Reed harvester after-cutting conveying device, control method of reed harvester after-cutting conveying device and harvester

Abstract

The invention provides an after-cutting conveying device of a reed harvester, a control method of the after-cutting conveying device and the harvester. The after-cutting conveying device comprises a header, an after-cutting conveying device body and a control unit. The after-cutting conveying device comprises four conveying belts, a rotating wheel type conveying device and a supporting bottom plate. The first conveying belt is installed in front of the rotating wheel type conveying device in parallel and located between the header and the rotating wheel type conveying device. The second conveying belt and the third conveying belt are installed on the left side and the right side of the rotating wheel type conveying device and are perpendicular to the direction of the first conveying belt. The fourth conveying belt is located behind the rotating wheel type conveying device. The four conveying belts and the rotating wheel type conveying device are installed on the supporting bottom plate, and the supporting bottom plate is installed on a chassis rack of the reed harvester. The four conveying belts are respectively connected with the driving mechanism; the control unit is used for controlling the running speed of the conveying belt and the running direction of the rotating wheel type conveying device. Reed crops do not need to be unloaded after being shut down, a loader can conveniently and synchronously work to collect reed materials, and the harvesting efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent agricultural machinery, and in particular relates to a post-cutting conveying device of a reed harvester, a control method thereof, and a harvester. Background Art

[0002] Reed is a tall grass that mostly grows in water and land. It has a fine texture and is rich in cellulose. Currently, after harvesting, most reeds are manually put into bins until they are full and then unloaded manually. This traditional unloading method is time-consuming and labor-intensive, with high labor intensity, low efficiency, and a relatively poor working environment. In particular, as agricultural machinery is developing towards intelligence, traditional manual stacking bins are difficult to meet the development trend. Summary of the invention

[0003] In view of the above technical problems, the present invention provides a post-cutting conveying device of a reed harvester and a control method thereof, which can realize unloading of reed crops without stopping the machine, facilitate synchronous operation of a loader to collect reed materials, effectively reduce manual labor intensity, and improve harvesting efficiency.

[0004] The present invention also provides a harvester, comprising the above-mentioned reed harvester post-cutting conveying device.

[0005] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0006] The present invention achieves the above technical objectives through the following technical means.

[0007] A post-cutting conveying device of a reed harvester, comprising a cutting platform, a post-cutting conveying device and a control unit;

[0008] The post-cutting conveying device is installed on the chassis frame of the reed harvester and is located behind the cutting platform;

[0009] The post-harvest conveying device comprises four conveyor belts, a rotating wheel conveying device, and a supporting bottom plate; the four conveyor belts are respectively a first conveyor belt, a second conveyor belt, a third conveyor belt, and a fourth conveyor belt, the first conveyor belt is installed in parallel in front of the rotating wheel conveying device, and is located between the cutting table and the rotating wheel conveying device; the second conveyor belt and the third conveyor belt are installed on the left and right sides of the rotating wheel conveying device, perpendicular to the direction of the first conveyor belt; the fourth conveyor belt is located behind the rotating wheel conveying device; the four conveyor belts and the rotating wheel conveying device are installed on the supporting bottom plate, and the supporting bottom plate is installed on the chassis frame of the reed harvester; the four conveyor belts are respectively connected to the driving mechanism;

[0010] The control unit is connected to the driving mechanism of the conveyor belt and the rotating wheel conveyor device respectively; the control unit is used to control the running speed of the conveyor belt and the running direction of the rotating wheel conveyor device.

[0011] The above scheme also includes a detection mechanism; the detection mechanism includes a speed sensor, a visual sensor and an inclination sensor; the speed sensor, the visual sensor and the inclination sensor are respectively connected to the control unit, the speed sensor is used to detect the conveying speed V of the longitudinal clamping device, and transmit it to the control unit, the visual sensor is used to collect the image of the reed material transmitted by the first conveyor belt receiving cutter, and transmit it to the control unit, the control unit processes the image and obtains the inclination angle of the reed material, the inclination sensors are respectively installed on both sides of the harvesting body to detect the inclination angle of the harvesting body, and transmit it to the control unit, the control unit controls the running speed of the conveyor belt and the running direction of the rotating wheel conveying device.

[0012] In the above scheme, the rotating wheel conveying device includes a frame, a plurality of rotating balance wheel devices and a plurality of universal rolling balls;

[0013] A rotating balance wheel device is arranged at the center of the frame, and other rotating balance wheel devices are symmetrically distributed around the center of the frame, and the universal rollers are arranged on the gaps between the rotating balance wheel devices.

[0014] Furthermore, the rotating balance wheel device includes a balance wheel cover, a balance wheel device, a first rotation drive mechanism and a second rotation drive mechanism; the balance wheel device is provided with a balance wheel cover, the rotating balance wheel device at the center of the frame is connected to the second rotation drive mechanism, and the remaining rotating balance wheel devices are connected to the first rotation drive mechanism.

