Crawl type elymus dahuricus harvesting machine

Abstract

The invention is applicable to the technical field of agricultural mechanical equipment, and provides a creeping elymus dahuricus harvesting machine which comprises a cutting shell and a control chamber, the cutting shell is slidably arranged on one side of the control chamber, an adjusting assembly is arranged on one side of the control chamber, and the creeping elymus dahuricus harvesting machine further comprises a cutting blade arranged on one side of the cutting shell; the elliptical rotating wheel is arranged on one side of the cutting blade; the power shaft is arranged on one side of the cutting blade; the spring is arranged on one side of the cutting blade; the harvesting height judging unit is used for judging whether the height of the cutting assembly needs to be adjusted or not; the harvesting height correction analysis module is used for generating a height correction range; the motion distance analysis module is used for generating a motion distance value; according to the elymus dahuricus harvesting device, the cutting height of the elymus dahuricus is adjusted through the adjusting assembly, the maximum harvesting yield is achieved while the regeneration capacity of the elymus dahuricus is guaranteed, the situation that due to the abnormal harvesting height of the elymus dahuricus, the yield is lost or the regeneration capacity of the elymus dahuricus is damaged is avoided, and the harvesting efficiency of the elymus dahuricus is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery and equipment, and in particular relates to a creeping Elymus salsa harvester. Background Art

[0002] As a forage grass with high nutritional value, the best harvesting period for Elymus salsa is the heading stage. If local conditions are suitable, it can be harvested two to three times a year.

[0003] Currently, most of the alkali grass harvesters on the market have manually adjusted cutting heights, which are complicated to operate and difficult to control accurately, and cannot maintain the best harvesting effect under different conditions. For example, if the harvesting height of the alkali grass harvester is too low, it may damage the grass root system and cause a decrease in regeneration ability; if the harvesting height is too high, it may affect the harvest yield.

[0004] Therefore, there is an urgent need for a harvesting machine that can adjust the cutting height according to actual needs to ensure that the regeneration ability of Elymus salsa can be guaranteed while improving the harvesting efficiency and yield. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a creeping Elymus salsa harvester, aiming to solve the problems mentioned in the above background.

[0006] The embodiment of the present invention is implemented as follows, comprising a cutting housing and a control chamber, wherein the cutting housing is slidably disposed on one side of the control chamber, a cutting assembly is disposed on the cutting housing, an adjusting assembly is disposed on one side of the control chamber, one end of the adjusting assembly is connected to the cutting housing and the other end is connected to the control chamber; the cutting assembly further comprises:

[0007] A cutting blade, wherein the cutting blade is arranged on one side of the cutting shell and is slidably connected to the cutting shell, and at least two groups of the cutting blades are arranged;

[0008] An elliptical rotating wheel, wherein the elliptical rotating wheel is arranged on one side of the cutting blade and the number of the elliptical rotating wheels corresponds to the number of the cutting blades, the elliptical rotating wheel is abuttedly connected to one end of the cutting blade, and the long axes of the two elliptical rotating wheels should be kept vertical in the horizontal direction;

[0009] A power shaft, the power shaft is arranged on one side of the cutting blade, the power shaft is fixedly connected with the elliptical rotating wheel, and both ends of the power shaft are rotatably connected with the cutting shell;

[0010] A spring, wherein the spring is arranged on one side of the cutting blade and corresponds to the cutting blade, one end of the spring is in contact with the cutting blade, and the other end of the spring is in contact with the cutting housing;

[0011] The creeping Elymus salsa harvester also includes:

[0012] A harvesting height judgment unit, used to judge whether the current harvesting height of the cutting assembly needs to be adjusted according to the inclination angle of the Elymus salsa, and to generate an adjustment signal and a maintenance signal;

[0013] A harvesting height correction analysis module, for obtaining a horizontal plane inclination angle of the cutting assembly based on an adjustment signal, and generating a height correction range;

[0014] The motion distance analysis module is used to generate a motion distance value according to the height correction range.

[0015] Preferably, the adjustment component comprises:

[0016] A second fixing block, the second fixing block is arranged on one side of the cutting shell and is fixedly connected to the cutting shell;

[0017] An adjusting rod, wherein the adjusting rod is arranged on the second fixing block, one end of the adjusting rod is connected through the second fixing block and a damping member is arranged at the connection;

[0018] A slide groove, wherein the slide groove is provided on the adjusting rod;

[0019] A slider, the slider being slidably disposed in the slide groove;

[0020] A first fixed block, the first fixed block is rotatably disposed at one end of the adjusting rod, the first fixed block is connected through one end of the adjusting rod, and the first fixed block is fixedly connected to the control chamber;

[0021] A support rod, both ends of which are rotatably connected to the slider;

[0022] A hydraulic telescopic rod is arranged on one side of the control room, one end of the hydraulic telescopic rod is fixedly connected to the control room, and the extended end of the hydraulic telescopic rod is rotatably connected to the support rod.

