Self-adaptive conditioning cleaning device, control method thereof and combine harvester

Abstract

The application provides a self-adaptive adjusting cleaning device, a control method thereof and a combine harvester, which comprises a threshing cylinder, a concave screen, a punched screen device, a vibrating screen mechanism, a fan, a collecting plate, a rack and a control device; the punched screen device, the vibrating screen mechanism and the collecting plate are arranged on the rack in sequence from top to bottom, the fan is installed on the rack, the fan is located obliquely below the punched screen device, the fan air inlet is aligned with the punched screen device and the vibrating screen mechanism, and the control device is connected with the punched screen device, the vibrating screen mechanism and the fan respectively. The punched screen is arranged, a plurality of pressure sensors are arranged on the punched screen to detect screen surface pressure information, the distribution of grains on the screen surface is monitored, the angle of the punched screen is adjusted through the feedback of the pressure sensor, the distribution of the grains on the screen surface is more uniform, the accumulation and blockage of the grains on the screen surface are prevented, and the screening effect of the punched screen is ensured.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery engineering technology, and particularly relates to an adaptive adjustment cleaning device and its control method, as well as a combine harvester. Background Technology

[0002] The threshing and cleaning device is one of the core components of a combine harvester. During the harvesting process, due to poor threshing or fluctuations in feeding, grain residue tends to accumulate on the screen surface, making it difficult for grains to pass through smoothly. Simultaneously, the airflow generated by the blower is also insufficient to blow away the residue, leading to screen blockage and increased losses. Furthermore, in axial flow threshing and separating devices, the residue exhibits a distribution pattern of high residue on both sides and low residue in the middle under centrifugal force, causing residue accumulation on both sides of the cleaning screen surface and affecting the screening effect.

[0003] In existing technologies, the threshing and cleaning screens of rapeseed combine harvesters in hilly and mountainous areas mainly consist of a two-layer structure: a fish-scale screen and a bionic screen. When combined, a four-bar vibrator completes the overall vibration to alleviate grain accumulation. However, in hilly and mountainous areas, due to smaller fields, a higher proportion of sloping farmland, and the complexity of rapeseed planting agronomic practices, there are currently shortcomings in the design principles of key components of combine harvesters for these areas. This leads to more severe residue accumulation on the cleaning screen surface, low cleaning efficiency, and poor harvesting performance, seriously hindering the development of the oilseed industry in hilly and mountainous regions. Therefore, there is an urgent need to develop and promote the application of rapeseed harvesting machinery tailored to the characteristics of hilly and mountainous areas in my country to improve the mechanization level of rapeseed harvesting in these areas.

[0004] Existing technology discloses a grain cleaning system with uniform material distribution and pre-cleaning functions, including a material shaking plate, a cleaning screen, and a blower. The material shaking plate consists of a shaking plate surface, shaking plate guide strips, shaking plate counterweight rollers, shaking plate sprockets, and shaking plate counterweight plates. Although this invention alleviates the pressure of the cleaning process to some extent, the screen surface can still accumulate and clog. Due to the lack of a monitoring and feedback system that can determine whether the screen surface is clogged, it is impossible to detect and make corresponding adjustments in time to prevent screen clogging.

[0005] A prior art device discloses a material conveying and distributing device, including a frame and a vibrating screen. A longitudinal axial flow concave plate screen and a vibrating screen are installed on the frame. A return plate is provided between the longitudinal axial flow concave plate screen and the vibrating screen. The vibrating screen includes a shaking plate, a fish scale screen plate, and a screen plate. A conveying distributor is installed at the output end of both the shaking plate and the return plate. The conveying distributor includes a fixed plate. Several corrugated steel wires are installed on one side of the fixed plate. The corrugated steel wires are used to evenly convey the grains on the return plate and the shaking plate to the fish scale screen plate. Although this invention allows some fine material to fall evenly onto the fish scale screen plate through the corrugated steel wires, avoiding the accumulation of material on the fish scale screen plate and causing blockage, thus improving the cleaning efficiency of the vibrating screen, this invention does not have an effective adjustment method for complex undulating terrain.

[0006] Another prior art discloses a multi-degree-of-freedom vibrating screen control method and system based on the distribution state of the material being screened. This invention, due to the arrangement of multiple rows of grain counting sensors below the screen surface, significantly compresses the grain collection space. Furthermore, the space inside the combine harvester is relatively small, and the parallel drive mechanism uses a vertical electric cylinder, resulting in high space occupancy and further reducing the storage space within the harvester. Additionally, the flow field generated by the fan is affected by the overall structural changes. Although this invention arranges multiple rows of grain counting sensors below the screen surface, the unreasonable space design leads to inaccurate sensor readings, and the complex processing flow makes it impossible to adjust the screen angle in a timely manner, resulting in poor practical performance. Summary of the Invention

[0007] The present invention aims to at least partially solve one of the aforementioned technical problems. To this end, the present invention proposes an adaptive adjustment cleaning device and its control method, as well as a combine harvester, thereby improving cleaning efficiency.

[0008] This invention adds a perforated screen above the vibrating screen. By installing a pressure sensor and a gyroscope on the perforated screen, the control device adjusts the posture of the perforated screen based on the feedback from the pressure sensor and gyroscope, ensuring the screening effect of the perforated screen on the easily bumpy ground in hilly and mountainous areas, improving the cleaning efficiency. Moreover, it has a low space occupation, compact structure, and high control precision, which helps to solve problems such as uneven terrain, serious accumulation on the screen surface that cannot be adjusted in time, and insufficient space within the cleaning range in hilly and mountainous areas.

[0009] Note that the description of these objectives does not preclude the existence of other objectives. One aspect of the invention does not require achieving all of the above objectives. Objectives other than those described above can be extracted from the description, drawings, and claims.

