Small electric wheat binder based on ARM Cortex-M4 control

Abstract

The invention relates to the technical field of reaping machines, and discloses a small electric wheat reaping machine based on ARM Cortex-M4 control, which comprises a rack, a cutting mechanism, a bundling mechanism, a transmission mechanism, a control mechanism and a driving mechanism, the machine frame is of a main body supporting structure, a grip and a front wheel are arranged on the upper portion and the lower portion of the machine frame respectively, and a conveying mechanism used for conveying wheat cut by the cutting mechanism is installed on the front side of the machine frame. According to the small electric wheat reaper-binder based on ARM Cortex-M4 control, the equipment is designed to be miniaturized, the size of the whole reaper-binder is matched with a narrow land parcel in a hilly and mountainous area, a road and a rear wheel steering system are matched with a 30-degree steering angle, the turning flexibility is high, and the problems that a traditional reaper-binder is large in size and difficult to pass are solved; manual intervention of intermediate links is not needed, and the operation efficiency is greatly improved; the cutter does not need a blade protector, is convenient to maintain, and adapts to different wheat growth vigor due to the adjustable gap between the movable blade and the fixed blade; and the failure alarm of the bundling mechanism is timely, and the downtime is reduced.

Description

Technical Field

[0001] This invention relates to the field of baler technology, specifically to a small electric wheat baler based on ARM Cortex-M4 control. Background Technology

[0002] In agricultural production, baling wheat after harvest is a crucial step. However, due to the complex terrain of hilly and mountainous areas, characterized by small and irregular plots, narrow roads, and steep slopes, wheat harvesting and baling have long relied on manual labor, which is not only inefficient but also significantly increases labor costs.

[0003] Existing harvesters and balers adapted for hilly and mountainous areas have several drawbacks: First, their mechanical transmission structures are complex, prone to transmission jamming, resulting in high maintenance costs and low control precision, making it difficult to adjust harvesting parameters according to different wheat growth stages; second, their overall size is too large, resulting in poor turning flexibility, making them susceptible to terrain limitations when operating in narrow areas, and they may even get stuck in the middle of the road during transportation, limiting their mobility; third, their functional integration is low, with poor coordination between cutter speed adjustment, header height control, and conveying and baling actions, leading to low harvesting and baling efficiency and failing to meet the needs of efficient wheat harvesting in hilly and mountainous areas.

[0004] Therefore, there is an urgent need to develop a new type of wheat baling equipment that is suitable for hilly terrain, balances operational efficiency and operating costs, and has high reliability and high flexibility. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a small electric wheat harvester based on ARM Cortex-M4 control, which solves the problems of complex mechanical transmission structure, easy transmission jamming failure, large overall size, poor turning flexibility, and easy terrain restriction when operating in narrow fields in the prior art.

[0006] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: a small electric wheat harvester based on ARM Cortex-M4 control, comprising: a frame, a cutting mechanism, a baling mechanism, a transmission mechanism, a control mechanism, and a drive mechanism; The frame is the main support structure. The top and bottom of the frame are respectively equipped with handles and front wheels, and the front side of the frame is equipped with a conveying mechanism for conveying wheat cut by the cutting mechanism. The cutting mechanism is installed at the bottom of the frame and is used to cut wheat in the wheat field; The baling mechanism is installed on the right front end of the frame and is used to bale wheat that is being conveyed by the conveying mechanism. The cutting mechanism, bundling mechanism, and conveying mechanism together form a cutting table; The drive mechanism is installed at the rear of the frame and is used to adjust the height of the cutting table.

[0007] Preferably, the transmission mechanism includes a DC motor mounted on the frame, a belt drive, a transmission gear, and a crank sliding component; The DC motor drives the transmission gear to rotate via a belt drive component, and one end of the rotating shaft connected to the transmission gear is connected to a crank slider component to drive the crank slider component to drive the cutter to reciprocate. The other end of the rotating shaft connected to the transmission gear is connected to the axle of the front wheel via a connecting rod component to drive the front wheel to rotate. The transmission mechanism includes three speed adjustment modes. The handle is equipped with a three-speed knob for switching speed adjustment modes. The three-speed knob has a built-in Hall sensor. The speed adjustment mode is switched by adjusting the DC motor input voltage through the control mechanism. The three speed adjustment modes include: The low-speed range is 1.2-1.8 km / h, suitable for steep hills and high-density wheat fields with a gradient of 15-25°. The medium speed range is 2.0-2.5 km / h, suitable for gentle slopes of 5-15° and medium-density wheat fields; The high-speed mode has a speed range of 2.8-3.5 km / h, making it suitable for flat land and low-density wheat fields.

[0008] Preferably, the cutting mechanism includes a cutter, a fixed base, and fixing bolts; The cutter adopts a triangular structure with a moving blade and a fixed blade, and is driven by a crank and slider to achieve reciprocating motion. The stroke is 20mm, the reciprocating frequency is ≥300 times / minute, and the flatness error of the cutting section is ≤2mm. The gap between the moving blade and the fixed blade can be finely adjusted within the range of 0.1-0.3mm by fixing bolts, and a comb-shaped guide plate with a spacing of 15mm is provided above the cutter.

