阅读说明：本技术 花生捡拾收获机的防堵控制方法 (Anti-blocking control method of peanut picking harvester ) 是由 李新成 员玉良 张健 于 2019-11-13 设计创作，主要内容包括：本发明公开一种花生捡拾收获机的防堵控制方法,所述花生捡拾收获机上设置有用于检测摘果速度的第一传感器和用于检测捡拾速度的第二传感器；所述防堵控制方法包括：根据第一传感器检测花生捡拾收获机中摘果装置的扭矩和转速来判断摘果装置的是否堵塞,以调整花生捡拾收获机的行驶速度；根据第二传感器检测花生捡拾收获机中捡拾装置的扭矩来测算捡拾装置的喂入量,以调整花生捡拾收获机的行驶速度。实现减少出现堵塞的情况,以提高花生捡拾收获机的收获效率并降低工人的劳动强度。(The invention discloses an anti-blocking control method of a peanut picking harvester, wherein a first sensor for detecting picking speed and a second sensor for detecting picking speed are arranged on the peanut picking harvester; the anti-blocking control method comprises the following steps: judging whether the peanut picking device is blocked or not according to the torque and the rotating speed of the peanut picking device in the peanut picking harvester detected by the first sensor so as to adjust the running speed of the peanut picking harvester; and measuring the feeding amount of the pickup device according to the torque of the pickup device in the peanut pickup harvester detected by the second sensor so as to adjust the running speed of the peanut pickup harvester. The situation of blockage is reduced, so that the harvesting efficiency of the peanut picking harvester is improved, and the labor intensity of workers is reduced.)

1. The anti-blocking control method of the peanut picking harvester is characterized in that a first sensor for detecting picking speed and a second sensor for detecting picking speed are arranged on the peanut picking harvester;

the anti-blocking control method comprises the following steps:

judging whether the peanut picking device is blocked or not according to the torque and the rotating speed of the peanut picking device in the peanut picking harvester detected by the first sensor so as to adjust the running speed of the peanut picking harvester;

and measuring the feeding amount of the pickup device according to the torque of the pickup device in the peanut pickup harvester detected by the second sensor so as to adjust the running speed of the peanut pickup harvester.

2. The anti-clogging control method for the peanut picking harvester as claimed in claim 1, wherein the peanut picking device is determined to be in a normal state when the first sensor detects that the torque of the peanut picking device is less than a first rated maximum torque value and the rotation speed of the peanut picking device is greater than a rated minimum rotation speed value.

3. The peanut picking harvester blockage prevention control method as claimed in claim 2, wherein the peanut picking device is judged to be in the blockage state when the first sensor detects that the torque of the peanut picking device is greater than a first rated maximum torque value and/or the rotating speed of the peanut picking device is less than a rated minimum rotating speed value.

4. The anti-clogging control method for the peanut picking harvester as claimed in claim 2, wherein when the first sensor detects that the torque change rate of the peanut picking device is greater than a first torque change rate value and/or the rotation speed of the peanut picking device is less than a minimum rotation speed change rate value, the peanut picking device is judged to be in a clogging state; wherein the first torque rate of change value is greater than 0 and the minimum rotational speed rate of change value is less than 0.

5. The anti-blocking control method for the peanut picking harvester as claimed in claim 3 or 4, wherein the running speed of the peanut picking harvester is reduced when the picking device is in a blocking state.

6. The anti-clogging control method for a peanut picking harvester as claimed in claim 5, wherein the peanut picking device is controlled to rotate reversely when the peanut picking device is in a clogged state.

7. The anti-clogging control method for the peanut picking-up harvester as claimed in claim 1, wherein when the second sensor detects that the torque of the picking-up device is larger than the second rated maximum torque value, the running speed of the peanut picking-up harvester is reduced.

8. The peanut picking harvester blockage prevention control method as claimed in claim 7, wherein in the case that the second sensor detects that the torque of the picking device is smaller than a second rated maximum torque value, if the second sensor detects that the torque of the picking device is increased by a change rate larger than a second torque change rate value, the running speed of the peanut picking harvester is reduced; wherein the second torque rate of change value is greater than 0.

9. The peanut picking harvester blockage prevention control method as claimed in claim 7, wherein in the case that the second sensor detects that the torque of the picking device is less than a second rated maximum torque value, if the torque of the picking device is reduced by a change rate less than a third torque change rate value, the driving speed of the peanut picking harvester is increased; wherein the third torque rate value is less than 0.

