CN106068900A - Automatic control system, control method and control device for united reaper - Google Patents
Automatic control system, control method and control device for united reaper Download PDFInfo
- Publication number
- CN106068900A CN106068900A CN201610457893.1A CN201610457893A CN106068900A CN 106068900 A CN106068900 A CN 106068900A CN 201610457893 A CN201610457893 A CN 201610457893A CN 106068900 A CN106068900 A CN 106068900A
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- China
- Prior art keywords
- ceding
- taiwan
- clutch
- signal
- shelling
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- 230000010534 mechanism of action Effects 0.000 claims abstract 6
- 230000007246 mechanism Effects 0.000 claims 19
- 230000001276 controlling effect Effects 0.000 claims 6
- 230000001105 regulatory effect Effects 0.000 claims 2
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
- Combines (AREA)
Abstract
The present invention relates to a kind of automatic control system for united reaper, control method and control device.Automatically control system includes: for controlling engaging and the shelling clutch control section separated of the shelling clutch of united reaper；For controlling engaging and the ceding of Taiwan clutch control section separated of the ceding of Taiwan clutch of united reaper；The ceding of Taiwan reversion reversely rotated for controlling the ceding of Taiwan of united reaper controls parts；For receiving the controller of the signal input controlling parts from shelling clutch control section, ceding of Taiwan clutch control section and ceding of Taiwan reversion；Receive driving signal and performing the shelling clutch operating mechanism of action from controller；Receive driving signal and performing the ceding of Taiwan clutch operating mechanism of action from controller；And receive driving signal and performing the ceding of Taiwan reversing clutch operating mechanism of action from controller.Automatically control system can greatly improve the working performance of united reaper, extends its service life.
Description
Technical field
The present invention relates to a kind of manipulation device for agricultural machinery, relate more specifically to a kind of for united reaper
Automatic operation device, further relates to a kind of automatic control method for united reaper and relevant automaton.
Background technology
Hereinafter the background of related of the present invention is illustrated, but these explanations might not constitute the existing of the present invention
Technology.
Wheat harvester in the market and the many employings of steerable system of multi-functional seed united reaper manually side
Formula.Before operation, first starting electromotor, in the case of low engine speed, first operation shelling clutch handle, makes shelling clutch
Device engages, now the shelling system of united reaper, cleaning and sorting system, blower fan, chopper, sprinkling apparatus and miscellaneous remaining seed elevator
Start working Deng parts.Operate ceding of Taiwan clutch the most again so that it is engage, now gap bridge system and ceding of Taiwan system starts.
Finally engine speed is risen to working speed.The process of manual operation is the heaviest, and maloperation easily occurs, increases
The fault rate of the workpiece such as belt, electromotor, and reduce its service life.
The concrete limitation of manual operation is as described below, as driver's pull-up shelling clutch operating handle or promotion behaviour
When making handle, expansion tightening wheel is from separation point position to binding site, and during this, drivewheel is exactly the clutch end of electromotor, now
Require that electromotor runs at lower-speed state, the most easily burn belt.It addition, ceding of Taiwan clutch must be in low engine speed state
And pull-up under the state of shelling clutch combination, its order can not be contrary, and electromotor band heavy load otherwise can be caused to start, and
And it is the most dangerous.Additionally, ceding of Taiwan reversing clutch and ceding of Taiwan clutch can not be opened simultaneously, one can only be opened every time
Individual.
Owing to operator error etc. may result in the generation of case above, damage workpiece, reduce relevant work
Making component life, this patent purpose is exactly after driver makes operation, in conjunction with car load present case, it may be judged whether be suitably executed
Associative operation, and make operation become simpler, convenient.After cancelling original mechanical handling structure, mode of operation becomes
Signal of telecommunication input mode, can be to stick up class's switch or other switch form, can arrange on guidance panel or many merits
On energy handrail.Make operation more laborsaving, intelligent and convenient, be also beneficial to the layout of cab part.Simultaneously because it is our
Case substitutes traditional machinery or fluid pressure line drive mechanism, is more beneficial for complete vehicle structure layout.This technical scheme is mainly suitable for
In agricultural grain harvest machinery, include but not limited to type wheat harvester, Multifunctional combine-harvester and rice harvester.
Summary of the invention
For various problems present in prior art, the present invention proposes a kind of shelling dress being capable of united reaper
Put the control system of sequential firing, corresponding control methods and the relative control apparatus with header device.Below to according to this
The bright automatic control system for united reaper, corresponding control methods and control device are made to illustrate with generality.
The present invention proposes a kind of automatic control system for united reaper, comprising: be used for controlling united reaper
Shelling clutch engage and the shelling clutch control section separated；For controlling the ceding of Taiwan clutch of united reaper
Engage and the ceding of Taiwan clutch control section separated；The ceding of Taiwan reversion reversely rotated for controlling the ceding of Taiwan of united reaper controls
Parts；Parts are controlled from shelling clutch control section, ceding of Taiwan clutch control section and ceding of Taiwan reversion for receiving
The controller of signal input；Receive driving signal and performing the shelling clutch operating mechanism of action from controller；Receive
Driving signal and performing the ceding of Taiwan clutch operating mechanism of action from controller；And receive the driving letter from controller
Number and perform the ceding of Taiwan reversing clutch operating mechanism of action.
The automatic control system for united reaper according to the present invention can by controller receive from shelling from
Clutch controls parts, ceding of Taiwan clutch control section and ceding of Taiwan reversing clutch and controls the signal input of parts, and by inside
Logic sets and the operation order of threshing apparatus and the ceding of Taiwan, sequentially grasps to shelling clutch operating mechanism and ceding of Taiwan clutch
Make mechanism or ceding of Taiwan reversing clutch operating mechanism sends starting signal, thus realize shelling clutch and ceding of Taiwan clutch or cut
The control of platform reversing clutch, therefore, it is possible to avoid the threshing apparatus of united reaper and the maloperation of the ceding of Taiwan.Therefore, according to this
The automatic control system for united reaper of invention can greatly improve the working performance of united reaper, and extends
The service life of united reaper.
