Crawler-type shrub harvester and feeding load control device and method thereof

Abstract

The invention relates to a crawler-type shrub harvester and a feeding load control device and method thereof, and the crawler-type shrub harvester comprises the feeding load control device which comprises a program controller arranged in a cab and connected with an electric control hydraulic pump; the header cutter load sensor is arranged on the header harvester and is connected with the program controller; the chopping roller load sensor is arranged on the chopping device and is connected with the program controller; the chassis walking speed sensor is arranged on the chassis and is connected with the program controller; wherein the program controller receives, calculates and compares header harvester load information, chopping load information and chassis walking speed information, and automatically sends an instruction according to a calculation result to change the displacement of the electric control hydraulic pump so as to adjust the chassis walking speed in the operation process; chassis travel speed is matched to header cutter and chopping drum load to prevent clogging. The invention further discloses a feeding load control method.

Description

Technical Field

[0001] The invention relates to agricultural machinery, in particular to a crawler type shrub harvester and a feeding load control device and an intelligent control method thereof. Background Art

[0002] Hybrid paulownia is a new high-quality feed variety with the characteristics of drought resistance, barrenness resistance, fast growth, wide adaptability, high crude protein content and good palatability. The crude protein content of paulownia leaves is as high as 25%, and the crude fat is 3.58%. It is rich in nutrition, and the crude protein is 3 times that of rice and corn, and 2 times that of wheat, second only to soybeans. It is a high-quality protein feed. Hybrid paulownia grows for many years and can be harvested 3 to 5 times a year. The roots of hybrid paulownia grow for many years, and after frequent harvesting, the roots are uneven in thickness. In addition, the epidermis of hybrid paulownia is tough and the branches are hard, which makes it difficult to mechanize the harvest of shrubs, especially in the southern region during the harvest period when there is a lot of rain and the fields are muddy. Wheeled machinery cannot operate. The heavy machine will crush the root system during the walking process, causing a reduction in the yield of paulownia and affecting economic benefits. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a crawler-type shrub harvester and a feeding load control device and method thereof in view of the above-mentioned defects of the prior art.

[0004] In order to achieve the above object, the present invention provides a feeding load control device installed on a crawler-type shrub harvester, which includes:

[0005] A program controller is arranged in the cab of the crawler-type shrub harvester and is connected to the electronically controlled hydraulic pump of the crawler-type shrub harvester;

[0006] A header cutter load sensor is installed on the header harvester of the crawler-type shrub harvester and connected to the program controller, and is used to collect header harvester load information and transmit it to the program controller;

[0007] a chopping drum load sensor, mounted on the chopping device of the crawler-type bush harvester and connected to the program controller, for collecting chopping load information and transmitting it to the program controller; and

[0008] A chassis travel speed sensor is installed on the chassis of the crawler-type shrub harvester and connected to the program controller, and is used to collect chassis travel speed information and transmit it to the program controller;

[0009] Among them, the program controller receives and calculates and compares the header harvester load information, shredder load information and chassis travel speed information, and automatically issues instructions to change the displacement of the electronically controlled hydraulic pump according to the calculation results to adjust the chassis travel speed during the operation process, so that the chassis travel speed matches the header cutter and shredder drum load to prevent blockage.

[0010] The above-mentioned feeding load control device further includes a travel control handle installed in the cab and connected to the program controller for priority manual control during the chassis travel process.

[0011] In the above-mentioned feeding load control device, the electronically controlled hydraulic pump is connected to the engine of the crawler-type shrub harvester and controls the traveling speed of the chassis by driving the gearbox.

[0012] The above-mentioned feeding load control device, wherein the driving gearbox is installed on the chassis and connected to the crawler support drive mechanism of the chassis; the output shaft of the electronically controlled hydraulic pump is connected to the power input end of the driving gearbox; the program controller sends a control signal to change the displacement of the electronically controlled hydraulic pump to change the input speed of the driving gearbox, and the driving gearbox drives the crawler through the crawler support drive mechanism to change the walking speed of the chassis.

