A reed harvester post-cut conveying device, a control method thereof, and a harvester

Abstract

The present application provides a kind of reed harvester cutting conveying device and its control method and harvester, including cutting platform, cutting conveying device and control unit;Cutting conveying device includes four conveyors, rotary wheel type conveying device, support base plate;First conveyor is installed in parallel in the front of rotary wheel type conveying device, and is located between cutting platform and rotary wheel type conveying device;Second conveyor and third conveyor are installed on the left and right sides of rotary wheel type conveying device, perpendicular to the direction of first conveyor;Fourth conveyor is located in the rear of rotary wheel type conveying device;Four conveyors and rotary wheel type conveying device are installed on support base plate, support base plate is installed on the chassis frame of reed harvester;Four conveyors are respectively connected with driving mechanism;Control unit is used to control the running speed of conveyor and the running direction of rotary wheel type conveying device.The reed crop of the present application does not need to stop unloading, and the synchronous operation of loader is facilitated to collect reed materials, and the harvesting efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent agricultural machinery, and particularly relates to a reed harvester post-cut conveying device, a control method thereof and a reed harvester. BACKGROUND

[0002] Reed is a tall grass, which is mostly grown in water and land. Reed is delicate and rich in cellulose. At present, reed is mostly put into a material box by artificial after harvesting, and the machine is stopped for artificial unloading after the material box is filled. This traditional unloading method is time-consuming and labor-intensive, and has low efficiency. The working environment is also relatively poor. In particular, with the development of agricultural machinery towards intelligence, the traditional artificial stacking of the material box cannot meet the development trend. SUMMARY

[0003] In view of the above technical problems, the present application provides a reed harvester post-cut conveying device and a control method thereof, which realizes unloading without stopping the machine for reed crops, facilitates synchronous operation of the loader to collect reed materials, effectively reduces the labor intensity, and improves the harvesting efficiency.

[0004] The present application also provides a harvester comprising the reed harvester post-cut conveying device described above.

[0005] Note that the description of these objects does not hinder the existence of other objects. One mode of the present application does not need to achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the description, drawings and claims.

[0006] The present application achieves the above technical objects by the following technical means.

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

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

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

[0010] The control unit is connected with the driving mechanism of the conveying belt and the rotating wheel type conveying device respectively; 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.

[0011] In the above scheme, the detection mechanism is further included; 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 connected with the control unit respectively; the speed sensor is used for detecting the longitudinal clamping device conveying speed V and transmitting to the control unit; the visual sensor is used for collecting the image of the reed material conveyed by the first conveying belt receiving the cutting platform and transmitting to the control unit; the control unit processes the image and obtains the inclination angle of the reed material; the inclination sensor is installed on both sides of the harvester body respectively and is used for detecting the inclination angle of the harvester body and transmitting to the control unit; the control unit controls the running speed of the conveying belt and the running direction of the rotating wheel type conveying device.

[0012] In the above scheme, the rotating wheel type conveying device includes a frame, a plurality of rotating balance wheel devices and a plurality of universal ball bearings.

[0013] The center of the frame is provided with a rotating balance wheel device, and the remaining rotating balance wheel devices are symmetrically distributed around the center of the frame; the universal ball bearings are arranged on the gaps between the rotating balance wheel devices.

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

[0015] Further, the balance wheel device includes a balance wheel device base, a transmission wheel, a rotating shaft, a belt, a V-shaped belt pulley, a V-shaped tension pulley, a balance wheel device support, a rotating wheel, a rotating wheel support and a driving motor.

[0016] The driving motor is connected with the control unit; the driving motor and the balance wheel device support are both installed on the balance wheel device base; 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; 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 shafts include 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-shaped belt wheel 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 for support, and the other end passes through the second balance wheel device for support; the second transmission wheel, the third transmission wheel and the second V-shaped belt wheel 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 for support, and the other end passes through the fourth balance wheel device for support; the fourth transmission wheel and the third V-shaped belt wheel 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 for support, and the other end passes through the sixth balance wheel device for support; the V-shaped 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 for support, and the other end passes through the fourth balance wheel device for support; the fourth V-shaped belt wheel is connected to the driving motor shaft through a key; the first V-shaped belt wheel, the second V-shaped belt wheel, the third V-shaped belt wheel, the fourth V-shaped belt wheel and the V-shaped tensioning wheel are connected in transmission through a belt; the rotating wheels are respectively connected to the rotating wheel supports through shafts.

