CN117084068A - Height follow-up copying device for cutting table of crawler-type sugarcane harvester and control method - Google Patents
Height follow-up copying device for cutting table of crawler-type sugarcane harvester and control method Download PDFInfo
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- CN117084068A CN117084068A CN202210516791.8A CN202210516791A CN117084068A CN 117084068 A CN117084068 A CN 117084068A CN 202210516791 A CN202210516791 A CN 202210516791A CN 117084068 A CN117084068 A CN 117084068A
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- 240000000111 Saccharum officinarum Species 0.000 title claims abstract description 96
- 235000007201 Saccharum officinarum Nutrition 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 230000008859 change Effects 0.000 claims abstract description 41
- 239000010720 hydraulic oil Substances 0.000 claims description 5
- 238000003306 harvesting Methods 0.000 abstract description 32
- 238000012876 topography Methods 0.000 abstract description 6
- 238000011897 real-time detection Methods 0.000 abstract 1
- 230000008901 benefit Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000034655 secondary growth Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/28—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull
- A01D75/287—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull acting on the mowing table
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/10—Harvesting of standing crops of sugar cane
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D47/00—Headers for topping of plants, e.g. stalks with ears
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention relates to the technical field of mechanical harvesting equipment, in particular to a height follow-up copying device of a cutting table of a crawler-type sugarcane harvester and a control method. The device comprises a connecting outer wall, a rotating shaft, an elastic reset mechanism I, a connecting mechanism, a profiling rod and an elastic reset mechanism II, wherein the connecting mechanism is rotationally connected with the connecting outer wall through the rotating shaft; the upper end of the profiling rod is rotationally connected with the connecting mechanism, the elastic reset mechanism II is arranged between the profiling rod and the connecting mechanism, and the elastic reset mechanism II is used for resetting the profiling rod. The control method is to output a header height adjusting signal for self-adaptively adjusting the header height according to the real-time detection angle change of the header height follow-up profiling device. The invention can profile the topography of the sugarcane harvesting operation area, convert the relief change of the harvesting operation area into the angle information of the device, and serve as feedback information for controlling the lifting of the cutting table of the crawler-type sugarcane harvester.
Description
Technical Field
The invention relates to the technical field of mechanical harvesting equipment, in particular to a height follow-up copying device of a cutting table of a crawler-type sugarcane harvester and a control method.
Background
Sugarcane is one of main cash crops in Guangxi regions of China and is a main source of sugar raw materials in China. The Guangxi region is located in the south of China, and the landform is characterized by hilly landform of mountain land, so that the height of the land is uneven in the sugarcane planting and harvesting operation region, and the height of the cutting table needs to be timely adjusted due to the uneven land during mechanical harvesting operation, so that the quality of sugarcane harvesting is ensured. At present, the actual condition of the sugarcane harvesting machine in China for harvesting sugarcane is that the cutting table is not adjusted after being adjusted once on the ground. Because the topography of the harvesting operation area is uneven, when the sugarcane harvester is used for harvesting, the height of the harvester for cutting the root of the sugarcane is easily too high, or the root of the sugarcane is thoroughly cut off, and the two conditions are not beneficial to secondary growth of the sugarcane, so that the yield and quality of the sugarcane are reduced when the sugarcane is harvested in the next pressing season, and the overall economic benefit of the sugarcane is reduced. Meanwhile, a large amount of soil is attached to the excised sugarcane root, so that bacteria breeding is facilitated, the storage time of the sugarcane is shortened, and the economic cost of purifying a sugar refinery is increased. In order to ensure the harvesting quality of the sugarcane and improve the overall economic benefit of the sugarcane planting industry, a header follow-up copying device capable of automatically lifting a header of a sugarcane harvester along with the relief change of an operation harvesting area is needed to be solved.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the height follow-up copying device of the cutting table of the crawler-type sugarcane harvester and the control method thereof, so that the cutting table can be adaptively adjusted to a certain extent along with the fluctuation of the topography of the harvesting operation when the sugarcane harvester is in harvesting operation, the quality of sugarcane harvesting is improved, and the overall economic benefit of a sugarcane harvesting area is increased.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides a height follow-up copying device of a cutting table of a crawler-type sugarcane harvester, which comprises a connecting outer wall, a rotating shaft, an elastic reset mechanism I, a connecting mechanism, a copying rod and an elastic reset mechanism II, wherein the connecting mechanism is rotationally connected with the connecting outer wall through the rotating shaft; the upper end of the profiling rod is rotationally connected with the connecting mechanism, the elastic reset mechanism II is arranged between the profiling rod and the connecting mechanism, and the elastic reset mechanism II is used for resetting the profiling rod.