[0013] In the above-mentioned feeding load control device, the engine is arranged in the middle of the chassis, the cab is located above the front end side of the chassis, a control system is arranged in the cab, and the program controller and the travel control handle are integrated into an integral structure with the control system.

[0014] The above-mentioned feeding load control device, wherein the shredding device is a drum-type shredding structure, including a shredding drum, a movable knife and a pressure plate, the movable knife is evenly installed on the shredding drum through a spring pressure plate and connecting bolts, and the shredding drum load sensor is installed on the main shaft of the shredding drum.

[0015] In the above-mentioned feeding load control device, the header cutter load sensor is installed on the main transmission shaft of the header harvester.

[0016] In the above-mentioned feeding load control device, the cutter of the cutting table is connected to the shredding device through a conveying bridge, a throwing barrel is connected to the rear of the shredding device, and a material box is provided at the rear of the chassis corresponding to the throwing barrel.

[0017] In order to better achieve the above object, the present invention also provides a feeding load control method, wherein the above feeding load control device is used to harvest bushes, and the harvesting walking speed is automatically adjusted according to the power matching of the crawler bush harvester to control the feeding amount, and the feeding load control method includes the following steps:

[0018] S100, the header cutter load sensor collects header harvester load information and transmits it to the program controller;

[0019] S200, the shredding drum load sensor collects shredding load information and transmits it to the program controller;

[0020] S300, the chassis travel speed sensor collects chassis travel speed information and transmits it to the program controller;

[0021] S400, the program controller receives and calculates and compares the header harvester load information, the shredder load information and the chassis travel speed information, and issues instructions to change the displacement of the electronically controlled hydraulic pump of the crawler shrub harvester according to the calculation results, so as to adjust the chassis travel speed during the operation process, so that the chassis travel speed matches the load of the header cutter and the shredder device to prevent blockage.

[0022] In order to better achieve the above-mentioned purpose, the present invention also provides a crawler-type shrub harvester, which includes the above-mentioned feeding load control device.

[0023] The technical effects of the present invention are:

[0024] The shrub combine harvester of the present invention is suitable for harvesting hybrid paper mulberry, and can also be used for harvesting functional crops such as caragana korshinskii and protein mulberry. It can sequentially realize operations such as flat cutting, forced feeding, graded shredding, wind-transported throwing, and boxing. It adopts a crawler-type hydraulic drive chassis, which is suitable for muddy and wet field operations, and can effectively reduce the degree of crushing of paper mulberry roots during operation to ensure crop growth and yield. Its feeding load control device can automatically adjust the walking speed during harvesting to control the feeding amount according to the power matching of the power system. During the operation, the harvesting speed and load are intelligently matched to achieve a full-load working state. Compared with the prior art, it can meet the harvesting of unevenly growing crops without increasing the power reserve coefficient, automatically control overload, prevent blockage, and do not need to block the reversing device, ensuring that the harvesting economy of the machine reaches the best state.

[0025] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a crawler-type shrub harvester according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A top view of

[0028] Figure 3 A schematic diagram of the chassis structure of an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the structure of a shredding device according to an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the feeding load control principle of an embodiment of the present invention.

[0031] Among them, the reference numerals

[0032] 1 rack

[0033] 2 Chassis

[0034] 21Stand

[0035] 22 Tracks

[0036] 23 Track support drive mechanism

[0037] 24 drive gearbox

[0038] 25 Electronically controlled hydraulic pump

[0039] 3 Headers

[0040] 4 Cab

[0041] 5. Feeding load control device

[0042] 51 header cutter load sensor

[0043] 52 chassis travel speed sensor

[0044] 53 shredding drum load sensor

[0045] 54 program controller

[0046] 55 Travel control handle

[0047] 6Transport bridge

[0048] 7. Shredding device

[0049] 71 shredding drum

[0050] 72 knife

[0051] 73 Spring pressure plate

[0052] 74 spindle

[0053] 75 connecting bolt

[0054] 8 Engine

[0055] 9 Throwing barrel

[0056] 10 material boxes DETAILED DESCRIPTION

[0057] The structural principle and working principle of the present invention are described in detail below in conjunction with the accompanying drawings:

