CN114847007B - Seedling pulling device of soybean harvester and control method - Google Patents
Seedling pulling device of soybean harvester and control method Download PDFInfo
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- CN114847007B CN114847007B CN202210636754.0A CN202210636754A CN114847007B CN 114847007 B CN114847007 B CN 114847007B CN 202210636754 A CN202210636754 A CN 202210636754A CN 114847007 B CN114847007 B CN 114847007B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/01—Devices for leading crops to the mowing apparatus
- A01D57/02—Devices for leading crops to the mowing apparatus using reels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/14—Measures for saving energy, e.g. in green houses
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Abstract
The invention discloses a reel device of a soybean harvester and a control method, wherein the front part of the inner side of a frame is rotationally connected with a reel mechanism, two sides of the frame are provided with detection mechanisms for detecting the working state of the reel, the detection mechanisms are electrically connected with a control mechanism, and the control mechanism is electrically connected with the reel mechanism; the reel mechanism comprises a reel and a frame support arm used for connecting the reel; the invention utilizes the rotating speed sensor to detect the advancing speed of the harvester, and takes the advancing speed of the harvester as the basis for adjusting the rotating speed of the reel, thereby realizing the real-time adjustment of the rotating speed of the reel of the harvester along with the change of the operating speed of the harvester; the height of the reel can be automatically adjusted along with the height of the input crops, so that the purpose of adjusting the height of the reel is achieved; the reel can be operated by a key to rotate, start, speed up and speed down; the push button is operated to control the action of the reel hydraulic solenoid valve so as to realize the lifting instruction of the reel height.
Description
Technical Field
The invention relates to the technical field of reel of a harvester, in particular to a reel device of a soybean harvester and a control method.
Background
The soybean is taken as the fourth grain crop in China, and is an important grain and oil feeding agricultural product. In order to ensure the soybean seedling pulling effect, the rotating speed of the seedling pulling wheel and the mounting position of the seedling pulling wheel are required to be adjusted according to the operation speed of the machine and the growth condition of crops during harvesting of the machine. Too fast reel speed can cause soybean pod frying and grain dropping loss; the rotating speed of the reel is too low, so that soybean stalks cannot be fed into the header in time, and the cutting effect of the soybean cutter is seriously affected. Secondly, the mounting position of the reel has close relation with the feeding effect, when the combine harvester works normally, the spring tooth position of the reel should be 2/3 of the height of the crop, the reel has poor reel effect, the crop stalks are easy to fall on the cutter after being cut, and the stalks can slide off the ground from the header; too low a position can result in the harvested crop and reel being entangled and the harvested crop being easily carried out of the machine. Therefore, in order to reduce the soybean reel grain drop loss, the reel rotating speed and the reel mounting height need to be adjusted.
The transmission system of the existing combine harvester is characterized in that a walking transmission system and a working part transmission system are respectively and independently adjusted, and hydraulic stepless speed change can be realized by the walking transmission system and the working part transmission system, but working parts of the combine harvester generally work in a full-load state during working, and the rotating speed is not easy to adjust during working; the machine operation speed in the harvesting process can be changed at any time, so that the rotation speed of the working part cannot be adjusted along with the change of the operation speed, and the adjustment of the rotation speed of the reel has obvious influence on the harvesting effect. However, in the transmission mode, the rotation speed of the reel is kept unchanged in the operation process of the machine, and matching adjustment cannot be performed in real time aiming at the change of the operation speed of the machine, so that the reel pulling efficiency and the feeding grain dropping loss are affected to a certain extent. Secondly, the reel spring tooth part adopts rigid spring teeth mostly, which is unfavorable for harvesting soybean crops, has larger impact on soybean stalks, and causes serious pod explosion and loss in the soybean feeding process.
Disclosure of Invention
The invention aims to provide a seedling pulling device of a soybean harvester and a control method thereof, so as to solve the problems in the prior art.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a reel device of a soybean harvester, which comprises a frame, wherein the front part of the inner side of the frame is rotationally connected with a reel mechanism, detection mechanisms for detecting the working state of the reel are arranged on two sides of the frame, the detection mechanisms are electrically connected with a control mechanism, and the control mechanism is electrically connected with the reel mechanism;
the reel mechanism comprises a reel and a frame support arm used for connecting the reel; the rack support arm is rotationally connected with one side of the top surface of the bracket, the middle part of the rack support arm is rotationally connected with a hydraulic cylinder, and the hydraulic cylinder is rotationally connected with the rack; the reel is detachably connected with a plurality of groups of elastic teeth, and the elastic teeth are made of flexible materials;
the detection mechanism comprises a displacement sensor for detecting the height of the reel, a vehicle sensor for detecting the speed of the harvester and a rotating speed sensor for detecting the rotating speed of the reel;
the control mechanism comprises a system controller and a touch screen for controlling the system controller.
