CN105230231A - Key handle electric-control system and method of small-sized combined harvester - Google Patents
Key handle electric-control system and method of small-sized combined harvester Download PDFInfo
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Abstract
本发明提供了一种小型联合收割机按键手柄电控系统，包括按键操控手柄、传感器模块、信号采集处理模块、ARM处理器及外围电路和执行模块；所述按键操控手柄通过电路与ARM处理器连接，用于将信息传输至ARM处理器；所述传感器模块用于将检测到的信息经信号采集处理模块传递至ARM处理器；所述ARM处理器用于接收按键操控手柄和传感器模块的信息并输出控制信号控制执行模块执行指令。本发明采用按键操控手柄替代原有小型联合收割机上的多个操纵杆，并配备相应的控制系统，改变了小型联合收割机传统的操作模式，既提高了作业效率，又降低了作业人员的劳动负荷与危险系数。
The invention provides a button handle electric control system for a small combine harvester, comprising a button control handle, a sensor module, a signal acquisition and processing module, an ARM processor, a peripheral circuit and an execution module; the button control handle communicates with the ARM processor through a circuit connected to transmit information to the ARM processor; the sensor module is used to transmit the detected information to the ARM processor through the signal acquisition and processing module; the ARM processor is used to receive the information of the button control handle and the sensor module and The output control signal controls the execution module to execute the instruction. The present invention adopts the button control handle to replace multiple joysticks on the original small combine harvester, and is equipped with a corresponding control system, which changes the traditional operation mode of the small combine harvester, not only improves the working efficiency, but also reduces the labor of the operators. Load and hazard factor.
Description
技术领域technical field
本发明属于农业机械领域，尤其是涉及一种小型联合收割机按键手柄电控系统及方法。The invention belongs to the field of agricultural machinery, and in particular relates to an electric control system and method for a button handle of a small combine harvester.
背景技术Background technique
为了实现收割机智能化与电气化水平的提升，国内学者对收割机的电控技术进行了积极的研究。专利CN103404297A涉及一种电驱动的联合收割机，用多个电机取代传统的传动结构，并加装多个传感器采集反馈信号，经由中央控制系统进行处理控制，实现机器的智能化，减轻作业人员的劳动强度。考虑到作业过程可能存在的恶劣环境，一些自动控制的技术手段和硬件设备并不可靠，且用于驱动脱离滚筒的大功率交流电机在小型联合收割机上应用并不现实，车载电瓶不具备提供持续稳定功率的能力。In order to improve the level of intelligence and electrification of harvesters, domestic scholars have conducted active research on the electronic control technology of harvesters. Patent CN103404297A relates to an electrically driven combine harvester, which uses multiple motors to replace the traditional transmission structure, and installs multiple sensors to collect feedback signals, which are processed and controlled by the central control system to realize the intelligence of the machine and reduce the workload of operators. Labor intensity. Considering the harsh environment that may exist in the operation process, some automatic control techniques and hardware equipment are not reliable, and it is not practical to apply the high-power AC motor used to drive the detachment drum on a small combine harvester, and the on-board battery does not have the ability to provide continuous Ability to stabilize power.
国内大型联合收割机已经实现部分功能部件的按键控制，小型联合收割机并未应用。然而受地形以及田块面积的约束，小型联合收割机占据着农机行业很大的市场份额，市场上的小型联合收割机智能化水平与电气化水平相对落后，作业人员对各个工作部件调整控制时，依旧停留于对机械操纵杆和机械仿形结构的操作，在驾驶操控收割机时，由于作业环境复杂多变，需要根据收割机的作业效果调整相关部件的工作状态，操纵杆众多，过程繁琐。甚至，在对于清选风机和鱼鳞筛的调控时，作业人员需要离开驾驶室到机身后进行调控，效率低且危险系数高。在《农业部办公厅关于2014年农机事故情况的通报》的报告中，2014年，全国累计报告在国家等级公路以外的农机事故1744起，死亡300人，受伤556人，直接经济损失1450.04万元。联合收割机事故843起、死亡50人、受伤193人，分别占事故起数、死亡人数和受伤人数的48.3％、16.7％和34.7％。在引发事故的主要原因中由操作失误引起的事故1120起、死亡153人、受伤287人，分别占事故起数、死亡人数和受伤人数的64.2％、51％和51.6％。因而联合收割机传统操作模式亟待改善。Domestic large-scale combine harvesters have realized the button control of some functional components, but small-scale combine harvesters have not applied it. However, due to the constraints of terrain and field area, small combine harvesters occupy a large market share in the agricultural machinery industry. The level of intelligence and electrification of small combine harvesters on the market is relatively backward. When operators adjust and control each working part, It still stays in the operation of the mechanical joystick and the mechanical profiling structure. When driving and controlling the harvester, due to the complex and changeable working environment, it is necessary to adjust the working status of the relevant components according to the operation effect of the harvester. There are many joysticks and the process is cumbersome. Even, when adjusting the cleaning fan and fish scale screen, the operator needs to leave the cab to adjust after the fuselage, which is inefficient and has a high risk factor. In the report of the "Notice of the General Office of the Ministry of Agriculture on the 2014 Agricultural Machinery Accidents", in 2014, a total of 1,744 agricultural machinery accidents outside the national highways were reported nationwide, with 300 deaths, 556 injuries, and direct economic losses of 14.5004 million yuan . There were 843 combine harvester accidents, 50 deaths and 193 injuries, accounting for 48.3%, 16.7% and 34.7% of the accidents, deaths and injuries respectively. Among the main causes of accidents, there were 1120 accidents, 153 deaths and 287 injuries caused by operating errors, accounting for 64.2%, 51% and 51.6% of the number of accidents, deaths and injuries respectively. Therefore, the traditional operation mode of the combine harvester needs to be improved urgently.
