Soil penetration depth adjustment mechanism for sugarcane harvester

Abstract

The present invention belongs to the field of soil penetration depth adjustment mechanisms for sugarcane harvesters, and specifically relates to a soil penetration depth adjustment mechanism for sugarcane harvesters, which is used in conjunction with a sugarcane harvester body and is characterized in that it includes: a soil layer feature acquisition mechanism, a control module, a harvesting disc flexibly connected to the sugarcane harvester body, and a mounting plate connected to the sugarcane harvester body by bolts, wherein a mounting frame is fixedly connected to the mounting plate, a connecting frame is slidably connected to the inside of the mounting frame, and a posture sensor is fixedly connected to the connecting frame; a rotating shaft is installed inside the mounting plate through a bearing, a torsion spring is fixedly provided on one end of the rotating shaft, and an adjustment motor is connected to the other end. This solution can avoid data transmission errors, and the elastic force of the spring pushes the positioning column to install the posture sensor. After long-term use, the posture sensor can be conveniently disassembled and cleaned by separating the positioning column from the connecting frame.

Description

Technical Field

[0001] The invention belongs to the field of soil penetration depth adjustment mechanisms for sugarcane harvesters, and in particular relates to a soil penetration depth adjustment mechanism for sugarcane harvesters. Background Art

[0002] Sugarcane is an important sugar crop in my country and is mainly planted in Guangdong, Guangxi and Yunnan. In 2019, the planting area of ​​sugarcane in my country was about 1.5333 million hm2, ranking third in the world. When planting on a large scale, intelligent harvesters are needed for mechanized operations to improve harvesting efficiency.

[0003] For example, the patent publication number: CN113589709A proposes an intelligent monitoring system for sugarcane harvester cutting into the ground. The invention discloses an intelligent monitoring system for sugarcane harvester cutting into the ground, including: a vehicle-mounted terminal, a depth camera, a torque sensor, a temperature sensor, a displacement sensor, a rotary encoder, a microcontroller, a profiling detection mechanism and an actuator; the control system collects six parameters of the sugarcane harvester cutting depth into the ground, the wear of the cutter, the rate of sugarcane head breakage, the speed of the cutter, the vehicle speed, and the engine oil temperature by the microcontroller; the intelligent monitoring system for sugarcane harvester cutting into the ground can process the collected data and fit the curve. The invention effectively improves the informationization and automation level of the sugarcane harvester, solves the problem that the cutting depth of the sugarcane harvester into the ground cannot be automatically adjusted due to terrain changes, thereby affecting the cutting qualification rate and the rate of sugarcane head breakage, improves the operating efficiency of the sugarcane harvester, and provides technical support for the supervision of operating efficiency.

[0004] However, the patent requires a depth camera to observe the soil (to detect whether there is lodged sugarcane and adjust the position of the profiling rod in the chute according to the diameter of the lodged sugarcane). However, in actual use, the surface soil that is turned up may interfere with the data transmission, resulting in errors (even failure to collect data), and the height adjustment of the harvesting disc may be incorrect, which may cause fundamental damage to the sugarcane and affect the harvesting quality. Therefore, the prior art needs to be improved. Summary of the invention

[0005] The purpose of the present invention is to provide a soil penetration depth adjustment mechanism for a sugarcane harvester, which solves the problem that the existing depth adjustment mechanism and the collection mechanism are prone to errors in depth sensing.

[0006] In order to achieve the above-mentioned object, the present invention provides a soil penetration depth adjustment mechanism for a sugarcane harvester, which is used in conjunction with a sugarcane harvester body, comprising: a soil layer feature collection mechanism, a control module, a harvesting disc flexibly connected to the sugarcane harvester body, and a mounting plate connected to the sugarcane harvester body by bolts, wherein a mounting frame is fixedly connected to the mounting plate, a connecting frame is slidably connected to the inside of the mounting frame, and a posture sensor is fixedly connected to the connecting frame;