The rotating shaft horizontally penetrates through the connecting mechanism and is fixed relative to the connecting mechanism, and an angle sensor is connected to the end portion of the rotating shaft.
The elastic reset mechanism I comprises two groups of torsion springs, the two groups of torsion springs are respectively sleeved at the two ends of the rotating shaft, one end of each torsion spring is fixedly connected with the connecting mechanism, and the other end of each torsion spring is connected with the connecting outer wall.
The two connecting outer walls are respectively connected with the two ends of the rotating shaft in a rotating way.
The connecting mechanism comprises a fixed connecting piece, a rotary roller connecting piece and a rotary roller which are sequentially and fixedly connected, wherein the fixed connecting piece is provided with a mounting hole for fixing the rotary shaft; the profiling rod is in shaft hole fit with the rotary drum, and the rotation axis of the profiling rod is perpendicular to the axis of the rotary shaft.
The opposite sides of the rotary drum are provided with planes for connection with the rotary drum connectors.
The upper end of the profiling rod is a straight line segment, the bottom of the profiling rod is of a circular arc structure, a plurality of positioning holes are formed in the straight line segment at intervals along the length direction, and the profiling rod is axially limited through a limiting pin inserted into the positioning holes.
The elastic reset mechanism II comprises two groups of extension springs, the two groups of extension springs are respectively positioned on two opposite sides of the profiling rod, and two ends of the extension springs are respectively connected with the rotary roller and the profiling rod.
The opposite sides of the rotary roller and the profiling rod are respectively provided with a tension spring connecting bulge.
The connecting outer wall is connected with a crawler chassis of the crawler-type sugarcane harvester.
Height follow-up self-adaptive adjustment control system of crawler-type sugarcane harvester header includes: harvester header height follow-up copying device, header height lifting mechanism and vehicle-mounted controller;
the harvester header height follow-up profiling device is used for detecting the angle change of a profiling rod of the header height profiling device caused by the fluctuation of the ground in the field in real time;
the header height lifting mechanism on the harvester is used for controlling the header to lift;
the vehicle-mounted controller is arranged on the crawler-type sugarcane harvester and is respectively connected with an angle sensor of a header height follow-up copying device of the harvester and a hydraulic valve of a header height lifting mechanism, and a program for adaptively adjusting the header height is stored on the vehicle-mounted controller; when the vehicle-mounted controller executes a header height self-adaptive adjusting program, a signal is output to the hydraulic valve to control the header height to carry out self-adaptive adjustment according to the real-time angle change of the profiling rod so as to adapt to the field fluctuation ground.
The height follow-up profiling control method for the cutting table of the crawler-type sugarcane harvester comprises the following steps:
s1, when the crawler-type sugarcane harvester works, an angle sensor of the profiling device detects the angle change of a profiling rod of the header height profiling device caused by fluctuation of the ground in the field in real time and outputs the angle change to a vehicle-mounted controller;
s2, the vehicle-mounted controller calculates the lifting difference value of the height of the cutting table from the ground according to the angle change of the profiling rod;
s3, the vehicle-mounted controller judges whether the lifting difference value exceeds a lifting or descending threshold value; if the height of the harvester cutting table is not exceeded, the vehicle-mounted controller outputs a control signal to the hydraulic valve according to the lifting difference value, and the hydraulic valve controls the hydraulic oil cylinder to act to drive the cutting table to ascend or descend, so that the height of the harvester cutting table is adaptively adjusted.
The lift difference of harvester header from ground height is calculated according to the angle change of profile modeling pole to on-vehicle controller, includes:
when the ground is raised, the height of the follow-up copying device is changed as follows:
Δh＝Lcosθ 0 -Lcosθ 1 ，
wherein L is the center of the rotation shaft to the profiling rodDistance of arc tip, θ 0 For the initial angle theta of the height follow-up copying device of the cutting table of the crawler-type sugarcane harvester when contacting with the ground 1 ＝θ 0 +Δθ 1 ，Δθ 1 The angle change of the profiling device caused by the protrusion of the ground is detected and obtained by an angle sensor;
when the ground is sunken, the height change of follow-up profiling device is:
Δh'＝Lcosθ 2 -Lcosθ 0 ，
wherein L is the distance from the center of the rotating shaft to the arc top end of the profiling rod, theta 0 For the initial angle theta of the height follow-up copying device of the cutting table of the crawler-type sugarcane harvester when contacting with the ground 2 ＝θ 0 -Δθ 2 ，Δθ 2 The angle change of the profiling device caused by the depression of the ground is detected and obtained by an angle sensor.