[0023] Preferably, the creeping Elymus salsa harvester further comprises:

[0024] A conveying assembly, wherein the conveying assembly is arranged at one side of the control room, and one end of the conveying assembly is connected to the cutting shell, and is used for conveying the Elymus salsa on the cutting shell;

[0025] A storage chamber is arranged on one side of the control chamber, and one side of the storage chamber is slidably connected to one end of the conveying component, and is used to store the Elymus salsa transported by the conveying component.

[0026] Preferably, the creeping Elymus salsa harvester further comprises:

[0027] A cutting drum, wherein the cutting drum is arranged on a cutting shell, and both ends of the cutting drum are rotatably connected to the cutting shell;

[0028] A power transmission member is arranged at one end of the header drum.

[0029] Preferably, the conveying assembly comprises:

[0030] A delivery port, the delivery port being disposed on the cutting shell;

[0031] A transmission housing, one end of which is rotatably connected to the cutting housing, and the other end of which is slidably connected to the storage chamber;

[0032] A transmission shaft, wherein the transmission shaft is arranged in a linear array on the transmission housing, and both ends of the transmission shaft are rotatably connected to the transmission housing;

[0033] A conveyor belt, wherein the conveyor belt is disposed in the transmission housing, and one side of the conveyor belt is meshedly connected with the transmission shaft;

[0034] A push plate, the push plate being arranged on one side of the conveyor belt;

[0035] A driven member, the driven member is arranged on one side of the transmission housing and connected to the transmission shaft;

[0036] A chain is arranged on one side of the transmission housing and is meshedly connected with the driven member and the power transmission member, and is used for transmitting the power of the power transmission member to the driven member.

[0037] Preferably, the harvesting height determination unit specifically includes:

[0038] Optimal cutting height analysis module: obtain the inclination angle of Elymus salsa, substitute the inclination angle of Elymus salsa into the height evaluation model, and generate the optimal cutting height value;

[0039] Cutting height judgment module: According to the optimal cutting height value, it determines whether the current cutting height needs to be adjusted, and generates adjustment signals and maintenance signals.

[0040] Preferably, the optimal cutting height analysis module specifically includes:

[0041] The grass field is divided into several sub-areas, the inclination angle of the Elymus salsa in the sub-area where the machine is located is obtained, and the inclination angle of the Elymus salsa is substituted into the height evaluation model to generate the optimal cutting height value HX of the Elymus salsa;

[0042] Wherein, the expression of the height evaluation model is:

[0043] HX = CX*COS(JC);

[0044] In the expression, JC represents the average of the inclination angles of all Elymus salsa in the sub-area where the machine is located, and CX represents the median value of the range of lengths that the Elymus salsa needs to retain.

[0045] Preferably, the cutting height determination module specifically includes:

[0046] Obtain the real-time ground clearance value of the cutting component, perform difference processing on the real-time ground clearance value and the optimal cutting height value HX, and generate a height deviation value;

[0047] According to the height deviation value, it is judged whether there is an abnormality in the cutting height of the cutting component, and an adjustment signal or a maintenance signal is generated;

[0048] Determining whether the cutting height of the cutting component is abnormal specifically includes:

[0049] The cutting height error range is preset, and the height deviation value is compared with the cutting height error range. If the height deviation value is within the cutting height error range, the cutting height of the current cutting component does not need to be adjusted, and a maintenance signal is generated;

[0050] If the height deviation value is outside the cutting height error range, the cutting height of the current cutting component needs to be adjusted to generate an adjustment signal.

[0051] Preferably, the harvesting height correction analysis module specifically includes:

[0052] Based on the adjustment signal, the horizontal plane inclination angle of the cutting assembly is obtained, and the horizontal plane inclination angle is substituted into the height correction model to generate a height correction range HZ;

[0053] Among them, the expression of the height correction model is:

[0054]

[0055] In the expression, GP represents the height deviation value, and θ represents the inclination angle of the horizontal plane of the cutting component.

[0056] Preferably, the movement distance analysis module specifically includes:

[0057] Substitute the height correction range into the motion distance correction model to obtain the motion distance range HC;

[0058] Wherein, the expression of the motion distance correction model is:

[0059] HZ min *γ≤HC≤HZ max *γ;

[0060] In the expression, HZmin It indicates the minimum value of the correction range of the cutting height of Elymus salsa, HZ max It represents the maximum value of the correction range HZ of the cutting height of Elymus salsa, and γ represents the influence coefficient of the moving distance of the extended end of the hydraulic telescopic rod on the moving distance of the cutting shell.

