GB2622341A

GB2622341A - Self-adaptive balancing device suitable for threshing cylinder of combine harvester and control strategy therefor

Info

Publication number: GB2622341A
Application number: GB2319350.1A
Authority: GB
Inventors: Tang Zhong; Gu Xingyang; Wang Bangzhui; Zhang Hao; Liang Yaquan; Li Pengcheng; Liu Sifan
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2022-02-08
Filing date: 2022-02-11
Publication date: 2024-03-13
Anticipated expiration: 2042-02-11
Also published as: GB202319350D0; GB2622341B; WO2023151002A1; CN114532081A; CN114532081B

Abstract

A self-adaptive balancing device suitable for a threshing cylinder of a combine harvester. The self-adaptive balancing device is provided at one end of a threshing spindle and comprises electromagnets, housings, supporting plates, bearings, magnetic plates, counterweight discs, permanent magnets and a middle magnetic plate; the middle magnetic plate is mounted on the threshing spindle, and the bearings are respectively mounted on the threshing spindle at two sides of the middle magnetic plate; each counterweight disc is mounted on an outer ring of each bearing, and the counterweight disc is a counterweight disc having an eccentric center; a plurality of through holes are uniformly distributed in the circumferential direction of the counterweight disc, and a permanent magnet is mounted in each through hole; each supporting plate is mounted on the threshing spindle on one side of each bearing, and each magnetic plate is mounted on each supporting plate; and the electromagnets are provided in the housings, and a magnetic field is generated by means of the electromagnets, so that the two counterweight discs respectively move relative to the threshing spindle. According to the present invention, real-time detection and dynamic balance of cylinder vibration can be realized, manual operation is not needed, the real-time performance is good, and the working efficiency is high.

Description

SELF-ADAPTIVE BALANCING DEVICE SUITABLE FOR THRESHING CYLINDER OF COMBINE HARVESTER AND CONTROL STRATEGY THEREOF

TECHNICAL FIELD

The present disclosure relates to the field of agricultural equipment or the field of intelligent agricultural machine control, and particularly to an adaptive balancing device and a control strategy for a threshing drum of a combine harvester.

BACKGROUND

During the working process of the threshing drum, the rice stalks are entangled in the threshing tines and the center shaft, forming an eccentric mass. The process of rotation will produce obvious eccentric vibration, resulting in increased pressure on the bearings at both ends of the threshing drum, causing wear and tear on the bearings, and affecting their operational stability, which in turn leads to the high failure rate of the combine harvester. In addition, the drum is subject to installation errors and other external factors in the work, which will also make the whole machine produce a lot of vibration, which will seriously lead to the wear of the threshing drum, and the need to carry out dynamic balancing of the threshing drum. The existing offline dynamic balancing method cannot quickly and effectively solve the imbalance problem generated in the threshing drum work, therefore, the design of a threshing drum automatic balancing device and control strategy is of great significance for solving the vibration problem in the process of work and improving the efficiency of the drum.

At present, for the threshing drum fault monitoring problem, the prior art disclosed a fault simulation monitoring system and method that can realize the fault monitoring of drum imbalance fault, bearing fault drum clogging, etc.; for the dynamic balancing method of the threshing drum, such as the prior art disclosed a kind of electromagnetic sliding ring type balancing device and imbalance detection system to realize the threshing drum online active balancing adjustment; for the design of dynamic balancing control method, the prior art disclosed a dynamic balancing control method that can realize real-time monitoring and dynamic adjustment of rotating machinery imbalance force, which makes dynamic balancing control more flexible For the design of a dynamic balancing control method, such as the prior art disclosed a dynamic balancing control method that can realize the real-time monitoring and dynamic adjustment of the unbalanced force of the rotating machinery, which makes the dynamic balancing control more flexible; for the design of the automatic balancing method, the prior art disclosed a balancing device for the on-line correction of the dynamic unbalance state of the main spindle, which can realize the automatic balancing correction of the rigid main spindle.

The above prior art public for online automatic balancing and threshing drum dynamic balancing problems put forward the method and device design, however, the threshing drum working state is variable, by the stalks winding and other external factors interference, will produce a new imbalance problem, the current stage of the automatic balancing device and control method cannot be applied to the threshing drum.