The vehicle-mounted controller outputs a control signal to the hydraulic valve according to the lifting difference value, and the control signal is subjected to follow-up regulation control by adopting a fuzzy PID control method.
The invention has the following beneficial effects and advantages: the height follow-up copying device and the height self-adaptive adjusting system for the cutting table of the crawler-type sugarcane harvester can copy the topography of a sugarcane harvesting operation area, convert the relief change of the harvesting operation area into angle information of the device, and serve as feedback information for controlling the lifting of the cutting table of the crawler-type sugarcane harvester. The header height self-adaptive adjustment control method has stronger self-adaptive shape, can ensure the control precision and efficiency, and can effectively perform moderate adjustment on the height of the header of the sugarcane harvester due to relief change. Meanwhile, the device has the characteristics of easy installation, simple structure, convenient maintenance and the like.
Drawings
FIG. 1 is a schematic diagram of a height follow-up copying device of a crawler-type sugarcane harvester header of the invention;
FIG. 2 is a schematic view of a partial structure of a crawler-type sugarcane harvester header of the present invention with a height follow-up profiling device with one side removed from the connecting outer wall;
FIG. 3 is a schematic view of the structure of the connecting outer wall of the present invention;
FIG. 4 is a schematic view of the installation of the height follow-up copying device of the cutting table of the crawler-type sugarcane harvester and the crawler chassis of the crawler-type sugarcane harvester;
FIG. 5 is a control flow chart of the control method of the present invention;
FIG. 6 is a fuzzy PID block diagram of the control method of the present invention;
FIG. 7 is a schematic view of the analysis of the ground surface protrusion and the ground surface depression of the control method of the present invention;
in the figure: 1 is a connecting outer wall, 2 is an angle sensor, 3 is a torsion spring, 4 is a rotating shaft, 5 is a fixed connecting piece, 6 is a rotating roller connecting piece, 7 is a rotating roller, 8 is a tension spring, 9 is a profiling rod, I is a height follow-up profiling device of a cutting table of a crawler-type sugarcane harvester, and II is a crawler chassis of the crawler-type sugarcane harvester.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-3, the embodiment of the invention provides a height follow-up copying device of a cutting table of a crawler-type sugarcane harvester, which comprises a connecting outer wall 1, a rotating shaft 4, an elastic reset mechanism I, a connecting mechanism, a copying rod 9 and an elastic reset mechanism II, wherein the connecting outer wall 1 is connected with a crawler chassis of the crawler-type sugarcane harvester, the connecting mechanism is rotationally connected with the connecting outer wall 1 through the rotating shaft 4, the elastic reset mechanism I is arranged between the rotating shaft 4 and the connecting outer wall 1, and the elastic reset mechanism I is used for resetting the rotating shaft 4; the upper end of the profiling rod 9 is rotationally connected with the connecting mechanism, the elastic reset mechanism II is arranged between the profiling rod 9 and the connecting mechanism, the elastic reset mechanism II is used for resetting the profiling rod 9, and the profiling rod 9 is used for profiling a sugarcane harvesting operation area.
Further, as shown in fig. 2, the rotation shaft 4 horizontally penetrates the connection mechanism, the angle sensor 2 is connected to the end of the rotation shaft 4, and the angle sensor 2 is mounted on the outside of the connection outer wall 1. The angle sensor 2 is used for converting the relief fluctuation change of the harvesting operation area into the angle information of the device, and outputting the angle information as feedback information, and is used for controlling the lifting of the cutting table of the crawler-type sugarcane harvester.