[0019] Further, the first rotating driving mechanism includes a first servo motor, a first driving mechanism pulley, a second driving mechanism pulley, a belt, a worm wheel, a worm, a first coupling, a shaft, a first worm support and a second worm support;

[0020] The first servo motor is installed on the frame, and the first servo motor is connected to the control unit; the first driving mechanism pulley is installed on the driving shaft of the first servo motor, and the first driving mechanism pulley and the second driving mechanism pulley are connected through a belt; the worm is coaxial with the second driving mechanism pulley and is connected through a key, the worm and the worm wheel are engaged in space staggered transmission; the worm is installed on the frame through the first worm support and the second worm support; the shaft is coaxial with the worm wheel and is connected through a key, 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 rotating driving 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 protruding cylinder at the bottom of the balance wheel device through the fifth coupling.

[0022] A reed harvester post-harvest conveying device.

[0023] A control method of the reed harvester post-harvest conveying device, including the following steps:

[0024] The first conveying belt receives the reed after the cutting platform is harvested and conveys the reed to the rotary wheel conveying device, the control unit controls the rotary direction of the rotary wheel conveying device according to the selected direction of the driver, and the reed is conveyed to the field on the left side, the right side or the rear of the reed harvester through the second conveying belt, the third conveying belt and the fourth conveying belt; if the reed material on the first conveying belt is inclined, the control unit controls the rotary wheel conveying device to change the conveying angle, so that the reed material can be perpendicular to the advancing direction of the harvester; if the harvester body is inclined, the control unit controls the rotary wheel conveying device to change the conveying speed.

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

[0026] The harvester advances, and the speed sensor detects the conveying speed of the reed material on the cutting platform as v;

[0027] The conveying direction of the reed material is selected;

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

[0029] The vision sensor collects the image of the reed material conveyed by the first conveying belt receiving the cutting platform and transmits it to the control unit, and the control unit processes the image and obtains the relative inclination angle α of the reed material conveyed by the first conveying belt receiving the cutting platform;

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

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

[0032] If the reed material is selected to be conveyed to the field on one side of the inclined direction, the control unit controls the rotary wheel conveying device to change the conveying speed v1, which should be less than the normal conveying speed v of the harvester when it is balanced, and if the reed material is selected to be conveyed to the field on the other side of the inclined direction, the control unit controls the rotary wheel conveying device to change the conveying speed v2, which should be greater than the normal conveying speed v of the harvester when it is balanced, so that the reed material can be smoothly dropped into the field.

[0033] Further, when the reed harvested by the cutting platform is on the first conveying belt, the visual sensor collects the image of the reed material received by the first conveying belt from the cutting platform and transmits the image to the control unit, the control unit processes the image and obtains the relative inclination angle a of the reed material received by the first conveying belt from the cutting platform, and the control unit controls the servo motor to rotate Q turns, so that the first rotary driving mechanism drives the balance wheel device to rotate an angle θ, Q is calculated according to the following formula:

[0034]

[0035] Wherein, Z1 is the number of worm heads; Z2 is the number of worm wheel teeth;

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

[0037]

[0038] Compared with the prior art, the beneficial effects of the present application are:

[0039] The reed harvester cutting and conveying device of the present application adopts a rotary wheel conveying device and multiple conveying belts, which can realize multiple selected unloading directions, and further, the control unit controls the running speed of the conveying belt and the running direction of the rotary wheel conveying device, which is beneficial to the stable conveying of the reed material to the ground in a posture perpendicular to the advancing direction of the harvester, the present application does not need to stop during unloading, effectively reduces the labor intensity, and helps the loader to collect the reed material on the ground synchronously, improves the working efficiency of the harvester. Further, if the harvester body is inclined, the control unit controls the rotary wheel conveying device to change the conveying speed, which can stably convey when encountering sunken mud, so as to facilitate the synchronous operation of the loader for collection, and improve the overall harvesting efficiency.

