Self-adaptive throwing device for stalks cutting and discharging in the longitudinal axial flow combine harvesters and its control method

Patent metadata

Field	Value
Publication number	US-10820518-B2
Application number	US-201615742368-A
Country	US
Kind code	B2
Filing date	Nov 22, 2016
Priority date	Oct 25, 2016
Publication date	Nov 3, 2020
Grant date	Nov 3, 2020

Abstract

A self-adaptive throwing device for stalks cutting and discharging in the longitudinal axial flow combine harvesters comprises a longitudinal axial flow stalk discharging and guiding device, a stalks remnant shredding device, a wind direction and wind speed detection device, a reaping region identification device, an operating speed sensor, a shredding revolution speed sensor, a width adjustable throwing device, a self-adaptive throwing real-time control system. The throwing width is self-adaptive based on the machine operating speed, wind speed, wind direction, the position of the region having been cut and the region waiting to be cut, so as to achieve the full width throwing of the stalks remnant. An arc stalk guiding plate and a flow separating bar are mounted in the longitudinal axial flow stalk guiding device to make the shredding load more even.

First claim

We claim:

1. A self-adaptive throwing device for stalks cutting and discharging in the longitudinal axial flow combine harvesters, comprising a longitudinal axial flow stalk discharging and guiding device ( 5 ), a stalk remnant shredding device ( 11 ), a wind direction and wind speed detection device ( 4 ), a reaping region identification device ( 2 ), an operating speed sensor ( 8 ), a shredding revolution speed sensor ( 10 ), a width adjustable throwing device ( 13 ), a self-adaptive throwing real-time control system;
the stalk remnant shredding device ( 11 ) is located behind and below the longitudinal axial flow stalk discharging and guiding device ( 5 ), and the width adjustable throwing device ( 13 ) is mounted on a stalk discharging side behind the stalk remnant shredding device ( 11 );
the wind direction and wind speed detection device ( 4 ) is installed in an intermediate area above a combine harvester grain tank ( 3 ), and the wind speed and the wind direction at the position where the machine works can be measured without being blocked by other components;
the reaping region identification device ( 2 ) is mounted above the combine harvester grain tank ( 3 ) and adjacent to the outside of the combine harvester grain tank ( 3 ), the detection range of reaping region identification device ( 2 ) is larger than the width of a header ( 1 ) of the combine harvester
the operating speed sensor ( 8 ) is mounted on a driving wheel of the combine harvester;
the shredding revolution speed sensor ( 10 ) is mounted on a cutter shaft of the stalk remnant shredding device ( 11 );
the width adjustable throwing device ( 13 ) includes a servo electric cylinder ( 1301 ) and a throwing-width adjusting mechanism ( 1302 ), the servo electric cylinder ( 1301 ) and the throwing-width adjusting mechanism ( 1302 ) are mounted on the outside of a throwing device housing ( 1302 - 10 );
an input end of the servo electric cylinder ( 1301 ) is connected with the self-adaptive throwing real-time control system, and an output end of the servo electric cylinder ( 1301 ) is connected with the throwing-width adjusting mechanism ( 1302 );
the throwing-width adjusting mechanism ( 1302 ) includes a STALK throwing and guiding plate ( 1302 - 9 ), a first connecting rod ( 1302 - 8 ), a second connecting rod ( 1302 - 3 ), a third connecting rod ( 1302 - 1 ), a middle connecting plate ( 1302 - 5 ), a supporting rod ( 1302 - 7 ), a first movable pin roll ( 1302 - 6 ), a second movable pin roll ( 1302 - 4 ), and a third movable pin roll ( 1302 - 2 );
wherein, the stalk throwing and guiding plate ( 1302 - 9 ) is evenly distributed over the lateral width of the throwing device housing ( 1302 - 10 ) and a front end of the stalk throwing and guiding plate ( 1302 - 9 ) is rotatably connected with the throwing device housing ( 1302 - 10 ) and a rear end of the stalk throwing and guiding plate ( 1302 - 9 ) is rotatably connected with the first connecting rod ( 1302 - 8 );
the first connecting rod ( 1302 - 8 ) is connected to the middle connecting plate ( 1302 - 5 ) by the first movable pin roll ( 1302 - 6 ), one end of the second connecting rod ( 1302 - 3 ) is connected to one end of the third connecting rod ( 1302 - 1 ) through the third movable pin roll ( 1302 - 2 ), and the other end of the second connecting rod ( 1302 - 3 ) is connected to the middle connecting plate ( 1302 - 5 ) through the second movable pin roll ( 1302 - 4 ), the other end of the third connecting rod ( 1302 - 1 ) is fixed to a rod-end joint in a shaft of the servo electric cylinder ( 1301 ), the middle connecting plate ( 1302 - 5 ) is mounted on the supporting rod ( 1302 - 7 );
