Combine harvester concave plate gap adjusting method and device

Abstract

The invention provides a method and a device for adjusting a gap between concave plates of a combine harvester. The combined harvester concave plate gap adjusting method comprises the steps that a concave plate gap adjusting instruction input by a user is received; according to the concave plate gap adjusting instruction, a worm and gear motor is driven to act; obtaining a current value of the concave plate gap, a set value of the concave plate gap, a preset deviation and a concave plate gap adjustment strategy; according to the current value and the set value of the concave plate gap, the deviation between the current value and the set value of the concave plate gap is calculated; whether the deviation between the current value and the set value of the concave plate gap is larger than a preset deviation or not is judged; when the deviation between the current value and the set value of the concave plate gap is larger than the preset deviation, the concave plate gap is adjusted according to a concave plate gap adjusting strategy. According to the concave plate gap closed-loop adjustment algorithm, the error between a set value and an actual value can be automatically reduced by constructing a dynamic adjustment model, the separation efficiency is improved, and negative effects caused by too large errors are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of threshing devices for combine harvesters, and particularly to a method and device for adjusting the concave clearance of a combine harvester. Background Art

[0002] 1. Basis of Known Technologies

[0003] The threshing device of a grain combine harvester is a core working component, and its performance directly affects the threshing efficiency and grain loss rate. The traditional threshing device consists of a high-speed rotating drum and an arc-shaped concave plate, and realizes grain threshing through mechanical actions (striking, rubbing, rolling). The concave clearance (the distance between the drum and the concave plate) is a key parameter determining the threshing quality. If the clearance is too small, it is easy to cause blockage and seed grain breakage; if the clearance is too large, it will result in incomplete threshing and an increase in the grain loss rate. In the prior art, the adjustment of the concave clearance mainly relies on a hydraulic system (hydraulic rod, oil cylinder) or a pneumatic device (air chamber), and realizes the adjustment through pressure or stress feedback. In addition, some solutions adopt mechanical transmission (reversing mechanism, lever mechanism), but manual intervention or staged adjustment is required, lacking continuity and intelligence.

[0004] 2. The Nearest Prior Art Solution

[0005] The technology closest to the present invention is a threshing drum clearance adjustment device and a harvester (CN202411213974.8), and its structure includes:

[0006] a. Adjusting mechanism: Composed of an adjusting screw rod, a rocker arm and a connecting arm, the lower concave clearance is adjusted by driving the screw rod to rotate through a driving part, driving the rocker arm.

[0007] b. Control mechanism: Integrated with an angle sensor, it detects the concave clearance in real time and converts it into a voltage signal, and the controller adjusts the clearance according to the signal.

[0008] c. Display module: Feeds back the real-time clearance value through a display.

[0009] 3. The Existing Concave Clearance Adjustment Technologies Have the Following Core Defects:

[0010] a. Insufficient adjustment accuracy and reliability

[0011] Existing mechanical transmissions (such as screw rods, lever mechanisms) are prone to dead zone errors due to wear, and hydraulic / pneumatic systems have a risk of leakage. After long-term use, the clearance calibration fails and cannot adapt to the dynamic load changes in the field.

[0012] b. Weak calibration and fault tolerance mechanisms

[0013] Existing solutions require manual calibration of the initial position of the sensor, and lack an automatic calibration function. Moreover, there is no hard limit protection set, and misoperation may lead to mechanical interference and cause damage to the machine body.

[0014] c. Insufficient human-machine interaction and maintenance convenience

[0015] Traditional hydraulic systems require regular replacement of seals, resulting in high maintenance costs. Manual adjustment solutions rely on the driver's experience and lack real-time gap display and fault warning functions. Summary of the Invention

[0016] The technical problem to be solved by the present invention is to provide a concave plate gap adjustment method and device for a combine harvester in view of the deficiencies of the prior art.