[0058] See also Figure 1-Figure 3 , Figure 1 This is a schematic structural diagram of a crawler-type shrub harvester according to an embodiment of the present invention. Figure 2 for Figure 1 A top view of Figure 3 The schematic diagram of the chassis 2 structure of an embodiment of the present invention. The crawler-type shrub harvester of the present invention comprises a frame 1 and a chassis 2 mounted on the frame 1, a harvesting platform 3, a cab 4, a feeding load control device 5, a conveying bridge 6, a chopping device 7, an engine 8, a throwing barrel 9 and a material box 10. The harvesting platform cutter of the harvesting platform 3 is connected to the chopping device 7 through the conveying bridge 6, and the chopping device 7 is connected to the rear of the throwing barrel 9. The rear part of the chassis 2 is provided with a material box 10 corresponding to the throwing barrel 9. The chassis 2 comprises a bracket 21, a driving gearbox 24 is installed at the front end, and an electric-controlled hydraulic pump 25 is installed at the power input end of the driving gearbox 24. A crawler support drive mechanism 23 is installed below the bracket 21, and left and right crawlers 22 are installed on the crawler support drive mechanism 23. When driving, the electric-controlled hydraulic pump 25 transmits power to the driving gearbox 24 through hydraulic pressure, and then transmits it to the crawler support drive mechanism 23 to drive the crawler 22 to rotate. The electronically controlled hydraulic pump 25 can automatically change the hydraulic displacement according to the control electric signal to achieve the change of the walking speed. The composition, structure, mutual position relationship, connection relationship and function of other parts of the crawler type shrub harvester are all relatively mature existing technologies, so they are not described here in detail. The following is a detailed description of the feeding load control device 5 and the feeding load control method of the present invention.

[0059] The feeding load control device 5 of the present invention is installed on a crawler-type bush harvester, and includes: a program controller 54, which is arranged in the cab 4 of the crawler-type bush harvester and is connected to the electronically controlled hydraulic pump 25 of the crawler-type bush harvester; a header cutter load sensor 51, which is installed on the header harvester of the crawler-type bush harvester, preferably installed on the main transmission shaft of the header harvester, and is connected to the program controller 54, and is used to collect header harvester load information and transmit it to the program controller 54; a chopping drum load sensor 53, which is installed on the chopping device 7 of the crawler-type bush harvester and is connected to the program controller 54. , used to collect chopping load information and transmit it to the program controller 54; and a chassis travel speed sensor 52, installed on the chassis 2 of the crawler shrub harvester and connected to the program controller 54, used to collect chassis travel speed information and transmit it to the program controller 54; wherein, the program controller 54 receives and calculates and compares the harvester load information, chopping load information and chassis travel speed information, and automatically issues instructions to change the displacement of the electronically controlled hydraulic pump 25 according to the calculation results to adjust the travel speed of the chassis 2 during the operation, so that the travel speed of the chassis 2 matches the load of the harvester and the chopping drum 71 to prevent blockage.

[0060] In this embodiment, a travel control handle 55 is further included, which is installed in the cab 4 and connected to the program controller 54 for priority manual control during the travel of the chassis 2. The engine 8 is arranged in the middle of the chassis 2, the cab 4 is located above the front end side of the chassis 2, and a control system is arranged in the cab 4. The program controller 54 and the travel control handle 55 are integrated with the control system into an integrated structure.

