阅读说明：本技术 液压式变直径脱粒滚筒的液压自适应驱控系统及自适应控制方法 (Hydraulic self-adaptive driving and controlling system and method for hydraulic variable-diameter threshing cylinder ) 是由 刘延彬 李耀明 陈立鹏 苏展 于 2021-07-22 设计创作，主要内容包括：本发明提供了一种液压式变直径脱粒滚筒的液压自适应驱控系统及自适应控制方法,包括液压驱动系统、在线监测系统、自适应控制系统、行驶前进速度执行机构和声音报警器。液压驱动系统可实现脱粒滚筒直径的调节并实现直径调节后的自锁。在线监测系统可实时监测收割机行驶前进速度、液压式变直径滚筒脱粒装置的脱粒间隙,以及空心液压缸无杆腔端的油压。自适应控制系统将监测的实时油压参数与参考模型中的对应的油压参数范围进行比较判断,自适应调节行驶前进速度和脱粒间隙,以解决联合收割机在工作过程中存在物料堵塞的难题。本发明可提高液压式变直径脱粒滚筒纵轴流联合收割机的无故障工作时间和收获效率。(The invention provides a hydraulic self-adaptive driving control system and a self-adaptive control method of a hydraulic variable-diameter threshing cylinder. The hydraulic driving system can realize the adjustment of the diameter of the threshing cylinder and realize the self-locking after the diameter is adjusted. The on-line monitoring system can monitor the running forward speed of the harvester, the threshing gap of the hydraulic variable-diameter roller threshing device and the oil pressure of the rodless cavity end of the hollow hydraulic cylinder in real time. The self-adaptive control system compares and judges the monitored real-time oil pressure parameter with the corresponding oil pressure parameter range in the reference model, and self-adaptively adjusts the advancing speed and the threshing gap so as to solve the problem of material blockage in the working process of the combine harvester. The invention can improve the trouble-free working time and the harvesting efficiency of the hydraulic variable-diameter threshing cylinder longitudinal axial flow combine harvester.)

1. Hydraulic pressure self-adaptation drive control system of fluid pressure type variable diameter threshing cylinder, its characterized in that: the system comprises a hydraulic driving system, an online monitoring system, a self-adaptive control system (4) and a running speed executing mechanism;

the hydraulic driving system comprises a feeding end hollow hydraulic cylinder (103) and a tail end hollow hydraulic cylinder (104) which are used for driving a feeding end diameter adjusting device (101), a tail end diameter adjusting device (102) and a threshing toothed bar (105), a logic valve (202), a three-position four-way electromagnetic proportional reversing valve (205), a synchronous valve (206) and a hydraulic lock (207); an oil inlet of the logic valve (202) is connected with an oil inlet path, and an oil outlet of the logic valve is connected with a main oil inlet P1 of the three-position four-way electromagnetic proportional directional valve (205); the main oil outlet T1 of the three-position four-way electromagnetic proportional directional valve (205) is connected with an oil return path, and an oil inlet/outlet A and an oil inlet/outlet B are respectively connected with an oil port of one of the two synchronous valves (206); oil ports of the two synchronous valves (206) are respectively connected with oil ports of hydraulic control one-way valves forming a hydraulic lock (207); the oil port of a hydraulic control one-way valve forming the hydraulic lock (207) is respectively connected with the oil inlet and outlet of the feeding end hollow hydraulic cylinder (103) and the tail end hollow hydraulic cylinder (104);

the online monitoring system comprises an oil pressure sensor (301), a displacement sensor (302) and a running speed sensor (303); the oil pressure sensor (301) is arranged in the rodless cavity end of the feeding end hollow hydraulic cylinder (103) and/or the tail end hollow hydraulic cylinder (104) and is used for monitoring the change of the rodless cavity oil pressure of the feeding end hollow hydraulic cylinder (103) in real time; the base end of the displacement sensor (302) is fixed on the tail end diameter adjusting device (102), and the sensing end is connected with the threshing toothed bar (105) and used for monitoring the position of the threshing toothed bar (105) and measuring the diameter of the threshing cylinder in real time; the running speed sensor (303) is arranged on a driving wheel of the combine harvester and is used for measuring the running forward speed of the machine in real time according to the rotating speed of the driving wheel of the combine harvester;

