CN110383983A - Beet harvester ceding of Taiwan height copying device and ceding of Taiwan height control method - Google Patents
Beet harvester ceding of Taiwan height copying device and ceding of Taiwan height control method Download PDFInfo
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- CN110383983A CN110383983A CN201810365815.8A CN201810365815A CN110383983A CN 110383983 A CN110383983 A CN 110383983A CN 201810365815 A CN201810365815 A CN 201810365815A CN 110383983 A CN110383983 A CN 110383983A
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- 241001122767 Theaceae Species 0.000 claims description 2
- 235000009508 confectionery Nutrition 0.000 claims description 2
- 238000011897 real-time detection Methods 0.000 claims description 2
- 238000012876 topography Methods 0.000 abstract description 13
- 238000013340 harvest operation Methods 0.000 abstract description 10
- 230000003044 adaptive effect Effects 0.000 abstract description 5
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- 230000033228 biological regulation Effects 0.000 abstract description 2
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- 238000003306 harvesting Methods 0.000 description 13
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D25/00—Lifters for beet or like crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The present invention relates to beet harvester ceding of Taiwan height copying device and ceding of Taiwan height control methods, device includes contour wheel, connection pivoted arm, rotary pin shaft, support frame, link mechanism, angular transducer and resetting-mechanism, wherein support frame is equipped with rotatable rotary pin shaft, one end of connection pivoted arm is connect with contour wheel, the other end is connect with rotary pin shaft, angular transducer installation is connect with rotary pin shaft on the support frame and by link mechanism, resetting-mechanism is set between support frame and connection pivoted arm, for connecting the reset of pivoted arm.Method is Vehicle Controller by angular transducer measurement connection pivoted arm angle change, calculates lifting difference of the beet harvester ceding of Taiwan apart from ground level, exports control signal and gives hydraulic valve control cylinder action drive taiwan cut off and landing.The present invention carries out profiling to the topography in beet harvester harvest operation region, converts topography height fluctuations to the angle information of detection, and Vehicle Controller realizes the adaptive regulation to ceding of Taiwan height according to angle change.
Description
Technical field
The present invention relates to detection technique field, specifically beet harvester ceding of Taiwan height copying device and the ceding of Taiwan is high
Spend control method.
Background technique
It is national further to pay attention to agricultural and Agricultural Machinery Equipment, and it is big to be classified as ten for Agricultural Machinery Equipment in " made in China 2025 "
One of special project.Country pay much attention to Agricultural Machinery Equipment the reason of first is that: be directly related to harvest whether Agricultural Machinery Equipment performance superiority and inferiority
Efficiency and quality when operation.
In beet harvester harvest operation, demand of the country to beet harvester is that the beet harvester ceding of Taiwan can be according to
Topography variation when according to harvest operation carries out adaptive height adjustment, to guarantee the harvest quality and effect of beet harvester
Rate.But the beet harvester of current China independent development, in field when harvest operation, ceding of Taiwan height is kept constant, when completion refers to
After the harvest task for determining region, situation is harvested according to beet, ceding of Taiwan height is adjusted.Such work pattern, is unfavorable for
Guarantee the harvest quality in harvest region, it is easy to because the fluctuations of topography, cause beet top excessively to cut or cut not
Foot causes harvest quality bad, brings direct economic loss to peasant, and store in a warehouse and process to the beet in later period and bring not
Just.
For the development for further pushing China's precision agriculture, guarantee harvest quality when beet harvest, China is badly in need of at present
A kind of copying device that the beet harvester ceding of Taiwan can be highly adjusted, to realize that China's beet harvester is harvesting
When operation, ceding of Taiwan height can change according to harvest operation region topography, topography and geomorphology feature, carry out automatic adjusument, thus
Realize that the beet harvester of China's independent development is crossed over from mechanization to intelligence.
Summary of the invention
When for beet harvester farm work, it is easy to because the fluctuations of topography, cause beet top excessively to cut
Cut or undercut, it is bad to lead to harvest quality, bring direct economic loss to peasant, and to the storage of the beet in later period and
The problem of processing is made troubles.Meet the beet harvester of China's independent development, ceding of Taiwan height can be according to harvest operation region
Topography Variation Features, voluntarily adjust beet harvester ceding of Taiwan height, guarantee beet harvest quality and efficiency.