SUMMARY

Aiming at the deficiencies in the existing technology, the present disclosure provides an adaptive balancing device and a control strategy for a threshing drum of a combine harvester, which can realize real-time detection and dynamic balancing of drum vibration without manual operation, with good real-time performance and high work efficiency.

The present disclosure achieves the above technical objectives by the following technical means.

An adaptive balancing device for a threshing drum of a combine harvester, where the threshing drum includes a threshing spindle, the threshing spindle is fitted with a balancing device at one end of the threshing spindle, and the balancing device includes an electromagnet, a casing, a support plate, a bearing, a magnetic plate, a counterweight disk, a permanent magnet, intermediate magnetic plate, and a control system; the intermediate magnetic plate is mounted on the threshing spindle and the bearing is mounted on the threshing spindle on both sides of the intermediate magnetic plate; a counterweight disk is mounted on the outer ring of each bearing and the counterweight disk is eccentric; multiple through-holes are evenly distributed along the circumference of the counterweight disk, with a permanent magnet installed in each through-hole, on one side of the threshing spindle with the bearing, a supporting plate is installed, and a magnetic plate is mounted on the supporting plate; the intermediate magnetic plate, the bearing, the support plate, and the counterweight disks are located within the casing; the electromagnet is installed in the casing, through which the electromagnet generates a magnetic field so that the two counterweight disks are in relative motion with the threshing spindle respectively; the control system comprises a vibration sensor, a rotational speed sensor, and a microcontroller, and the vibration sensor is configured to detect a vibration value of the threshing drum, and the rotational speed sensor is configured to detect a rotational speed of the threshing spindle; the microcontroller includes a phase calculation unit, and an amplitude calculation unit, the amplitude calculation unit determines the amplitude of vibration according to the detection of the vibration value of the threshing drum, the phase calculation unit determines the phase angle of the rotation of the counterweight disks according to the detection of the rotational speed of the threshing spindle; the microcontroller determines the phase angle of the rotation of the counterweight disks to reach the equilibrium according to the amplitude of the vibration and the phase angle, and the microcontroller controls a electromagnet so that the counterweight disks rotate respectively.

Further, the casing is mounted on a side plate for drum installation; the drum-mounting side plate is mounted with a power supply, which is connected to a coil within a solenoid.

Further, the magnetic poles of the permanent magnets in adjacent through-holes on each counterweight disk are different.

Further, the magnetic plate, intermediate magnetic plate, and permanent magnet on the counterweight disk form a self-locking magnetic field, so that the counterweight disk rotates synchronously with the threshing spindle, by generating a magnetic field through an electromagnet, the self-locking magnetic field is disrupted, actively driving the counterweight disks to rotate independently and resulting in relative rotation between the counterweight disks and the threshing spindle A control strategy of the adaptive balancing device for a threshing drum of a combine harvester, including the following steps: with the balancing device in an unbalanced state, detecting the vibration value of the threshing drum using a vibration sensor, and determining a vibration amplitude xi by the amplitude calculation unit based on the detection value of the vibration sensor; the microcontroller controlling the electromagnet to rotate the right counterweight disk and the left counterweight disk in the same direction 0, respectively, and the amplitude calculation unit determining a vibration amplitude x2 based on the detection value of the vibration sensor, the microcontroller controlling the electromagnet to make the right counterweight disk rotate -0 again, and at the same time to make the left counterweight disk rotate -0+2c again; and determining a vibration amplitude x3 based on the detection value of the vibration sensor; the microcontroller calculating according to the following formula that the right counterweight disk needs to be rotated AK, and at the same time, the left counterweight disk needs to be rotated z1O, and then the balancing device reaches a balanced state: lio; = A -sin-1 -TZ-FN z -T +1 z2+1 LIO; = ZA -i0; where: T and A are denoted as: ( T = .ticose-r2)2+(xisinc)2 -it "ism° A = tan t.xicose-x2)

-

Z = (1 ± -)e 2; a and ete_i7 the m crocontroller controlling the electromagnet to make the right counterweight disk rotate AB; and at the same time make the left counterweight disk rotate AO; to complete a balancing process.