[0017] The technical solution of the present invention to solve the above technical problems is as follows: A concave plate gap adjustment method for a combine harvester, comprising: S1, receiving a concave plate gap adjustment instruction input by a user; S2, driving a worm and gear motor to act according to the concave plate gap adjustment instruction to achieve concave plate gap adjustment; S3, obtaining the current value of the concave plate gap, the set value of the concave plate gap, a preset deviation, and a concave plate gap adjustment strategy; S4, calculating the deviation between the current value of the concave plate gap and the set value of the concave plate gap according to the current value of the concave plate gap and the set value of the concave plate gap; S5, determining whether the deviation between the current value of the concave plate gap and the set value of the concave plate gap is greater than the preset deviation; S6, when the deviation between the current value of the concave plate gap and the set value of the concave plate gap is greater than the preset deviation, adjusting the concave plate gap according to the concave plate gap adjustment strategy.

[0018] The beneficial effects of adopting the technical solution of the present invention are: The concave plate gap closed-loop adjustment algorithm enables the system to automatically reduce the error between the set value and the actual value by constructing a dynamic adjustment model, improves the threshing and separation efficiency, and avoids the negative impacts caused by excessive errors. Calculate the deviation between the current value and the set value. If it is greater than the preset deviation, use the concave plate gap adjustment strategy to adjust the concave plate gap. The control accuracy is better than that of the concave plate gap control method without automatic adjustment function. By designing the transmission system of the worm motor and the gear set to replace the hydraulic cylinder and the stepper motor, it has both high torque and high precision, and eliminates the wear and backlash of the traditional screw adjustment.

[0019] Further, the concave plate gap adjustment instruction includes: a concave plate gap increase instruction and a concave plate gap decrease instruction.

[0020] The beneficial effects of adopting the above further technical solution are: Press the increase button, and the controller sends a concave plate gap increase control message to the high-power module to drive the motor to act, realizing the concave plate gap increase action. Press the decrease button, and the controller sends a concave plate gap decrease control message to the high-power module to drive the motor to act, realizing the concave plate gap decrease action.

[0021] Further, in step S2, during the adjustment of the concave plate gap, the current value of the concave plate gap is displayed through the control panel.

[0022] The beneficial effects of adopting the above further technical solution are as follows: The controller uses CAN communication to feedback the state of the concave plate gap increasing button to the control panel. The controller uses CAN communication to feedback the state of the concave plate gap decreasing button to the control panel. Real-time gap display is supported.

[0023] Further, it also includes: manually calibrating or automatically calibrating the maximum value and the minimum value of the concave plate gap with a tooling.

[0024] The beneficial effects of adopting the above further technical solution are as follows: A dual-mode calibration system of manual tooling calibration and automatic calibration is designed to achieve 5mm or 35mm limit protection and error self-compensation. Press the increase and decrease buttons, and according to the calibration tooling, adjust the gap to 5mm and 35mm, and calibrate them to the maximum and minimum values of the concave plate gap respectively. Press the automatic calibration button to start automatic calibration, and calibrate the maximum and minimum values of the concave plate gap respectively. Manually calibrate the maximum or minimum value of the concave plate gap by positioning the concave plate through an angle sensor. Automatically record the maximum or minimum position by triggering a full-stroke scan of the gap with one key, and solve the efficiency problem of manual calibration. Automatic calibration significantly shortens the calibration cycle, and manual calibration provides an emergency solution in case of equipment failure or algorithm failure. The dual-calibration system can improve the calibration efficiency and ensure the calibration accuracy at the same time.

[0025] Further, the concave plate gap adjustment strategy is to use the ADRC control algorithm to close-loop adjust the concave plate gap.

[0026] The beneficial effects of adopting the above further technical solution are as follows: Calculate the deviation between the current value and the set value. If it is greater than the preset deviation, then use the ADRC control algorithm to close-loop adjust the concave plate gap. Using the ADRC control algorithm, the actuator has a control strategy of automatic adjustment and reduction of actual error, and the control accuracy is better than that of the concave plate gap control method without the automatic adjustment function.

[0027] Further, after step S6, it includes: S7, obtaining the time for adjusting the concave plate gap according to the concave plate gap adjustment strategy and the preset time; S8, judging whether the time for adjusting the concave plate gap according to the concave plate gap adjustment strategy is greater than the preset time; S9, when the time for adjusting the concave plate gap according to the concave plate gap adjustment strategy is greater than the preset time, stop the adjustment work.