[0015] Further, the balance wheel device includes a balance wheel device base, a transmission wheel, a rotating shaft, a belt, a V-type pulley, a V-type tensioning wheel, a balance wheel device support, a rotating wheel, a rotating wheel support and a driving motor;

[0016] The driving motor is connected to the control unit; the driving motor and the balance wheel device support are both installed on the balance wheel device base, and the balance wheel device support includes a first balance wheel device support, a second balance wheel device support, a third balance wheel device support, a fourth balance wheel device support, a fifth balance wheel device support, and a sixth balance wheel device support; the first balance wheel device support, the second balance wheel device support, the fifth balance wheel device support, and the sixth balance wheel device support are respectively located at the four corners of the balance wheel device base, the third balance wheel device support is located between the first balance wheel device support and the fifth balance wheel device support, and the fourth balance wheel device support is located between the second balance wheel device support and the sixth balance wheel device support; the rotating wheel support is installed under the balance wheel device base;

[0017] The rotating shaft includes a first rotating shaft, a second rotating shaft, a third rotating shaft and a fourth rotating shaft; the third rotating shaft is located below the second rotating shaft, and the fourth rotating shaft is located below the third rotating shaft;

[0018] The first transmission wheel and the first V-belt pulley are coaxially assembled on the first rotating shaft through a connecting key, one end of the first rotating shaft passes through the first balance wheel device support, and the other end passes through the second balance wheel device support; the second transmission wheel, the third transmission wheel and the second V-belt pulley are coaxially assembled on the second rotating shaft through a connecting key, one end of the second rotating shaft passes through the third balance wheel device support, and the other end passes through the fourth balance wheel device support; the fourth transmission wheel and the third V-belt pulley are coaxially assembled on the third rotating shaft through a connecting key, one end of the third rotating shaft passes through the fifth balance wheel device support, and the other end passes through the sixth balance wheel device support; the V-type tensioning wheel is coaxially assembled on the fourth rotating shaft through a connecting key, one end of the fourth rotating shaft passes through the third balance wheel device support, and the other end passes through the fourth balance wheel device support; the fourth V-belt pulley is connected to the driving motor shaft through a key; the first V-belt pulley, the second V-belt pulley, the third V-belt pulley, the fourth V-belt pulley and the V-tensioning wheel are connected and transmitted by belts; the rotating wheels are respectively connected to the rotating wheel support through shafts.

[0019] Further, the first rotation drive mechanism includes a first servo motor, a first drive mechanism pulley, a second drive mechanism pulley, a belt, a worm gear, a worm, a first coupling, a shaft, a first worm support, and a second worm support;

[0020] The first servo motor is mounted on the frame, and the first servo motor is connected to the control unit; the first drive mechanism pulley is mounted on the driving shaft of the first servo motor, and the first drive mechanism pulley and the second drive mechanism pulley are connected by a belt; the worm and the second drive mechanism pulley are coaxial and connected by a key, and the worm and the worm wheel meshing space are staggered for transmission; the worm is mounted on the frame through the first worm support and the second worm support; the shaft and the worm wheel are coaxial and connected by a key, and one end of the shaft is connected to the protruding cylinder at the bottom of the balance wheel device through the first coupling;

[0021] The second rotation drive mechanism includes a second servo motor and a second coupling; the second servo motor is installed on the bottom wall of the frame, the second servo motor is connected to the control unit, and the second servo motor is connected to the cylinder protruding from the bottom of the balance wheel device through a fifth coupling.

[0022] A harvester comprises the reed harvester post-cutting conveying device.

[0023] A control method for the post-cutting conveying device of the reed harvester comprises the following steps:

[0024] The first conveyor belt receives the reeds harvested by the harvesting platform and transmits them to the rotary wheel conveyor device. The control unit controls the rotation direction of the rotary wheel conveyor device according to the direction selected by the driver, and transmits the reeds to the field on the left side, right side or rear of the reed harvester through the second conveyor belt, the third conveyor belt and the fourth conveyor belt. If the reed material on the first conveyor belt is inclined, the control unit controls the rotary wheel conveyor device to change the conveying angle so that the reed material can be perpendicular to the forward direction of the harvester. If the harvester body is tilted to a certain extent, the control unit controls the rotary wheel conveyor device to change the conveying speed.

[0025] The above scheme specifically includes the following steps:

[0026] The harvester moves forward, and the speed sensor detects the reed material conveying speed of the harvesting platform as v;

[0027] Select the direction of reed material conveying;

[0028] The control unit controls the conveying speed v of the first conveyor belt, the rotating wheel conveyor device and the conveyor belt in the selected direction according to the selected conveying direction of the reed material;

[0029] The visual sensor collects an image of the reed material transmitted by the first conveyor belt receiving header and transmits it to the control unit, which processes the image and obtains a relative inclination angle α of the reed material transmitted by the first conveyor belt receiving header;

[0030] The control unit controls the first servo motor and the second servo motor to rotate Q circles and T circles respectively, so that the rotary wheel conveying device rotates θ, so that the reed material can fall into the field along the conveyor belt in the selected direction perpendicular to the forward direction of the harvester;

[0031] The tilt sensor detects the tilt angle of the harvester body and transmits it to the control unit. The control unit determines which side of the harvester is tilted according to the tilt angle;

[0032] If it is chosen to transport the reed material to the field on one side of the slope, the control unit controls the rotating wheel conveying device to change the conveying speed v1 to be smaller than the normal conveying speed v when the harvester is balanced. If it is chosen to transport the reed material to the field on the opposite side of the slope, the control unit controls the rotating wheel conveying device to change the conveying speed v2 to be larger than the normal conveying speed v when the harvester is balanced, so that the reed material can fall smoothly into the field.

