A grain harvester capable of clearing grain

Abstract

The present invention provides a grain harvester capable of cleaning, which relates to the technical field of agricultural machinery, and comprises a harvester body, a cutting table is installed at the front end of the harvester body, the cutting table is connected to a feeding input device, the feeding input device is connected to a screen drum granulation mechanism, the screen drum granulation mechanism, the screen drum granulation mechanism is correspondingly connected to a balanced cleaning mechanism, the balanced cleaning mechanism is correspondingly connected to a discharging mechanism, the discharging mechanism is installed at the rear end of the harvester body, the vibrating screening net in the balanced cleaning mechanism can always remain horizontal, so as to avoid the accumulation of grains during the cleaning process, thereby affecting the cleaning effect of the grains, and solves the technical problem proposed in the above background technology that when the harvester body tilts left and right, under the action of the dead weight of the harvested grains, the vibrating screen will tilt left and right accordingly, thereby causing the materials to pile up on one side, making it difficult for the screen to play a normal screening role; thereby affecting the cleaning effect.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a grain harvester capable of cleaning. Background Art

[0002] Grain harvesters are currently common harvesting machines for large-scale agricultural production, and include a harvesting platform mainly composed of a reel and a cutting device, wherein the harvesting platform is connected to a threshing device through a feeding and conveying device, and a grain cleaning device is installed below the threshing device, and the output end of the grain cleaning device is connected to a grain unloading device through a conveying mechanism;

[0003] Existing grain harvesters basically adopt wind screen type grain harvesters. After harvesting and threshing, the mixture of grains, short stems, husks, etc. enters the cleaning device and is separated under the reciprocating motion of the screen. At the same time, the difference in suspension speed is used to remove light impurities. However, when the harvester body tilts left or right, the vibrating screen will tilt left or right under the action of the dead weight of the harvested grains, causing the material to accumulate on one side, making it difficult for the screen to perform a normal screening function; thus affecting the cleaning effect. Summary of the invention

[0004] The present invention provides a grain harvester capable of cleaning, so as to solve the technical problem raised in the above-mentioned background technology that when the harvester body tilts left or right, the vibrating screen will tilt left or right under the action of the dead weight of the harvested grains, thereby causing the materials to pile up on one side, making it difficult for the screen to play a normal screening role; thus affecting the cleaning effect.

[0005] In order to solve the above technical problems, the present invention discloses a grain harvester capable of cleaning, including a harvester body, a cutting table is installed at the front end of the harvester body, the cutting table is connected to a feeding input device, the feeding input device is connected to a screen drum granulation mechanism, the screen drum granulation mechanism is correspondingly connected to a balanced cleaning mechanism, the balanced cleaning mechanism is correspondingly connected to a discharging mechanism, and the discharging mechanism is installed at the rear end of the harvester body.

[0006] Preferably, the feeding input device includes a feeding input passage in the harvester body, a material baffle plate is rotatably provided in the feeding input passage, the material baffle plate is rotatably connected to the rotating shaft, the rotating shaft is fixedly arranged at the upper end of the feeding input passage, and the width of the material baffle plate is equal to the width of the feeding input passage.

[0007] Preferably, the screen drum grain classification mechanism comprises a grain classification drum and a concave plate screen, the grain classification drum is rotatably arranged in the harvester body, the concave plate screen is correspondingly arranged at the lower end of the grain classification drum, the concave plate screen is correspondingly connected to the feeding input passage, and the concave plate screen is inclined.

[0008] Preferably, the discharging mechanism comprises a grain conveying auger, the feed port of the grain conveying auger is connected with the receiving tray through a conveying channel, and the discharge port of the grain conveying auger is connected with a discharge pipe.

[0009] Preferably, the balanced cleaning mechanism includes a vibrating screening net, a concave plate screen is correspondingly provided at the upper end of the vibrating screening net, electric telescopic rods are symmetrically provided on the front and rear ends and left and right sides of the vibrating screening net, the vibrating screening net is movably arranged in the harvester body, a debris discharge shell is fixedly provided at the rear end of the harvester body, debris discharge grooves are penetrated at the left and right ends of the debris discharge shell, the vibrating screening net is arranged corresponding to the debris discharge groove, and a filter net is installed in the debris discharge groove.