发明内容Contents of the invention
针对现有技术中存在不足，本发明提供了一种小型联合收割机按键手柄电控系统及方法，通过对小型联合收割机多个工作部件的集中控制，可替代传统小型联合收割机中需要应付多个操纵杆的不足，提高作业效率，降低了作业人员的劳动负荷与危险系数。Aiming at the deficiencies in the prior art, the present invention provides a button handle electric control system and method for a small combine harvester. Through the centralized control of multiple working parts of the small combine harvester, it can replace the traditional small combine harvester that needs to deal with The lack of multiple joysticks improves the working efficiency and reduces the labor load and risk factor of the operators.
本发明是通过以下技术手段实现上述技术目的的。The present invention achieves the above-mentioned technical purpose through the following technical means.
一种小型联合收割机按键手柄电控系统，包括按键操控手柄、传感器模块、信号采集处理模块、ARM处理器及外围电路和执行模块；An electronic control system for a button handle of a small combine harvester, including a button control handle, a sensor module, a signal acquisition and processing module, an ARM processor, peripheral circuits, and an execution module;
所述按键操控手柄通过电路与ARM处理器连接，用于将信息传输至ARM处理器；所述传感器模块用于将检测到的信息经信号采集处理模块传递至ARM处理器；所述ARM处理器用于接收按键操控手柄和传感器模块的信息并输出控制信号控制执行模块执行指令；The button control handle is connected with the ARM processor through a circuit, and is used to transmit information to the ARM processor; the sensor module is used to transmit the detected information to the ARM processor through the signal acquisition and processing module; the ARM processor uses It is used to receive information from the button control handle and sensor module and output control signals to control the execution module to execute instructions;
所述按键操控手柄上设有鱼鳞筛开度增加按键、鱼鳞筛开度减小按键、脱粒滚筒转速提升按键、脱粒滚筒转速降低按键、粮仓出粮口开按键、粮仓出粮口关按键、割台高度提升按键、割台高度降低按键、清选风机转速提升按键、清选风机转速降低按键、拨禾轮高度提升按键和拨禾轮高度降低按键；The button control handle is provided with a button for increasing the opening of the fish scale sieve, a button for reducing the opening of the fish scale sieve, a button for increasing the speed of the threshing drum, a button for reducing the speed of the threshing drum, a button for opening the grain outlet of the granary, a button for closing the outlet of the granary, and a button for cutting the grain outlet of the granary. Table height increase button, header height decrease button, cleaning fan speed increase button, cleaning fan speed decrease button, reel height increase button and reel height decrease button;
所述传感器模块包括谷物储量传感器、脱离滚筒转速传感器、清选风机转速传感器、鱼鳞筛位置检测传感器、割台位置检测传感器、拨禾轮位置检测传感器；所述谷物储量传感器用于检测粮仓谷物储量状况，达到设定的报警阈值时，由声光报警模块声光报警；所述脱离滚筒转速传感器用于检测脱离滚筒转速；所述清选风机转速传感器用于检测清选风机转速；所述鱼鳞筛位置检测传感器用于检测鱼鳞筛开度；所述割台位置检测传感器用于检测割台高度；所述拨禾轮位置检测传感器用于检测拨禾轮的位置；The sensor module includes a grain storage sensor, a detachment drum speed sensor, a cleaning fan speed sensor, a fish scale sieve position detection sensor, a header position detection sensor, and a reel position detection sensor; the grain storage sensor is used to detect the grain storage of the granary condition, when the set alarm threshold is reached, the sound and light alarm module will give an audible and visual alarm; the detachment drum speed sensor is used to detect the detachment drum speed; the cleaning fan speed sensor is used to detect the cleaning fan speed; the fish scale The sieve position detection sensor is used to detect the opening of the scale screen; the header position detection sensor is used to detect the height of the header; the reel position detection sensor is used to detect the position of the reel;
