claims abstract description 31
- 235000002017 Zea mays subsp mays Nutrition 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims description 13
- 235000016383 Zea mays subsp huehuetenangensis Nutrition 0.000 title abstract description 5
- 235000009973 maize Nutrition 0.000 title abstract description 5
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000006073 displacement reaction Methods 0.000 claims abstract description 33
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 claims description 26
- 235000005822 corn Nutrition 0.000 claims description 26
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 239000007788 liquid Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/02—Harvesting of standing crops of maize, i.e. kernel harvesting
-
- 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
- A01D41/14—Mowing tables
- A01D41/141—Automatic header control
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Harvester Elements (AREA)
- Harvesting Machines For Root Crops (AREA)
Abstract
The invention discloses a high copying control system for a harvesting table of a maize harvesting machine. The system is composed of a copying detection device, a harvesting table lifting hydraulic cylinder, a touch screen, a controller, an electro-hydraulic proportional valve, a mechanical contact type guiding mechanism, a steering hydraulic cylinder, a steering detection sensor and the like. One end of the copying detection device is installed on a protecting tip at the front end of the harvesting table, the other end of the copying detection device is connected with the harvesting table through a chain, and during work, a copying rod makes contact with the ground through dead weight. The copying rod of the copying detection device and an angular displacement sensor rotary shaft rotate synchronously. When the high copying control system for the harvesting table of the maize harvesting machine carries out high copying work, the copying rod rotates around a base shaft hole along with surface relief, an angular displacement sensor feeds changed angle values back to the controller, the controller controls and adjusts actions of the electro-hydraulic proportional valve and the harvesting table lifting hydraulic cylinder, lifting of the harvesting table is achieved, and high copying actions are completed.
Description
Technical field
The present invention relates to a kind of agricultural machinery, especially a kind of harvesting chassis of corn harvester height copying system and height are imitative
Shape method.
Background technology
China is large agricultural country, and talents for agri-mechanization automation and intellectuality are to realize China's modern agriculture farming scale
Premise and basic, with vast potential for future development.Although China achieves prominent achievement in terms of agricultural equipment mechanization,
The starting stage is also in terms of automation and intellectuality.Maize harvesting machine is equipped as large-scale agricultural harvesting, in farm work
When, on the one hand driver is careful drive machine, observation cutting height, feed quantity is on the other hand kept a close eye on again and is started
The working condition of machine, prolonged mechanically actuated can increase the fatigue strength of driver, reduce harvesting efficiency.In order to mitigate driver
Work load, improve operating efficiency, for harvesting chassis of corn harvester height copying control technology launch study, research and development harvest
Platform height contour control system, makes harvesting-platform automatically adjust and remain fixed terrain clearance with landform fluctuations,
Prevent the bad operation phenomenons such as the height for the stubble left is inconsistent, harvesting-platform front end is buried, falling corn leakage is received from producing, realize that harvesting-platform is high
Degree profile modeling function.
The content of the invention
For the defect of prior art, the present invention provides a kind of harvesting chassis of corn harvester height copying system and height is imitative
Shape method, the system adopts mechanical-electrical-hydraulic integration control technology, surface relief state is detected using profiling detection means, using control
Device processed controls the electro-hydraulic proportional valve of lifting hydraulic cylinder, reaches the purpose of harvesting-platform height profiling.
In order to solve the technical problem, the technical solution used in the present invention is：A kind of harvesting chassis of corn harvester height
Copying system, including the execution machine of controller, the profiling detection means of detection surface relief state and control lifting of lifting table
Structure, the profiling detection means is arranged at the shield point of harvesting-platform front end, and profiling detection means includes following the profiling of hypsography
Bar and the angular displacement sensor with profiling bar synchronous axial system, angular position pick up is electrically connected with the controller；The executing agency
Including electro-hydraulic proportional valve and harvesting-platform lifting hydraulic cylinder, electro-hydraulic proportional valve is electrically connected with the controller, harvesting-platform lifting hydraulic cylinder
Drive harvesting-platform lifting.