[0010] Preferably, the balanced cleaning mechanism also includes a material receiving plate, which is fixedly connected to the harvester body, the upper end of the material receiving plate is an inclined end, and the rear end of the material receiving plate is correspondingly arranged, and sliding blocks are symmetrically arranged on the left and right sides of the front and rear ends of the material receiving plate, and the sliding blocks are rotatably connected to the electric telescopic rod, and a connecting block is slidably provided between the sliding blocks on the front and rear sides, and a circular hole is penetrated at the upper and lower ends of the connecting block, and a guide ball is rotatably provided in the circular hole, and the guide ball is slidably connected to the arc groove of the connecting sleeve, the connecting sleeve is fixedly connected to the pulley 1 and the bevel gear 1, the pulleys 1 on the left and right sides are connected through the transmission belt 1, the bevel gear 1 is meshed with the bevel gear 2, the bevel gear 2 is fixedly connected to the rotating rod, the rotating rod on the left side is fixedly connected to the motor, the motor is fixedly arranged at the lower end of the material receiving plate, the rotating rod is fixedly connected to the pulley 2, the pulley 2 is connected to the pulley 3 through the transmission belt 2, the pulley 3 is arranged in the cavity inside the harvester body, the pulley 3 is fixedly connected to the connecting rod, the connecting rod passes through the side end of the cavity and is fixedly connected to the fan, and the fan is correspondingly arranged to the vibration screening net.

[0011] Preferably, connecting plates are symmetrically provided at the left and right ends of the material receiving plate, control cavities are symmetrically provided on the front and rear sides inside the connecting plates, a rolling ball is provided in the control cavity, a force measuring plate 2 is provided at the end of the control cavity away from the material receiving plate, a force measuring plate 1 is installed on the second force measuring plate, and a force measuring sensor 1 is installed on the first force measuring plate.

[0012] Preferably, the method further comprises a horizontal control method of a vibrating screening net, comprising the following steps:

[0013] Step 1: four control chambers are arranged in one-to-one correspondence with four electric telescopic rods, and force sensor 1 and force sensor 2 in the control chamber are electrically connected to the corresponding electric telescopic rods;

[0014] Step 2: electrically connect the force sensor 1 and the force sensor 2 in the control cavity to the electric telescopic rod corresponding to the control cavity through the controller 2;

[0015] Step 3: Controller 2 calculates the target telescopic distance of the ith electric telescopic rod according to the detection value of force sensor 1, the detection value of force sensor 2 and formula (2). By controlling the telescopic distance of the electric telescopic rod, the vibration screening net is kept horizontal to avoid the tilt of the vibration screening net, which causes the grain to pile up during screening, thereby affecting the screening effect.

[0016] ; (2)

[0017] in, is the target telescopic distance of the i-th electric telescopic rod, i=4, is the maximum value, The detection value of the force sensor 1 corresponding to the i-th electric telescopic rod, is the detection value of the force sensor 2 corresponding to the i-th electric telescopic rod, is the inverse sine, To control the gravity of the ball, is the initial length of the electric telescopic rod, is the cosine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 for Figure 1 A schematic diagram of the enlarged structure of region A;

[0021] Figure 3 It is a schematic diagram of the top view structure of the connecting plate of the present invention.

[0022] Reference numerals:

[0023] 1. Cutting table; 2. Rolling ball; 3. Harvester body; 4. Rotating shaft; 5. Feed input passage; 6. Baffle plate; 7. Grain separator; 8. Concave plate screen; 9. Connecting plate; 10. Receiving plate; 11. Feeding channel; 12. Force plate 2; 13. Filter screen; 14. Discharge shell; 15. Grain conveying auger; 16. Discharge pipe; 17. Cavity; 18. Pulley 3; 19. Fan; 20. Conveyor belt 2; 21. Pulley 2; 22. Rotating rod; 23. Motor; 24. Bevel gear 2; 25. Bevel gear 1; 26. Electric telescopic rod; 27. Vibrating screening net; 28. Control chamber; 29. ​​Force plate 1; 30. Receiving plate; 31. Pulley 1; 32. Connecting block; 33. Sliding block. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0026] The present invention provides the following embodiments