所述执行模块包括鱼鳞筛电动缸、鱼鳞筛驱动器、鱼鳞筛片、脱粒滚筒步进电机、脱粒滚筒电机驱动器、脱粒滚筒操作杆、粮仓出粮口电动缸、粮仓出粮口电动缸驱动器、粮口阀门、割台电液比例阀、割台液压油缸、拨禾电液比例阀、拨禾液压油缸、清选异步交流电机、清选电机变频器和风机。The execution module includes fish-scale sieve electric cylinder, fish-scale sieve driver, fish-scale sieve sheet, threshing drum stepper motor, threshing drum motor driver, threshing drum operating lever, granary grain outlet electric cylinder, granary grain outlet electric cylinder driver, grain Port valves, header electro-hydraulic proportional valves, header hydraulic cylinders, reeling electro-hydraulic proportional valves, reeling hydraulic cylinders, cleaning asynchronous AC motors, cleaning motor frequency converters and fans.
进一步的，所述按键操控手柄位于操纵杆的一端。Further, the button control handle is located at one end of the joystick.
进一步的，所述按键操控手柄的启动开关和粮仓出粮口开按键采用非自动复位式按键。Further, the start switch of the button control handle and the button for opening the grain outlet of the granary adopt non-automatic reset buttons.
进一步的，所述鱼鳞筛开度增加按键、鱼鳞筛开度减小按键、脱粒滚筒转速提升按键、脱粒滚筒转速降低按键、割台高度提升按键、割台高度降低按键、清选风机转速提升按键、清选风机转速降低按键、拨禾轮高度提升按键和拨禾轮高度降低按键均采用自动复位式按键。Further, the button for increasing the opening of the fish scale sieve, the button for reducing the opening of the fish scale sieve, the button for increasing the speed of the threshing drum, the button for reducing the speed of the threshing drum, the button for increasing the height of the header, the button for reducing the height of the header, and the button for increasing the speed of the cleaning fan , Cleaning fan speed reduction button, reel height increase button and reel height reduction button are all automatic reset buttons.
进一步的，所述脱粒滚筒转速提升按键、脱粒滚筒转速降低按键、粮仓出粮口开按键、粮仓出粮口关按键、割台高度提升按键、割台高度降低按键、拨禾轮高度提升按键和拨禾轮高度降低按键均布置于按键操控手柄的正面；所述鱼鳞筛开度增加按键、鱼鳞筛开度减小按键、清选风机转速提升按键和清选风机转速降低按键均布置于按键操控手柄的反面。Further, the button for increasing the speed of the threshing drum, the button for reducing the speed of the threshing drum, the button for opening the grain outlet of the granary, the button for closing the outlet of the granary, the button for increasing the height of the header, the button for reducing the height of the header, the button for increasing the height of the reel, and The buttons for reducing the height of the reel are all arranged on the front of the button control handle; the button for increasing the opening of the fish scale sieve, the button for reducing the opening of the fish scale sieve, the button for increasing the speed of the cleaning fan and the button for reducing the speed of the cleaning fan are all arranged on the front of the button control handle. The opposite side of the handle.
进一步的，所述谷物储量传感器位于粮仓中；所述脱离滚筒转速传感器位于脱离滚筒上；所述清选风机转速传感器位于清选风机上部；所述鱼鳞筛位置检测传感器位于鱼鳞筛电动缸的连杆上；所述割台位置检测传感器位于割台液压油缸的活塞上；所述拨禾轮位置检测传感器位于拨禾液压油缸的活塞上。Further, the grain storage sensor is located in the granary; the detachment drum speed sensor is located on the detachment drum; the cleaning fan speed sensor is located on the upper part of the cleaning fan; the fish scale screen position detection sensor is located on the connection of the fish scale screen electric cylinder. on the rod; the header position detection sensor is located on the piston of the header hydraulic cylinder; the reel position detection sensor is located on the piston of the reel hydraulic cylinder.