Preferably, the reel comprises a main shaft positioned in the middle of the reel, and two ends of the main shaft are fixedly connected with spoke discs; the two ends of the main shaft are positioned outside the two groups of spoke plates and are respectively and rotatably connected with a main shaft mounting seat, and the main shaft mounting seats are fixedly connected with the rack support arms; the spoke disk is characterized in that a plurality of groups of spoke disk rods are connected with the circumference of the spoke disk at equal intervals, one end, far away from the spoke disk, of each spoke disk rod is hinged with a spring tooth shaft, and a plurality of groups of spring teeth are fixedly connected with the spring tooth shaft at equal intervals.
Preferably, the spoke plate is divided into a left spoke plate and a right spoke plate, and two ends of the spindle respectively penetrate through the left spoke plate and the right spoke plate;
a hub motor mounting disc is fixedly mounted in the middle of one side, far away from the rack support arm, of the right spoke disc, the hub motor is fixedly connected with the inside of the hub motor mounting disc, and the rotating shaft of the hub motor is fixedly connected with the main shaft; one side of the hub motor mounting plate, which is far away from the right spoke plate, is fixedly connected with the main shaft mounting seat;
an eccentric disc is arranged on one side of the left spoke disc, which is close to the rack support arm, the back of the eccentric disc is fixedly connected with the rack support arm, and three groups of cylindrical roll shafts are arranged at equal intervals on the edge part of the eccentric disc, which faces one side end surface of the left spoke disc; an eccentric main shaft is fixedly arranged on one side of the central position of the end face of the eccentric disc, the eccentric main shaft is fixedly connected with the main shaft, the outer parts of the three groups of cylindrical roll shafts are connected with eccentric spoke discs, and the central position of each eccentric spoke disc is fixedly connected with the eccentric main shaft.
Preferably, a crank is arranged between the end part of each spoke disc rod on the eccentric spoke disc and the end part of each elastic tooth shaft closest to the spoke disc rod, one end of the crank is fixedly connected with the end part of the elastic tooth shaft, and the other end of the crank is hinged with the end part of the spoke disc rod on the eccentric spoke disc.
Preferably, the displacement sensor is fixedly arranged at one side of the end part of a piston rod of the hydraulic cylinder, the vehicle speed sensor is coaxially connected and rotatably arranged on a driving wheel shaft of a crawler chassis structure of the harvester, and the rotating speed sensor is fixedly arranged inside the hub motor.
Preferably, the system controller and the touch screen are electrically connected with a vehicle-mounted power supply, and the hydraulic proportional electromagnetic valve, the system controller, the vehicle-mounted power supply and the circuit switching system are all arranged inside the distribution box; the system controller is also electrically connected with a hydraulic proportional electromagnetic valve, and the hydraulic proportional electromagnetic valve is arranged inside the harvester frame; the touch screen is installed on the harvester operation table.
Preferably, a cutter is fixedly arranged at the bottom of the reel at the inner side of the frame, and the cutter is in transmission connection with the cutting table driving main shaft; the inner side of the frame is positioned at the rear part of the reel and is rotationally connected with a spiral conveying cylinder, and a rotating shaft of the spiral conveying cylinder is in transmission connection with the cutting table driving main shaft.
A control method of a seedling pulling device of a soybean harvester comprises the following steps:
step one: detecting the travelling speed of the harvester through a vehicle speed sensor;
step two: the rotating speed of the reel at a certain moment is compared with the target rotating speed of the reel, and then a speed regulating command is sent to the hub motor through a control system controller;
step three: the average height value of crops is input into the touch screen, the controller reads information, then the target mounting height of the reel is calculated, and the working height of the reel is adjusted by controlling the hydraulic cylinder.
Preferably, (a) a reelOne time rotation speed n<Reel target speed n d When the reel rotation speed reaches the target rotation speed value, the controller sends a speed increasing instruction to the drive hub motor;
(b) Reel rotation speed n at a certain moment>Reel target speed n d When the reel rotation speed is reduced, the controller sends a command for reducing the reel rotation speed to the drive hub motor so that the rotation speed reaches a target rotation speed value;
(c) When the system detects a certain moment of the reel rotating speed n and the reel target rotating speed n d When the signals are equal, the reel rotating speed control program continues to execute the sensor signal acquisition and analysis, and the next automatic control operation is finished.