[0061] The electronically controlled hydraulic pump 25 is connected to the engine 8 of the crawler-type shrub harvester and controls the travel speed of the chassis 2 through the drive gearbox 24. The drive gearbox 24 is installed on the chassis 2 and connected to the crawler support drive mechanism 23 of the chassis 2; the output shaft of the electronically controlled hydraulic pump 25 is connected to the power input end of the drive gearbox 24; the program controller 54 sends a control signal to change the displacement of the electronically controlled hydraulic pump 25 to change the input speed of the drive gearbox 24, and the drive gearbox 24 drives the crawler 22 through the crawler support drive mechanism 23 to change the travel speed of the chassis 2. The engine 8 transmits power to the electronically controlled hydraulic pump 25, and the electronically controlled hydraulic pump 25 transmits power to the drive gearbox 24 through hydraulic pressure. The drive gearbox 24 drives the chassis 2 to travel through the crawler support drive mechanism 23. The electronically controlled hydraulic pump 25 can change the speed of the drive gearbox 24 by increasing or decreasing the hydraulic displacement, so as to speed up or slow down the travel speed of the chassis 2. The program controller 54 outputs a control signal to the electronically controlled hydraulic pump 25 after comprehensively judging the load signal and the travel speed signal. The electronically controlled hydraulic pump 25 changes the hydraulic output displacement according to the control signal to change the travel speed of the chassis 2 .

[0062] See also Figure 4 , Figure 4 Schematic diagram of the structure of a shredder device 7 according to an embodiment of the present invention. The shredder device 7 according to this embodiment is a drum-type shredder structure, comprising a shredder drum 71, a plurality of movable knives 72 and a spring pressure plate 73. The movable knives 72 are evenly mounted on the shredder drum 71 through the spring pressure plate 73 and the connecting bolts 75, and shred the material during high-speed rotation. The shredder drum load sensor 53 is preferably mounted on the main shaft 74 of the shredder drum 71.

[0063] The harvesting platform 3 is connected to the rear conveying bridge 6, and the interface of the conveying bridge 6 is connected to the inlet of the shredder 7. The shredder 7 is located at the left side of the front end of the chassis 2. There is a cab 4 at the right side of the front end of the chassis 2. The cab 4 is provided with a control system. The travel control handle 55 and the program controller 54 are located in the control system. A throwing barrel 9 is connected to the rear of the shredder 7. The engine 8 is installed in the middle of the chassis 2, and a material box 10 is installed at the rear of the chassis 2. When the crawler shrub harvester is in operation, the shrubs are cut off by the harvesting platform 3 and transported to the rear of the harvesting platform into the inlet of the conveying bridge 6, and then enter the shredder 7 from the outlet of the conveying bridge 6. The high-speed rotating shredder 7 shreds the paper mulberry material and throws it to the throwing barrel 9 at the rear, and the throwing barrel 9 throws the shredded material into the material box 10 at the rear. When harvesting paper mulberry, the feed load control device 5 automatically adjusts the walking speed according to the crop yield, so that the feed volume remains at full load, and can eliminate overload in time to prevent machine blockage and enable the machine to reach the best economic state.

[0064] See also Figure 5 , Figure 5 The feeding load control principle diagram of an embodiment of the present invention. The feeding load control method of the present invention uses the above-mentioned feeding load control device 5 to harvest bushes, and automatically adjusts the harvesting walking speed according to the power matching of the crawler bush harvester to control the feeding amount. The feeding load control method includes the following steps:

[0065] Step S100, the header cutter load sensor 51 collects header harvester load information and transmits it to the program controller 54;

[0066] Step S200, the shredding drum load sensor 53 collects shredding load information and transmits it to the program controller 54;

[0067] Step S300, the chassis travel speed sensor 52 collects chassis travel speed information and transmits it to the program controller 54;

[0068] Step S400, the program controller 54 receives and calculates and compares the load information of the harvester, the chopping load information and the chassis travel speed information, and issues an instruction to change the displacement of the electronically controlled hydraulic pump 25 of the crawler shrub harvester according to the calculation result, so as to adjust the travel speed of the chassis 2 during the operation process, so that the travel speed of the chassis 2 matches the load of the harvester and the chopping device 7 to prevent blockage.