[0010] The technical solution of this invention is:

[0011] An adaptive adjustment cleaning device includes a perforated screen device, a vibrating screen mechanism, a blower, a collection plate, a frame, and a control device;

[0012] The perforated screen device, vibrating screen mechanism, and collecting plate are arranged sequentially from top to bottom on the frame. The fan is installed on the frame and is located diagonally below the perforated screen device. The fan outlet is aligned with the perforated screen device and the vibrating screen mechanism. The control device is connected to the perforated screen device, the vibrating screen mechanism, and the fan respectively.

[0013] The perforated screen device includes a gyroscope, a drive assembly, a perforated screen, and several pressure sensors. The drive assembly is mounted on a frame, and the perforated screen is connected to the drive assembly. The pressure sensors are evenly distributed on the screen surface of the perforated screen and are used to detect pressure values ​​at various points on the screen surface. The gyroscope is mounted at the center of the upper surface of the perforated screen and is used to detect the height and angle information of the screen surface. The control device is connected to the gyroscope, the drive assembly, and the pressure sensors respectively. The control device controls the drive assembly to adjust the tilt angle of the screen surface based on the information detected by the pressure sensors. The control device also controls the drive assembly to adjust the height of the screen surface based on the information fed back from the gyroscope, so that the tilt angle remains the same as the tilt angle after the last adjustment.

[0014] In the above scheme, the control device analyzes the pressure distribution on the screen surface based on the signal detected by the pressure sensor and calculates the adjustment angle, thereby controlling the drive component to adjust the angle of the screen surface. When the control device adjusts the angle of the screen surface based on the feedback from the pressure sensor, the control device pauses the adjustment of the screen surface angle via the gyroscope. After a preset time, when the difference between the pressure values ​​of each pressure sensor is within the preset difference range, the angle adjustment ends. The control device detects the tilt angle and height of the adjusted screen surface using the gyroscope and controls the drive component to keep the height of the screen surface within the preset range and maintain the tilt angle as the tilt angle after the last adjustment.

[0015] In the above scheme, the drive assembly includes several sliding motors, sliding components, lifting motors, lifting components, and movable damping rods;

[0016] The sliding assembly is rotatably connected to one side of the perforated screen, and the movable damping rod is rotatably connected to the other side of the perforated screen. The lifting assembly is installed at the center of the lower end face of the screen surface. The sliding assembly is connected to the control device, and the lifting assembly is connected to the control device. The control device controls the sliding motor and the lifting motor to adjust the tilt angle of the perforated screen. The movable damping rod is used to cooperate with the sliding assembly to adjust the tilt angle of the perforated screen. The control device controls the lifting assembly to adjust the screen surface height of the perforated screen through the lifting motor.

[0017] In the above scheme, the sliding assembly includes a movable connecting rod, a power guide rail, a slider, and a first lead screw;

[0018] One end of the movable connecting rod is rotatably connected to the perforated screen, and the other end of the movable connecting rod is rotatably connected to the slider. The sliding motor is installed at one end of the power guide rail, and a limiter is installed at the other end of the power guide rail. One end of the first lead screw is connected to the limiter, and the other end of the first lead screw is connected to the working end of the sliding motor. The slider is provided with a first lead screw nut, which is threadedly connected to the first lead screw. The rotation of the working end of the sliding motor drives the first lead screw to rotate, so that the first lead screw nut drives the slider to slide along the power guide rail.

[0019] In the above scheme, the lifting assembly includes a support beam, a lead screw shaft, a retainer, a lifting platform connecting rod, a second slider, a third slider, a lifting platform, and a lifting motor;

[0020] The lead screw shaft is connected to the lifting motor, which is mounted on the frame. A support beam is located below the lead screw shaft and is also mounted on the frame. A fixture is fixed to the support beam. There are two pairs of lifting platform connecting rods, symmetrically distributed along the lead screw shaft. Each pair consists of two rods, movably connected at the middle. One end of each connecting rod is rotatably connected to the fixture, and the other end is connected to the second slider. The lifting platform is equipped with a first slide rail, and the second slider is connected to the first slide rail. One end of the second lifting platform connecting rod is rotatably connected to the lifting platform, and the third slider is movably connected to the other end of the second lifting platform connecting rod. The fixture is equipped with a second slide rail, and the third slider is connected to the second slide rail. The third slider is equipped with a second lead screw nut, which is threadedly connected to the lead screw shaft. The lifting motor drives the lead screw shaft to rotate, which in turn drives the third slider to slide along the second slide rail via the second lead screw nut. This causes the second slider to slide along the first slide rail, thereby raising and lowering the lifting platform.

[0021] The above scheme also includes a first displacement sensor;

[0022] The first displacement sensor is mounted on the slider and connected to the control device. The first displacement sensor is used to detect the displacement of the slider relative to the limit switch and transmit it to the control device. The control device controls the sliding motor to adjust the displacement of the limit switch according to the signal detected by the first displacement sensor.

[0023] The above solution also includes a second displacement sensor;

[0024] The second displacement sensor is installed on the lower surface of the lifting platform and is connected to the control device. The second displacement sensor is used to detect the displacement of the lifting platform relative to the height of the support beam and transmit it to the control device. The control device controls the lifting motor to adjust the height of the lifting platform according to the signal detected by the second displacement sensor.

[0025] A control method for an adaptive adjustment cleaning device includes the following steps:

[0026] During operation, the control device turns on the fan and vibrating screen mechanism, and the grains fall from the threshing drum connected to the adaptive adjustment cleaning device onto the screen surface of the perforated screen.

[0027] The pressure sensor transmits the detected pressure value on the screen surface to the control device, and the gyroscope detects the height and angle of the screen surface and transmits them to the control device.

[0028] The control device analyzes the pressure distribution on the screen surface based on the signal detected by the pressure sensor and calculates the adjustment angle, thereby controlling the drive component to adjust the tilt angle of the screen surface. When the control device adjusts the angle of the screen surface based on the feedback from the pressure sensor, the control device pauses the adjustment of the screen surface angle via the gyroscope. After a preset time, when the difference between the pressure values ​​of each pressure sensor is within the preset difference range, the angle adjustment ends.