In the embodiment of the present invention, as shown in fig. 3, there are two outer connecting walls 1, which are rotatably connected to both ends of the rotating shaft 4, respectively. The elastic reset mechanism I comprises two groups of torsion springs 3, the two groups of torsion springs 3 are respectively sleeved at two ends of the rotating shaft 4, namely, the two groups of torsion springs 3 are respectively positioned at two sides of the connecting mechanism, one end of each torsion spring 3 is fixedly connected with the connecting mechanism, and the other end of each torsion spring 3 is connected with the connecting outer wall 1. The torsion spring 3 has the function of resetting the follow-up copying device, so that the follow-up copying device is reset to the initial set angle from the change of relief to cause the change of angle generated by the follow-up copying device.
In the embodiment of the invention, the connecting mechanism comprises a fixed connecting piece 5, a rotary roller connecting piece 6 and a rotary roller 7 which are sequentially and fixedly connected, wherein the fixed connecting piece 5 is provided with a mounting hole for fixing the rotary shaft 4, the rotary shaft 4 passes through the mounting hole, and the end part of the rotary shaft is axially limited through a cotter pin; the upper end of the profiling rod 9 is in shaft hole fit with the rotary drum 7, and the rotation axis of the profiling rod 9 is perpendicular to the axis of the rotary shaft 4.
Specifically, the number of the rotary drum connecting pieces 6 is two, and the rotary drum connecting pieces 6 are respectively arranged on two opposite sides of the rotary drum 7, one end of each rotary drum connecting piece 6 is connected with the corresponding fixed connecting piece 5, and the other end of each rotary drum connecting piece 6 is connected with the corresponding rotary drum 7, so that the fixed connecting piece 5 and the corresponding rotary drum 7 are integrated.
Further, the opposite sides of the rotary drum 7 are provided with planes for connecting with the rotary drum connecting pieces 6, which is convenient for connection and fixation with the rotary drum connecting pieces 6.
Specifically, the upper end of the profiling rod 9 is a straight line segment, the bottom of the profiling rod 9 is of a circular arc structure, a plurality of positioning holes are formed in the straight line segment at intervals along the length direction, the profiling rod 9 is axially limited through two limiting pins inserted into the positioning holes, and the two limiting pins are respectively located at two ends of the rotary drum 7. The plurality of positioning holes on the straight line segment are used for adjusting and fixing the position between the profiling rod 9 and the rotary drum 7. The bottom arc structure of the profiling rod 9 is contacted with the ground of the sugarcane harvesting operation area and is used for profiling the sugarcane harvesting operation area.
In the embodiment of the invention, the elastic reset mechanism II comprises two groups of extension springs 8, the two groups of extension springs 8 are respectively positioned at two opposite sides of the profiling rod 9, and two ends of the extension springs 8 are respectively connected with the rotary roller 7 and the profiling rod 9.
Further, tension spring connecting protrusions are arranged on two opposite sides of the rotary roller 7 and the profiling rod 9, and two ends of the tension spring 8 are respectively connected with the corresponding two tension spring connecting protrusions on the rotary roller 7 and the profiling rod 9. Preferably, the tension spring connecting protrusions on the rotary drum 7 are disposed on the planes of the opposite sides and below the rotary drum connecting member 6, facilitating the fixation of the tension spring 8.
In particular, the function of the extension spring 8 is that, considering that the harvesting work area is not level, the profiling rod 9 may be affected by soil blocks or sugar cane on the left and right sides, and if the left and right sides are stressed too much, damage to the device may be caused. When the profiling rod 9 receives larger forces on the left side and the right side, the profiling rod can rotate a certain angle in the rotary drum 7, so that the left side and the right side of the follow-up profiling device can not bear larger resistance. After the action of the foreign matters is finished, the extension spring 8 is reset, normal operation of the header height follow-up copying device is continuously guaranteed, the service life of the header height follow-up copying device is prolonged, and adverse effects of the crawler-type sugarcane harvester on the device during field steering are reduced.
In the embodiment of the invention, as shown in fig. 4, the end part of the connecting outer wall 1 is connected with a crawler chassis II of the crawler-type sugarcane harvester through bolts, and the profiling rod 9 is adaptively adjusted along with the relief change of the harvesting operation. The materials of all parts in the height follow-up copying device I of the cutting table of the crawler-type sugarcane harvester are mainly stainless steel.