Present invention technical solution used for the above purpose is:
Beet harvester ceding of Taiwan height control method, comprising the following steps:
When beet harvester operation, ceding of Taiwan height profiling caused by angular transducer real-time detection rises and falls because of field level
The angle change of the connection pivoted arm of device is simultaneously exported to Vehicle Controller；
Vehicle Controller calculates lifting of the beet harvester ceding of Taiwan apart from ground level according to the angle change of connection pivoted arm
Difference；
Vehicle Controller judges to go up and down whether difference is more than the threshold value risen or fallen；If not exceeded, then Vehicle Controller
Control signal is exported to hydraulic valve according to lifting difference, and hydraulic valve control hydraulic cylinder movement drives the ceding of Taiwan to rise or fall, real
The automatic adjusument of existing beet harvester ceding of Taiwan height.
The Vehicle Controller calculates the beet harvester ceding of Taiwan apart from ground level according to the angle change of connection pivoted arm
Go up and down difference, comprising:
When ground protrusion, lifting difference of the ceding of Taiwan apart from ground level are as follows:
Δ h=Lcos θ0-Lcosθ2；
Wherein, L is the length for connecting pivoted arm, θ0When for Land leveling, the angle of pivoted arm and vertical direction is connected； θ2=θ0
+θ1, θ2For the angle for connecting pivoted arm and vertical direction because of caused by the protrusion of ground；θ1Draw for connection pivoted arm because of ground protrusion
The angle change risen is detected by angular transducer and is obtained；
When the ground caved in, lifting difference of the ceding of Taiwan apart from ground level are as follows:
Δ h'=Lcos θ2'-Lcosθ0；
Wherein, L is the length for connecting pivoted arm, θ0When for Land leveling, the angle of pivoted arm and vertical direction is connected； θ2'=
θ0-θ1', θ2' it is the angle that pivoted arm and vertical direction are connected because caused by the ground caved in；θ1' it is connection pivoted arm because ground is recessed
Angle change caused by falling into is detected by angular transducer and is obtained.
It is using fuzzy PID control method that the Vehicle Controller, which exports control signal to hydraulic valve according to lifting difference,.
The Vehicle Controller is arranged on beet harvester, is separately connected angular transducer, hydraulic valve, described hydraulic
The movement of the hydraulic cylinder below the ceding of Taiwan is arranged in valve control, to drive taiwan cut off and landing.
Beet harvester ceding of Taiwan height copying device, including contour wheel, connection pivoted arm, rotary pin shaft, support frame, connecting rod
Mechanism, angular transducer and resetting-mechanism, wherein support frame is equipped with rotatable rotary pin shaft, described to connect the one of pivoted arm
End is connect with rotary pin shaft, and the other end is connect with contour wheel, and the angular transducer is mounted on support frame as described above and passes through
The link mechanism is connect with the rotary pin shaft, and the resetting-mechanism is set between support frame as described above and connection pivoted arm, is used
In the reset of the connection pivoted arm.
The link mechanism includes successively hinged first connecting rod, second connecting rod and third connecting rod, wherein first connecting rod
End is fixedly connected with the rotary pin shaft, and the end of the third connecting rod is connect with the angular transducer；Described first connects
The end of bar is set on the rotary pin shaft and is fixedly connected by jackscrew with the rotary pin shaft.
The abutment sleeve being arranged on the rotary pin shaft between the connection pivoted arm and the link mechanism.
One end of the connection pivoted arm is set on the rotary pin shaft and by connection pivoted arm jackscrew and the rotation
Pin shaft is fixedly connected.
The side of the rotary pin shaft is plane, and the connection pivoted arm jackscrew is held out against on the plane；The reset machine
Structure include the first spring and second spring, wherein the both ends of the first spring respectively with support frame as described above and connect pivoted arm connect, institute
The one end for stating second spring is connect with support frame as described above, and the other end is connected with the connection pivoted arm jackscrew；First spring and
The Impact direction of second spring is opposite；The connection pivoted arm is equipped with the first positioning convex platform, and it is convex that support frame as described above is equipped with second
Platform, the both ends of first spring are connect with first positioning convex platform and second boss respectively, when the connection pivoted arm lifts
Or when putting down, first spring bears pulling force or pressure；Support frame as described above is equipped with the bullet being located at below the rotary pin shaft
Spring fixed pin, the both ends of the second spring are connected with the spring fixing pin and the connection pivoted arm jackscrew respectively, when described
When connection pivoted arm is lifted or put down, the second spring bears pressure or pulling force.