[0027] Example 1

[0028] The embodiment of the present invention provides a grain harvester capable of cleaning grains, such as Figure 1-Figure 3 As shown, it includes a harvester body 3, a cutting table 1 is installed at the front end of the harvester body 3, the cutting table 1 is connected to a feeding input device, the feeding input device is connected to a screen drum granulation mechanism, the screen drum granulation mechanism is connected to a balancing cleaning mechanism, the balancing cleaning mechanism is connected to a discharging mechanism, and the discharging mechanism is installed at the rear end of the harvester body 3.

[0029] The beneficial effects of the above technical solution are:

[0030] The harvesting table 1 is composed of a reel and a cutting device. After the grains are harvested, they fall into the feeding input device, and the feeding input device sends the harvested grains into the screen drum granulation mechanism. The screen drum granulation mechanism separates the harvested grains from the seedlings, and the separated grain mixture falls into the balanced cleaning mechanism to separate the impurities in the grain grains. The grain grains after the impurities are separated enter the discharging mechanism, and are finally collected and stored by the discharging mechanism, thereby completing the collection of the grain grains. The vibrating screening net in the balanced cleaning mechanism can always remain horizontal to avoid the accumulation of grains during the cleaning process, which affects the cleaning effect of the grains. This solves the technical problem that when the harvester body tilts left and right, the vibrating screen will tilt left and right under the action of the dead weight of the harvested grains, thereby causing the material to accumulate on one side, making it difficult for the screen to play a normal screening role, thereby affecting the cleaning effect.

[0031] Example 2

[0032] On the basis of Example 1, Figure 1-Figure 3 As shown, the feeding input device includes a feeding input passage 5 in the harvester body 3, a baffle plate 6 is rotatably provided in the feeding input passage 5, the baffle plate 6 is rotatably connected to the rotating shaft 4, the rotating shaft 4 is fixedly arranged at the upper end of the feeding input passage 5, and the width of the baffle plate 6 is equal to the width of the feeding input passage 5;

[0033] The sieve drum grain classification mechanism comprises a grain classification drum 7 and a concave plate screen 8. The grain classification drum 7 is rotatably arranged in the harvester body 3. The concave plate screen 8 is correspondingly arranged at the lower end of the grain classification drum 7. The concave plate screen 8 is correspondingly connected to the feeding input passage 5. The concave plate screen 8 is arranged obliquely.

[0034] The discharging mechanism comprises a grain conveying auger 15 , a feeding port of the grain conveying auger 15 is connected to the receiving tray 10 through a conveying channel 11 , and a discharging port of the grain conveying auger 15 is connected to a discharge pipe 16 .

[0035] The beneficial effects of the above technical solution are:

[0036] By setting the baffle plate 6, the baffle plate 6 will scrape the grain mixture in the feeding input passage 5 flat, and then make the grain mixture fall into the concave screen 8. When the classifying cylinder 7 rotates, the grain on the upper end of the concave screen 8 can be peeled, and the peeled grain mixture falls into the balanced cleaning mechanism through the concave screen 8. The grain mixture includes the threshed and separated grains, short stems and husks. After the cleaning step of the balanced cleaning mechanism, the threshed and separated grains are separated from the short stems and husks, and the threshed and separated grains fall on the receiving plate 10, and finally fall into the feeding port of the grain conveying auger 15 through the conveying channel 11, and are sent to the discharge pipe 16 for discharge through the grain conveying auger 15, and are finally recovered and stored.