One preferred embodiment of the automatic control system for united reaper according to the present invention, shelling clutch
Control parts, ceding of Taiwan clutch control section and ceding of Taiwan reversion control parts and can include rocker switch or press button.
According to the present invention in another preferred embodiment of the automatic control system of united reaper, shelling
Clutch operating mechanism is for controlling first on the belt being arranged between active drive wheel and the driven pulley of shelling clutch
Regulating wheel, so that active drive wheel drivingly engages with driven pulley or separates.
Another preferred embodiment of the automatic control system for united reaper according to the present invention, ceding of Taiwan clutch
Device operating mechanism is for controlling the second tensioning on the belt being arranged between active drive wheel and the driven pulley of ceding of Taiwan clutch
Wheel, so that active drive wheel drivingly engages with driven pulley or separates.
According to the present invention in another preferred embodiment of the automatic control system of united reaper, the ceding of Taiwan
Reversing clutch operating mechanism is for controlling on the belt being arranged between reversion driving wheel and the driven pulley of ceding of Taiwan clutch
3rd regulating wheel, so that reversion driving wheel drivingly engages with driven pulley or separates.
An also preferred embodiment of the automatic control system for united reaper according to the present invention, this is grasped automatically
Ore-controlling Role can also include buzzer and display, and buzzer may be used for sending information warning to outside, and display can be used
In sending information warning or the relevant information of display united reaper to outside.
The invention still further relates to a kind of automatic control method for united reaper, the method comprises the following steps: first,
Obtain Engine Start Signal and start the electromotor of united reaper；Then, obtain shelling clutch engagement signal and start
Machine rotary speed information；Subsequently, judge that whether engine speed is less than preset rotation speed by engine speed information: if electromotor turns
Speed less than preset rotation speed, then change according to shelling clutch engagement signal the state of shelling clutch operating mechanism with by shelling from
Clutch drives to engagement state；If engine speed is not less than preset rotation speed, then send signal to electromotor so that electromotor
Reduction of speed to below preset rotation speed, then changes the state of shelling clutch operating mechanism with will according to shelling clutch engagement signal
Shelling clutch drives to engagement state；Finally, obtain ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal,
Ceding of Taiwan clutch operating machine is changed according to the ceding of Taiwan clutch engagement signal received or ceding of Taiwan reversing clutch engagement signal
The state of structure or ceding of Taiwan reversing clutch operating mechanism is to drive described ceding of Taiwan clutch or described ceding of Taiwan reversing clutch extremely
Engagement state.
By according to the logic control method as above of the present invention can make the starting of electromotor, threshing apparatus rise
Dynamic and the starting of the ceding of Taiwan or the ceding of Taiwan reversion is carried out according to the order specified, and before each apparatus for work is started
The rotating speed of electromotor is detected, so that threshing apparatus and the ceding of Taiwan start when electromotor is in low speed respectively, from
And make the starting of united reaper more smooth out, and preventing the parts to united reaper from producing and damage, receipts are combined in beneficially prolongation
The service life of cutting mill.
One preferred embodiment of the automatic control method for united reaper according to the present invention, in combining
Before the engine start of machine, also make the following judgment step, i.e. judge whether to receive shelling clutch engagement signal or the ceding of Taiwan
Clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, if the judgment is Yes, it is determined that for maloperation signal, and connecing
Information warning is sent after receiving above-mentioned signal.
According to the present invention in another preferred embodiment of the automatic control method of united reaper, will
Shelling clutch drives to engagement state, also makes the following judgment step, i.e. judges whether that receiving ceding of Taiwan clutch engages
Signal or ceding of Taiwan reversing clutch engagement signal, if the judgment is Yes, it is determined that for maloperation signal, and upon receipt of the signals
Send information warning.
According to the present invention in another preferred embodiment of the automatic control method of united reaper, obtaining
The engine speed information of united reaper is obtained when taking ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal,
If engine speed is less than preset rotation speed, then change according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal
Become ceding of Taiwan clutch operating mechanism or the state of ceding of Taiwan reversing clutch operating mechanism, with ceding of Taiwan clutch or the ceding of Taiwan are inverted from
Clutch drives to engagement state；If engine speed is not less than preset rotation speed, then send signal to electromotor so that electromotor
Reduction of speed, to below preset rotation speed, then changes the ceding of Taiwan according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal
Clutch operating mechanism or the state of ceding of Taiwan reversing clutch operating mechanism, to drive ceding of Taiwan clutch or ceding of Taiwan reversing clutch
Move to engagement state.
The automatic control method for united reaper according to the present invention is able to ensure that the functional unit of united reaper
Sequentially start, so that united reaper can more successfully start.It is capable of united reaper by controller
The anti-misoperation of each operation part, thus prevent the damage of the operation part to united reaper, thus improve associating receipts
The working performance of cutting mill, extends its service life.