一种小型联合收割机按键手柄电控方法，包括如下步骤：An electric control method for a button handle of a small combine harvester, comprising the following steps:
S1：开启按键操控手柄，谷物储量传感器、脱离滚筒转速传感器、清选风机转速传感器、鱼鳞筛位置检测传感器、割台位置检测传感器、拨禾轮位置检测传感器均开始工作，并将检测到的信息经信号采集处理模块传递至ARM处理器；ARM处理器输出控制信号控制执行模块执行指令使其达到常规作业状态；即鱼鳞筛开度处于额定角度，脱粒滚筒处于额定转速，清选风机处于额定转速，拨禾轮处于额定高度，割台处于额定高度，粮仓出粮口关闭；S1: Turn on the button control handle, the grain storage sensor, the speed sensor of the separation drum, the speed sensor of the cleaning fan, the position detection sensor of the fish scale screen, the position detection sensor of the header, and the position detection sensor of the reel all start to work, and the detected information The signal acquisition and processing module is transmitted to the ARM processor; the ARM processor outputs control signals to control the execution module to execute instructions to make it reach the normal operating state; that is, the opening of the scale screen is at the rated angle, the threshing drum is at the rated speed, and the cleaning fan is at the rated speed , the reel is at the rated height, the header is at the rated height, and the grain outlet of the granary is closed;
S2：达到常规作业状态后，脱离滚筒转速传感器、清选风机转速传感器、鱼鳞筛位置检测传感器、割台位置检测传感器、拨禾轮位置检测传感器停止工作，通过控制按键操控手柄上的鱼鳞筛开度增加按键、鱼鳞筛开度减小按键、脱粒滚筒转速提升按键、脱粒滚筒转速降低按键、粮仓出粮口开按键、粮仓出粮口关按键、割台高度提升按键、割台高度降低按键、清选风机转速提升按键、清选风机转速降低按键、拨禾轮高度提升按键和拨禾轮高度降低按键来适应相应工作状态；当谷物储量传感器检测到粮仓储量达到报警值时，声光报警，此时按下粮仓出粮口开按键，出粮开始，按键不自动复位；按下粮仓出粮口关按键使按键弹起，出粮口关闭，出粮结束；S2: After reaching the normal operation state, disengage the drum speed sensor, cleaning fan speed sensor, fish scale screen position detection sensor, header position detection sensor, and reel position detection sensor to stop working, and control the fish scale screen on the handle by the control button Speed increase button, fish scale sieve opening reduction button, threshing drum speed increase button, threshing drum speed reduction button, granary grain outlet opening button, granary grain outlet closing button, header height increase button, header height reduction button, Cleaning fan speed up button, cleaning fan speed down button, reel height up button and reel height down button to adapt to the corresponding working conditions; when the grain storage sensor detects that the grain storage volume reaches the alarm value, the sound and light alarm, At this time, press the button to open the grain outlet of the granary, the grain output starts, and the button does not reset automatically; press the button to open the grain outlet of the granary to make the button bounce, the grain outlet is closed, and the grain output ends;
S3：关闭按键操控手柄，脱离滚筒转速传感器、清选风机转速传感器、鱼鳞筛位置检测传感器、割台位置检测传感器、拨禾轮位置检测传感器开始工作，并将检测到的信息经信号采集处理模块传递至ARM处理器；ARM处理器输出控制信号控制执行模块执行指令使其达到安全休业状态；即鱼鳞筛开度恢复至安全值，脱粒滚筒转速为零，清选风机转速为零，拨禾轮处于安全高度，割台处于安全高度，粮仓出粮口关闭。S3: Turn off the button control handle, disengage the drum speed sensor, the cleaning fan speed sensor, the fish scale screen position detection sensor, the header position detection sensor, and the reel position detection sensor to start working, and pass the detected information through the signal acquisition and processing module Pass it to the ARM processor; the ARM processor outputs control signals to control the execution module to execute instructions to make it reach a safe shutdown state; that is, the opening of the fish scale screen returns to a safe value, the speed of the threshing drum is zero, the speed of the cleaning fan is zero, and the reel The wheel is at a safe height, the header is at a safe height, and the grain outlet of the granary is closed.
进一步的，步骤S2中所述鱼鳞筛开度增加按键、鱼鳞筛开度减小按键、脱粒滚筒转速提升按键、脱粒滚筒转速降低按键、割台高度提升按键、割台高度降低按键、清选风机转速提升按键、清选风机转速降低按键、拨禾轮高度提升按键和拨禾轮高度降低按键短按按键时工作部件以单位量改变工作状态；长按按键时，工作部件每单位时间以单位量改变工作状态。Further, in the step S2, the button for increasing the opening of the scale sieve, the button for reducing the opening of the scale sieve, the button for increasing the speed of the threshing drum, the button for reducing the speed of the threshing drum, the button for increasing the height of the header, the button for reducing the height of the header, and the cleaning fan Speed up button, cleaning fan speed down button, reel height up button, and reel height down button When the button is short pressed, the working part changes the working state by unit amount; when the button is long pressed, the working part changes the working state by unit amount per unit time Change work status.