[0061] A creeping type Elymus salsa harvester provided in an embodiment of the present invention can adjust the height of the Elymus salsa by adjusting components, thereby maximizing the harvest amount while ensuring the regeneration ability of the Elymus salsa. It can avoid the loss of yield of the Elymus salsa due to abnormal harvesting height, and avoid the damage to the regeneration ability of the Elymus salsa due to too low harvesting height, thereby improving the harvesting efficiency of the Elymus salsa. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Hereinafter, some specific embodiments of the present application will be described in detail in an exemplary and non-limiting manner with reference to the accompanying drawings. The same reference numerals in the accompanying drawings indicate the same or similar components or parts. It should be understood by those skilled in the art that these drawings are not necessarily drawn to scale. In the accompanying drawings:

[0063] Figure 1 A three-dimensional structural diagram of a creeping Elymus salsa harvester provided in an embodiment of the present invention;

[0064] Figure 2 A partial structural diagram of a creeping Elymus salsa harvester provided in an embodiment of the present invention;

[0065] Figure 3 A structural diagram of an adjustment component provided in an embodiment of the present invention;

[0066] Figure 4 A structural diagram of a cutting assembly provided in an embodiment of the present invention;

[0067] Figure 5 A structural diagram of a conveying assembly provided in an embodiment of the present invention;

[0068] Figure 6 for Figure 1 A partial enlarged view of the middle part;

[0069] Figure 7 A schematic diagram of the model principle of the height correction model provided in an embodiment of the present invention.

[0070] In the accompanying drawings: 2, adjusting component; 3, storage chamber; 4, control chamber; 5, conveying component; 101, cutting shell; 102, conveying port; 120, cutting component; 121, cutting blade; 122, elliptical wheel; 123, power shaft; 124, spring; 140, cutting table roller; 141, power transmission component; 201, first fixed block; 202, adjusting rod; 203, slider; 204, second fixed block; 205, slide; 206, support rod; 207, hydraulic telescopic rod; 501, transmission shell; 502, conveyor belt; 503, transmission shaft; 504, push plate; 505, follower; 506, chain. DETAILED DESCRIPTION

[0071] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0072] In order to enable those skilled in the art to better understand the scheme of the present disclosure, the technical scheme in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present disclosure.

[0073] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so as to describe the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0074] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0075] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0076] like Figure 1 ,and Figure 2 As shown, it is a structural diagram of a creeping lycopene harvester provided by an embodiment of the present invention, comprising a cutting housing 101 and a control room 4, wherein the cutting housing 101 is slidably arranged on one side of the control room 4, and an adjustment component 2 is arranged on one side of the control room 4, wherein one end of the adjustment component 2 is connected to the cutting housing 101 and the other end is connected to the control room 4, and further comprising:

[0077] A cutting blade 121, wherein the cutting blade 121 is disposed on one side of the cutting housing 101 and is slidably connected to the cutting housing 101, and at least two groups of the cutting blades 121 are provided;

[0078] An elliptical rotating wheel 122, wherein the elliptical rotating wheel 122 is arranged on one side of the cutting blade 121 and the number of the elliptical rotating wheels 122 corresponds to the number of the cutting blades 121, the elliptical rotating wheel 122 is abutted against one end of the cutting blade 121, and the long axes of the two elliptical rotating wheels 122 should be kept vertical in the horizontal direction;

[0079] A power shaft 123, wherein the power shaft 123 is disposed on one side of the cutting blade 121, the power shaft 123 is fixedly connected to the elliptical rotating wheel 122, and both ends of the power shaft 123 are rotatably connected to the cutting housing 101;

[0080] A spring 124, wherein the spring 124 is disposed on one side of the cutting blade 121 and corresponds to the cutting blade 121, one end of the spring 124 is in contact with the cutting blade 121, and the other end of the spring 124 is in contact with the cutting housing 101;

[0081] In one embodiment of the present invention, the power shaft 123 is driven to rotate by a motor, and the power shaft 123 drives the elliptical rotating wheel 122 to rotate. When the elliptical rotating wheel 122 rotates, the long axis of the elliptical rotating wheel 122 pushes the corresponding cutting blade 121 to slide on the cutting housing 101, and the spring 124 corresponding to the cutting blade 121 exerts resistance to the cutting blade 121 due to its own elasticity, forcing the cutting blade 121 to reset; when the long axis of the elliptical rotating wheel 122 pushes the cutting blade 121 to the farthest distance, if the elliptical rotating wheel 122 continues to rotate, the spring 124 resets the cutting blade 121, forming a reciprocating motion of the cutting blade 121;

[0082] In the embodiment of the present invention, the number of the cutting blades 121 is two, and the number of the corresponding elliptical wheels 122 and the springs 124 is also two. Since the long axes of the two elliptical wheels 122 remain vertical in the horizontal direction, the two cutting blades 121 move in opposite directions when performing reciprocating motion, and one side of the cutting blade 121 is serrated, so that the cutting blade 121 can quickly cut the saltwort.