[0009] Preferably, the bundling mechanism includes a toothed disc, a knotter frame, a knotting nozzle, a rope clamping disc with built-in cutters, a cam, a knotter gear, a helical gear turbine, and a bevel gear set, wherein the bevel gear set includes a knotting nozzle bevel gear and a rope clamping disc bevel gear. The power of the bundling mechanism is transmitted to the spiral tooth turbine through the main drive shaft. The spiral tooth turbine drives the knotter gear to rotate. The knotter gear divides the power to the bevel gear set. The knotting nozzle bevel gear drives the knotting nozzle to rotate around the central axis. The rope clamping disc bevel gear drives the rope clamping disc with its own cutter to rotate relative to each other. The conveying mechanism feeds the cut wheat straw into the baling area. After the toothed disc rotates and combs the straw, it enters the baling chamber of the knotter frame. The rope clamping disc compresses the straw under the drive of the bevel gear. When the cam rotates to a specific angle with the main drive shaft, the baling rope is fed to the knotting nozzle inlet. The knotting nozzle, driven by the bevel gear, wraps the supplied baling rope around the straw bale to form a closed rope loop. The rope clamping disc tightens the rope loop under the drive of the bevel gear and cuts off the end of the baling rope, completing the baling.

[0010] The binding diameter of the baling mechanism is adjusted by the spacing between the rope clamping discs from 100 to 200 mm. Each bundle of wheat straw weighs 2 to 3 kg. The pressure of the rope clamping discs is adjusted by the spring preload from 50 to 100 N. Furthermore, the bundling mechanism has a built-in pressure sensor. When the bundling rope breaks or runs out, the pressure sensor sends a signal to the control mechanism, triggering an alarm and pausing the conveying mechanism.

[0011] Preferably, the conveying mechanism includes a divider, a straightener, a conveyor chain, and a lateral transport unit installed at the front end of the frame; The transverse transport unit is located above the cutting mechanism and close to the baling mechanism. The left side plate and the right side plate are fixed on the frame and on both sides of the load lifter, respectively. A baffle is installed at the connection between the cutting table and the frame, and an ultrasonic sensor is installed at the bottom of the cutting table to feed back a height signal to the control mechanism to automatically adjust the height of the cutting table.

[0012] Preferably, the drive mechanism includes a fixed frame hinged to the rear of the frame, with rear wheels on both sides of the bottom of the fixed frame, and a push rod motor is provided between the frame and the fixed frame, with the electric push rod of the push rod motor hinged to the bottom of the fixed frame; An emergency stop button is provided at the end of the grip, which is used to cut off the power to all motors and lock the rear wheel via a control mechanism.

[0013] Preferably, both sides of the fixing frame are hinged with upper and lower brackets, and the two sets of upper and lower brackets are rotatably connected with steering shafts, and the two rear wheels are rotatably connected to the outer surfaces of the two steering shafts respectively through the rotating shafts. Spring shock absorbers are installed at the bottom of the fixed frame and between the two lower supports.

[0014] Preferably, the fixed frame has a rack frame that is slidably connected inside, and both ends of the rack frame are fixedly connected to two steering shafts through connecting shaft frames; A stepper motor is fixedly connected inside the fixed frame, and the output shaft of the stepper motor is fixedly connected to a steering gear that meshes with the rack frame; Both ends of the spring shock absorber are hinged to the bottom of the fixed frame and the top of the lower bracket via flanges, and the flanges have built-in rubber buffer pads. When the impact force on the rear wheel is transmitted to the steering rack through the steering shaft, the steering rack drives the spring shock absorber to compress or stretch, thereby reducing the vibration amplitude of the machine body by ≥60%.

[0015] Preferably, the control mechanism includes a control box fixed above the mounting frame, and the control system of the control mechanism is integrated inside the control box; The control box also contains a battery pack that powers the baler, and the control core of the control mechanism uses a 2-bit ARM Cortex-M4 microcontroller. The peripheral interfaces include 6 PWM outputs, 8 ADC inputs and 4 UART communication interfaces. The control core uses a 10ms control cycle and generates a timer interrupt through an internal timer as a synchronization reference for the control timing of each functional module, ensuring that all modules execute control commands on the same time axis.