Further, the present invention also provides for a kind of automaton for united reaper, this automaton
Including: control unit；The first acquiring unit being connected communicatedly with control unit, it is used for obtaining Engine Start Signal and inciting somebody to action
Engine Start Signal is sent to control unit, and control unit controls the engine start of united reaper；Lead to control unit
The second acquisition unit that letter ground connects, it is used for obtaining shelling clutch engagement signal and engine speed information；Single with control
The judging unit that unit and second acquisition unit connect communicatedly, by engine speed information, it is for judging that engine speed is
No less than preset rotation speed: if engine speed is less than preset rotation speed, then control unit changes according to shelling clutch engagement signal
Become the state of shelling clutch operating mechanism to drive shelling clutch to engagement state；If engine speed is not less than pre-
If rotating speed, then control unit sends signal to electromotor so that drop engine speed is to below preset rotation speed, then control unit root
The state of shelling clutch operating mechanism is changed to drive shelling clutch to engagement state according to shelling clutch engagement signal；
The 3rd acquiring unit being connected communicatedly with control unit, it is used for obtaining ceding of Taiwan clutch engagement signal or ceding of Taiwan reversion clutch
Device engagement signal, control unit changes according to the ceding of Taiwan clutch engagement signal received or ceding of Taiwan reversing clutch engagement signal
Become the state of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism with ceding of Taiwan clutch or the ceding of Taiwan are inverted from
Clutch drives to engagement state.
One preferred embodiment of the automaton for united reaper according to the present invention, this automatically controls
Device also includes the first judge module being connected communicatedly with control unit, and this first judge module will before the engine is started
The shelling clutch engagement signal, ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversing clutch engagement signal that obtain are defined as grasping by mistake
Make signal, and send information warning after receiving above-mentioned signal.
In another preferred embodiment of the automaton for united reaper according to the present invention, this is automatic
Controlling the second judge module that device also includes being connected communicatedly with control unit, the second judge module will make shelling clutch
The ceding of Taiwan clutch engagement signal received to engagement state or ceding of Taiwan reversing clutch engagement signal is driven to be defined as maloperation
Signal, and send information warning after receiving above-mentioned signal.
In another preferred embodiment of the automaton for united reaper according to the present invention, should be certainly
Dynamic control device also includes the 4th acquiring unit being connected communicatedly with control unit, and the 4th acquiring unit obtains single the 3rd
The electromotor obtaining united reaper when unit receives ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal turns
Speed information, if engine speed is less than preset rotation speed, then control unit inverts according to ceding of Taiwan clutch engagement signal or the ceding of Taiwan
Clutch engagement signal changes ceding of Taiwan clutch operating mechanism or the state of ceding of Taiwan reversing clutch operating mechanism, with by the ceding of Taiwan from
Clutch or ceding of Taiwan reversing clutch drive to engagement state；If engine speed is not less than preset rotation speed, then control unit to
Electromotor sends signal so that drop engine speed is to below preset rotation speed, and then control unit is according to ceding of Taiwan clutch engagement signal
Or ceding of Taiwan reversing clutch engagement signal changes ceding of Taiwan clutch operating mechanism or the state of ceding of Taiwan reversing clutch operating mechanism,
So that ceding of Taiwan clutch or ceding of Taiwan reversing clutch are driven to engagement state.
Accompanying drawing explanation
By the detailed description of the invention part provided referring to the drawings, the features and advantages of the present invention will become more
Easy to understand, in the accompanying drawings:
Fig. 1 is the schematic diagram of the clutch for united reaper according to the present invention.
Fig. 2 is the structured flowchart of the automatic control system for united reaper according to the present invention.
Fig. 3 is the flow chart of the automatic control method for united reaper according to the present invention.
Fig. 4 is the structured flowchart of the automatic operation device for united reaper according to the present invention.
Detailed description of the invention
With reference to the accompanying drawings the illustrative embodiments of the present invention is described in detail.Illustrative embodiments is retouched
State merely for the sake of demonstration purpose, and be definitely not the present invention and application thereof or the restriction of usage.
The present invention proposes a kind of automatic control system for united reaper, below with reference first to accompanying drawing 1 to according to this
The clutch for united reaper of invention is briefly described.As it is shown in figure 1, the clutch 50 for united reaper wraps
The drivewheel 52 that couples with including the driving engine with united reaper, for driving threshing apparatus or the ceding of Taiwan of combined harvester
Driven pulley 54, the belt 56 being arranged between drivewheel 52 and driven pulley 54 and be arranged on belt 56 so that belt 56 exists
Drivewheel 52 and driven pulley 54 tensioning or the tensioner loosened, this tensioner can include the regulating wheel engaged with belt 56
58 and be arranged to regulating wheel 58 is operated so that its tightening belt 56 or loosen the operating mechanism 60 of belt 56.Can lead to
Cross and control operating mechanism 60 flexible and control the joint of drivewheel 52 and driven pulley 54 and separate, thus control by this from
The ceding of Taiwan of clutch driving or the mode of operation of threshing apparatus.Here, operating mechanism 60 can also be electric pushrod, hydraulic cylinder and
Other clutch operating mechanisms, in the embodiment shown in fig. 1, electric pushrod illustrates as preferred embodiment.
The automatic control system 10 for united reaper according to the present invention is carried out specifically by 2 referring to the drawings
Bright.This automatic control system 10 includes: for controlling engaging and the shelling clutch separated of the shelling clutch of united reaper
Device controls parts 12；For controlling engaging and the ceding of Taiwan clutch control section separated of the ceding of Taiwan clutch of united reaper
14；The ceding of Taiwan reversing clutch reversely rotated for controlling the ceding of Taiwan of united reaper controls parts 16；For receiving autospasy
Paddy clutch control section 12, ceding of Taiwan clutch control section 14 and ceding of Taiwan reversing clutch control the signal input of parts 16
Controller 18；Receive driving signal and performing the shelling clutch operating mechanism 20 of action from controller 18；Receive
Driving signal and performing the ceding of Taiwan clutch operating mechanism 22 of action from controller 18, and receive driving from controller 18
Move signal and perform the ceding of Taiwan reversing clutch operating mechanism 24 of action.