本发明的有益效果：Beneficial effects of the present invention:
(1)本发明采用按键操控手柄替代原有小型联合收割机上的多个操纵杆，并配备相应的控制系统，改变了小型联合收割机传统的操作模式，既提高了作业效率，又降低了作业人员的劳动负荷与危险系数。(1) The present invention adopts the button control handle to replace multiple joysticks on the original small combine harvester, and is equipped with a corresponding control system, which changes the traditional operation mode of the small combine harvester, which not only improves the operation efficiency, but also reduces the operation Personnel's labor load and risk factor.
(2)本发明设置按键操控手柄的启用开关，在作业模式前增加常规作业状态与安全休业状态，通过各个传感器、ARM控制系统和执行机构的配合使小型联合收割机达到常规作业状态即各个工作部件达到额定值，降低作业人员的劳动强度；通过各个传感器、ARM控制系统和执行机构的配合使小型联合收割机达到安全休业状态即各个工作部件达到安全值，以提高机械作业时的安全系数。(2) The present invention is provided with the activation switch of the button control handle, increases the normal operation state and the safe shutdown state before the operation mode, and makes the small combine harvester reach the normal operation state by the cooperation of each sensor, ARM control system and executive mechanism, that is, each The working parts reach the rated value, reducing the labor intensity of operators; through the cooperation of various sensors, ARM control systems and actuators, the small combine harvester can reach a safe shutdown state, that is, each working part reaches a safe value, so as to improve the safety of mechanical operations coefficient.
(3)本发明采用受环境因素影响较小的传感器检测各部件工作状态，提高了系统稳定性。避免过多使用了受环境因素影响较大、稳定性不高的传感器，同时避免使用相对不可靠的全过程自动控制，发挥作业人员的主观能动性，实现很好的人机结合。(3) The present invention uses sensors that are less affected by environmental factors to detect the working status of each component, thereby improving system stability. Avoid excessive use of sensors that are greatly affected by environmental factors and have low stability, and at the same time avoid the use of relatively unreliable automatic control of the whole process, give full play to the subjective initiative of operators, and achieve a good combination of man and machine.
附图说明Description of drawings
图1为本发明所述小型联合收割机的按键操控手柄的主视图。Fig. 1 is a front view of a button control handle of a small combine harvester according to the present invention.
图2为本发明所述小型联合收割机的按键操控手柄的右视图。Fig. 2 is the right side view of the button control handle of the small combine harvester according to the present invention.
图3为本发明所述的小型联合收割机按键手柄电控系统硬件系统框图。Fig. 3 is a block diagram of the hardware system of the button handle electric control system of the small combine harvester according to the present invention.
附图标记说明如下：The reference signs are explained as follows:
1-鱼鳞筛开度增加按键；2-鱼鳞筛开度减小按键；3-脱粒滚筒转速提升按键；4-脱粒滚筒转速降低按键；5-粮仓出粮口开按键；6-粮仓出粮口关按键；7-割台高度提升按键；8-割台高度降低按键；9-清选风机转速提升按键；10-清选风机转速降低按键；11-拨禾轮高度提升按键；12-拨禾轮高度降低按键；13-操纵杆。1-Scale sieve opening increase button; 2-Fish scale sieve opening decrease button; 3-Threshing drum speed increase button; 4-Threshing drum speed reduction button; 5-Grannary grain outlet opening button; 6-Granary grain outlet Off button; 7-header height increase button; 8-header height decrease button; 9-cleaning fan speed increase button; 10-cleaning fan speed decrease button; 11-reel height increase button; 12-reel Wheel height reduction button; 13-joystick.
具体实施方式detailed description
下面结合附图以及具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.