[0037] Example 3

[0038] On the basis of Example 2, Figure 1-Figure 3 As shown, the balanced cleaning mechanism includes a vibrating screening net 27, the upper end of the vibrating screening net 27 is correspondingly provided with a concave plate screen 8, the front and rear ends of the vibrating screening net 27 and the left and right sides are symmetrically provided with electric telescopic rods 26, the vibrating screening net 27 is movably arranged in the harvester body 3, the rear end of the harvester body 3 is fixedly provided with a debris discharge shell 14, the left and right ends of the debris discharge shell 14 are penetrated with debris discharge grooves, the vibrating screening net 27 is arranged corresponding to the debris discharge groove, and the filter net 13 is installed in the debris discharge groove;

[0039] The balanced cleaning mechanism also includes a material receiving plate 30, which is fixedly connected to the harvester body 3, the upper end of the material receiving plate 30 is an inclined end, and the rear end of the material receiving plate 30 is arranged corresponding to the material receiving tray 10, and sliding blocks 33 are symmetrically arranged on the front and rear ends and left and right sides of the material receiving plate 30, and the sliding blocks 33 are rotatably connected to the electric telescopic rod 26, and a connecting block 32 is slidably arranged between the sliding blocks 33 on the front and rear sides, and circular holes are penetrated at the upper and lower ends of the connecting block 32, and a guide ball is rotatably arranged in the circular hole, and the guide ball is slidably connected to the arc groove of the connecting sleeve, and the connecting sleeve is fixedly connected to the pulley 1 31 and the bevel gear 1 25, and the left and right sides are fixedly connected to the pulley 1 31 and the bevel gear 1 25. The pulleys 1 and 31 are connected through a conveyor belt 1, the bevel gear 1 25 is meshed with the bevel gear 24, the bevel gear 24 is fixedly connected to the rotating rod 22, the rotating rod 22 on the left is fixedly connected to the motor 23, the motor 23 is fixedly set at the lower end of the receiving plate 30, the rotating rod 22 is fixedly connected to the pulley 2 21, the pulley 2 21 is connected to the pulley 3 18 through the conveyor belt 20, the pulley 3 18 is set in the cavity 17 inside the harvester body 3, the pulley 3 18 is fixedly connected to the connecting rod, the connecting rod passes through the side end of the cavity 17 and is fixedly connected to the fan 19, and the fan 19 is set corresponding to the vibration screening net 27.

[0040] The beneficial effects of the above technical solution are:

[0041] When the motor 23 is working, it drives the rotating rod 22 on the left to rotate, and the rotating rod 22 on the left drives the bevel gear 24 and the pulley 21 on the left to rotate. When the bevel gear 24 on the left rotates, it drives the bevel gear 1 25 on the left to rotate. When the bevel gear 1 25 on the left rotates, it drives the connecting sleeve and the pulley 1 31 on the left to rotate. The pulley 1 31 on the left drives the pulley 1 31 on the right to rotate through the conveyor belt 1. When the pulley 1 31 on the right rotates, it can drive the connecting sleeve, the bevel gear 1 25 and the bevel gear 2 24 on the right. The rotating rod 22 on the right side rotates, so that the pulley 21 on the right side rotates, and the pulleys 21 on the left and right sides drive the pulley 3 18 to rotate through the conveyor belt 20, and the pulley 3 18 drives the fan 19 to rotate through the connecting rod. The fan 19 can speed up the air flow rate on the vibrating screening net 27, and use the difference in suspension speed to remove short stems and husks in the grains, and blow the short stems and husks in the grains away from the harvester body 3 through the impurity removal groove in the impurity removal shell 14. The setting of the filter net 13 prevents the grains from being blown out;

[0042] When the connecting sleeves on the left and right sides rotate, the guide balls are driven to move up and down, and the guide balls drive the connecting blocks 32 to move up and down. When the connecting blocks 32 move up and down, the sliding blocks 33 are driven to move forward and backward. When the sliding blocks 33 move forward and backward, the electric telescopic rod 26 is driven to rotate back and forth. When the electric telescopic rod 26 rotates, it drives the vibration screening net 27 to move up and down, and the grain mixture is cleaned. By respectively controlling the telescopic lengths of the electric telescopic rods 26 at the front and rear ends and the left and right sides of the vibration screening net 27, the vibration screening net 27 can always be kept horizontal.