Preferably, reel speed control: according to the comparison of the detected harvesting operation speed of the harvester and the actual rotating speed of the reel, the reel controller software program calculates the target rotating speed of the reel according to the harvesting operation speed, and compares the target rotating speed with the actual rotating speed of the reel; the actual rotating speed of the reel is detected by a Hall magneto-electric speed sensor in the hub motor, a reel rotating speed signal wire is connected to the input end of the system controller, and the rotating speed signal is transmitted to the touch screen for display after being converted by the system controller.
The invention discloses the following technical effects: on the basis of the mechanical adjustment reel of the traditional harvester, the automatic control of the reel rotating speed and the automatic control of the reel height are realized by adopting a sensor technology, an electric control technology, a hydraulic transmission technology and the like so as to match the change of the machine operation speed and timely carry out automatic adjustment on the reel when the field is replaced, meanwhile, the system has a manual mode, the drive mode of the reel is driven by adopting a hub motor, and the control system can detect the working state of the reel in real time by utilizing a sensor and timely take control measures; the reel spring tooth part is made of resin materials with good anti-adhesion and high wear resistance, reduces the impact of the spring tooth on crops, prevents the cut crops from winding the reel spring tooth, and ensures the reel working performance. Compared with the traditional reel, the reel control system has the advantages that the operation is simpler and more convenient, the reel effect of crops is improved, the feeding loss of the crops is improved, and the working efficiency of the harvester is greatly improved. When soybean crops are harvested, the reel device produced by the technology and the installation configuration control system are installed, so that the loss of pod explosion of the header can be reduced to a certain extent, and the feeding effect of the crops is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of a reel apparatus and control system of the present invention;
FIG. 2 is a schematic view of a reel unit according to the present invention;
FIG. 3 is a schematic view of another construction of a reel apparatus according to the present invention;
FIG. 4 is a schematic diagram of the connection between the right spoke plate and the hub motor according to the present invention;
FIG. 5 is a schematic view of the deflecting wheel structure of the present invention;
FIG. 6 is a schematic view of the relationship between deflection wheel and left spoke disk according to the present invention;
FIG. 7 is a schematic view of the structure of the spring tooth and spring tooth shaft of the present invention;
FIG. 8 is a schematic view of the connection of a spring tooth to a spring tooth shaft according to the present invention;
FIG. 9 is a diagram of a system hardware connection of the present invention;
FIG. 10 is a flowchart of a control method according to the present invention.
1. A frame; 2. reel wheel; 3. a hub motor; 4. a hydraulic cylinder; 5. a displacement sensor; 6. a vehicle speed sensor; 7. a crawler chassis drive wheel; 8. a distribution box; 9. a touch screen; 10. a hydraulic proportional solenoid valve; 11. a cutting knife; 12. a frame support arm; 13. a spoke plate lever; 14. a right spoke plate; 15. a spindle mounting base; 16. a left spoke plate; 17. an eccentric spoke plate; 18. a main shaft; 19. spring teeth; 20. spring tooth shaft; 21. a screw conveying cylinder; 22. a crank; 23. an eccentric disc; 24. a cylindrical roller shaft; 25. the cutting table drives the main shaft; 26. an eccentric rotating shaft; 27. a shaft sleeve; 28. wheel hub motor mounting plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1-10, the invention provides a soybean harvester reel device, which comprises a frame 1, wherein the front part of the inner side of the frame 1 is rotationally connected with reel 2 mechanisms, the two sides of the frame 1 are provided with detection mechanisms for detecting the working state of the reel 2, the detection mechanisms are electrically connected with control mechanisms, and the control mechanisms are electrically connected with the reel 2 mechanisms; the reel 2 mechanism comprises a reel 2 and a frame support arm 12 for connecting the reel 2; the frame support arm 12 is rotationally connected with one side of the top surface of the bracket, the middle part of the frame support arm 12 is rotationally connected with the hydraulic cylinder 4, and the hydraulic cylinder 4 is rotationally connected with the frame 1; the reel 2 is detachably connected with a plurality of groups of spring teeth 19, and the groups of spring teeth 19 are made of flexible materials; the reel-pulling elastic tooth 19 part of the reel-pulling device is made of resin materials with good anti-adhesion and high wear resistance, and the reel-pulling elastic tooth 19 is matched with the rigid elastic tooth 19 of the traditional harvester, so that the impact of the elastic tooth 19 on crops can be reduced, the cut crops are prevented from winding the reel-pulling elastic tooth 19, and the working performance of the reel 2 is ensured.