一种小型联合收割机按键手柄电控系统，包括按键操控手柄、传感器模块、信号采集处理模块、ARM处理器及外围电路和执行模块；An electronic control system for a button handle of a small combine harvester, including a button control handle, a sensor module, a signal acquisition and processing module, an ARM processor, peripheral circuits, and an execution module;
所述按键操控手柄，所述按键操控手柄位于操纵杆13的一端，并通过电路与ARM处理器连接，用于将信息传输至ARM处理器；所述传感器模块用于将检测到的信息经信号采集处理模块传递至ARM处理器；所述ARM处理器用于接收按键操控手柄和传感器模块的信息并输出控制信号控制执行模块执行指令；The key control handle, the key control handle is located at one end of the joystick 13, and is connected with the ARM processor through a circuit, and is used to transmit information to the ARM processor; the sensor module is used to transmit the detected information through a signal The collection and processing module transmits to the ARM processor; the ARM processor is used to receive the information of the button control handle and the sensor module and output control signals to control the execution module to execute instructions;
所述按键操控手柄上设有鱼鳞筛开度增加按键1、鱼鳞筛开度减小按键2、脱粒滚筒转速提升按键3、脱粒滚筒转速降低按键4、粮仓出粮口开按键5、粮仓出粮口关按键6、割台高度提升按键7、割台高度降低按键8、清选风机转速提升按键9、清选风机转速降低按键10、拨禾轮高度提升按键11和拨禾轮高度降低按键12；所述鱼鳞筛开度增加按键1、鱼鳞筛开度减小按键2、脱粒滚筒转速提升按键3、脱粒滚筒转速降低按键4、割台高度提升按键7、割台高度降低按键8、清选风机转速提升按键9、清选风机转速降低按键10、拨禾轮高度提升按键11和拨禾轮高度降低按键12均采用自动复位式按键；所述拨禾轮位置检测传感器用于检测拨禾轮的位置；所述按键操控手柄的启动开关和粮仓出粮口开按键5采用非自动复位式按键。The button control handle is provided with a button 1 for increasing the opening of the scale sieve, a button 2 for reducing the opening of the fish scale sieve, a button 3 for increasing the speed of the threshing drum, a button 4 for reducing the speed of the threshing drum, a button 5 for opening the grain outlet of the granary, and a button 5 for opening the grain outlet of the granary. Mouth button 6, header height increase button 7, header height decrease button 8, cleaning fan speed increase button 9, cleaning fan speed decrease button 10, reel height increase button 11 and reel height decrease button 12 The scale sieve opening increase button 1, the fish scale sieve opening decrease button 2, the threshing drum speed increase button 3, the threshing drum speed decrease button 4, the header height increase button 7, the header height decrease button 8, cleaning The fan speed increase button 9, the cleaning fan speed reduction button 10, the reel height increase button 11 and the reel height reduction button 12 all adopt automatic reset buttons; the reel position detection sensor is used to detect the reel position; the start switch of the button control handle and the opening button 5 of the grain outlet of the granary adopt a non-automatic reset button.
所述传感器模块包括谷物储量传感器、脱离滚筒转速传感器、清选风机转速传感器、鱼鳞筛位置检测传感器、割台位置检测传感器、拨禾轮位置检测传感器；所述谷物储量传感器位于粮仓中，用于检测粮仓谷物储量状况，当达到设定的报警阈值时，由ARM处理器控制声光报警模块声光报警；所述脱离滚筒转速传感器位于脱离滚筒上，用于检测脱离滚筒转速；所述清选风机转速传感器位于清选风机上部，用于检测清选风机转速；所述鱼鳞筛位置检测传感器位于鱼鳞筛电动缸的连杆上，用于检测鱼鳞筛开度；所述割台位置检测传感器位于割台液压油缸的活塞上，用于检测割台高度；所述拨禾轮位置检测传感器位于拨禾液压油缸的活塞上，用于检测拨禾轮的具体位置。The sensor module includes a grain storage sensor, a detachment drum speed sensor, a cleaning fan speed sensor, a scale sieve position detection sensor, a header position detection sensor, and a reel position detection sensor; the grain storage sensor is located in the granary for Detect the grain storage status of the granary, and when the set alarm threshold is reached, the ARM processor controls the sound and light alarm module to alarm; the detachment drum speed sensor is located on the detachment drum and is used to detect the detachment drum speed; the cleaning The fan speed sensor is located on the upper part of the cleaning fan and is used to detect the cleaning fan speed; the fish scale screen position detection sensor is located on the connecting rod of the fish scale screen electric cylinder and is used to detect the fish scale screen opening; the header position detection sensor is located at The piston of the header hydraulic cylinder is used to detect the height of the header; the reel position detection sensor is located on the piston of the reel hydraulic cylinder and is used to detect the specific position of the reel.