the running speed executing mechanism (5), the oil pressure sensor (301), the displacement sensor (302) and the running speed sensor (303) are in communication connection with the self-adaptive control system (4), and the self-adaptive control system (4) is also connected with the three-position four-way electromagnetic proportional reversing valve (205);

the self-adaptive control system (4) calculates the size of the threshing gap in real time according to the diameter of the threshing cylinder, and sends control instructions to the running speed executing mechanism (5) and the three-position four-way electromagnetic proportional directional valve (205) based on the oil pressure and the running forward speed.

2. The hydraulic adaptive control system of hydraulic variable-diameter threshing cylinder according to claim 1, characterized in that the feeding end diameter adjusting device (101) and the tail end diameter adjusting device (102) are the same; the feeding end hollow hydraulic cylinder (103) and the tail end hollow hydraulic cylinder (104) are the same.

3. The hydraulic adaptive control system of a hydraulic variable-diameter threshing cylinder according to claim 2, characterized by further comprising a first direct overflow valve (201), wherein the oil inlet of the first direct overflow valve (201) is connected with the hydraulic motor M, and the oil outlet is connected with the oil return path.

4. The hydraulic adaptive control system for hydraulic variable-diameter threshing cylinders according to claim 2, characterized in that it further comprises a second direct overflow valve (204), the second direct overflow valve (204) has an oil inlet connected to the logic valve (202) and an oil outlet connected to the oil return path.

5. The adaptive control method of the hydraulic adaptive control system of the hydraulic variable-diameter threshing cylinder according to claim 3, characterized by further comprising a flow control valve (203), wherein the oil inlet of the flow control valve (203) is connected with the logic valve (202), and the oil outlet is connected with the oil return path.

6. The hydraulic adaptive control system for hydraulic variable-diameter threshing cylinders according to claim 1, characterized by further comprising an audible alarm connected to the adaptive control system (4).

7. The adaptive control method of the hydraulic adaptive drive and control system of the hydraulic variable-diameter threshing cylinder according to any one of claims 1 to 5, characterized in that, firstly, field tests or bench tests are utilized to obtain the change data of oil pressure under the conditions of different threshing gaps and different running forward speeds, and a multi-parameter associated adaptive control model is established according to the oil pressure of rodless cavities of the feeding end hollow hydraulic cylinder (103) and/or the tail end hollow hydraulic cylinder (104), the threshing gap and the running forward speed; the self-adaptive control system (4) is based on a multi-parameter association self-adaptive control model, and can timely adjust the running forward speed of the combine harvester and adjust the diameter of the roller by controlling the work of the hydraulic drive system (3) according to the threshing gap of the longitudinal axis rheological diameter roller threshing device, the running forward speed of the combine harvester and the oil pressure of the rodless cavity end of the feeding end hollow hydraulic cylinder (103) and/or the tail end hollow hydraulic cylinder (104).

8. An adaptive control method according to claim 7, characterized in that the adaptive control system (4) adjusts the control strategy of the travel forward speed and the roller diameter of the combine harvester as follows: when the oil pressure value of the rodless cavity end of the feeding end hollow hydraulic cylinder (103) and/or the tail end hollow hydraulic cylinder (104) monitored by the oil pressure sensor 301 of the line monitoring system 3 is not in the corresponding oil pressure parameter value range in the multi-parameter association adaptive control model:

when the monitored oil pressure value is larger than the range value of the corresponding oil pressure parameter in the model, transmitting an electric signal output by a comparison and judgment result of the self-adaptive control system (4) to a control coil a of a three-position four-way electromagnetic proportional reversing valve (205) of a hydraulic driving system (2) to drive a feeding end hollow hydraulic cylinder (103) and a tail end hollow hydraulic cylinder (104) to synchronously retract and reduce the diameter of a hydraulic variable-diameter threshing cylinder (1) so as to increase a threshing gap;