[0028] The beneficial effects of adopting the above further technical solution are as follows: Use the ADRC control algorithm to close-loop adjust the concave plate gap. If the target position is not adjusted after the preset time, then close this target adjustment. Avoid always performing the concave plate gap adjustment strategy, reduce the controller load, and facilitate re-comparing the deviation.

[0029] Further, the preset time is 10S and the preset deviation is 0.8.

[0030] The beneficial effect of adopting the above further technical solution is as follows: Calculate the deviation between the current value and the set value. If it is greater than 0.8, use the ADRC control algorithm to close-loop adjust the concave plate gap. If the target position has not been adjusted after 10S, then close this target adjustment. This can avoid always performing the concave plate gap adjustment strategy, reduce the controller load, and facilitate re-comparing the deviation.

[0031] In addition, the present invention also provides a concave plate gap adjustment device for a combine harvester, which is used to implement the concave plate gap adjustment method for a combine harvester described in any one of the above. The concave plate gap adjustment device for a combine harvester includes: a worm and worm gear motor, an angle sensor, a rotating shaft, a pair of rocker arms, a pair of push rods, a concave plate, a concave plate hinge shaft, a controller, and a control panel. One end of the concave plate is connected to the concave plate hinge shaft, one end of a pair of the push rods is hinged to the other end of the concave plate, a pair of the rocker arms are respectively hinged to the other ends of a pair of the push rods, a pair of the rocker arms are installed on the rotating shaft, the worm and worm gear motor is connected to the rotating shaft, and the controller is respectively connected to the worm and worm gear motor, the angle sensor, and the control panel.

[0032] The beneficial effect of adopting the above further technical solution is as follows: Through the direct measurement mechanism of the worm and worm gear motor and the angle sensor, mechanical transmission errors are eliminated, and high-precision adjustment of the concave plate is achieved. The worm and worm gear motor is connected to the concave plate to control the gap between the concave plate and the drum. By designing the transmission system of the worm motor and the gear set, replacing the hydraulic cylinder and the stepping motor, it has both high torque and high precision, and eliminates the wear and backlash of the traditional lead screw adjustment.

[0033] Further, the angle sensor is connected to the concave plate through a connecting rod, the angle sensor is connected to the push rod through a connecting rod, the angle sensor is connected to the rocker arm through a connecting rod, the angle sensor is connected to the rotating shaft through a connecting rod, the angle sensor is connected to the worm and worm gear motor through a connecting rod, or the angle sensor is connected to the concave plate hinge shaft; the controller is connected to the control panel and the angle sensor through a CAN bus.

[0034] The beneficial effect of adopting the above further technical solution is as follows: The angle sensor is connected to the connecting rod and then to the concave plate to detect the concave plate gap. The sensor is located at the concave plate hinge shaft and outputs an angle-gap linear relationship signal in real time. Compared with the drum inlet pressure detection scheme, the anti-vibration interference ability is improved. Adopting the CAN bus architecture and modular design improves the maintenance convenience and supports real-time gap display. The controller and the control panel, the sensor adopt the CAN communication protocol, support the transmission of real-time gap values and fault codes, and improve the data refresh rate.

[0035] Further, the worm and worm gear motor includes: a worm gear, a worm, and a motor. The worm gear is of a sector structure, the worm gear is connected to the rotating shaft, the worm is meshed with the worm gear, and the motor is connected to the worm.

[0036] The beneficial effects of adopting the above further technical solution are as follows: By designing the transmission systems of the worm and worm gear motor and the gear set to replace the hydraulic cylinder and the stepper motor, it has both high torque and high precision, and eliminates the wear and backlash of the traditional lead screw adjustment. With modular design, the motor and the adjustment mechanism can be quickly disassembled and assembled, and the maintenance cost is greatly reduced compared with the hydraulic system.

[0037] Advantages of additional aspects of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 One of the schematic flow charts of the concave clearance adjustment method for a combine harvester provided by an embodiment of the present invention;

[0039] Figure 2 Two of the schematic flow charts of the concave clearance adjustment method for a combine harvester provided by an embodiment of the present invention;

[0040] Figure 3 Three of the schematic flow charts of the concave clearance adjustment method for a combine harvester provided by an embodiment of the present invention;

[0041] Figure 4 Four of the schematic flow charts of the concave clearance adjustment method for a combine harvester provided by an embodiment of the present invention;

[0042] Figure 5 Five of the schematic flow charts of the concave clearance adjustment method for a combine harvester provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The principles and features of the present invention will be described below with reference to the accompanying drawings. The illustrated embodiments are only used to explain the present invention and are not intended to limit the scope of the present invention.

