CN114616975B - Combine harvester header automatic profiling system and its control method - Google Patents

Abstract

The invention discloses an automatic profiling system for the header of a combine harvester, which comprises a header profiling device, a measuring system, an execution system and a control system. Driven by the horizontal tilting drive mechanism of the header, the header hooking mechanism can drive the header to swing, so as to adjust the horizontal tilt angle of the header, achieve the effect of horizontal profiling of the header, and overcome the existing header profiling technology. The problem of horizontal profiling of the header is not implemented. At the same time, the execution system is also equipped with a header lifting drive mechanism, so that the combine harvester header automatic profiling system can have both the vertical profiling effect and the horizontal profiling effect of the header. The automatic profiling system of the machine header realizes the automatic adjustment of the attitude of the header, and improves the real-time, stability and advanced nature of the control of the header profiling system. The invention also provides an automatic profiling control method for the header of the combine harvester.

Description

Combine harvester header automatic profiling system and its control method

technical field

The invention relates to the field of agricultural machinery, in particular to an automatic profiling system for a combine harvester header and a control method thereof.

Background technique

As a key component of the grain combine harvester, the header needs to adjust the working height in real time during the harvesting process. If the height of the header is set too high, it is easy to cause the grain bottom pods to be missed, resulting in a higher loss rate of the header. At the same time, the higher header height makes the stubble height of the grain stalks higher, which is not conducive to the cultivation and sowing of subsequent crops; If the height of the header is set too low, it is easy to cause the header to shovel soil, which will seriously reduce the quality of grain harvesting and the service life of the header. At present, the traditional grain combine harvester mainly relies on the driver to manually operate the lifting handle of the header to adjust the height of the header in real time during operation, which has the problems of high labor intensity and low operation efficiency. The header profiling technology includes the header longitudinal profiling and the header horizontal profiling. During the grain harvesting operation, the longitudinal height and lateral inclination angle of the header can be adjusted in real time according to the fluctuations of the field terrain. The use of header profiling technology in grain combine harvesters can effectively solve the above-mentioned technical problems of manually operated headers.

The Chinese patent with publication number CN110235601A discloses an automatic control system and control method for the cutting height of a combine harvester. The combination of mechanical contact sensor and ultrasonic sensor is used to detect the height of the header from the ground. After the controller performs arithmetic processing on the sensor signal , Adjust the hydraulic cylinder expansion and contraction through the proportional valve to make the header rise and fall to ensure that the height of the stubble remains within a certain range.

The Chinese patent with the publication number CN209609253U discloses an electro-hydraulic automatic profiling mechanism for the harvester header. The controller controls the opening or closing of the proportional valve according to the input signal of the profiling angle sensor, and realizes the automatic simulation of the rise and fall of the header. Shape, to avoid the impact of the bottom of the header and the ground.

The Chinese patent with publication number CN112189443A discloses an electro-hydraulic control method and system for the height of the header of a soybean harvester, and the given header height calculation model comprehensively considers the detection value of the profiling angle sensor and the ground facing the profiling mechanism. The reaction force realizes the precise control of the height of the soybean harvester header.

The above patents all realize the real-time control of the height of the header during the operation of the combine harvester, so that the height of the grain stalk remains within the set range, and the harvesting efficiency is improved to a certain extent. However, the operating conditions of the combine harvester are bad, and the existing header profiling technology and related control methods only realize the vertical profiling function of the header, and do not realize the horizontal profiling of the header, so it is difficult to cope with the complex field terrain changes. Moreover, in the technical solution disclosed in the present patent, the height sensing mechanism of the header is arranged at the rear end of the cutter, the height detection point of the header lags behind the cutting point of the grain stalk, and the controller's regulation of the height of the header always lags behind the lower part of the cutter. The change of the field terrain makes the real-time and stability of the height control of the header poor.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic profiling system for combine harvester headers and a control method thereof, which can realize the automatic adjustment of longitudinal profiling and transverse profiling of the header, so as to solve the problem that the existing header profiling technology does not realize cutting The problem of horizontal profiling of the table and the problem of the control lag of the profiling of the header.

For achieving the above object, the present invention provides the following scheme:

The invention provides an automatic profiling system for a combine harvester header, comprising:

A header profiling device, the header profiling device includes a header, a header hooking mechanism and a bridge, the header hooking mechanism is hinged to the front end of the crossing bridge rotatably left and right, and the header hanging connected to the header hooking mechanism; the rear end of the bridge is used to connect with the harvester frame;

a measurement system, which is arranged on the header, the header hooking mechanism or the bridge, and is used for monitoring the longitudinal ground clearance and the lateral inclination angle of the header;

An execution system, the execution system includes a header lateral tilt drive mechanism and a header lift drive mechanism; the header lateral tilt drive mechanism is connected between the bridge and the header hook mechanism for regulating all The horizontal inclination angle of the header is to keep the header parallel to the horizontal slope of the field ground; the header lift drive mechanism is arranged under the bridge to regulate the longitudinal direction of the header height from the ground;

A regulation system, the regulation system includes a hydraulic control system and a control module, the hydraulic control system is connected with the header lateral tilt drive mechanism and the header lift drive mechanism to control the header lateral tilt drive mechanism and The action of the lifting and lowering drive mechanism of the header; the control module is connected in communication with the hydraulic control system and the measurement system.

Optionally, the left and right side walls of the header are respectively hinged with a crop divider that walks on the ground, and the crop divider is located on the front side of the cutter in the header; the measurement system includes an angle sensor, so the The two side walls of the header are respectively provided with the angle sensor; the crop divider is connected with the angle sensor on the corresponding side through a transmission mechanism, so as to drive the angle sensor when the crop divider changes with the terrain Rotating, the control module can calculate the longitudinal ground clearance value of the header according to the angle value measured by the angle sensor.

Optionally, the transmission mechanism is a hinged four-link transmission mechanism, which includes:

a crank, one end of the crank is connected with the crop divider;

a connecting rod, both ends of the connecting rod are provided with rod end bearings, and one end of the connecting rod is hinged with the other end of the crank;

An angle sensor swing rod, one end of the angle sensor swing rod is connected with the angle sensor, and the other end of the angle sensor swing rod is hinged with the other end of the connecting rod.

Optionally, the side wall of the header is also provided with a limiter plate, a limiter slot is set on the limiter plate, the divider runs through the limiter groove, and can move along the limiter. The limiting slot swings; both ends of the limiting slot are provided with a first limiting plate and a second limiting plate to limit the undulating amplitude of the crop divider.

Optionally, the header hooking mechanism includes:

a hooking shaft, one end of the hooking shaft is connected with the bridge;

a hooking plate, which is rotatably mounted on the other end of the hooking shaft through a double row angular contact ball bearing; the side of the hooking plate far from the bridge is hooked to the header, so The header can swing around the hook shaft with the hook plate.

Optionally, the header hooking mechanism further includes a header swing limit assembly, and the header swing limit assembly includes:

a first laterally inclined limiting notch, the first laterally inclined limiting notch is opened on one side of the hanging plate;

a second laterally inclined limiting notch, the second laterally inclined limiting notch is opened on the other side of the hanging plate and arranged symmetrically with the first laterally inclined limiting notch;

A limit bolt is slidably installed in the first lateral inclination limit slot and the second lateral inclination limit slot, and the head of any one of the limit bolts is located on the hook plate away from the On one side of the bridge, a bolt washer is arranged between the head of the limit bolt and the hanging plate, and the tail of any limit bolt is threadedly connected to the bridge.

Optionally, the lateral tilting drive mechanism of the header includes a double-acting hydraulic cylinder, one end of the double-acting hydraulic cylinder is hinged with the hitch plate, and the other end is hinged with the bridge.