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

[0041] Figure 1 is a structural schematic diagram of the reed harvester cutting and conveying device of an embodiment of the present application.

[0042] Figure 2 is a structural schematic diagram of the rotary wheel conveying device of an embodiment of the present application.

[0043] Figure 3 is a structural schematic diagram of the rotary wheel conveying device of an embodiment of the present application.

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

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

[0046] Figure 6 is a schematic top view of a balance wheel device structure according to an embodiment of the present application (without balance wheel cover).

[0047] Figure 7 is a schematic front view of a balance wheel device structure according to an embodiment of the present application (without balance wheel cover).

[0048] Figure 8 is a schematic flow chart of a control method of a reed harvester post-cut conveying device according to an embodiment of the present application.

[0049] In the figure, 1. header; 2. first conveying belt; 3. rotating wheel type conveying device; 301. frame; 302. rotating balance wheel device; 302-1. balance wheel cover; 302-2. 303. universal ball; 4. second conveying belt; 5. third conveying belt; 6. fourth conveying belt; 7. support bottom plate; 8. driver's cabin; 9. control unit; 10. chassis frame. DETAILED DESCRIPTION

[0050] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings. Embodiments described below are examples in which like or similar components are denoted by like reference numerals throughout the accompanying drawings. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and are not to be understood as limiting the present application.

[0051] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "rear", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer", and the like are based on the orientations or positional relationships shown in the drawings, and are merely for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the devices or elements indicated thereby must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated thereby. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specifically limited.

[0052] In this application, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and other terms should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

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

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

[0055] The supporting bottom plate 7 can evenly disperse the weight of the post-cut conveying device applied on the frame 10; the supporting bottom plate 7 is provided with downwardly inclined side plates on three sides except the side close to the cutting platform 1, which facilitates the reed to fall into the field quickly and avoids some broken stems from falling into the reed harvester track to cause blockage.

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

[0057] The reed harvester cutting and conveying device further 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 with 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 received by the first conveying belt 2 from 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, and the inclination sensor is respectively installed on both sides of the harvester body to detect the inclination angle of the harvester body and transmit it to the control unit 9, and the control unit 9 controls the running speed of the conveying belt and the running direction of the rotary wheel conveying device 3.

[0058] Preferably, the structure of the cutting table 1 can refer to the invention patent 202311440805.3 high-efficiency reed harvester.

[0059] The rotary wheel conveying device 3 comprises a frame 301, a plurality of rotary pendulum devices 302 and a plurality of universal rolling balls 303; the center of the frame 301 is provided with a rotary pendulum device 302, and the remaining rotary pendulum devices 302 are symmetrically distributed around the center of the frame 301, and the universal rolling balls 303 are arranged on the gaps between the rotary pendulum devices 302. The universal rolling balls 303 help to reduce the friction between the reed material and the rotary wheel conveying device 302, so that the reed material quickly slides onto the rotary pendulum device 302.

[0060] The rotary pendulum device 302 comprises a pendulum cover 302-1, a pendulum device 302-2 and a rotary driving mechanism; the rotary driving mechanism comprises a first rotary driving mechanism 302-3 and a second rotary driving mechanism 302-4; the pendulum cover 302-1 is arranged on the pendulum device 302-2, the rotary pendulum device 302 at the center of the frame 301 is connected with the second rotary driving mechanism 302-4, and the remaining rotary pendulum devices 302 are connected with the first rotary driving 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-shaped pulleys, a V-shaped tension pulley 302-2-3, a balance wheel device support, three rotating wheels 302-2-23, three rotating wheel supports 302-2-24, and a drive motor 302-2-4; the drive motor 302-2-4 is connected with the control unit 9; the drive 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 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 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 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 with the rotating wheel support 302-2-24 through a shaft, and the rotating wheel 302-2-23 and the rotating wheel support 302-2-24 play a supporting and rotating assisting role for the balance wheel device 302-2, effectively reducing the load of the rotating drive mechanism for driving the balance wheel device 302-2.

[0063] The three rotating wheel supports 302-2-24 are installed below the balance wheel device base 302-2-1 at positions where the included angle between two adjacent radial central axis surfaces is 120°.

[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 rotating shaft 302-2-21.