The side of support frame as described above is equipped with the boss with through-hole, and the angular transducer is mounted on the boss, described
The through-hole that link mechanism passes through on the boss is connect with the angular transducer.
The invention has the following beneficial effects and advantage:
The present invention provides beet harvester ceding of Taiwan height copying device and control methods, and wherein copying device can have
Effect ground carries out profiling to the topography in beet harvester harvest operation region, and by the height fluctuations of topography, is converted into angle
The angle information that sensor can detecte.Vehicle Controller is by the angle change information to feedback, to realize to ceding of Taiwan height
Adaptive regulation.And control method of the invention, have adaptivity strong, the excellent feature of robustness, guarantee controls smart
Degree and stationarity are advantageously implemented the automatic adjustment that beet harvester ceding of Taiwan height realizes the ceding of Taiwan according to the variation of topography, together
When copying device of the invention, have and be easily installed, structure is simple, feature convenient for safeguarding and versatile.
Detailed description of the invention
Fig. 1 is the control flow chart of control method of the invention；
Fig. 2 is the fuzzy-adaptation PID control schematic illustration of control method of the invention；
Fig. 3 is that the ground protrusion of control method of the invention analyzes schematic diagram；
Fig. 4 be control method of the invention the ground caved in analysis schematic diagram；
Fig. 5 is the device of the invention structural schematic diagram；
Fig. 6 is one of the structural schematic diagram of link mechanism of the invention；
Fig. 7 is the second structural representation of link mechanism of the invention；
Fig. 8 is one of the structural schematic diagram of resetting-mechanism of the invention；
Fig. 9 is the second structural representation of resetting-mechanism of the invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage are clearer, below in conjunction with relevant drawings
It is described in detail.
As shown in Figure 1, being the control flow chart of beet harvester ceding of Taiwan height control method of the present invention.Vehicle Controller
The angle of the connection pivoted arm 2 of ceding of Taiwan height copying device caused by being risen and fallen by the detection of angular transducer 10 because of field level becomes
Change, calculate lifting difference of the beet harvester ceding of Taiwan apart from ground level, exports control signal to hydraulic valve, hydraulic valve control
Hydraulic cylinder movement drives the ceding of Taiwan to rise or fall, and realizes the automatic adjusument of beet harvester ceding of Taiwan height, and final realize sets
The adjusting for setting the cutter height for gathering in beet in the ceding of Taiwan, solves that beet top is excessively cut or undercut is asked
Topic.
When ground is relatively flat, Vehicle Controller controls the ceding of Taiwan and keeps original height；When ground is recessed, vehicle
Set controller is by control ceding of Taiwan oil cylinder, if having arrived ceding of Taiwan oil cylinder range at this time, without operation, keeps former
There is height, if not reaching range, pushes oil cylinder, promote the ceding of Taiwan；When ground protrusion, vehicle-mounted control passes through control
Ceding of Taiwan oil cylinder processed, without operation, keeps original height, if do not had if having arrived ceding of Taiwan oil cylinder minimum stroke at this time
Reach minimum stroke, then push oil cylinder, reduces the ceding of Taiwan.
Vehicle Controller is PLC, is arranged on beet harvester.Beet harvester ceding of Taiwan height copying device is mounted on
Below the ceding of Taiwan, it is connect by support frame 4 with the ceding of Taiwan.The cutter for cutting beet tops is additionally provided in the ceding of Taiwan.
As shown in Fig. 2, be the fuzzy-adaptation PID control schematic illustration of beet harvester ceding of Taiwan height control method of the present invention,
It is by deviation e and deviation ratio e it can be seen from the figure that realizing the Fuzzy processing of input and output amountcAs the defeated of fuzzy control
Enter, and fuzzy control output is that pid parameter revises value, Kp, Ki, Kd.By the pid parameter of adjusting, beet is harvested to realize
The automatic adjusument of machine cut platform height.
