CN112492983A - Self-adaptive adjusting device and method for working inclination angle of key type separating device - Google Patents
Self-adaptive adjusting device and method for working inclination angle of key type separating device Download PDFInfo
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- CN112492983A CN112492983A CN202011369163.9A CN202011369163A CN112492983A CN 112492983 A CN112492983 A CN 112492983A CN 202011369163 A CN202011369163 A CN 202011369163A CN 112492983 A CN112492983 A CN 112492983A
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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
- A01F12/30—Straw separators, i.e. straw walkers, for separating residual grain from the straw
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Abstract
The invention provides a self-adaptive adjusting device and method for a working inclination angle of a key type separating device, and belongs to the technical field of agricultural machinery. The self-adaptive adjusting device comprises a detection element, a hydraulic execution system and a control feedback system; the control feedback system judges the relation between the optimal expansion amount H 'and the expansion amount H of a hydraulic oil cylinder piston rod of the hydraulic execution system, and if H' is H, the control is not needed; and if H 'is not equal to H, controlling a two-position four-way electromagnetic directional valve of the hydraulic execution system to adjust the oil inlet direction of the hydraulic oil cylinder until a piston rod of the hydraulic oil cylinder is adjusted to the optimal telescopic amount H', so that the key type separating device key box keeps the same working inclination angle of a horizontal road surface. The invention has the advantages of simple structure, accurate adjustment and large bearing capacity, directly adjusts the telescopic quantity control key box of the hydraulic rod, and can adapt to various slope terrains.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a self-adaptive adjusting device and method for a working inclination angle of a key type separating device.
Background
The key type separating device is used as a key part of the combine harvester, is the most widely applied separating device at present, and is characterized by strong shaking and loosening capacity on the threshed objects and being suitable for machine types with larger separating load. The main function is to separate the grains and broken ears from the long straw and to discharge the long straw into the machine.
However, the key-type separating device is a relatively weak link of the combine harvester, when the combine harvester works on a slope, the straw separator is longitudinally inclined, at the moment, because the inclination angle between the key surface and the horizontal plane is changed, the acting force direction of grains is also changed, so that the separation loss is increased rapidly, the traditional key-type separating device usually controls the loss rate of the traditional key-type separating device when the traditional key-type separating device works on the slope by changing the rotating speed of a crankshaft, so as to obtain the conveying efficiency which is approximately the same as that of the traditional key-type separating device on a horizontal road surface, but the adjusting effect is not obvious. Researches show that an optimal ratio exists between the crankshaft rotation speed and the crankshaft radius of the key type separating device, if only one factor of the crankshaft rotation speed is changed, the loss is further increased, and the key type separating device is required to have the capability of adjusting the working inclination angle along with different terrains, and meanwhile, the real-time performance and the accuracy of adjustment are required to be guaranteed. At present, the aspect of adjusting the working inclination angle of the key type separating device still falls into blank in the research field at home and abroad, and the method is a brand new improved idea for controlling the loss rate of the key type separating device when the key type separating device works on a slope.
Disclosure of Invention
In view of the above, the invention provides a self-adaptive adjusting device and method for the working inclination angle of a key type separating device, which adjust a key box in real time according to the inclination angle of a machine body, so that a combine harvester can obtain the same separating effect as a horizontal road surface on a slope.
The present invention achieves the above-described object by the following technical means.
A self-adaptive adjusting device for the working inclination angle of a key type separating device comprises a detection element, a hydraulic execution system and a control feedback system;
the detection element comprises an attitude sensor and a magnetostrictive displacement sensor, the attitude sensor is arranged on the rack, and the magnetostrictive displacement sensor is arranged inside the outer cylinder sleeve of the hydraulic oil cylinder;
the hydraulic execution system comprises a gear pump, a two-position four-way electromagnetic directional valve and a hydraulic oil cylinder, wherein the two-position four-way electromagnetic directional valve is respectively connected with an oil inlet and an oil outlet of the hydraulic oil cylinder through oil pipes; the top end of the hydraulic oil cylinder and the driven crankshaft form a rotating pair;
and the data collector, the gear pump and the two-position four-way electromagnetic directional valve of the detection element are in signal connection with the control feedback system.
The gear pump, the gear pump motor, the hydraulic oil tank and the bottom end of the hydraulic oil cylinder are all installed on the frame.
The self-adaptive adjusting device further comprises a driving unit, wherein the driving unit comprises a rotating motor and two chain wheels, one chain wheel is connected to the rotating shaft end of the motor through a key, the other chain wheel is connected with the driving crankshaft through a key, and the two chain wheels are driven through chain transmission.