Optionally, the header lift drive mechanism includes a single-acting hydraulic cylinder, the single-acting hydraulic cylinder is inclined between the bridge and the harvester frame, and the high end of the single-acting hydraulic cylinder is connected to the The bridge is connected, and the low end is connected with the harvester frame.

Optionally, the hydraulic control system includes:

Hydraulic pump, the oil inlet of the hydraulic pump is connected with the hydraulic oil tank through the filter, the oil outlet of the hydraulic pump is connected with the oil inlet of the one-two-position three-way electromagnetic reversing valve, the two-position three-way The electromagnetic reversing valve plays an enabling role in the hydraulic control system;

The header height drive circuit includes a three-position four-way electromagnetic reversing proportional valve, a balance valve, a damper, a first one-way throttle valve and two of the single-acting hydraulic cylinders. The oil inlet of the four-way electromagnetic reversing proportional valve is connected with the oil outlet of the two-position three-way electromagnetic reversing valve, and the oil return port of the three-position four-way electromagnetic reversing proportional valve is connected with the hydraulic oil tank. The working oil ports of the three-position four-way electromagnetic reversing proportional valve are respectively connected with the balance valve and the damper, and the damper is connected with the control port of the balance valve to control the opening and closing of the balance valve; The two single-acting hydraulic cylinders are connected in parallel with the balance valve through the first one-way throttle valve; the header height driving circuit can control the expansion and contraction of the piston rod of the single-acting hydraulic cylinder, and then regulating the longitudinal ground clearance of the header;

The lateral tilting drive circuit of the header includes a three-position four-way electromagnetic reversing valve, a second one-way throttle valve, a third one-way throttle valve and the double-acting hydraulic cylinder. The oil inlet of the three-position four-way electromagnetic reversing valve is connected with the oil outlet of the two-position three-way electromagnetic reversing valve, and the oil return port of the three-position four-way electromagnetic reversing valve is connected with the hydraulic oil tank, The working oil ports of the three-position four-way electromagnetic reversing valve are respectively connected with the second one-way throttle valve and the third one-way throttle valve, and the second one-way throttle valve is connected with the double one-way throttle valve. The rodless cavity of the hydraulic cylinder is connected, and the third one-way throttle valve is connected with the rod cavity of the double-acting hydraulic cylinder; the header height drive circuit can control the extension of the piston rod of the double-acting hydraulic cylinder. , shrink, and then regulate the lateral inclination angle of the header;

An overflow valve, which is connected with the header height drive circuit and the header lateral tilt drive circuit, is used to set the working pressure for the hydraulic control system.

For achieving the above object, the present invention also provides the following technical solutions:

An automatic profiling control method for a combine harvester header applied to the above-mentioned combine harvester header automatic profiling system, comprising:

calculating a first longitudinal ground clearance and a second longitudinal ground clearance of the header;

calculating an initial ground clearance according to the first longitudinal clearance and the second longitudinal clearance;

According to the initial ground clearance, the preset header longitudinal profile height and the preset header longitudinal profile threshold, a longitudinal drive command is determined; the longitudinal drive command is used to drive the header lifting and lowering drive mechanism to work; the The work of the header lifting drive mechanism is to regulate the longitudinal height of the header;

A lateral drive command is determined according to the first longitudinal ground clearance, the second longitudinal ground clearance and a preset header lateral profile threshold; the lateral drive command is used to drive the header lateral tilt drive mechanism to work The work of the lateral inclination driving mechanism of the header is to regulate the lateral inclination angle of the header, so as to keep the header parallel to the lateral slope of the field ground.

Optionally, determining the longitudinal drive instruction according to the initial height above the ground, the preset longitudinal profiling height of the header, and the preset longitudinal profiling threshold of the header, specifically including:

Determine whether the first difference is less than the preset header longitudinal profiling threshold, and obtain a first result; the first difference is the difference between the initial ground clearance and the preset header longitudinal profiling height the absolute value of ;

If the first result indicates yes, output a first longitudinal driving subcommand; the first longitudinal driving subcommand is used to stop the movement of the header;

If the first result indicates no, then determine whether the initial height above the ground is greater than the preset longitudinal profiling height of the header, and obtain a second result;

If the second result indicates yes, output a second longitudinal driving subcommand; the second longitudinal driving subcommand is used to lower the ground clearance of the header;

If the second result indicates no, a third longitudinal driving subcommand is output; the third longitudinal driving subcommand is used to raise the ground clearance of the header.

Optionally, the lateral drive command is determined according to the first longitudinal ground clearance, the second longitudinal ground clearance, and a preset header lateral profile threshold, specifically including:

Determine whether the second difference is smaller than the preset horizontal profiling threshold of the header, and obtain a third result; the second difference is the difference between the first longitudinal ground clearance and the second longitudinal ground clearance the absolute value of ;

If the third result indicates yes, output a first lateral drive subcommand; the first lateral drive subcommand is used to stop the movement of the header;

If the third result indicates no, then determine whether the first longitudinal height from the ground is greater than the second longitudinal height from the ground, and obtain a fourth result;

If the fourth result indicates yes, output a second lateral drive subcommand; the second lateral drive subcommand is used to incline the header to the left, so as to keep the header parallel to the lateral slope of the field ground ;

If the fourth result indicates no, output a third lateral drive subcommand; the third lateral drive subcommand is used to incline the header to the right, so as to keep the header parallel to the lateral slope of the field ground .

The present invention has achieved the following technical effects with respect to the prior art:

The automatic profiling system for the combine harvester header proposed by the present invention includes a header profiling device, a measuring system, an execution system and a control system. Driven by the lateral tilting drive mechanism, the header hooking mechanism can drive the header to swing, so as to adjust the lateral tilt angle of the header, achieve the effect of horizontal profiling of the header, and overcome the failure of the existing header profiling technology to achieve The problem of horizontal profiling of the header. At the same time, the execution system is also equipped with a header lifting drive mechanism, so that the automatic profiling system of the combine harvester header can have both the longitudinal profiling effect and the horizontal profiling effect of the header. The automatic profiling system of the machine header realizes the automatic adjustment of the attitude of the header, and improves the real-time, stability and advanced nature of the control of the header profiling system.

In addition, in some technical solutions disclosed in the present invention, the measurement system for monitoring the longitudinal ground clearance and the lateral inclination angle of the header adopts an angle sensor, and the measurement system is arranged on the side wall of the header and located at the side of the cutter. The front end makes the height detection point of the header ahead of the cutting point of the grain stalk, which avoids the problem that the adjustment of the height of the header by the control system always lags behind the change of the field terrain under the cutter, and further ensures the real-time performance and reliability of the height adjustment of the header. stability.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of an automatic profiling system for a combine harvester header disclosed in an embodiment of the present invention;

FIG. 2 is a schematic diagram of the installation of the measurement system disclosed in the embodiment of the present invention;

3 is a schematic diagram of the installation of the crop divider and the measuring system disclosed in the embodiment of the present invention;

4 is an axonometric view of a header hooking mechanism disclosed in an embodiment of the present invention;

5 is a front view of the header hooking mechanism disclosed in the embodiment of the present invention;

6 is a cross-sectional view of a header hooking mechanism disclosed in an embodiment of the present invention;

Fig. 7 is the installation schematic diagram of the horizontal tilt drive mechanism of the header disclosed in the embodiment of the present invention;

8 is a schematic diagram of a hydraulic control system disclosed in an embodiment of the present invention;

FIG. 9 is a schematic flowchart of an automatic profiling control method for a combine harvester header disclosed in an embodiment of the present invention;

10 is a schematic structural diagram of an ECU control system disclosed in an embodiment of the present invention;

11 is a schematic diagram of the automatic profiling of the header disclosed in the embodiment of the present invention;

Fig. 12 is a flow chart of the ECU control of the automatic profiling of the header disclosed in the embodiment of the present invention.