[0083] A harvesting height judgment unit, used to judge whether the current harvesting height of the cutting assembly 120 needs to be adjusted according to the inclination angle of the Elymus salsa, and to generate an adjustment signal and a maintenance signal;

[0084] A harvesting height correction analysis module, for obtaining a horizontal plane inclination angle of the cutting assembly 120 based on an adjustment signal and generating a height correction range;

[0085] A motion distance analysis module is used to generate a motion distance value according to a height correction range;

[0086] In the embodiment of the present invention, the inclination angle of the alkali grass in the current area of ​​the machine is obtained by remote sensing technology, and whether the height of the cutting component 120 needs to be adjusted is judged by the inclination angle. If adjustment is required, the inclination angle of the horizontal plane of the cutting component 120 is analyzed, and the height of the cutting component 120 is corrected according to the analysis result, and then the adjustment component 2 is precisely controlled according to the correction result, so that the height of the cutting component 120 can be precisely regulated to achieve the maximum harvest while ensuring the regeneration ability of the alkali grass, avoid the loss of yield of the alkali grass or damage to the regeneration ability of the alkali grass due to abnormal harvesting height, and improve the harvesting efficiency of the alkali grass;

[0087] It should be explained that the horizontal plane inclination angle of the cutting assembly 120 refers to the degree of inclination of the two ends of the cutting assembly 120 on the horizontal plane, and the degree of inclination will cause the heights of the two ends of the cutting assembly 120 from the ground to be inconsistent.

[0088] like Figure 3 As shown, as a preferred embodiment of the present invention, the adjustment component 2 specifically includes:

[0089] A second fixing block 204, which is disposed on one side of the cutting housing 101 and is fixedly connected to the cutting housing 101;

[0090] An adjusting rod 202, wherein the adjusting rod 202 is disposed on the second fixing block 204, one end of the adjusting rod 202 is connected through the second fixing block 204 and a damping member is disposed at the connection;

[0091] A slide groove 205, wherein the slide groove 205 is provided on the adjusting rod 202;

[0092] A slider 203, wherein the slider 203 is slidably disposed in a slide groove 205;

[0093] A first fixing block 201, wherein the first fixing block 201 is rotatably disposed at one end of the adjusting rod 202, and the first fixing block 201 is connected through one end of the adjusting rod 202, and the first fixing block 201 is fixedly connected to the control chamber 4;

[0094] A support rod 206, both ends of which are rotatably connected to the slider 203;

[0095] A hydraulic telescopic rod 207, wherein the hydraulic telescopic rod 207 is disposed on one side of the control room 4, and one end of the hydraulic telescopic rod 207 is fixedly connected to the control room 4, and the extended end of the hydraulic telescopic rod 207 is rotatably connected to the support rod 206;

[0096] Specifically, the hydraulic telescopic rod 207 is started through the control room 4, and the extended end of the hydraulic telescopic rod 207 drives the support rod 206 to perform linear motion, and the two ends of the support rod 206 drive the slider 203 to slide in the slide groove 205. While the slider 203 slides, since one end of the adjusting rod 202 is rotatably connected to the first fixed block 201, and the first fixed block 201 is fixedly connected to one side of the control room 4, the other end of the adjusting rod 202 performs circular motion around the center line of the first fixed block 201. Because the adjusting rod 202 is connected to the second fixed block 204, the adjusting rod 202 drives the second fixed block 204 to perform synchronous circular motion, the second fixed block 204 drives the cutting shell 101 to perform synchronous circular motion, and the cutting shell 101 drives the cutting assembly 120 to perform synchronous circular motion, thereby realizing the adjustment of the height of the cutting assembly 120 from the ground;

[0097] In this embodiment, the circular motion of the other end of the adjusting rod 202 around the center line of the first fixing block 201 refers to the circular motion in the vertical direction, and the circular motion in this direction can achieve the adjustment in the horizontal height; in addition, a damping device is provided between the adjusting rod 202 and the second fixing block 204, and the damping device can effectively prevent the cutting housing 101 from performing a circular motion around the center line of the second fixing block 204 due to gravity, and can also correct the angle between the cutting assembly 120 and the ground through gravity;

[0098] It should be noted that the angle between the cutting assembly 120 and the ground is the inclination angle generated when the cutting assembly 120 follows the cutting housing 101 to perform circular motion.

[0099] like Figure 1 As shown, as a preferred embodiment of the present invention, the creeping Elymus salsa harvester also includes:

[0100] A conveying assembly 5, wherein the conveying assembly 5 is arranged at one side of the control chamber 4, and one end of the conveying assembly 5 is connected to the cutting shell 101, and is used to convey the Elymus salsa on the cutting shell 101;

[0101] A storage chamber 3, wherein the storage chamber 3 is arranged at one side of the control chamber 4, and one side of the storage chamber 3 is slidably connected to one end of the conveying component 5, and is used for storing the Elymus salsa transported by the conveying component 5;

[0102] Specifically, the Elymus salsa harvested from the cutting shell 101 is transported to the storage chamber 3 through the transport component 5, so that the harvested Elymus salsa can be centrally stored, which is convenient for subsequent processing of the Elymus salsa and improves the harvesting efficiency of the Elymus salsa.