[0029] The control device uses the gyroscope to detect and adjust the tilt angle and height of the screen surface, and controls the drive component to keep the height of the screen surface within a preset range and maintain the tilt angle as it was after the last adjustment.

[0030] The above scheme also includes the following steps:

[0031] After the lifting assembly finishes adjusting the height of the screen surface, the second displacement sensor transmits the displacement of the lifting platform relative to the height of the support beam to the control device. When the displacement of the height does not reach the preset value, the control device controls the lifting motor to continue adjusting the height of the lifting platform.

[0032] After the sliding assembly adjusts the angle of the punched screen, the first displacement sensor transmits the displacement of the slider relative to the limiter to the control device. When the displacement of the slider relative to the limiter does not reach the preset value, the control device controls the sliding motor to continue adjusting the displacement of the limiter.

[0033] A combine harvester includes the aforementioned adaptive adjustment cleaning device, wherein the adaptive adjustment cleaning device is controlled according to the control method of the aforementioned adaptive adjustment cleaning device.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. This invention proposes an adaptive adjustment cleaning device and its control method, as well as a combine harvester, which improves cleaning efficiency.

[0036] 2. This invention, by setting up a perforated screen and installing several pressure sensors on the perforated screen to detect the pressure information on the screen surface, realizes the monitoring of the distribution of grains on the screen surface. The angle of the perforated screen is adjusted by the feedback of the pressure sensors, so that the grains are more evenly distributed along the screen surface, preventing the accumulation and clogging of grains on the screen surface, and ensuring the screening effect of the perforated screen.

[0037] 3. The present invention sets a gyroscope on the perforated screen to monitor the position information of the screen surface. The control device controls the drive component to keep the height of the screen surface within a preset range and keep the tilt angle at the same as the previous adjustment based on the tilt angle and height of the screen surface detected and adjusted by the gyroscope. This makes the height of the screen surface more stable and keeps the angle between the screen surface and the horizontal plane as constant as possible, reducing the impact of undulating terrain on the screening of the perforated screen and improving the adaptability of the device to complex undulating terrain.

[0038] 4. This invention adjusts the degrees of freedom of the perforated screen device by combining the sliding component and the lifting component. Compared with the existing leveling screen with four drive devices, this invention restricts redundant degrees of freedom, making the control stable and convenient while meeting the usage requirements, and also ensuring control accuracy. The overall structure is compact and foldable, with a small space occupation rate, and can be applied to the narrow space inside the combine harvester.

[0039] Note that the description of these effects does not preclude the existence of other effects. One aspect of the invention does not necessarily have all the aforementioned effects. Effects other than those described above can be readily observed and extracted from the description, drawings, claims, etc. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the adaptive adjustment cleaning device described in this invention.

[0041] Figure 2 This is a schematic diagram of the vibrating screen mechanism described in this invention.

[0042] Figure 3 This is a schematic diagram of the perforated screen device described in this invention.

[0043] Figure 4 This is a schematic diagram of the drive component structure described in this invention.

[0044] Figure 5 This is a perspective view of the perforated screen surface described in this invention.

[0045] Figure 6 This is a top view of the perforated screen surface described in this invention.

[0046] Figure 7 This is a schematic diagram of the sliding component structure described in this invention.

[0047] Figure 8 This is a schematic diagram of the lifting component structure described in this invention.

[0048] Figure 9 This is a schematic diagram of the movable linkage structure described in this invention.

[0049] Figure 10This is a schematic diagram of the folding of the perforated screen described in this invention.

[0050] Figure 11 This is a schematic diagram of the operation of the perforated screen described in this invention.

[0051] In the diagram: 1-Threshing drum; 2-Gravure screen; 3-Perforated screen device; 4-Vibrating screen mechanism; 5-Fan; 6-Collection plate; 7-Frame; 31-Perforated screen; 32-Modible connecting rod; 33-Power guide rail; 34-Slider; 35-Universal joint; 36-Lifting assembly; 37-Support beam; 38-Modible damping rod; 39-Damping rod support; 41-Corrugated plate; 42-Side connecting plate; 43-Adjustable fish scale screen; 44-Vibrator; 45-Bionic screen; 311-Screw surface; 312-Fixing screw; 313-Fork bearing seat; 314-Rectangular notch; 315-Gyroscope; 316-Pressure sensor; 321-Rod; 322-First ball bearing inner core; 3 23-Second ball bearing inner core; 331-Limiter; 332-First lead screw; 333-Sliding motor; 341-First lead screw nut; 342-Slider body; 343-Connector; 344-Connecting screw; 345-Locking nut; 351-First universal joint hinge seat; 352-Cross hinge shaft; 353-Second universal joint hinge seat; 361-Lead screw shaft; 362-Fixer; 363-First hinge pin; 364-Lifting platform connecting rod; 365-Third slider; 366-Second hinge pin; 367-Second slider; 368-Lifting platform; 381-Third ball bearing inner core; 382-Damping main rod; 383-Damping secondary rod; 384-Third ball bearing inner core. Detailed Implementation

[0052] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0053] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "front," "rear," "left," "right," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0054] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] Figure 1 The diagram shows a preferred embodiment of the adaptive adjustment cleaning device, which includes a perforated screen device 3, a vibrating screen mechanism 4, a blower 5, a collection plate 6, a frame, and a control device.

[0056] The perforated screen device 3, the vibrating screen mechanism 4, and the collecting plate 6 are arranged sequentially from top to bottom on the frame 7. The fan 5 is installed on the frame 7 and is located diagonally below the perforated screen device 3. The air outlet of the fan 5 is aligned with the perforated screen device 3 and the vibrating screen mechanism 4. The control device is connected to the perforated screen device 3, the vibrating screen mechanism 4, and the fan 5 respectively. The frame 7 is provided on the side of the frame.