the supporting rod ( 1302 - 7 ) is an L-shaped rod, and the middle connecting plate ( 1302 - 5 ) is rotatable about an upper arm of the supporting rod ( 1302 - 7 ), and a lower arm of the supporting rod ( 1302 - 7 ) is fixed to a side of the throwing device housing ( 1302 - 10 );
the wind direction and wind speed detection device ( 4 ) is used to detect the wind direction and the wind speed at the position where the machine works in real time and transmit the measured wind direction and the wind speed data to the self-adaptive throwing real-time control system;
the reaping region identification device ( 2 ) configured to: capture images larger than a width of the header ( 1 ) of the combine harvester; capture images continuously of both sides of the header ( 1 ) of the combine harvester in the advancing direction of the combine harvester; extract features from captured images comprising at least one of a first feature of upright standing and neatly arranged crops in the region waiting to be cut ( 201 ) or a feature of evenly distributed stalks on the low stubble in the region having been cut ( 202 ); determine that regions at the left side and the right side in the advancing direction of the combine harvester are the region waiting to be cut ( 201 ) or the region having been cut ( 202 ); convert the determination of the region waiting to be cut ( 201 ) or the region having been cut ( 202 ) into a control signal; and transmit the control signal to the self-adaptive throwing real-time control system;
the operating speed sensor ( 8 ) is used to measure the advancing speed of the machine in real time according to the rotational speed of the driving wheel of the combine harvester, and the operating speed parameters are transmitted to the self-adaptive throwing real-time control system;
the shredding revolution speed sensor ( 10 ) is used to measure the rotational speed of the cutter shaft of a shredder ( 1101 ), the throwing speed of short stalks is obtained, and the throwing speed parameter of short stalks is online transmitted to the self-adaptive throwing real-time control system;
the stalk remnant throwing angle is obtained in real time by conversion of the displacement of the servo electric cylinder;
the self-adaptive throwing real-time control system takes parameters including the wind direction value, the wind speed value, the working speed of machine and the throwing speed of short stalk, and stalk remnant throwing angle as the independent variables, to carry out the velocity synthesis of the throwing stalks remnant so as to obtain the velocity components of the stalks remnant in the width direction and the vertical direction, and the real-time throwing trajectory of the stalks remnant in the width section is obtained by combining with gravity;
the self-adaptive throwing real-time control system takes the advancing direction of the machine, the position parameters of the region waiting to be cut and the region having been cut as the independent variables so as to calculate the width required to throw the stalks remnant in real time; and
according to the real-time throwing trajectory of the stalks remnant and the real-time throwing width required for the stalks remnant, the self-adaptive throwing real-time control system calculates the actual adjustment parameters of the servo electric cylinder ( 1301 ) by utilizing the fuzzy theory, and then control the servo electric cylinder ( 1301 ) to drive the throwing-width adjusting mechanism ( 1302 ), thus changing the inclination of the stalk throwing and guiding plate ( 1302 - 9 ), so as to achieve the full width throwing of the stalk remnant.

2. The self-adaptive throwing device for stalks cutting and discharging in the longitudinal axial flow combine harvesters according to claim 1 , wherein the number of the throwing-width adjusting mechanism ( 1302 ) is 2 to 6, and the number of servo electric cylinder ( 1301 ) is 2 to 6, and the number of the stalk throwing and guiding plate ( 1302 - 9 ) included in each of the throwing-width adjusting mechanism ( 1302 ) is 1-3.

3. The self-adaptive throwing device for stalks cutting and discharging in the longitudinal axial flow combine harvesters according to claim

Assignees

• Univ Jiangsu

Inventors

• Xu Lizhang
• Li Yang
• Li Yaoming

Classifications

• A01D41/1243 Primary

  Devices for laying-out or distributing the straw · CPC title

• A01F12/446

  Sieving means · CPC title

• A01F12/22

  Threshing cylinders with teeth · CPC title

• A01F12/40 Primary

  Arrangements of straw crushers or cutters · CPC title

• A01D41/06

  Combines with headers · CPC title