[0103] like Figure 2 As shown, as a preferred embodiment of the present invention, the creeping Elymus salsa harvester also includes:

[0104] The cutting platform drum 140 is arranged on the cutting shell 101, and both ends of the cutting platform drum 140 are rotatably connected to the cutting shell 101;

[0105] A power transmission member 141, wherein the power transmission member 141 is disposed at one end of the cutting drum 140 and is fixedly connected to the cutting drum 140;

[0106] Specifically, the control room 4 controls the power motor to drive the power transmission component 141 to rotate, and the power transmission component 141 drives the cutting table drum 140 to rotate. When the cutting table drum 140 rotates, the threaded blades arranged on the cutting table drum 140 will push the Elymus salsa harvested on the cutting shell 101 to move, so that the Elymus salsa harvested on the cutting shell 101 is concentrated in one place, which is convenient for the subsequent removal of the Elymus salsa harvested on the cutting shell 101, thereby improving the harvesting efficiency of the Elymus salsa; in addition, when the cutting table drum 140 rotates, the threaded blades on the cutting table drum 140 can also perform simple shredding processing on the Elymus salsa harvested on the cutting shell 101, so that the harvested Elymus salsa can be pre-processed in advance, thereby improving the efficiency of subsequent processing of the Elymus salsa.

[0107] like Figure 5 and Figure 6 As shown, as a preferred embodiment of the present invention, the conveying component 5 specifically includes:

[0108] A delivery port 102, wherein the delivery port 102 is provided on the cutting shell 101;

[0109] A transmission housing 501, one end of which is rotatably connected to the cutting housing 101, and the other end of which is slidably connected to the storage chamber 3;

[0110] A transmission shaft 503, wherein the transmission shaft 503 is arranged in a linear array on the transmission housing 501, and both ends of the transmission shaft 503 are rotatably connected to the transmission housing 501;

[0111] A conveyor belt 502, wherein the conveyor belt 502 is disposed in the transmission housing 501, and one side of the conveyor belt 502 is meshedly connected with the transmission shaft 503;

[0112] A push plate 504, wherein the push plate 504 is disposed on one side of the conveyor belt 502;

[0113] A driven member 505, which is disposed on one side of the transmission housing 501 and is connected to the transmission shaft 503;

[0114] A chain 506, which is disposed on one side of the transmission housing 501 and is meshedly connected with the driven member 505 and the power transmission member 141, and is used to transmit the power of the power transmission member 141 to the driven member 505;

[0115] Specifically, when the power transmission member 141 rotates, the chain 506 drives the driven member 505 to rotate, the driven member 505 drives the transmission shaft 503 to rotate, the transmission shaft 503 drives the conveyor belt 502 to move, the conveyor belt 502 drives the push plate 504 to move, and the push plate 504 can transport the Elymus salsa concentrated by the cutting table drum 140 through the conveying port 102 during movement, and finally transport it to the storage chamber 3, so as to realize the centralized storage of the harvested Elymus salsa, realize the automation of the harvesting of the Elymus salsa, and improve the harvesting efficiency of the Elymus salsa;

[0116] In addition, at least two transmission shafts 503 are provided, and the number of driven members 505 is one. The driven member 505 drives one transmission shaft 503 to realize the rotation of the conveyor belt 502, and the conveyor belt 502 can drive another transmission shaft 503 to rotate, so as to realize the long-distance transmission of the alkali grass; at the same time, the transmission shaft 503 also supports the conveyor belt 502, reducing the instability of the conveyor belt 502 caused by the excessive distance of the conveyor belt 502;

[0117] It should be noted that one end of the transmission shell 501 is rotatably connected to the cutting shell 101, and a rotating shaft is provided at the rotating connection, which provides rotation capability and support at the same time, so that one end of the transmission shell 501 is always connected to the delivery port 102 opened on the cutting shell 101; the other end of the transmission shell 501 is slidably connected to the storage chamber 3. When the cutting shell 101 moves, the other end of the transmission shell 501 will extend into the storage chamber 3. Since the storage chamber 3 is a hollow structure, the transmission shell 501 will not be damaged by collision or the like.

[0118] As a preferred embodiment of the present invention, the harvesting height determination unit specifically includes:

[0119] Optimal cutting height analysis module: obtain the inclination angle of Elymus salsa, substitute the inclination angle of Elymus salsa into the height evaluation model, and generate the optimal cutting height value;

[0120] Cutting height judgment module: according to the optimal cutting height value, judge whether the current cutting height needs to be adjusted, and generate adjustment signal and maintenance signal;

[0121] Specifically, the inclination angle of the Elymus salsa is substituted into the height evaluation model for analysis to obtain the optimal cutting height value of the Elymus salsa, and according to the optimal cutting height value of the Elymus salsa, it is determined whether the current height of the cutting assembly 120 needs to be adjusted;

[0122] In this embodiment, the optimal cutting height of Elymus dahliae refers to a cutting height that can increase the harvest yield of Elymus dahliae while ensuring the regeneration capacity of the Elymus dahliae.

