Grain unloading device for a harvesting apparatus and harvesting apparatus

Abstract

The application relates to the technical field of harvesting equipment, and discloses a grain unloading device for a harvesting equipment and the harvesting equipment. The grain unloading device comprises a grain unloading cylinder assembly, the grain unloading cylinder assembly has a first pivot center and can rotate around the first pivot center on a horizontal plane; a transmission ring comprises a rotor assembly and a stator assembly, the stator assembly is sleeved outside the rotor assembly and can transmit current and / or signals with the rotor assembly, the rotor assembly is sleeved outside the grain unloading cylinder assembly and rotates with the grain unloading cylinder assembly, the rotor assembly is connected with an external device arranged on the grain unloading cylinder assembly through a first cable, and the stator assembly is connected with a power supply or a signal source of the harvesting equipment through a second cable. The grain unloading device for the harvesting equipment and the harvesting equipment realize 360-degree rotation of the grain unloading cylinder assembly and improve the return efficiency.

Description

Technical Field

[0001] This application belongs to the field of harvesting equipment technology, and specifically relates to a grain unloading device and harvesting equipment for harvesting equipment. Background Technology

[0002] The unloading hopper assembly of the grain unloading device contains components such as work lights and angle sensors. These components require corresponding wiring to function, but the wiring is stretched due to its length when the unloading hopper assembly rotates to different angles. To prevent the wiring from being broken, existing grain unloading devices typically use two methods to limit the rotation of the unloading hopper assembly: the first is through limit switches, and the second is through encoder counting. However, when the limit switches or encoders are damaged, or when there is interference in the wiring, the limit protection will fail. If the driver does not notice the protection failure, improper operation can still lead to the breakage or damage of oil pipes or wiring. In addition, limiting the rotation of the unloading hopper assembly also prevents it from rotating 360 degrees, resulting in dead zones during rotation. This affects the performance of the grain unloading device (e.g., it cannot adapt to complex working conditions with obstacles such as trees and power lines), and also forces the unloading hopper assembly to return to its original position, reducing return efficiency. Summary of the Invention

[0003] The purpose of this application is to provide a grain unloading device and harvesting equipment for harvesting equipment, which realizes 360-degree rotation of the grain unloading cylinder assembly and improves the return efficiency.

[0004] To achieve the above objectives, the first aspect of this application provides a grain unloading device for a harvesting apparatus, the grain unloading device comprising:

[0005] The unloading hopper assembly has a first pivot center and can rotate about the first pivot center on a horizontal plane;

[0006] The transmission ring includes a rotor assembly and a stator assembly. The stator assembly is sleeved on the outside of the rotor assembly and is capable of transmitting current and / or signals with the rotor assembly. The rotor assembly is sleeved on the outside of the unloading hopper assembly and rotates with the unloading hopper assembly. The rotor assembly is connected to an external device installed on the unloading hopper assembly via a first cable. The stator assembly is connected to the power supply or signal source of the harvesting equipment via a second cable.

[0007] In this embodiment of the invention, the grain unloading device further includes:

[0008] The first angle detector is used to detect the rotation angle of the unloading drum assembly;

[0009] The controller is configured as follows:

[0010] Ensure the return function of the grain unloading hopper assembly is enabled;

[0011] Determine the rotation direction of the unloading drum assembly when it returns to its original position;

[0012] Determine that the unloading hopper assembly is in the acceleration zone;

[0013] Control the grain unloading hopper assembly to rotate at a first maximum preset speed in the direction of rotation;

[0014] The rotation angle is acquired in real time;

[0015] The unloading drum assembly is rotated to a preset position based on the rotation angle.

[0016] The unloading hopper assembly is controlled to perform a deceleration operation, so that the instantaneous angular velocity of the unloading hopper assembly decreases to zero when the unloading hopper assembly rotates to the zero point position. The zero point position refers to the position of the unloading hopper assembly when the unloading device is not in operation.

[0017] In this embodiment of the invention, the controller is further configured to:

[0018] Determine the rotation direction of the unloading drum assembly when it returns to its original position and determine that the unloading drum assembly is in the deceleration motion zone;

[0019] Control the unloading hopper assembly to perform a deceleration operation, so that the instantaneous angular velocity of the unloading hopper assembly decreases to zero when the unloading hopper assembly rotates to the zero point position.