[0016] A method for operating a small electric wheat harvester based on ARM Cortex-M4 control includes the following steps: S1, Wheat Harvesting The operator holds the handles with both hands and pushes the equipment forward along the wheat planting row. The separator separates the wheat straw and guides it to the straw lifter. The straw lifter, through the cooperation of the toothed conveyor chain, lifts the straw and transports it to the cutting mechanism. The ultrasonic sensor at the bottom of the cutter table collects the distance signal between the cutter table and the ground in real time and transmits it to the control mechanism. The control mechanism compares the signal with the preset cutting height of 80-100mm. When the deviation exceeds 5mm, the control push rod motor drives the electric push rod to extend and retract, adjusting the height of the cutting table to the preset range; at the same time, the control mechanism controls the DC motor to start, which drives the moving blade of the cutting mechanism to reciprocate through the transmission mechanism to complete the straw cutting. The cut straw falls into the transverse transport unit and is then transported to the baling mechanism. S3: Straw Baling When the straw accumulates in the baling mechanism to the point that it triggers the pressure sensor, the pressure sensor sends a signal to the control mechanism. The control mechanism controls the DC motor to adjust its speed, which drives the cam coaxial with the gear plate to rotate. The cam pushes the knotter frame to rotate 90° around the fixed axis. At the same time, the external teeth of the gear plate drive the bevel gear of the knotting nozzle to rotate, which drives the knotting nozzle to wrap the binding rope. The internal gear of the toothed disc drives the bevel gear of the rope clamping disc to rotate, which in turn causes the rope clamping disc to clamp the binding rope; the cutter built into the baling mechanism cuts the binding rope, and the return spring pulls the knotter frame to return to its original position, completing one baling cycle. The bundled straw automatically falls from the bottom of the baling mechanism. S4: Emergency Response and Operation Completion In case of emergency such as straw blockage or equipment tilting during operation, immediately press the emergency stop button at the end of the handle. The control mechanism will cut off the power to the DC motor, stepper motor and push rod motor, and lock the rear wheel with an electromagnetic lock at the same time. If the LCD screen shows that the battery level is below 10%, the equipment will automatically switch to low speed and the LCD screen will flash to indicate charging. If the pressure sensor of the bundling mechanism does not detect the tension of the bundling rope for 3 consecutive seconds, the control mechanism will determine that the rope is broken or exhausted, trigger a buzzer alarm and pause the lateral transport unit. After replacing the rope, press the reset button to resume operation.

[0017] (III) Beneficial Effects Compared with the prior art, the present invention provides a small electric wheat harvester based on ARM Cortex-M4 control, which has the following advantages: Compact structure and good maneuverability: The equipment adopts a miniaturized design, and the overall size of the machine is suitable for narrow plots and roads in hilly and mountainous areas. The rear wheel steering system, combined with a 30° steering angle, provides high turning flexibility and solves the problems of traditional balers being large in size and difficult to pass.

[0018] Intelligent control with high precision: The control core based on the ARM Cortex-M4 architecture realizes multi-module timing synchronization, ensuring smooth connection between cutting, conveying and bundling actions with a timing deviation of ≤50ms; the cutting table height is automatically adjusted and three-speed regulation is available to adapt to different working conditions, resulting in high control precision and stable operation quality.

[0019] Integrated functions and high efficiency: It integrates harvesting, conveying and baling functions, eliminating the need for manual intervention in intermediate processes and greatly improving work efficiency; the cutter does not require a blade guard, making maintenance convenient, and the gap between the moving and fixed blades is adjustable to adapt to different wheat growth conditions; the baling mechanism provides timely fault alarms, reducing downtime.

[0020] Terrain adaptability and high stability: The cylindrical helical spring shock absorber reduces the vibration amplitude of the machine body by ≥60%, adapting to the bumpy terrain of hilly and mountainous areas; the rear wheel steering system, combined with a reasonable gear design, ensures that the equipment can operate stably on steep slopes, gentle slopes and flat ground, thus broadening the scope of application of the equipment. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the small electric wheat harvester based on ARM Cortex-M4 control according to the present invention; Figure 2 This is a partial rear view of the small electric wheat harvester based on ARM Cortex-M4 control according to the present invention; Figure 3 This is a schematic diagram of the drive mechanism of the present invention; Figure 4 For the present invention Figure 3Structural side view of the central drive mechanism; Figure 5 This is an isometric schematic diagram of the knotter of the present invention; Figure 6 For the present invention Figure 5 Side view of the knotter; Figure 7 This is a schematic diagram of the overall function of the small electric wheat harvester based on ARM Cortex-M4 control according to the present invention. Figure 8 This is a control principle diagram of a small electric wheat harvester based on ARM Cortex-M4 control according to the present invention.

[0022] In the diagram: 100, frame; 101, handle; 102, front wheel; 200. Cutting mechanism; 300. Bundling mechanism; 301. Gear disc; 302. Knotter frame; 303. Knotting nozzle; 304. Rope clamping disc; 305. Cam; 306. Knotting nozzle bevel gear; 307. Rope clamping disc bevel gear; 308. Knotter gear; 309. Helical gear turbine; 400. Transmission mechanism; 401. DC motor; 402. Belt drive component; 403. Transmission gear; 404. Crank and sliding component; 500. Control mechanism; 600. Drive mechanism; 601. Fixing frame; 602. Rear wheel; 603. Push rod motor; 604. Electric push rod; 605. Upper bracket; 606. Lower bracket; 607. Steering shaft; 608. Spring shock absorber; 609. Rack and pinion frame; 610. Connecting shaft frame; 611. Stepper motor; 612. Steering gear; 700. Conveying mechanism; 701. Divider; 702. Stalk lifter; 703. Conveyor chain; 704. Lateral transport unit; 705. Left side plate; 706. Right side plate; 707. Baffle. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1: See attached document Figures 1 to 8A small electric wheat baler based on ARM Cortex-M4 control includes: a frame 100, a cutting mechanism 200, a baling mechanism 300, a transmission mechanism 400, a control mechanism 500, and a drive mechanism 600. The frame 100 is the main support structure. The top and bottom of the frame 100 are respectively provided with a handle 101 and a front wheel 102. The front side of the frame 100 is equipped with a conveying mechanism 700 for conveying wheat cut by the cutting mechanism 200. The cutting mechanism 200 is installed at the bottom of the frame 100 and is used to cut wheat in the wheat field; The baling mechanism 300 is installed on the front right side of the frame 100 and is used to bale the wheat conveyed by the conveying mechanism 700. The cutting mechanism 200, the bundling mechanism 300, and the conveying mechanism 700 together form the cutting table; The drive mechanism 600 is installed at the rear of the frame 100 and is used to adjust the height of the cutting table.