when the monitored oil pressure value is smaller than the corresponding oil pressure parameter range value in the model, transmitting an electric signal output by a comparison judgment result of the self-adaptive control system (4) to a control coil b of a three-position four-way electromagnetic proportional reversing valve (205) of the hydraulic driving system (2) to drive the feeding end hollow hydraulic cylinder (103) and the tail end hollow hydraulic cylinder (104) to synchronously extend out of the hydraulic variable-diameter threshing cylinder (1) to adjust the diameter to reduce the threshing gap;

when a threshing gap signal monitored by a displacement sensor (302) reaches an adjusting value, the threshing gap signal is transmitted to a self-adaptive control system (4), the self-adaptive control system (4) outputs a control signal to enable a three-position four-way electromagnetic proportional directional valve (205) to be in a middle position, the diameter of a roller is adjusted, a hydraulic lock (207) is closed, and an oil way is cut off to complete self-locking;

if the monitored oil pressure value is in the range of the corresponding oil pressure parameter in the model of the corresponding threshing gap after the threshing gap is adjusted, the self-adaptive control system (4) does not output an adjusting signal any more;

if the monitored oil pressure value is not in the corresponding oil pressure parameter range in the model after the threshing clearance is adjusted, when the monitored oil pressure value is larger than the corresponding oil pressure parameter range value in the model, the self-adaptive control system (4) outputs an adjusting signal to be transmitted to the driving forward speed executing mechanism (5) to reduce the driving forward speed; when the monitored oil pressure value is smaller than the corresponding oil pressure parameter range value in the model, the self-adaptive control system (4) outputs an adjusting signal and transmits the adjusting signal to the driving forward speed executing mechanism (5) to increase the driving forward speed;

if the monitored oil pressure value after the adjustment of the forward speed is within the corresponding oil pressure parameter range in the corresponding model, the adaptive control system (4) does not output the adjustment signal any more.

9. The adaptive control method according to claim 7, characterized in that after the forward speed and the threshing gap are adjusted, the oil pressure signal still has a deviation from the corresponding oil pressure parameter range in the model, and the adaptive control system (4) controls the sound alarm (6) to give an alarm.

10. A combine harvester comprising a hydraulic adaptive drive and control system of the hydraulic variable diameter threshing cylinder of any one of claims 1 to 6.

Technical Field

The invention relates to the technical field of agricultural mechanical equipment, in particular to a hydraulic self-adaptive control system and a self-adaptive control method for a hydraulic variable-diameter threshing cylinder of a longitudinal axial flow combine harvester.

Background

The planting area of rice in China is very wide, the variety is numerous, and because the conditions such as landform, soil environment, sunlight irradiation duration and the like are different among different regions, the growth density and the biomechanical characteristics of the rice are greatly different due to the factors. In recent years, super rice is planted in China in large quantities, and has the characteristics of high yield per unit, dense growth, thick stems, high water content and the like. Due to the reasons, the combine harvester has large feeding amount and large fluctuation in the working process, and the threshing device is easy to block.

The threshing gap and the feeding amount are two main factors influencing the threshing performance of the threshing device, and the problem of blockage of the threshing device can be effectively solved by changing the feeding amount, adjusting the running forward speed of the combine harvester and changing the threshing gap. Currently, there are two methods for changing the threshing gap: one is to change the position of the concave plate screen, such as patent CN 106489447B; secondly, the diameter of the threshing cylinder is changed, as in patent CN 108142110B.

In order to meet the requirement of intelligent development of harvesting machinery and improve working efficiency, a large number of reports are provided for the design method of a self-adaptive anti-blocking control system for adjusting the position of a concave sieve and changing a threshing gap. For example, the CN 102273359B patent monitors the rotating speed and the torque of a roller, the CN 102804980 patent monitors the pressure of the concave plate sieve, the CN 105230229B patent monitors the grain flow, and the CN 110337859B patent automatically adjusts the position of the concave plate sieve by monitoring the tangential force applied to the concave plate sieve to realize anti-blocking.