The angular velocity of the active crankshaft satisfies:
wherein: omega is the angular velocity of the active crankshaft, g is the gravitational acceleration, beta is the key surface inclination angle of the key type separating device, and r is the crankshaft radius.
The control feedback system comprises an STM32 single chip microcomputer and a power circuit, and the power circuit is used for supplying power to the STM32 single chip microcomputer, the attitude sensor, the magnetostrictive displacement sensor and the corresponding data acquisition device.
An STM32 single chip microcomputer judges the relation between the optimal expansion amount H 'and the expansion amount H of a piston rod of a hydraulic oil cylinder, and if H' is H, the control is not needed; if H 'is not equal to H, the two-position four-way electromagnetic directional valve is controlled to adjust the oil inlet direction of the hydraulic oil cylinder until the piston rod of the hydraulic oil cylinder is adjusted to the optimal telescopic amount H', so that the key type separating device key box keeps the same working inclination angle of a horizontal road surface.
Further, H' ≠ H, specifically: if H' is less than H, an oil inlet P of the two-position four-way electromagnetic directional valve is connected with an oil outlet B, an oil outlet A of the two-position four-way electromagnetic directional valve is connected with a discharge port T, a gear pump sucks hydraulic oil, the hydraulic oil enters the hydraulic oil cylinder through the oil outlet B, and a piston rod is pushed to move in the direction far away from the key box; if H' is greater than H, the two-position four-way electromagnetic directional valve is reversed, an oil inlet P of the two-position four-way electromagnetic directional valve is connected with an oil outlet A, an oil outlet B of the two-position four-way electromagnetic directional valve is connected with a discharge port T, a gear pump sucks hydraulic oil, and the hydraulic oil enters the hydraulic oil cylinder through the oil outlet A and pushes the piston rod to move towards the direction close to the key box of the key type separating device.
Further, the optimal expansion amount H' is the inclination angle of the machine body detected by the STM32 single chip microcomputer according to the attitude sensor
Obtaining; and the expansion amount H is detected by a magnetostrictive displacement sensor.
Further, when the combine harvester is in a downhill section, the optimal expansion amount
Wherein theta is the included angle between the key box of the key type separating device and the cylinder body of the hydraulic oil cylinder when the road surface is horizontal, L is the distance between the driving crankshaft and the driven crankshaft, S is the initial length of the piston rod of the hydraulic oil cylinder,
is the inclination angle of the machine body.
Further, when the combine harvester is positioned on an uphill road section, the optimal expansion amount is
The invention has the beneficial effects that:
(1) the invention adopts the hydraulic oil cylinder as the actuating mechanism of the hydraulic actuating system, has the advantages of impact resistance, long service life, simple structure, reliable work and capability of adapting to various working conditions, and can well control the moving speed of the piston rod, thereby well controlling the moving speed of the key box;
(2) the key type separating device is ensured to be in a horizontal state by directly adjusting the telescopic amount of the hydraulic oil cylinder, the key type separating device can adapt to various sloping road terrains, the further loss of grain harvesting is avoided, and the real-time performance and accuracy of adjustment are good.
Drawings
FIG. 1 is a schematic structural view of an adaptive adjustment device for the working inclination angle of a key type separation device according to the invention;
FIG. 2 is a frame diagram of the overall design of the adaptive adjustment device for the working inclination angle of the key separation device according to the present invention;
FIG. 3 is a schematic diagram illustrating the derivation of the extension distance of the piston rod of the hydraulic cylinder according to the present invention;
description of reference numerals: 1. key formula separator key case, 2, driving crankshaft, 3, sprocket, 4, attitude sensor, 5, rotating electrical machines, 6, key formula separator frame, 7, control feedback system, 8, two-position four-way solenoid directional valve, 9, gear pump, 10, gear pump motor, 11, hydraulic tank, 12, hydraulic cylinder, 13, magnetostrictive displacement sensor, 14, driven crankshaft.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1 and 2, the self-adaptive adjusting device for the working inclination angle of the key type separating device comprises a detection element, a hydraulic actuating system, a driving unit and a control feedback system 7. The hydraulic actuating system is arranged at the lower part of a driven crankshaft 14 of the key type separating device; the driving unit is arranged on a side plate of a frame 6 at the driving crankshaft 2 of the key type separating device; the control feedback system 7 is arranged on the side plate of the frame 6.