The automatic control system 10 for united reaper according to the present invention can receive autospasy by controller 18
Paddy clutch control section 12, ceding of Taiwan clutch control section 14 and ceding of Taiwan reversing clutch control the signal input of parts 16,
And set and the operation order of threshing apparatus and the ceding of Taiwan by internal logic, sequentially to shelling clutch operating mechanism 20 He
Ceding of Taiwan clutch operating mechanism 22 or ceding of Taiwan reversing clutch operating mechanism 24 send starting signal, thus by shelling clutch
The regulating wheel of shelling clutch is operated by operating mechanism 20, makes shelling clutch be in engagement state, thus makes shelling fill
Put and be in mode of operation；By ceding of Taiwan clutch operating mechanism 22 or ceding of Taiwan reversing clutch operating mechanism 24 respectively to the ceding of Taiwan from
The regulating wheel of clutch or ceding of Taiwan reversing clutch operates, and thus makes the ceding of Taiwan be in mode of operation.Owing to can pass through to control
Logic control in device 18 realizes shelling clutch and ceding of Taiwan clutch or the control of ceding of Taiwan reversing clutch, therefore, it is possible to keep away
Exempt from the threshing apparatus of united reaper and the maloperation of the ceding of Taiwan.Therefore, according to the automatic behaviour for united reaper of the present invention
Ore-controlling Role 10 can greatly improve the working performance of united reaper, and extends the service life of united reaper.
The shelling clutch control section 12 of the automatic control system 10 for united reaper according to the present invention, the ceding of Taiwan
Clutch control section 14 and ceding of Taiwan reversing clutch control parts 16 can include rocker switch or press button.Can lead to
Cross simple switch form and realize shelling clutch engagement signal and ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch connects
Close the input of signal, thus easily the ceding of Taiwan or threshing apparatus are controlled.
The shelling clutch operating mechanism 20 for the automatic control system 10 of united reaper according to the present invention is used for
The active drive controlling to be arranged on shelling clutch takes turns the first regulating wheel on the belt between driven pulley, so that active drive
Wheel drivingly engages with driven pulley or separates.So that threshing apparatus switches between mode of operation and halted state.
Further, according to the ceding of Taiwan clutch operating machine of the automatic control system 10 for united reaper of the present invention
Structure 22 takes turns the second regulating wheel on the belt between driven pulley for the active drive controlling to be arranged on ceding of Taiwan clutch, so that
Active drive wheel drivingly engages with driven pulley or separates.So that the ceding of Taiwan is cut between mode of operation and halted state
Change.
It addition, the ceding of Taiwan reversing clutch operation machine of the automatic control system 10 for united reaper according to the present invention
Structure 24 is arranged on the 3rd regulating wheel on the belt between reversion driving wheel and the driven pulley of ceding of Taiwan clutch for control, so that
Reversion driving wheel drivingly engages with driven pulley or separates.So that the ceding of Taiwan is entered between reverse turn operation state and halted state
Row switching.
For the ease of normal starting and the normal operation of united reaper, according to the present invention for united reaper from
Dynamic control system 10 can also include buzzer and display, buzzer and display to may be used for outside sending warning letter
Breath, such as detecting that the ceding of Taiwan clutch control section 14 of united reaper is pressed at controller 18 needs to make ceding of Taiwan clutch
During joint, if controller 18 detects that now shelling clutch is in released state, then buzzer sends alarm sound, display
Device display alarm information, for proposing warning to human pilot, the ceding of Taiwan clutch of controller control simultaneously continues to keep separating shape
State, until the shelling clutch of united reaper engages.Or, when controller detects the ceding of Taiwan clutch of united reaper
Device control parts 14 are pressed when needing to make ceding of Taiwan clutch engage, and the rotating speed of electromotor is detected by controller 18, if
Detect that electromotor is in the state of running up, then buzzer and display send alarm, and prompting human pilot needs to start
Machine could perform the bonding operation of ceding of Taiwan clutch after being down to low speed.Display can be additionally used in display present engine rotating speed,
The alternating interface between man and computer of driver can also be shown to as by other more visual indications.
The invention still further relates to a kind of automatic control method for united reaper, this autocontrol method can include with
Lower step: first, obtains Engine Start Signal the electromotor of described united reaper；Then, obtain shelling clutch to connect
Close signal and engine speed information；Subsequently, judge that whether engine speed is less than preset rotation speed by engine speed information:
If engine speed is less than preset rotation speed, such as in the case of engine speed is at below 1000rpm, then according to shelling from
Clutch engagement signal changes the state of shelling clutch operating mechanism to drive shelling clutch to engagement state；If started
Machine rotating speed is not less than preset rotation speed, such as in the case of engine speed is at more than 1000rpm, then sends signal to electromotor
So that drop engine speed is to below preset rotation speed, then change shelling clutch operating mechanism according to shelling clutch engagement signal
State with by shelling clutch drive to engagement state；Finally, ceding of Taiwan clutch engagement signal or ceding of Taiwan reversion clutch are obtained
Device engagement signal, according to the ceding of Taiwan clutch engagement signal received or ceding of Taiwan reversing clutch engagement signal change the ceding of Taiwan from
The state of clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism is to drive ceding of Taiwan clutch or ceding of Taiwan reversing clutch
To engagement state
Before the engine start of united reaper, the input of all signals is regarded as maloperation, i.e. all operations refers to
Order is all not carried out.Therefore, this united reaper first receive and perform be start electromotor instruction.Starting electromotor
Afterwards, it is sequentially performed joint and the joint of ceding of Taiwan clutch of shelling clutch, or is sequentially performed shelling clutch
Engage and the joint of ceding of Taiwan reversing clutch.If the instruction sequences mistake received, then the controller of united reaper is regarded
For maloperation, and do not perform received instruction.