[0025] The multi-functional integrated and electrically driven optimized wheat harvester for hilly areas can harvest and bale wheat in hilly areas. It features a novel, compact, and reasonable structure, small overall weight, simple operation, high work efficiency, stable and good baling quality, strong terrain adaptability, economy and environmental protection, high sustainability, and low maintenance cost, providing technical support for mechanized crop harvesting operations in hilly areas. See attached document Figure 1 The transmission mechanism 400 includes a DC motor 401 mounted on the frame 100, a belt drive component 402, a transmission gear 403, and a crank sliding component 404. The DC motor 401 drives the transmission gear 403 to rotate via the belt drive 402. One end of the rotating shaft connected to the transmission gear 403 is connected to the crank slider 404 to drive the crank slider 404 to drive the cutter to reciprocate. The other end of the rotating shaft connected to the transmission gear 403 is connected to the axle of the front wheel 102 via a connecting rod to drive the front wheel 102 to rotate. The power is transmitted through the rotating shaft to the crank slider 404 to drive the cutter to reciprocate.

[0026] The transmission mechanism 400 includes three speed adjustment modes. The handle 101 is equipped with a three-speed knob for switching speed adjustment modes. The three-speed knob has a built-in Hall sensor. The speed adjustment mode is switched by adjusting the input voltage of the DC motor 401 through the control mechanism 500. The three speed control modes include: The low-speed range is 1.2-1.8 km / h, suitable for steep hills and high-density wheat fields with a gradient of 15-25°. The medium speed range is 2.0-2.5 km / h, suitable for gentle slopes of 5-15° and medium-density wheat fields; The high-speed mode has a speed of 2.8-3.5 km / h, suitable for flat land and low-density wheat fields; The three-speed adjustment function is achieved by the control mechanism 500 transmitting an electrical signal to the DC motor 401 and adjusting the input voltage of the DC motor 401. One side of the DC motor 401 is connected to the belt drive 402, and the other side of the belt drive 402 is connected to the transmission gear 403 through a rotating shaft. The control mechanism 500 controls the speed of the DC motor 401 by adjusting the electrical signal, thereby controlling the speed of the front wheel 102 for speed adjustment.

[0027] The cutting mechanism 200 includes a cutter, a fixed base, and fixing bolts; The cutter does not require a blade guard. The moving and fixed blades are constructed in a triangular shape. The reciprocating motion is achieved by matching the eccentricity of the crank-slider mechanism with the rotational speed of the rotating shaft. The stroke is 20mm, the frequency is ≥300 times / minute, and the cutting cross-section is flat with an error of ≤2mm. The gap between the moving blade and the fixed blade of the cutter is adjustable from 0.1 to 0.3 mm and can be finely adjusted by the fixing bolts of the cutting mechanism 200. A comb-shaped guide plate with a spacing of 15 mm is set on the top of the cutter and integrated with the cutting mechanism 200 to separate straw from impurities.

[0028] See attached document Figure 5 and Figure 6 The bundling mechanism 300 includes a toothed disc 301, a knotter frame 302, a knotter nozzle 303, a rope clamping disc 304 with built-in cutting shears, a cam 305, a knotter gear 308, a spiral gear turbine 309, and a bevel gear set, which includes a knotter nozzle bevel gear 306 and a rope clamping disc bevel gear 307. The power of the bundling mechanism 300 is transmitted to the spiral tooth turbine 309 through the main drive shaft. The spiral tooth turbine 309 drives the knotter gear 308 to rotate. The knotter gear 308 divides the power to the bevel gear set. The knotting nozzle bevel gear 306 drives the knotting nozzle 303 to rotate around the central axis. The rope clamping disc bevel gear 307 drives the rope clamping disc 304 with built-in cutting scissors to rotate relative to it. The conveying mechanism 700 feeds the cut wheat straw into the baling area. After the toothed disc 301 rotates and combs the straw, the straw enters the baling chamber of the knotter frame 302. The rope clamping disc 304 compresses the straw under the drive of the bevel gear. When the cam 305 rotates to a specific angle with the main drive shaft, the baling rope is fed to the inlet of the knotting nozzle 303. Under the drive of the bevel gear, the knotting nozzle 303 wraps the conveyed baling rope around the straw bale to form a closed rope loop. The rope clamping disc 304 tightens the rope loop under the drive of the bevel gear and cuts off the end of the baling rope to complete the baling.