[0044] Such as Figure 1As shown in the figure, an embodiment of the present invention provides a method for adjusting the concave plate clearance of a combine harvester, including: S1. Receiving a concave plate clearance adjustment instruction input by a user; S2. Driving a worm and gear motor to act according to the concave plate clearance adjustment instruction to achieve concave plate clearance adjustment; S3. Obtaining the current value of the concave plate clearance, the set value of the concave plate clearance, a preset deviation, and a concave plate clearance adjustment strategy; S4. Calculating the deviation between the current value of the concave plate clearance and the set value of the concave plate clearance according to the current value of the concave plate clearance and the set value of the concave plate clearance; S5. Judging whether the deviation between the current value of the concave plate clearance and the set value of the concave plate clearance is greater than the preset deviation; S6. When the deviation between the current value of the concave plate clearance and the set value of the concave plate clearance is greater than the preset deviation, adjusting the concave plate clearance according to the concave plate clearance adjustment strategy.

[0045] The beneficial effects of adopting the technical solution of the present invention are as follows: The closed-loop adjustment algorithm for the concave plate clearance enables the system to automatically reduce the error between the set value and the actual value by constructing a dynamic adjustment model, improves the threshing and separating efficiency, and avoids the negative impacts caused by excessive errors. Calculate the deviation between the current value and the set value. If it is greater than the preset deviation, use the concave plate clearance adjustment strategy to adjust the concave plate clearance. The control accuracy is better than that of the concave plate clearance control method without the automatic adjustment function. By designing the transmission system of the worm motor and the gear set to replace the hydraulic cylinder and the stepping motor, it has both high torque and high precision, and eliminates the wear and free travel of the traditional lead screw adjustment.

[0046] Further, the concave plate clearance adjustment instruction includes: a concave plate clearance increase instruction and a concave plate clearance decrease instruction.

[0047] The beneficial effects of adopting the above further technical solution are as follows: When the increase button is pressed, the controller sends a concave plate clearance increase control message to the high-power module to drive the motor to act and achieve the concave plate clearance increase action. When the decrease button is pressed, the controller sends a concave plate clearance decrease control message to the high-power module to drive the motor to act and achieve the concave plate clearance decrease action.

[0048] Further, in step S2, during the process of adjusting the concave plate clearance, the current value of the concave plate clearance is displayed through a control panel.

[0049] The beneficial effects of adopting the above further technical solution are as follows: The controller uses CAN communication to feedback the state of the concave plate clearance increase button to the control panel. The controller uses CAN communication to feedback the state of the concave plate clearance decrease button to the control panel. It supports real-time clearance display.

[0050] Further, it further includes: manually or automatically calibrating the maximum value and the minimum value of the concave plate clearance.

[0051] The beneficial effects of adopting the above further technical solution are as follows: A dual-mode calibration system for manual tooling calibration and automatic calibration is designed to achieve 5mm or 35mm limit protection and error self-compensation. Press the increase and decrease buttons, and according to the calibration tooling, adjust the gap to 5mm and 35mm, and calibrate them to the maximum and minimum values of the concave plate gap respectively. Press the automatic calibration button to start automatic calibration, and calibrate the maximum and minimum values of the concave plate gap respectively. The maximum or minimum value of the concave plate gap is manually calibrated by positioning the concave plate through an angle sensor. By triggering a one-key full-stroke scan of the gap, the maximum or minimum position is automatically recorded, solving the efficiency problem of manual calibration. Automatic calibration significantly shortens the calibration cycle, and manual calibration provides an emergency solution in case of equipment failure or algorithm failure. The dual-calibration system can improve the calibration efficiency while ensuring the calibration accuracy.

[0052] Further, the concave plate gap adjustment strategy is to adjust the concave plate gap in a closed-loop manner using the ADRC control algorithm.

