A peanut harvester clamping and conveying hydraulic drive system and a method for preventing blockage

Abstract

The present invention discloses a peanut harvester clamping and conveying hydraulic drive system and a method for preventing blockage, comprising an engine, a variable pump, a safety valve, a directional control valve, a flow control valve, a flow sensor, a hydraulic motor, a pressure sensor, a speed sensor and a central control unit, wherein the engine is connected to the variable pump to drive the variable pump to operate, the variable pump is connected to the directional control valve, the directional control valve is connected in series with the flow control valve, the flow sensor, the pressure sensor and the hydraulic motor in sequence, the speed sensor is installed on the output shaft of the hydraulic motor, the central control unit is a total control unit, and is electrically connected to the variable pump, the directional control valve, the flow control valve, the flow sensor, the pressure sensor and the speed sensor respectively, and the variable pump is connected in parallel with the safety valve. The present invention realizes dynamic adjustment of the clamping and conveying system, and effectively avoids blockage and damage caused by excessive load during operation.

Description

Technical Field

[0001] The invention relates to the field of peanut harvesting, and in particular to a peanut harvester clamping and conveying hydraulic drive system and a blockage prevention control method. Background Art

[0002] The peanut planting area in my country is very large. In the past, the harvesting work was entirely done manually, with high labor intensity and low efficiency. With the development and popularization of peanut combine harvesters, the labor intensity of peanut harvesting has been greatly reduced and the efficiency of peanut harvesting has been improved. Although the existing technology has solved the problem of peanut harvesting, there are indeed great problems with the reliability of peanut harvesters during use, and the failure rate is relatively high, especially in the blockage, crushing, and overload of the clamping and conveying links after the peanuts are dug out of the ground. The damage to the mechanical parts caused by overload. Due to the uneven growth of peanuts, some places are sparse, and some places grow densely, resulting in a very large load change in the clamping and conveying system. The existing clamping and conveying are mostly fixed operating speeds, and there is no dynamic speed adjustment function, which leads to blockage, crushing, and damage of the clamping and conveying chain and surrounding components, which seriously affects the popularization and application of peanut harvesters.

[0003] At present, the market is in urgent need of a peanut harvester clamping and conveying system that can be automatically adjusted according to the working conditions, so as to solve the problem that the existing peanut harvester clamping and conveying has a fixed speed and cannot be dynamically adjusted according to the working conditions, resulting in system blockage. Summary of the invention

[0004] The purpose of the present invention is to provide a peanut harvester clamping and conveying hydraulic drive system to achieve the purposes of precise automatic control, high response sensitivity and better information collection, in view of the shortcomings of the existing peanut harvester clamping and conveying technology, such as low degree of automation, easy blockage and squeezing, and easy damage of mechanical parts.

[0005] The present invention provides the following technical solutions:

[0006] A peanut harvester clamping and conveying hydraulic drive system comprises an engine, a variable pump, a safety valve, a directional control valve, a flow control valve, a flow sensor, a hydraulic motor, a pressure sensor, a speed sensor and a central control unit, wherein the engine is connected to the variable pump to drive the variable pump to operate, the variable pump is connected to the directional control valve, the directional control valve is connected in series with the flow control valve, the flow sensor, the pressure sensor and the hydraulic motor in sequence, the speed sensor is installed on the output shaft of the hydraulic motor, the central control unit is a total control unit and is electrically connected to the variable pump, the directional control valve, the flow control valve, the flow sensor, the pressure sensor and the speed sensor respectively, wherein the flow sensor, the pressure sensor and the speed sensor collect signals in real time during the operation of the system and transmit the collected signals to the central control unit, the variable pump, the directional control valve and the flow control valve are signal execution units, which receive signals from the central control system to adjust the working state, and the variable pump is connected in parallel with the safety valve to protect the safety of the oil circuit;

[0007] Preferably, the central control unit has a built-in SLFLC control module, and its basic module includes a PD-type fuzzy controller, a feedforward control unit and a proportional controller.