[0029] The binding diameter of the baling mechanism 300 is adjusted from 100 to 200 mm by the spacing of the rope clamping discs 304. Each bundle of wheat straw weighs 2 to 3 kg, and the pressure of the rope clamping discs 304 is adjusted from 50 to 100 N by the spring preload. Furthermore, the bundling mechanism 300 has a built-in pressure sensor, which sends a signal to the control mechanism 500 when the bundling rope breaks or runs out, triggering an alarm and pausing the conveying mechanism 700.

[0030] See attached document Figure 1 and Figure 2 The conveying mechanism 700 includes a divider 701, a loader 702, a conveyor chain 703, and a transverse transport unit 704 installed at the front end of the frame 100. The transverse transport unit 704 is located above the cutting mechanism 200 and close to the bundling mechanism 300. The left side plate 705 and the right side plate 706 are fixed on the frame 100 and on both sides of the load lifter 702, respectively. A baffle 707 is installed at the connection between the cutting table and the frame 100, and an ultrasonic sensor is installed at the bottom of the cutting table to feed back the height signal to the control mechanism 500 to automatically adjust the height of the cutting table, ensuring that the cutting height is stable at 80-100mm, and the lifting height range of the cutting table is 50mm-250mm.

[0031] The control mechanism 500 includes a control box fixed above the mounting bracket 601, and the control system of the control mechanism 500 is integrated inside the control box; The control box also contains a battery pack that powers the baler, and the control core of the 500 control mechanism uses a 2-bit ARM Cortex-M4 architecture microcontroller. The peripheral interfaces include 6 PWM outputs, 8 ADC inputs and 4 UART communication interfaces. The control core uses a 10ms control cycle and generates a timer interrupt through an internal timer as a synchronization reference for the control timing of each functional module, ensuring that all modules execute control commands on the same time axis. After receiving the height adjustment command, the control core first collects the current height of the cutting table through the ADC interface, calculates the adjustment difference, and outputs a PWM signal to control the push rod motor 603 in the first control cycle. When the cutting table height reaches the target value, the control core sends a command to the cutting module in the second control cycle to trigger the cutting motor to start, avoiding the cutting blade from spinning idly or making incorrect cuts when the cutting table is not in position. After the cutting module starts, it calculates the conveying speed according to the cutting frequency in the third control cycle and sends the speed command to the conveying module through the CAN bus to achieve seamless connection between cutting, conveying and bundling. The timing deviation is ≤50ms. The control core monitors the timing deviation in real time through the feedback signals of each module. When the deviation exceeds 100ms, it automatically triggers the timing correction program, pauses the execution of the current module command, resynchronizes to the reference timing, and then resumes operation. The control mechanism 500 integrates three-speed transmission, cutter cutting, header lifting, conveying and bundling functions. Each module shares the same control timing sequence, replacing the traditional independent control circuits and avoiding inconsistent operation. The battery pack uses a 48V / 50Ah lithium iron phosphate rechargeable battery, supporting continuous operation for 3-4 hours. It is compatible with a 220V household power charger and has fast charging capabilities. The battery pack also has a protection mechanism that stops charging and alarms when the ambient temperature is ≥45℃, and automatically switches to low speed and prompts for charging when the battery level is below 10%. The control box 9 is equipped with an LCD screen that displays real-time information such as remaining battery power, estimated runtime, and machine status.

[0032] Example 2: The difference from Example 1 is that; See attached document Figure 3 and Figure 4 The drive mechanism 600 includes a fixed frame 601 hinged to the tail of the frame 100. Rear wheels 602 are provided on both sides of the bottom of the fixed frame 601. A push rod motor 603 is provided between the frame 100 and the fixed frame 601. The electric push rod 604 of the push rod motor 603 is hinged to the bottom of the fixed frame 601. An emergency stop button is provided at the end of the handle 101, which is used to cut off all motor power and lock the rear wheel 602 via the control mechanism 500.

[0033] The fixed frame 601 has an upper bracket 605 and a lower bracket 606 hinged on both sides, and a steering shaft 607 is rotatably connected between the two sets of upper brackets 605 and lower brackets 606. The two rear wheels 602 are rotatably connected to the outer surfaces of the two steering shafts 607 respectively through the rotating shaft. The rear wheel 602 is connected to the upper support 605 and the lower support 606 via the steering shaft 607. Both the upper support 605 and the lower support 606 are connected to the fixed frame 601 by hinges. In this way, the rear wheel 602 can be adjusted according to the flatness of the wheat field to reduce the vibration of the machine body. Spring shock absorbers 608 are provided between the bottom of the fixed frame 601 and the two lower brackets 606; The spring damper 608 is used to reduce the vibration amplitude of the machine body and improve its operational stability through its own shock absorption capacity.