According in the automatic control method for united reaper of the present invention, receive from outside shelling from
Also ceding of Taiwan clutch or ceding of Taiwan reversing clutch have been engaged the most during clutch engagement signal and have detected, when detect the ceding of Taiwan from
When clutch or ceding of Taiwan reversing clutch have engaged, by being such as that the alarm device of buzzer or display sends warning, carry
Show that operator need to make ceding of Taiwan clutch or ceding of Taiwan reversing clutch separate.If be detected that ceding of Taiwan clutch or the ceding of Taiwan reversion from
Clutch is in released state, then change the state of shelling clutch operating mechanism, so that shelling clutch engages.So can be true
Protect the joint i.e. completing shelling clutch before ceding of Taiwan clutch engages, first make shelling clutch engage, the most again
Ceding of Taiwan clutch is performed bonding operation.Thus prevent the maloperation of each operation part of united reaper.
Similarly, at the automatic control method for united reaper according to the present invention, receiving from outside
When ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, whether shelling clutch is in engagement state and carries out
Detection, when detecting that shelling clutch is in released state, controller alert, prompting operator need to first make to take off
Paddy clutch engages.When detecting that shelling clutch is in engagement state, then controller changes ceding of Taiwan clutch operating mechanism
Or the state of ceding of Taiwan reversing clutch operating mechanism, so that ceding of Taiwan clutch or ceding of Taiwan reversing clutch are in engagement state.
According to the automatic control method for united reaper of the present invention, receive ceding of Taiwan clutch engagement signal or
During ceding of Taiwan reversing clutch engagement signal, the rotating speed to the electromotor of united reaper detects, if engine speed is less than
Preset rotation speed, then change ceding of Taiwan clutch operating machine according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal
Structure or the state of ceding of Taiwan reversing clutch operating mechanism, to drive ceding of Taiwan clutch or ceding of Taiwan reversing clutch to engaging shape
State；If engine speed is not less than preset rotation speed, then send signal to electromotor so that drop engine speed to preset rotation speed with
Under, then according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal change ceding of Taiwan clutch operating mechanism or
The state of ceding of Taiwan reversing clutch operating mechanism, to drive ceding of Taiwan clutch or ceding of Taiwan reversing clutch to engagement state.?
When receiving from outside ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, controller is first to electromotor
Rotating speed detect, if be detected that electromotor is under the state of running up (such as engine speed be higher than 1000rpm),
Then need electromotor is carried out reduction of speed, because the state of running up is not suitable for connecing of ceding of Taiwan clutch or ceding of Taiwan reversing clutch
Close.So, it is beneficial to the starting of united reaper according to the automatic control method for united reaper of the present invention, and
Be conducive to united reaper is protected, prevent electromotor or the ceding of Taiwan to be damaged when clutch engages.
United reaper is grasped according to the automatic control method for united reaper of the present invention utilizing below
The operating process made is briefly described.Driver is starting before electromotor, if shelling clutch control section 12 or cut
Platform clutch control section 14 has been pressed, and controller 18 now can be set to the state not allowing to start.Because such as
Fruit starts electromotor in this state, it will causes electromotor bringing onto load to start, has adverse effect electromotor, even can
Damage electromotor；If it addition, now have near united reaper staff or other people etc., then for these people's right and wrong
The most unsafe.Controller 18 is after receiving these inputs, it is judged that for maloperation, will send instructions to buzzer and remind driving
Personnel, and do not perform any action, wait human pilot by shelling clutch control section 12 or ceding of Taiwan clutch control section
After 14 releases, can normal starting electromotor.
The operating process that following description ceding of Taiwan clutch engages.After electromotor normal starting, first press shelling clutch
Controlling parts 12, be such as button, first the rotating speed of electromotor is detected by controller 18.If be detected that electromotor at
Be more than preset rotation speed (assuming that engine speed is more than 1000rpm) in fast state or rotating speed, then controller 18 passes through buzzer
Or display sends warning, and send signal by CAN to the ECU of electromotor, so that ECU controls drop engine speed, directly
It is in lower-speed state (assuming less than 1000rpm) to electromotor.If be detected that electromotor is in lower-speed state, further to cutting
Platform clutch control section (being such as button) 14 or ceding of Taiwan reversing clutch control parts (such as button) 16 the most by
Pressing and judge, if one of both is pressed, then controller 18 is regarded as maloperation, is sent out by buzzer or display
Go out warning, be released until ceding of Taiwan clutch control section 14 or ceding of Taiwan reversing clutch control parts 16.If ceding of Taiwan clutch
Device controls parts 14 or ceding of Taiwan reversing clutch controls parts 16 and is not all pressed, then controller 18 sends instructions to shelling clutch
Device operating mechanism 20, is such as electric pushrod at this, electric pushrod can be made to shrink, drive shelling clutch expansion tightening wheel so that
Drivewheel is driven drivingly to engage with driven pulley.It is of course also possible to make electric pushrod extend (such as in tensioner according to practical situation
In the case of wheel is arranged on the inside of belt wheel), in order to make clutch enter engagement state from released state.Here, shelling clutch
Device operating mechanism 20 can also be hydraulic mechanism.
Postpone when shelling clutch operating mechanism 20 moves to specific bit, a signal can be sent to controller 18, control
Device 18 stops powering to operating mechanism 20.Press lower cutting table clutch control section (such as button) 14, controller 18 the most again
After receiving signal, and monitor shelling clutch control section 12 and be pressed, then the rotating speed of electromotor is detected.
If electromotor is under lower-speed state, controller 18 sends instruction to ceding of Taiwan clutch operating mechanism 22, and operating mechanism 22 moves
Make, so that ceding of Taiwan clutch is in engagement state.If electromotor is not in lower-speed state, then controller 18 does not first send instruction
To ceding of Taiwan clutch operating mechanism 22, but send instructions to buzzer and display, to remind human pilot.Controller simultaneously
18 send signal by CAN to the ECU of electromotor, so that ECU controls drop engine speed, make electromotor be in lower-speed state
Afterwards, then by operating mechanism 22 ceding of Taiwan clutch is operated.After ceding of Taiwan clutch engages, human pilot strengthens oil
Door is so that electromotor is rapidly reached working speed.