Technical Field

The invention relates to the technical field of agricultural machinery, in particular to an anti-blocking control method of a peanut picking and harvesting machine.

Background

The peanut is also known as peanut, is known as 'vegetable meat', has the oil content of up to 50 percent, good quality and fragrant smell. Besides being eaten, peanuts are also used in printing and dyeing and paper making industries. With the requirement of field planting of peanuts, a peanut picking harvester is generally adopted when the peanuts are harvested. The conventional peanut picking harvester can automatically complete operations of picking, cleaning, conveying and the like of peanuts. For example: chinese patent No. 201310225965.6 discloses a peanut picking machine which integrates picking, picking and cleaning. However, in the actual use process, the picking, picking and conveying operations are easy to block due to the seedlings and the fruits of the peanuts, so that the harvester needs to be stopped and maintained by operators, the harvesting efficiency is affected, and the labor intensity of the operators is increased.

Disclosure of Invention

The invention provides an anti-blocking control method of a peanut picking harvester, which can reduce the blocking situation, improve the harvesting efficiency of the peanut picking harvester and reduce the labor intensity of workers.

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides an anti-blocking control method of a peanut picking harvester, wherein a first sensor for detecting picking speed and a second sensor for detecting picking speed are arranged on the peanut picking harvester;

the anti-blocking control method comprises the following steps:

judging whether the peanut picking device is blocked or not according to the torque and the rotating speed of the peanut picking device in the peanut picking harvester detected by the first sensor so as to adjust the running speed of the peanut picking harvester;

and measuring the feeding amount of the pickup device according to the torque of the pickup device in the peanut pickup harvester detected by the second sensor so as to adjust the running speed of the peanut pickup harvester.

Further, when the first sensor detects that the torque of the fruit picking device is smaller than the first rated maximum torque value and the rotating speed of the fruit picking device is larger than the rated minimum rotating speed value, the fruit picking device is judged to be in a normal state.

Further, when the first sensor detects that the torque of the fruit picking device is larger than a first rated maximum torque value and/or the rotating speed of the fruit picking device is smaller than a rated minimum rotating speed value, the fruit picking device is judged to be in a blocking state.

Further, when the first sensor detects that the torque change rate of the fruit picking device is larger than a first torque change rate value and/or the rotating speed of the fruit picking device is smaller than a minimum rotating speed change rate value, the fruit picking device is judged to be in a blocking state; wherein the first torque rate of change value is greater than 0 and the minimum rotational speed rate of change value is less than 0.

Furthermore, the running speed of the peanut picking harvester is reduced when the peanut picking device is in a blocking state.

Furthermore, the fruit picking device is controlled to rotate reversely when the fruit picking device is in a blocking state.

Further, when the second sensor detects that the torque of the pickup device is larger than a second rated maximum torque value, the running speed of the peanut pickup harvester is reduced.

Further, in the case that the second sensor detects that the torque of the pick-up device is smaller than a second rated maximum torque value, if the torque of the pick-up device is increased by a change rate larger than a second torque change rate value, the running speed of the peanut picking-up harvester is reduced; wherein the second torque rate of change value is greater than 0.

Further, in the case that the second sensor detects that the torque of the pick-up device is less than the second rated maximum torque value, if the torque reduction rate of the pick-up device detected by the second sensor is less than the third torque rate of change value, the running speed of the peanut picking-up harvester is increased; wherein the third torque rate value is less than 0.

Compared with the prior art, the technical scheme of the invention has the following technical effects: the working states of the peanut picking device and the picking device are detected through the corresponding sensors, the running speed of the peanut picking harvester is adjusted according to the working states, the picking amount and the picking amount are adjusted, the running speed of the peanut picking harvester in stable matching is ensured on the premise that high-efficiency peanut harvesting is ensured, the blockage of equipment caused by overlarge peanut seedling picking amount is reduced, the blockage is reduced, and the harvesting efficiency of the peanut picking harvester is improved and the labor intensity of workers is reduced.

Drawings

FIG. 1 is a flow chart of an anti-blocking control method of a peanut picking harvester.

Detailed Description

As shown in figure 1, the invention provides an anti-blocking control method for a peanut picking harvester, wherein a first sensor for detecting a picking speed and a second sensor for detecting a picking speed are arranged on the peanut picking harvester. The concrete representation entities of the first sensor and the second sensor are not limited, and the picking speed of the picking device are correspondingly detected by adopting matched sensors in combination with a conventional peanut picking harvester.