[0033] Furthermore, when the reeds harvested by the harvesting platform are on the first conveyor belt, the visual sensor collects the image of the reed material transmitted by the harvesting platform on the first conveyor belt and transmits it to the control unit. The control unit processes the image and obtains the relative inclination angle α of the reed material transmitted by the harvesting platform on the first conveyor belt. The control unit controls the servo motor to rotate Q circles, so that the first rotary drive mechanism drives the balance wheel device to rotate an angle θ, and Q is calculated according to the following formula:

[0034]

[0035] Among them, Z1 is the number of worm heads; Z2 is the number of teeth on the worm wheel;

[0036] The control unit controls the second servo motor to rotate T circles, so that the second rotary drive mechanism drives the balance wheel device to rotate an angle θ, where T is calculated according to the following formula:

[0037]

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The post-cutting conveying device of the reed harvester of the present invention adopts a rotating wheel conveying device and multiple conveyor belts, which can realize the selection of multiple unloading directions. Furthermore, the running speed of the conveyor belt and the running direction of the rotating wheel conveying device are controlled by the control unit, which is conducive to the reed material being kept perpendicular to the direction of travel of the harvester and smoothly conveyed to the ground. The unloading of the present invention does not require shutdown, which effectively reduces the intensity of manual labor, helps the loader to synchronously collect the reed material that falls on the ground, and improves the work efficiency of the harvester. Furthermore, if the harvester body is tilted to a certain extent, the control unit controls the rotating wheel conveying device to change the conveying speed, and even when encountering sunken mud, it can also be smoothly conveyed, so that the loader can synchronously collect and improve the overall harvesting efficiency.

[0040] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic structural diagram of a post-harvest conveying device of a reed harvester according to one embodiment of the present invention.

[0042] Figure 2 It is a schematic top view of the structure of a rotating wheel conveyor according to one embodiment of the present invention.

[0043] Figure 3 It is a schematic side view of the structure of a rotating wheel conveyor according to one embodiment of the present invention.

[0044] Figure 4 It is a schematic front view of a balance wheel device and a rotation driving structure according to an embodiment of the present invention.

[0045] Figure 5 It is a schematic rear view of a balance wheel device and a rotation driving structure according to an embodiment of the present invention.

[0046] Figure 6 1 is a schematic top view of the structure of a balance device according to an embodiment of the present invention (with the balance cover removed).

[0047] Figure 7 It is a front view schematically showing the structure of a balance device according to one embodiment of the present invention (without the balance cover).

[0048] Figure 8 The present invention is a flowchart of a control method for a post-harvest conveying device of a reed harvester according to an embodiment of the present invention.

[0049] In the figure, 1. cutting platform; 2. first conveyor belt; 3. rotating wheel conveyor device; 301. frame; 302. rotating balance wheel device; 302-1. balance wheel cover; 302-2.303. universal roller ball; 4. second conveyor belt; 5. third conveyor belt; 6. fourth conveyor belt; 7. supporting bottom plate; 8. cockpit; 9. control unit; 10. chassis frame. DETAILED DESCRIPTION

[0050] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] Figure 1 The figure shows a preferred embodiment of the post-cutting conveying device of the reed harvester, which includes a cutting platform 1, a post-cutting conveying device and a control unit 9; the post-cutting conveying device is installed on the chassis frame 10 of the reed harvester and is located behind the cutting platform 1.

[0054] The post-harvest conveying device includes four conveyor belts, a rotating wheel conveyor device 3, and a supporting base plate 7; the four conveyor belts are respectively a first conveyor belt 2, a second conveyor belt 4, a third conveyor belt 5 and a fourth conveyor belt 6, the first conveyor belt 2 is installed in parallel in front of the rotating wheel conveyor device 3 and is located between the cutting table 1 and the rotating wheel conveyor device 3; the second conveyor belt 4 and the third conveyor belt 5 are installed on the left and right sides of the rotating wheel conveyor device 3, perpendicular to the direction of the first conveyor belt 2; the fourth conveyor belt 6 is located behind the rotating wheel conveyor device 3; the four conveyor belts and the rotating wheel conveyor device 3 are installed on the supporting base plate 7, and the supporting base plate 7 is installed on the chassis frame 10 of the reed harvester; the four conveyor belts are respectively connected to the driving mechanism.

[0055] The support base plate 7 can evenly distribute the weight applied by the post-harvesting conveying device to the frame 10; the support base plate 7 is provided with downwardly inclined side plates on the three sides except the direction close to the cutting table 1, which is convenient for the reeds to fall into the field quickly and avoids some broken stems falling into the reed harvester track and causing blockage.

[0056] The control unit 9 is connected to the driving mechanism of the conveyor belt and the rotating wheel conveyor device 3 respectively; the control unit 9 is used to control the running speed of the conveyor belt and the running direction of the rotating wheel conveyor device 3.

[0057] The post-cutting conveying device of the reed harvester also includes a detection mechanism; the detection mechanism includes a speed sensor, a visual sensor and an inclination sensor; the speed sensor, the visual sensor and the inclination sensor are respectively connected to the control unit 9, the speed sensor is used to detect the conveying speed V of the longitudinal clamping device, and transmit it to the control unit 9, the visual sensor is used to collect the image of the reed material transmitted by the first conveyor belt 2 receiving the cutting table 1, and transmit it to the control unit 9, the control unit 9 processes the image and obtains the inclination angle of the reed material, the inclination sensors are respectively installed on both sides of the harvesting body to detect the inclination angle of the harvesting body, and transmit it to the control unit 9, the control unit 9 controls the running speed of the conveyor belt and the running direction of the rotating wheel conveying device 3.

[0058] Preferably, the structure of the harvesting platform 1 can refer to the invention patent 202311440805.3, a highly efficient reed harvester.