[0020] In this embodiment of the invention, determining the rotation direction of the unloading hopper assembly during its return to its original position includes:

[0021] The first included angle between the current position and the zero point position of the unloading hopper assembly is determined to be less than 180°;

[0022] The rotation direction of the unloading drum assembly when it returns to its original position is opposite to the initial rotation direction of the unloading drum assembly.

[0023] In this embodiment of the invention, determining the rotation direction of the unloading hopper assembly during its return to its original position includes:

[0024] The first included angle between the current position and the zero position of the unloading hopper assembly is determined to be greater than 180°;

[0025] The rotation direction of the unloading drum assembly when it returns to its original position is the same as the initial rotation direction of the unloading drum assembly.

[0026] In this embodiment of the invention, controlling the unloading hopper assembly to perform a deceleration operation includes:

[0027] Determine the preset acceleration;

[0028] The instantaneous angular velocity of the unloading drum assembly during the deceleration operation is determined based on the preset acceleration. The instantaneous angular velocity is related to the angle values ​​of the first included angle, the second included angle, the preset acceleration, and the first maximum preset velocity. The second included angle is the angle between the preset position and the zero position.

[0029] The unloading hopper assembly is controlled to perform a deceleration operation based on the instantaneous angular velocity.

[0030] In this embodiment of the invention, the preset acceleration is related to the first maximum preset velocity and the angle value of the second included angle.

[0031] In this embodiment of the invention, the unloading cylinder assembly includes a first cylinder and a second cylinder. The first cylinder is arranged vertically, and the second cylinder is disposed on the first cylinder and can rotate vertically about the top of the first cylinder as a second pivot center. The unloading device further includes:

[0032] The second angle detector is used to detect the third included angle between the second cylinder and the horizontal plane;

[0033] The controller is further configured to:

[0034] Ensure the unloading hopper assembly has rotated to the zero position;

[0035] The third included angle is determined to be greater than the preset included angle;

[0036] Control the second cylinder to deflect downwards at the second maximum preset speed;

[0037] Ensure that the third included angle is consistent with the preset included angle;

[0038] Control the second cylinder to deflect downwards at a preset speed;

[0039] When the third included angle is determined to be zero, the second cylinder is controlled to stop moving.

[0040] In this embodiment of the invention, the preset speed is related to the second maximum preset speed.

[0041] A second aspect of this application provides a harvesting device that includes the aforementioned unloading device for harvesting devices.

[0042] As can be seen from the above technical solution, the unloading device includes an unloading cylinder assembly and a transmission ring. The stator assembly of the transmission ring is sleeved on the outside of the rotor assembly and can transmit current and / or signals with the rotor assembly. The rotor assembly is sleeved on the outside of the unloading cylinder assembly and rotates with the unloading cylinder assembly. The rotor assembly is connected to an external device installed on the unloading cylinder assembly through a first cable. The stator assembly is connected to the power supply or signal source of the harvesting equipment through a second cable, so that the external device and its first cable can rotate with the unloading cylinder assembly. The first cable will not be pulled. During the rotation, the current and / or signal transmission between the external device and the power supply or signal source is completely unaffected, so that the unloading cylinder assembly can achieve rotation without dead angles. This is beneficial for the unloading cylinder assembly to select the shortest path to return to its original position as needed, thus improving the return efficiency of the unloading cylinder assembly.

[0043] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0044] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0045] Figure 1 This is a simplified structural diagram of the grain unloading device in an embodiment of the present invention;

[0046] Figure 2 This is a cross-sectional structural diagram of the grain unloading cylinder assembly in an embodiment of the present invention;

[0047] Figure 3 This is a top view of the grain unloading hopper assembly in an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of the current or signal transmission of the grain unloading device in an embodiment of the present invention;

[0049] Figure 5 This is a schematic diagram of the rotation area of ​​the unloading drum assembly in an embodiment of the present invention (excluding the acceleration and deceleration areas);

[0050] Figure 6 This is a schematic diagram of the rotation area of ​​the unloading drum assembly in an embodiment of the present invention (including an acceleration motion area and a deceleration motion area);

[0051] Figure 7 This is a schematic diagram of the control flow when the grain unloading hopper assembly returns to its original position in an embodiment of the present invention.