[0034] Example 3: The difference from Example 2 is that; See attached document Figure 3 and Figure 4 The fixed frame 601 has a rack frame 609 slidably connected inside, and both ends of the rack frame 609 are fixedly connected to two steering shafts 607 through the connecting shaft frame 610. By moving the rack frame 609 around, the two connecting shaft frames 610 can drive the two steering shafts 607 to rotate synchronously and in the same direction. In this way, the two rear wheels 602 drive the baler to turn, which solves the problems of the large size of the machine, resulting in poor turning flexibility, easy terrain restriction when operating in narrow plots, and the possibility of getting stuck in the middle of the road during transportation, resulting in poor traffic capacity. A stepper motor 611 is fixedly connected inside the fixed frame 601, and the output shaft of the stepper motor 611 is fixedly connected to a steering gear 612 that meshes with the rack frame 609; The stepper motor 611 is connected to the control mechanism 500 using the existing connection method. It is used to drive the steering gear 612 to rotate forward and backward, which in turn drives the rack frame 609 to move left and right, so that the rear wheel 602 can turn 30° to the left and right. The handle 101 is equipped with corresponding buttons for three-speed adjustment, cutting table lifting and braking. An emergency stop button is set at the end of the handle 101. Pressing it will cut off the power to all motors and lock the rear wheel 602, so as to achieve a quick stop.

[0035] Both ends of the spring shock absorber 608 are hinged to the bottom of the fixed frame 601 and the top of the lower bracket 606 via flanges. The flanges have built-in rubber buffer pads, which are used to reduce the vibration amplitude of the machine body by ≥60% when the impact force on the rear wheel 602 is transmitted to the steering rack 15 through the steering shaft 607. The steering rack 15 then drives the spring shock absorber 608 to compress or stretch.

[0036] A method for operating a small electric wheat harvester based on ARM Cortex-M4 control includes the following steps: S1, Wheat Harvesting The operator holds the handles 101 with both hands and pushes the equipment forward along the wheat planting row. The separator 701 separates the wheat straw and guides it to the straw lifter 702. The straw lifter 702 works with the conveyor chain 703 through the teeth to lift the straw and transport it to the cutting mechanism 200. The ultrasonic sensor at the bottom of the cutter table collects the distance signal between the cutter table and the ground in real time and transmits it to the control mechanism 500. The control mechanism 500 compares the signal with the preset cutting height of 80-100mm. When the deviation exceeds 5mm, the control push rod motor 603 drives the electric push rod 604 to extend and retract, adjusting the height of the cutting table to the preset range; at the same time, the control mechanism 500 controls the DC motor 401 to start, which drives the moving blade of the cutting mechanism 200 to reciprocate through the transmission mechanism 400, completing the straw cutting. The cut straw falls into the transverse transport unit 704, which then transports it to the baling mechanism 300. S3: Straw Baling When the straw accumulates in the baling mechanism 300 to the point that it triggers the pressure sensor, the pressure sensor sends a signal to the control mechanism 500. The control mechanism 500 controls the DC motor 401 to adjust its speed, which drives the cam 305, which is coaxial with the gear plate 301, to rotate. The cam 305 pushes the knotter frame 302 to rotate 90° around a fixed axis. At the same time, the external teeth of the gear plate 301 drive the bevel gear 306 of the knotting nozzle to rotate, which drives the knotting nozzle 303 to wrap the binding rope. The internal gear of the toothed disc 301 drives the bevel gear 307 of the rope clamping disc to rotate, which in turn drives the rope clamping disc 304 to clamp the binding rope; the cutter built into the baling mechanism 300 cuts the binding rope, and the return spring pulls the knotter frame 302 to return to its original position, completing one baling cycle. The bundled straw automatically falls from the bottom of the baling mechanism 300. S4: Emergency Response and Operation Completion During operation, if an emergency such as straw blockage or equipment tilting occurs, immediately press the emergency stop button at the end of the handle 101. The control mechanism 500 will cut off the power to the DC motor 401, the stepper motor 611 and the push rod motor 603, and at the same time lock the rear wheel 602 through the electromagnetic lock. If the LCD screen shows that the battery level is below 10%, the equipment will automatically switch to low speed and the LCD screen will flash to indicate charging. If the pressure sensor of the bundling mechanism 300 does not detect the tension of the bundling rope for 3 seconds, the control mechanism 500 will determine that the rope is broken or exhausted, trigger a buzzer alarm and pause the transverse transport unit 704. After replacing the rope, press the reset button to resume operation. After the operation is completed, turn off the power of the equipment and connect the battery pack to a 220V household power supply for charging. If the ambient temperature during charging is ≥45℃, the charger will automatically stop charging and the red alarm light will illuminate. After the battery pack is fully charged (the green light on the charger illuminates), disconnect the charging connection, clean the residual straw from the cutting mechanism 200 and the rope debris from the baling mechanism 300, and check the lubrication status of each moving part to ensure normal operation for the next operation.

[0037] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A small electric wheat harvester based on ARM Cortex-M4 control, characterized in that, include: The frame (100), cutting mechanism (200), bundling mechanism (300), transmission mechanism (400), control mechanism (500) and drive mechanism (600); The frame (100) is the main support structure. The frame (100) is provided with a handle (101) and a front wheel (102) at the top and bottom respectively. The front side of the frame (100) is equipped with a conveying mechanism (700) for conveying wheat cut by the cutting mechanism (200). The cutting mechanism (200) is installed at the bottom of the frame (100) and is used to cut wheat in the wheat field; The baling mechanism (300) is installed on the right side of the front end of the frame (100) and is used to bale the wheat that is conveyed by the conveying mechanism (700); The cutting mechanism (200), bundling mechanism (300), and conveying mechanism (700) together form a cutting table; The drive mechanism (600) is installed at the rear of the frame (100) and is used to adjust the height of the cutting table.