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

[0066] The four V-shaped pulleys include a first V-shaped pulley 302-2-6, a second V-shaped pulley 302-2-12, a third V-shaped pulley 302-2-17, and a fourth V-shaped 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-shaped 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 support 302-2-8, and the other end passes through the second balance wheel support 302-2-9; the second transmission wheel 302-2-10, the third transmission wheel 302-2-11, and the second V-shaped 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 support 302-2-14, and the other end passes through the fourth balance wheel support 302-2-15; the fourth transmission wheel 302-2-16 and the third V-shaped pulley 302-2-17 are coaxially assembled on the third rotating shaft 302-2-18 through a connecting key, one end of the third rotating shaft 302-2-18 passes through the fifth balance wheel support 302-2-19, and the other end passes through the sixth balance wheel support 302-2-20; the V-shaped tension pulley 302-2-3 is coaxially assembled on the fourth rotating shaft 302-2-21 through a connecting key, one end of the fourth rotating shaft 302-2-21 passes through the third balance wheel support 302-2-14, and the other end passes through the fourth balance wheel support 302-2-15; the fourth V-shaped pulley 302-2-22 is connected to the rotating shaft of the driving motor 302-2-4 through a key; the first V-shaped pulley 302-2-6, the second V-shaped pulley 302-2-12, the third V-shaped pulley 302-2-17, the fourth V-shaped pulley 302-2-22, and the V-shaped tension pulley 302-2-3 are connected in transmission through three groups of belts 302-2-2; the rotating wheels 302-2-23 are respectively connected through shafts and rotating wheel supports 302-2-24.

[0068] The V-shaped tension pulley 302-2-3 can change the tension degree of belt transmission, and in turn change the size of the wrap angle; when the wrap angle is too small, the friction between the belt and the pulley is not enough to transmit the required torque, and slipping phenomenon is easy to occur, which not only affects the efficiency of transmission, but also may damage the transmission parts; the larger the wrap angle, the greater the effective circumferential force, and the stronger the carrying capacity of the transmission.

[0069] The fourth V-type belt wheel 302-2-22 is connected to the driving motor 302-2-4 shaft through a key; the first V-type belt wheel 302-2-6, the second V-type belt wheel 302-2-12, the third V-type belt wheel 302-2-17, the fourth V-type belt wheel 302-2-22 and the V-type tension pulley 302-2-3 are connected through the belt 302-2-2; preferably, the number of the belts is three; the rotating wheel 302-2-23 is connected to the rotating wheel support 302-2-24 through a shaft; the outer diameter, the pitch diameter and the size of the V-type groove of the four V-type belt wheels and the V-type tension pulley are equal, so the transmission ratio i = 1.

[0070] The first rotating driving mechanism 302-3 comprises a first servo motor 302-3-1, a first driving mechanism pulley 302-3-7, a second driving 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 is connected to the control unit 9; the first driving mechanism pulley 302-3-7 is installed on the driving shaft of the first servo motor 302-3-1, and the first driving mechanism pulley 302-3-7 and the second driving mechanism pulley 302-3-8 are connected through the belts 302-3-2; the worm 302-3-4 is coaxial with the second driving mechanism pulley 302-3-8 and is connected through a key, the worm 302-3-4 and the worm wheel 302-3-3 are engaged with spatial staggered transmission, which saves the space of 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 is coaxial with the worm wheel 302-3-3 and is connected through a key, and one end of the shaft 302-3-6 is connected to the protruding cylinder 302-2-25 at 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 diameter, the pitch diameter and the size of the groove of the first driving mechanism pulley 302-3-7 and the second driving mechanism pulley 302-3-8 are equal, so the transmission ratio i = 1.

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

[0074] The second rotary driving 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 installed on the bottom wall of the frame 301 and is connected with the control unit 9. The second servo motor 302-4-1 is connected with the protruding cylinder 302-2-25 at the bottom of the balance wheel device 302-2 through the fifth coupling 302-4-2.

[0075] The plurality of rotary balance wheel devices 302 of the rotary wheel type conveying device 3 can be independently controlled and driven, the conveying speed and the rotation angle are more accurate.