[0053] The beneficial effects of adopting the above further technical solution are as follows: Calculate the deviation between the current value and the set value. If it is greater than the preset deviation, then use the ADRC control algorithm to adjust the concave plate gap in a closed-loop manner. Using the ADRC control algorithm, the actuator has a control strategy of automatic adjustment and reduction of actual error, and the control accuracy is better than that of the concave plate gap control method without the automatic adjustment function.

[0054] Further, after step S6, it includes: S7, obtaining the time for adjusting the concave plate gap according to the concave plate gap adjustment strategy and the preset time; S8, judging whether the time for adjusting the concave plate gap according to the concave plate gap adjustment strategy is greater than the preset time; S9, when the time for adjusting the concave plate gap according to the concave plate gap adjustment strategy is greater than the preset time, stop the adjustment work.

[0055] The beneficial effects of adopting the above further technical solution are as follows: Use the ADRC control algorithm to adjust the concave plate gap in a closed-loop manner. If the target position is not adjusted after the preset time, then close this target adjustment. Avoid always performing the concave plate gap adjustment strategy, reduce the controller load, and facilitate re-comparing the deviation.

[0056] Further, the preset time is 10S, and the preset deviation is 0.8.

[0057] The beneficial effects of adopting the above further technical solution are as follows: Calculate the deviation between the current value and the set value. If it is greater than 0.8, then use the ADRC control algorithm to adjust the concave plate gap in a closed-loop manner. If the target position is not adjusted after 10S, then close this target adjustment. Avoid always performing the concave plate gap adjustment strategy, reduce the controller load, and facilitate re-comparing the deviation.

[0058] The control logic of the embodiments of the present invention may but is not limited to the following manner:

[0059] a. Increase concave plate gap

[0060] Press the increase button (the button can be located on the control panel, or it can be a mechanical button). The controller sends a control message for increasing the concave plate gap to the high-power module (which can be a drive module), causing the drive motor to act and realizing the action of increasing the concave plate gap. At the same time, the controller uses CAN communication to feedback the status of the concave plate gap increase button to the control panel.

[0061] As Figure 2 shown, 1. Start, determine whether the increase button is pressed. 2. If so, the controller sends a message to drive the motor and feedbacks the button status to the control panel, and end. After step 1, it includes: 3. If not, return to step 1.

[0062] b. Decrease concave plate gap

[0063] Press the decrease button (the button can be located on the control panel, or it can be a mechanical button). The controller sends a control message for decreasing the concave plate gap to the high-power module (which can be a drive module), causing the drive motor to act and realizing the action of decreasing the concave plate gap. At the same time, the controller uses CAN communication to feedback the status of the concave plate gap decrease button to the control panel.

[0064] As Figure 3 shown, 1. Start, determine whether the decrease button is pressed. 2. If so, the controller sends a message to drive the motor and feedbacks the button status to the control panel, and end. After step 1, it includes: 3. If not, return to step 1.

[0065] c. Concave plate gap calibration

[0066] Enable motor calibration at the vehicle setting (function: the motor can move outside the limit range, and without enabling, it can only move within the gap limit). Press the increase and decrease buttons, and according to the calibration tooling, adjust the gap to 5 mm and 35 mm, and calibrate them to the maximum and minimum concave plate gaps respectively. Press the automatic calibration button to start automatic calibration and calibrate the maximum and minimum concave plate gaps respectively.

[0067] As Figure 4 shown, 1. Start, determine whether it is manual calibration. 2. If so, press the increase and decrease buttons, adjust the gap according to the calibration tooling, and calibrate the maximum and minimum values respectively, and end. After step 1, it includes: If not, press the automatic calibration button and calibrate the maximum and minimum values respectively, and end.

[0068] d. Closed-loop regulation of concave plate gap

[0069] When the concave plate gap meets the adjustment condition (the vehicle is powered on), and the screen (control panel) sends down the target value (set value). Calculate the deviation between the current value and the set value. If it is greater than 0.8, use the ADRC control algorithm to close-loop adjust the concave plate gap. If it has not been adjusted to the target position after 10S, then close this target adjustment. Among them, after closing this target adjustment, it is possible to return and continue to calculate the deviation between the current value and the set value.