[0052] Explanation of reference numerals in the attached figures

[0053] 1. Grain unloading hopper assembly 101 First cylinder body

[0054] 102 Second cylinder 2 Transfer ring

[0055] 201 Rotor 202 Stator

[0056] 203 Rotor terminal 204 Stator terminal

[0057] 3 First cable 4 Peripherals

[0058] 5 Second cable 6 Controller

[0059] 7. Acceleration Zone 8. Deceleration Zone

[0060] 9 Rotary motor 10 Angle sensor

[0061] 11 Encoder 12 U-shaped shift fork

[0062] 13 Rotor inlet 14 Stator inlet

[0063] 15 Grain unloading handle 16 Electric push rod

[0064] 17 Support frame 18 Grain warehouse

[0065] 19. Work light; 20. Power supply

[0066] 21 First turning zone 22 Second turning zone

[0067] θ0, the angle value of the second included angle

[0068] θ1 is the angle between the real-time position and the zero-point position of the grain unloading hopper assembly. Detailed Implementation

[0069] The specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0070] The embodiments of this application provide a grain unloading device for harvesting equipment, such as... Figure 1-3 As shown, the grain unloading device includes:

[0071] The unloading hopper assembly 1 has a first pivot center and can rotate circumferentially around the first pivot center;

[0072] The transmission ring 2 includes a rotor assembly and a stator assembly. The stator assembly is sleeved on the outside of the rotor assembly and can transmit current and / or signals with the rotor assembly. The rotor assembly is sleeved on the outside of the unloading hopper assembly 1 and rotates with the unloading hopper assembly 1. The rotor assembly is connected to the peripheral device 4 set on the unloading hopper assembly 1 through the first cable 3. The stator assembly is connected to the power supply 20 or signal source of the harvesting equipment through the second cable 5.

[0073] Specifically, the harvesting equipment in this embodiment includes, but is not limited to, rice harvesters, wheat harvesters, and corn harvesters. The unloading cylinder assembly 1 includes a first cylinder 101 and a second cylinder 102. The unloading device also includes a rotary drive for driving the unloading cylinder assembly 1 to rotate circumferentially. The first cylinder 101 is arranged vertically. The first end of the second cylinder 102 is connected to the top end of the first cylinder 101. The interiors of the first cylinder 101 and the second cylinder 102 together form an unloading channel. The second end of the second cylinder 102 forms an unloading outlet. The material (such as rice or wheat) entering the unloading channel is output from the unloading outlet. The rotary drive can be a rotary motor 9. The rotary motor 9 is arranged inside the first cylinder 101. When the rotary motor 9 rotates, it can drive the first cylinder 101 and the second cylinder 102 to rotate circumferentially. The axis of the first cylinder 101 is the first pivot center.