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

[0077] The first conveying belt 2 receives the reeds harvested by the cutting table 1 and conveys the reeds to the rotary wheel type conveying device 3. The control unit 9 controls the rotary direction of the rotary wheel type conveying device 3 according to the selected direction by the driver, and conveys the reeds to the field on the left side, the right side or the rear side of the reed harvester through the second conveying belt 4, the third conveying belt 5 and the fourth conveying belt 6. If the reed material on the first conveying belt 2 is inclined, the control unit 9 controls the rotary wheel type conveying device 3 to change the conveying angle, so that the reed material can be perpendicular to the advancing direction of the harvester. If the track on one side of the harvester is stuck in the mud and the machine body is inclined, the control unit 9 controls the rotary wheel type conveying device 3 to change the conveying speed, so that the reed material can be smoothly dropped into the field.

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

[0079] The harvester starts to advance, and the speed sensor detects that the conveying speed of the reed material of the longitudinal clamping device of the cutting table 1 is v.

[0080] The driver selects the conveying direction of the reed material.

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

[0082] The visual sensor collects images of the reed material received by the first conveying belt 2 from the harvesting header 1 and transmits them to the control unit 9, which processes the images and obtains the relative inclination angle a of the reed material received by the first conveying belt 2 from the harvesting 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 turns and T turns, respectively, so that the rotating wheel type conveying device 3 rotates θ, enabling the reed material to fall into the field along the conveying belt in the selected direction perpendicular to the direction of travel of the harvester;

[0084] The tilt sensor detects the inclination angle of the harvester body and transmits it to the control unit 9, which determines which side of the harvester is tilted based on the inclination angle. For example, if the caterpillar gets stuck in the mud, the body of the harvester will tilt.

[0085] If the reed material is to be conveyed to the field on the side of the tilt direction, the control unit 9 controls the rotating wheel type conveying device 3 to change the conveying speed v1 to be less than the normal conveying speed v of the harvester when it is balanced, and if the reed material is to be conveyed to the field on the side of the opposite tilt direction, the control unit 9 controls the rotating wheel type conveying device 3 to change the conveying speed v2 to be greater than the normal conveying speed v of the harvester when it is balanced, so that the reed material can fall smoothly into the field.

[0086] Specifically, after the harvesting header 1 harvests the reed, the visual sensor collects images of the reed material received by the first conveying belt 2 from the harvesting header 1 and transmits them to the control unit 9, which processes the images and obtains the relative inclination angle a of the reed material received by the first conveying belt 2 from the harvesting header 1. The control unit 9 controls the servo motor 302-3-1 to rotate Q turns, so that the first rotating drive mechanism 302-3 drives the pendulum device 302-2 to rotate an angle θ.

[0087] Let the number of starts of the worm 302-3-4 be Z1 and the number of teeth of the worm wheel 302-3-3 be Z2. According to the transmission principle of the worm and worm wheel, when the worm wheel 302-3-3 rotates one turn, the number of turns of the worm 302-3-4 is Z2 / Z1. The pendulum device 302-2 is connected through the first coupling 302-3-5 and the shaft 302-3-6, and the worm wheel 302-3-3 and the shaft 302-3-6 are coaxial and matched, so when the servo motor 302-3-1 drives the worm 302-3-4 to rotate, the worm 302-3-4 drives the worm wheel 302-3-3 to rotate, and the rotation angles of the pendulum device 302-2 and the worm wheel 302-3-3 are the same.

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

[0089]

[0090] Wherein, Z1 is the number of the worm head; Z2 is the number of the worm gear tooth;

[0091] The control unit 9 controls the second servo motor 302-4-1 to rotate T turns, so that the second rotary 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 T turns, so that the second rotary drive mechanism 302-4 drives the balance wheel device 302-2 to rotate an angle θ. The second servo motor 302-4-1 is connected with the balance wheel device 302-2 through the fifth shaft coupling 302-4-2, and the rotation angle of the balance wheel device 302-2 and the second servo motor 302-4-1 is the same.

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

[0094]

[0095] The reed harvester of the present application can make the reed material maintain the posture perpendicular to the advancing direction of the harvester as much as possible, and the reed material can be conveniently collected by the loader, so that the reed material can be stably transported even in the sinking mud, and the overall harvesting efficiency is improved.