[0057] The perforated screen device 3 includes a gyroscope 315, a drive assembly, a perforated screen 31, and several pressure sensors 316. The drive assembly is mounted on a frame, and the perforated screen 31 is connected to the drive assembly. The pressure sensors 316 are evenly distributed on the screen surface 311 of the perforated screen 31 and are used to detect pressure values ​​at various points on the screen surface 311. The gyroscope 315 is mounted at the center of the upper end face of the screen surface 311 and is used to detect the height and angle information of the screen surface 311. The control device is connected to the gyroscope 315, the drive assembly, and the pressure sensors 316 respectively. The control device controls the drive assembly to adjust the tilt angle of the screen surface 311 based on the information detected by the pressure sensors 316. The control device also controls the drive assembly to adjust the height of the screen surface 311 based on the feedback information from the gyroscope 315, so that the tilt angle remains the same as the tilt angle after the last adjustment.

[0058] The control device analyzes the pressure distribution on the screen surface 311 based on the signal detected by the pressure sensor 316 and calculates the adjustment angle, thereby controlling the drive assembly to adjust the angle of the screen surface 311. When the control device adjusts the angle of the screen surface 311 based on the feedback from the pressure sensor 316, the control device pauses the adjustment of the angle of the screen surface 311 via the gyroscope 315. After a preset time, when the difference between the pressure values ​​of each pressure sensor 316 is within the preset difference range, the angle adjustment ends. The control device detects the tilt angle and height of the adjusted screen surface 311 based on the gyroscope 315, and controls the drive assembly to keep the height of the screen surface 311 within the preset range and to keep the tilt angle at the tilt angle after the last adjustment.

[0059] Preferred, such as Figure 2 As shown, the vibrating screen mechanism 4 includes a corrugated plate 41 arranged vertically, an adjustable fish scale screen 43, a vibrator 44, and a bionic screen 45.

[0060] The corrugated plate 41, adjustable fish scale sieve 43, and bionic sieve 45 are all connected to the two side connecting plates 42 on the left and right sides. The corrugated plate 41, adjustable fish scale sieve 43, and bionic sieve 45 are arranged sequentially from top to bottom. The vibrator 44 is connected to the corrugated plate 41, adjustable fish scale sieve 43, and bionic sieve 45 respectively. The side connecting plates 42 are installed on the frame, and a certain gap is left between the side connecting plates 42 and the frame 7. The perforated sieve device 3 is located between the corrugated plate 41 and the adjustable fish scale sieve 43. The height adjustment range of the perforated sieve device 3 is between the corrugated plate 41 and the adjustable fish scale sieve 43. The collecting plate 6 is placed below the bionic sieve 45, and a certain space is left between the collecting plate 6 and the bionic sieve 45 for storing grains.

[0061] Preferably, the drive assembly includes a plurality of sliding motors 333, a sliding component, a lifting motor, a lifting component 36, and a movable damping rod 38;

[0062] The sliding assembly is rotatably connected to one side of the perforated screen 31, and the movable damping rod 38 is rotatably connected to the other side of the perforated screen 31. The lifting assembly 36 is installed at the center of the lower end face of the screen surface 311. The sliding assembly is connected to the control device through the sliding motor 333, and the lifting assembly 36 is connected to the control device through the lifting motor. The control device controls the sliding motor 333 and the lifting assembly 36 to adjust the tilt angle of the perforated screen 31. The movable damping rod 38 is used to cooperate with the sliding assembly to adjust the tilt angle of the perforated screen 31. The control device controls the lifting assembly 36 through the lifting motor to adjust the height of the screen surface 311 of the perforated screen 31.

[0063] During the adjustment of the screen surface 311 angle, the sliding component is the main adjustment component, which is responsible for adjusting the tilt angle of the screen surface 311. The lifting component 36 is the auxiliary adjustment component. When the required tilt angle cannot be adjusted by the sliding component alone, the control device controls the lifting component 36 to raise or lower, thereby adjusting the screen surface 311 angle to the required angle. The active component of the movable damping rod 38 has damping, so the movable damping rod 38 can cooperate to adjust the screen surface 311 angle.

[0064] Preferably, there are two sliding components, two sliding motors 333 and two movable damping rods 38, named first sliding component, second sliding component, first sliding motor, second sliding motor, first movable damping rod 38 and second movable damping rod 38 respectively. The two sliding components are located at two corners on one side of the perforated screen 31, and the movable damping rods 38 are located at two corners on the other side of the perforated screen 31.

[0065] like Figure 3 , 4 As shown, preferably, the sliding assembly includes a movable link 32, a power guide rail 33, a slider 34, and a first lead screw 332;

[0066] One end of the movable connecting rod 32 is rotatably connected to the perforated screen 31, and the other end of the movable connecting rod 32 is rotatably connected to the slider 34. The sliding motor 333 is installed at one end of the power guide rail 33, and the other end of the power guide rail 33 is installed with a limiter 331. The power guide rail 33 is fixed on the frame 7. One end of the first lead screw 332 is connected to the limiter 331, and the other end of the first lead screw 332 is coaxially fixed to the working end of the sliding motor 333. The slider 34 is provided with a first lead screw nut 341, which is threadedly connected to the first lead screw 332. The rotation of the working end of the sliding motor 333 drives the first lead screw 332 to rotate, so that the first lead screw nut 341 drives the slider 34 to slide along the power guide rail 33.