[0074] like Figure 4As shown, in this embodiment, the peripheral component 4 can be selected as at least one of the following components: work light 19, deflection drive component, and angle sensor 10. These components are mounted on the first cylinder 101 and / or the second cylinder 102 and have power supply cables and / or signal transmission cables (i.e., the first cable 3). The transmission ring 2 can be selected as a slip ring (also called a conductive ring, slip ring, current collector ring, etc., which can be used in any electromechanical system requiring continuous rotation while transmitting power and signals from a fixed position to a rotating position). The unloading device also includes a grain bin 18 for storing materials and a rotor assembly. The component includes a rotor 201 and rotor terminals 203. The stator assembly includes a stator 202 and stator terminals 204. The rotor terminals 203 are capable of transmitting current and / or signals with the stator terminals 204. The stator 202 is sleeved on the outside of the rotor 201. The rotor 201 is sleeved on the outside of the unloading hopper assembly 1 and rotates with the unloading hopper assembly 1. The rotor terminals 203 are located inside the rotor 201 and are used to connect to the external device 4 installed on the unloading hopper assembly 1 via a first cable 3. The stator terminals 204 are located inside the stator 202 and are used to connect to the receiver via a second cable 5. The device is connected to a power supply 20 or a signal source; the stator 202 of the transmission ring 2 includes a copper ring, a first housing, and a mounting bracket, etc. The first housing and the mounting bracket are fixedly connected, for example, by bolts, welding, etc. The mounting bracket is provided with mounting holes, and the mounting bracket and the grain bin 18 are fixed together by the above-mentioned mounting holes and bolt assembly (or the mounting bracket is welded to the grain bin 18), that is, the stator 202 is in a fixed state. The copper ring is set inside the first housing, and the stator terminal 204 is set on the copper ring. The first housing is provided with a stator inlet 14 for the second cable 5 to pass through; the rotor 20 1 includes a second housing, a contact brush (such as a carbon brush), and a U-shaped fork 12, etc. The center of the second housing has a cylindrical cavity for the first cylinder 101 to pass through, that is, the second housing is sleeved on the outside of the first cylinder 101. The second housing is provided with a rotor inlet 13 for the first cable 3 to pass through. The U-shaped fork 12 is provided on the top wall of the second housing. The first cylinder 101 is provided with a pin, which passes through the U-shaped groove of the U-shaped fork 12. The contact brush and the rotor terminal 203 are both located inside the second housing. Current and / or signal transmission can be performed between the contact brush and the rotor terminal 203. When the first cylinder 101 rotates, the pin drives the U-shaped shift fork 12 to rotate, and the U-shaped shift fork 12 drives the entire rotor 201 to rotate, while the stator 202 remains stationary relative to the rotor 201. Furthermore, when the rotor 201 rotates, the contact brush brushes over the copper ring, and the current from the power supply 20 (or the signal from the signal source, which can be the controller 6) is transmitted to the peripheral device 4 after passing through the second cable 5, the stator terminal 204, the copper ring, the contact brush, the rotor terminal 203, and the first cable 3, so that the peripheral device 4 can perform the corresponding function.

[0075] When the unloading cylinder assembly 1 rotates, the external component 4, the first cable 3, the stator 202, and the unloading cylinder assembly 1 rotate synchronously. The stator 202 and the second cable 5 connected to the power supply 20 (or signal source) are in a stationary state. The power supply 20 (or signal source) can still transmit current (or signal) through the first cable 3 and the second cable 5. Therefore, the external component 4 can still work normally during the rotation of the unloading cylinder assembly 1, and the first cable 3 and the second cable 5 will not be pulled. That is, the unloading device in this embodiment can not only avoid the situation of cable being pulled, but also realize the 360-degree rotation of the unloading cylinder assembly 1. There is no need to limit the rotation of the unloading cylinder assembly 1. Therefore, when the unloading cylinder assembly 1 needs to return to its original position, it does not need to return along the original path. It can choose the shortest return path according to its position, which can greatly improve the return efficiency.

[0076] Furthermore, in this embodiment, the peripheral device 4 is not limited to components such as the work light 19, the deflection drive, and the angle sensor 10. It can also be other components installed on the first cylinder 101 and / or the second cylinder 102 and need to be connected to the power supply 20 and / or the signal source via cables.

[0077] In one embodiment of the present invention, the grain unloading device further includes:

[0078] The first angle detector is used to detect the rotation angle of the unloading drum assembly 1;

[0079] Controller 6, such as Figure 7 As shown, it is configured to perform the following steps:

[0080] Step S101: Confirm that the return function of the unloading hopper assembly 1 is enabled;

[0081] Step S102: Determine the rotation direction of the unloading hopper assembly 1 when it returns to its original position;

[0082] Step S103: Determine that the unloading hopper assembly 1 is in the acceleration zone 7;

[0083] Step S104: Control the grain unloading hopper assembly 1 to rotate at the first maximum preset speed in the direction of rotation;

[0084] Step S105: Obtain the rotation angle in real time;

[0085] Step S106: Determine the position of the unloading hopper assembly 1 according to the rotation angle;

[0086] Step S107: Control the unloading cylinder assembly 1 to perform a deceleration operation, so that the instantaneous angular velocity of the unloading cylinder assembly 1 is reduced to zero when the unloading cylinder assembly 1 rotates to the zero point position. The zero point position refers to the position of the unloading cylinder assembly 1 when the unloading device is in a non-working state.