The operating process that following description ceding of Taiwan reversing clutch engages.After electromotor normal starting, first press shelling from
Clutch controls parts 12, is such as button, and first the rotating speed of electromotor is detected by controller 18.If be detected that start
Machine is in fast state (assuming that engine speed is more than 1000rpm), then controller 18 sends police by buzzer or display
Show, and send signal by CAN to the ECU of electromotor, so that ECU controls drop engine speed, until electromotor is in low
Speed state (is assumed less than 1000rpm).If be detected that electromotor is in lower-speed state, further to ceding of Taiwan Clutch Control portion
Part (such as button) 14 or ceding of Taiwan reversing clutch control parts (such as button) 16 have the most been pressed and have judged, as
Really one of both is pressed, then controller 18 is regarded as maloperation, sends warning by buzzer or display, until the ceding of Taiwan
Clutch control section 14 and ceding of Taiwan reversing clutch control parts 16 and are all released.If ceding of Taiwan clutch control section 14 He
Ceding of Taiwan reversing clutch controls parts 16 and is not all pressed, then controller 18 sends instructions to shelling clutch operating mechanism 20,
Shelling clutch operating mechanism 20 action, drives the expansion tightening wheel motion of shelling clutch so that driving drivewheel and driven pulley transmission
Ground engages.Such as shelling clutch operating mechanism 20 can be electric pushrod, and electric pushrod can be made to shrink, it is of course also possible to
Electric pushrod is made to extend (be such as arranged on the inside of belt wheel at expansion tightening wheel in the case of) according to practical situation, in order to make clutch
Engagement state is entered from released state.
Postpone when shelling clutch operating mechanism 20 moves to specific bit, a signal can be sent to controller 18, control
Device 18 stops powering to shelling clutch operating mechanism 20.Parts are controlled (such as pressing the most again by lower cutting table reversing clutch
Button) 16, after controller 18 receives signal, and monitor shelling clutch control section 12 and be pressed, then to electromotor
Rotating speed detect.If electromotor is under lower-speed state, controller 18 is to ceding of Taiwan reversing clutch operating mechanism 24
Sending instruction, ceding of Taiwan reversing clutch operating mechanism 24 shrinks, so that ceding of Taiwan reversing clutch is in engagement state.If electromotor
Be not in lower-speed state, then controller 18 does not first send instructions to ceding of Taiwan reversing clutch operating mechanism 24, but sends instruction
To buzzer and display, to remind human pilot.Controller 18 sends signal by CAN to the ECU of electromotor simultaneously,
So that ECU controls drop engine speed, after making electromotor be in lower-speed state, then by ceding of Taiwan reversing clutch operating mechanism 24
Ceding of Taiwan reversing clutch is operated.After ceding of Taiwan reversing clutch engages, human pilot is opened the throttle so that electromotor
It is rapidly reached working speed.It is then possible to utilize united reaper to carry out harvesting.
The present invention also proposes a kind of automaton 40 for united reaper, and this automaton 40 can be used
Make the controller of the united reaper according to the present invention, as shown in Figure 4, it is shown that the structured flowchart of automaton 40.According to
The automaton 40 for united reaper of the present invention includes: control unit 42；It is connected communicatedly with control unit 42
The first acquiring unit 44, the first acquiring unit 44 is used for obtaining Engine Start Signal and being sent to by Engine Start Signal
Control unit 42, control unit 42 controls the engine start of united reaper；Second be connected communicatedly with control unit 42
Acquiring unit 46, second acquisition unit 46 is used for obtaining shelling clutch engagement signal and engine speed information；Single with control
The judging unit 43 that unit 42 and second acquisition unit 46 connect communicatedly, it is judged that unit 43 is for sentencing by engine speed information
Whether disconnected engine speed is less than preset rotation speed: if engine speed is less than preset rotation speed, then control unit 42 is according to shelling
Clutch engagement signal changes the state of shelling clutch operating mechanism to drive shelling clutch to engagement state；If sent out
Motivation rotating speed is not less than preset rotation speed, then control unit 42 send signal to electromotor so that drop engine speed to preset rotation speed with
Under, then control unit 42 according to shelling clutch engagement signal change shelling clutch operating mechanism state with by shelling from
Clutch drives to engagement state；And the 3rd acquiring unit 48 being connected communicatedly with control unit 42, the 3rd acquiring unit 48
For obtaining ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, control unit 42 is according to the ceding of Taiwan received
Clutch engagement signal or ceding of Taiwan reversing clutch engagement signal change ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversion clutch
The state of device operating mechanism is to drive ceding of Taiwan clutch or ceding of Taiwan reversing clutch to engagement state.
The automaton 40 for united reaper according to the present invention also includes connecting communicatedly with control unit 42
The first judge module connect, this first judge module by the shelling clutch engagement signal obtained before the engine is started, cut
Platform clutch engagement signal or ceding of Taiwan reversing clutch engagement signal are defined as maloperation signal, and after receiving described signal
Send information warning.Automaton 40 also includes the second judge module being connected communicatedly with control unit, and this second is sentenced
Disconnected module is by ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversion clutch making shelling clutch drive reception to engagement state
Device engagement signal is defined as maloperation signal, and sends information warning after receiving described signal.