[0123] As a preferred embodiment of the present invention, the optimal cutting height analysis module specifically includes:

[0124] The grass field is divided into several sub-areas, the inclination angle of the Elymus salsa in the sub-area where the machine is located is obtained, and the inclination angle of the Elymus salsa is substituted into the height evaluation model to generate the optimal cutting height value HX of the Elymus salsa;

[0125] Wherein, the expression of the height evaluation model is:

[0126] HX = CX*COS(JC);

[0127] In the expression, JC represents the average value of the inclination angles of all Elymus salsa in the sub-area where the machine is located, and CX represents the middle value of the required retention length range of Elymus salsa;

[0128] It should be noted that Elymus salsa has a bending phenomenon in real life. When obtaining the inclination angle of Elymus salsa, error terms should be introduced, such as the bending degree and bending direction of Elymus salsa, and finally the representative value of the inclination angle of Elymus salsa is obtained, which is the inclination angle of Elymus salsa.

[0129] In this embodiment, the inclination angle of the Elymus salsa can be obtained by using a laser radar mounted on an unmanned aerial vehicle, satellite remote sensing technology, etc.; in addition, the inclination angle is the angle formed by the shape of the Elymus salsa and a standard line perpendicular to the ground.

[0130] As a preferred embodiment of the present invention, the cutting height judgment module specifically includes:

[0131] Obtain the real-time ground clearance value of the cutting assembly 120, perform difference processing on the real-time ground clearance value and the optimal cutting height value HX, and generate a height deviation value;

[0132] According to the height deviation value, determine whether the cutting height of the cutting assembly 120 is abnormal, and generate an adjustment signal or a maintenance signal;

[0133] The process of determining whether the cutting height of the cutting assembly 120 is abnormal specifically includes:

[0134] A cutting height error range is preset, and the height deviation value is compared with the cutting height error range. If the height deviation value is within the cutting height error range, the cutting height of the current cutting assembly 120 does not need to be adjusted, and a maintenance signal is generated;

[0135] If the height deviation value is outside the cutting height error range, the current cutting height of the cutting assembly 120 needs to be adjusted, and an adjustment signal is generated;

[0136] In this embodiment, the cutting height error range refers to the error caused by the cutting height of the cutting component 120 during the cutting process of the machine. The causes of this error include but are not limited to vibration during operation of the machine, kinetic energy loss caused by friction of the mechanical structure, etc.

[0137] As a preferred embodiment of the present invention, the harvesting height correction analysis module specifically includes:

[0138] Based on the adjustment signal, the horizontal plane inclination angle of the cutting assembly 120 is obtained, and the horizontal plane inclination angle is substituted into the height correction model to generate the height correction range HZ;

[0139] Among them, the expression of the height correction model is:

[0140]

[0141] In the expression, GP represents the height deviation value, and θ represents the horizontal plane inclination angle of the cutting component;

[0142] In this embodiment, if Figure 7As shown, when the height of the cutting component 120 is adjusted by the adjustment component 2, if the horizontal plane inclination angle of the cutting component 120 (the heights from the ground at both ends of the cutting component 120 are inconsistent) is not in a horizontal state, the path generated by the cutting height adjusted by the cutting component 120 will be tilted, so that the average height from the ground adjusted by the cutting component 120 is less than the adjustment target value, and ultimately the height adjusted by the cutting component 120 cannot reach the optimal cutting height value, then the height adjustment distance of the cutting component 120 needs to be corrected so that the height from the ground of the cutting component 120 can reach the optimal cutting height value of the saltwort; in the height correction model, the principle of its expression is trigonometric function, based on the trigonometric function formula, through the known height deviation value GP and the horizontal plane inclination angle θ of the cutting component, the correction range of the height adjustment distance of the cutting component 120 is generated, that is, the height correction range HZ;

[0143] It is necessary to add that Figure 7 Medium H min -GP refers to GP-GP*COSθ in the expression of the height correction model, H max -GP refers to the expression of the height correction model

[0144] In addition, the maximum value of the height correction range HZ is theoretically the correct correction value, but in actual applications, the retention height of Elymus salsa is not very high, generally about 5-7 cm (this data is the data under normal conditions, and the specific data needs to be considered comprehensively according to the growth state and growth environment of Elymus salsa. This embodiment only indicates that the retention height is not very high in actual applications). If the bevel angle of the cutting blade is too large, the cutting blade may scrape the ground during the height adjustment process, so the range value is used;

[0145] As a preferred embodiment of the present invention, the movement distance analysis module specifically includes:

[0146] Substitute the height correction range into the motion distance correction model to obtain the motion distance range HC;

[0147] Wherein, the expression of the motion distance correction model is:

[0148] HZ min *γ≤HC≤HZ max *γ;

[0149] In the expression, HZ min It indicates the minimum value of the correction range of the cutting height of Elymus salsa, HZ max represents the maximum value of the correction range HZ of the cutting height of the lycopene grass, and γ represents the influence coefficient of the moving distance of the extended end of the hydraulic telescopic rod on the moving distance of the cutting shell;

[0150] The influence coefficient γ of the moving distance of the extended end of the hydraulic telescopic rod 207 on the moving distance of the cutting housing 101 can be obtained by a linear regression equation. This algorithm is a conventional algorithm and will not be described here.