Harvesting chassis of corn harvester height copying system of the present invention, the profiling detection means also includes base, bottom
Seat is arranged at the shield point of harvesting-platform front end, and angular displacement sensor is arranged on base, and profiling bar one end is connected with base rotation, separately
One end is connected by chain with harvesting-platform, and rotating dog and the profiling bar of angular displacement sensor link together.
Harvesting chassis of corn harvester height copying system of the present invention, one end of profiling bar is provided with axis hole, on base
Identical axis hole is provided with, profiling bar is connected by the connecting shaft through axis hole with base rotation, and the profiling bar other end is provided with mounting
Hole, chain is connected profiling bar with harvesting-platform through mount hole；Angular displacement sensor is arranged on base by bolt, angle
In the blind hole of rotary shaft insertion connecting shaft one end of displacement transducer, and it is connected by holding screw and connecting shaft.
Harvesting chassis of corn harvester height copying system of the present invention, profiling bar is provided with one end of axis hole and is also provided with screw thread
Hole, trip bolt is connected profiling bar with connecting shaft by screw hole.
Harvesting chassis of corn harvester height copying system of the present invention, the profiling bar includes processing all-in-one-piece three
Point, profiling bar mid portion level, profiling bar two ends are symmetrical arc.
Harvesting chassis of corn harvester height copying system of the present invention, also including the touch for arranging with show job parameter
Screen, touch-screen is arranged on driver's cabin with controller.
Harvesting chassis of corn harvester height copying system of the present invention, cropper lifting hydraulic cylinder is arranged under harvesting-platform
Face and it is connected with frame, electro-hydraulic proportional valve is arranged on below driver's cabin.
The invention also discloses a kind of height profiling method based on above-mentioned harvesting chassis of corn harvester height copying system,
Methods described is：Harvesting-platform terrain clearance value is set first, and profiling bar is rotated with surface relief around base axis hole, and angular displacement is passed
The angle value of change is fed back to controller by sensor, and controller controls to adjust electro-hydraulic proportional valve, harvests according to the difference of angle value
The action of platform lifting hydraulic cylinder, realizes the lifting of harvesting-platform.
Height profiling method of the present invention, because effect of inertia is at this when reaching setting height value in order to avoid harvesting-platform
Position is shaken up and down, the bound scope of set angle angle value on the basis of harvesting-platform terrain clearance value, angular displacement sensor detection
Angle value in the range of the bound when, lifting hydraulic cylinder is failure to actuate；When the angle value of angular displacement sensor detection is more than upper
During limit value, lifting hydraulic cylinder shrinks, and harvesting-platform declines；When the angle value of angular displacement sensor detection is less than lower limit, lifting
Hydraulic cylinder stretches out, and harvesting-platform is raised.
Beneficial effects of the present invention：The present invention is provided with profiling detection means, and profiling detection means is by profiling bar and angular displacement
Sensor group is into profiling bar one end is connected with angular displacement sensor, and the other end is movable end, and the fluctuations on ground pass through profiling
Bar is changed into the angle change of angular displacement sensor；The signal that controller feeds back according to profiling detection means, controls electric-hydraulic proportion
The action of valve, realizes the flexible of harvesting-platform lifting hydraulic cylinder, reaches the purpose of harvesting-platform height profiling, harvesting-platform is risen with landform
Volt change and automatically adjust and remain fixed terrain clearance, prevent that the height for the stubble left is inconsistent, harvesting-platform front end is buried, fall
The bad operation phenomenons such as volt corn leakage receipts are produced.The profiling detection means of the present invention is fast to the reaction speed of topography variation, profiling
Effect is good, as a result accurately.
Description of the drawings
Fig. 1 is the structural representation of harvesting chassis of corn harvester height copying system of the present invention；
Fig. 2 is the structural representation of profiling detection means；
Fig. 3 is the structural representation of profiling bar；
Fig. 4 is the flow chart of harvesting chassis of corn harvester height profiling method；
In figure：1st, profiling detection means, 2, lifting hydraulic cylinder, 3, touch-screen, 4, controller, 5, electro-hydraulic proportional valve, 11, base,
12nd, sensor bolt, 13, installation bolt, 14, profiling bar, 15, angular displacement sensor, 16, connecting shaft, 17, sensor shield
Plate, 18, axis hole, 19, screw hole, 20, mount hole.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described further with specific embodiment.