Disclosure of Invention

The invention provides a hydraulic self-adaptive driving control system and a self-adaptive control method of a hydraulic variable-diameter threshing cylinder, which aim to solve the problem that the diameter of the cylinder cannot be adjusted in real time to change the threshing gap in the existing variable-diameter threshing cylinder, so that the self-adaptive control of the diameter of the cylinder based on multiple parameters is realized.

The present invention achieves the above-described object by the following technical means.

Hydraulic pressure self-adaptation drive control system of fluid pressure type variable diameter threshing cylinder, its characterized in that: the system comprises a hydraulic driving system, an online monitoring system, a self-adaptive control system and a running speed executing mechanism;

the hydraulic driving system comprises a feeding end hollow hydraulic cylinder, a tail end hollow hydraulic cylinder, a logic valve, a three-position four-way electromagnetic proportional reversing valve, a synchronous valve and a hydraulic lock, wherein the feeding end hollow hydraulic cylinder and the tail end hollow hydraulic cylinder are used for driving a feeding end diameter adjusting device, a tail end diameter adjusting device and a threshing toothed bar; the oil inlet of the logic valve is connected with the oil inlet path, and the oil outlet of the logic valve is connected with a main oil inlet P1 of the three-position four-way electromagnetic proportional reversing valve; the main oil outlet T1 of the three-position four-way electromagnetic proportional reversing valve is connected with an oil return path, and an oil inlet/outlet A and an oil inlet/outlet B are respectively connected with an oil port of one of the two synchronous valves; oil ports of the two synchronous valves are respectively connected with oil ports of hydraulic control one-way valves forming the hydraulic lock; the oil port of the hydraulic control one-way valve forming the hydraulic lock is respectively connected with the oil inlet and outlet of the feeding end hollow hydraulic cylinder and the tail end hollow hydraulic cylinder;

the online monitoring system comprises an oil pressure sensor, a displacement sensor and a running speed sensor; the oil pressure sensor is arranged in the rodless cavity end of the feeding end hollow hydraulic cylinder and/or the tail end hollow hydraulic cylinder and is used for monitoring the change of the rodless cavity oil pressure of the feeding end hollow hydraulic cylinder in real time; the displacement sensor base end is fixed on the tail end diameter adjusting device, and the sensing end is connected with the threshing toothed bar and used for monitoring the position of the threshing toothed bar and measuring the diameter of the threshing cylinder in real time; the running speed sensor is arranged on a driving wheel of the combine harvester and is used for measuring the running forward speed of the machine in real time according to the rotating speed of the driving wheel of the combine harvester;

the running speed executing mechanism, the oil pressure sensor, the displacement sensor and the running speed sensor are all in communication connection with the self-adaptive control system, and the self-adaptive control system is also connected with the three-position four-way electromagnetic proportional reversing valve;

the self-adaptive control system calculates the size of the threshing gap in real time according to the diameter of the threshing cylinder and sends control instructions to the running speed executing mechanism and the three-position four-way electromagnetic proportional directional valve based on the oil pressure and the running forward speed.

Further, the feeding end diameter adjusting device and the tail end diameter adjusting device are the same; the feeding end hollow hydraulic cylinder and the tail end hollow hydraulic cylinder are the same.

And the oil inlet of the first direct overflow valve is connected with the hydraulic motor M, and the oil outlet of the first direct overflow valve is connected with the oil return path.

And the oil inlet of the second direct-acting overflow valve is connected with the logic valve, and the oil outlet of the second direct-acting overflow valve is connected with the oil return path.

And the oil inlet of the flow control valve is connected with the logic valve, and the oil outlet of the flow control valve is connected with the oil return path.

Furthermore, the system also comprises an audible alarm which is connected with the self-adaptive control system.