2. The small electric wheat harvester based on ARM Cortex-M4 control according to claim 1, characterized in that: The transmission mechanism (400) includes a DC motor (401) mounted on the frame (100), a belt drive (402), a transmission gear (403), and a crank slider (404). The DC motor (401) drives the transmission gear (403) to rotate via the belt drive (402), and one end of the rotating shaft connected to the transmission gear (403) is connected to the crank slider (404) to drive the crank slider (404) to drive the cutter to reciprocate. The other end of the rotating shaft connected to the transmission gear (403) is connected to the axle of the front wheel (102) via a connecting rod to drive the front wheel (102) to rotate. The transmission mechanism (400) includes three speed adjustment modes. The handle (101) is provided with a three-speed knob for switching speed adjustment modes. The three-speed knob has a built-in Hall sensor. The speed adjustment mode is switched by adjusting the input voltage of the DC motor (401) through the control mechanism (500). The three speed adjustment modes include: The low-speed range is 1.2-1.8 km / h, suitable for steep hills and high-density wheat fields with a gradient of 15-25°. The medium speed range is 2.0-2.5 km / h, suitable for gentle slopes of 5-15° and medium-density wheat fields; The high-speed mode has a speed range of 2.8-3.5 km / h, making it suitable for flat land and low-density wheat fields.

3. A small electric wheat harvester based on ARM Cortex-M4 control according to claim 2, characterized in that: The cutting mechanism (200) includes a cutter, a fixed base, and fixing bolts; The cutter adopts a triangular structure with a moving blade and a fixed blade, and is driven by a crank sliding component (404) to achieve reciprocating motion. The stroke is 20mm, the reciprocating frequency is ≥300 times / minute, and the flatness error of the cutting section is ≤2mm. The gap between the moving blade and the fixed blade can be finely adjusted within the range of 0.1-0.3mm by fixing bolts, and a comb-shaped guide plate with a spacing of 15mm is provided above the cutter.

4. A small electric wheat harvester based on ARM Cortex-M4 control according to claim 1, characterized in that: The bundling mechanism (300) includes a gear disc (301), a knotter frame (302), a knotter nozzle (303), a rope clamping disc with built-in cutters (304), a cam (305), a knotter gear (308), a helical gear turbine (309), and a bevel gear set, the bevel gear set including a knotter nozzle bevel gear (306) and a rope clamping disc bevel gear (307). The power of the bundling mechanism (300) is transmitted to the spiral tooth turbine (309) through the main drive shaft. The spiral tooth turbine (309) drives the knotter gear (308) to rotate. The knotter gear (308) diverts the power to the bevel gear set. The knotting nozzle bevel gear (306) drives the knotting nozzle (303) to rotate around the central axis. The rope clamping disc bevel gear (307) drives the rope clamping disc (304) with its own cutting scissors to rotate relative to each other. The conveying mechanism (700) sends the cut wheat straw into the baling area. After the toothed disc (301) rotates and combs the straw, the straw enters the baling chamber of the knotter frame (302). The rope clamping disc (304) compresses the straw under the drive of the bevel gear. When the cam (305) rotates to a specific angle with the main drive shaft, the baling rope is sent to the inlet of the knotting nozzle (303). The knotting nozzle (303) wraps the conveyed baling rope around the straw bundle under the drive of the bevel gear to form a closed rope loop. The rope clamping disc (304) tightens the rope loop under the drive of the bevel gear and cuts off the end of the baling rope to complete the baling. The bundling diameter of the bundling mechanism (300) is adjusted by the spacing of the rope clamping discs (304) from 100 to 200 mm. The weight of each bundle of wheat straw is 2 to 3 kg. The pressure of the rope clamping discs (304) is adjusted by the spring preload from 50 to 100 N. Furthermore, the bundling mechanism (300) has a built-in pressure sensor, which sends a signal to the control mechanism (500) when the bundling rope breaks or runs out, triggering an alarm and pausing the conveying mechanism (700).

5. A small electric wheat harvester based on ARM Cortex-M4 control according to claim 1, characterized in that: The conveying mechanism (700) includes a divider (701), a loader (702), a conveyor chain (703), and a transverse transport unit (704) installed at the front end of the frame (100). The transverse transport unit (704) is located above the cutting mechanism (200) and close to the baling mechanism (300). The left side plate (705) and the right side plate (706) are fixed on the frame (100) and on both sides of the loader (702). A baffle (707) is installed at the connection between the cutting table and the frame (100), and an ultrasonic sensor is provided at the bottom of the cutting table to feed back the height signal to the control mechanism (500) to automatically adjust the height of the cutting table.