Advantages of the present disclosure are:

1. The adaptive balancing device for the threshing drum of a combine harvester described in the present disclosure, for the imbalance problem caused by factors such as stalk entanglement or installation error of the threshing drum of the combine harvester in the working process, as well as the problem of cumbersome operation process and low efficiency of the traditional means of dynamic balancing, etc., the adaptive balancing device described in the present disclosure can realize real-time detection of the vibration of the drum and dynamic balancing, which does not require manual operation. The real-time performance is good and the working efficiency is high.

2. The adaptive balancing device for the threshing drum of the combine harvester described in the present disclosure, given the limitations of the conventional drum dynamic balancing method, is based on theory of self-locking of permanent magnets and electromagnetic drive and realizes the stabilization of the position thereof through the magnetic field generated by the permanent magnets, which is a simple principle and is safe and reliable. In addition, the designed electromagnetic-driven vector composite counterweight balancing device is characterized by a simple structure and easy installation, which is a remarkable structural innovation.

3. The control strategy of the adaptive balancing device suitable for combine harvester threshing drums described in the present disclosure enables a fast automatic balancing strategy, whereby the entire balancing process requires only three vibration measurements and two rotations of the balancing disk to complete the trial weight process. The balancing process is simple and fast calculation. The algorithm and program are burned in a microcontroller, which can complete the adaptive control of balancing in real-time.

BRIEF DESCRIPTION OF THE DRAWINGS

To more clearly illustrate the technical solutions in the embodiments or prior art of the present disclosure, the accompanying drawings to be used in the description of the embodiments or prior art will be briefly introduced below, and it will be obvious that the accompanying drawings in the following description are some of the embodiments of the present disclosure, and that, for the person of ordinary skill in the field, it is possible to obtain other attachments based on the accompanying drawings, without putting in any creative labor.

FIG. 1 shows a diagram of the mounting position of the adaptive balancing device described in the present disclosure suitable for use with a combine threshing drum.

FIG. 2 shows a schematic diagram of the assembly of the balancing device described in the present disclosure.

FIG. 3 shows a schematic diagram of the structure of the balancing device described in the present disclosure.

FIG. 4 shows an exploded view of the balancing device described in the present disclosure. FIG. 5 is a structural diagram of the balancing disk described in the present disclosure.

FIG. 6 shows a schematic diagram of the self-locking magnetic field described in the

present disclosure.

FIG. 7 is a schematic diagram of the movement of the electromagnet after it is energized. FIG. 8 is a schematic diagram of the control system described in the present disclosure. FIG. 9 is a flow chart of the control strategy described in the present disclosure.

In the figures, 1-Threshing drum; 101-Threshing spindle; 102-Threshing assembly; 103-Bearing housing; 2-Balancing device; 201-Left electromagnet; 202-Right electromagnet; 203-Right casing; 204-Right support plate; 205-Right bearing; 206-Right magnetic plate; 207-Right counterweight disk; 208-Permanent magnet; 209-Intermediate magnetic plate; 210-Left counterweight disk; 211-Left magnetic plate; 212-Left support plate; 213-Left side bearing; 214-Left casing; 3-Roller mounting side plate; 4-Control system; 401-Vibration sensor; 402-Rotational speed sensor; 403-Microcontroller; 404-Phase calculating unit; 405-Amplitude calculating unit; 5-Power supply.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar labeling throughout denotes the same or similar elements or elements having the same or similar functions. The embodiments described below by reference to the accompanying drawings are exemplary and are intended for use in explaining the present disclosure and are not to be construed as a limitation of the disclosure As shown in FIG. 1 and FIG. 2, the adaptive balancing device for the threshing drum of a combine harvester described in the present disclosure comprises a threshing drum 1, a balancing device 2, a drum mounting side plate 3, a control system 4, and a power supply 5; the power supply 5 is mounted on the drum mounting side plate 3; the threshing drum 1 comprises a threshing spindle 101, a threshing assembly 102, and a bearing housing 103, the bearing housing 103 is mounted on one end of the threshing spindle 101 at one end and connected to the threshing drum mounting plate for fixing the threshing drum 1; As shown in FIG. 3 and FIG. 4, the balancing device 2 comprises a left electromagnet 201, a right electromagnet 202, a right casing 203, a right support plate 204, a right bearing 205, a right magnetic plate 206, a right counterweight disk 207, a permanent magnet 208, an intermediate magnetic plate 209, a left counterweight disk 210, a left magnetic plate 211, a left support plate 212, a left bearing 213 and a left casing 214; the plate 212, the left support plate 211 is mounted on the left support plate 212: the right casing 203 and the left casing form a casing, the intermediate magnetic plate 209, the right bearing 205, the left bearing 213, the right support plate 204, the left support plate 212, the right counterweight plate 207 and the left counterweight plate 210 are located in the casing. The right casing 203 is fitted with a right electromagnet 201, which generates a magnetic field through the right electromagnet 201 to rotate the right counterweight disk 207 relative to the threshing spindle 101. The left casing 214 is fitted with a left solenoid 202, using which the left solenoid 202 generates a magnetic field to rotate the left counterweight disk 210 relative to the threshing spindle 101. The right casing 203 is mounted on the drum mounting side plate 3 by bolting.