The self-adaptive control method of the hydraulic self-adaptive driving and controlling system of the hydraulic variable-diameter threshing cylinder is characterized in that firstly, field tests or bench tests are utilized to obtain the change data of oil pressure under the conditions of different threshing gaps and different running forward speeds, and a multi-parameter association self-adaptive control model is established according to the oil pressure of a rodless cavity of a feeding end hollow hydraulic cylinder and/or a tail end hollow hydraulic cylinder, the threshing gap and the running forward speed; the self-adaptive control system is based on a multi-parameter association self-adaptive control model, and can timely adjust the running forward speed of the combine harvester and adjust the diameter of the roller by controlling the work of the hydraulic drive system according to the threshing gap of the longitudinal axis rheological diameter roller threshing device, the running forward speed of the combine harvester and the oil pressure of the rodless cavity end of the feeding end hollow hydraulic cylinder and/or the tail end hollow hydraulic cylinder.

Further, the control strategy for adjusting the running forward speed and the roller diameter of the combine harvester by the adaptive control system is as follows: when the oil pressure value of the rodless cavity end of the feeding end hollow hydraulic cylinder and/or the tail end hollow hydraulic cylinder monitored by the oil pressure sensor of the line monitoring system is not in the corresponding oil pressure parameter value range in the multi-parameter association adaptive control model:

when the monitored oil pressure value is larger than the corresponding oil pressure parameter range value in the model, transmitting an electric signal output by a comparison and judgment result of the self-adaptive control system to a control coil a of a three-position four-way electromagnetic proportional reversing valve of a hydraulic driving system, and driving a hollow hydraulic cylinder at the feeding end and a hollow hydraulic cylinder at the tail end to synchronously retract and reduce the diameter of a hydraulic variable-diameter threshing cylinder so as to increase a threshing gap;

when the monitored oil pressure value is smaller than the corresponding oil pressure parameter range value in the model, transmitting an electric signal output by a comparison judgment result of the self-adaptive control system to a control coil b of a three-position four-way electromagnetic proportional reversing valve of the hydraulic drive system, and driving the feeding end hollow hydraulic cylinder and the tail end hollow hydraulic cylinder to synchronously extend out and increase the diameter of the hydraulic variable-diameter threshing cylinder to reduce threshing gaps;

when a threshing gap signal monitored by a displacement sensor reaches an adjustment value, the threshing gap signal is transmitted to a self-adaptive control system, the self-adaptive control system outputs a control signal to enable a three-position four-way electromagnetic proportional directional valve to be in a middle position, the diameter of a roller is adjusted, a hydraulic lock is closed, and an oil way is cut off to complete self-locking;

if the monitored oil pressure value is in the range of the corresponding oil pressure parameter in the model of the corresponding threshing gap after the threshing gap is adjusted, the self-adaptive control system does not output an adjusting signal any more;

if the monitored oil pressure value is not in the corresponding oil pressure parameter range in the model after the threshing clearance is adjusted, when the monitored oil pressure value is larger than the corresponding oil pressure parameter range value in the model, the self-adaptive control system outputs an adjusting signal to be transmitted to the running forward speed executing mechanism to reduce the running forward speed; when the monitored oil pressure value is smaller than the corresponding oil pressure parameter range value in the model, the self-adaptive control system outputs an adjusting signal and transmits the adjusting signal to the driving forward speed executing mechanism to increase the driving forward speed;

and if the monitored oil pressure value after the adjustment of the forward speed is within the corresponding oil pressure parameter range in the corresponding model, the self-adaptive control system does not output the adjustment signal any more.

Furthermore, after the advancing speed and the threshing clearance are adjusted, the oil pressure signal still has deviation with the corresponding oil pressure parameter range in the model, and the self-adaptive control system controls the sound alarm to give an alarm.

A combine harvester comprising the hydraulic self-adaptive driving and controlling system of the hydraulic variable-diameter threshing cylinder.