[0070] As Figure 5 shown, 1. Start, determine whether the vehicle is powered on and the set value is sent down; 2. If so, determine whether the deviation between the current value and the set value is greater than 0.8; 3. If so, automatically adjust the concave plate gap and end. After step 1, it includes: 4. If not, return to step 1. After step 2, it includes: 5. If not, return to step 1.

[0071] In addition, the present invention also provides a concave plate gap adjustment device for a combine harvester, which is used to implement the concave plate gap adjustment method for a combine harvester described in any one of the above. The concave plate gap adjustment device for a combine harvester includes: a worm and worm gear motor, an angle sensor, a rotating shaft, a pair of rocker arms, a pair of push-pull rods, a concave plate, a concave plate hinge shaft, a controller, and a control panel. One end of the concave plate is connected to the concave plate hinge shaft. One end of a pair of the push-pull rods is hinged to the other end of the concave plate. A pair of the rocker arms are respectively hinged to the other ends of a pair of the push-pull rods. A pair of the rocker arms are installed on the rotating shaft. The worm and worm gear motor is connected to the rotating shaft. The controller is respectively connected to the worm and worm gear motor, the angle sensor, and the control panel.

[0072] The beneficial effects of adopting the above further technical solution are: through the direct measurement mechanism of the worm and worm gear motor and the angle sensor, mechanical transmission errors are eliminated, and high-precision adjustment of the concave plate is realized. The worm and worm gear motor is connected to the concave plate to control the gap between the concave plate and the drum. By designing the transmission system of the worm motor and the gear set, replacing the hydraulic cylinder and the stepping motor, it has both high torque and high precision, and eliminates the wear and free travel of the traditional lead screw adjustment.

[0073] The feedback mechanism for the angle sensor to directly measure the concave plate gap provided by the embodiments of the present invention may but is not limited to: a. The angle sensor directly measures the gap between the concave plate and the drum, breaking through the problem of error accumulation in traditional indirect detection (such as lead screw revolution conversion, pressure sensor calculation), and realizing high-precision adjustment. b. The sensor (which can be an angle sensor) is located at the concave plate hinge shaft, and linearly outputs an angle-gap relationship signal in real time. Compared with the drum inlet pressure detection scheme, the anti-vibration interference ability is improved.

[0074] Further, the angle sensor is connected to the concave plate through a connecting rod, the angle sensor is connected to the push-pull rod through a connecting rod, the angle sensor is connected to the rocker arm through a connecting rod, the angle sensor is connected to the rotating shaft through a connecting rod, the angle sensor is connected to the worm and gear motor through a connecting rod, or the angle sensor is connected to the hinge shaft of the concave plate; the controller is connected to the control panel and the angle sensor through a CAN bus.

[0075] The beneficial effects of adopting the above further technical solution are as follows: The angle sensor is connected to a connecting rod and then to the concave plate to detect the concave plate gap. The sensor is located at the hinge shaft of the concave plate and outputs the angle-gap linear relationship signal in real time. Compared with the drum inlet pressure detection scheme, the anti-vibration interference ability is improved. The CAN bus architecture and modular design are adopted to improve the maintenance convenience and support real-time gap display. The CAN communication protocol is used between the controller, the control panel, and the sensor, which supports the transmission of real-time gap values and fault codes, and improves the data refresh rate.

[0076] Further, the worm and gear motor includes: a worm wheel, a worm, and a motor. The worm wheel is a fan-shaped structure. The worm wheel is connected to the rotating shaft. The worm is meshed with the worm wheel. The motor is connected to the worm.

[0077] The beneficial effects of adopting the above further technical solution are as follows: By designing the transmission system of the worm and gear motor and the gear set to replace the hydraulic cylinder and the stepping motor, it has both high torque and high precision, and eliminates the wear dead zone of the traditional lead screw adjustment. With modular design, the motor and the adjustment mechanism can be quickly disassembled and assembled, and the maintenance cost is greatly reduced compared with the hydraulic system.