[0043] Example 4

[0044] On the basis of Example 3, Figure 1-Figure 3 As shown, the left and right ends of the receiving plate 30 are symmetrically provided with connecting plates 9, the inner front and rear sides of the connecting plate 9 are symmetrically provided with control chambers 28, a rolling ball 2 is arranged in the control chamber 28, a force plate 2 12 is arranged at one end of the control chamber 28 away from the receiving plate 30, a force sensor 2 is installed on the force plate 2 12, and a force plate 1 29 is installed at one end of the control chambers 28 distributed front and back away from each other, a force sensor 1 is installed on the force plate 1 29;

[0045] Also included is a method for controlling the level of the vibrating screening net 27, comprising the following steps:

[0046] Step 1: four control chambers 28 are arranged in one-to-one correspondence with four electric telescopic rods 26, and force sensor 1 and force sensor 2 in the control chamber 28 are electrically connected to the corresponding electric telescopic rods 26;

[0047] Step 2: electrically connect the force sensor 1 and the force sensor 2 in the control cavity 28 to the electric telescopic rod 26 corresponding to the control cavity 28 through the controller 2;

[0048] Step 3: The controller 2 calculates the target telescopic distance of the i-th electric telescopic rod 26 according to the detection value of the force sensor 1, the detection value of the force sensor 2 and formula (2), and controls the telescopic distance of the electric telescopic rod 26 to keep the vibrating screening net 27 horizontal, so as to avoid the vibrating screening net 27 tilting and causing accumulation when screening grains, thereby affecting the screening effect;

[0049] ; (2)

[0050] in, is the target telescopic distance of the i-th electric telescopic rod 26, i=4, is the maximum value, The detection value of the force sensor 1 corresponding to the i-th electric telescopic rod 26, is the detection value of the force sensor 2 corresponding to the i-th electric telescopic rod 26, is the inverse sine, To control the gravity of the ball, is the initial length of the electric telescopic rod 26, is the cosine.

[0051] The beneficial effects of the above technical solution are:

[0052] By controlling the telescopic lengths of different electric telescopic rods 26, the vibrating screening net 27 can always remain horizontal, thereby avoiding the accumulation of grains during the cleaning process, which affects the grain cleaning effect. Through the horizontal control method of the vibrating screening net 27, the inclination of the vibrating screening net 27 can be automatically detected, and the telescopic lengths of different electric telescopic rods 26 can be controlled to keep the vibrating screening net 27 always in a horizontal state.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A grain harvester capable of clearing grains. It is characterized in that The harvester comprises a harvester body (3), a header (1) is installed at the front end of the harvester body (3), the header (1) is connected to a feeding input device, the feeding input device is connected to a screen drum particle separation mechanism, the screen drum particle separation mechanism is connected to a balance cleaning mechanism, the balance cleaning mechanism is connected to a discharge mechanism, and the discharge mechanism is installed at the rear end of the harvester body (3); The feeding input device comprises a feeding input passage (5) in a harvester body (3), a material baffle plate (6) being rotatably provided in the feeding input passage (5), the material baffle plate (6) being rotatably connected to a rotating shaft (4), the rotating shaft (4) being fixedly arranged at the upper end of the feeding input passage (5), and the width of the material baffle plate (6) being equal to the width of the feeding input passage (5); The sieve drum grain classification mechanism comprises a grain classification drum (7) and a concave plate screen (8); the grain classification drum (7) is rotatably arranged in the harvester body (3); a concave plate screen (8) is correspondingly arranged at the lower end of the grain classification drum (7); the concave plate screen (8) is correspondingly connected to the feeding input passage (5); and the concave plate screen (8) is arranged obliquely; The balanced cleaning mechanism comprises a vibrating screening net (27), the upper end of the vibrating screening net (27) is provided with a concave screen (8) correspondingly, the front and rear ends of the vibrating screening net (27) are symmetrically provided with electric telescopic rods (26) on the left and right sides, the vibrating screening net (27) is movably arranged in the harvester body (3), the rear end of the harvester body (3) is fixedly provided with a debris discharge shell (14), the left and right ends of the debris discharge shell (14) are penetrated with debris discharge grooves, the vibrating screening net (27) is arranged correspondingly to the debris discharge groove, and a filter net (13) is installed in the debris discharge groove; The balanced cleaning mechanism also includes a material receiving plate (30), which is fixedly connected to the harvester body (3), the upper end of the material receiving plate (30) is an inclined end, and the rear end of the material receiving plate (30) is arranged corresponding to the material receiving plate (10), and sliding blocks (33) are symmetrically provided at the front and rear ends and the left and right sides of the material receiving plate (30), and the sliding blocks (33) are rotatably connected to the electric telescopic rod (26), and a connecting block (32) is slidably provided between the sliding blocks (33) on the front and rear sides, and circular holes are penetrated at the upper and lower ends of the connecting block (32), and a guide ball is rotatably provided in the circular hole, and the guide ball is slidably connected to the arc groove of the connecting sleeve, and the connecting sleeve is fixedly connected to the pulley one (31) and the bevel gear one (25), and the pulley one (31) on the left and right sides is The two are connected via a conveyor belt 1, bevel gear 1 (25) meshes with bevel gear 2 (24), bevel gear 2 (24) is fixedly connected to a rotating rod (22), the rotating rod (22) on the left is fixedly connected to a motor (23), the motor (23) is fixedly arranged at the lower end of a receiving plate (30), the rotating rod (22) is fixedly connected to a pulley 2 (21), the pulley 2 (21) is connected to a pulley 3 (18) via a conveyor belt 2 (20), the pulley 3 (18) is arranged in a cavity (17) inside the harvester body (3), the pulley 3 (18) is fixedly connected to a connecting rod, the connecting rod passes through the side end of the cavity (17) and is fixedly connected to a fan (19), and the fan (19) is arranged corresponding to the vibrating screening net (27).