The detection mechanism comprises a displacement sensor 5 for detecting the height of the reel 2, a vehicle sensor for detecting the speed of the harvester and a rotating speed sensor for detecting the rotating speed of the reel 2; the control mechanism includes a system controller and a touch screen 9 for manipulating the system controller.
The current mounting height of the reel 2 is indirectly obtained after being detected by the displacement sensor 5 and calculated by the controller, the height information and the rotating speed information of the reel 2 can be displayed on the touch screen 9, the height of the reel 2 takes the given crop height parameter in the touch screen 9 as the automatic adjustment basis of the height of the reel 2, the automatic adjustment of the extending position of a hydraulic rod of the height of the reel 2 along with the input crop height is realized, and the purpose of adjusting the height of the reel 2 is achieved; the control system is provided with a manual mode, and in the manual mode, the rotation of the reel 2 can be started, accelerated and decelerated by key operation; the push button is operated to control the action of the hydraulic electromagnetic valve of the reel 2 so as to realize the lifting instruction of the height of the reel 2.
The reel 2 rotates the power supply and adopts the wheel hub motor 3, compares traditional mechanical belt pulley transmission and adopts hydraulic motor to drive, has transmission efficiency height, and the response is fast, advantage that the precision is high.
The reel 2 comprises a main shaft 18 positioned in the middle of the reel 2, and two ends of the main shaft 18 are rotatably connected with spoke plates; the two ends of the main shaft 18 are fixedly connected with main shaft mounting seats 15 on the outer sides of the two groups of spoke plates, and the main shaft mounting seats 15 are fixedly connected with the frame support arm 12; the spoke disk circumference is equidistant to be connected with a plurality of groups of spoke disk poles 13, and the one end that every group spoke disk pole 13 kept away from the spoke disk articulates has the spring tooth axle 20, equidistant fixedly connected with a plurality of groups of spring teeth 19 on the spring tooth axle 20. In addition, the spring tooth 19 of the reel 2 is made of rubber materials, an anti-sticking and wear-resistant coating is attached to the surface of the spring tooth, the tip of the spring tooth is bent at a certain angle to replace the rigid spring tooth 19 equipped by a traditional harvester, the base of the spring tooth 19 is buckled on the shaft of the spring tooth 19, and the spring tooth is locked by bolts and screws to realize circumferential and axial fixation; the striking force of the spring tooth 19 to crops in the reel operation can be reduced, and the anti-sticking wear-resistant coating is coated on the surface of the spring tooth 19 so as to reduce the problem that the stalks are wound around the spring tooth 19. The main shaft of the reel is fixedly connected to the main shaft mounting seat, and the main shaft of the hub motor is fixedly arranged with the reel main shaft. When the reel is in operation, the reel power is driven by the hub motor to realize rotation, the right disc is driven by the hub outer edge disc, the right disc drives the disc rod, and the left end of the elastic gear shaft is hinged on the left disc rod, so that the right disc and the left disc form a rotating main body and rotate around the main shaft.
The spoke plate of the reel 2 is a five-star spoke plate and has five groups of elastic gear shafts 20, so that the reel 2 mechanism is composed of a plurality of groups of parallel four-bar mechanisms. So set up, during operation, can ensure that the parallel insertion of spring tooth 19 is tied to the crop, reduces the striking to the crop ear of grain head.
The spoke plate is divided into a left spoke plate 16 and a right spoke plate 14, and two ends of a main shaft 18 respectively penetrate through the left spoke plate 16 and the right spoke plate 14;
a hub motor mounting disc 28 is fixedly mounted in the middle of one side, far away from the rack support arm 12, of the right spoke disc 14, the inside of the hub motor mounting disc 28 is fixedly connected with a hub motor 3, and a rotating shaft of the hub motor 3 is fixedly connected with the main shaft 18; one side of the hub motor mounting plate 28, which is far away from the right spoke plate 14, is fixedly connected with the main shaft mounting seat 15;
an eccentric disc 23 is arranged on one side of the left spoke plate 16, which is close to the rack support arm 12, the back of the eccentric disc 23 is fixedly connected with the rack support arm 12, and three groups of cylindrical roll shafts 24 are arranged at equal intervals on the edge part of the eccentric disc 23, which faces one side end surface of the left spoke plate 16; an eccentric main shaft 18 is fixedly arranged on one side of the center position of the end face of the eccentric disc 23, the eccentric main shaft is fixedly connected with the main shaft 18, the outer parts of the three groups of cylindrical roll shafts are connected with eccentric spoke discs 17, and the center position of each eccentric spoke disc 17 is fixedly connected with the eccentric main shaft at a certain eccentric distance.