[0096] Example 2

[0097] The reed harvester comprises the reed harvester cutting and conveying device and the control method of example 1, and thus has the same beneficial effects, which will not be described herein again.

[0098] It should be understood that although the present specification is described according to each embodiment, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and the skilled person in the art should consider the specification as a whole, and the technical solutions in each embodiment can be combined to form other embodiments which can be understood by the skilled person.

[0099] The above series of detailed descriptions are only specific descriptions of the feasible embodiments of the present application, and they are not used to limit the protection scope of the present application, and any equivalent embodiments or changes made without departing from the spirit of the present application should be included in the protection scope of the present application.

Claims

1. A reed harvester post-cut conveying device, characterized in that, The reed harvester comprises a cutting platform (1), a post-cut conveying device and a control unit (9); The post-cut conveying device is installed on a chassis frame (10) of the reed harvester and located behind the cutting platform (1); The post-cut conveying device comprises four conveying belts, a rotary wheel type conveying device (3) and a supporting bottom plate (7). The four conveying belts are a first conveying belt (2), a second conveying belt (4), a third conveying belt (5) and a fourth conveying belt (6). The first conveying belt (2) is installed in parallel in front of the rotary wheel type conveying device (3) and between the cutting platform (1) and the rotary wheel type conveying device (3). The second conveying belt (4) and the third conveying belt (5) are installed on the left and right sides of the rotary wheel type conveying device (3) and perpendicular to the direction of the first conveying belt (2). The fourth conveying belt (6) is located behind the rotary wheel type conveying device (3). The four conveying belts and the rotary wheel type conveying device (3) are installed on the supporting bottom plate (7), which is installed on the chassis frame (10) of the reed harvester. The four conveying belts are connected with driving mechanisms respectively. The control unit (9) is connected with the driving mechanisms of the conveying belts and the rotary wheel type conveying device (3) respectively. The control unit (9) is used to control the running speed of the conveying belts and the running direction of the rotary wheel type conveying device (3). 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 connected with the control unit (9) respectively. The speed sensor is used to detect the longitudinal clamping device conveying speed V and transmit it to the control unit (9). The visual sensor is used to collect the image of the reed material received by the first conveying belt (2) from the cutting platform (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 sensor is installed on both sides of the harvester body and used to detect the inclination angle of the harvester body and transmit it to the control unit (9). The control unit (9) controls the running speed of the conveying belts and the running direction of the rotary wheel type conveying device (3). The rotary wheel type conveying device (3) comprises a frame (301), a plurality of rotary balance wheel devices (302) and a plurality of universal ball bearings (303). The center of the frame (301) is provided with a rotary balance wheel device (302). The remaining rotary balance wheel devices (302) are symmetrically distributed around the center of the frame (301). The universal ball bearings (303) are arranged on the gaps between the rotary balance wheel devices (302). The rotary balance wheel device (302) comprises a balance wheel cover (302-1), a balance wheel device (302-2), a first rotary driving mechanism (302-3) and a second rotary driving mechanism (302-4). The balance wheel cover (302-1) is arranged on the balance wheel device (302-2). The rotary balance wheel device (302) in the center of the frame (301) is connected with the second rotary driving mechanism (302-4). The remaining rotary balance wheel devices (302) are connected with the first rotary driving mechanism (302-3).