[0007] A rotating shaft is installed inside the mounting plate through a bearing, one end of the rotating shaft is fixedly provided with a torsion spring, and the other end is connected to an adjusting motor, a positioning column is slidably connected inside the mounting frame, one end of the positioning column is fixedly connected to a connecting rod, a spring is arranged on the outside of the connecting rod, and one end of the connecting rod is fixedly connected to a moving plate; an arc-bending profiling rod is fixedly connected to the outside of the rotating shaft, and a profiling wheel is rotatably connected inside the arc-bending profiling rod;

[0008] A square block is fixedly connected to one end of the rotating shaft, and the square block is slidably connected to the input end of the posture sensor. A square groove is provided on the input end of the posture sensor, and the square groove is slidably connected to the square block;

[0009] The attitude sensor is used to collect the rotation data of the square block and send it to the control module;

[0010] The control module is used to generate an adjustment instruction according to the rotation data and send it to the adjustment motor;

[0011] The regulating motor is used to rotate according to the regulating instruction and drive the torsion spring to rotate through the rotating shaft.

[0012] The principle of the present invention is that when the main body of the sugarcane harvester is traveling on the ground, the profiling wheel contacts the ground and drives the curved profiling rod to deflect, and the curved profiling rod drives the rotating shaft to rotate. During the rotation of the rotating shaft, the input end of the attitude sensor is driven to rotate through the square block. After the rotation, the input end of the attitude sensor can convert the data and transmit it to the vehicle-mounted terminal, and the height of the harvesting disc can be adjusted after conversion through the control module.

[0013] That is, by twisting the torsion spring, the torsion spring generates elastic force after being twisted, and the elastic force drives the contour wheel to press down the soil on the ground, so as to adjust the pressure of the contour wheel on the ground, which can prevent the floating soil from affecting the judgment of the attitude sensor. When the attitude sensor is used in the land, the dust in the environment is large, which easily leads to the accumulation of dust and soil at the input of the attitude sensor. After using it for a period of time, the moving plate is pulled, and the moving plate drives the positioning column to move through the connecting rod and compresses the spring. When the positioning column is separated from the connecting frame, the connecting frame and the attitude sensor can be removed from the mounting frame, so that the attitude sensor can be easier to clean.

[0014] The beneficial effects of the present invention are as follows: by adding structures such as a torsion spring, a posture sensor and a curved arc profiling rod on a mounting plate, the elastic force of the torsion spring can drive the profiling wheel to compact the soil, and then the posture sensor and the HC-05 module calculate and feed back the position of the harvesting disc to adjust the height of the harvesting disc, thereby avoiding incorrect data transmission, and the positioning column is pushed by the elastic force of the spring to install the posture sensor, and after long-term use, the posture sensor can be conveniently disassembled and cleaned by separating the positioning column from the connecting frame.

[0015] Furthermore, a hydraulic system is provided between the harvesting disc and the main body of the sugarcane harvester, the hydraulic system includes a hydraulic cylinder, an oil supply pipeline and a solenoid valve, the hydraulic cylinder includes a hydraulic base and a hydraulic push rod, the hydraulic base of the hydraulic cylinder is fixedly connected to the main body of the sugarcane harvester, the hydraulic push rod of the hydraulic cylinder is fixedly connected to the harvesting disc, one end of the oil supply pipeline is communicated with the hydraulic cylinder, the solenoid valve is arranged on the oil supply pipeline, the solenoid valve is connected to the control module signal, the solenoid valve is used to open and close according to the command of the control module to realize the control of the length of the hydraulic push rod; the control module is also used to generate a control instruction according to the rotation data of the square block, and send it to the solenoid valve; the control module uses a genetic algorithm to optimize the proportional factor of the fuzzy PID and then uses the optimized fuzzy PID control algorithm to generate the control instruction.

[0016] The genetic algorithm mainly uses real number or binary coding to set the string of the optimization object, and the encoding method uses real number coding. The proportional factor in the fuzzy PID is regarded as the gene in the individual, and the system continuously performs online parameter optimization to optimize the performance of the fuzzy PID. The three variables in the model constitute a coded string: (Kp, Ki, Kd). Such a string represents an individual in the population. Each individual is a solution, and the initial population is generated according to the value range of the design variable. By calculating the fitness of the contemporary population and judging whether it is an elite individual, if so, it is decoded and output to obtain the optimal solution of the fuzzy PID proportional factor. Otherwise, it is copied, crossed, and mutated between individuals to obtain new individuals, and then the population is merged to form the contemporary population, and the above steps are repeated.