As shown in FIG. 5, the right counterweight disk 207 and the left counterweight disk 210 have 40 through-holes with a diameter of 5 mm disposed uniformly along the outer side of the circumference; each through-hole is fitted with a permanent magnet 208; by way of example using the right counterweight disk 207, the magnetic poles of the permanent magnets 208 in the through-holes of the right counterweight disk 207 are arranged in an alternating N-S arrangement, i.e., the magnetic poles of the permanent magnets 208 in the neighboring through-holes of the right counterweight disk 207 are different from each other.

The right magnetic plate 206, the middle magnetic plate 209 and the permanent magnet 208 can form a self-locking magnetic field, so that the right counterweight disk 207 rotates synchronously with the threshing spindle 101, and does not produce relative rotation; the right electromagnet 202, after being fed with the electric current, produces a driving electromagnetic field, breaks the self-locking magnetic field, to drive the right counterweight disk 207 to rotate at a certain angle, and produce relative rotation with the threshing spindle 101; the left magnetic plate 211, intermediate magnetic plate 209 and permanent magnet 208 can form a self-locking magnetic field, so that the left counterweight disk 207 and the threshing spindle 101 rotate synchronously without relative rotation; the left electromagnet 201, after passing current, generates a driving electromagnetic field, breaks the self-locking magnetic field, thus driving the left counterweight disk 210 to rotate at a certain angle, and the threshing spindle 101 to generate relative rotation As shown in FIG 6, according to the "minimum reluctance" principle, the main parameters of the magnetic field are mainly reluctance, magnetic flux, and magnetic potential, if there are two branches with different reluctance, the difference between the magnetic potential of these two branches is the same, but the reluctance of the small one is large, i.e., the principle of minimum reluctance. In the magnetic field formed by the permanent magnet and the ferromagnetic plates on both sides, the permanent magnet acts as the excitation source of the magnetic circuit, and the ferromagnetic plates on both sides as well as the air gap act as the pathway, and the permanent magnet self-locking magnetic circuit in the present disclosure is a series magnetic circuit containing an air gap.

As shown in FIG. 7, respectively in both sides of the drive electromagnet into the direction of the opposite direction of the current, and the two sides of the counterweight disk by the direction of the applied electromagnetic field are opposite to the direction, assuming that the left side of the counterweight disk movement direction for the figure shows the downward direction, the right side of the counterweight disk movement direction for the upward. When the counterweight disk reaches the specified position, disconnect the current, at this time, due to the inertia of the counterweight disk itself, there will still be a tendency to maintain the original movement, to rotate to the next self-locking position. Due to the withdrawal of the external electromagnetic field, the main source of excitation in the device is transformed into a permanent magnet, therefore, the two counterweight disks in the position again reach the self-locking state.

As shown in FIG. 8, there is also included the control system 4, the control system 4 comprising a vibration sensor 401, a rotational speed sensor 402, and a microcontroller 403, the vibration sensor 401 is configured to detect the vibration value of the threshing drum 1, and the rotational speed sensor 402 is configured to detect the rotational speed of the threshing spindle 101; the microcontroller 403 comprises a phase calculation unit 404 and an amplitude calculation unit 405, the amplitude calculation unit 405 determines the amplitude of vibration according to the detected vibration value of the threshing drum 1; the phase calculation unit 404 determines the phase angle of rotation of the right counterweight disk 207 and the left counterweight disk 210 according to the detected rotational speed of the threshing spindle 101; the single-chip microcomputer 403 determines the phase angle of rotation of the right counterweight disk 207 and the left counterweight disk 210 needed to reach equilibrium according to the amplitude of vibration and the phase angle. The microcontroller 403 controls the right electromagnet 201 and the left solenoid 202 to rotate the right counterweight disk 207 and the left counterweight disk 210 respectively.