[0067] Preferably, the slider 34 includes a slider body 342, a connector 343, a connecting screw 344, and a locking nut 345;

[0068] According to one embodiment of the present invention, preferably, the connector 343 is a rectangular base plate;

[0069] The connector 343 has connecting holes around its perimeter. The connector 343 is connected to the slider body 342 by four connecting screws 344. The slider body 342 is connected to the first lead screw nut 341. The connector 343 has a cylindrical protrusion at its center. The top of the cylindrical protrusion is threaded. Rib structures are distributed around the cylindrical structure to separate the inner core 323 of the second ball bearing from the rectangular base plate to prevent interference. The through hole of the inner core 323 of the second ball bearing passes through the cylindrical structure of the connector 343, and one end of the hole contacts the rib structure of the connector 343. The locking nut 345 is screwed into the thread at the cylindrical end of the connector 343.

[0070] Preferably, the fork bearing seat 313 is installed on the side of the perforated screen 31, and the fork bearing seat 313 is hinged to one end of the movable connecting rod 32.

[0071] like Figure 3 As shown, with a horizontal plane as the rectangular coordinate system, when the movable connecting rod 32 moves, the perforated screen 31 rotates around the x-axis and z-axis. When the slider 34 moves in the same direction, the perforated screen 31 rotates around the z-axis. When the slider 34 moves in the opposite direction, the perforated screen 31 rotates around the x-axis. The lifting component 36 can control the movement of the perforated screen 31 along the y-axis. The perforated screen 31 has a total of 3 degrees of freedom, including rotational degrees of freedom around the x-axis and z-axis, and movement degrees of freedom along the y-axis, which can meet its requirement of adjusting the crops evenly. The lifting component 36 can ensure the constant relative position of the screen surface within the adjustment range when the terrain is uneven. The movable damping rod 38 can extend and retract to ensure the stability of the screen surface during operation.

[0072] Preferably, the number of pressure sensors 316 in each row on the sieve surface 311 is equal to the number in each column, which facilitates the analysis of pressure values ​​at various points on the sieve surface 311.

[0073] Preferred, such as Figure 5 and Figure 6 As shown, the screen surface 311 has four sets of fixing holes evenly distributed around its four corners, with the center of its enclosing rectangle as the center. Four sets of fixing screws 312 secure the four fork bearing seats 313 to these fixing holes. Two symmetrically distributed rectangular notches 314 on the left side of the screen surface 311 prevent interference between the screen surface 311 and the power guide rail 33. Nine pressure sensors 316 are installed on the lower surface of the screen surface 311 to measure the pressure values ​​at various points on the screen surface. One sensor is located at the center of the enclosing rectangle of the screen surface 311, and the other eight are located at the vertices and midpoints of the sides of another rectangle centered on the center point of the enclosing rectangle. These nine pressure sensors 316 divide the screen surface into four regions.

[0074] like Figure 7As shown, preferably, the movable link 32 includes a link body 321, a first ball bearing inner core 322, and a second ball bearing inner core 323;

[0075] The first ball bearing inner core 322 and the second ball bearing inner core 323 are the same size and both have through holes through the center of the ball. The first ball bearing inner core 322 and the second ball bearing inner core 323 are respectively distributed at the spherical grooves at both ends of the rod 321 and can move relative to the rod 321. The first ball bearing inner core 322 is coaxially arranged with the through hole of the fork bearing seat 313 and is hinged by a pin.

[0076] Preferably, the movable connecting rod 32 adopts a ball joint to ensure the mobility of the connecting rod when the screen surface is tilted.

[0077] like Figure 8 As shown, preferably, the lifting assembly 36 includes a support beam 37, a lead screw shaft 361, a fixture 362, a lifting platform connecting rod 364, a second slider 367, a third slider 365, a lifting platform 368, and a lifting motor;

[0078] The lead screw 361 is connected to the lifting motor, which is mounted on the frame. The support beam 37 is located below the lead screw 361 and is also mounted on the frame. The fixture 362 is fixed to the support beam 37. There are two pairs of lifting platform connecting rods 364, symmetrically distributed along the lead screw 361. Each pair consists of two rods, movably connected at the middle. One end of the first lifting platform connecting rod 364 is rotatably connected to the fixture 362, and the other end is connected to the second slider 367. The lifting platform 368 is equipped with a first slide rail, and the second slider 367 is connected to... The first slide rail is connected, one end of the second lifting platform connecting rod 364 is rotatably connected to the lifting platform 368, and the third slider 365 is movably connected to the other end of the second lifting platform connecting rod 364. The fixture 362 is provided with the second slide rail, the third slider 365 is connected to the second slide rail, and the third slider 365 is provided with the second lead screw nut. The second lead screw nut is threadedly connected to the lead screw shaft 361. The lifting motor drives the lead screw shaft 361 to rotate, and through the second lead screw nut, drives the third slider 365 to slide along the second slide rail, so that the second slider 367 slides along the first slide rail, thereby causing the lifting platform 368 to rise and fall.

[0079] like Figure 8 As shown, preferably, the retainer 362 has two coaxial through holes on its front and rear sides, through which the lead screw 361 can pass, so that the retainer 362 does not rotate with the lead screw 361.

[0080] Preferably, the lifting assembly 36 further includes a universal joint 35;

[0081] The universal joint 35 is installed on the lifting platform 368 and is connected to the screen surface 311 of the perforated screen 31.

[0082] Preferably, the universal joint 35 includes a first universal joint hinge 351, a cross hinge shaft 352, and a second universal joint hinge 353;

[0083] The universal joint 35 is a Hooke joint. The first universal joint hinge seat 351 and the second universal joint hinge seat 353 are hinged through a cross hinge shaft 352. The first universal joint hinge seat 351 is connected to the screen surface 311 of the perforated screen 31, and the second universal joint hinge seat 353 is connected to the lifting platform 368, ensuring that the first universal joint hinge seat 351 can rotate around the z-axis and around the x-axis. The base flange area of ​​the first universal joint hinge seat 351 is larger than the base flange area of ​​the second universal joint hinge seat 353.