[0059] The rotating wheel conveying device 3 comprises a frame 301, a plurality of rotating balance wheel devices 302 and a plurality of universal roller balls 303; a rotating balance wheel device 302 is arranged at the center of the frame 301, and the other rotating balance wheel devices 302 are symmetrically distributed around the center of the frame 301, and the universal roller balls 303 are arranged in the gaps between the rotating balance wheel devices 302. The universal roller balls 303 help to reduce the friction between the reed material and the rotating wheel conveying device 302, so that the reed material can slide onto the rotating balance wheel device 302 quickly.

[0060] The rotating balance wheel device 302 includes a balance wheel cover 302-1, a balance wheel device 302-2 and a rotation drive mechanism; the rotation drive mechanism includes a first rotation drive mechanism 302-3 and a second rotation drive mechanism 302-4; the balance wheel device 302-2 is provided with a balance wheel cover 302-1, the rotating balance wheel device 302 at the center of the frame 301 is connected to the second rotation drive mechanism 302-4, and the remaining rotating balance wheel devices 302 are connected to the first rotation drive mechanism 302-3.

[0061] The balance wheel device 302-2 includes a balance wheel device base 302-2-1, four transmission wheels, four rotating shafts, a belt 302-2-2, four V-type pulleys, a V-type tensioning wheel 302-2-3, a balance wheel device support, three rotating wheels 302-2-23, three rotating wheel supports 302-2-24 and a driving motor 302-2-4; the driving motor 302-2-4 is connected to the control unit 9; the driving motor 302-2-4 and the balance wheel device support are both installed on the balance wheel device base 302-2-1, and the balance wheel device support includes a first balance wheel device support 302-2-8, a second balance wheel device support 302-2-9, a third balance wheel device support 302-2-14, a fourth balance wheel device support 302-2-15, a second balance wheel device support 302-2-20, a third balance wheel device support 302-2-16, a fourth balance wheel device support 302-2-21, a third balance wheel device support 302-2-23, a third balance wheel device support 302-2-24, a third balance wheel device support 302-2-25, a third balance wheel device support 302-2-26, a third balance wheel device support 302-2-27, a third balance wheel device support 302-2-28, a third balance wheel device support 302-2-29, a third balance wheel device support 302-2-3, a third balance wheel device support 302-2-4, a third balance wheel device support 302-2-4, a third balance wheel device support 302-2-5, a third balance wheel device support 302-2-6, a third balance wheel device support 302-2-7, a third balance wheel device support 302-2-8, a third balance wheel device support 3 The first balance wheel device support 302-2-8, the second balance wheel device support 302-2-9, the fifth balance wheel device support 302-2-19, and the sixth balance wheel device support 302-2-20 are respectively located at the four corners of the balance wheel device base 302-2-1, the third balance wheel device support 302-2-14 is located between the first balance wheel device support 302-2-8 and the fifth balance wheel device support 302-2-19, and the fourth balance wheel device support 302-2-15 is located between the second balance wheel device support 302-2-9 and the sixth balance wheel device support 302-2-20.

[0062] The rotating wheel 302-2-23 is connected to the rotating wheel support 302-2-24 through an axis. The rotating wheel 302-2-23 and its rotating wheel support 302-2-24 support and help the balance wheel device 302-2 to rotate, effectively reducing the load of the rotating drive mechanism driving the balance wheel device 302-2.

[0063] The three rotating wheel supports 302-2-24 are installed under the balance wheel device base 302-2-1 at a position where the angle between the three rotating wheel supports 302-2-24 is 120 degrees on the radial mid-axis plane.

[0064] The four transmission wheels include a first transmission wheel 302-2-5, a second transmission wheel 302-2-10, a third transmission wheel 302-2-11 and a fourth rotation shaft 302-2-21.

[0065] The four rotation axes include a first rotation axis 302-2-7, a second rotation axis 302-2-13, a third rotation axis 302-2-18 and a fourth rotation axis 302-2-22; the third rotation axis 302-2-18 is located below the second rotation axis 302-2-13.

[0066] The four V-belt pulleys include a first V-belt pulley 302-2-6, a second V-belt pulley 302-2-12, a third V-belt pulley 302-2-17 and a fourth V-belt pulley 302-2-22; the fourth rotating shaft 302-2-22 is located below the third rotating shaft 302-2-18.

[0067] The first transmission wheel 302-2-5 and the first V-belt pulley 302-2-6 are coaxially assembled on the first rotating shaft 302-2-7 through a connecting key, one end of the first rotating shaft 302-2-7 passes through the first balance wheel device support 302-2-8, and the other end passes through the second balance wheel device support 302-2-9; the second transmission wheel 302-2-10, the third transmission wheel 302-2-11 and the second V-belt pulley 302-2-12 are coaxially assembled on the second rotating shaft 302-2-13 through a connecting key, one end of the second rotating shaft 302-2-13 passes through the third balance wheel device support 302-2-14, and the other end passes through the fourth balance wheel device support 302-2-15; the fourth transmission wheel 302-2-16 and the third V-belt pulley 302-2-17 are coaxially assembled on the third rotating shaft 302-2-18 through a connecting key, and the third rotating shaft 302-2-18 is coaxially assembled on the third rotating shaft 302-2-18. One end of the fourth rotating shaft 302-2-21 passes through the third balance wheel device support 302-2-14, and the other end passes through the fourth balance wheel device support 302-2-15; the fourth V-belt pulley 302-2-3 is coaxially assembled on the fourth rotating shaft 302-2-21 through a connecting key, and one end of the fourth rotating shaft 302-2-21 passes through the third balance wheel device support 302-2-14, and the other end passes through the fourth balance wheel device support 302-2-15; the fourth V-belt pulley 302- 2-22 is connected to the rotating shaft of the driving motor 302-2-4 through a key; the first V-type pulley 302-2-6, the second V-type pulley 302-2-12, the third V-type pulley 302-2-17, the fourth V-type pulley 302-2-22 and the V-type tensioning pulley 302-2-3 are connected for transmission through three sets of belts 302-2-2; the rotating wheel 302-2-23 is connected to the rotating wheel support 302-2-24 through an axis respectively.