Fuzzy PID control method is using fuzzy self-adaption to pid parameter Kp, Ki, KdIt is adjusted, there is control system
Preferable adaptive ability improves the robustness of system.Using fuzzy PID control method, the stabilization of system can effectively improve
Property and capability of fast response, and fuzzy PID control method the dynamic of control system can effectively improve by on-line control gain
Step response allows control system to export quick and stable tracking setting value, guarantees to carry out beet harvester ceding of Taiwan height
Effectively control.The Fuzzy processing for wherein realizing input and output amount, is by deviation e and deviation ratio ecAs the defeated of fuzzy control
Enter, and fuzzy control output is that PID parameter revises value, Kp, Ki, Kd。
The control domain of the beet harvester ceding of Taiwan height of fuzzy-adaptation PID control in the method is designed as: angular deviation e,
Basic domain [- 60,60], quantifies domain [- 6,6], quantizing factor 6/60=0.1；Angular deviation rate ec, basic domain [- 12,
12], quantify domain [- 6,6], quantizing factor 6/12=0.5；Adjuster Kp, basic domain [- 10,10], quantization domain [- 6,
6], quantizing factor 6/10=0.6；Adjuster Ki, basic domain [- 8,8], quantization domain [- 6,6], quantizing factor 6/8=
0.75；Adjuster Kd, basic domain [- 6,6], quantization domain [- 6,6], quantizing factor 6/6=1.Fuzzy subset is respectively { NB
(negative big), NM (in negative), NS (is born small), ZO (zero), PS (just small), PM (center), PB (honest) }.The person in servitude of each fuzzy subset
Category degree function is chosen for Gaussian function, and center is respectively { -6, -4, -2,0,2,4,6 }.
The basic thought of fuzzy-adaptation PID control is system in the response initial stage, since deviation e is larger, to shorten system
Response time, accelerate response speed, when preventing initial deviation moment increase it is too fast, cause system integral saturated phenomenon, make be
Overshoot of uniting is excessive, exceeds tolerance band, therefore select biggish Kp, make integral gain KiIt should not be too large, subtract rapidly convenient for deviation e
It is small；And the stage is adjusted in system, and deviation e is gradually reduced, in order to shorten regulating time, reduce the vibration and overshoot of system, this
When KpSmaller value is chosen, and suitably increases Ki；When system output tends towards stability, i.e., deviation e very little when, it is good in order to obtain
Steady-state characteristic, and export steady, system works in overdamping state；When system is in steady-working state, in order to improve
The anti-interference ability of system inhibits ecVariation, need suitably to increase Kd, and to ecIt forecasts in advance.
As shown in figure 3, the ground protrusion for beet harvester ceding of Taiwan height control method of the present invention analyzes schematic diagram.It will
Copying device regards a rigid body, when ground protrusion, the height change of ceding of Taiwan height as are as follows: Δ h=Lcos θ0-Lcosθ2.Its
In, L is the length for connecting pivoted arm 2；θ0When for Land leveling, the initial angle of the connection pivoted arm 2 and vertical direction of beet harvester
Degree；θ2=θ0+θ1, θ2For the angle for connecting pivoted arm 2 and vertical direction because of caused by the protrusion of ground, θ1It is copying device because of ground
Face protrusion, caused by angle change, pass through angular transducer 10 detection obtain.
As shown in figure 4, for beet harvester ceding of Taiwan height control method of the present invention the ground caved in analyze schematic diagram.It will
Copying device regards a rigid body, when the ground caved in, the height change of ceding of Taiwan height as are as follows: Δ h'=Lcos θ2'-Lcosθ0。
Wherein, L is the length for connecting pivoted arm 2, θ0When for Land leveling, the angle of pivoted arm 2 and vertical direction is connected；θ2'=θ0-θ1',
θ2' it is the angle that pivoted arm 2 and vertical direction are connected because caused by the ground caved in；θ1' it is connection pivoted arm 2 because the ground caved in, and
Caused angle change is detected by angular transducer 10 and is obtained.