[0087] Specifically, in this embodiment, the first angle detector can be an encoder 11 (the encoder 11 can also be replaced by an angle sensor 10 for detecting the rotation angle of the second cylinder 102 on the horizontal plane). The encoder 11 is mounted on the rotary motor 9 and communicates with the controller 6. The rotation angle of the rotary motor 9 is the same as the rotation angle of the unloading cylinder assembly 1. After obtaining the rotation angle of the unloading cylinder assembly 1, the encoder 11 transmits it to the controller 6. The unloading device also includes an unloading handle 15, which is equipped with a return button. After the operator presses the return button, the return button transmits a corresponding signal to the controller 6. After receiving the signal, the controller 6 can determine that the return function of the unloading cylinder assembly 1 is activated. After determining the rotation direction of the unloading cylinder assembly 1 during return and that it is in the acceleration motion region 7, the controller 6 controls the unloading cylinder assembly 1 to rotate at a first maximum preset speed according to the rotation direction. In this embodiment, the first maximum preset speed is the rated speed of the rotary motor 9, so that the unloading cylinder assembly 1... Quickly passing through the acceleration zone 7 to reach the preset position helps shorten the return time of the unloading drum assembly 1 and improves the return efficiency. After the unloading drum assembly 1 rotates to the preset position, it needs to reduce its rotation speed (i.e., angular velocity) and continue rotating to the zero position to avoid problems such as inaccurate positioning, large vibration, and / or wear of mechanical structures (such as the rotary motor brake) due to inertia when the unloading drum assembly 1 reaches the zero position at a large rotation speed. The acceleration zone 7 refers to the area between the initial position and the preset position when the unloading drum assembly 1 returns to its original position. The second included angle between the preset position and the zero position is in the range of 30°-60°. At the zero position, the rotary motor 9 is in a zero-state. Furthermore, since a deceleration operation is adopted when controlling the deceleration of the unloading drum assembly 1 in this embodiment, the angular velocity of the unloading drum assembly 1 continuously changes during the above process, realizing dynamic deceleration. This deceleration method can not only ensure the accuracy of the return but also further improve the return efficiency of the unloading drum assembly 1.

[0088] Furthermore, in this embodiment, the return button is not limited to being set on the unloading handle 15, but can also be set on the remote control handle that is connected to the controller 6, or a virtual return button can be set on the operation display screen that is connected to the controller 6.

[0089] In one embodiment of the present invention, the controller 6 is further configured to perform the following steps:

[0090] Step S201: Determine the rotation direction of the unloading drum assembly 1 when it returns to its original position and determine that the unloading drum assembly 1 is in the deceleration motion zone 8;

[0091] Step S202: Control the unloading hopper assembly 1 to perform a deceleration operation, so that the instantaneous angular velocity of the unloading hopper assembly 1 is reduced to zero when the unloading hopper assembly 1 rotates to the zero position.

[0092] Specifically, such as Figure 6 As shown, the deceleration motion region 8 in this embodiment refers to the region between the preset position and the zero position. Since the angle occupied by the deceleration motion region 8 is small, if the controller 6 determines that the unloading drum assembly 1 is in the deceleration motion region 8 before performing the return function according to the feedback signal of the encoder 11, it is not necessary to control the unloading drum assembly 1 to rotate at the first maximum preset speed first, so as to avoid the situation that the unloading drum assembly 1 still has a large rotation speed when it rotates to the zero position, resulting in inaccurate return.

[0093] In one embodiment of the present invention, determining the rotation direction of the unloading hopper assembly 1 during its return to its original position in step S102 specifically includes steps S301-S302, wherein:

[0094] Step S301: Determine that the first included angle between the current position and the zero position of the unloading hopper assembly 1 is less than 180°;

[0095] Step S302: Determine that the rotation direction of the unloading drum assembly 1 when it returns to its original position is opposite to the initial rotation direction of the unloading drum assembly 1.