The detection elements include an attitude sensor 4 and a magnetostrictive displacement sensor 13; the attitude sensor 4 is in threaded connection with a side plate of the rack 6 through a nut and is used for detecting the inclination angle of the machine body; the magnetostrictive displacement sensor 13 is screwed in a mounting hole of the outer cylinder sleeve of the hydraulic oil cylinder 12 and is used for detecting the telescopic distance of the hydraulic oil cylinder 12. The sensor detects the signal, the output end outputs a high potential negative pulse digital signal, the digital signal is transmitted to a corresponding data acquisition unit, and the data acquisition unit converts the digital signal into a voltage signal which can be recognized by an STM32 single chip microcomputer. The attitude sensor 4 selects a dynamic inclination angle sensor BW-VG500, attitude deviation is correspondingly estimated through 6-state Kalman filtering with proper gain, the method is suitable for inclination angle measurement in a motion or vibration state, the dynamic precision reaches 0.1 degree, the resolution is 0.01 degree, and the method is suitable for body inclination angle measurement of a combine harvester on complex slope terrain. The magnetostrictive displacement sensor 13 selects built-in MDS-LG, can measure the expansion amount within the range of 50mm-7600mm, and is enough to meet the change range of the inclination angle of the key type separating device.
The hydraulic execution system comprises a gear pump 9, a gear pump motor 10, a two-position four-way electromagnetic directional valve 8, a hydraulic oil cylinder 12 and a hydraulic oil tank 11, wherein the two-position four-way electromagnetic directional valve 8 is in threaded connection with a side plate of the rack 6 through a nut, the two-position four-way electromagnetic directional valve 8 is respectively connected with an oil inlet and an oil outlet of the hydraulic oil cylinder 12 through an oil pipe, the two-position four-way electromagnetic directional valve 8 is connected with the gear pump 9, the gear pump 9 is communicated with the hydraulic oil tank 11 through an oil pipe, and; the gear pump 9, the gear pump motor 10 and the hydraulic oil tank 11 are all arranged on the frame 6; a rod end joint bearing is arranged in an ear ring at the top end of the hydraulic oil cylinder 12 and is matched and connected with the shaft end of the driven crankshaft 14 to form a rotating pair; the bottom end of the hydraulic oil cylinder 12 is arranged on the frame 6. Considering that the key type separating device is usually used in a working environment with a large load, the key type separating device is 2.7m long, is made of 45 steel and has large mass, the hydraulic oil cylinder 12 adopts a piston type heavy oil cylinder to realize bidirectional movement.
The driving unit comprises a rotating motor 5 and two chain wheels 3, one chain wheel 3 is connected to the rotating shaft end of the motor 5 through a key, the other chain wheel 3 is connected with a driving crankshaft 2 through a key, and the two chain wheels 3 are driven through a chain; the rotating motor 5 is fixed to the frame 6. There is a transmission ratio i between the rotational speed of the rotating electrical machine 5 and the rotational speed of the driving crankshaft 2, if the rotational speed of the rotating electrical machine 5 is NAThe rotation speed of the driving crankshaft 2 is NBAnd then:
NA＝iNB (1)
the rotation speed of the driving crankshaft 2 should meet the working conditions of the key type separating device, wherein if the extrusions can be thrown away from the key surface of the key type separating device and can be normally conveyed backwards, the following working conditions should be met:
wherein: omega is the angular velocity of the active crankshaft 2, g is the acceleration of gravity, beta is the key surface inclination angle (i.e. the working inclination angle) of the key type separating device, and r is the crankshaft radius.
The conversion relation between the rotating speed and the angular speed of the driving crankshaft 2 is as follows:
ω＝2πNB (3)
the rotation speed of the rotating electric machine 5 should therefore be determined according to the current operational inclination of the key separation device in order to maintain the normal operation of the key separation device.