When the harvester is in operation, when the angle change of the profiling rod 9 is generated due to the relief change of the sugarcane harvesting operation area, the rotating shaft 4 is driven to rotate through the fixed connecting piece 5, so that angle change information is fed back to the angle sensor 2, the angle sensor 2 feeds back the angle change information of the profiling rod 9 to the vehicle-mounted controller in a 0-5V voltage mode, and the vehicle-mounted controller judges whether the crawler-type sugarcane harvester header is in lifting action or not according to the processing of the control system.
The embodiment of the invention also provides a height follow-up self-adaptive adjustment control system of the crawler-type sugarcane harvester cutting table, which comprises the following steps: harvester header height follow-up copying device, header height lifting mechanism and vehicle-mounted controller. The harvester header height follow-up profiling device is used for detecting the angle change of the profiling rod 9 of the header height profiling device caused by the fluctuation of the field ground in real time. The header height lifting mechanism comprises a hydraulic valve and a hydraulic oil cylinder, wherein the output end of the hydraulic oil cylinder is connected with the header, and the hydraulic valve controls the hydraulic oil cylinder arranged below the header to act so as to drive the header to lift. The vehicle-mounted controller is arranged on the crawler-type sugarcane harvester and is respectively connected with the angle sensor 2 of the harvester header height follow-up copying device and the hydraulic valve of the header height lifting mechanism, and a program for adaptively adjusting the header height is stored on the vehicle-mounted controller; when the vehicle-mounted controller executes the header height self-adaptive adjusting program, a signal is output to the hydraulic valve to control the header height to carry out self-adaptive adjustment according to the real-time angle change of the profiling rod 9 so as to adapt to the field fluctuation ground.
As shown in fig. 5, the flow chart of the follow-up profiling control method for the height of the crawler-type sugarcane harvester cutting table is provided, and the hydraulic drive valve is controlled by the vehicle-mounted controller to realize the lifting control of the height of the crawler-type sugarcane harvester cutting table. Specifically, the vehicle-mounted controller carries out lifting control on the cutting table of the crawler-type sugarcane harvester by sensing angle change information of the follow-up copying device fed back to the vehicle-mounted controller through the angle sensor. When the ground is relatively flat, the vehicle-mounted controller does not operate, and the existing operation height is maintained; when the ground is raised, the vehicle-mounted controller controls the cutting table oil cylinder of the crawler-type sugarcane harvester, if the shortest stroke of the oil cylinder of the crawler-type sugarcane harvester is reached at the moment, the vehicle-mounted controller does not act and feeds back the action to a driver, so that the driver pays attention, and if the shortest stroke is not reached, the oil cylinder is pushed, and the cutting table is lifted; when the ground is sunken, the cutting table cylinder of the crawler-type sugarcane harvester is controlled, if the longest stroke of the cutting table cylinder of the crawler-type sugarcane harvester is reached at the moment, the operation is not performed, the operation is fed back to a driver, the driver notices the operation, and if the longest stroke is not reached, the cutting table is lowered by pushing the cutting table cylinder.
As shown in FIG. 6, the fuzzy PID structure diagram of the control method of the follower profiling device of the crawler-type sugarcane harvester header of the invention is shown, and as can be seen from the diagram, the fuzzy processing of the method is to make the deviation e and the deviation rate e c As an input to the fuzzy control, and the fuzzy control output is a PID parameter modification value: k (K) p ，K i ，K d . And (5) carrying out the height control of the cutting table of the crawler-type sugarcane harvester through the fuzzy PID setting parameters.
FIG. 7 (a) is a schematic diagram showing the analysis of the follow-up copying device of the crawler-type sugarcane harvester cutting table of the invention when the follow-up copying device works on raised and recessed ground. As can be seen from the figure, the ground surface bumps and depressions cause a mathematical relationship between the change in the angle of the profiling device and the change in the height of the device. The header follow-up copying device is regarded as a whole, and when the ground is raised, the height of the follow-up copying device is changed into: Δh=lcos θ 0 -Lcosθ 1 Wherein L is the distance from the center of the rotation shaft 4 to the arc-shaped top end of the profiling rod 9, and theta 0 For the initial angle theta of the height follow-up copying device of the cutting table of the crawler-type sugarcane harvester when contacting with the ground 1 ＝θ 0 +Δθ 1 ，Δθ 1 The angle change of the profiling device caused by the ground bulge is adopted; as shown in fig. 7 (b), when the ground is depressed, the height of the follow-up profile device is changed as follows: Δh' =lcos θ 2 -Lcosθ 0 Wherein L is the distance from the center of the rotation shaft 4 to the arc-shaped top end of the profiling rod 9, and theta 0 For the initial angle theta of the height follow-up copying device of the cutting table of the crawler-type sugarcane harvester when contacting with the ground 2 ＝θ 0 -Δθ 2 ，Δθ 2 Is the angle change caused by the depression of the ground of the profiling device. And carrying out follow-up regulation control on the cutting table of the crawler-type sugarcane harvester by a fuzzy PID control method.