[0017] Furthermore, the rotating shaft is connected to the mounting frame via a bearing, the mounting frame is L-shaped, the mounting frame can support the rotating shaft, and the posture sensor is a Hall sensor.

[0018] Furthermore, one end of the torsion spring is fixedly connected to the mounting plate, and the other end of the torsion spring is fixedly connected to the rotating shaft. The torsion spring can apply downward pressure to the curved contour rod through the rotating shaft.

[0019] Furthermore, the control module optimizes the proportional factor of the fuzzy PID using a genetic algorithm and then generates a regulation instruction using the optimized fuzzy PID control algorithm.

[0020] Furthermore, the movable plate is in contact with the mounting frame, the connecting rod is slidably connected to the mounting frame, the positioning column is slidably connected to the connecting frame, and the movable plate can drive the positioning column to move through the connecting rod.

[0021] Furthermore, one end of the spring is fixedly connected to the positioning column, and the other end of the spring is fixedly connected to the mounting bracket. The spring can drive the positioning column to automatically reset through elastic force. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of a soil penetration depth adjustment mechanism for a sugarcane harvester according to an embodiment of the present invention;

[0023] Figure 2 The soil penetration depth adjustment mechanism for a sugarcane harvester according to an embodiment of the present invention is Figure 1 A three-dimensional diagram of the depth adjustment mechanism;

[0024] Figure 3 The soil penetration depth adjustment mechanism for a sugarcane harvester according to an embodiment of the present invention is Figure 2 A top sectional view of

[0025] Figure 4 The soil penetration depth adjustment mechanism for a sugarcane harvester according to an embodiment of the present invention is Figure 3 A-section structure enlarged view. DETAILED DESCRIPTION

[0026] The following is further described in detail through specific implementation methods:

[0027] The figure marks in the drawings of the specification include: sugarcane harvester body 1, soil layer characteristic collection mechanism 2, harvesting disc 3, control module 4, mounting plate 21, mounting frame 22, connecting frame 23, posture sensor 24, rotating shaft 25, curved arc profiling rod 26, profiling wheel 27, torsion spring 28, square block 29, positioning column 20, connecting rod 201, moving plate 202, spring 203.

[0028] Example 1

[0029] like Figure 1 , Figure 2 As shown, this embodiment provides a soil penetration depth adjustment mechanism for a sugarcane harvester, which is used in conjunction with a sugarcane harvester body 1, and includes a soil layer feature collection mechanism 2, a harvesting disc 3 and a control module 4, wherein the sugarcane harvester body 1 is provided with a soil layer feature collection mechanism 2, the sugarcane harvester body 1 is provided with a harvesting disc 3, the sugarcane harvester body 1 is connected with a mounting plate 21 by bolts, the outer side of the rotating shaft 25 is fixedly connected with a curved contour rod 26, the inner side of the curved contour rod 26 is rotatably connected with a contour wheel 27, and the contour wheel 27 can reduce the friction between the curved contour rod 26 and the ground.

[0030] like Figure 2 , Figure 3 , Figure 4 As shown, a mounting frame 22 is fixedly connected to the mounting plate 21, a connecting frame 23 is slidably connected inside the mounting frame 22, a posture sensor 24 is fixedly connected to the connecting frame 23, a rotating shaft 25 is installed inside the mounting plate 21 through a bearing, a torsion spring 28 is provided on the rotating shaft 25, the rotating shaft 25 is connected to the mounting frame 22 through a bearing, the mounting frame 22 is L-shaped, the mounting frame 22 can support the rotating shaft 25, one end of the torsion spring 28 is fixedly connected to the mounting plate 21, and the other end of the torsion spring 28 is fixedly connected to the rotating shaft 25, and the torsion spring 28 can apply downward pressure to the curved arc profiling rod 26 through the rotating shaft 25.