[0069] In this embodiment, the program controller 54 outputs an execution instruction after automatically judging and analyzing the input signal according to the program setting. The working principle is as follows:

[0070] The feed load signal collection includes the cutter load and the chopping load. Under the calibrated working condition, the feed load signal collection includes that the cutter load is constant and can be replaced by the rotation speed of the main drive shaft of the cutter and the main shaft 74 of the chopping drum 71. When the load exceeds the calibrated working condition, the rotation speed will decrease. The feed load reduction can be divided into three levels (it can also be adjusted to more levels as needed): less than 10% of the calibrated working condition speed, less than 20% of the calibrated working condition speed and less than 30% of the calibrated working condition speed; the collected signal is input into the program controller 54. When the feed load signal collection speed is ≤10% of the calibrated working condition speed, the program controller 54 automatically outputs a signal after comparison, and reduces the speed by 20% on the existing walking speed. After the walking speed decreases, the harvesting speed can be reduced to achieve the purpose of reducing the feeding amount. When the calibrated working speed is 20% ≥ the input load signal acquisition speed ≥ the calibrated working speed 10%, the program controller 54 automatically outputs a signal after comparison to reduce the existing travel speed by 50%. When the calibrated working speed is 30% ≥ the input load signal acquisition speed ≥ the calibrated working speed 20%, the program controller 54 automatically outputs a signal after comparison to stop the machine from traveling until the load of the cutter and the main shaft 74 of the shredder 7 restore the calibrated working speed and then automatically restore the speed before deceleration. The travel speed reduction of 10%, 30%, etc. is not a fixed value, and can be adjusted by connecting the computer to the program controller 54, and can also be adjusted to 8%, 20%, etc.

[0071] When the machine is operating, the control handle is first used to set the machine's operating speed to a high-speed working gear. When harvesting begins, the sensor collects load signals. When any one of the cutter head load and the chopping drum 71 load exceeds the calibrated load value, the program controller 54 issues an instruction through calculation and comparison to reduce the travel speed by 10%, and collects signals for calculation again. When the load is close to the calibrated value, the travel speed is stabilized. When the load is less than 10% of the calibrated value, the travel speed is increased or reduced by 10% until the load value is close to the calibrated value and the travel speed is stabilized. This cycle is repeated to achieve a working state close to full load.

[0072] The crawler type shrub harvester of the present invention has a crawler type chassis 2 suitable for muddy field operation, and realizes a simplified layout of the whole machine by feeding a load control device 5 to reduce the weight of the machine. The header cutter load sensor 51 is installed on the header cutter main transmission shaft, and the electric signal enters the program controller 54 through the connecting wire. The chopping drum load sensor 53 is installed on the main shaft 74 of the chopping device 7, and the electric signal enters the program controller 54 through the connecting wire. The travel control handle 55 is installed in the cab 4, and the electric signal enters the program controller 54 through the connecting wire. The travel control handle 55 is used to manually control the machine's travel during the machine's travel, and has priority. The driving gearbox 24 is installed on the crawler 22 type chassis 2, and is used to drive the crawler 22. The output shaft of the electronically controlled hydraulic pump 25 is installed on the input hole of the driving gearbox 24. The electrical signal of the electronically controlled hydraulic pump 25 enters the program controller 54 through the connecting wires. The program controller 54 sends a signal to change the displacement of the electronically controlled hydraulic pump 25 to change the input speed, and then change the walking speed of the crawler 22 type chassis 2 through the driving gearbox 24. The engine 8 is installed in the middle of the crawler 22 type chassis 2, and its power is transmitted to the electronically controlled hydraulic pump 25 through a belt.

[0073] The feed load control device 5 and method of the present invention can automatically adjust the walking speed of the harvester according to the power matching of the engine 8, so that the feed load is continuously close to the full load state, improve the economy of the machine harvesting paper mulberry and reduce the problem of clogging and entanglement, and realize the light and simplified layout of the machine, reduce the weight of the machine, and reduce the crushing of the root system by the machine. When the crawler-type shrub harvester with the feed load control device 5 is in operation, it can realize the integrated operation of harvesting, conveying, chopping and packing paper mulberry, caragana, protein mulberry, etc., and can meet the needs of mechanized harvesting of shrubs in muddy and wet fields.