The principle of the self-adaptive adjusting device for the working inclination angle of the key type separating device is as follows: the STM32 single-chip microcomputer obtains the telescopic amount H '(namely the optimal telescopic amount) of the piston rod of the hydraulic oil cylinder 12 according to the inclination angle of the machine body detected by the attitude sensor 4, and compares the telescopic amount H' with the telescopic amount H of the piston rod of the hydraulic oil cylinder 12 detected by the magnetostrictive displacement sensor 13; if H', the piston rod is at the position of the hydraulic oil cylinder 12 with the optimal expansion amount, and no control is needed; if H' is less than H, the piston rod moves in the direction far away from the key box 1, the oil inlet P of the two-position four-way electromagnetic directional valve 8 is connected with the oil outlet B, the oil outlet A is connected with the discharge port T, the gear pump 9 is driven by the gear pump motor 10 to operate to suck hydraulic oil in the hydraulic oil tank 11, and the hydraulic oil enters the hydraulic oil cylinder 12 through the oil outlet B of the two-position four-way electromagnetic directional valve 8 to push the piston rod to move in the direction far away from the key box 1; if H' > H, the piston rod moves in the direction close to the key box 1, the STM32 single chip microcomputer sends an electric signal to an electromagnet of the two-position four-way electromagnetic directional valve 8, the electromagnet pushes a valve core to change direction after receiving the signal, an oil inlet P of the two-position four-way electromagnetic directional valve 8 is connected with an oil outlet A, an oil outlet B is connected with a discharge port T, the gear pump 9 is driven by a gear pump motor 10 to operate, hydraulic oil in a hydraulic oil tank 11 is sucked, the hydraulic oil enters a hydraulic oil cylinder 12 through the oil outlet A of the two-position four-way electromagnetic directional valve 8, and the piston rod is pushed to move in the direction close to the key box 1; the telescopic motion of the piston rod pushes the driven crankshaft 14 to adjust the inclination angle of the key surface, so that the key box 1 of the key type separating device keeps the same working inclination angle of a horizontal road surface; meanwhile, the rotating motor 5 provides working rotating speed according with the key separating device according to the key surface inclination angle beta at the moment, and drives the key box 1 of the key separating device to alternately move around the driving crankshaft 2, so that the loss of the key separating device is reduced when grains are separated.
A self-adaptive adjustment method for a working inclination angle of a key type separating device is characterized in that an attitude sensor 4 detects the current inclination angle of a machine body of a combine harvester
The data acquisition unit transmits the data to an STM32 singlechip to acquire the expansion H' of the hydraulic oil cylinder 12; the magnetostrictive displacement sensor 13 detects the telescopic amount H of the hydraulic oil cylinder 12; the STM32 single chip microcomputer judges whether the piston rod of the hydraulic oil cylinder 12 is in the optimal telescopic amount position according to H' and H; if the piston rod is at the position of the optimal expansion amount of the hydraulic oil cylinder 12, the control is not needed; if H' ≠ H, the STM32 singlechip sends an instruction to the two-position four-way electromagnetic directional valve 8, controls the two-position four-way electromagnetic directional valve 8 to adjust the oil inlet direction of the hydraulic oil cylinder 12 until the piston rod of the hydraulic oil cylinder 12 is adjusted to the optimal telescopic amount, so that the key type separating device key box 1 is lifted or lowered, and the key type separating device key box 1 is kept at the same working inclination angle of a horizontal road surface. And if the working terrain of the combine harvester has gradient change, repeating the process until the optimal telescopic position is reached.
For example, when the combine is on a downhill road, as shown in fig. 3, when the attitude sensor 4 detects the inclination angle of the body
In order to set the key separation device key box 1 at the initial installation angle position, the key separation device key box 1 should be rotated clockwise about the driving crankshaft 2 by a rotational angle
The distance between the driving crankshaft 2 and the driven crankshaft 14 is L, the included angle between the key type separating device key box 1 and the hydraulic oil cylinder 12 on a horizontal road surface is theta, the initial length of the piston rod of the hydraulic oil cylinder 12 is S, and according to the cosine theorem, the calculation formula of the expansion amount H' of the piston rod of the hydraulic oil cylinder 12 can be obtained as follows:
the flow entering the hydraulic cylinder 12 is q, the outer diameter of the piston rod is D, the inner diameter of the piston rod is D, and the volumetric efficiency of the hydraulic cylinder 12 is etacvAnd therefore the moving speed of the piston rod:
the adjustment time T of the piston rod of the hydraulic oil cylinder 12 is as follows:
the flow rate q into the hydraulic cylinder 12 is the same as the flow rate of the gear pump 9, and q ═ Vn ηpvWherein: v is the displacement of the gear pump 9, and V ═ π D1hB＝2πzm2B，D1Is the gear pitch circle diameter, h is the gear tooth height, B is the gear tooth width, z is the gear tooth number, m is the gear module, n is the rotation speed of the gear pump 9, eta ispvIs the volumetric efficiency of the gear pump 9.
After the parameters of the gear pump 9 and the hydraulic oil cylinder 12 are determined, the flow q is calculated and substituted into the formula (5), and the piston rod adjusting time can be calculated.