Further, the automaton 40 for united reaper also includes be connected communicatedly with control unit
Four acquiring units, the 4th acquiring unit the 3rd acquiring unit 48 receive ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversion from
Obtain the engine speed information of united reaper during clutch engagement signal, and perform step as described below, if electromotor
Rotating speed is less than preset rotation speed, then control unit changes according to ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal
Ceding of Taiwan clutch operating mechanism or the state of ceding of Taiwan reversing clutch operating mechanism, to invert clutch by ceding of Taiwan clutch or the ceding of Taiwan
Device drives to engagement state；If engine speed is not less than preset rotation speed, then control unit 42 to electromotor send signal with
Making drop engine speed to below preset rotation speed, then control unit 42 inverts clutch according to ceding of Taiwan clutch engagement signal or the ceding of Taiwan
Device engagement signal changes ceding of Taiwan clutch operating mechanism or the state of ceding of Taiwan reversing clutch operating mechanism, with by ceding of Taiwan clutch
Or ceding of Taiwan reversing clutch drives to engagement state.
The automatic control system for united reaper according to the present invention, autocontrol method and relevant automatically control
Device is able to ensure that the functional unit of united reaper sequentially starts, so that united reaper can more successfully rise
Dynamic.It is capable of the anti-misoperation of each operation part of united reaper by controller, thus prevents united reaper
The damage of operation part, thus improve the working performance of united reaper, extend its service life.
Although with reference to illustrative embodiments, invention has been described, but it is to be understood that the present invention does not limit to
The detailed description of the invention that Yu Wenzhong describes in detail and illustrates, in the case of without departing from claims limited range, this
Described illustrative embodiments can be made various improvement or modification by skilled person.
Claims (14)
1. for an automatic control system for united reaper, including:
For controlling engaging and the shelling clutch control section separated of the shelling clutch of described united reaper；
For controlling engaging and the ceding of Taiwan clutch control section separated of the ceding of Taiwan clutch of described united reaper；
The ceding of Taiwan reversion reversely rotated for controlling the ceding of Taiwan of described united reaper controls parts；
Invert from described shelling clutch control section, described ceding of Taiwan clutch control section and the described ceding of Taiwan for receiving
Control the controller of the signal input of parts；
Receive driving signal and performing the shelling clutch operating mechanism of action from described controller；
Receive driving signal and performing the ceding of Taiwan clutch operating mechanism of action from described controller；And
Receive driving signal and performing the ceding of Taiwan reversing clutch operating mechanism of action from described controller.
Automatic control system for united reaper the most according to claim 1, wherein, described shelling Clutch Control
Parts, described ceding of Taiwan clutch control section and described ceding of Taiwan reversion control parts and include rocker switch or press button.
Automatic control system for united reaper the most according to claim 1, wherein, described shelling clutch operating
The first regulating wheel on the belt between driven pulley is taken turns for the active drive controlling to be arranged on described shelling clutch by mechanism,
So that described active drive wheel drivingly engages with driven pulley or separates.
Automatic control system for united reaper the most according to claim 1, wherein, described ceding of Taiwan clutch operating
The second regulating wheel on the belt between driven pulley is taken turns for the active drive controlling to be arranged on described ceding of Taiwan clutch by mechanism,
So that described active drive wheel drivingly engages with driven pulley or separates.
Automatic control system for united reaper the most according to claim 1, wherein, described ceding of Taiwan reversing clutch
Operating mechanism is for controlling the 3rd on the belt being arranged between reversion driving wheel and the driven pulley of described ceding of Taiwan clutch
Bearing up pulley, so that described reversion driving wheel drivingly engages with driven pulley or separates.
Automatic control system for united reaper the most according to claim 1, wherein, also include buzzer and/or
Display, described buzzer for sending information warning to outside, and described display for sending information warning or aobvious to outside
Show the relevant information of described united reaper.
7. the automatic control method for united reaper, it is characterised in that described automatic control method includes following step
Rapid:
Obtain Engine Start Signal and start the electromotor of described united reaper；
Obtain shelling clutch engagement signal and engine speed information；
Judge that whether described engine speed is less than preset rotation speed by described engine speed information:
If described engine speed is less than preset rotation speed, then change shelling clutch according to described shelling clutch engagement signal
The state of operating mechanism is to drive described shelling clutch to engagement state；
If described engine speed is not less than preset rotation speed, then send signal to described electromotor so that described drop engine speed
To preset rotation speed, then change the state of shelling clutch operating mechanism according to described shelling clutch engagement signal to incite somebody to action
Described shelling clutch drives to engagement state；
Obtain ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal, according to described ceding of Taiwan clutch engagement signal
Or described ceding of Taiwan reversing clutch engagement signal changes ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism
State so that described ceding of Taiwan clutch or described ceding of Taiwan reversing clutch are driven to engagement state.
Automatic control method for united reaper the most according to claim 7, wherein,
Before the engine start of described united reaper, also make the following judgment step:
Judge whether to receive shelling clutch engagement signal or ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engages
Signal,
If the judgment is Yes, it is determined that for maloperation signal, and information warning is sent after receiving described signal.
Automatic control method for united reaper the most according to claim 7, wherein,
Being driven by described shelling clutch to before engagement state, also make the following judgment step:
Judge whether to receive ceding of Taiwan clutch engagement signal or ceding of Taiwan reversing clutch engagement signal,
If the judgment is Yes, it is determined that for maloperation signal, and information warning is sent after receiving described signal.
Automatic control method for united reaper the most according to claim 7, wherein,
Obtaining described ceding of Taiwan clutch engagement signal or obtain during described ceding of Taiwan reversing clutch engagement signal and described combine receipts
The engine speed information of cutting mill,
If described engine speed is less than preset rotation speed, then invert according to described ceding of Taiwan clutch engagement signal or the described ceding of Taiwan
Clutch engagement signal changes described ceding of Taiwan clutch operating mechanism or the state of described ceding of Taiwan reversing clutch operating mechanism, with
Described ceding of Taiwan clutch or ceding of Taiwan reversing clutch are driven to engagement state；
If described engine speed is not less than described preset rotation speed, then send signal to described electromotor so that described electromotor
Below reduction of speed extremely described preset rotation speed, then engage according to described ceding of Taiwan clutch engagement signal or described ceding of Taiwan reversing clutch
Ceding of Taiwan clutch operating mechanism described in signal change or the state of described ceding of Taiwan reversing clutch operating mechanism, with by the described ceding of Taiwan
Clutch or ceding of Taiwan reversing clutch drive to engagement state.