[0068] The V-type tensioner 302-2-3 can change the tension of the belt drive, and thus change the size of the wrap angle. When the wrap angle is too small, the friction between the belt and the pulley is insufficient to transmit the required torque, and slippage is likely to occur, which not only affects the efficiency of the transmission but may also damage the transmission components. The larger the wrap angle, the greater the effective circumferential force and the stronger the bearing capacity of the transmission.

[0069] The fourth V-type pulley 302-2-22 is connected to the rotating shaft of the driving motor 302-2-4 through a key; the first V-type pulley 302-2-6, the second V-type pulley 302-2-12, the third V-type pulley 302-2-17, the fourth V-type pulley 302-2-22 and the V-type tensioning pulley 302-2-3 are connected for transmission through the belt 302-2-2; preferably, the number of belts is 3 groups; the rotating wheel 302-2-23 is connected for transmission with the rotating wheel support 302-2-24 through the shaft, and the outer diameters, pitch circle diameters and V-grooves of the four V-type pulleys and the V-type tensioning pulley are equal, so the transmission ratio i=1.

[0070] The first rotation drive mechanism 302-3 includes a first servo motor 302-3-1, a first drive mechanism pulley 302-3-7, a second drive mechanism pulley 302-3-8, a group of belts 302-3-2, a worm wheel 302-3-3, a worm 302-3-4, a first coupling 302-3-5, a shaft 302-3-6, a first worm support 302-3-9 and a second worm support 302-3-10; the first servo motor 302-3-1 is installed on the side wall of the frame 301, and the first servo motor 302-3-1 is connected to the control unit 9; the first drive mechanism pulley 302-3-7 is installed on the driving shaft of the first servo motor 302-3-1, and the first drive mechanism pulley 30 2-3-7 and the second drive mechanism pulley 302-3-8 are connected by a belt 302-3-2; the worm 302-3-4 is coaxial with the second drive mechanism pulley 302-3-8 and is connected by a key, and the meshing space of the worm 302-3-4 and the worm wheel 302-3-3 is staggered for transmission, saving space for the overall device; the worm 302-3-4 is installed on the frame 301 through the first worm support 302-3-9 and the second worm support 302-3-10; the shaft 302-3-6 and the worm wheel 302-3-3 are coaxial and connected by a key, and one end of the shaft 302-3-6 is connected to the cylinder 302-2-25 protruding from the bottom of the balance wheel device 302-2 through the first coupling 302-3-5.

[0071] Preferably, the servo motor 302 - 3 - 1 is installed on the side wall of the frame 301 .

[0072] The outer diameters, pitch circle diameters and groove sizes of the first drive mechanism pulley 302 - 3 - 7 and the second drive mechanism pulley 302 - 3 - 8 are all equal, so the transmission ratio i=1.

[0073] The worm gear transmission formed by the worm wheel 302-3-3 and the worm 302-3-4 can achieve a large transmission ratio, and can realize the rotation of the large load of the balance device 302 in a small space. The worm gear transmission has good self-locking performance and can realize reverse self-locking. The worm wheel can only be driven by the worm. When the first servo motor 302-3-1 drives the worm 302-3-4 to rotate to the target value, the worm wheel 302-3-3 can maintain its position and will not be reversed due to the reverse effect of the load of the balance device 302.

[0074] The second rotation drive mechanism 302-4 includes a second servo motor 302-4-1 and a second coupling 302-4-2; the second servo motor 302-4-1 is installed on the bottom wall of the frame 301, the second servo motor 302-4-1 is connected to the control unit 9, and the second servo motor 302-4-1 is connected to the cylinder 302-2-25 protruding from the bottom of the balance wheel device 302-2 through the fifth coupling 302-4-2.

[0075] The multiple rotating balance wheel devices 302 of the rotating wheel conveying device 3 of the present invention can be independently driven to control the conveying speed and the rotation angle more accurately.

[0076] A control method for the post-cutting conveying device of the reed harvester comprises the following steps:

[0077] The first conveyor belt 2 receives the reeds harvested by the harvesting platform 1 and transmits them to the rotary wheel conveyor device 3. The control unit 9 controls the rotation direction of the rotary wheel conveyor device 3 according to the direction selected by the driver, and transmits the reeds to the field on the left, right or rear of the reed harvester through the second conveyor belt 4, the third conveyor belt 5, and the fourth conveyor belt 6; if the reed material on the first conveyor belt 2 is inclined, the control unit 9 controls the rotary wheel conveyor device 3 to change the conveying angle so that the reed material can be perpendicular to the forward direction of the harvester; if the crawler track on one side of the harvester sinks into the mud and the fuselage tilts to a certain extent, the control unit 9 controls the rotary wheel conveyor device 3 to change the conveying speed so that the reed material can fall smoothly into the field.