[0151] When the movement distance range HC is obtained, the control room 4 starts the hydraulic telescopic rod 207 and controls the moving distance of the extended end of the hydraulic telescopic rod 207 according to the movement distance range HC, thereby adjusting the cutting height of the lycopene grass;

[0152] In this embodiment, the height correction range of the cutting assembly 120 is converted into the moving distance of the extended end of the hydraulic telescopic rod 207. By accurately controlling the moving distance of the extended end of the hydraulic telescopic rod 207, the cutting height of the cutting assembly 120 is accurately controlled, so that the cutting height of the cutting assembly 120 is always maintained within the optimal cutting height value, and the maximum harvest amount is achieved while ensuring the regeneration ability of the alkali grass, avoiding the loss of yield of the alkali grass due to abnormal harvesting height or damage to the regeneration ability of the alkali grass, thereby improving the harvesting efficiency of the alkali grass.

[0153] It should be noted that the movement distance range HC can take an intermediate value in practical applications. The value can also be reasonably taken within the range based on experience or land conditions. The range can also be used as an error range to reduce the risk of the cutting blade scraping the ground during the actual height adjustment process.

[0154] In addition, it should be noted that Figure 7 In the process of adjustment, the motion trajectory of the cutting component is not a straight line, but Figure 7 The reason for using a straight line is as follows: no matter the motion trajectory is a straight line or a curve, the starting point and the end point of the motion trajectory do not change, and the ultimate goal is to adjust the cutting assembly 120 to the expected height (the optimal cutting height value HX) through the hydraulic telescopic rod 207.

[0155] The above embodiment of the present invention provides a creeping type Elymus salsa harvester, which can accurately adjust the cutting height of the Elymus salsa by adjusting the component 2, thereby maximizing the harvest while ensuring the regeneration ability of the Elymus salsa, avoiding the loss of yield of the Elymus salsa or damage to the regeneration ability of the Elymus salsa due to abnormal harvesting height, and improving the harvesting efficiency of the Elymus salsa.

[0156] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present disclosure. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0157] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0158] In the description of the present disclosure, it is necessary to understand that the orientation or positional relationship indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present disclosure; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0159] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A creeping Elymus salsa harvester, comprising a cutting shell and a control chamber, wherein the cutting shell is slidably arranged on one side of the control chamber, and a cutting assembly is arranged on the cutting shell, characterized in that: An adjustment component is provided on one side of the control chamber, one end of the adjustment component is connected to the cutting housing and the other end is connected to the control chamber; the cutting component also includes: A cutting blade, wherein the cutting blade is arranged on one side of the cutting shell and is slidably connected to the cutting shell, and the number of the cutting blades is two groups; An elliptical rotating wheel, wherein the elliptical rotating wheel is arranged on one side of the cutting blade and the number of the elliptical rotating wheels corresponds to the number of the cutting blades, the elliptical rotating wheel is abuttedly connected to one end of the cutting blade, and the long axes of the two elliptical rotating wheels are kept vertical in the horizontal direction; A power shaft, the power shaft is arranged on one side of the cutting blade, the power shaft is fixedly connected with the elliptical rotating wheel, and both ends of the power shaft are rotatably connected with the cutting shell; A spring, wherein the spring is arranged on one side of the cutting blade and corresponds to the cutting blade, one end of the spring is in contact with the cutting blade, and the other end of the spring is in contact with the cutting housing; The creeping Elymus salsa harvester also includes: A harvesting height judgment unit, used to judge whether the current harvesting height of the cutting assembly needs to be adjusted according to the inclination angle of the Elymus salsa, and to generate an adjustment signal and a maintenance signal; A harvesting height correction analysis module, for obtaining a horizontal plane inclination angle of the cutting assembly based on an adjustment signal, and generating a height correction range; The motion distance analysis module is used to generate a motion distance value according to the height correction range.

2. A creeping Elymus salsa harvester according to claim 1, characterized in that: The adjustment component comprises: A second fixing block, the second fixing block is arranged on one side of the cutting shell and is fixedly connected to the cutting shell; An adjusting rod, wherein the adjusting rod is arranged on the second fixing block, one end of the adjusting rod is connected through the second fixing block and a damping member is arranged at the connection; A slide groove, wherein the slide groove is provided on the adjusting rod; A slider, the slider being slidably disposed in the slide groove; A first fixed block, wherein the first fixed block is rotatably disposed at one end of the adjusting rod, and the first fixed block is connected through one end of the adjusting rod, and the first fixed block is fixedly connected to the control chamber; A support rod, both ends of which are rotatably connected to the slider; A hydraulic telescopic rod is arranged on one side of the control room, one end of the hydraulic telescopic rod is fixedly connected to the control room, and the extended end of the hydraulic telescopic rod is rotatably connected to the support rod.