[0096] Specifically, in this embodiment, the initial rotation direction of the unloading cylinder assembly 1 refers to the direction of rotation of the unloading cylinder assembly when it starts from the zero position to perform the unloading operation; such as Figure 5 As shown, a circle is drawn with the first pivot center as the center and the zero point position as 0°. The rotatable area of ​​the unloading drum assembly 1 is 360°. Let the unloading drum assembly start from the zero point position and rotate 180° clockwise (or counterclockwise) through the area traversed, which is the first rotation area 21. Let the unloading drum assembly start from the zero point position and rotate 180°-360° clockwise (or counterclockwise) through the area traversed, which is the second rotation area 22. If the unloading drum assembly 1 is in the first rotation area 21 when its return function is activated, then the rotation direction of the unloading drum assembly 1 during return is opposite to its initial rotation direction, allowing it to return to the zero point position more quickly. That is, at this time, the unloading drum assembly 1 rotates in the opposite direction, which is the shortest rotation path. For example, if the initial rotation of the unloading drum assembly 1 is clockwise to a position 120° away from the zero point position, then the rotation direction during return is counterclockwise. Furthermore, in this embodiment, the controller 6 outputs a positive voltage to the rotary motor 9, so that the rotary motor 9 can rotate clockwise; the controller 6 outputs a reverse voltage to the rotary motor 9, so that the rotary motor 9 can rotate counterclockwise.

[0097] In one embodiment of the present invention, determining the rotation direction of the unloading hopper assembly 1 during its return to its original position in step S102 specifically includes steps S401-S402, wherein:

[0098] Step S401: Determine that the first included angle between the current position and the zero position of the unloading hopper assembly 1 is greater than 180°;

[0099] Step S402: Determine that the rotation direction of the unloading drum assembly 1 when it returns to its original position is the same as the initial rotation direction of the unloading drum assembly 1.

[0100] Similarly, if the unloading hopper assembly 1 is in the second rotation zone 22 when its return function is activated, the rotation direction of the unloading hopper assembly 1 during return is the same as its initial rotation direction, allowing it to return to the zero position more quickly. In other words, continuing to rotate in the initial rotation direction is the shortest rotation path. For example, if the unloading hopper assembly 1 initially rotates clockwise to a position 300° away from the zero position, then its return rotation direction will also be clockwise.

[0101] Furthermore, both the first turning region 21 and the second turning region 22 include an acceleration region 7 and a deceleration region 8, and the dividing line between the acceleration region 7 and the deceleration region 8 is the preset position.

[0102] In one embodiment of the present invention, step S107, controlling the unloading hopper assembly 1 to perform a deceleration operation, specifically includes steps S501-S503, wherein:

[0103] Step S501: Determine the preset acceleration;

[0104] Step S502: Determine the instantaneous angular velocity of the unloading drum assembly 1 during the deceleration operation based on the preset acceleration. The instantaneous angular velocity is related to the angle value of the first included angle, the angle value of the second included angle, the preset acceleration, and the first maximum preset velocity. The second included angle is the angle between the preset position and the zero position.

[0105] Step S503: Control the unloading hopper assembly 1 to perform a deceleration operation based on the instantaneous angular velocity.

[0106] Specifically, the instantaneous angular velocity is calculated using the following formula:

[0107]

[0108] Wherein, ω is the instantaneous angular velocity; θ1 is the angle value of the first included angle (i.e., the angle between the real-time position of the unloading hopper assembly 1 and the zero point position); θ0 is the angle value of the second included angle (i.e., the angle between the preset position and the zero point position); a is the preset acceleration; and ω0 is the first maximum preset velocity.

[0109] Given a predetermined acceleration, the controller 6 can calculate the instantaneous angular velocity corresponding to the current position based on the real-time position of the unloading drum assembly 1 during the deceleration operation. Specifically, formula (1) is derived from the following formula:

[0110] |θ1-θ0|=ω0t+a 2 / twenty two)

[0111] Where t is the time required for the unloading drum assembly 1 to rotate from the preset position to the position corresponding to θ1.

[0112] ω=ω0+at (3)

[0113] By transforming formula (3) and substituting t into formula (2), we can obtain formula (4):

[0114]

[0115] Formula (4) can be transformed to obtain formula (1).

[0116] In one embodiment of the present invention, the preset acceleration is related to the first maximum preset velocity and the angle value of the second included angle.

[0117] Specifically, the preset acceleration is determined according to the following formula:

[0118]

[0119] Where a is the preset acceleration; ω0 is the first maximum preset velocity; and θ0 is the angle value of the second included angle.

[0120] Specifically, in this embodiment, the preset acceleration is determined according to formula (5) so that when the unloading grain hopper assembly 1 rotates to the zero position, it dynamically decelerates to zero, which enables the unloading grain hopper assembly 1 to have both high return accuracy and return efficiency.