A crank 22 is arranged between the end part of each spoke plate rod 13 on the eccentric spoke plate 17 and the end part of each elastic tooth shaft 20 closest to the end part, one end of the crank 22 is fixedly connected with the end part of the elastic tooth shaft 20, and the other end of the crank 22 is hinged with the end part of the spoke plate rod 13 on the eccentric spoke plate 17.
The displacement sensor 5 is fixedly arranged at one side of the end part of a piston rod of the hydraulic cylinder 4, the vehicle speed sensor 6 is coaxially and rotatably arranged on a driving wheel shaft of a crawler chassis structure of the harvester, and the rotating speed sensor is fixedly arranged in the hub motor 3; the sensors all adopt sensor modules, and comprise a displacement sensor 5 for detecting the mounting height of a main shaft 18 of the reel 2 and a harvester speed sensor 6 module; the vehicle speed sensor 6 module is fixedly connected to the chassis frame of the crawler chassis of the harvester by adopting an incremental encoder through an encoder mounting frame, and an incremental encoder shaft is connected to a shaft body of the driving wheel through a shaft coupling;
the system controller and the touch screen 9 are electrically connected with a vehicle-mounted power supply, and the hydraulic proportional electromagnetic valve 10, the system controller, the vehicle-mounted power supply and the circuit conversion system are all arranged in the distribution box 8; the system controller is also electrically connected with a hydraulic proportional electromagnetic valve 10, and the hydraulic proportional electromagnetic valve 10 is arranged at the bottom of the harvester; the touch screen 9 is mounted on the harvester console. In addition, the controller of the control system obtains information of the sensor module, receives information and instructions input by the touch screen 9, combines control strategy judgment, and sends control instructions to the hub motor 3 and the hydraulic proportional solenoid valve 10 for controlling the lifting of the hydraulic cylinder 4.
The inner side of the frame 1 is fixedly provided with a cutter 11 at the bottom of the reel 2, and the cutter 11 is in transmission connection with a cutting table driving main shaft 25; the inner side of the frame 1 is positioned at the rear part of the reel 2 and is rotationally connected with a spiral conveying cylinder 21, and the rotating shaft of the spiral conveying cylinder 21 is in transmission connection with a cutting table driving main shaft 25. The cutting knife 11 converts the rotation of the cutting table driving main shaft 25 into a reciprocating cutting mode of the cutting knife 11 through a swinging ring mechanism by the cutting table driving main shaft 25; the pendulum ring mechanism comprises a pendulum ring, a pendulum shaft and a pendulum fork; wherein the wobble ring is in driving connection with the header drive spindle 25.
A control method of a seedling pulling device of a soybean harvester comprises the following steps:
step one: detecting the travelling speed of the harvester through a vehicle speed sensor 6;
step two: the rotating speed of the reel 2 at a certain moment is compared with the target rotating speed of the reel 2, and then a control system controller sends a speed regulating instruction to the hub motor 3;
step three: the average height value of crops is input into the touch screen 9, the controller reads information, then the target mounting height of the reel 2 is calculated, and the working height of the reel 2 is adjusted by controlling the hydraulic cylinder 4. The reel mounting height is controlled, and the reel 2 mounting height refers to the relative vertical distance between the spindle 18 axis of the reel 2 and the cutter 11; the control of the reel mounting height adopts the key electric control operation of the touch screen 9, an operator firstly inputs the average height value of crops on the touch screen 9, the controller can calculate the target mounting height of the reel 2 after reading information, and the displacement sensor 5 can display the current mounting height of the reel 2 on the touch screen 9 after sending the information of the extending position of the hydraulic rod to the controller for calculation. When the front height does not reach the target height, an operator can input a lifting or lowering instruction on the touch screen 9 and send the lifting or lowering instruction to the controller, and then sends a valve switch signal to the hydraulic electromagnetic control valve through a control signal after the control signal is processed by the controller, so that lifting operation of the hydraulic cylinder 4 is controlled, and mounting height adjustment of the reel 2 is realized.