Among them, the reference numerals are:

1. Header profiling device; 1-1, bridge; 1-2, header; 1-2-1, header side wall; 1-3, harvester frame; 1-4, header hook Mechanism; 1-4-1, hitch plate; 1-4-2, limit bolt; 1-4-3, hitch shaft; 1-4-4, bearing cover; 1-4-5, bearing cover fixed Bolt; 1-4-6, Lateral Tilt Limiting Notch; 1-4-7, Large Washer; 1-4-8, Chain Rake Conveyor; 1-4-9, Double Row Angular Contact Ball Bearing; 1 -5, first limit plate; 1-6, connecting rod; 1-7, profiling concave plate; 1-8, crop divider; 1-9, crop divider pin; 1-10, copper alloy inlay Solid lubricated bearing; 1-11, connecting rod pin; 1-12, second limit plate; 1-13, dividing bracket;

2. Measuring system; 2-1, Angle sensor; 2-2, Angle sensor mounting bracket;

3. The horizontal tilting drive mechanism of the header; 3-1, the upper hinge support; 3-2, the upper pin; 3-3, the double-acting hydraulic cylinder; 3-4, the lower hinge support; 3-5, the lower pin axis;

4. Header lift drive mechanism; 4-1. The first single-acting hydraulic cylinder; 4-2. The second single-acting hydraulic cylinder;

5. The first one-way throttle valve;

6. Balance valve;

7. Damping;

8. Three-position four-way electromagnetic reversing proportional valve;

9. Two-position three-way electromagnetic reversing valve;

10. Hydraulic pump;

11. Filter;

12. Hydraulic oil tank;

13. The second one-way throttle valve;

14. The third one-way throttle valve;

15. Three-position four-way electromagnetic reversing valve;

16. Relief valve;

17- The header adjusts the middle position;

18 - the initial position of the header;

19 - header target position;

20 - Ground.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

One of the objectives of the present invention is to provide an automatic profiling system for the header of a combine harvester, which can realize the automatic adjustment of longitudinal profiling and transverse profiling of the header, so as to solve the problem that the existing header profiling technology does not realize the horizontal profiling of the header. Imitation problem.

Another object of the present invention is to provide an automatic profiling control method for a combine harvester header implemented based on the above-mentioned automatic profiling system for a combine harvester header.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in FIGS. 1 to 8 , the present embodiment provides an automatic profiling system for a combine harvester header, which mainly includes a header profiling device 1 , a measurement system 2 , an execution system, a control system, and a header profiling device 1 . Including header 1-2, header hooking mechanism 1-4 and bridge 1-1, header hooking mechanism 1-4 is hinged to the front end of bridge 1-1 rotatably left and right, which can realize header 1-2 Quick connection and lateral attitude adjustment; the rear end of the bridge 1-1 is used to connect with the harvester frame 1-3; the measuring system 2 is set on the header 1-2 to monitor the longitudinal direction of the header 1-2 The ground clearance and the lateral inclination angle, the "longitudinal ground clearance" here specifically refers to the ground clearance of the header 1-2 relative to the terrain in front of the cutter; the execution system includes the header lateral tilt drive mechanism 3 and the header lift Drive mechanism 4; Header lateral tilting drive mechanism 3 is connected between the bridge 1-1 and the header hooking mechanism 1-4, and is used to regulate the lateral tilt angle of the header 1-2, so that the header 1-2 Keep parallel to the horizontal slope of the field ground; the header lift drive mechanism 4 is arranged under the bridge 1-1, and is used to regulate the longitudinal ground clearance of the header 1-2; the regulation system includes a hydraulic control system and a control module, and the hydraulic control system It is connected with the header lateral tilt drive mechanism 3 and the header lift drive mechanism 4 to control the movements of the header lateral tilt drive mechanism 3 and the header lift drive mechanism 4; the control module is connected to the hydraulic control system and the measurement system 2 for communication.

In this embodiment, two side walls of the header 1-2 are hinged with a crop divider 1-8 respectively, and the crop divider 1-8 is located on the front side of the cutter in the header 1-2, the "front side" For the side of the cutter away from the bridge 1-1, the measurement system 2 includes an angle sensor 2-1, and the two side walls of the header 1-2 are respectively provided with an angle sensor 2-1; The mechanism is connected to the angle sensor 2-1 on the corresponding side to drive the angle sensor 2-1 to rotate when the crop divider 1-8 changes with the terrain. The control module can receive the rotation analog signal of the angle sensor 2-1 and analyze the cutting Longitudinal ground height value of table 1-2. The above-mentioned crop divider 1-8 and the angle sensor 2-1 are connected by a transmission mechanism to form a header height measuring mechanism, which is to install the angle sensor 2-1 on the basis of the crop divider 1-8 to measure the height of the header 1-2. The height from the ground; the height measuring mechanism of the header located on the left wall of the header 1-2 can be called the height measuring mechanism of the left header, and the height measuring mechanism of the header located on the right side wall of the header 1-2 can be called The height measuring mechanism of the right header has the same structure and is symmetrically arranged. The field terrain detection point is the contact point between the crop divider 1-8 and the ground. This contact point is the key. Only when the contact point is located in front of the cutter can the "advance adjustment" of the cutting table profiling be realized; the installation position of the angle sensor 2-1 is not special requirement. The "advance adjustment" means that, relative to the terrain in front of the cutter, the header profiling control command is given in advance to eliminate the negative influence caused by the slow response of the hydraulic system.

Further, in this embodiment, the specific installation methods of the crop dividers 1-8 are as follows: The measurement range of the height above the ground is to install the profiling concave plate 1-7 under the traditional crop divider 1-8; the rear end of the crop divider 1-8 is welded with a steel bushing, and the outer side of the steel bushing is welded with a crank, steel Copper alloy inlaid solid lubricating bearings 1-10 are installed in the bushings to prevent jamming when the crop dividers 1-8 rotate. The above-mentioned transmission mechanism is a hinged four-link transmission mechanism, which includes the above-mentioned crank, the connecting rod 1-6 and the angle sensor swing rod, one end of the crank is connected with the crop divider 1-8, and both ends of the connecting rod 1-6 are provided with There is a rod end bearing, one end of the connecting rod 1-6 is hinged with the other end of the crank, one end of the angle sensor swing rod is connected with the angle sensor 2-1, and the other end of the angle sensor swing rod is hinged with the other end of the connecting rod 1-6 ; Connecting rod 1-6 is mainly composed of rod end bearing, screw rod and nut; angle sensor 2-1 is fixed with angle sensor mounting bracket 2-2 through bolts, angle sensor mounting bracket 2-2 and crop divider mounting bracket 1- 13 Welded on the header side wall 1-2-1. The measuring principle of the height of the header from the ground is: under the action of its own gravity, the crop dividers 1-8 are always in contact with the field ground, and rotate with the fluctuations of the field terrain, and the angle sensor 2-1 is driven by the above hinged four-link transmission mechanism. Rotation, the rotation angle of the angle sensor 2-1 is different under different field terrain conditions, the control module can calculate the longitudinal ground clearance value of the header 1-2 according to the angle value measured by the angle sensor 2-1; Different rotation angles of the sensor 2-1 will generate different analog signals. The control module can read the analog signal of the angle sensor 2-1 and analyze the longitudinal ground clearance value of the header 1-2.