所述鱼鳞筛开度按键调节的执行模块包括鱼鳞筛电动缸、鱼鳞筛驱动器、鱼鳞筛片，鱼鳞筛电动缸平行于鱼鳞筛片置于鱼鳞筛边，鱼鳞筛电动缸连接连杆，连杆连接一个鱼鳞筛片；所述脱粒滚筒转速按键调节的执行模块包括脱粒滚筒步进电机、脱粒滚筒电机驱动器、脱粒滚筒操作杆，脱粒滚筒步进电机连接脱粒滚筒操纵杆，置于操纵台下；所述粮仓出粮口开关按键控制的执行模块包括粮仓出粮口电动缸、粮仓出粮口电动缸驱动器、粮口阀门，粮仓出粮口换成电动缸置于粮仓内，且连接出粮口阀门；所述割台高度按键调节的执行模块包括割台电液比例阀、割台液压油缸；所述拨禾轮高度按键调节的执行模块包括拨禾电液比例阀、拨禾液压油缸；所述清选风机按键调节的执行模块包括清选异步交流电机、清选电机变频器，异步交流电机加装风机叶片置于原风机位置。The executive module for adjusting the opening of the fish scale screen includes a fish scale screen electric cylinder, a fish scale screen driver, and a fish scale screen sheet. The fish scale screen electric cylinder is placed on the side of the fish scale screen parallel to the fish scale screen sheet. A fish scale sieve is connected; the executive module for adjusting the rotating speed of the threshing drum includes a threshing drum stepping motor, a threshing drum motor driver, and a threshing drum operating rod. The threshing drum stepping motor is connected to the threshing drum operating rod and placed under the console; The execution module controlled by the switch button of the grain outlet of the granary includes an electric cylinder of the grain outlet of the granary, an electric cylinder driver of the grain outlet of the granary, and a valve of the grain outlet. Valve; the execution module for adjusting the height of the header by pressing buttons includes an electro-hydraulic proportional valve for header and a hydraulic oil cylinder for header; the execution module for adjusting the height of the reel by pressing the buttons includes an electro-hydraulic proportional valve for reeling and a hydraulic cylinder for reeling; The execution module for cleaning fan button adjustment includes cleaning asynchronous AC motor, cleaning motor frequency converter, and the asynchronous AC motor is equipped with fan blades placed in the original fan position.
该小型联合收割机按键手柄电控系统的控制方法如下：The control method of the button handle electric control system of the small combine harvester is as follows:
S1：开启按键操控手柄，谷物储量传感器、脱离滚筒转速传感器、清选风机转速传感器、鱼鳞筛位置检测传感器、割台位置检测传感器、拨禾轮位置检测传感器均开始工作，并将检测到的信息经信号采集处理模块传递至ARM处理器；ARM处理器输出控制信号控制执行模块执行指令使其达到常规作业状态；即鱼鳞筛开度处于额定角度，脱粒滚筒处于额定转速，清选风机处于额定转速，拨禾轮处于额定高度，割台处于额定高度，粮仓出粮口关闭；S1: Turn on the button control handle, the grain storage sensor, the speed sensor of the separation drum, the speed sensor of the cleaning fan, the position detection sensor of the fish scale screen, the position detection sensor of the header, and the position detection sensor of the reel all start to work, and the detected information The signal acquisition and processing module is transmitted to the ARM processor; the ARM processor outputs control signals to control the execution module to execute instructions to make it reach the normal operating state; that is, the opening of the scale screen is at the rated angle, the threshing drum is at the rated speed, and the cleaning fan is at the rated speed , the reel is at the rated height, the header is at the rated height, and the grain outlet of the granary is closed;
具体的：所述鱼鳞筛开度由鱼鳞筛位置检测传感器判断鱼鳞筛电动缸的连杆所处位置，经由信号采集处理模块反馈信号至ARM处理器，输出控制信号驱动鱼鳞筛电动缸调整连杆至设定位置，使鱼鳞筛开度处于设定值；所述脱粒滚筒转速传感器测量脱粒滚筒转速，经由信号采集处理模块反馈信号至ARM处理器，输出控制信号驱动脱粒滚筒步进电机，由脱粒滚筒步进电机带动油门连杆动作来调节油门变化，使脱粒滚筒转速处于设定值；所述割台高度由割台位置检测传感器判断割台液压缸活塞所处位置并调整至设定位置，使割台高度处于设定值；所述拨禾轮高度由拨禾轮位置检测传感器判断拨禾轮液压缸活塞所处位置并调整至设定位置，使拨禾轮高度处于设定值；所述清选风机转速传感器测量清选风机转速，经由信号采集处理模块反馈信号至ARM处理器，输出控制信号驱动清选异步交流电机速度变化使清选风机转速处于设定值；所述粮仓口由非复位按键控制，按下按键，粮仓口出粮；按下按键使按键弹起，粮仓口关闭。Specifically: the opening of the scale screen is judged by the position detection sensor of the scale screen to determine the position of the connecting rod of the electric cylinder of the scale screen, and the feedback signal is sent to the ARM processor through the signal acquisition and processing module, and the control signal is output to drive the electric cylinder of the scale screen to adjust the connecting rod to the set position, so that the opening of the fish scale sieve is at the set value; the threshing drum speed sensor measures the threshing drum speed, and the signal is fed back to the ARM processor through the signal acquisition and processing module, and the output control signal drives the threshing drum stepping motor, and the threshing drum is controlled by the threshing drum. The stepping motor of the drum drives the throttle connecting rod to adjust the throttle change, so that the speed of the threshing drum is at the set value; the height of the header is judged by the header position detection sensor to determine the position of the hydraulic cylinder piston of the header and adjust it to the set position. The height of the header is at the set value; the height of the reel is judged by the reel position detection sensor to determine the position of the piston of the reel hydraulic cylinder and adjusted to the set position, so that the height of the reel is at the set value; The speed sensor of the cleaning fan measures the speed of the cleaning fan, and the signal is fed back to the ARM processor through the signal acquisition and processing module, and the output control signal drives the speed change of the cleaning asynchronous AC motor so that the speed of the cleaning fan is at the set value; the granary port is controlled by Non-reset button control, press the button, the granary mouth will output grain; press the button to make the button pop up, and the granary mouth will be closed.