2. A grain harvester capable of cleaning according to claim 1, It is characterized in that The material discharging mechanism comprises a grain conveying auger (15), wherein a material inlet of the grain conveying auger (15) is connected to a material receiving tray (10) via a material conveying channel (11), and a material outlet of the grain conveying auger (15) is connected to a material discharge pipe (16).

3. A grain harvester capable of cleaning according to claim 1, It is characterized in that Connecting plates (9) are symmetrically provided at the left and right ends of the material receiving plate (30), control chambers (28) are symmetrically provided at the front and rear sides of the connecting plate (9), a rolling ball (2) is provided in the control chamber (28), a force plate (12) is provided at one end of the control chamber (28) away from the material receiving plate (30), a force sensor (2) is mounted on the second force plate (12), and a force plate (29) is installed at one end of the control chambers (28) distributed front and rear away from each other, a force sensor (1) is mounted on the first force plate (29).

4. A grain harvester capable of cleaning according to claim 3, It is characterized in that Also included is a method for controlling the level of a vibrating screening net (27), comprising the following steps: Step 1: four control chambers (28) are arranged in a one-to-one correspondence with four electric telescopic rods (26), and force sensor 1 and force sensor 2 in the control chamber (28) are electrically connected to the corresponding electric telescopic rods (26); Step 2: electrically connecting the force sensor 1 and the force sensor 2 in the control chamber (28) to the electric telescopic rod (26) corresponding to the control chamber (28) via the controller 2; Step 3: The controller 2 calculates the target telescopic distance of the i-th electric telescopic rod (26) according to the detection value of the force sensor 1, the detection value of the force sensor 2 and the formula (2), and controls the telescopic distance of the electric telescopic rod (26) to keep the vibrating screening net (27) horizontal, thereby preventing the vibrating screening net (27) from tilting and causing accumulation of grains during screening, thereby affecting the screening effect; ；（2） in, is the target telescopic distance of the i-th electric telescopic rod (26), i=4, is the maximum value, The detection value of the force sensor 1 corresponding to the i-th electric telescopic rod (26), is the detection value of the force sensor 2 corresponding to the i-th electric telescopic rod (26), is the inverse sine, To control the gravity of the ball, is the initial length of the electric telescopic rod (26), is the cosine.

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