In this embodiment, the side wall of the header 1-2 (that is, the side wall 1-2-1 of the header) is also provided with a limiter plate for the crop divider, and a limit slot is provided on the limiter plate for the crop divider. 1-8 runs through the limit slot and can swing along the limit slot; both ends of the limit slot are provided with a first limit plate 1-5 and a second limit plate 1-12, the first limit plate 1-5 Located at the high end of the limit slot, is the upper limit plate, the second limit plate 1-12 is located at the low end of the limit slot, is the lower limit plate, the first limit plate 1-5 and the second limit plate 1-12 They are installed on the upper and lower ends of the notch of the crop divider to limit the rotation angle (ie the fluctuation range) of the crop divider 1-8.

In this embodiment, the header hooking mechanism 1-4 mainly includes a hooking shaft 1-4-3 and a hooking plate 1-4-1, and one end of the hooking shaft 1-4-3 is connected to the bridge 1-1 , the hook plate 1-4-1 is rotated and installed on the other end of the hook shaft 1-4-3 through the double row angular contact ball bearing 1-4-9; the hook plate 1-4-1 is far away from the bridge 1- A header 1-2 is attached to one side of the 1, and the header 1-2 can swing around the attachment shaft 1-4-3 along with the attachment plate 1-4-1. As a preferred solution, the header hooking mechanism 1-4 is also equipped with bearing caps 1-4-4 and bearing cap fixing bolts 1-4-5 and other components. In the actual installation process, the hooking shaft 1-4 is generally preferred. -3 is welded at the upper middle position of the front end of the bridge 1-1, and its end face is evenly distributed with three threaded holes. Cooperate with the mounting plate 1-4-1; the bearing cover 1-4-4 is fixed with the mounting shaft 1-4-3 through the bearing cover fixing bolt 1-4-5, and the inner side of the bearing cover 1-4-4 is processed There is an annular boss, which is in contact with the inner ring of the double row angular contact ball bearing 1-4-9, and its function is to axially fix the double row angular contact ball bearing 1-4-9; at the same time , the outer diameter of the bearing cover 1-4-4 is larger than the outer diameter of the double row angular contact ball bearing 1-4-9 to locate the axial position of the hook plate 1-4-1 and prevent the hook plate 1-4-1 from falling from The hook shaft 1-4-3 falls off. The hitch plate 1-4-1 is used to connect the header 1-2 and the bridge 1-1. It is installed between the header 1-2 and the bridge 1-1. The double row angular contact ball bearing 1-4-9 is hinged to the front end of the bridge 1-1, and can rotate around the hanging shaft 1-4-3 under the action of the lateral tilting drive mechanism 3 of the header.

In this embodiment, the header hooking mechanism 1-4 further includes a header swing limit assembly, and the header swing limit assembly mainly includes two laterally inclined limit slots 1-4-6 and limit bolts 1-4 -2, the two lateral inclination limit slots 1-4-6 are the first lateral inclination limit slot and the second lateral inclination limit slot respectively, and the first lateral inclination limit slot is opened on the hanger plate 1 - On one side of 4-1, the second lateral inclination limit notch is opened on the other side of the hanging plate 1-4-1, and is arranged symmetrically with the first lateral inclination limit notch; the first lateral inclination limit A limit bolt 1-4-2 is slidably installed in the notch and the second lateral inclination limit notch, and the head of any limit bolt 1-4-2 is located far away from the hook plate 1-4-1. One side of the bridge 1-1, and a bolt washer is arranged between the head of the limit bolt 1-4-2 and the mounting plate 1-4-1, and the tail of any limit bolt 1-4-2 is connected to the Threaded connection across bridge 1-1. As a preferred way, the left and right sides of the hanger plate 1-4-1 are symmetrically machined with the first lateral inclination limit slot and the second lateral inclination limit slot, and the limit bolts 1-4-2 are limited by the lateral inclination. The slot 1-4-6 is connected to the hook plate 1-4-1 and the bridge 1-1 flexibly. During the flexible connection, the hook plate 1-4-1 should be able to rotate flexibly around the hook shaft 1-4-3. . Install a large washer 1-4-7 between the front end face of the hitch plate 1-4-1 and the limit bolt 1-4-2 to prevent the head of the limit bolt 1-4-2 from tilting the limit groove laterally Mouth 1-4-6 came out. During operation, the limit bolts 1-4-2 and the lateral inclination limit notch 1-4-6 work together to limit the left and right maximum lateral inclination angles of the header 1-2, and the left and right maximum lateral inclination angles of the header. Preferably it is 3.5°.

In this embodiment, the lateral tilting drive mechanism 3 of the header includes a double-acting hydraulic cylinder 3-3. One end of the double-acting hydraulic cylinder 3-3 is hinged with the hitch plate 1-4-1, and the other end is hinged with the bridge 1-1. . As a preferred solution, the horizontal tilting drive mechanism 3 of the header is mainly composed of an upper hinge support 3-1, an upper pin 3-2, a double-acting hydraulic cylinder 3-3, a lower hinge support 3-4 and a lower pin 3 -5 composition; among them, the upper hinge support 3-1 is welded on the hanger plate 1-4-1, the lower hinge support 3-4 is welded on the bridge 1-1, the double-acting hydraulic cylinder 3-3 is the piston rod The top is hinged with the upper hinge support 3-1 through the upper pin shaft 3-2, and the bottom of the double-acting hydraulic cylinder 3-3 is hinged with the lower hinge support 3-4 through the lower pin shaft 3-5. The working mechanism of the lateral tilting drive mechanism 3 of the header is as follows: the control module (preferably an ECU control system) controls the three-position four-way electromagnetic reversing valve 15, so that the rodless cavity of the double-acting hydraulic cylinder 3-3 is fed with oil, and at this time the piston The rod is extended to drive the hitch plate 1-4-1 to rotate clockwise around the hitch shaft 1-4-3, so that the header 1-2 can be tilted to the right; the control module (preferably the ECU control system) controls the three positions The four-way electromagnetic reversing valve 15 enables the double-acting hydraulic cylinder 3-3 to have a rod cavity to enter oil, and the piston rod retracts at this time, driving the hook plate 1-4-1 to rotate counterclockwise around the hook shaft 1-4-3 , so that the header 1-2 is tilted to the left.

In this embodiment, the header lift drive mechanism 4 includes a single-acting hydraulic cylinder, the single-acting hydraulic cylinder is obliquely arranged between the bridge 1-1 and the harvester frame 1-3, and the high end of the single-acting hydraulic cylinder is connected to the bridge 1-1 connection, the low end is connected to the harvester frame 1-3. As a preferred solution, the cylinder body of the single-acting hydraulic cylinder is fixed on the harvester frame 1-3, and the piston rod is connected to the hitch plate 1-4-1 or the bridge 1-1. The single-acting hydraulic cylinders can be arranged side by side. As a preferred way, there are two single-acting hydraulic cylinders, namely the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-2, the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-1 Cylinders 4-2 are symmetrically distributed on the left and right sides.