[0078] Specifically, the control method of the post-cutting conveying device of the reed harvester comprises the following steps:

[0079] The harvester starts to move forward, and the speed sensor detects that the reed material conveying speed of the longitudinal clamping device of the harvesting table 1 is v;

[0080] The driver selects the direction in which the reed material is conveyed;

[0081] The control unit 9 controls the conveying speed of the first conveyor belt 2, the rotating wheel conveyor device 3 and the conveyor belt in the selected direction to be v according to the selected conveying direction of the reed material;

[0082] The visual sensor collects the image of the reed material transmitted by the first conveyor belt 2 receiving the header 1 and transmits it to the control unit 9. The control unit 9 processes the image and obtains the relative inclination angle α of the first conveyor belt 2 receiving the reed material transmitted by the header 1.

[0083] The control unit 9 controls the first servo motor 302-3-1 and the second servo motor 302-4-1 to rotate Q circles and T circles respectively, so that the rotary wheel conveyor device 3 rotates θ, so that the reed material can fall into the field along the conveyor belt in the selected direction perpendicular to the forward direction of the harvester;

[0084] The tilt sensor detects the tilt angle of the harvester body and transmits it to the control unit 9. The control unit 9 determines which side of the harvester is tilted according to the tilt angle; if the crawler track sinks into the mud, the harvester body tilts;

[0085] If it is chosen to transport the reed material to the field on one side of the inclination, the control unit 9 controls the rotating wheel conveying device 3 to change the conveying speed v1 to be smaller than the conveying speed v of normal operation when the harvester is balanced. If it is chosen to transport the reed material to the field on the opposite side of the inclination, the control unit 9 controls the rotating wheel conveying device 3 to change the conveying speed v2 to be larger than the conveying speed v of normal operation when the harvester is balanced, so that the reed material can fall smoothly into the field.

[0086] Specifically, when the reeds harvested by the harvesting platform 1 are on the first conveyor belt 2, the visual sensor collects the image of the reed material transmitted by the harvesting platform 1 received by the first conveyor belt 2 and transmits it to the control unit 9. The control unit 9 processes the image and obtains the relative inclination angle α of the reed material transmitted by the harvesting platform 1 received by the first conveyor belt 2. The control unit 9 controls the servo motor 302-3-1 to rotate Q circles, so that the first rotation drive mechanism 302-3 drives the balance wheel device 302-2 to rotate an angle θ.

[0087] Assume that the number of heads of the worm 302-3-4 is Z1, and the number of teeth of the worm wheel 302-3-3 is Z2. According to the transmission principle of the worm gear, when the worm wheel 302-3-3 rotates one circle, the number of circles of the worm 302-3-4 is Z2 / Z1. The balance device 302-2 is connected to the shaft 302-3-6 through the first coupling 302-3-5, and the worm wheel 302-3-3 and the shaft 302-3-6 are coaxially matched. Therefore, when the servo motor 302-3-1 drives the worm 302-3-4 to rotate, and the worm 302-3-4 drives the worm wheel 302-3-3 to rotate, the rotation angles of the balance device 302-2 and the worm wheel 302-3-3 are the same.

[0088] Q is calculated according to the following formula:

[0089]

[0090] Among them, Z1 is the number of worm heads; Z2 is the number of teeth on the worm wheel;

[0091] The control unit 9 controls the second servo motor 302 - 4 - 1 to rotate T circles, so that the second rotation drive mechanism 302 - 4 drives the balance wheel device 302 - 2 to rotate an angle θ.

[0092] The control unit 9 controls the servo motor 302-4-1 to rotate a certain number of turns T, so that the second rotation drive mechanism 302-4 drives the balance device 302-2 to rotate an angle θ. The second servo motor 302-4-1 is connected to the balance device 302-2 through the fifth coupling 302-4-2, and the rotation angles of the balance device 302-2 and the second servo motor 302-4-1 are the same.

[0093] T is calculated according to the following formula:

[0094]

[0095] The present invention can transport the reed material to the field in a posture perpendicular to the travel direction of the harvester as much as possible without stopping the machine, so that the loader can synchronously operate to collect the reed material. At the same time, it can also transport the reed material smoothly when encountering sunken mud, so that the loader can synchronously operate to collect the reed material, thereby improving the overall harvesting efficiency.

[0096] Example 2

[0097] A reed harvester includes the reed harvester post-cutting conveying device and control method described in Example 1, and thus has the same beneficial effects, which will not be described in detail.

[0098] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0099] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A reed harvester post-cutting conveying device, characterized in that: It comprises a cutting platform (1), a post-cutting conveying device and a control unit (9); The post-harvest conveying device is installed on the chassis frame (10) of the reed harvester and is located behind the harvesting platform (1); The post-harvest conveying device comprises four conveyor belts, a rotating wheel conveying device (3), and a supporting base plate (7); the four conveyor belts are respectively a first conveyor belt (2), a second conveyor belt (4), a third conveyor belt (5), and a fourth conveyor belt (6); the first conveyor belt (2) is installed in parallel in front of the rotating wheel conveying device (3) and is located between the cutting platform (1) and the rotating wheel conveying device (3); the second conveyor belt (4) and the third conveyor belt (5) are installed on the left and right sides of the rotating wheel conveying device (3) and are perpendicular to the direction of the first conveyor belt (2); the fourth conveyor belt (6) is located behind the rotating wheel conveying device (3); the four conveyor belts and the rotating wheel conveying device (3) are installed on the supporting base plate (7), and the supporting base plate (7) is installed on the chassis frame (10) of the reed harvester; the four conveyor belts are respectively connected to the driving mechanism; The control unit (9) is connected to the driving mechanism of the conveyor belt and the rotating wheel conveyor device (3) respectively; the control unit (9) is used to control the running speed of the conveyor belt and the running direction of the rotating wheel conveyor device (3).