[0084] Preferably, it also includes a damping rod support 39. The movable damping rod 38 is mounted on the frame 7 through the damping rod support 39. Since the movable damping rod 38 has damping, when the angle of the screen surface 311 is adjusted, the movable damping rod 38 can cooperate to adjust the angle of the screen surface 311.

[0085] like Figure 9 As shown, the movable damping rod 38 includes a third ball bearing inner core 381, a damping mother rod 382, ​​a damping daughter rod 383, and a third ball bearing inner core 384.

[0086] The inner core 381 of the third ball bearing is connected to the columnar structure of the damping rod support 39. The through hole of the inner core 384 of the fourth ball bearing is coaxially arranged with the through hole of the fork bearing seat 313 and is hinged by a pin. The damping sub-rod 383 and the damping mother rod 382 are coaxially arranged and can slide relative to each other axially, and there is a certain damping when sliding.

[0087] Preferably, it also includes a second displacement sensor;

[0088] The second displacement sensor is installed on the lower surface of the lifting platform 368. The second displacement sensor is connected to the control device. The second displacement sensor is used to detect the displacement of the lifting platform 368 relative to the height of the support beam 37 and transmit it to the control device. The control device controls the lifting motor to adjust the height of the lifting platform 368 according to the signal detected by the second displacement sensor.

[0089] Preferably, it also includes a first displacement sensor;

[0090] The first displacement sensor is mounted on the slider 34 and connected to the control device. The first displacement sensor is used to detect the displacement of the slider 34 relative to the limiter 331 and transmit it to the control device. The control device controls the sliding motor 333 to adjust the displacement of the limiter 331 according to the signal detected by the first displacement sensor.

[0091] A control method for an adaptive adjustment cleaning device includes the following steps:

[0092] During operation, the control device turns on the fan 5 and the vibrating screen mechanism 4, and the grains fall from the threshing drum 1 connected to the adaptive adjustment cleaning device onto the screen surface 311 of the perforated screen 31.

[0093] The pressure sensor 316 transmits the detected pressure value on the screen surface 311 to the control device, and the gyroscope 315 detects the height and angle of the screen surface 311 and transmits them to the control device.

[0094] The control device analyzes the pressure distribution on the screen surface 311 based on the signal detected by the pressure sensor 316 and calculates the tilt angle, thereby controlling the drive component to adjust the angle of the screen surface 311. When the control device adjusts the angle of the screen surface 311 based on the feedback from the pressure sensor 316, the control device pauses the adjustment of the angle of the screen surface 311 through the gyroscope 315. After a preset time, when the difference between the pressure values ​​of each pressure sensor 316 is within the preset difference range, one angle adjustment ends.

[0095] The control device detects the tilt angle and height of the adjusted screen surface 311 using the gyroscope 315, and controls the drive assembly to keep the height of the screen surface 311 within a preset range and maintain the tilt angle as it was before the last adjustment.

[0096] After a preset time, the control device continues to analyze the pressure distribution on the screen surface 311 based on the signal detected by the pressure sensor 316 and calculate the next adjustment angle, thereby continuing to control the drive component to adjust the angle of the screen surface 311. The gyroscope 315 continues to detect the tilt angle and height of the adjusted screen surface 311 and feeds it back to the control device. Through the combined action of the pressure sensor and the gyroscope, the screening effect of the perforated screen on the easily bumpy ground in hilly and mountainous areas is ensured, and the cleaning efficiency is improved.

[0097] Preferably, the following steps are also included:

[0098] After the lifting assembly 36 finishes adjusting the height of the screen surface 311, the second displacement sensor transmits the displacement of the lifting platform 368 relative to the support beam 37 to the control device. When the displacement of the height does not reach the required value, the control device controls the lifting motor to continue adjusting the height of the lifting platform 368.

[0099] After the sliding assembly adjusts the angle of the perforated screen 31, the first displacement sensor transmits the displacement of the slider 34 relative to the limiter 331 to the control device. When the displacement of the slider 34 relative to the limiter 331 does not reach the required value, the control device controls the sliding motor 333 to continue adjusting the displacement of the limiter 331.

[0100] Preferably, the control device analyzes the pressure distribution on the screen surface 311 and calculates the adjustment angle, including the following steps:

[0101] Step S1: Group the data collected by the nxn pressure sensors 316 into n rows and n columns;

[0102] Step S2: Treat each row of n values ​​as a group of data, and perform ANOVA on the n rows as n groups of data to calculate the value of a test statistic F1 that describes the pressure difference;

[0103] Step S3: with Figure 10 For example, the forward and backward tilt angle α of the screen surface 311 is positively correlated with F1. The specific formula is: α=a1*F1+b1, where a1 is the proportional compensation coefficient and b1 is the error compensation coefficient. a1 and b1 can be determined experimentally. When adjusting the angle of the screen surface 311, the control device controls the sliding component to slide through the sliding motor 333, and controls the lifting component 36 to rise and fall through the lifting motor, thereby making the screen surface 311 tilt forward or backward. For example, when adjusting the screen surface 311 to tilt forward, the control device controls the front sliding component to slide to the right, controls the rear sliding component to slide to the left, and controls the lifting component 36 to rise through the sliding motor 333.

[0104] Step S4: Take each column of n values ​​as a group of data, and take the n columns as n groups of data to perform ANOVA on the multiple groups of data, and calculate the value of the test statistic F2 that describes the pressure difference;

[0105] Step S5: with Figure 10 For example, the left and right tilt angle β of the screen surface is positively correlated with F2. The specific formula is: β=a2*F2+b2, where a2 is the proportional compensation coefficient and b2 is the error compensation coefficient. a2 and b2 can be determined experimentally. When adjusting the angle of the screen surface 311, the control device controls the sliding component to slide through the sliding motor 333, and controls the lifting component 36 to rise and fall through the lifting motor, thereby making the screen surface 311 tilt to the left or right. For example, when adjusting the screen surface 311 to tilt to the right, the control device controls the two sliding components to slide to the left through the sliding motor 333, and controls the lifting component 36 to rise.