The height follow-up copying device for the cutting table of the crawler-type sugarcane harvester can copy the topography of a sugarcane harvesting operation area, convert the relief change of the harvesting operation area into angle information of the device, and serve as feedback information to serve as a basis for lifting control of the cutting table of the crawler-type sugarcane harvester. According to the height follow-up self-adaptive adjustment control system for the crawler-type sugarcane harvester header, follow-up profiling is carried out according to the topography change of a harvesting operation area, the height of the header is adjusted in a self-adaptive mode, the quality of harvesting operation can be improved, meanwhile, the economic benefit of sugarcane is further facilitated, and the economic development of the area is promoted. Meanwhile, the device has the characteristics of easy installation, simple structure, convenient maintenance and the like. The height follow-up profiling control method for the crawler-type sugarcane harvester cutting table provided by the invention has the characteristics of good robustness and strong self-adaption, can convert angle information according to the relief change of a sugarcane harvesting operation area to feed back to the vehicle-mounted controller, and can judge whether to lift the sugarcane harvester cutting table or not, so that the height control requirement of the crawler-type sugarcane harvester cutting table in actual harvesting operation can be met.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a crawler-type sugarcane harvester header height follow-up copying device which is characterized by comprising a connecting outer wall (1), a rotating shaft (4), an elastic reset mechanism I, a connecting mechanism, a copying rod (9) and an elastic reset mechanism II, wherein the connecting mechanism is rotationally connected with the connecting outer wall (1) through the rotating shaft (4), the elastic reset mechanism I is arranged between the rotating shaft (4) and the connecting outer wall (1), and the elastic reset mechanism I is used for resetting the rotating shaft (4); the upper end of the profiling rod (9) is rotationally connected with the connecting mechanism, and the elastic reset mechanism II is arranged between the profiling rod (9) and the connecting mechanism and is used for resetting the profiling rod (9).
2. The crawler-type sugarcane harvester header height follow-up copying device according to claim 1, wherein the rotating shaft (4) horizontally penetrates through the connecting mechanism, and an angle sensor (2) is connected to the end portion of the rotating shaft (4).
3. The height follow-up copying device for the cutting table of the crawler-type sugarcane harvester according to claim 2, wherein the elastic reset mechanism I comprises two groups of torsion springs (3), the two groups of torsion springs (3) are respectively sleeved at two ends of the rotating shaft (4), one end of each torsion spring (3) is fixedly connected with the connecting mechanism, and the other end of each torsion spring is connected with the connecting outer wall (1).
4. A crawler-type sugarcane harvester header height follow-up copying device according to claim 3, wherein the number of the connecting outer walls (1) is two, and the connecting outer walls are respectively connected with two ends of the rotating shaft (4).
5. The height follow-up copying device of the cutting table of the crawler-type sugarcane harvester according to claim 2, wherein the connecting mechanism comprises a fixed connecting piece (5), a rotary roller connecting piece (6) and a rotary roller (7) which are fixedly connected in sequence, wherein a mounting hole for fixing the rotary shaft (4) is formed in the fixed connecting piece (5); the profiling rod (9) is in shaft hole matching with the rotary drum (7), and the rotation axis of the profiling rod (9) is perpendicular to the axis of the rotary shaft (4);
the two opposite sides of the rotary drum (7) are provided with planes for connecting with the rotary drum connecting piece (6);
the upper end of the profiling rod (9) is a straight line segment, the bottom of the profiling rod is of a circular arc structure, a plurality of positioning holes are formed in the straight line segment at intervals along the length direction, and the profiling rod (9) is axially limited by a limiting pin inserted into the positioning holes;
the elastic reset mechanism II comprises two groups of extension springs (8), the two groups of extension springs (8) are respectively positioned at two opposite sides of the profiling rod (9), and two ends of the extension springs (8) are respectively connected with the rotary roller (7) and the profiling rod (9);
tension spring connecting protrusions are arranged on two opposite sides of the rotary roller (7) and the profiling rod (9).