As shown in figure 1, maize harvesting machine height copying system of the present invention includes profiling detection means 1, harvesting-platform
Lifting hydraulic cylinder 2, touch-screen 3, controller 4, electro-hydraulic proportional valve 5.The one end of profiling detection means 1 is arranged on harvesting-platform front end shield point
Place, the other end is connected by chain with harvesting-platform, and profiling bar is contacted by deadweight with ground during operation.Harvesting-platform lifting hydraulic cylinder
2 are connected below harvesting-platform and with frame.Touch-screen 3 and controller 4 are arranged on and drive indoor, the setting of job parameter with
Display realizes that the control of controller 4 executing agency completes profiling action by touch-screen 3.Electro-hydraulic proportional valve 5 is arranged under driver's cabin
Face, controls the action of harvesting-platform lifting hydraulic cylinder 2.
As shown in Fig. 2 profiling detection means 1 includes base 11, sensor bolt 12, installation bolt 13, profiling bar
14th, angular displacement sensor 15, connecting shaft 16, sensor backplate 17, axis hole 18, screw hole 19, mount hole 20.Base 11 is by peace
Dress bolt 13 is fixed at the shield point of harvesting-platform front end.Connecting shaft 16 is coordinated with two axis holes on base 11 by axle sleeve gap.
As shown in figure 3, the one end of profiling bar 14 is provided with axis hole 18 and screw hole 19, profiling bar 14 by the connecting shaft 16 through axis hole 18 with
Base 11 links together, and holding screw is connected profiling bar 14 with the connecting shaft 16 through axis hole 18 by screw hole 19.It is imitative
The other end of shape bar 14 is provided with mount hole 20, and chain is connected profiling bar 14 with harvesting-platform through mount hole 20, the length energy of chain
Enough ensure that profiling bar 14 is rotated in the range of certain angle, profiling bar 14 is contacted by deadweight with ground during operation.Angular displacement is passed
Sensor 15 is installed on the pedestal 11 by sensor bolt 12, the rotary shaft insertion connecting shaft 16 1 of angular displacement sensor 15
In the blind hole at end, and it is connected by holding screw and connecting shaft 16.Connecting shaft 16 is by profiling bar 14 and angular displacement sensor 15
Rotary shaft links together, profiling bar 14 and the rotary shaft synchronous axial system of angular displacement sensor 15.
A kind of harvesting chassis of corn harvester height profiling method is also disclosed in the present embodiment, methods described is：Corn is received
Harvesting-platform terrain clearance value is set first when obtaining machine height profiling operation, and during harvesting-platform normal operation, lifting hydraulic cylinder 2 is motionless
Make；When ground fluctuations, axis hole of the profiling bar 14 with surface relief around base 11 is rotated, and angular displacement sensor 15 will become
The angle value of change feeds back to controller 4, and controller 4 judges the scope of angle value, according to the difference of angle value, controls to adjust electro-hydraulic
The action of proportioning valve 5, harvesting-platform lifting hydraulic cylinder 2, realizes the lifting of harvesting-platform.The setting of angle value scope is liftoff with harvesting-platform
On the basis of height value, bound scope is set on the basis of the value.Be present inertia in the lifting action of harvesting-platform, reach in harvesting-platform
Because effect of inertia can up and down be shaken at the value position during setting height value, the setting of bound scope avoids jitter phenomenon
Generation.After the bound scope of set angle angle value, controller 4 judges the size of angle value, when angular displacement sensor 15 is detected
Angle value in the range of the bound when, lifting hydraulic cylinder 2 is failure to actuate；When the angle value of the detection of angular displacement sensor 15 is more than
During higher limit, lifting hydraulic cylinder 2 shrinks, and harvesting-platform declines；When the angle value of the detection of angular displacement sensor 15 is less than lower limit,
Lifting hydraulic cylinder 2 stretches out, and harvesting-platform is raised.
Although the above-mentioned accompanying drawing that combines is described to the specific embodiment of the present invention, not to present invention protection model
The restriction enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need the various modifications made by paying creative work or deformation still within protection scope of the present invention.