If the combine harvester is positioned on an uphill road section, the calculation formula of the expansion amount H' of the piston rod of the hydraulic oil cylinder 12 is as follows:
the present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. The self-adaptive adjusting device for the working inclination angle of the key type separating device is characterized by comprising a detection element, a hydraulic execution system and a control feedback system (7);
the detection element comprises an attitude sensor (4) and a magnetostrictive displacement sensor (13), the attitude sensor (4) is installed on the rack (6), and the magnetostrictive displacement sensor (13) is installed inside an outer cylinder sleeve of the hydraulic oil cylinder (12);
the hydraulic execution system comprises a gear pump (9), a two-position four-way electromagnetic directional valve (8) and a hydraulic oil cylinder (12), wherein the two-position four-way electromagnetic directional valve (8) is respectively connected with an oil inlet and an oil outlet of the hydraulic oil cylinder (12) through an oil pipe, the two-position four-way electromagnetic directional valve (8) is connected with the gear pump (9), the gear pump (9) is communicated with a hydraulic oil tank (11) through the oil pipe, and the gear pump (9) is driven by a gear pump motor (10); the top end of the hydraulic oil cylinder (12) and the driven crankshaft (14) form a rotating pair;
and a data collector, a gear pump (9) and a two-position four-way electromagnetic directional valve (8) of the detection element are in signal connection with a control feedback system (7).
2. The adaptive adjusting device according to claim 1, characterized in that the gear pump (9), the gear pump motor (10), the hydraulic oil tank (11) and the hydraulic oil cylinder (12) are arranged on the frame (6).
3. The adaptive adjustment device according to claim 1, characterized by further comprising a drive unit, wherein the drive unit comprises a rotating motor (5) and two chain wheels (3), one chain wheel (3) is connected with the rotating shaft end of the motor (5) through a key, the other chain wheel (3) is connected with the driving crankshaft (2) through a key, and the two chain wheels (3) are driven by a chain.
4. The adaptive adjustment device according to claim 3, characterized in that the angular velocity of the active crankshaft (2) satisfies:
wherein: omega is the angular velocity of the driving crankshaft (2), g is the gravity acceleration, beta is the key surface inclination angle of the key type separating device, and r is the crankshaft radius.
5. The adaptive adjusting device according to claim 1, characterized in that the control feedback system (7) comprises an STM32 single chip microcomputer and a power supply circuit, and the power supply circuit is used for supplying power to the STM32 single chip microcomputer, the attitude sensor (4), the magnetostrictive displacement sensor (13) and the corresponding data acquisition unit.
6. An adaptive adjustment method of an adaptive adjustment device according to claims 1-5, characterized in that the STM32 single chip microcomputer judges the relationship between the optimal expansion amount H 'and the expansion amount H of the piston rod of the hydraulic oil cylinder (12), if H' is H, no control is needed; if H 'is not equal to H, the two-position four-way electromagnetic directional valve (8) is controlled to adjust the oil inlet direction of the hydraulic oil cylinder (12) until the piston rod of the hydraulic oil cylinder (12) is adjusted to the optimal telescopic amount H', so that the key type separating device key box (1) keeps the same working inclination angle of a horizontal road surface.
7. The adaptive adjustment method according to claim 6, wherein H' ≠ H, which specifically is: if H' is less than H, an oil inlet P of the two-position four-way electromagnetic directional valve (8) is connected with an oil outlet B, an oil outlet A is connected with a discharge port T, a gear pump (9) sucks hydraulic oil, the hydraulic oil enters a hydraulic oil cylinder (12) through the oil outlet B, and a piston rod is pushed to move in the direction far away from the key box (1); if H' is more than H, the two-position four-way electromagnetic directional valve (8) is reversed, an oil inlet P of the two-position four-way electromagnetic directional valve (8) is connected with an oil outlet A, an oil outlet B is connected with a discharge port T, the gear pump (9) sucks hydraulic oil, the hydraulic oil enters the hydraulic oil cylinder (12) through the oil outlet A, and the piston rod is pushed to move towards the direction close to the key type separating device key box (1).
8. The adaptive adjustment method according to claim 6, characterized in that the optimal expansion and contraction quantity H' is the inclination angle of the body detected by an STM32 single chip microcomputer according to an attitude sensor (4)
Obtaining; the expansion amount H is detected by a magnetostrictive displacement sensor (13).
9. The adaptive adjustment method according to claim 6, wherein the optimal amount of expansion and contraction is determined when the combine is on a downhill section
Wherein theta is the included angle between the key box (1) of the key type separating device and the hydraulic oil cylinder (12) when the road surface is horizontal, L is the distance between the driving crankshaft (2) and the driven crankshaft (14), S is the initial length of the piston rod of the hydraulic oil cylinder (12),
is the inclination angle of the machine body.
10. The adaptive adjustment method according to claim 9, wherein the optimal amount of expansion and contraction is determined when the combine is on an uphill road section
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Application publication date: 20210316 |