2. The post-cutting transport device of the reed harvester according to claim 1, characterized in that: The invention also comprises a detection mechanism; the detection mechanism comprises a speed sensor, a visual sensor and an inclination sensor; the speed sensor, the visual sensor and the inclination sensor are respectively connected to a control unit (9); the speed sensor is used to detect the conveying speed V of the longitudinal clamping device and transmit it to the control unit (9); the visual sensor is used to collect an image of the reed material transmitted by the first conveyor belt (2) receiving the cutting table (1) and transmit it to the control unit (9); the control unit (9) processes the image and obtains the inclination angle of the reed material; the inclination sensors are respectively installed on both sides of the harvesting machine body to detect the inclination angle of the harvesting machine body and transmit it to the control unit (9); the control unit (9) controls the running speed of the conveyor belt and the running direction of the rotating wheel conveying device (3).

3. The post-cutting transport device of the reed harvester according to claim 1, characterized in that: The rotating wheel conveying device (3) comprises a frame (301), a plurality of rotating balance wheel devices (302) and a plurality of universal rolling balls (303); A rotating balance wheel device (302) is provided at the center of the frame (301), and the other rotating balance wheel devices (302) are symmetrically distributed around the center of the frame (301), and the universal roller balls (303) are arranged in the gaps between the rotating balance wheel devices (302).

4. The post-cutting conveying device of the reed harvester according to claim 3 is characterized in that: The rotating balance wheel device (302) comprises a balance wheel cover (302-1), a balance wheel device (302-2), a first rotation drive mechanism (302-3) and a second rotation drive mechanism (302-4); the balance wheel device (302-2) is provided with a balance wheel cover (302-1), the rotating balance wheel device (302) at the center of the frame (301) is connected to the second rotation drive mechanism (302-4), and the remaining rotating balance wheel devices (302) are connected to the first rotation drive mechanism (302-3).

5. The post-cutting transport device of the reed harvester according to claim 4, characterized in that: The balance wheel device (302-2) comprises a balance wheel device base (302-2-1), a transmission wheel, a rotating shaft, a belt (302-2-2), a V-type pulley, a V-type tensioning wheel (302-2-3), a balance wheel device support, a rotating wheel (302-2-23), a rotating wheel support (302-2-24) and a driving motor (302-2-4); The driving motor (302-2-4) is connected to the control unit (9); the driving motor (302-2-4) and the balance wheel device support are both installed on the balance wheel device base (302-2-1); the balance wheel device support includes a first balance wheel device support (302-2-8), a second balance wheel device support (302-2-9), a third balance wheel device support (302-2-14), a fourth balance wheel device support (302-2-15), a fifth balance wheel device support (302-2-19), and a sixth balance wheel device support (302-2-20); the first balance wheel device support (302-2-8), the second balance wheel device support (3 02-2-9), the fifth balance wheel device support (302-2-19), and the sixth balance wheel device support (302-2-20) are respectively located at the four corners of the balance wheel device base (302-2-1), the third balance wheel device support (302-2-14) is located between the first balance wheel device support (302-2-8) and the fifth balance wheel device support (302-2-19), and the fourth balance wheel device support (302-2-15) is located between the second balance wheel device support (302-2-9) and the sixth balance wheel device support (302-2-20); the rotating wheel support (302-2-24) is installed under the balance wheel device base (302-2-1); The rotation axis includes a first rotation axis (302-2-7), a second rotation axis (302-2-13), a third rotation axis (302-2-18) and a fourth rotation axis (302-2-22); the third rotation axis (302-2-18) is located below the second rotation axis (302-2-13), and the fourth rotation axis (302-2-22) is located below the third rotation axis (302-2-18); The first transmission wheel (302-2-5) and the first V-belt pulley (302-2-6) are coaxially assembled on the first rotating shaft (302-2-7) through a connecting key. One end of the first rotating shaft (302-2-7) passes through the first balance wheel device support (302-2-8), and the other end passes through the second balance wheel device support (302-2-9); the second transmission wheel (302-2-10), the third transmission wheel (302-2-11) and the second V-belt pulley (302-2-12 ) is coaxially assembled on the second rotating shaft (302-2-13) through a connecting key, one end of the second rotating shaft (302-2-13) passes through the third balance wheel device support (302-2-14), and the other end passes through the fourth balance wheel device support (302-2-15); the fourth transmission wheel (302-2-16) and the third V-belt pulley (302-2-17) are coaxially assembled on the third rotating shaft (302-2-18) through a connecting key, and the third rotating shaft (302-2-18) ) one end passes through the fifth balance wheel device support (302-2-19), and the other end passes through the sixth balance wheel device support (302-2-20); the V-type tensioning wheel (302-2-3) is coaxially assembled on the fourth rotating shaft (302-2-21) through a connecting key, and one end of the fourth rotating shaft (302-2-21) passes through the third balance wheel device support (302-2-14), and the other end passes through the fourth balance wheel device support (302-2-15); the fourth V-type pulley (302-2- 22) is connected to the rotating shaft of the driving motor (302-2-4) through a key; the first V-type pulley (302-2-6), the second V-type pulley (302-2-12), the third V-type pulley (302-2-17), the fourth V-type pulley (302-2-22) and the V-type tensioning wheel (302-2-3) are connected for transmission through a belt (302-2-2); the rotating wheel (302-2-23) is connected to the rotating wheel support (302-2-24) through an axis respectively.