[0031] like Figure 2 , Figure 3 , Figure 4 As shown, the interior of the mounting frame 22 is slidably connected with a positioning column 20, one end of the positioning column 20 is fixedly connected with a connecting rod 201, a spring 203 is arranged on the outside of the connecting rod 201, one end of the connecting rod 201 is fixedly connected with a moving plate 202, one end of the rotating shaft 25 is fixedly connected with a square block 29, the square block 29 is slidably connected with the input end of the posture sensor 24, a square groove is provided on the input end of the posture sensor 24, the square groove is slidably connected with the square block 29, the moving plate 202 contacts the mounting frame 22, the connecting rod 201 is slidably connected with the mounting frame 22, the positioning column 20 is slidably connected with the connecting frame 23, the moving plate 202 can drive the positioning column 20 to move through the connecting rod 201, one end of the spring 203 is fixedly connected with the positioning column 20, the other end of the spring 203 is fixedly connected with the mounting frame 22, and the spring 203 can drive the positioning column 20 to automatically reset through elastic force.

[0032] The specific implementation process of the present invention is as follows: when the sugarcane harvester body 1 is traveling on the ground, the profiling wheel 27 contacts the ground and drives the curved profiling rod 26 to deflect, and the curved profiling rod 26 drives the rotating shaft 25 to rotate. During the rotation process, the rotating shaft 25 drives the input end of the attitude sensor 24 to rotate through the square block 29. After the rotation, the input end of the attitude sensor 24 can convert the data and transmit it to the vehicle-mounted terminal through the inside of the HC-05 module, and then adjust the height of the harvesting disc 3 after conversion, and twist the torsion spring 28. After being twisted, the torsion spring 28 generates elastic force, which is transmitted through the elastic belt The movable contour wheel 27 presses down the soil on the ground to prevent the floating soil from affecting the judgment of the posture sensor 24. When the posture sensor 24 is used in the land, the dust in the environment is large, which easily causes the input of the posture sensor 24 to accumulate dust and soil. After using it for a period of time, the moving plate 202 is pulled, and the moving plate 202 drives the positioning column 20 to move through the connecting rod 201 and compresses the spring 203. When the positioning column 20 is separated from the connecting frame 23, the connecting frame 23 and the posture sensor 24 can be removed from the mounting frame 22, so that the posture sensor 24 can be more convenient to clean.

[0033] The present invention adds structures such as a torsion spring 28, a posture sensor 24 and a curved profiling rod 26 on the mounting plate 21, so that the elastic force of the torsion spring 28 can drive the profiling wheel 27 to compact the soil, and then the posture sensor 24 and the HC-05 module calculate and feed back to the position of the harvesting disc 3 to adjust the height of the harvesting disc 3, thereby avoiding incorrect data transmission. The elastic force of the spring 203 pushes the positioning column 20 to install the posture sensor 24. After long-term use, the posture sensor 24 can be conveniently disassembled and cleaned by separating the positioning column 20 from the connecting frame 23.

[0034] Example 2

[0035] Compared with Example 1, the only difference is that a hydraulic system is provided between the harvesting disc and the main body of the sugarcane harvester, the hydraulic system includes a hydraulic cylinder, an oil supply pipeline and a solenoid valve, the hydraulic cylinder includes a hydraulic base and a hydraulic push rod, the hydraulic base of the hydraulic cylinder is fixedly connected to the main body of the sugarcane harvester, the hydraulic push rod of the hydraulic cylinder is fixedly connected to the harvesting disc, one end of the oil supply pipeline is connected to the hydraulic cylinder, the solenoid valve is arranged on the oil supply pipeline, the solenoid valve is connected to the control module signal, the solenoid valve is used to open and close according to the command of the control module to realize the control of the length of the hydraulic push rod; the control module is also used to generate a control instruction according to the rotation data of the square block, and send it to the solenoid valve; the control module uses a genetic algorithm to optimize the proportional factor of the fuzzy PID and then uses the optimized fuzzy PID control algorithm to generate a control instruction.

[0036] Specifically, the genetic algorithm mainly uses real number or binary coding to set the string of the optimization object, and the encoding method uses real number coding. The proportional factor in the fuzzy PID is regarded as the gene in the individual, and the system continuously performs online parameter optimization to optimize the performance of the fuzzy PID. The three variables in the model constitute a coded string: (Kp, Ki, Kd). Such a string represents an individual in the population. Each individual is a solution, and the initial population is generated according to the value range of the design variable. By calculating the fitness of the contemporary population and judging whether it is an elite individual, if so, it is decoded and output to obtain the optimal solution of the fuzzy PID proportional factor. Otherwise, it is copied, crossed, and mutated between individuals to obtain new individuals, and then the population is merged to form the contemporary population, and the above steps are repeated.