6. A small electric wheat harvester based on ARM Cortex-M4 control according to claim 1, characterized in that: The drive mechanism (600) includes a fixed frame (601) hinged to the tail of the frame (100), and rear wheels (602) are provided on both sides of the bottom of the fixed frame (601). A push rod motor (603) is provided between the frame (100) and the fixed frame (601), and the electric push rod (604) of the push rod motor (603) is hinged to the bottom of the fixed frame (601). The handle (101) is equipped with an emergency stop button at the end, which is used to cut off all motor power and lock the rear wheel (602) via the control mechanism (500).

7. A small electric wheat harvester based on ARM Cortex-M4 control according to claim 6, characterized in that: The fixed frame (601) is hinged to an upper bracket (605) and a lower bracket (606) on both sides, and a steering shaft (607) is rotatably connected between the two sets of upper brackets (605) and lower brackets (606). The two rear wheels (602) are rotatably connected to the outer surfaces of the two steering shafts (607) respectively through the rotating shaft. Spring shock absorbers (608) are provided between the bottom of the fixed frame (601) and the two lower supports (606).

8. A small electric wheat harvester based on ARM Cortex-M4 control according to claim 7, characterized in that: The fixed frame (601) is internally slidably connected to a rack frame (609), and both ends of the rack frame (609) are fixedly connected to two steering shafts (607) through a connecting shaft frame (610); The fixed frame (601) is internally fixedly connected to a stepper motor (611), and the output shaft of the stepper motor (611) is fixedly connected to a steering gear (612) that meshes with the rack frame (609). Both ends of the spring shock absorber (608) are hinged to the bottom of the fixed frame (601) and the top of the lower bracket (606) through flanges. The flanges have built-in rubber buffer pads, which are used to transmit the impact force on the rear wheel (602) to the steering rack (15) through the steering shaft (607), and then the steering rack (15) drives the spring shock absorber (608) to compress or stretch, so as to reduce the vibration amplitude of the machine body by ≥60%.

9. A small electric wheat harvester based on ARM Cortex-M4 control according to claim 6, characterized in that: The control mechanism (500) includes a control box fixed above the mounting bracket (601), and the control system of the control mechanism (500) is integrated inside the control box; The control box also contains a battery pack that powers the baler, and the control core of the control mechanism (500) adopts a 2-bit ARM Cortex-M4 architecture microcontroller. The peripheral interfaces include 6 PWM outputs, 8 ADC inputs and 4 UART communication interfaces. The control core uses 10ms as a control cycle and generates a timer interrupt through an internal timer as a synchronization reference for the control timing of each functional module, ensuring that all modules execute control commands on the same time axis.

10. The control method for a small electric wheat harvester based on ARM Cortex-M4 control as described in any one of claims 1-9, characterized in that, Includes the following steps: S1, Wheat Harvesting The operator holds the handles (101) with both hands and pushes the equipment forward along the wheat planting row. The separator (701) separates the wheat straw and guides it to the straw lifter (702). The straw lifter (702) works with the conveyor chain (703) through the teeth to lift the straw and transport it to the cutting mechanism (200). The ultrasonic sensor at the bottom of the cutter table collects the distance signal between the cutter table and the ground in real time and transmits it to the control mechanism (500). The control mechanism (500) compares the signal with the preset cutting height of 80-100mm. When the deviation exceeds 5mm, the control push rod motor (603) drives the electric push rod (604) to extend and retract, adjusting the height of the cutting table to the preset range; at the same time, the control mechanism (500) controls the DC motor (401) to start, and drives the moving blade of the cutting mechanism (200) to reciprocate through the transmission mechanism (400) to complete the straw cutting. The cut straw falls into the transverse transport unit (704), which is then transported to the baling mechanism (300). S3: Straw Baling When the straw accumulates in the baling mechanism (300) to the point of triggering the pressure sensor, the pressure sensor sends a signal to the control mechanism (500). The control mechanism (500) controls the DC motor (401) to adjust the speed, which drives the cam (305) coaxial with the gear plate (301) to rotate. The cam (305) pushes the knotter frame (302) to rotate 90° around the fixed axis. At the same time, the external teeth of the gear plate (301) drive the knotting nozzle bevel gear (306) to rotate, which drives the knotting nozzle (303) to wrap the binding rope. The internal gear of the toothed disc (301) drives the bevel gear (307) of the rope clamping disc to rotate, which in turn drives the rope clamping disc (304) to clamp the binding rope; the cutter built into the baling mechanism (300) cuts the binding rope, and the reset spring pulls the knotter frame (302) to reset, completing one baling. The bundled straw automatically falls from the bottom of the baling mechanism (300). S4: Emergency Response and Operation Completion During operation, if an emergency such as straw blockage or equipment tilting occurs, immediately press the emergency stop button at the end of the handle (101). The control mechanism (500) cuts off the power to the DC motor (401), stepper motor (611) and push rod motor (603), and locks the rear wheel (602) with an electromagnetic lock. If the LCD screen shows that the battery level is below 10%, the equipment will automatically switch to low speed and the LCD screen will flash to indicate charging. If the pressure sensor of the bundling mechanism (300) does not detect the tension of the bundling rope for 3 seconds, the control mechanism (500) will determine that the rope is broken or exhausted, trigger a buzzer alarm and pause the transverse transport unit (704). After replacing the rope, press the reset button to resume operation.

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