In this embodiment, the hydraulic control system realizes the vertical and lateral attitude adjustment of the header under the control of the electrical signal of the control module (preferably the ECU control system). The hydraulic control system mainly includes a hydraulic pump 10, a header height drive circuit, a The horizontal tilt drive circuit and the relief valve 16, wherein the oil inlet of the hydraulic pump 10 is connected with the hydraulic oil tank 12 through the filter 11, and the oil outlet of the hydraulic pump 10 is connected with the one-two-position three-way electromagnetic reversing valve 9. The oil inlet is connected, the hydraulic oil tank 12, the filter 11 and the hydraulic pump 10 constitute the hydraulic power passage, the two-position three-way electromagnetic reversing valve 9 constitutes the "enable" passage, and the three-position four-way electromagnetic reversing proportional valve 8, three The four-way electromagnetic reversing valve 15, damping 7, balance valve 6, one-way throttle valve, single-acting hydraulic cylinder, double-acting hydraulic cylinder 3-3 and other components form a hydraulic working circuit. in:

The hydraulic pump 10 can be powered by the combine harvester engine to convert mechanical energy into hydraulic energy of hydraulic oil. The oil inlet of the hydraulic pump 10 and the hydraulic oil tank 12 are connected through a filter 11 to provide high-pressure oil for the hydraulic working circuit. The two-position three-way electromagnetic reversing valve 9 plays an "enable" role in the hydraulic control system. The oil inlet of the two-position three-way electromagnetic reversing valve 9 is connected to the oil outlet of the hydraulic pump 10. When the DT1 is not powered, the The two-position three-way electromagnetic reversing valve 9 works in the right position, and the high-pressure oil flows back to the hydraulic oil tank 12 through its oil outlet. At this time, the hydraulic working circuit is "disabled"; when DT1 is powered on, the two-position three-way electromagnetic reversing valve 9 The left position works, the high-pressure oil flows into the hydraulic working circuit through its oil outlet, and the hydraulic working circuit is "enabled" at this time. In the hydraulic working circuit, the three-position four-way electromagnetic reversing proportional valve 8, the balance valve 6, the first one-way throttle valve 5, the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-2 are composed of The header height drive circuit, three-position four-way electromagnetic reversing valve 15, the second one-way throttle valve 13, the third one-way throttle valve 14 and the double-acting hydraulic cylinder 3-3 constitute the horizontal tilting drive circuit of the header; overflow The flow valve 16 is connected in parallel with the header height driving circuit and the header lateral tilting driving circuit to set the working pressure for the hydraulic control system, and the working pressure is preferably 16Mpa.

In the header height drive circuit, the header height drive circuit includes a three-position four-way electromagnetic reversing proportional valve 8, a balance valve 6, a damper 7, a first one-way throttle valve 5, and a first single-acting hydraulic cylinder 4-1. And the second single-acting hydraulic cylinder 4-2, the oil inlet of the three-position four-way electromagnetic reversing proportional valve 8 is connected with the oil outlet of the two-position three-way electromagnetic reversing valve 9, and the three-position four-way electromagnetic reversing proportional valve The oil return port of 8 is connected with the hydraulic oil tank 12, the working oil port of the three-position four-way electromagnetic reversing proportional valve 8 is respectively connected with the balance valve 6 and the damper 7, and the damper 7 is connected with the control port of the balance valve 6 to control the balance valve. The opening and closing of 6; the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-2 are connected in parallel with the balance valve 6 through the first one-way throttle valve 5. The working mechanism of the header height drive circuit is: when DT2 and DT3 are not powered, the three-position four-way electromagnetic reversing proportional valve 8 works in the neutral position. At this time, the control circuit of the balance valve 6 has zero pressure, and the check valve inside the balance valve 6 And the sequence valve is closed, back pressure is formed in the circuit, the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-2 are locked, and the header 1-2 remains stationary in the original position; when DT2 is powered on , the three-position four-way electromagnetic reversing proportional valve 8 works in the left position. At this time, the control circuit of the balance valve 6 has zero pressure, the internal sequence valve of the balance valve 6 is closed, the check valve inside the balance valve 6 is opened, and the first one-way throttle valve 5 The internal one-way valve is opened, and the high-pressure oil flows into the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-2 through the internal one-way valve of the balance valve 6 and the internal one-way valve of the first one-way throttle valve 5. The piston rods of the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-2 extend, and the header 1-2 rises; when DT3 is powered on, the three-position four-way electromagnetic reversing proportional valve 8 is in the right position At this time, the control circuit of the balance valve 6 is high pressure, the internal sequence valve of the balance valve 6 is opened, the check valve inside the balance valve 6 is closed, the check valve inside the first one-way throttle valve 5 is closed, and the first single-acting hydraulic cylinder 4- 1 and the second single-acting hydraulic cylinder 4-2 The internal hydraulic oil flows back to the hydraulic oil tank 12 through the internal throttle valve of the first one-way throttle valve 5, the internal sequence valve of the balance valve 6, and the three-position four-way electromagnetic reversing proportional valve 8 , the piston rods of the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-2 retract, and the header 1-2 descends. The DT2 and DT3 of the three-position four-way electromagnetic reversing proportional valve 8 are controlled by current signals. By changing the current, the displacement of the spool can be changed, thereby changing the flow rate of the three-position four-way electromagnetic reversing proportional valve 8 and realizing the slicing. 1-2 rise and fall speed control.

In the header lateral tilt drive circuit, the header lateral tilt drive circuit includes a three-position four-way electromagnetic reversing valve 15, a second one-way throttle valve 13, a third one-way throttle valve 14 and a double-acting hydraulic cylinder 3- 3. The oil inlet of the three-position four-way electromagnetic reversing valve 15 is connected with the oil outlet of the two-position three-way electromagnetic reversing valve 9, and the oil return port of the three-position four-way electromagnetic reversing valve 15 is connected with the hydraulic oil tank 12. The working oil ports of the three-position four-way electromagnetic reversing valve 15 are respectively connected with the second one-way throttle valve 13 and the third one-way throttle valve 14, and the second one-way throttle valve 13 is connected with the double-acting hydraulic cylinder 3-3. The rodless cavity is connected, and the third one-way throttle valve 14 is connected with the rod cavity of the double-acting hydraulic cylinder 3-3. The working mechanism of the horizontal tilt drive circuit of the header is: when DT4 and DT5 are not powered, the three-position four-way electromagnetic reversing valve 15 works in the neutral position. At this time, the double-acting hydraulic cylinder 3-3 has no rod cavity and rod cavity The oil cannot be returned, the double-acting hydraulic cylinder 3-3 is locked, and the header 1-2 remains stationary; when the DT4 is powered on, the three-position four-way electromagnetic reversing valve 15 works in the left position, and the second one-way joint is at this time. The internal one-way valve of the flow valve 13 is opened, the internal one-way valve of the third one-way throttle valve 14 is closed, and the high pressure oil flows into the rodless cavity of the double-acting hydraulic cylinder 3-3 through the internal one-way valve of the second one-way throttle valve 13, The double-acting hydraulic cylinder 3-3 has a rod cavity hydraulic oil flows back to the hydraulic oil tank 12 through the internal throttle valve of the third one-way throttle valve 14 and the three-position four-way electromagnetic reversing valve 15, and the double-acting hydraulic cylinder 3-3 piston rod Extend, the header 1-1 tilts to the right; when DT5 is powered on, the three-position four-way electromagnetic reversing valve 15 works in the right position, at this time, the internal one-way valve of the second one-way throttle valve 13 is closed, and the third one-way valve is closed. The internal one-way valve of the throttle valve 14 is opened, and the high-pressure oil flows into the double-acting hydraulic cylinder 3-3 with rod cavity through the internal one-way valve of the third one-way throttle valve 14, and the double-acting hydraulic cylinder 3-3 has no rod cavity. Through the internal throttle valve of the second one-way throttle valve 13 and the three-position four-way electromagnetic reversing valve 15, it flows back to the hydraulic oil tank 12, the piston rod of the double-acting hydraulic cylinder 3-3 is retracted, and the header 1-2 is inclined to the left. The DT4 and DT5 of the three-position four-way electromagnetic reversing valve 15 are controlled by voltage signals. The valve core is fully opened when power is on, and the valve core is completely closed when power is lost. During the automatic copying operation of the header, it is controlled by changing the power-on time of DT4 and DT5. The left and right lateral tilt angles of the header.