6. A crawler sugarcane harvester header height follow-up profiling apparatus as claimed in any one of claims 2 to 5 wherein said connecting outer wall (1) is connected to a crawler sugarcane harvester crawler chassis.
7. Height follow-up self-adaptive adjustment control system of crawler-type sugarcane harvester header, its characterized in that includes: harvester header height follow-up copying device, header height lifting mechanism and vehicle-mounted controller;
the harvester header height follow-up profiling device is used for detecting the angle change of a profiling rod (9) of the header height profiling device caused by the fluctuation of the ground in the field in real time;
the header height lifting mechanism on the harvester is used for controlling the header to lift;
the vehicle-mounted controller is arranged on the crawler-type sugarcane harvester and is respectively connected with an angle sensor (2) of a harvester header height follow-up copying device and a hydraulic valve of a header height lifting mechanism, and a program for adaptively adjusting the header height is stored on the vehicle-mounted controller; when the vehicle-mounted controller executes a header height self-adaptive adjusting program, a signal is output to the hydraulic valve to control the header height to carry out self-adaptive adjustment according to the real-time angle change of the profiling rod (9) so as to adapt to the field fluctuation ground.
8. The height follow-up profiling control method for the cutting table of the crawler-type sugarcane harvester is characterized by comprising the following steps of:
s1, when the crawler-type sugarcane harvester works, an angle sensor (2) of the profiling device detects the angle change of a profiling rod (9) of the header height profiling device caused by fluctuation of the ground in the field in real time and outputs the angle change to a vehicle-mounted controller;
s2, the vehicle-mounted controller calculates the lifting difference value of the height of the cutting table from the ground according to the angle change of the profiling rod (9);
s3, the vehicle-mounted controller judges whether the lifting difference value exceeds a lifting or descending threshold value; if the height of the harvester cutting table is not exceeded, the vehicle-mounted controller outputs a control signal to the hydraulic valve according to the lifting difference value, and the hydraulic valve controls the hydraulic oil cylinder to act to drive the cutting table to ascend or descend, so that the height of the harvester cutting table is adaptively adjusted.
9. The method for controlling height follow-up profiling of a crawler-type sugarcane harvester header according to claim 8, wherein the vehicle-mounted controller calculates a lifting difference value of the height of the harvester header from the ground according to the angle change of the profiling rod (9), and the method comprises the following steps:
when the ground is raised, the height of the follow-up copying device is changed as follows:
Δh＝Lcosθ 0 -Lcosθ 1 ，
wherein L is the distance from the center of the rotating shaft (4) to the arc-shaped top end of the profiling rod (9), theta 0 For the initial angle theta of the height follow-up copying device of the cutting table of the crawler-type sugarcane harvester when contacting with the ground 1 ＝θ 0 +Δθ 1 ，Δθ 1 The angle change of the profiling device caused by the protrusion of the ground is detected and obtained by an angle sensor (2);
when the ground is sunken, the height change of follow-up profiling device is:
Δh'＝Lcosθ 2 -Lcosθ 0 ，
wherein L is the distance from the center of the rotating shaft (4) to the arc-shaped top end of the profiling rod (9), theta 0 For the initial angle theta of the height follow-up copying device of the cutting table of the crawler-type sugarcane harvester when contacting with the ground 2 ＝θ 0 -Δθ 2 ，Δθ 2 The angle change of the profiling device caused by the depression of the ground is detected and acquired by an angle sensor (2).
10. The method for height follow-up profile modeling control of a crawler-type sugarcane harvester cutting table according to claim 9, wherein the vehicle-mounted controller outputs a control signal to the hydraulic valve according to the lifting difference value, and the follow-up adjustment control is performed by adopting a fuzzy PID control method.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117716880A (en) * | 2024-02-07 | 2024-03-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
| CN117918068A (en) * | 2024-02-27 | 2024-04-26 | 华南农业大学 | Profiling supporting type paddy field precise land leveling machine and land leveling method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117716880A (en) * | 2024-02-07 | 2024-03-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
| CN117716880B (en) * | 2024-02-07 | 2024-04-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
| CN117918068A (en) * | 2024-02-27 | 2024-04-26 | 华南农业大学 | Profiling supporting type paddy field precise land leveling machine and land leveling method |
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