[0106] Step S6: When the difference between the pressure values ​​of each pressure sensor 316 is within the preset difference range, stop adjusting α and β, and one angle adjustment is completed.

[0107] A combine harvester includes the aforementioned adaptive adjustment cleaning device, wherein the adaptive adjustment cleaning device is controlled by the aforementioned adaptive adjustment cleaning device control method.

[0108] Workflow:

[0109] When the device is working, the threshing drum 1 connected to this adaptive adjustment cleaning device rotates at a constant speed, and the vibrating screen mechanism 4 continues to vibrate. After the crop grains are threshed, they fall onto the upper surface of the perforated screen device 3 or the upper surface of the corrugated plate 41 after passing through the concave screen 2 connected to the threshing drum 1. The grains that fall onto the upper surface of the corrugated plate 41 will gradually transfer to the screen surface 311 of the perforated screen device 3 under the continuous vibration of the vibrating screen mechanism 4. The perforated screen device 3 adjusts the angle so that the grains move along the screen surface 311 and are more evenly distributed, so that the grains can be evenly screened off the screen surface 311. The airflow generated by the fan 5 located in front of and below the corrugated plate 41 blows the grains away, so that the light mixture such as husks and fine straw is blown out of the machine. The grains fall through the screen holes during the movement and fall onto the collection plate 6 for storage after passing through the adjustable fish scale screen 43 and the bionic screen 45.

[0110] like Figure 10 As shown, this is the working state when the screen surface 311 is in the lowest position. At this time, the perforated screen device 3 is in the folded state. At this time, both the front and rear sliders 34 move to the rightmost end of the movement range of the power guide rail 33, the lifting component 36 is in the lowest state, the screen surface 331 is in the horizontal state, and both movable connecting rods 32 have a certain angle with the screen surface 331, so that the movable connecting rods 32 can achieve relatively flexible movement. The position of each component in this state is an extreme position of the mechanism. At this time, the space occupied is small, and the screen surface 331 can be adjusted to this state when the operation stops.

[0111] like Figure 3 , 11 As shown, this is the working state of the screen surface 311 of the perforated screen device 3 when it rotates around the x-axis. At this time, the screen surface 311 is tilted backward as a whole. The slider 34 at the front moves to the left end of the range of motion of the front power guide rail 33, and the slider at the rear moves to the right end of the range of motion of the rear power guide rail 33. At this time, the axis of the front movable connecting rod 32 is perpendicular to the axis of the first lead screw 332 in the front power guide rail 33. The lifting component 36 moves to the preset height, which is suitable for adjusting the screen surface when the grains accumulate at the front part of the screen surface 311.

[0112] This invention improves upon the existing double-layer screen structure by adding a perforated screen device above the vibrating screen. The drive assembly uses a total of three motors in conjunction with corresponding mechanical structures to adjust the degrees of freedom. Compared to the leveling screen with four drive devices in the prior art, this invention restricts redundant degrees of freedom. This invention provides stable and convenient control while meeting usage requirements, and also ensures control accuracy. It is unaffected by the vibrating screen during adaptive adjustment.

[0113] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0114] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A self-adjusting cleaning device, characterized in that The device comprises a punching screen device (3), a vibrating screen mechanism (4), a fan (5), a collection plate (6), a frame and a control device. The punching screen device (3), the vibrating screen mechanism (4) and the collection plate (6) are arranged in sequence from top to bottom on the frame (7), the fan (5) is installed on the frame (7), the fan (5) is located obliquely below the punching screen device (3), the air inlet of the fan (5) is aligned with the punching screen device (3) and the vibrating screen mechanism (4), and the control device is connected with the punching screen device (3), the vibrating screen mechanism (4) and the fan (5) respectively. The punching screen device (3) comprises a gyroscope (315), a driving assembly, a punching screen (31) and a plurality of pressure sensors (316), the driving assembly is installed on the frame, the punching screen (31) is connected with the driving assembly, the pressure sensors (316) are uniformly distributed on the screen surface (311) of the punching screen (31), the pressure sensors (316) are used for detecting pressure value information at each position on the screen surface (311), the gyroscope (315) is installed at the center of the upper end surface of the screen surface (311), the gyroscope (315) is used for detecting height and angle information of the screen surface (311), the control device is connected with the gyroscope (315), the driving assembly and the pressure sensors (316) respectively, the control device controls the driving assembly to adjust the inclination angle of the screen surface (311) according to the information detected by the pressure sensors (316), and the control device controls the driving assembly to adjust the height of the screen surface (311) and keep the inclination angle as the inclination angle adjusted last according to the information fed back by the gyroscope (315). The control device analyzes the pressure distribution on the screen surface (311) and calculates the adjustment angle according to the signal detected by the pressure sensors (316), so as to control the driving assembly to adjust the angle of the screen surface (311), when the control device adjusts the angle of the screen surface (311) according to the feedback of the pressure sensors (316), the control device suspends the adjustment of the angle of the screen surface (311) by the gyroscope (315), after a preset time, the angle adjustment is completed once the difference between the pressure values of the pressure sensors (316) is within a preset difference range, the control device controls the driving assembly to keep the height of the screen surface (311) within a preset range and keep the inclination angle as the inclination angle adjusted last according to the inclination angle and the height of the screen surface (311) detected by the gyroscope (315).