[0121] In one embodiment of the present invention, the unloading cylinder assembly 1 includes a first cylinder 101 and a second cylinder 102. The first cylinder 101 is arranged vertically, and the second cylinder 102 is disposed on the first cylinder 101 and can rotate vertically about the top of the first cylinder 101 as a second pivot center. The unloading device further includes:

[0122] The second angle detector is used to detect the third included angle between the second cylinder 102 and the horizontal plane;

[0123] Controller 6 is further configured to perform the following steps:

[0124] Step S601: Determine that the unloading hopper assembly 1 has rotated to the zero position;

[0125] Step S602: Determine that the third included angle is greater than the preset included angle;

[0126] Step S603: Control the second cylinder 102 to deflect downwards at the second maximum preset speed;

[0127] Step S604: Determine that the third included angle is consistent with the preset included angle;

[0128] Step S605: Control the second cylinder 102 to deflect downwards at a preset speed;

[0129] Step S606: When the third included angle is determined to be zero, control the second cylinder 102 to stop moving.

[0130] Specifically, the second angle detector can be selected as an angle sensor 10. The unloading device also includes a deflection drive component for driving the second cylinder 102 to deflect up and down around the top of the first cylinder 101 as the second pivot center and communicating with the controller 6. In this embodiment, the deflection drive component is preferably an electric push rod 16. The fixed end of the electric push rod 16 is rotatably connected to the first cylinder 101, and the telescopic end of the electric push rod 16 is driven to connect to the second cylinder 102. When the electric push rod 16 performs the telescopic function, it can drive the end of the second cylinder 102 away from the first cylinder 101 to deflect up and down in the vertical plane, which can further expand the material distribution range when the unloading device unloads grain. The unloading device also includes a bracket 17, which is set below the second cylinder 102 and forms a support groove for supporting the second cylinder 102. When the second cylinder 102 is placed in the support groove, its third angle with the horizontal line is 0°.

[0131] After the unloading drum assembly 1 rotates to the zero position, the rotary motor 9 sends a corresponding signal to the controller 6. Upon receiving the signal, the controller 6 determines that the unloading drum assembly 1 has rotated to the zero position. Then, the second angle detector detects the third angle between the second cylinder 102 and the horizontal plane, and sends this third angle to the controller 6. The controller 6 receives the third angle and compares it with a pre-stored preset angle. If the comparison determines that the third angle is greater than the preset angle, the controller 6 controls the electric push rod 16 to deflect downwards around the top of the first cylinder 101 as the second pivot center. The speed at which the second cylinder 102 deflects downward is the second maximum preset speed, so that the second cylinder 102 can move quickly to the position corresponding to the preset angle. In this embodiment, the second maximum preset speed refers to the deflection speed of the second cylinder 102 when the electric push rod 16 retracts at the rated speed. The preset angle ranges from 0° to 20°. When the second cylinder 102 moves to the position corresponding to the preset angle, it begins to decelerate. When the third angle is zero, the second cylinder 102 is controlled to stop moving to avoid the second cylinder 102 moving too fast and impacting the support 17, thereby affecting the service life of the unloading cylinder assembly 1 and the support 17.

[0132] Furthermore, the deflection drive in this embodiment is not limited to the electric push rod 16, but can also be replaced with other electric telescopic components.

[0133] In one embodiment of the present invention, the preset speed is related to the second maximum preset speed.

[0134] Specifically, the preset speed is determined according to the following formula:

[0135] V=V0*γ (6)

[0136] Where V is the preset speed, V0 is the second maximum preset speed, and γ is the deceleration coefficient, which ranges from 0.1 to 0.3.

[0137] The above arrangement facilitates the slow descent of the second cylinder 102 into the support groove, avoiding impact on the bracket 17 and ensuring that the second cylinder 102 can fall into the support groove as quickly as possible, thereby improving the efficiency of the downward deflection of the second cylinder 102.

[0138] Another embodiment of this application provides a harvesting device that includes the unloading device for harvesting devices described in the above embodiments.