(a) Reel 2 rotation speed n at a certain moment<Reel 2 target rotational speed n d When the reel 2 rotates, the controller sends a speed increasing instruction to the driving hub motor 3 until the rotating speed of the reel 2 reaches a target rotating speed value;
(b) Reel 2 rotation speed n at a certain moment>Reel 2 target rotational speed n d When the reel 2 is in a rotating state, the controller sends a command for reducing the rotating speed of the reel 2 to the driving hub motor 3 so as to enable the rotating speed to reach a target rotating speed value;
(c) When the system detects a certain moment of the reel 2, the rotating speed n and the target rotating speed n of the reel 2 d When the signals are equal, the reel 2 rotating speed control program continues to execute sensor signal acquisition and analysis, and the next automatic control operation is finished.
Reel 2 rotation speed control: according to the comparison of the detected harvesting operation speed of the harvester and the actual rotating speed of the reel 2, a reel controller software program calculates the target rotating speed of the reel 2 according to the harvesting operation speed, and compares the target rotating speed with the actual rotating speed of the reel 2; the actual rotation speed of the reel 2 is detected by a Hall magneto-electric speed sensor in the hub motor 3, a rotation speed signal wire of the reel 2 is connected to the input end of a system controller, and the rotation speed signal is converted by the system controller and then is transmitted into a touch screen 9 for display.
The working process comprises the following steps: before the soybean harvester starts harvesting operation, firstly starting an engine and a reel 2 control system, after the control system is initialized, starting to send data reading instructions to a vehicle speed sensor 6, a reel 2 rotating speed sensor, a displacement sensor 5 and the like by a controller, and receiving input instructions from a touch screen 9 end, wherein the controller waits for the touch screen 9 to operate and confirm to enter an automatic mode or a manual mode for control; when the controller receives the control mode, the controller starts to process the received signals and instructions and obtains the reel 2 adjusting rotation speed value and the hydraulic electromagnetic valve control value after the control mode is processed by the controller program algorithm, the controller respectively sends control information to the hub motor 3 driver and the hydraulic electromagnetic proportional reversing valve to realize the adjustment of the reel 2 rotation speed and the installation height, and the controller can send the reel 2 current state information to the touch screen 9 through the communication end for display.
After the control system is initialized, the controller sends a reading instruction to the sensor, waits for receiving the instruction and the input signal from the touch screen 9, and sets a crop height parameter L in the touch screen 9 to obtain a reference basis for adjusting the height of the reel 2. The touch screen 9 operation also includes determining control modes of the control system, i.e., a manual control mode and an automatic control mode; in a manual control mode, the reel 2 can be operated to start rotating, increase and decrease the rotating speed; lifting and lowering the reel 2;
reel 2 automatic control mode:
in the automatic control process of the rotating speed of the reel 2, the rotating speed control of the reel 2 takes the speed of the machine advancing speed as the adjustment basis, the input end of the control system receives a vehicle speed signal and the current rotating speed n signal of the reel 2, and the controller calculates the target rotating speed (n d ) And comparing the target rotating speed with the current rotating speed, and controlling the mode:
(a) Current rotation speed n of reel 2<Reel 2 target rotational speed n d And the controller sends a speed increasing instruction to the driving hub motor 3 until the rotating speed of the reel 2 reaches a target rotating speed value.
(b) Current rotation speed n of reel 2>Reel 2 target rotational speed n d When the reel 2 is started, the controller sends a command for reducing the rotating speed of the reel 2 to the drive hub motor 3, and the drive hub motor 3 outputs a corresponding control signal to drive the hub motor 3 to enable the rotating speed to reach a target rotating speed value n d 。
(c) When the system detects the current rotation speed n of the reel 2 and the target rotation speed n of the reel 2 d When the signals are equal, the reel 2 rotating speed control program continues to execute sensor signal acquisition and analysis, and the next automatic control operation is finished.
The installation height of the reel 2 is automatically adjusted, the control of the installation height of the reel is based on the given crop height parameter in the touch screen 9, an operator inputs the average crop height value L in the touch screen 9, the controller can calculate the target installation height Hd of the reel 2 after reading the crop height information, and the displacement sensor 5 sends the information of the extending position of the hydraulic rod to the controller for calculation and can display the current installation height (H) of the reel 2 on the touch screen 9. When the current height (H) does not reach the target height, the controller outputs a height control quantity, and sends a control signal to the hydraulic electromagnetic control valve to switch a valve after processing, so that the lifting operation of the hydraulic cylinder 4 is controlled, and the mounting height adjustment of the reel 2 is realized.