The invention provides a hydraulic self-adaptive driving control system and a self-adaptive control method of a hydraulic variable-diameter threshing cylinder, aiming at the hydraulic variable-diameter threshing cylinder, the invention improves the automation degree and the harvesting efficiency of a hydraulic variable-diameter threshing cylinder longitudinal axial flow combine harvester by monitoring the change of oil pressure in rodless cavities of a feeding end hollow hydraulic cylinder and a tail end hollow hydraulic cylinder and adaptively adjusting the diameter of the cylinder and the running advancing speed of the harvester based on the running advancing speed and the threshing gap, and effectively prevents a threshing device from being blocked. The hydraulic driving system can effectively realize diameter adjustment of the threshing cylinder and self-locking after the diameter adjustment, can effectively realize load protection and can adjust the diameter adjusting speed according to the actual working condition.

Drawings

Fig. 1 is a simplified schematic diagram of a hydraulic variable-diameter threshing cylinder.

Fig. 2 is a schematic view of the connection between the threshing rack and the diameter adjusting mechanism and the installation position of the displacement sensor.

Fig. 3 is a schematic diagram of a hydraulic drive system.

Fig. 4 is a schematic view of a mounting position of a travel forward speed sensor.

Fig. 5 is a schematic structural diagram of a control system of a hydraulic self-adaptive driving and controlling system of a hydraulic variable-diameter threshing cylinder.

FIG. 6 is a schematic diagram of the adaptive control of the hydraulic adaptive driving and controlling system of the hydraulic variable diameter threshing cylinder.

In the figure, the position of the upper end of the main shaft,

1. the device comprises a hydraulic variable-diameter longitudinal axial flow threshing cylinder, 101, a feeding end diameter adjusting device, 102, a tail end diameter adjusting device, 103, a feeding end hollow hydraulic cylinder, 104, a tail end hollow hydraulic cylinder, 105, a threshing toothed bar, 2, a hydraulic driving system, 201, a first direct-acting overflow valve, 202, a logic valve, 203, a flow control valve, 204, a second direct-acting overflow valve, 205, a three-position four-way electromagnetic proportional reversing valve, 206, a synchronous valve, 207, a hydraulic lock, 3, an online monitoring system, 301, an oil pressure sensor, 302, a displacement sensor, 303, a driving forward speed sensor, 4, an adaptive control system, 5, a driving forward speed executing mechanism and 6, a sound alarm.

Detailed Description

The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.

As shown in fig. 1 and 2, the hydraulic variable diameter threshing cylinder has a simplified structure including a feeding end diameter adjusting device 101, a tail end diameter adjusting device 102, a feeding end hollow hydraulic cylinder 103, a tail end hollow hydraulic cylinder 104, and a threshing toothed bar 105. The feeding end diameter adjusting device 101, the tail end diameter adjusting device 102, the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104 are coaxial with a main shaft of the roller, the threshing toothed bar 105 is fixed with toothed bar connecting rods of the feeding end diameter adjusting device 101 and the tail end diameter adjusting device 102 through bolts and nuts, and the diameter adjusting device is driven by the telescopic piston rod of the hydraulic cylinder to enable the threshing toothed bar to move up and down in the radial direction, so that the diameter of the threshing roller is changed.

As shown in fig. 3, the hydraulic drive system includes a first direct overflow valve 201, a logic valve 202, a flow control valve 203, a second direct overflow valve 204, a three-position four-way electromagnetic proportional directional valve 205, a synchronizing valve 206, and a hydraulic lock 207. An oil inlet of the first direct overflow valve 201 is connected with the hydraulic motor M, and an oil outlet of the first direct overflow valve is connected with an oil return path; the oil inlet of the logic valve 202 is connected with an oil inlet path, and the oil outlet is connected with a main oil inlet P1 of a three-position four-way electromagnetic proportional directional valve 205; an oil inlet of the flow control valve 203 is connected with the logic valve 202, and an oil outlet of the flow control valve is connected with an oil return path; an oil inlet of the second direct-acting overflow valve 204 is connected with the logic valve 202, and an oil outlet of the second direct-acting overflow valve is connected with an oil return path; the main oil outlet T1 of the three-position four-way electromagnetic proportional directional valve 205 is connected with an oil return path, and the oil inlet and outlet A and B are respectively connected with the oil inlet of the synchronous valve 206; the oil port of the synchronous valve 206 is respectively connected with the oil port of a hydraulic control one-way valve forming a hydraulic lock 207; the hydraulic control check valve oil port forming the hydraulic lock 207 is respectively connected with the oil inlet and outlet ports of the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104.