[0078] In the embodiment of the present invention, through the collaborative design of the direct measurement mechanism of the angle sensor and the driving structure of the worm and gear motor, the error accumulation problem of traditional indirect measurement (such as the conversion of the lead screw rotation speed) is fundamentally solved. The angle sensor directly collects the real-time gap value between the concave plate and the drum. Combining the self-locking characteristic of the worm drive, the adjustment precision is greatly improved compared with the prior art, and at the same time, the risk of hydraulic system leakage is eliminated.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the concave clearance of a combine harvester, characterized in that, Including: S1. Receive the concave plate clearance adjustment instruction input by the user; S2. According to the concave plate clearance adjustment instruction, drive the worm and worm gear motor to act to realize the adjustment of the concave plate clearance; S3. Obtain the current value of the concave plate clearance, the set value of the concave plate clearance, the preset deviation, and the concave plate clearance adjustment strategy; S4. According to the current value of the concave plate clearance and the set value of the concave plate clearance, calculate the deviation between the current value of the concave plate clearance and the set value of the concave plate clearance; S5. Judge whether the deviation between the current value of the concave plate clearance and the set value of the concave plate clearance is greater than the preset deviation; S6. When the deviation between the current value of the concave plate clearance and the set value of the concave plate clearance is greater than the preset deviation, adjust the concave plate clearance according to the concave plate clearance adjustment strategy.

2. The method for adjusting the concave clearance of a combine harvester according to claim 1, wherein The concave plate clearance adjustment instruction includes: a concave plate clearance increasing instruction and a concave plate clearance decreasing instruction.

3. A concave clearance adjustment method for a combine harvester according to claim 1, characterized in that, In step S2, during the adjustment of the concave plate clearance, the current value of the concave plate clearance is displayed through the control panel.

4. A concave clearance adjustment method for a combine harvester according to claim 1, characterized in that, Also including: Manually tool calibrate or automatically calibrate the maximum value and the minimum value of the concave plate clearance.

5. A concave clearance adjustment method for a combine harvester according to claim 1, characterized in that, The concave plate clearance adjustment strategy is to adjust the concave plate clearance in a closed loop by the ADRC control algorithm.

6. A concave clearance adjustment method for a combine harvester according to claim 1, characterized in that, After step S6 includes: S7. Obtain the time for adjusting the concave plate clearance according to the concave plate clearance adjustment strategy and the preset time; S8. Judge whether the time for adjusting the concave plate clearance according to the concave plate clearance adjustment strategy is greater than the preset time; S9. When the time for adjusting the concave plate clearance according to the concave plate clearance adjustment strategy is greater than the preset time, stop the adjustment work.

7. A concave clearance adjustment method for a combine harvester according to claim 6, characterized in that, The preset time is 10S, and the preset deviation is 0.

8.

8. A concave clearance adjusting device for a combine harvester, characterized in that, A concave plate clearance adjustment device for a combine harvester, which is used to implement the method for adjusting the concave plate clearance of the combine harvester according to any one of claims 1 to 7 above, includes: a worm and worm gear motor, an angle sensor, a rotating shaft, a pair of rocker arms, a pair of push rods, a concave plate, a concave plate hinge shaft, a controller, and a control panel. One end of the concave plate is connected to the concave plate hinge shaft, one end of a pair of the push rods is hinged to the other end of the concave plate, a pair of the rocker arms are respectively hinged to the other ends of the pair of the push rods, the pair of the rocker arms are installed on the rotating shaft, the worm and worm gear motor is connected to the rotating shaft, and the controller is respectively connected to the worm and worm gear motor, the angle sensor, and the control panel.

9. The concave clearance adjusting device of a combine harvester according to claim 8, characterized in that, The angle sensor is connected to the concave plate through a connecting rod, the angle sensor is connected to the push rod through a connecting rod, the angle sensor is connected to the rocker arm through a connecting rod, the angle sensor is connected to the rotating shaft through a connecting rod, the angle sensor is connected to the worm and worm gear motor through a connecting rod, or the angle sensor is connected to the concave plate hinge shaft; the controller is connected to the control panel and the angle sensor through the CAN bus.

10. A concave clearance adjusting device for a combine harvester according to claim 8, characterized in that, The worm and worm gear motor includes: a worm wheel, a worm, and a motor. The worm wheel is of a sector structure, the worm wheel is connected to the rotating shaft, the worm is meshed with the worm, and the motor is connected to the worm.

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