Reel 2 rotational speed regulation condition: the machine operation speed is generally kept constant in the working process of the harvester, and the rotating speed of the reel 2 is controlled at the moment, so that the rotating speed is regulated and controlled in real time according to the machine operation speed, and the rotating speed regulation range is stable; when the density degree of the front crop growth changes, the harvester manipulator can control the operation speed of the harvester in advance to perform speed increasing and speed decreasing operations so as to improve the crop feeding efficiency and prevent the crop feeding process from generating blockage. Firstly, in a land with sparse crop density, a manipulator generally increases the operation speed of the machine, and the rotation speed of the reel 2 is correspondingly increased along with the increase of the operation speed so as to prevent crops from being pushed by the machine to be difficult to feed, and improve the feeding efficiency of the crops; secondly, in the plots with dense crop density, the machine operator can reduce the working speed of the machine in advance, and the rotating speed of the reel 2 correspondingly reduces the rotating speed so as to match the working speed of the machine to perform reel feeding work.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (7)
1. A soybean harvester reel device, characterized in that: the automatic reel pulling machine comprises a frame (1), reel pulling mechanisms are rotatably connected to the front part of the inner side of the frame (1), detection mechanisms for detecting the working state of reels (2) are arranged on two sides of the frame (1), and are electrically connected with control mechanisms which are electrically connected with the reel pulling mechanisms;
the reel mechanism comprises a reel (2) and a frame support arm (12) used for connecting the reel (2); the machine frame support arm (12) is rotationally connected with one side of the top surface of the machine frame (1), the middle part of the machine frame support arm (12) is rotationally connected with the hydraulic cylinder (4), and the hydraulic cylinder (4) is rotationally connected with the machine frame (1); a plurality of groups of elastic teeth (19) are detachably connected to the reel (2), and the elastic teeth (19) are made of flexible materials;
the detection mechanism comprises a displacement sensor (5) for detecting the height of the reel (2), a vehicle speed sensor for detecting the speed of the harvester and a rotating speed sensor for detecting the rotating speed of the reel (2);
the control mechanism comprises a system controller and a touch screen (9) for controlling the system controller;
the reel (2) comprises a main shaft (18) positioned in the middle of the reel (2), and spoke discs are fixedly connected to two ends of the main shaft (18); the two ends of the main shaft (18) are fixedly connected with main shaft mounting seats (15) at the outer sides of the two groups of spoke plates, and the main shaft mounting seats (15) are fixedly connected with the rack support arms (12); a plurality of groups of spoke disc rods (13) are connected with the circumference of the spoke disc at equal intervals, a spring tooth shaft (20) is hinged to one end, far away from the spoke disc, of each group of spoke disc rods (13), and a plurality of groups of spring teeth (19) are fixedly connected to the spring tooth shaft (20) at equal intervals;
the spring tooth (19) is made of rubber material, an anti-sticking wear-resistant coating is attached to the surface of the spring tooth, and the tip is bent at a certain angle; the base of the spring tooth (19) is buckled on the spring tooth shaft (20) and locked by bolts and screws to realize circumferential and axial fixation;
the spoke plate of the reel (2) is a five-star spoke plate, and five groups of elastic tooth shafts (20) are shared;
the spoke plates are divided into a left spoke plate (16) and a right spoke plate (14), and two ends of the main shaft (18) respectively penetrate through the left spoke plate (16) and the right spoke plate (14); a hub motor mounting disc (28) is fixedly mounted in the middle of one side, far away from the rack support arm (12), of the right spoke disc (14), a hub motor (3) is fixedly connected inside the hub motor mounting disc (28), and a rotating shaft of the hub motor (3) is fixedly connected with the main shaft (18); one side of the hub motor mounting disc (28) far away from the right spoke disc (14) is fixedly connected with the main shaft mounting seat (15);
an eccentric disc (23) is arranged on one side of the left spoke disc (16) close to the rack support arm (12), the back of the eccentric disc (23) is fixedly connected with the rack support arm (12), and three groups of cylindrical roll shafts (24) are arranged at equal intervals on the edge part of the eccentric disc (23) facing to one side end surface of the left spoke disc (16); an eccentric main shaft is fixedly arranged on one side of the central position of the end face of the eccentric disc (23), the eccentric main shaft is fixedly connected with the main shaft (18), the outer parts of the three groups of cylindrical roll shafts (24) are connected with eccentric spoke discs (17), and the central position of each eccentric spoke disc (17) is fixedly connected with the eccentric main shaft;
a crank (22) is arranged between the end part of each spoke plate rod (13) on the eccentric spoke plate (17) and the end part of each elastic gear shaft (20) closest to the spoke plate rod, one end of the crank (22) is fixedly connected with the end part of each elastic gear shaft (20), and the other end of the crank (22) is hinged with the end part of each spoke plate rod (13) on the eccentric spoke plate (17).