[0037] It should be noted in advance that, in the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A soil penetration depth adjustment mechanism for a sugarcane harvester, used in conjunction with a sugarcane harvester body, characterized in that: include: A soil layer feature collection mechanism, a control module, a harvesting disc flexibly connected to the main body of the sugarcane harvester, and a mounting plate connected to the main body of the sugarcane harvester by bolts, wherein a mounting frame is fixedly connected to the mounting plate, a connecting frame is slidably connected inside the mounting frame, and a posture sensor is fixedly connected to the connecting frame; A rotating shaft is installed inside the mounting plate through a bearing, one end of the rotating shaft is fixedly provided with a torsion spring, and the other end is connected to an adjusting motor, a positioning column is slidably connected inside the mounting frame, one end of the positioning column is fixedly connected to a connecting rod, a spring is arranged on the outside of the connecting rod, and one end of the connecting rod is fixedly connected to a moving plate; an arc-bending profiling rod is fixedly connected to the outside of the rotating shaft, and a profiling wheel is rotatably connected inside the arc-bending profiling rod; A square block is fixedly connected to one end of the rotating shaft, and the square block is slidably connected to the input end of the posture sensor. A square groove is provided on the input end of the posture sensor, and the square groove is slidably connected to the square block; The attitude sensor is used to collect the rotation data of the square block and send it to the control module; The control module is used to generate an adjustment instruction according to the rotation data and send it to the adjustment motor; The regulating motor is used to rotate according to the regulating instruction and drive the torsion spring to rotate through the rotating shaft.

2. The soil penetration depth adjustment mechanism for a sugarcane harvester according to claim 1, characterized in that: A hydraulic system is provided between the harvesting disc and the main body of the sugarcane harvester. The hydraulic system includes a hydraulic cylinder, an oil supply pipeline and a solenoid valve. The hydraulic cylinder includes a hydraulic base and a hydraulic push rod. The hydraulic base of the hydraulic cylinder is fixedly connected to the main body of the sugarcane harvester. The hydraulic push rod of the hydraulic cylinder is fixedly connected to the harvesting disc. One end of the oil supply pipeline is communicated with the hydraulic cylinder. The solenoid valve is arranged on the oil supply pipeline. The solenoid valve is connected to the control module signal. The solenoid valve is used to open and close according to the command of the control module to realize the control of the length of the hydraulic push rod; the control module is also used to generate a control instruction according to the rotation data of the square block and send it to the solenoid valve; the control module uses a genetic algorithm to optimize the proportional factor of the fuzzy PID and then uses the optimized fuzzy PID control algorithm to generate the control instruction.

3. The soil penetration depth adjustment mechanism for a sugarcane harvester according to claim 2 is characterized in that: The rotating shaft is connected to the mounting frame via a bearing. The mounting frame is L-shaped and can support the rotating shaft. The posture sensor is a Hall sensor.

4. The soil penetration depth adjustment mechanism for a sugarcane harvester according to claim 1, characterized in that: One end of the torsion spring is fixedly connected to the mounting plate, and the other end of the torsion spring is fixedly connected to the rotating shaft.

5. The soil penetration depth adjustment mechanism for a sugarcane harvester according to claim 1, characterized in that: The control module optimizes the proportional factor of the fuzzy PID using a genetic algorithm and then generates a regulation instruction using the optimized fuzzy PID control algorithm.

6. The soil penetration depth adjustment mechanism for a sugarcane harvester according to claim 1, characterized in that: The movable plate is in contact with the mounting frame, the connecting rod is slidably connected to the mounting frame, and the positioning column is slidably connected to the connecting frame.

7. The soil penetration depth adjustment mechanism for a sugarcane harvester according to claim 1, characterized in that: One end of the spring is fixedly connected to the positioning column, and the other end of the spring is fixedly connected to the mounting bracket.

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