3. A creeping Elymus salsa harvester according to claim 1, characterized in that: Also includes: A conveying assembly, wherein the conveying assembly is arranged at one side of the control room, and one end of the conveying assembly is connected to the cutting shell, and is used for conveying the Elymus salsa on the cutting shell; A storage chamber is arranged on one side of the control chamber, and one side of the storage chamber is slidably connected to one end of the conveying component, and is used to store the Elymus salsa transported by the conveying component.

4. A creeping Elymus salsa harvester according to claim 1, characterized in that: Also includes: A cutting drum, wherein the cutting drum is arranged on a cutting shell, and both ends of the cutting drum are rotatably connected to the cutting shell; A power transmission member is arranged at one end of the cutting platform drum and is fixedly connected to the cutting platform drum.

5. A creeping Elymus salsa harvester according to claim 3, characterized in that: The conveying assembly comprises: A delivery port, the delivery port being disposed on the cutting shell; A transmission housing, one end of which is rotatably connected to the cutting housing, and the other end of which is slidably connected to the storage chamber; A transmission shaft, wherein the transmission shaft is arranged in a linear array on the transmission housing, and both ends of the transmission shaft are rotatably connected to the transmission housing; A conveyor belt, wherein the conveyor belt is disposed in the transmission housing, and one side of the conveyor belt is meshedly connected with the transmission shaft; A push plate, the push plate being arranged on one side of the conveyor belt; A driven member, the driven member is arranged on one side of the transmission housing and connected to the transmission shaft; A chain is arranged on one side of the transmission housing and is meshedly connected with the driven member and the power transmission member, and is used for transmitting the power of the power transmission member to the driven member.

6. The creeping Elymus dahliae harvester according to claim 1, characterized in that: The harvesting height determination unit specifically includes: Optimal cutting height analysis module: obtain the inclination angle of Elymus salsa, substitute the inclination angle of Elymus salsa into the height evaluation model, and generate the optimal cutting height value; Cutting height judgment module: According to the optimal cutting height value, it determines whether the current cutting height needs to be adjusted, and generates adjustment signals and maintenance signals.

7. A creeping Elymus salsa harvester according to claim 6, characterized in that: The optimal cutting height analysis module specifically includes: The grass field is divided into several sub-areas, the inclination angle of the Elymus salsa in the sub-area where the machine is located is obtained, and the inclination angle of the Elymus salsa is substituted into the height evaluation model to generate the optimal cutting height value HX of the Elymus salsa; Wherein, the expression of the height evaluation model is: HX = CX*COS(JC); In the expression, JC represents the average of the inclination angles of all Elymus salsa in the sub-area where the machine is located, and CX represents the median value of the range of lengths that the Elymus salsa needs to retain.

8. The creeping Elymus dahliae harvester according to claim 6, characterized in that: The cutting height judgment module specifically includes: Obtain the real-time ground clearance value of the cutting component, perform difference processing on the real-time ground clearance value and the optimal cutting height value HX, and generate a height deviation value; According to the height deviation value, it is judged whether there is an abnormality in the cutting height of the cutting component, and an adjustment signal or a maintenance signal is generated; Determining whether the cutting height of the cutting component is abnormal specifically includes: The cutting height error range is preset, and the height deviation value is compared with the cutting height error range. If the height deviation value is within the cutting height error range, the cutting height of the current cutting component does not need to be adjusted, and a maintenance signal is generated; If the height deviation value is outside the cutting height error range, the cutting height of the current cutting component needs to be adjusted to generate an adjustment signal.

9. The creeping Elymus salsa harvester according to claim 2, characterized in that: The harvesting height correction analysis module specifically includes: Based on the adjustment signal, the horizontal plane inclination angle of the cutting assembly is obtained, and the horizontal plane inclination angle is substituted into the height correction model to generate a height correction range HZ; Among them, the expression of the height correction model is: In the expression, GP represents the height deviation value, and θ represents the inclination angle of the horizontal plane of the cutting component.

10. The creeping Elymus dahliae harvester according to claim 9, characterized in that: The motion distance analysis module specifically includes: Substitute the height correction range into the motion distance correction model to obtain the motion distance range HC; Wherein, the expression of the motion distance correction model is: HZ min *γ≤HC≤HZ max *c; In the expression, HZ min It indicates the minimum value of the correction range of the cutting height of Elymus salsa, HZ max It represents the maximum value of the correction range HZ of the cutting height of the Elymus salsa, and γ represents the influence coefficient of the moving distance of the extended end of the hydraulic telescopic rod on the moving distance of the cutting shell.

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