[0008] Preferably, the central control unit is based on a Siemens S7-1200 series programmable controller.

[0009] The present invention provides a feedback closed-loop control working mode: when starting work, firstly, initial parameter values ​​such as speed are given to initialize the central control unit controller; secondly, the controller controls the flow of the execution component; thirdly, the output flow acts to drive the hydraulic motor to operate; fourthly, the sensor collects flow, pressure, and speed process variables and feeds them back to the controller; fifthly, the controller receives the feedback signal, processes it, and then sets a new working parameter value to control the execution component; sixthly, the second to fifth steps are repeated in sequence to realize dynamic control.

[0010] The present invention provides a method for preventing blockage of a peanut harvester clamping and conveying hydraulic drive system, the method comprising the following steps:

[0011] The first step is to start the peanut harvester, initialize the peanut harvester gripping and conveying control system, and the central control unit sets the output speed, hysteresis loop width, sampling period, proportional gain, and differential time of the hydraulic motor;

[0012] In the second step, the engine is running, and the variable pump, the directional control valve, the flow control valve and the hydraulic motor are started to work with the initial values ​​as working parameters, and the peanuts are dug and clamped for transportation;

[0013] In the third step, the flow sensor, the pressure sensor and the speed sensor collect the hydraulic circuit pressure, flow and the actual value of the output shaft speed of the hydraulic motor and feed it back to the central control unit for processing;

[0014] In the fourth step, after the collected data meets the sampling period, the deviation is calculated through the preset algorithm. When the deviation is within the hysteresis width, the analog output channel outputs the maintenance voltage and continues to work in the current state; when the deviation is greater than the hysteresis width, the built-in self-learning fuzzy logic controller model starts to process the data, selects the optimal solution parameter output, and adjusts the voltage through the analog channel output;

[0015] Step 5: The voltage signal is amplified by the amplifier and acts on the actuator to set a new working state, control the position of the flow control valve core to move, and adjust the output speed of the hydraulic motor;

[0016] Step 6. Repeat steps 3, 4 and 5, and the clamping and conveying system works under the optimal parameter state.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] By setting flow pressure sensors, pressure sensors and speed sensors at appropriate locations, dynamic monitoring of machine operation and data collection are achieved;

[0019] By setting up a central control unit and method, timely feedback of signal processing is achieved, and dynamic adjustment of the clamping and conveying system is realized, effectively avoiding blockage and damage caused by excessive load during the working process;

[0020] The central control unit has a built-in self-learning fuzzy logic controller model, which processes and compares large amounts of data during the work process, making the operation plan better, continuously improving the machine's working efficiency and reducing energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0022] Figure 1 It is a structural schematic diagram of the present invention;

[0023] Figure 2 This is the structural diagram of the working position of the clamping conveyor chain;

[0024] Figure 3 This is the working flow chart of the clamping and conveying system;