[0074] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A feeding load control device mounted on a crawler type bush harvester, characterized in that: include: A program controller is arranged in the cab of the crawler-type shrub harvester and is connected to the electronically controlled hydraulic pump of the crawler-type shrub harvester; A header cutter load sensor is installed on the header harvester of the crawler-type shrub harvester and connected to the program controller, and is used to collect header harvester load information and transmit it to the program controller; a chopping drum load sensor, mounted on the chopping device of the crawler-type shrub harvester and connected to the program controller, for collecting chopping load information and transmitting it to the program controller; as well as A chassis travel speed sensor is installed on the chassis of the crawler-type shrub harvester and connected to the program controller, and is used to collect chassis travel speed information and transmit it to the program controller; Among them, the program controller receives and calculates and compares the header harvester load information, shredder load information and chassis travel speed information, and automatically issues instructions to change the displacement of the electronically controlled hydraulic pump according to the calculation results to adjust the chassis travel speed during the operation process, so that the chassis travel speed matches the header cutter and shredder drum load to prevent blockage.

2. The feeding load control device according to claim 1, characterized in that: It also includes a travel control handle, which is installed in the cab and connected to the program controller for priority manual control during the travel of the chassis.

3. The feeding load control device according to claim 1, characterized in that: The electronically controlled hydraulic pump is connected to the engine of the crawler-type shrub harvester and controls the traveling speed of the chassis by driving a gearbox.

4. The feeding load control device according to claim 3, characterized in that: The driving gearbox is installed on the chassis and connected to the track support driving mechanism of the chassis; the output shaft of the electronically controlled hydraulic pump is connected to the power input end of the driving gearbox; the program controller sends a control signal to change the displacement of the electronically controlled hydraulic pump to change the input speed of the driving gearbox, and the driving gearbox drives the track through the track support driving mechanism to change the walking speed of the chassis.

5. The feeding load control device according to claim 3, characterized in that: The engine is arranged in the middle of the chassis, the cab is located above the front end side of the chassis, a control system is arranged in the cab, and the program controller and the travel control handle are integrated with the control system into an integrated structure.

6. The feeding load control device according to claim 1, characterized in that: The shredding device is a drum-type shredding structure, comprising a shredding drum, a moving knife and a pressure plate. The moving knife is evenly mounted on the shredding drum through a spring pressure plate and connecting bolts. The shredding drum load sensor is mounted on the main shaft of the shredding drum.

7. The feeding load control device according to claim 1, characterized in that: The header cutter load sensor is installed on the main transmission shaft of the header harvester.

8. The feeding load control device according to claim 1, characterized in that: The header cutter is connected to the shredding device via a conveying bridge, a throwing barrel is connected to the rear of the shredding device, and a material box is arranged at the rear of the chassis corresponding to the throwing barrel.

9. A feeding load control method, characterized in that: The feeding load control device according to any one of claims 1 to 8 is used to harvest bushes, and the harvesting walking speed is automatically adjusted according to the power matching of the crawler bush harvester to control the feeding amount. The feeding load control method comprises the following steps: S100, the header cutter load sensor collects header harvester load information and transmits it to the program controller; S200, the shredding drum load sensor collects shredding load information and transmits it to the program controller; S300, the chassis travel speed sensor collects chassis travel speed information and transmits it to the program controller; S400, the program controller receives and calculates and compares the header harvester load information, the shredder load information and the chassis travel speed information, and issues instructions to change the displacement of the electronically controlled hydraulic pump of the crawler shrub harvester according to the calculation results, so as to adjust the chassis travel speed during the operation process, so that the chassis travel speed matches the load of the header cutter and the shredder device to prevent blockage.

10. A crawler type shrub harvester, characterized in that: The invention comprises a feeding load control device as described in any one of claims 1 to 8.

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