Claims (9)
1. a kind of harvesting chassis of corn harvester height copying system, it is characterised in that：Including controller, detection surface relief state
Profiling detection means and control lifting of lifting table executing agency, the profiling detection means be arranged on harvesting-platform front end shield
At point, profiling detection means includes following the profiling bar and the angular displacement sensor with profiling bar synchronous axial system of hypsography,
Angular position pick up is electrically connected with the controller；The executing agency includes electro-hydraulic proportional valve and harvesting-platform lifting hydraulic cylinder, electricity
Liquid proportional valve is electrically connected with the controller, and harvesting-platform lifting hydraulic cylinder drives harvesting-platform lifting.
2. harvesting chassis of corn harvester height copying system according to claim 1, it is characterised in that：The profiling detection
Device also includes base, and at the shield point of harvesting-platform front end, angular displacement sensor is arranged on base floor installation, profiling bar one end
It is connected with base rotation, the other end is connected by chain with harvesting-platform, rotating dog and the profiling bar of angular displacement sensor are connected to
Together.
3. harvesting chassis of corn harvester height copying system according to claim 2, it is characterised in that：One end of profiling bar
Axis hole is provided with, identical axis hole is also provided with base, profiling bar is connected by the connecting shaft through axis hole with base rotation, profiling
The bar other end is provided with mount hole, and chain is connected profiling bar with harvesting-platform through mount hole；Angular displacement sensor is by positioning spiral shell
Bolt is arranged on base, in the blind hole of rotary shaft insertion connecting shaft one end of angular displacement sensor, and by holding screw and company
Spindle is connected.
4. harvesting chassis of corn harvester height copying system according to claim 3, it is characterised in that：Profiling bar is provided with axle
The one end in hole is also provided with screwed hole, and trip bolt is connected profiling bar with connecting shaft by screw hole.
5. the harvesting chassis of corn harvester height copying system according to Claims 2 or 3, it is characterised in that：The profiling
Bar includes processing all-in-one-piece three part, and profiling bar mid portion level, profiling bar two ends are symmetrical arc.
6. the harvesting chassis of corn harvester height copying system according to claim 1 or 3, it is characterised in that：Also include setting
The touch-screen put and show job parameter, touch-screen is arranged on driver's cabin with controller.
7. the harvesting chassis of corn harvester height contour control system according to claim 1 or 4, it is characterised in that：Harvest
Machine lifting hydraulic cylinder is arranged on below harvesting-platform and with frame and is connected, and electro-hydraulic proportional valve is arranged on below driver's cabin.
8. a kind of height profiling method based on harvesting chassis of corn harvester height copying system described in claim 3, its feature
It is：Methods described is：Harvesting-platform terrain clearance value is set first, and profiling bar is rotated with surface relief around base axis hole, angle
The angle value of change is fed back to controller by displacement transducer, and controller controls to adjust electric-hydraulic proportion according to the difference of angle value
The action of valve, harvesting-platform lifting hydraulic cylinder, realizes the lifting of harvesting-platform.