The anti-blocking control method comprises the following steps:

s101, judging whether a peanut picking device is blocked or not according to the torque and the rotating speed of the peanut picking device in the peanut picking harvester detected by a first sensor so as to adjust the running speed of the peanut picking harvester;

and S102, measuring and calculating the feeding amount of the pickup device according to the torque of the pickup device in the peanut pickup harvester detected by the second sensor so as to adjust the running speed of the peanut pickup harvester.

Specifically, in the working process of the peanut picking harvester, the peanut picking device picks peanuts, and the picking device picks peanuts. And in order to reduce the occurrence of the blockage caused by peanut seedlings, the driving speed of the peanut picking and harvesting machine is controlled by detecting the states of the peanut picking device and the picking device through the first sensor and the second sensor, and then the picking speed and the picking speed are adjusted. Under the prerequisite of guaranteeing high-efficient harvesting and picking up the operation, the emergence of the effectual reduction jam condition to reduce the manual work and handle the jam, reduce down time, and then improve results efficiency and reduce workman's intensity of labour.

Further, the self-adaptive control process for the fruit picking device specifically comprises the following steps: and when the first sensor detects that the torque of the fruit picking device is smaller than the first rated maximum torque value and the rotating speed of the fruit picking device is larger than the rated minimum rotating speed value, judging that the fruit picking device is in a normal state. Specifically, when the first sensor detects that the torque and the rotating speed of the peanut picking device do not reach the maximum values, the peanut picking device is judged to be in a normal state, and at the moment, the running speed of the peanut picking harvester does not need to be adjusted.

And when the first sensor detects that the torque of the fruit picking device is larger than the first rated maximum torque value and/or the rotating speed of the fruit picking device is smaller than the rated minimum rotating speed value, the fruit picking device is judged to be in a blocking state. Or when the first sensor detects that the torque change rate of the fruit picking device is greater than the first torque change rate value and/or the rotating speed of the fruit picking device is less than the minimum rotating speed change rate value, judging that the fruit picking device is in a blocking state; wherein the first torque rate of change value is greater than 0 and the minimum rotational speed rate of change value is less than 0. Specifically, under the condition that the peanut picking device is in the blocking state, the driving speed of the peanut picking harvester needs to be reduced, the picking quantity of the peanut picking device can be effectively reduced by reducing the driving speed, and then serious blocking caused by overlarge picking quantity is reduced or avoided. Meanwhile, under the condition that the fruit picking device is judged to be in a blocking state, the fruit picking device is controlled to rotate reversely, and the blocked fruit seedlings can be rotated and pushed out again by adopting a reverse rotation mode, so that the blocked fruit seedlings can be automatically processed.

Still further, the adaptive control process for the pickup device specifically includes: and when the second sensor detects that the torque of the pickup device is greater than a second rated maximum torque value, the driving speed of the peanut pickup harvester is reduced. Specifically, when the second sensor detects that the torque of the picking device does not reach the maximum value, the fruit picking device is judged to be in a normal state, and at the moment, the running speed of the peanut picking harvester does not need to be adjusted. And when the second sensor detects that the torque of the picking device is greater than the second rated maximum torque value, the driving speed of the peanut picking harvester needs to be reduced so as to reduce or avoid the phenomenon that the picking device is blocked due to the fact that the picking speed is too high.

Preferably, in order to obtain proper picking speed and improve picking efficiency, the corresponding driving speed of the peanut picking and harvesting machine is required according to the change rate of the torque. In the case that the second sensor detects that the torque of the pick-up device is less than the second rated maximum torque value, if the torque of the pick-up device is increased by the second sensor, the running speed of the peanut picking-up harvester is reduced; wherein the second torque rate of change value is greater than 0. Under the condition that the second sensor detects that the torque of the pick-up device is smaller than a second rated maximum torque value, if the change rate of the torque reduction of the pick-up device detected by the second sensor is smaller than a third torque change rate value, the running speed of the peanut picking-up harvester is increased; wherein the third torque rate value is less than 0.

Compared with the prior art, the technical scheme of the invention has the following technical effects: the working states of the peanut picking device and the picking device are detected through the corresponding sensors, the running speed of the peanut picking harvester is adjusted according to the working states, the picking amount and the picking amount are adjusted, the running speed of the peanut picking harvester in stable matching is ensured on the premise that high-efficiency peanut harvesting is ensured, the blockage of equipment caused by overlarge peanut seedling picking amount is reduced, the blockage is reduced, and the harvesting efficiency of the peanut picking harvester is improved and the labor intensity of workers is reduced.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.