S2：达到常规作业状态后，脱离滚筒转速传感器、清选风机转速传感器、鱼鳞筛位置检测传感器、割台位置检测传感器、拨禾轮位置检测传感器停止工作，根据实际作业效果，作业人员仅需要在待作业状态的基础上，通过各个按键操作对相关工作部件进行微调，除粮仓口的开关按键外，其他复位式按键分为短按与长按两种操作模式：短按按键，工作部件以单位量改变工作状态。长按按键，工作部件每单位时间以单位量改变工作状态。设定各工作部件的常规作业状态，避免了作业人员对各部件的大幅操作，提高了作业效率。超声波传感器测量粮仓中储粮的高度，反馈信号至处理器，达到设定的报警阈值时，声光报警，提醒作业人员操作按键；其中，利用变频器将收割机自带直流电源转为交流电压为异步交流电机供电。S2: After reaching the normal operation state, the disengagement drum speed sensor, cleaning fan speed sensor, fish scale screen position detection sensor, header position detection sensor, and reel position detection sensor stop working. According to the actual operation effect, the operator only needs to On the basis of the waiting state, the relevant working parts are fine-tuned through the operation of each button. Except for the switch button of the granary mouth, other reset buttons are divided into two operation modes: short press and long press: short press the button, the working parts are in units Quantitatively change the working status. Press and hold the button for a long time, and the working part will change the working state by unit amount per unit time. The routine operation status of each working part is set, which avoids the large-scale operation of each part by the operator and improves the working efficiency. The ultrasonic sensor measures the height of the stored grain in the granary, and the feedback signal is sent to the processor. When the set alarm threshold is reached, the sound and light alarm will remind the operator to operate the button; among them, the converter is used to convert the DC power supply of the harvester into AC voltage for asynchronous AC motor power supply.
S3：关闭按键操控手柄，脱离滚筒转速传感器、清选风机转速传感器、鱼鳞筛位置检测传感器、割台位置检测传感器、拨禾轮位置检测传感器开始工作，并将检测到的信息经信号采集处理模块传递至ARM处理器；ARM处理器输出控制信号控制执行模块执行指令使其达到安全休业状态；即鱼鳞筛开度恢复至安全值，脱粒滚筒转速为零，清选风机转速为零，拨禾轮处于安全高度，割台处于安全高度，粮仓出粮口关闭。S3: Turn off the button control handle, disengage the drum speed sensor, the cleaning fan speed sensor, the fish scale screen position detection sensor, the header position detection sensor, and the reel position detection sensor to start working, and pass the detected information through the signal acquisition and processing module Pass it to the ARM processor; the ARM processor outputs control signals to control the execution module to execute instructions to make it reach a safe shutdown state; that is, the opening of the fish scale screen returns to a safe value, the speed of the threshing drum is zero, the speed of the cleaning fan is zero, and the reel The wheel is at a safe height, the header is at a safe height, and the grain outlet of the granary is closed.
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。The described embodiment is a preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation, without departing from the essence of the present invention, any obvious improvement, replacement or modification that those skilled in the art can make Modifications all belong to the protection scope of the present invention.
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| CN109688797A (en) * | 2016-04-28 | 2019-04-26 | 洋马株式会社 | Combine harvester |
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