2. The soybean harvester reel of claim 1, wherein: the displacement sensor (5) is fixedly arranged on one side of the end part of a piston rod of the hydraulic cylinder (4), the vehicle speed sensor (6) is fixedly arranged on a chassis of the harvester, and the rotating speed sensor is fixedly arranged inside the hub motor (3).
3. A soybean harvester reel apparatus as in claim 2 wherein: the system controller and the touch screen (9) are electrically connected with a vehicle-mounted power supply and a hydraulic proportional electromagnetic valve (10), and the hydraulic proportional electromagnetic valve (10), the system controller, the vehicle-mounted power supply and the circuit switching system are all arranged inside the distribution box (8); the system controller is also electrically connected with a hydraulic proportional electromagnetic valve (10), and the hydraulic proportional electromagnetic valve (10) is arranged inside the harvester frame; the touch screen (9) is arranged on the harvester operation table.
4. A soybean harvester reel apparatus according to claim 3, wherein: a cutting knife (11) is fixedly arranged at the bottom of the reel (2) on the inner side of the frame (1), and the cutting knife (11) converts the rotation of the cutting table driving main shaft (25) into a reciprocating cutting mode of the cutting knife (11) through a cutting table driving main shaft (25) through a swinging ring mechanism; the inner side of the frame (1) is positioned at the rear part of the reel (2) and is rotationally connected with a spiral conveying cylinder (21), and a rotating shaft of the spiral conveying cylinder (21) is in transmission connection with a cutting table driving main shaft (25).
5. A control method of a soybean harvester reel apparatus, applied to a soybean harvester reel apparatus according to any one of claims 1 to 4; the method is characterized in that: the method comprises the following steps:
step one: detecting the travelling speed of the harvester through a vehicle speed sensor (6);
step two: the rotating speed of the reel (2) at a certain moment is compared with the target rotating speed of the reel (2), and then a speed regulating command is sent to the hub motor (3) through the control system controller;
step three: the average height value of crops is input into the touch screen (9), after the controller reads information, the target installation height of the reel (2) is calculated, and the working height of the reel (2) is adjusted by controlling the hydraulic cylinder (4).
6. The control method of a reel unit of a soybean harvester according to claim 5, wherein: the second step includes the following three cases:
(a) When the rotating speed n of the reel (2) at a certain moment is less than the target rotating speed n d of the reel (2), the controller sends a speed increasing instruction to the driving hub motor (3) until the rotating speed of the reel (2) reaches a target rotating speed value;
(b) When the rotating speed n of the reel (2) at a certain moment is larger than the target rotating speed n d of the reel (2), the controller sends a command for reducing the rotating speed of the reel (2) to the driving hub motor (3) so that the rotating speed reaches a target rotating speed value;
(c) When the system detects that the rotating speed n of the reel (2) is equal to the target rotating speed n d of the reel (2) at a certain moment, the rotating speed control program of the reel (2) continuously executes sensor signal acquisition and analysis, and the next step of automatic control operation is finished.
7. The control method of a reel unit of a soybean harvester according to claim 6, wherein: and D, controlling the rotating speed of the reel in the second step: according to the comparison of the detected harvesting operation speed of the harvester and the actual rotating speed of the reel (2), a reel controller software program calculates the target rotating speed of the reel (2) according to the harvesting operation speed, and compares the target rotating speed with the actual rotating speed of the reel (2); the actual rotation speed of the reel (2) is detected by a Hall magneto-electric speed sensor in the hub motor (3), a rotation speed signal wire of the reel (2) is connected to the input end of a system controller, and the rotation speed signal is transmitted to a touch screen (9) for display after being converted by the system controller.
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