As shown in FIG. 9, the control strategy for an adaptive balancing device for a threshing drum of a combine harvester described in the present disclosure comprises the following steps: a vibration value of the threshing drum 1 is detected using a vibration sensor 401 when any of the balancing device 2 is in an unbalanced state, and a vibration amplitude xi is determined by the amplitude calculation unit 405 based on the detection value of the vibration sensor 401; the microcontroller 403 controls the right electromagnet 201 to rotate the right counterweight disk 207 by 0, and at the same time controls the left solenoid 202 to rotate the left counterweight disk 210 in the same direction by 0. The amplitude value calculating unit 405 determines a vibration amplitude x2 according to the detection value of the vibration sensor 401; the microcontroller 403 controls the right electromagnet 201 to cause the right counterweight disk 207 to rotate -0 again, while controlling the left solenoid 202 to cause the left counterweight disk 210 to rotate in the same direction by -0+11" and determines a vibration amplitude x3 by thc detection value of thc vibration sensor 401; the microcontroller 403 calculates according to the following formula that the right counterweight disk 207 needs to rotate i0j, and at the same time, the left counterweight disk 210 needs to rotate A02% and then the balancing device 2 can reach the balanced state: (AO; = A -sin-1 Tz± V Z -T +1 z2+1 where T and X are denoted as: IT _..1(x,cose-x2)2+(xisine)2 (ri-x2)2 X iS1710) A = tan--( xicose-x, 7V = (1 e 2 a - and 08_17 the microcontroller 403 controls the right electromagnetd 201 to make the right counterweight disk 207 rotate Z10; again, and at the same time controls the left solenoid 202 to make the left counterweight disk 2W rotate A02 again to complete the balancing process.

The entire balancing process requires only three vibration measurements and two rotations LIO; = 2A -L101 of the balancing disk to complete the test weight process. The balancing process is simple, quick to calculate, and capable of real-time adaptive control of the balance.

It should be understood that, although this specification is described by various embodiments, not each embodiment contains only one independent technical solution, and this description of the specification is only for the sake of clarity, and the person skilled in the art should take the specification as a whole, and the technical solutions in the various embodiments can be combined appropriately to form other embodiments that can be understood by the person skilled in the art.

The above-listed series of detailed descriptions are only for the feasible embodiments of the present disclosure, they are not intended to limit the scope of protection of the present disclosure, where not out of the spirit of the art of the present disclosure equivalent embodiments or changes should be included in the scope of protection of the present disclosure.