The combine harvester header automatic profiling system proposed by this technical solution includes a header profiling device, a measuring system, an execution system and a control system. Driven by the horizontal tilt drive mechanism of the header, the header hooking mechanism can drive the header to swing, so as to adjust the horizontal tilt angle of the header and achieve the effect of horizontal profiling of the header, which overcomes the lack of existing header profiling technology. The problem of realizing the horizontal profiling of the header. At the same time, the execution system is also equipped with a header lifting drive mechanism, so that the automatic profiling system of the combine harvester header can have both the longitudinal profiling effect and the horizontal profiling effect of the header. The automatic profiling system of the machine header realizes the automatic adjustment of the attitude of the header, and improves the real-time, stability and advanced nature of the control of the header profiling system.

In addition, in this technical solution, an angle sensor is used for the measurement system used to monitor the longitudinal ground clearance and the lateral inclination angle of the header. The height detection point is ahead of the cutting point of the grain stalk, which avoids the problem that the control system's adjustment of the height of the header always lags behind the change of the field terrain under the cutter, and further ensures the real-time and stability of the height control of the header.

Embodiment 2

As shown in FIG. 9 , this embodiment provides an automatic profiling control method for a combine harvester header applied to the automatic profiling system for a combine harvester header described in Embodiment 1, including:

Step 100: Calculate the first longitudinal ground clearance and the second longitudinal ground clearance of the header 1-2.

Specifically, the first angle and the second angle are obtained through the simulation values of the angle sensors 2-1 on both sides of the header 1-2, the first longitudinal ground clearance is calculated according to the first angle, and the second longitudinal ground clearance is calculated according to the second angle high. The header angle sensor is used to measure the header angles on the left and right sides of the header. During the operation, it sends a 0~5V analog signal to the ECU. The ECU performs analog-to-digital conversion on the analog signal and calibrates the formula according to the header angle. Calculate the height of the header from the ground. The header angle measurement sensor is calibrated on the hardened ground, and the header height calibration formula is obtained:

Among them, h _L is the height measurement value of the left side of the header (the first longitudinal height from the ground), h _R is the height measurement value of the left side of the header (the second longitudinal height above the ground), the unit is mm; x is the analog value of the angle sensor Signal analog-to-digital conversion value.

Step 200: Calculate an initial ground clearance according to the first longitudinal clearance from the ground and the second longitudinal clearance from the ground.

Step 300, according to the initial height from the ground, the preset header longitudinal profile height and the preset header longitudinal profile threshold, determine a longitudinal drive command; the longitudinal drive command is used to drive the header lift drive mechanism 4 to work; The work of the driving mechanism 4 for driving the header lifting and lowering is to regulate the longitudinal height of the header 1-2 from the ground.

Step 400: Determine a lateral drive command according to the first longitudinal ground clearance, the second longitudinal ground clearance and a preset header lateral profile threshold; the lateral drive command is used to drive the header lateral tilt drive mechanism 3. Work; the work of the header lateral inclination drive mechanism 3 is to regulate the lateral inclination angle of the header 1-2, so that the header 1-2 is kept parallel to the lateral slope of the field ground.

The ECU control system is the core part of the automatic profiling system of the header. Figure 10 shows the schematic diagram of the ECU control system for combine harvester header profiling, which mainly includes ECU, header height measurement sensor (that is, the above-mentioned angle sensor 2-1), header electric control handle, profiling control panel, Human-machine interface and solenoid valve, etc. The ECU (the electronic control unit for vehicles produced by manufacturers such as BOSCH and Continental can be selected) processes the signals collected by the sensor and performs logical operations, and outputs control signals to the solenoid valve to realize the automatic profiling function of the header.

The electric control handle of the header includes four buttons, which are header up, header down, header left tilt, and header right tilt. When the header electric control handle button is pressed, a digital signal is sent to the ECU (according to the ECU IO characteristics , high-level signal or low-level signal can be selected) to realize manual control of the header.

The profiling control panel is used to set the operating parameters of the automatic profiling system, including eight buttons, which are profiling height plus, profiling height minus, vertical profiling threshold plus, longitudinal profiling threshold minus, horizontal profiling threshold plus, Horizontal Profile Threshold Down, Profile Start, and Profile Stop buttons. Among them, the plus and minus buttons of the profiling height are used to set the target height value of the automatic profiling of the header, and the plus and minus buttons of the vertical profiling threshold are used to set the sensitivity of the longitudinal regulation of the ECU during the automatic profiling of the header. , Minus button is used to set the sensitivity of ECU lateral regulation during automatic profiling of the header, and the profiling start and stop buttons are used to control the start and stop of the automatic profiling system. When the button of the copy control panel is pressed, a digital signal is sent to the ECU (according to the characteristics of the ECUIO, a high-level signal or a low-level signal can be selected).

The human-computer interaction interface is used to display the operating parameters of the automatic profiling system, and at the same time record the automatic profiling operation data of the header. In the human-computer interaction interface, a text box for profiling height, a text box for vertical profiling threshold, and a text box for horizontal profiling threshold are designed to display the operating parameters of the automatic profiling system; Different colors indicate the running status (start, stop) of the automatic profiling system; at the same time, a "historical data" control is designed to record the automatic profiling operation data of the header. bus, etc.) send data such as profile height value, height value on the left side of the header, height value on the right side of the header, and action of the solenoid valve of the hydraulic system to the human-computer interaction interface, and the human-computer interaction interface automatically sends the header through the historical data control. Automatic profiling operation data is recorded to U disk or SD card.

Specifically, the step 300 specifically includes:

Step 3001, determine whether the first difference is smaller than the preset header longitudinal profiling threshold, and obtain a first result; the first difference is the initial ground clearance and the preset header longitudinal profiling height The absolute value of the difference.

Step 3002, if the first result indicates yes, output the first longitudinal driving subcommand; the first longitudinal driving subcommand is used to stop the movement of the header 1-2; specifically, the first longitudinal driving subcommand is used to close the The three-position four-way electromagnetic reversing proportional valve 8 forms back pressure in the circuit, the first single-acting hydraulic cylinder 4-1 and the second single-acting hydraulic cylinder 4-2 are locked, and the header 1-2 remains stationary at the original position.

Step 3003, if the first result indicates no, then judge whether the initial height above the ground is greater than the preset longitudinal profiling height of the header, and obtain a second result.

Step 3004, if the second result indicates yes, output a second longitudinal drive subcommand; the second longitudinal drive subcommand is used to lower the ground clearance of the header 1-2; specifically, the second longitudinal drive The driving subcommand is used to open the three-position four-way electromagnetic reversing proportional valve 8, so that the balance valve 6 is in a zero-pressure state, and the header 1-2 is lowered.

Step 3005, if the second result indicates no, output a third longitudinal driving subcommand; the second longitudinal driving subcommand is used to raise the ground clearance of the header 1-2; specifically, the third longitudinal driving subcommand The driving subcommand is used to open the three-position four-way electromagnetic reversing proportional valve 8, so that the balance valve 6 is in a high pressure state, and the header 1-2 rises.

为第一纵向离地高度、

为第二纵向离地高度，

为初始离地高度，

为预设割台纵向仿形高度。

计算公式如下：Specifically, the automatic profiling of the header includes longitudinal profiling and horizontal profiling. In the case of undulating terrain in the field, the longitudinal profiling is to keep the height of the header from the ground within a certain range, and the horizontal profiling is to make the header and the field The horizontal slope of the ground remains parallel. Figure 11 shows the schematic diagram of automatic profiling of the header.

is the first longitudinal height above the ground,

is the second longitudinal height above the ground,

is the initial height above the ground,

Sets the vertical profile height for the preset header.