2. The self-adjusting cleaning device of claim 1, wherein, The driving assembly comprises a plurality of sliding motors (333), a sliding assembly, a lifting motor, a lifting assembly (36) and a movable damping rod (38). The sliding assembly is rotationally connected with one side of the punching screen (31), the movable damping rod (38) is rotationally connected with the other side of the punching screen (31), the lifting assembly (36) is installed at the center of the lower end surface of the screen surface (311), the sliding assembly is connected with the control device, the lifting assembly (36) is connected with the control device, the control device controls the sliding motor (333) and the lifting motor, thereby controlling the sliding assembly and the lifting assembly (36) to adjust the inclination angle of the punching screen (31), and the movable damping rod (38) is used for adjusting the inclination angle of the punching screen (31) in cooperation with the sliding assembly; and the control device controls the lifting assembly (36) to adjust the height of the screen surface (311) of the punching screen (31) through the lifting motor.

3. The self-adjusting cleaning device of claim 2, wherein, The sliding assembly comprises a movable connecting rod (32), a power guide rail (33), a sliding block (34) and a first lead screw (332); One end of the movable connecting rod (32) is rotationally connected with the punching screen (31), the other end of the movable connecting rod (32) is rotationally connected with the sliding block (34), the sliding motor (333) is installed at one end of the power guide rail (33), the other end of the power guide rail (33) is installed with a limiter (331), one end of the first lead screw (332) is connected with the limiter (331), the other end of the first lead screw (332) is connected with the action end of the sliding motor (333), the sliding block (34) is provided with a first lead screw nut (341), the first lead screw nut (341) is threadedly connected with the first lead screw (332), and the action end of the sliding motor (333) rotationally drives the first lead screw (332) to rotate, so that the first lead screw nut (341) drives the sliding block (34) to slide along the power guide rail (33).

4. The self-adjusting cleaning device of claim 2, wherein, The lifting assembly (36) comprises a support cross beam (37), a lead screw shaft (361), a fixer (362), a lifting platform connecting rod (364), a second sliding block (367), a third sliding block (365), a lifting platform (368) and a lifting motor; The screw shaft (361) is connected with a lifting motor, the lifting motor is installed on a rack, a support beam (37) is located below the screw shaft (361), the support beam (37) is installed on the rack, a fixer (362) is fixed on the support beam (37), two pairs of lifting platform connecting rods (364) are symmetrically distributed along the screw shaft (361), the number of each pair is two, the two lifting platform connecting rods (364) are movably connected in the middle, one end of the lifting platform connecting rod (364) is rotatably connected with the fixer (362), the other end is connected with a second sliding block (367), a lifting platform (368) is provided with a first sliding rail, the second sliding block (367) is connected with the first sliding rail, one end of the second lifting platform connecting rod (364) is rotatably connected with the lifting platform (368), a third sliding block (365) is movably connected with the other end of the second lifting platform connecting rod (364), the fixer (362) is provided with a second sliding rail, the third sliding block (365) is connected with the second sliding rail, a second screw nut is arranged on the third sliding block (365), the second screw nut is threadedly connected with the screw shaft (361), the lifting motor drives the screw shaft (361) to rotate, the third sliding block (365) is driven to slide along the second sliding rail through the second screw nut, so that the second sliding block (367) slides along the first sliding rail, so that the lifting platform (368) is lifted.

5. The self-adjusting cleaning device of claim 3, wherein, Further comprising a first displacement sensor; The first displacement sensor is installed on the sliding block (34), the first displacement sensor is connected with the control device, the first displacement sensor is used for detecting the displacement of the sliding block (34) relative to the stopper (331) and transmitting to the control device, and the control device controls the sliding motor (333) to adjust the displacement of the stopper (331) according to the signal detected by the first displacement sensor.

6. The self-adjusting cleaning device of claim 4, wherein, Further comprising a second displacement sensor; The second displacement sensor is installed on the lower surface of the lifting platform (368), the second displacement sensor is connected with the control device, the second displacement sensor is used for detecting the displacement of the lifting platform (368) relative to the height of the support beam (37) and transmitting to the control device, and the control device controls the lifting motor to adjust the height of the lifting platform (368) according to the signal detected by the second displacement sensor.

7. A control method for an adaptive conditioning cleaning apparatus according to any one of claims 1 to 6, characterized in that, The following steps are included: When working, the control device starts the fan (5) and the vibrating screen mechanism (4), the grains fall from the threshing cylinder (1) connected with the self-adaptive adjusting cleaning device and fall on the screen surface (311) of the punched screen (31); The pressure sensor (316) transmits the detected pressure value on the screen surface (311) to the control device, and the gyroscope (315) detects the height and angle of the screen surface (311) and transmits to the control device; The control device analyzes the pressure distribution on the screen surface (311) according to the signal detected by the pressure sensor (316) and calculates the adjustment angle, thereby controlling the driving assembly to adjust the inclination angle of the screen surface (311); when the control device adjusts the angle of the screen surface (311) according to the feedback of the pressure sensor (316), the control device suspends the adjustment of the angle of the screen surface (311) by the gyroscope (315), and after a preset time length, the angle adjustment is completed once the difference between the pressure values of each pressure sensor (316) is within the preset difference range; The control device detects the inclination angle and height of the adjusted screen surface (311) according to the gyroscope (315), controls the driving assembly to make the height of the screen surface (311) within the preset range and makes the inclination angle remain the inclination angle after the last adjustment.

8. The control method of claim 7, wherein, Further comprising the following steps: After the adjustment of the height of the screen surface (311) is completed, the second displacement sensor transmits the displacement amount of the height of the lifting platform (368) relative to the support beam (37) to the control device, and when the displacement amount of the height does not reach the preset value, the control device controls the lifting motor to continue adjusting the height of the lifting platform (368); After the adjustment of the angle of the punching screen (31) is completed, the first displacement sensor transmits the displacement amount of the slider (34) relative to the stopper (331) to the control device, and when the displacement amount of the slider (34) relative to the stopper (331) does not reach the preset value, the control device controls the sliding motor (333) to continue adjusting the displacement amount of the stopper (331).

9. A combine harvester comprising the self-adaptive adjusting cleaning device according to any one of claims 1-6, which is controlled according to the control method of the self-adaptive adjusting cleaning device according to claims 7-8.

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