6. The post-cutting transport device of the reed harvester according to claim 4, characterized in that: The first rotation drive mechanism (302-3) includes a first servo motor (302-3-1), a first drive mechanism pulley (302-3-7), a second drive mechanism pulley (302-3-8), a belt (302-3-2), a worm wheel (302-3-3), a worm (302-3-4), a first coupling (302-3-5), a shaft (302-3-6), a first worm support (302-3-9) and a second worm support (302-3-10); The first servo motor (302-3-1) is mounted on the frame (301), and the first servo motor (302-3-1) is connected to the control unit (9); the first drive mechanism pulley (302-3-7) is mounted on the drive shaft of the first servo motor (302-3-1), and the first drive mechanism pulley (302-3-7) and the second drive mechanism pulley (302-3-8) are connected via a belt (302-3-2); the worm (302-3-4) and the second drive mechanism pulley (302-3-8) are coaxial and connected via a key , the worm (302-3-4) and the worm wheel (302-3-3) mesh in a staggered transmission space; the worm (302-3-4) is installed on the frame (301) through a first worm support (302-3-9) and a second worm support (302-3-10); the shaft (302-3-6) and the worm wheel (302-3-3) are coaxial and connected by a key, and one end of the shaft (302-3-6) is connected to a cylinder (302-2-25) protruding from the bottom of the balance wheel device (302-2) through a first coupling (302-3-5); The second rotation drive mechanism (302-4) comprises a second servo motor (302-4-1) and a second coupling (302-4-2); the second servo motor (302-4-1) is mounted on the bottom wall of the frame (301), the second servo motor (302-4-1) is connected to the control unit (9), and the second servo motor (302-4-1) is connected to a cylinder (302-2-25) protruding from the bottom of the balance wheel device (302-2) through a fifth coupling (302-4-2).

7. A harvester, characterized in that: The invention comprises the post-harvest conveying device of a reed harvester as described in any one of claims 1 to 6.

8. A control method for a post-cutting conveying device of a reed harvester according to any one of claims 1 to 6, characterized in that: The following steps are involved: The first conveyor belt (2) receives the reeds harvested by the harvesting platform (1) and conveys them to the rotary wheel conveyor device (3); the control unit (9) controls the rotation direction of the rotary wheel conveyor device (3) according to the direction selected by the driver, and conveys the reeds to the field on the left side, right side or rear of the reed harvester through the second conveyor belt (4), the third conveyor belt (5) and the fourth conveyor belt (6); if the reed material on the first conveyor belt (2) is inclined, the control unit (9) controls the rotary wheel conveyor device (3) to change the conveying angle so that the reed material can be perpendicular to the forward direction of the harvester; if the harvester body is tilted to a certain extent, the control unit (9) controls the rotary wheel conveyor device (3) to change the conveying speed.

9. The control method of the post-cutting conveying device of the reed harvester according to claim 8, characterized in that: The specific steps include: The harvester moves forward, and the speed sensor detects that the reed material conveying speed of the harvesting platform (1) is v; Select the direction of reed material conveying; The control unit (9) controls the conveying speed v of the first conveyor belt (2), the rotating wheel conveying device (3) and the conveyor belt in the selected direction according to the selected conveying direction of the reed material; The visual sensor collects an image of the reed material delivered by the first conveyor belt (2) receiving the cutting platform (1) and transmits it to the control unit (9). The control unit (9) processes the image and obtains a relative inclination angle α of the reed material delivered by the first conveyor belt (2) receiving the cutting platform (1). The control unit (9) controls the first servo motor (302-3-1) and the second servo motor (302-4-1) to rotate Q and T circles respectively, so that the rotary wheel conveying device (3) rotates θ, so that the reed material can fall into the field along the conveyor belt in the selected direction perpendicular to the forward direction of the harvester; The tilt sensor detects the tilt angle of the harvester body and transmits it to the control unit (9). The control unit (9) determines which side of the harvester is tilted according to the tilt angle. If the reed material is transported to the field on one side of the slope, the control unit (9) controls the rotating wheel conveying device (3) to change the conveying speed v1 to be less than the conveying speed v of the normal operation when the harvester is balanced. If the reed material is transported to the field on the opposite side of the slope, the control unit (9) controls the rotating wheel conveying device (3) to change the conveying speed v2 to be greater than the conveying speed v of the normal operation when the harvester is balanced, so that the reed material can fall smoothly into the field.

10. The control method of the post-cutting conveying device of the reed harvester according to claim 8, characterized in that: When the reeds harvested by the harvesting platform (1) are on the first conveyor belt (2), the visual sensor collects an image of the reed material transmitted by the harvesting platform (1) received by the first conveyor belt (2) and transmits it to the control unit (9). The control unit (9) processes the image and obtains a relative inclination angle α of the reed material transmitted by the harvesting platform (1) received by the first conveyor belt (2). The control unit (9) controls the servo motor (302-3-1) to rotate Q circles, so that the first rotary drive mechanism (302-3) drives the balance wheel device (302-2) to rotate an angle θ, and Q is calculated according to the following formula: Among them, Z1 is the number of worm heads; Z2 is the number of teeth on the worm wheel; The control unit (9) controls the second servo motor (302-4-1) to rotate T circles, so that the second rotation drive mechanism (302-4) drives the balance wheel device (302-2) to rotate an angle θ, where T is calculated according to the following formula:

Images