11. 1 kinds of automatons for united reaper, including:
Control unit,
The first acquiring unit being connected communicatedly with described control unit, described first acquiring unit is used for obtaining engine start
Described Engine Start Signal is also sent to described control unit by signal, and described control unit controls described united reaper
Engine start；
The second acquisition unit being connected communicatedly with described control unit, described second acquisition unit is used for obtaining shelling clutch
Engagement signal and engine speed information；
The judging unit being connected communicatedly with described control unit and described second acquisition unit, described judging unit is used for passing through
Described engine speed information judges that whether described engine speed is less than preset rotation speed:
If described engine speed is less than described preset rotation speed, the most described control unit engages letter according to described shelling clutch
Number change shelling clutch operating mechanism state with by described shelling clutch drive to engagement state；
If described engine speed is not less than described preset rotation speed, the most described control unit to described electromotor send signal with
Making below described drop engine speed extremely described preset rotation speed, the most described control unit is according to described shelling clutch engagement signal
Change the state of shelling clutch operating mechanism to drive described shelling clutch to engagement state；
The 3rd acquiring unit being connected communicatedly with described control unit, described 3rd acquiring unit is used for obtaining ceding of Taiwan clutch
Engagement signal or ceding of Taiwan reversing clutch engagement signal, described control unit is according to described ceding of Taiwan clutch engagement signal or the ceding of Taiwan
Reversing clutch engagement signal changes the state of ceding of Taiwan clutch operating mechanism or ceding of Taiwan reversing clutch operating mechanism to incite somebody to action
Described ceding of Taiwan clutch or described ceding of Taiwan reversing clutch drive to engagement state.
12. automatons for united reaper according to claim 11, also include:
The first judge module being connected communicatedly with described control unit, described first judge module will be at described engine start
The shelling clutch engagement signal, ceding of Taiwan clutch engagement signal or the ceding of Taiwan reversing clutch engagement signal that obtain are defined as before
Maloperation signal, and send information warning after receiving described signal.
13. automatons for united reaper according to claim 11, also include:
The second judge module being connected communicatedly with described control unit, described second judge module will make described shelling clutch
Device drives the ceding of Taiwan clutch engagement signal received to engagement state or ceding of Taiwan reversing clutch engagement signal to be defined as grasping by mistake
Make signal, and send information warning after receiving described signal.
14. automatons for united reaper according to claim 11, also include:
The 4th acquiring unit being connected communicatedly with described control unit, described 4th acquiring unit is at described 3rd acquiring unit
Described united reaper is obtained when receiving described ceding of Taiwan clutch engagement signal or described ceding of Taiwan reversing clutch engagement signal
Engine speed information,
If described engine speed is less than preset rotation speed, the most described control unit according to described ceding of Taiwan clutch engagement signal or
Described ceding of Taiwan reversing clutch engagement signal changes ceding of Taiwan clutch operating mechanism or the shape of ceding of Taiwan reversing clutch operating mechanism
State, to drive described ceding of Taiwan clutch or ceding of Taiwan reversing clutch to engagement state；
If described engine speed is not less than described preset rotation speed, the most described control unit to described electromotor send signal with
Making described drop engine speed to below preset rotation speed, the most described control unit is according to described ceding of Taiwan clutch engagement signal or institute
State ceding of Taiwan reversing clutch engagement signal and change ceding of Taiwan clutch operating mechanism or the state of ceding of Taiwan reversing clutch operating mechanism,
So that described ceding of Taiwan clutch or ceding of Taiwan reversing clutch are driven to engagement state.
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| CN201610457893.1A CN106068900B (en) | 2016-06-22 | 2016-06-22 | Automatic control system, control method and control device for combine harvester |
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| CN201610457893.1A CN106068900B (en) | 2016-06-22 | 2016-06-22 | Automatic control system, control method and control device for combine harvester |
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| CN107409606A (en) * | 2017-08-31 | 2017-12-01 | 天津职业技术师范大学 | United reaper high position unloading control system and control method |
| CN109315129A (en) * | 2017-08-01 | 2019-02-12 | 大同工业株式会社 | Electronic control type engine revolution control device and full stalk feed type combine harvester including it |
| CN110089262A (en) * | 2018-01-31 | 2019-08-06 | 雷沃重工股份有限公司 | Drum rotation speed control method and device |
| CN111567225A (en) * | 2020-05-27 | 2020-08-25 | 江苏沃得农业机械股份有限公司 | Automatically controlled separation and reunion structure |
| CN112997678A (en) * | 2021-03-01 | 2021-06-22 | 潍柴雷沃重工股份有限公司 | Automatic grain unloading control system and method for harvester and harvester |
| CN113212334A (en) * | 2021-05-11 | 2021-08-06 | 第一拖拉机股份有限公司 | Operation safety control device and control method for grain crop harvesting robot |
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| Publication number | Publication date |
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| CN106068900B (en) | 2018-08-03 |
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Address after: 241080 Anhui province Wuhu City mountain Economic Development Zone E Xi Road No. 16 Patentee after: Zhonglian Agricultural Machinery Co., Ltd Address before: 241080 Anhui province Wuhu City mountain Economic Development Zone E Xi Road No. 16 Patentee before: ZOOMLION HEAVY MACHINERY Co.,Ltd. |
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