Calculated as follows:

），同时下降割台到目标高度位置。Taking the position of the header shown in Figure 11 as an example, the initial ground clearance of the header 1-2 is greater than the preset vertical profile height of the header 1-2, and the horizontal posture of the header 1-2 is inclined to the left. While the lateral slope of the field ground slopes to the right, the ECU control system will automatically copy and control the method as follows: rotate the header counterclockwise to the equilibrium position with the ground slope (

), while lowering the header to the target height position.

Preferably, the step 400 specifically includes:

Step 4001, determine whether the second difference is less than the preset horizontal profiling threshold of the header, and obtain a third result; the second difference is the first longitudinal ground clearance and the second longitudinal ground clearance The absolute value of the difference.

Step 4002, if the third result indicates yes, output the first lateral drive subcommand; the first lateral drive subcommand is used to stop the movement of the header 1-2, specifically, turn off the three-position four-way electromagnetic commutation valve 15.

Step 4003, if the third result indicates no, determine whether the first vertical height above the ground is greater than the second vertical ground clearance, and obtain a fourth result.

Step 4004, if the fourth result indicates yes, output the second lateral drive subcommand; the second lateral drive subcommand is used to make the header 1-2 tilt to the left, so that the header 1-2 is connected to the field. The horizontal slope of the ground remains parallel. Specifically, the three-position four-way electromagnetic reversing valve 15 is opened, so that the second one-way throttle valve 13 is opened, the third one-way throttle valve 14 is closed, and the header 1-2 is inclined to the left.

Step 4005, if the fourth result indicates no, output a third lateral drive subcommand; the third lateral drive subcommand is used to incline the header 1-2 to the right, so that the header 1-2 is connected to the field. The horizontal slope of the ground remains parallel. Specifically, the three-position four-way electromagnetic reversing valve 15 is opened, so that the second one-way throttle valve 13 and the third one-way throttle valve 14 are opened, and the header 1-2 is inclined to the right.

Further, in order to improve the robustness of the ECU control system for automatic profiling of the header, the PID control algorithm is used for the longitudinal profiling control of the header, and the classic switch control algorithm is used for the horizontal profiling control of the header. The calculation formula of the longitudinal profiling PID control algorithm is as follows:

为电磁换向比例阀DT2的电流控制信号大小；

为电磁换向比例阀DT3的电流控制信号大小；

为PID控制算法比例系数，

；

为PID控制算法积分系数，

；

为PID控制算法微分系数，

；

为当前时刻割台初始位置高度值与仿形目标高度值的差值，

为上一时刻割台初始位置高度值与仿形目标高度值的差值。where:

is the current control signal size of the electromagnetic reversing proportional valve DT2;

is the current control signal size of the electromagnetic reversing proportional valve DT3;

is the proportional coefficient of the PID control algorithm,

;

is the integral coefficient of the PID control algorithm,

;

is the differential coefficient of the PID control algorithm,

;

is the difference between the height value of the initial position of the header at the current moment and the height value of the profiling target,

It is the difference between the height value of the initial position of the header and the height value of the profiling target at the previous moment.

、

数据进行逻辑判断，自动控制割台上升、下降、左倾、右倾动作，实现割台自动仿形功能；在电控手柄按键控制模式下，由收获机驾驶员根据田间地形地势情况，手动操作电控手柄按键，ECU根据电控手柄按键按下情况执行相应动作，实现割台手动调控功能。具体运行步骤如下：In a specific application, as shown in Figure 12, the ECU control system includes two modes, one is the automatic profiling control mode, and the other is the electronic control handle button control mode. In the automatic profiling control mode, the ECU control system is based on the read

,

The data is logically judged to automatically control the movement of the header to ascend, descend, tilt to the left, and tilt to the right to realize the automatic profiling function of the header; in the electric control handle button control mode, the harvester driver manually operates the electric control according to the field terrain and topography. The handle button, the ECU performs the corresponding action according to the pressing of the electronic control handle button, and realizes the manual control function of the header. The specific operation steps are as follows:

。The first step is to set the longitudinal profiling height of the header according to the digital signal of the profiling control panel

.

。The second step is to set the vertical profiling threshold of the header according to the digital signal of the profiling control panel

.

。The third step is to set the horizontal profiling threshold of the header according to the digital signal of the profiling control panel

.

The fourth step is to open the hydraulic enable valve.

The fifth step is to judge whether to run the automatic profiling control mode of the header according to the digital signal of the profiling control panel. If so, execute the sixth step to perform automatic profiling;

、

，进而计算

。The sixth step, read the analog signal of the left and right angle measurement sensors of the header, and calculate

,

, and then calculate

.

是否小于

，若是则关闭割台上升、下降阀，结束此次循环，若否则执行第八步。判断

是否小于

，若是则关闭割台左倾、右倾阀，结束此次循环，若否则执行第八步。The seventh step is to judge

Is it less than

, if so, close the up and down valves of the header to end the cycle, if not, go to step 8. judge

Is it less than

, if so, close the left-tilt and right-tilt valves of the header to end the cycle; otherwise, go to step 8.

是否大于

，若是则下降割台，打开下降阀，若否则上升割台，打开上升阀。判断

是否大于

，若是则左倾割台，打开左倾阀，若否则右倾割台，打开右倾阀。结束此次循环。The eighth step is to judge

Is it greater than

, if it is, lower the header and open the lowering valve; otherwise, raise the header and open the rising valve. judge

Is it greater than

, if it is, tilt the header to the left and open the left tilt valve; otherwise, tilt the header to the right and open the right tilt valve. End this cycle.

The ninth step is to detect whether the button of the electric control handle is pressed, if so, perform the tenth step, and if otherwise, end the cycle.

The tenth step is to judge whether the ascending button of the electronic control handle is pressed, if so, open the ascending valve until the ascending button is disconnected, close the ascending valve, and end the cycle; judge whether the descending button of the electronic control handle is pressed, and if so, open the descending valve , until the down button is disconnected, close the down valve, and end the cycle; judge whether the left-tilt button of the electronic control handle is pressed, if so, open the left-tilt valve, until the left-tilt button is disconnected, close the left-tilt valve, and end the cycle; judge the electronic control Check whether the right-tilt button of the handle is pressed, if so, open the right-tilt valve until the right-tilt button is disconnected, close the right-tilt valve, and end the cycle.

The eleventh step, return to the fifth step, and start the next cycle.

The automatic profiling control method for the header of the combine harvester proposed in this embodiment can improve the real-time performance and stability of the regulation and control of the header profiling system.

It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. . Therefore, the embodiments are to be regarded in all respects as illustrative and not restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, which are therefore intended to fall within the scope of the appended claims. All changes that come within the meaning and range of equivalents of , are intended to be embraced within the invention, and any reference signs in the claims shall not be construed as limiting the involved claim.