As shown in figure 5, a kind of beet harvester ceding of Taiwan height copying device, including contour wheel 1, connection pivoted arm 2, rotation
Pin shaft 3, support frame 4, link mechanism, angular transducer 10 and resetting-mechanism, wherein support frame 4 is equipped with rotatable rotation
One end of pin shaft 3, connection pivoted arm 2 is connect with rotary pin shaft 3, and the other end is connect with contour wheel 1, and angular transducer 10 is mounted on
Connect on support frame 4 and by link mechanism with rotary pin shaft 3, resetting-mechanism be set to support frame 4 with connect pivoted arm 2 it
Between, for connecting the reset of pivoted arm 2.
Rotary pin shaft 3 is fixed on support frame 4 by split pin 5, aperture on support frame 4, for cutting beet harvester
Platform height copying device is fixed on by bolted connection in the ceding of Taiwan of Sweet tea harvester.
As shown in fig. 6-7, link mechanism includes successively hinged first connecting rod 7, second connecting rod 8 and third connecting rod 9,
The end of middle first connecting rod 7 is fixedly connected with rotary pin shaft 3, and the end of third connecting rod 9 is connect with angular transducer 10.
Further, the end of first connecting rod 7 is set on rotary pin shaft 3 and is consolidated by jackscrew 12 and rotary pin shaft 3
Fixed connection, rotates together first connecting rod 7 with rotary pin shaft 3.The side of support frame 4 is equipped with the boss with through-hole, angle sensor
Device 10 is mounted on boss, and the through-hole that third connecting rod 9 passes through on boss is connect with angular transducer 10.
One end of connection pivoted arm 2 is set on rotary pin shaft 3 and is fixed by connection pivoted arm jackscrew 15 and rotary pin shaft 3
The tight fit of connection pivoted arm 2 and rotary pin shaft 3 is realized in connection.
Further, a side milling of rotary pin shaft 3 is plane, and connection pivoted arm jackscrew 15 is held out against in the plane.Rotary pin shaft
It is arranged with the abutment sleeve 11 being located between connection pivoted arm 2 and link mechanism on 3, is realized by abutment sleeve 11 and jackscrew 12
The tight fit of first connecting rod 7 and rotary pin shaft 3.
As Figure 8-9, resetting-mechanism includes the first spring 13 and second spring 14, wherein the both ends of the first spring 13
Respectively with support frame 4 and connect pivoted arm 2 and connect, one end of second spring 14 connect with support frame 4, the other end with connect pivoted arm
Jackscrew 15 is connected；First spring 13 is opposite with the Impact direction of second spring 14.
Further, connection pivoted arm 2 is equipped with the first positioning convex platform 16, and the inside of support frame 4 is equipped with second boss 17,
The both ends of first spring 13 are connect with the first positioning convex platform 16 and second boss 17 respectively；When connection pivoted arm 2 lifts, first
Spring 13 bears pulling force；When connection pivoted arm 2 is put down, the first spring 13 bears pressure.
Further, support frame 4 is equipped with the spring fixing pin 6 for being located at the lower section of rotary pin shaft 3, and the two of second spring 14
End respectively with spring fixing pin 6 and connect pivoted arm jackscrew 15 connect, when connect pivoted arm 2 lift when, second spring 14 receiving press
Power；When connection pivoted arm 2 is put down, second spring 14 bears pulling force.
The effect of first spring 13 and second spring 14 is to reset copying device, and initial shape is kept in ground grading
State.
The working principle of the present apparatus is:
Support frame 4 is connect with the beet harvester ceding of Taiwan, and contour wheel 1 and ground face contact, the fluctuating for profiling ground become
Change, contour wheel 1 with connect that pivoted arm 2 is closely coupled, because of the fluctuations on ground, contour wheel 1 drives the connection rotation of pivoted arm 2, connects
Pivoted arm 2 is closely connect with rotary pin shaft 3, so that rotary pin shaft 3 be driven to rotate, rotary pin shaft 3 drives first connecting rod 7 to rotate, by
It is attached in link mechanism by hinged mode, therefore first connecting rod 7 drives second connecting rod 8 to rotate, 8 band of second connecting rod
Dynamic third connecting rod 9 rotates, and the end of third connecting rod 9 is connected with angular transducer 10, therefore surface relief is changed, conversion
For the angle information variation that angular transducer 10 detects, Vehicle Controller is changed by angle information, to control beet
The lifting of harvester cutting bench height.