[0025] Figure 4 It is the control flow chart of the clamping and conveying system; DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0028] See also Figure 1The present invention provides a peanut harvester clamping and conveying hydraulic drive system, including an engine 1, a variable pump 2, a safety valve 3, a directional control valve 4, a flow control valve 5, a flow sensor 6, a hydraulic motor 7, a pressure sensor 8, a speed sensor 9 and a central control unit 10. The engine 1 is connected to the variable pump 2 to drive the variable pump 2 to operate, so as to provide the required hydraulic oil flow to the next-level hydraulic element. The variable pump 2 is connected to the directional control valve 4. The directional control valve 4 is connected in series with the flow control valve 5, the flow sensor 6, the pressure sensor 8 and the hydraulic motor 7 in sequence. The hydraulic motor 7 is equipped with a speed sensor 9. The central control unit 10 The main control unit is electrically connected to the variable pump 2, directional control valve 4, flow control valve 5, flow sensor 6, pressure sensor 8 and speed sensor 9 respectively. The flow sensor 6, pressure sensor 8 and speed sensor 9 collect signals during the operation of the system and transmit the collected signals to the central control unit 10. The variable pump 2, directional control valve 4 and flow control valve 5 receive the signals from the central control system 10 to adjust the working state. The variable pump 2 is connected in parallel with the safety valve 3 to protect the safety of the oil circuit. The specific working method is: when the peanut harvester clamping and conveying control system starts to work, the system is initialized, and the central control unit gives The direction control valve 4 receives the signal from the central control unit 10 to open the oil circuit. The engine 1 drives the variable pump 2 to provide a suitable hydraulic oil flow to the flow control valve 5 through the regulation of the central control unit 10. The central control unit 10 further regulates the flow through the hydraulic motor 7 by controlling the flow control valve 5 to control the speed of the hydraulic motor 7 to match the power output. Due to the uneven growth of peanuts, some places are sparse and some places are dense, so the amount of peanuts entering the clamping conveyor chain is constantly changing, resulting in changes in the running speed and force of the clamping chain, which in turn causes the running speed of the hydraulic motor and the oil circuit pressure to change. Force and flow rate are constantly changing. To make the system operation controllable, the flow sensor 6, pressure sensor 8 and speed sensor 9 start working from the start of the system, respectively monitoring the flow rate, pressure and speed change of the hydraulic motor 7, and transmitting the acquired dynamic data signals to the central control unit 10, which is processed by the built-in algorithm of the central control unit 10, and calculates the optimal operation plan and transmits it to the signal execution unit variable pump 2, directional control valve 4 and flow control valve 5, so as to control the system flow and oil pressure, so as to control the operation of the clamping conveyor chain, effectively prevent machine blockage and high energy consumption, and realize automatic intelligent regulation.

[0029] As an implementation mode of the present invention, the central control unit 10 has a built-in SLFLC control module, and its basic module includes a PD-type fuzzy controller, a feedforward control unit and a proportional controller.

[0030] As an implementation mode of the present invention, the central control unit 10 is based on a Siemens S7-1200 series programmable controller.

[0031] See also Figure 1 and Figure 3 The present invention provides a feedback closed-loop control working mode: when starting work, firstly, initial parameter values ​​such as speed are given to initialize the central control unit 10 controller; secondly, the controller controls the flow of the execution component; thirdly, the output flow acts on the hydraulic motor 7 to drive the operation; fourthly, the sensor collects the process variables of flow, pressure and speed and feeds them back to the controller; fifthly, the controller receives the feedback signal, processes it, and sets a new working parameter value to control the execution component; sixthly, the second to fifth steps are repeated in sequence to realize dynamic control.

[0032] See also Figure 1 and Figure 4 The present invention includes a method for preventing blockage of a peanut harvester clamping and conveying hydraulic drive system, the method comprising the following steps:

[0033] The first step is to start the peanut harvester, initialize the peanut harvester gripping and conveying control system, and set the output speed, hysteresis loop width, sampling period, proportional gain, and differential time of the hydraulic motor 7 by the central control unit 10;

[0034] In the second step, the engine 1 is running, and the variable pump 2, the directional control valve 4, the flow control valve 5 and the hydraulic motor 7 start working with the initial values ​​of the working parameters, and the peanuts are dug and clamped for transportation;

[0035] In the third step, the flow sensor 6, the pressure sensor 8 and the speed sensor 9 collect the actual values ​​of the hydraulic circuit pressure, flow and the output shaft speed of the hydraulic motor 7 and feed them back to the central control unit 10 for processing;

[0036] In the fourth step, after the collected data meets the sampling period, the deviation is calculated through the preset algorithm. When the deviation is within the hysteresis width, the analog output channel outputs the maintenance voltage and continues to work in the current state; when the deviation is greater than the hysteresis width, the built-in self-learning fuzzy logic controller model starts to process the data, selects the optimal solution parameter output, and adjusts the voltage through the analog channel output;

[0037] Step 5: The voltage signal is amplified by the amplifier and acts on the actuator to set a new working state, control the position of the valve core of the flow control valve 5 to move, and adjust the output speed of the hydraulic motor 7;

[0038] Step 6. Repeat steps 3, 4 and 5, and the clamping and conveying system works under the optimal parameter state.