In the present invention, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (8)

1. The utility model provides an automatic profiling system of combine header which characterized in that includes:

the header profiling device comprises a header, a header hooking mechanism and a gap bridge, wherein the header hooking mechanism can be hinged to the front end of the gap bridge in a left-right rotating mode, and the header is hooked on the header hooking mechanism; the rear end of the gap bridge is used for being connected with a harvester frame; the left side wall and the right side wall of the header are respectively hinged with a nearside walking divider, and the dividers are positioned on the front side of a cutting knife in the header; the header hanging mechanism comprises a hanging spindle, a hanging plate and a header swing limiting assembly, wherein one end of the hanging spindle is connected with the gap bridge, and the hanging plate is rotatably arranged at the other end of the hanging spindle; the header is hung on one side of the hanging plate, which is far away from the gap bridge, and can swing around the hanging shaft along with the hanging plate; the header swing limiting assembly comprises a first transverse inclined limiting notch and a second transverse inclined limiting notch, the first transverse inclined limiting notch is formed in one side of the hanging plate, the second transverse inclined limiting notch is formed in the other side of the hanging plate and is symmetrically arranged with the first transverse inclined limiting notch, a limiting bolt is slidably mounted in each of the first transverse inclined limiting notch and the second transverse inclined limiting notch, the head of any limiting bolt is located on one side, far away from the gap bridge, of the hanging plate, a bolt washer is arranged between the head of the limiting bolt and the hanging plate, and the tail of any limiting bolt is in threaded connection with the gap bridge;

the measuring system is used for monitoring the longitudinal ground clearance and the transverse inclination angle of the header and comprises angle sensors, and the two side walls of the header are respectively provided with one angle sensor; the divider is connected with the angle sensor on the corresponding side through a transmission mechanism so as to drive the angle sensor to rotate when the divider fluctuates along with the terrain;

the actuating system comprises a header transverse inclination driving mechanism and a header lifting driving mechanism; the header transverse inclination driving mechanism is connected between the gap bridge and the header hanging mechanism and used for regulating and controlling the transverse inclination angle of the header so as to keep the header parallel to the transverse gradient of the field ground; the header lifting driving mechanism is arranged below the gap bridge and used for regulating and controlling the longitudinal ground clearance of the header;

the regulation and control system comprises a hydraulic control system and a control module, and the hydraulic control system is connected with the header transverse inclination driving mechanism and the header lifting driving mechanism so as to control the header transverse inclination driving mechanism and the header lifting driving mechanism to act; the control module is in communication connection with the hydraulic control system and the measuring system, and can calculate the longitudinal terrain clearance value of the header according to the angle value measured by the angle sensor.

2. The combine harvester header automatic profiling system of claim 1, wherein the transmission is a hinged four-link transmission comprising:

one end of the crank is connected with the nearside divider;

the two ends of the connecting rod are provided with rod end bearings, and one end of the connecting rod is hinged with the other end of the crank;

and one end of the angle sensor swing rod is connected with the angle sensor, and the other end of the angle sensor swing rod is hinged with the other end of the connecting rod.

3. The automatic profiling system for the header of the combine harvester according to claim 1 or 2, wherein a divider limiting plate is further arranged on the side wall of the header, a limiting groove is formed in the divider limiting plate, and the divider penetrates through the limiting groove and can swing along the limiting groove; and a first limiting plate and a second limiting plate are arranged at two ends of the limiting groove so as to limit the fluctuation range of the nearside dividers.

4. The combine harvester header automatic profiling system of claim 1 or 2, wherein the hitch plate is rotatably mounted on the hitch shaft by double row angular contact ball bearings.

5. The combine harvester header automatic profiling system of claim 4, wherein the header transverse tilt drive mechanism comprises a double acting hydraulic cylinder, one end of the double acting hydraulic cylinder is hinged to the hitch plate, and the other end of the double acting hydraulic cylinder is hinged to the gap bridge;

header lift actuating mechanism includes the single-action pneumatic cylinder, the single-action pneumatic cylinder slope set up in the gap bridge with between the harvester frame, just the high-end of single-action pneumatic cylinder with the gap bridge is connected, the low side with the harvester frame is connected.

6. The combine harvester header automatic profiling system of claim 5, wherein the hydraulic control system comprises:

an oil inlet of the hydraulic pump is connected with a hydraulic oil tank through a filter, an oil outlet of the hydraulic pump is connected with an oil inlet of a two-position three-way electromagnetic directional valve, and the two-position three-way electromagnetic directional valve plays an enabling role in the hydraulic control system;

the header height driving circuit comprises a three-position four-way electromagnetic reversing proportional valve, a balance valve, a damper, a first one-way throttle valve and two single-action hydraulic cylinders, an oil inlet of the three-position four-way electromagnetic reversing proportional valve is connected with an oil outlet of the two-position three-way electromagnetic reversing valve, an oil return port of the three-position four-way electromagnetic reversing proportional valve is connected with the hydraulic oil tank, a working oil port of the three-position four-way electromagnetic reversing proportional valve is respectively connected with the balance valve and the damper, and the damper is connected with a control port of the balance valve to control the balance valve to be opened and closed; the two single-acting hydraulic cylinders are connected in parallel and then are connected with the balance valve through the first one-way throttle valve; the header height driving circuit can control the extension and retraction of a piston rod of the single-action hydraulic cylinder, so that the longitudinal ground clearance of the header is regulated and controlled;

the header transverse inclination driving circuit comprises a three-position four-way electromagnetic reversing valve, a second one-way throttle valve, a third one-way throttle valve and the double-acting hydraulic cylinder, an oil inlet of the three-position four-way electromagnetic reversing valve is connected with an oil outlet of the two-position three-way electromagnetic reversing valve, an oil return port of the three-position four-way electromagnetic reversing valve is connected with the hydraulic oil tank, a working oil port of the three-position four-way electromagnetic reversing valve is respectively connected with the second one-way throttle valve and the third one-way throttle valve, the second one-way throttle valve is connected with a rodless cavity of the double-acting hydraulic cylinder, and the third one-way throttle valve is connected with a rod cavity of the double-acting hydraulic cylinder; the header height driving circuit can control the extension and the retraction of a piston rod of the double-acting hydraulic cylinder, so that the transverse inclination angle of the header is regulated and controlled;

and the overflow valve is connected with the header height driving circuit and the header transverse inclination driving circuit and is used for setting working pressure for the hydraulic control system.

7. A combine harvester header automatic profiling control method applied to the combine harvester header automatic profiling system of any one of claims 1 to 6, is characterized by comprising the following steps:

calculating a first longitudinal ground clearance height and a second longitudinal ground clearance height of the header;

calculating an initial ground clearance height from the first longitudinal ground clearance height and the second longitudinal ground clearance height;

determining a longitudinal driving command according to the initial ground clearance, a preset header longitudinal profiling height and a preset header longitudinal profiling threshold; the longitudinal driving command is used for driving the header lifting driving mechanism to work; the header lifting driving mechanism works to regulate and control the longitudinal ground clearance of the header;

determining a transverse driving command according to the first longitudinal ground clearance, the second longitudinal ground clearance and a preset header transverse profiling threshold; the transverse driving command is used for driving the header transverse inclination driving mechanism to work; the header transverse inclination driving mechanism works to regulate and control the transverse inclination angle of the header so as to keep the header parallel to the transverse gradient of the field ground.

8. The combine harvester header automatic profiling control method of claim 7, wherein determining a lateral drive command as a function of the first longitudinal ground clearance height, the second longitudinal ground clearance height, and a preset header lateral profiling threshold comprises:

judging whether the second difference value is smaller than the preset header transverse profiling threshold value or not to obtain a third result; the second difference is an absolute value of a difference between the first longitudinal ground clearance height and the second longitudinal ground clearance height;

if the third result represents yes, outputting a first transverse driving subcommand; the first lateral drive sub-command is for stopping the header motion;

if the third result shows that the first longitudinal height from the ground is not greater than the second longitudinal height from the ground, judging whether the first longitudinal height from the ground is greater than the second longitudinal height from the ground, and obtaining a fourth result;

if the fourth result shows yes, outputting a second transverse driving sub-command; the second lateral drive sub-command is used to tilt the header to the left to keep the header parallel to the field ground lateral slope;

if the fourth result shows no, outputting a third transverse driving subcommand; the third traverse drive subcommand is used to tilt the header to the right to keep the header parallel to the field ground traverse slope.

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