The first direct relief valve 201 regulates the pressure value of the system to prevent pressure damage of the main pump; the logic valve 202 opens and closes the system flow through the pressure load signal of the feedback valve LS, so as to ensure the minimum energy loss of the system; the flow control valve 203 controls the output flow of the system to adjust the expansion and contraction speeds of the piston rods of the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104; the feedback valve LS and the second direct-acting overflow valve 204 set the pressure value of the working mechanism according to the maximum pressure value of the working mechanism; the three-position four-way electromagnetic proportional directional valve 205 controls the telescopic and static states of the piston rods of the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104 to change the diameter of the threshing cylinder to obtain different threshing gaps; the synchronous valve 206 realizes the synchronous movement of the piston rods of the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104; the hydraulic lock 207 prevents the piston rod from moving back and forth due to the change of the working load after the diameter of the threshing cylinder is adjusted, realizes self-locking and improves the stability of the hydraulic variable-diameter threshing cylinder.

The hydraulic system can realize synchronous extension and retraction of piston rods of the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104 and self-locking after diameter adjustment. Meanwhile, the expansion speed of the piston rod of the hydraulic cylinder can be adjusted according to the actual operation condition of the variable-diameter threshing cylinder, the diameter adjusting speed can be adjusted, the pressure value of the system can be adjusted to realize load protection, and the flow of the system can be opened and closed in real time to ensure the minimum energy loss of the system.

As shown in fig. 2, 3, 4 and 5, the on-line monitoring system includes an oil pressure sensor 301, a displacement sensor 302 and a travel forward speed sensor 303; an oil pressure sensor 301 is arranged at the rodless cavity end of the feeding end hollow hydraulic cylinder 103 and/or the tail end hollow hydraulic cylinder 104 and is used for monitoring the change of the rodless cavity oil pressure of the feeding end hollow hydraulic cylinder 103 and/or the tail end hollow hydraulic cylinder 104 in real time. The base end of the displacement sensor 302 is fixed on the tail end diameter adjusting device 102, and the sensing end is connected with the threshing toothed bar 105 and used for monitoring the position of the threshing toothed bar 105 and measuring the diameter of the threshing cylinder in real time. The driving forward speed sensor 303 is mounted on a driving wheel of the combine harvester and used for measuring the driving forward speed of the machine in real time according to the rotating speed of the driving wheel of the combine harvester.

As shown in fig. 5, the adaptive control system 4 is connected to the audible alarm 6, the on-line monitoring system 3, the travel forward speed actuator 5, and the hydraulic drive system 2, respectively. The adaptive control system 4 receives detection signals from the oil pressure sensor 301, the displacement sensor 302 and the running speed sensor 303 in real time, calculates the size of the threshing gap in real time according to the diameter of the threshing cylinder, and sends a control command to the running speed actuator 5 and the three-position four-way electromagnetic proportional directional valve 205 based on the oil pressure and the running forward speed.