[0139] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0140] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0141] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0142] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A grain unloading device for harvesting equipment, characterized in that, The grain unloading device includes: The unloading hopper assembly (1) has a first pivot center and can rotate circumferentially around the first pivot center; The transmission ring (2) includes a rotor assembly and a stator assembly. The stator assembly is sleeved on the outside of the rotor assembly and can transmit current and / or signals with the rotor assembly. The rotor assembly is sleeved on the outside of the unloading cylinder assembly (1) and rotates with the unloading cylinder assembly (1). The rotor assembly is connected to the peripheral device (4) set on the unloading cylinder assembly (1) through a first cable (3). The stator assembly is connected to the power supply (20) or signal source of the harvesting equipment through a second cable (5). A first angle detector is used to detect the rotation angle of the unloading drum assembly (1); The controller (6) is configured to: Confirm that the return function of the unloading hopper assembly (1) is enabled; Determine the rotation direction of the unloading drum assembly (1) when it returns to its original position; The unloading drum assembly (1) is determined to be in the acceleration movement zone (7), wherein the acceleration movement zone (7) refers to the area between the initial position and the preset position when the unloading drum assembly (1) returns to its original position; Control the unloading drum assembly (1) to rotate at a first maximum preset speed in the direction of rotation; The rotation angle is acquired in real time; the grain unloading cylinder assembly (1) is rotated to the preset position based on the rotation angle. Determine the rotation direction of the unloading drum assembly (1) when it returns to its original position and determine that the unloading drum assembly (1) is in the deceleration motion region (8). Control the unloading cylinder assembly (1) to perform a deceleration operation, so that the instantaneous angular velocity of the unloading cylinder assembly (1) is reduced to zero when the unloading cylinder assembly (1) rotates to the zero point position, wherein the zero point position refers to the position of the unloading cylinder assembly (1) when the unloading device is in a non-working state.

2. The grain unloading device for harvesting equipment according to claim 1, characterized in that, The determination of the rotation direction when the unloading cylinder assembly (1) returns to its original position includes: The first included angle between the current position of the unloading drum assembly (1) and the zero point position is determined to be less than 180°; The rotation direction of the unloading drum assembly (1) when it returns to its original position is opposite to the initial rotation direction of the unloading drum assembly (1).

3. The grain unloading device for harvesting equipment according to claim 2, characterized in that, The determination of the rotation direction of the unloading cylinder assembly (1) when it returns to its original position also includes: The first included angle between the current position of the unloading drum assembly (1) and the zero point position is determined to be greater than 180°; The rotation direction of the unloading drum assembly (1) when it returns to its original position is the same as the initial rotation direction of the unloading drum assembly (1).

4. The grain unloading device for harvesting equipment according to claim 2, characterized in that, The control of the unloading drum assembly (1) to perform deceleration operation includes: Determine the preset acceleration; The instantaneous angular velocity of the unloading drum assembly (1) during the deceleration operation is determined according to the preset acceleration, wherein the instantaneous angular velocity is related to the angle value of the first included angle, the angle value of the second included angle, the preset acceleration, and the first maximum preset velocity, and the second included angle is the angle between the preset position and the zero point position; The unloading drum assembly (1) is controlled to perform the deceleration operation based on the instantaneous angular velocity.

5. The grain unloading device for harvesting equipment according to claim 4, characterized in that, The preset acceleration is related to the first maximum preset velocity and the angle value of the second included angle.

6. The grain unloading device for harvesting equipment according to claim 1, characterized in that, The unloading cylinder assembly (1) includes a first cylinder (101) and a second cylinder (102). The first cylinder (101) is arranged vertically, and the second cylinder (102) is arranged on the first cylinder (101) and can rotate vertically with the top of the first cylinder (101) as the second pivot center. The unloading device also includes: The second angle detector is used to detect the third included angle between the second cylinder (102) and the horizontal plane; The controller (6) is further configured to: Determine that the unloading drum assembly (1) has rotated to the zero point position; It is determined that the third included angle is greater than the preset included angle; Control the second cylinder (102) to deflect downwards at a second maximum preset speed; The third included angle is determined to be consistent with the preset included angle; Control the second cylinder (102) to deflect downwards at a preset speed; When the third included angle is determined to be zero, the second cylinder (102) is controlled to stop moving.

7. The grain unloading device for harvesting equipment according to claim 6, characterized in that, The preset speed is related to the second maximum preset speed.

8. A harvesting device, characterized in that, The harvesting equipment includes a grain unloading device for harvesting equipment according to any one of claims 1-7.

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