9. height profiling method according to claim 8, it is characterised in that：Set on the basis of harvesting-platform terrain clearance value
The bound scope of angle value, when the angle value of angular displacement sensor detection is in the range of bound, lifting hydraulic cylinder is motionless
Make；When the angle value of angular displacement sensor detection is more than higher limit, lifting hydraulic cylinder shrinks, and harvesting-platform declines；Work as angular displacement
When the angle value of sensor detection is less than lower limit, lifting hydraulic cylinder stretches out, and harvesting-platform is raised.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081072.9A CN106612931A (en) | 2016-11-30 | 2016-11-30 | High copying system and method for harvesting table of maize harvesting machine |
| NL2024546A NL2024546B1 (en) | 2016-11-30 | 2019-12-20 | Height profiling system and method for harvesting table of corn harvester |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081072.9A CN106612931A (en) | 2016-11-30 | 2016-11-30 | High copying system and method for harvesting table of maize harvesting machine |
| NL2024546A NL2024546B1 (en) | 2016-11-30 | 2019-12-20 | Height profiling system and method for harvesting table of corn harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106612931A true CN106612931A (en) | 2017-05-10 |
Family
ID=78595198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611081072.9A Pending CN106612931A (en) | 2016-11-30 | 2016-11-30 | High copying system and method for harvesting table of maize harvesting machine |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106612931A (en) |
| NL (1) | NL2024546B1 (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107046928A (en) * | 2017-06-01 | 2017-08-18 | 农业部南京农业机械化研究所 | A kind of combine harvester cutting table copying system |
| CN108151828A (en) * | 2017-12-20 | 2018-06-12 | 广西柳工农业机械股份有限公司 | A kind of ceding of Taiwan height and position display device |
| CN108702943A (en) * | 2018-06-28 | 2018-10-26 | 中机美诺科技股份有限公司 | A kind of ceding of Taiwan working depth profiling control device and method of cropper |
| CN109379980A (en) * | 2017-08-09 | 2019-02-26 | 中国科学院沈阳自动化研究所 | Ceding of Taiwan height sensor based on angle information feedback |
| CN110036759A (en) * | 2019-04-22 | 2019-07-23 | 山东省农业机械科学研究院 | Leafy vegetable cropper forward type divides standing grain profiling acquisition control system and harvest control method |
| CN110199663A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | Automatic harvester, ceding of Taiwan automatic regulating system and its method |
| CN110235600A (en) * | 2019-05-10 | 2019-09-17 | 江苏大学 | The Feeding Quantity in Combine stabilizing control system based on mature crop attribute information real-time detection |
| CN110235601A (en) * | 2019-05-10 | 2019-09-17 | 江苏大学 | Combined harvester cutting height automatic regulating system and regulation method |
| CN112449855A (en) * | 2019-10-12 | 2021-03-09 | 丰疆智能科技股份有限公司 | Header detection device, header automatic lifting system and method |
| NL2024546B1 (en) * | 2016-11-30 | 2021-09-02 | Shandong Academy Agricultural Machinery Sciences | Height profiling system and method for harvesting table of corn harvester |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113966667B (en) * | 2021-12-24 | 2022-03-15 | 潍柴雷沃重工股份有限公司 | Harvester header self-adaptive control system based on ground profiling and harvester |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2024546B1 (en) * | 2016-11-30 | 2021-09-02 | Shandong Academy Agricultural Machinery Sciences | Height profiling system and method for harvesting table of corn harvester |
| CN107046928A (en) * | 2017-06-01 | 2017-08-18 | 农业部南京农业机械化研究所 | A kind of combine harvester cutting table copying system |
| CN109379980A (en) * | 2017-08-09 | 2019-02-26 | 中国科学院沈阳自动化研究所 | Ceding of Taiwan height sensor based on angle information feedback |
| CN108151828A (en) * | 2017-12-20 | 2018-06-12 | 广西柳工农业机械股份有限公司 | A kind of ceding of Taiwan height and position display device |
| CN108702943A (en) * | 2018-06-28 | 2018-10-26 | 中机美诺科技股份有限公司 | A kind of ceding of Taiwan working depth profiling control device and method of cropper |
| CN110199663A (en) * | 2019-04-09 | 2019-09-06 | 丰疆智能科技股份有限公司 | Automatic harvester, ceding of Taiwan automatic regulating system and its method |
| CN110036759A (en) * | 2019-04-22 | 2019-07-23 | 山东省农业机械科学研究院 | Leafy vegetable cropper forward type divides standing grain profiling acquisition control system and harvest control method |
| CN110235600A (en) * | 2019-05-10 | 2019-09-17 | 江苏大学 | The Feeding Quantity in Combine stabilizing control system based on mature crop attribute information real-time detection |
| CN110235601A (en) * | 2019-05-10 | 2019-09-17 | 江苏大学 | Combined harvester cutting height automatic regulating system and regulation method |
| CN110235600B (en) * | 2019-05-10 | 2021-08-03 | 江苏大学 | Combine harvester feeding amount stable control system based on real-time detection of mature crop attribute information |
| CN112449855A (en) * | 2019-10-12 | 2021-03-09 | 丰疆智能科技股份有限公司 | Header detection device, header automatic lifting system and method |
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|---|---|
| NL2024546B1 (en) | 2021-09-02 |
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Application publication date: 20170510 |