When ground protrusion, the first spring 13 is primarily subjected to pulling force, and second spring 14 is primarily subjected to pressure, when crossing ground
Face protrusion, when coming back to ground grading, the first spring 13 is shunk, and second spring 14 stretches, and revert to copying device initially
Angle position；When the ground caved in, the first spring 13 is primarily subjected to pressure, and second spring 14 is primarily subjected to pulling force, when crossing ground
Face recess, when coming back to ground grading, the first spring 13 stretching, extension, second spring 14 is shunk, and revert to copying device initially
Angle position.
The material of copying device is mainly stainless steel, and wherein the material of 1 wheel hub of contour wheel is stainless steel, the material of tire
For rubber.
Beet harvester ceding of Taiwan height copying device of the present invention and control method, control method has robustness good, adaptive
The characteristics of Ying Xingqiang, can satisfy demand for control when actual job harvest, while copying device of the invention, can be timely
The topography situation of change for reflecting harvest operation region, by harvest operation region topography height fluctuations, being converted into can be used
In the angle change information of angular transducer detection, changed by angle information, using mathematical relationship, calculates that copying device is high
Degree variation, so that automatic adjusument is carried out to ceding of Taiwan height using Vehicle Controller, and this facilitates China's beet harvester
In harvest operation, guarantee higher harvest quality and efficiency.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. beet harvester ceding of Taiwan height control method, which comprises the following steps:
When beet harvester operation, ceding of Taiwan height profiling caused by angular transducer (10) real-time detection rises and falls because of field level is filled
The angle change for the connection pivoted arm (2) set simultaneously is exported to Vehicle Controller；
Lifting of the Vehicle Controller according to the angle change calculating beet harvester ceding of Taiwan of connection pivoted arm (2) apart from ground level is poor
Value；
Vehicle Controller judges to go up and down whether difference is more than the threshold value risen or fallen；If not exceeded, then Vehicle Controller according to
Lifting difference exports control signal to hydraulic valve, and hydraulic valve control hydraulic cylinder movement drives the ceding of Taiwan to rise or fall, realizes sweet tea
The automatic adjusument of dish harvester cutting bench height.
2. beet harvester ceding of Taiwan height control method described in accordance with the claim 1, which is characterized in that the Vehicle Controller
Lifting difference of the beet harvester ceding of Taiwan apart from ground level is calculated according to the angle change of connection pivoted arm (2), comprising:
When ground protrusion, lifting difference of the ceding of Taiwan apart from ground level are as follows:
Δ h=Lcos θ0-Lcosθ2；
Wherein, L is the length for connecting pivoted arm (2), θ0When for Land leveling, the angle of pivoted arm (2) and vertical direction is connected；θ2=
θ0+θ1, θ2For the angle for connecting pivoted arm (2) and vertical direction because of caused by the protrusion of ground；θ1It is connection pivoted arm (2) because of ground
Angle change caused by protrusion is detected by angular transducer (10) and is obtained；
When the ground caved in, lifting difference of the ceding of Taiwan apart from ground level are as follows:
Δ h'=Lcos θ2'-Lcosθ0；
Wherein, L is the length for connecting pivoted arm (2), θ0When for Land leveling, the angle of pivoted arm (2) and vertical direction is connected；θ2'=
θ0-θ1', θ2' it is the angle that pivoted arm (2) and vertical direction are connected because caused by the ground caved in；θ1' it is connection pivoted arm (2) because of ground
Angle change caused by the recess of face, is detected by angular transducer (10) and is obtained.
3. beet harvester ceding of Taiwan height control method described in accordance with the claim 1, which is characterized in that the Vehicle Controller
Exporting control signal to hydraulic valve according to lifting difference is using fuzzy PID control method.
4. according to beet harvester ceding of Taiwan height control method described in claim 1-3 any one, which is characterized in that described
Vehicle Controller is arranged on beet harvester, is separately connected angular transducer (10), hydraulic valve, the hydraulic valve control setting
Hydraulic cylinder movement below the ceding of Taiwan, to drive taiwan cut off and landing.