The self-adaptive control method of the hydraulic self-adaptive driving and controlling system of the hydraulic variable-diameter threshing cylinder comprises the following steps: firstly, field tests or bench tests are utilized to obtain the change data of oil pressure under the conditions of different threshing gaps and different driving forward speeds, and a multi-parameter association adaptive control model is established according to the oil pressure of the rodless cavity of the feeding end hollow hydraulic cylinder 103 and/or the tail end hollow hydraulic cylinder 104, the threshing gaps and the driving forward speeds. As shown in fig. 6, when the combine harvester threshing device works, the oil pressure sensor 301 measures the oil pressure at the rodless cavity end of the feeding end hollow hydraulic cylinder 103 and/or the tail end hollow hydraulic cylinder 104 and feeds the oil pressure back to the adaptive control system 4, when the adaptive control system 4 compares the oil pressure value monitored by the oil pressure sensor with the corresponding oil pressure parameter range in the model and generates deviation, the control signal is transmitted to the hydraulic driving system 2 and the traveling forward speed executing mechanism 5, the three-position four-way reversing electromagnetic valve 205 of the hydraulic driving system 2 synchronously controls the hydraulic variable diameter to be separated from the telescopic driving feeding end hollow hydraulic cylinder 103 of the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104 of the roller 1 and the tail end diameter adjusting devices 101 and 102 to enable the threshing toothed bar 105 to move up and down in the radial direction to adjust the threshing gap; the adaptive control system 4 controls the running forward speed actuator 5 to change the running forward speed of the harvester.

The specific control strategy is as follows: an oil pressure sensor 301 of the online monitoring system 3 monitors the oil pressure of the rodless cavity end of the feeding end hollow hydraulic cylinder 103 and/or the tail end hollow hydraulic cylinder 104 of the hydraulic variable-diameter threshing cylinder 1 in the threshing process and obtains a corresponding oil pressure value, and the corresponding oil pressure value is transmitted to the adaptive control system 4 and is compared and judged in a corresponding oil pressure parameter value range in the multi-parameter association adaptive control model; if the monitored oil pressure value is not in the range of the corresponding oil pressure parameter value in the multi-parameter correlation adaptive control model, when the monitored oil pressure value is larger than the corresponding oil pressure parameter range value in the model, transmitting an electric signal output by a comparison and judgment result of the adaptive control system 4 to a control coil a of a three-position four-way electromagnetic proportional reversing valve 205 of the hydraulic drive system 2, and driving the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104 to synchronously retract and reduce the diameter of the hydraulic variable-diameter threshing cylinder 1 to increase the threshing gap; when the monitored oil pressure value is smaller than the corresponding oil pressure parameter range value in the model, the electric signal output by the comparison and judgment result of the self-adaptive control system 4 is transmitted to the control coil b of the three-position four-way electromagnetic proportional reversing valve 205 of the hydraulic drive system 2, and the feeding end hollow hydraulic cylinder 103 and the tail end hollow hydraulic cylinder 104 are driven to synchronously extend out of the hydraulic variable-diameter threshing cylinder 1 to be enlarged so as to reduce the threshing gap. The threshing gap signal monitored by the displacement sensor 302 reaches an adjustment value and then is transmitted to the adaptive control system 4, the adaptive control system 4 outputs a control signal to enable the reversing valve to be in the middle position, and the self-locking is finished after the diameter of the roller is adjusted. If the monitored oil pressure value after the threshing gap is adjusted is within the corresponding oil pressure parameter range in the corresponding threshing gap model, the self-adaptive control system 4 does not output an adjusting signal any more. If the monitored oil pressure value after the threshing clearance adjustment is not in the range of the corresponding oil pressure parameter value in the multi-parameter correlation adaptive control model, when the monitored oil pressure value is larger than the corresponding oil pressure parameter range value in the model, the adaptive control system 4 outputs an adjustment signal to be transmitted to the driving forward speed executing mechanism 5 to reduce the driving forward speed; when the monitored oil pressure value is smaller than the corresponding oil pressure parameter range value in the model, the adaptive control system 4 outputs an adjusting signal to be transmitted to the running forward speed actuator 5 to increase the running forward speed. If the monitored oil pressure value is in the corresponding oil pressure parameter range in the corresponding model after the adjustment of the forward speed, the self-adaptive control system 4 does not output an adjustment signal any more; and if the fault is not in the corresponding oil pressure parameter value range in the multi-parameter correlation adaptive control model, the adaptive control system 4 outputs a signal and transmits the signal to the sound alarm 6 to inform an operator of the fault and the parameters.

The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.