Claims

CLAIMSWhat is claimed is: 1. An adaptive balancing device for a threshing drum of a combine harvester, the threshing drum (1) comprising a threshing spindle (101), characterized in that a balancing device (2) is mounted at one end of the threshing spindle (101), and the balancing device (2) comprises an electromagnet (201, 202), a casing (203, 214), a support plate (204, 212), a bearing (205, 213), a magnetic plate (206, 211), counterweight disks (207, 210), a permanent magnet (208), an intermediate magnetic plate (209), and a control system (4); the intermediate magnetic plate (209) is mounted on the threshing spindle (101) and the bearing (205, 213) is mounted on the threshing spindle (101) on both sides of the intermediate magnetic plate (209); the intermediate magnetic plate (209) is mounted on the threshing spindle (101), and the bearing (205, 213) is mounted on the threshing spindle (101) on both sides of the intermediate magnetic plate (209); the counterweight disks (207, 210) are mounted on an outer ring of the bearing (205, 213), and the counterweight disks (207, 210) are off-centered counterweight disks; a number of through holes are distributed around a periphery of the counterweight disks (207, 210), and in each of the through holes, the permanent magnet (208) is mounted; the bearing (205, 213) on one side of the threshing spindle (101) is mounted with the support plate (204, 212), and the support plate (204, 212) is mounted with the magnetic plate (206, 211); the intermediate magnetic plate (209), the bearing (205, 213), the support plate (204, 212), and the counterweight disks (207, 210) are located in the casing (203, 214); the electromagnet (201, 202) is installed in the casing (203, 214), and the electromagnet (201, 202) generates a magnetic field so that the two counterweight disks (207, 210) are in relative motion with the threshing spindle (101) respectively; and the control system (4) comprises a vibration sensor (401), a rotational speed sensor (402), and a microcontroller (403); wherein the vibration sensor (401) is configured to detect a vibration value of the threshing drum (I), and the rotational speed sensor (402) is configured to detect the rotational speed of the threshing spindle (101), the single-chip microcomputer (403) comprises a phase calculation unit (404) and an amplitude calculation unit (405), and the amplitude calculation unit (405) determines the amplitude of vibration based on the detection of the vibration value of the threshing drum (1), the phase calculation unit (404) determines the phase angle of rotation of the counterweight disks (207, 210) according to the detection of the rotational speed of the threshing spindle (101); the microcontroller (403) determines the phase angle of rotation of the counterweight disks (207, 210) to reach equilibrium according to the amplitude of the vibration and the phase angle, and the microcontroller (403) controls the electromagnet (201, 202) so that the counterweight disks (207 the microcontroller (403) controls the electromagnet (201, 202) to rotate the counterweight disk (207, 210) respectively.
2. The adaptive balancing device for the threshing drum of the combine harvester according to claim 1, characterized in that the casing (203, 214) is mounted on a drum-mounting side plate (3); the drum-mounting side plate (3) is mounted with a power supply (5), and the power supply (5) is in connection with a coil in the electromagnet (201, 202).
3. The adaptive balancing device for the threshing drum of the combine harvester according to claim 1, characterized in that magnetic poles of the permanent magnets (208) in adjacent through-holes on each of the counterweight disks (207, 210) are different.
4. The adaptive balancing device for the threshing drum of the combine harvester according to claim 1, characterized in that the magnetic plates (206, 211), the intermediate magnetic plate (209) and the permanent magnet (208) on the two counterweight disks (207, 210) form a self-locking magnetic field, to enable the two counterweight disks (207, 210) to synchronously rotate with the threshing spindle (101); and using the electromagnet (201, 202) generating a magnetic field to break the loop of the self-locking magnetic field, thereby actively driving the counterweight disks (207, 210) to rotate, to enable the two counterweight disks (207, 210) to rotate relatively with the threshing spindle (101)
5. A control strategy of the adaptive balancing device for the threshing drum of the combine harvester according to claim 1, comprising the following steps: with any of the balancing device (2) in an unbalanced state, detecting the vibration value of the threshing drum (1) by the vibration sensor (401), and determining a vibration amplitude xi by the amplitude calculation unit (405) based on a detection value of the vibration sensor (401); the microcontroller (403) controlling the electromagnet (201, 202) so that the right counterweight disk (207) and the left counterweight disk (210) are rotated in the same direction by 0, respectively, and the amplitude calculating unit (405) determining a vibration amplitude)t2 based on the detection value of the vibration sensor (401), the microcontroller (403) controlling the electromagnet (201, 202) to make the right counterweight disk (207) rotate -19 again, and at the same time to make the left counterweight disk (210) rotate -(9 + it again; and determining a vibration amplitude x3 based on the detection value of the vibration sensor (401); the microcontroller (403) calculating according to the following formula that the right counterweight disk (207) needs to rotate i6, and at the same time, the left counterweight disk (2W) needs to rotate 48, so that the balance device (2) reaches a balanced state: fABE = A -sin-1 Tz-±z2+1 AO; = 2A -AO; , T _ \I(xicose-x2)2+(xisin8)2 wherein: T and A are denoted as: (x1-x2)2 A = tan-1( xisin° ) xicose-x2 x3-11, -r-z = (1 ± X2 -x1 a = and ete-1 the microcontroller (403) controlling the electromagnet (201, 202) to make the right counterweight disk (207) rotate 4011", and at the same time make the left counterweight disk (210) rotate A 02* to complete a balancing process.