5. beet harvester ceding of Taiwan height copying device, which is characterized in that including contour wheel (1), connection pivoted arm (2), rotating dog
Axis (3), support frame (4), link mechanism, angular transducer (10) and resetting-mechanism, wherein support frame (4) is equipped with rotatable
One end of rotary pin shaft (3), connection pivoted arm (2) is connect with rotary pin shaft (3), and the other end is connect with contour wheel (1), described
Angular transducer (10) is mounted on support frame as described above (4) and is connect by the link mechanism with the rotary pin shaft (3),
The resetting-mechanism be set to support frame as described above (4) with connect between pivoted arm (2), for it is described connection pivoted arm (2) reset.
6. beet harvester ceding of Taiwan height copying device according to claim 5, which is characterized in that the link mechanism packet
Include successively hinged first connecting rod (7), second connecting rod (8) and third connecting rod (9), wherein the end of first connecting rod (7) with it is described
Rotary pin shaft (3) is fixedly connected, and the end of the third connecting rod (9) is connect with the angular transducer (10)；Described first connects
The end of bar (7) is set on the rotary pin shaft (3) and is fixedly connected by jackscrew (12) with the rotary pin shaft (3).
7. beet harvester ceding of Taiwan height copying device according to claim 5, which is characterized in that the rotary pin shaft
(3) abutment sleeve (11) being arranged between connection pivoted arm (2) and the link mechanism.
8. beet harvester ceding of Taiwan height copying device according to claim 5, which is characterized in that the connection pivoted arm
(2) one end is set on the rotary pin shaft (3), and fixed by connection pivoted arm jackscrew (15) and the rotary pin shaft (3)
Connection.
9. beet harvester ceding of Taiwan height copying device according to claim 8, which is characterized in that the rotary pin shaft
(3) side is plane, and the connection pivoted arm jackscrew (15) holds out against on the plane；The resetting-mechanism includes the first spring
(13) and second spring (14), wherein the both ends of the first spring (13) respectively with support frame as described above (4) and connect pivoted arm (2) even
It connects, one end of the second spring (14) is connect with support frame as described above (4), the other end and connection pivoted arm jackscrew (15) phase
Even；The Impact direction of first spring (13) and second spring (14) is opposite；The connection pivoted arm (2) is equipped with the first positioning
Boss (16), support frame as described above (4) are equipped with second boss (17), and the both ends of first spring (13) are respectively with described first
Positioning convex platform (16) and second boss (17) connection, when the connection pivoted arm (2) is lifted or is put down, first spring (13)
Bear pulling force or pressure；Support frame as described above (4) is equipped with the spring fixing pin (6) being located at below the rotary pin shaft (3), described
The both ends of second spring (14) are connected with the spring fixing pin (6) and the connection pivoted arm jackscrew (15) respectively, when the company
When switching through arm (2) and lifting or put down, the second spring (14) bears pressure or pulling force.
10. beet harvester ceding of Taiwan height copying device according to claim 5, which is characterized in that support frame as described above (4)
Side be equipped with the boss with through-hole, the angular transducer (10) is mounted on the boss, and the link mechanism passes through institute
The through-hole stated on boss is connect with the angular transducer (10).
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| CN111443736A (en) * | 2020-03-31 | 2020-07-24 | 东南大学 | Logic self-adaptive control method for dynamically adjusting height of header |
| CN112189443A (en) * | 2020-12-07 | 2021-01-08 | 农业农村部南京农业机械化研究所 | Electro-hydraulic height control method and system for cutting table of soybean harvester |
| CN113348788A (en) * | 2021-07-02 | 2021-09-07 | 四川省农业机械研究设计院 | But automatically regulated's plays membrane device |
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| CN112189443A (en) * | 2020-12-07 | 2021-01-08 | 农业农村部南京农业机械化研究所 | Electro-hydraulic height control method and system for cutting table of soybean harvester |
| CN112189443B (en) * | 2020-12-07 | 2021-02-23 | 农业农村部南京农业机械化研究所 | Electro-hydraulic height control method and system for cutting table of soybean harvester |
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| CN114342646A (en) * | 2022-01-19 | 2022-04-15 | 华中农业大学 | Profiling detection and self-adaptive adjustment system for header ground clearance |
| CN114557187A (en) * | 2022-04-20 | 2022-05-31 | 农业农村部南京农业机械化研究所 | Combine harvester with rotatable header |
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