Claims

1. A method for preventing blockage of a peanut harvester clamping and conveying hydraulic drive system, characterized in that: A peanut harvester clamping and conveying hydraulic drive system is used, comprising an engine (1), a variable pump (2), a safety valve (3), a directional control valve (4), a flow control valve (5), a flow sensor (6), a hydraulic motor (7), a pressure sensor (8), a speed sensor (9) and a central control unit (10). The engine (1) is connected to the variable pump (2) to drive the variable pump (2) to operate. The variable pump (2) is connected to the directional control valve (4). The directional control valve (4) is connected in series with the flow control valve (5), the flow sensor (6), the pressure sensor (8) and the hydraulic motor (7) in sequence. The speed sensor (9) is installed on the output shaft of the hydraulic motor (7). The central control unit (10) is a master control unit and is electrically connected to the variable pump (2), the directional control valve (4), the flow control valve (5), the flow sensor (6), the pressure sensor (8) and the speed sensor (9) respectively. The variable pump (2) is connected in parallel with the safety valve (3). The following steps are also included: S1, the peanut harvester is started, the peanut harvester gripping and conveying control system is initialized, and the central control unit (10) sets the output speed, hysteresis loop width, sampling period, proportional gain, and differential time of the hydraulic motor (7); S2, the engine (1) is running, the variable pump (2), the directional control valve (4), the flow control valve (5) and the hydraulic motor (7) are started to work with initial values ​​as working parameters, and the peanuts are dug and clamped for transportation; S3, the flow sensor (6), the pressure sensor (8) and the speed sensor (9) collect the hydraulic circuit pressure, flow and the actual value of the output shaft speed of the hydraulic motor (7) and feed them back to the central control unit (10) for processing; S4. After the collected data meets the sampling period, the deviation is calculated by the preset algorithm. When the deviation is within the hysteresis width, the analog output channel outputs the maintenance voltage and continues to work in the current state; when the deviation is greater than the hysteresis width, the built-in self-learning fuzzy logic controller model starts to process the data, selects the optimal solution parameter output, and adjusts the voltage through the analog channel output; S5, the voltage signal is amplified by the amplifier and acts on the actuator, giving a new working state, controlling the movement of the valve core position of the flow control valve (5), and adjusting the output speed of the hydraulic motor (7); S6. Repeat S3, S4 and S5, and the clamping and conveying system works under the optimal parameter state.

2. The method for preventing blockage of the peanut harvester clamping and conveying hydraulic drive system according to claim 1 is characterized in that: The central control unit (10) has a built-in SLFLC control module, the basic module of which includes a PD-type fuzzy controller, a feedforward control unit and a proportional controller.

3. The method for preventing blockage of the peanut harvester clamping and conveying hydraulic drive system according to claim 1 is characterized in that: The central control unit (10) is based on a Siemens S7-1200 series programmable controller.

4. The method for preventing blockage of the peanut harvester clamping and conveying hydraulic drive system according to claim 1 is characterized in that: The present invention provides a feedback closed-loop control working mode: when starting to work, firstly, initial parameter values ​​such as speed are given to initialize the central control unit (10); secondly, the controller controls the flow of the execution component; thirdly, the output flow acts on the hydraulic motor (7) to drive the operation; Fourth, the sensor collects flow, pressure, and speed process variables and feeds them back to the controller; fifth, the controller receives the feedback signal, processes it, and sets new working parameter values ​​to control the execution components; sixth, the second to fifth steps are repeated in sequence to achieve dynamic control.

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