2. The reed harvester post-cut conveying device according to claim 1, 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-shaped belt wheel, a V-shaped tension pulley (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 with the control unit (9); the driving motor (302-2-4) and the balance wheel device support are both installed above the balance wheel device base (302-2-1), the balance wheel device support comprises 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 (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 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 below the balance wheel device base (302-2-1); The rotating shaft comprises a first rotating shaft (302-2-7), a second rotating shaft (302-2-13), a third rotating shaft (302-2-18) and a fourth rotating shaft (302-2-22); the third rotating shaft (302-2-18) is located below the second rotating shaft (302-2-13), and the fourth rotating shaft (302-2-22) is located below the third rotating shaft (302-2-18); The first transmission wheel (302-2-5) and the first V-shaped belt wheel (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) penetrates through the first balance device support (302-2-8), and the other end penetrates through the second balance device support (302-2-9); the second transmission wheel (302-2-10), the third transmission wheel (302-2-11) and the second V-shaped belt wheel (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) penetrates through the third balance device support (302-2-14), and the other end penetrates through the fourth balance device support (302-2-15); the fourth transmission wheel (302-2-16) and the third V-shaped belt wheel (302-2-17) are coaxially assembled on the third rotating shaft (302-2-18) through a connecting key, one end of the third rotating shaft (302-2-18) penetrates through the fifth balance device support (302-2-19), and the other end penetrates through the sixth balance device support (302-2-20); the V-shaped tension wheel (302-2-3) is coaxially assembled on the fourth rotating shaft (302-2-21) through a connecting key, one end of the fourth rotating shaft (302-2-21) penetrates through the third balance device support (302-2-14), and the other end penetrates through the fourth balance device support (302-2-15); the fourth V-shaped belt wheel (302-2-22) is connected to the rotating shaft of the driving motor (302-2-4) through a key; the first V-shaped belt wheel (302-2-6), the second V-shaped belt wheel (302-2-12), the third V-shaped belt wheel (302-2-17), the fourth V-shaped belt wheel (302-2-22) and the V-shaped tension wheel (302-2-3) are connected and driven through the belt (302-2-2); the rotating wheels (302-2-23) are connected with the rotating wheel supports (302-2-24) through shafts, respectively.

3. The reed harvester post-cut conveying device according to claim 1, characterized in that, The first rotating drive mechanism (302-3) comprises 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 shaft (302-3-4), a first coupling (302-3-5), a shaft (302-3-6), a first worm shaft support (302-3-9) and a second worm shaft support (302-3-10); The first servo motor (302-3-1) is installed on the frame (301), the first servo motor (302-3-1) is connected with 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), the first drive mechanism pulley (302-3-7) and the second drive mechanism pulley (302-3-8) are connected through the belt (302-3-2); the worm (302-3-4) is coaxial with the second drive mechanism pulley (302-3-8) and is connected through a key, the worm (302-3-4) is engaged with the worm gear (302-3-3) with spatial staggered transmission; 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) is coaxial with the worm gear (302-3-3) and is connected through a key, one end of the shaft (302-3-6) is connected with the bottom protruding cylinder (302-2-25) of the balance wheel device (302-2) through the first coupling (302-3-5); The second rotary 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 installed on the bottom surface wall of the frame (301), the second servo motor (302-4-1) is connected with the control unit (9), the second servo motor (302-4-1) is connected with the bottom protruding cylinder (302-2-25) of the balance wheel device (302-2) through the fifth coupling (302-4-2).

4. A harvester characterized by The reed harvester cutting and conveying device according to any one of claims 1-3.

5. A control method for the post-cut conveying device of a reed harvester according to claim 3, characterized in that, The steps include: The first conveying belt (2) receives the reeds harvested by the cutting table (1) and conveys the reeds to the rotary wheel conveying device (3), the control unit (9) controls the rotary direction of the rotary wheel conveying device (3) according to the selected direction by the driver, and the reeds are conveyed to the field on the left side, the right side or the rear side of the reed harvester through the second conveying belt (4), the third conveying belt (5) and the fourth conveying belt (6); if the reed material on the first conveying belt (2) is inclined, the control unit (9) controls the rotary wheel conveying device (3) to change the conveying angle, so that the reed material can be perpendicular to the advancing direction of the harvester; if the harvester body is inclined, the control unit (9) controls the rotary wheel conveying device (3) to change the conveying speed.

6. The control method of the post-cut conveying device of the reed harvester according to claim 5, characterized in that, The steps include: The harvester advances, and the speed sensor detects the reed material conveying speed of the cutting table (1) as v; The conveying direction of the reed material is selected; The control unit (9) controls the conveying speed of the first conveying belt (2), the rotary wheel conveying device (3) and the conveying belt in the selected direction as v according to the selected conveying direction of the reed material; The visual sensor collects the image of the reed material received by the first conveying belt (2) from the receiving platform (1) and transmits the image to the control unit (9), and the control unit (9) processes the image and obtains the relative inclination angle of the reed material received by the first conveying belt (2) from the receiving 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 turns and T turns respectively, so that the rotary wheel type conveying device (3) rotates The reed material can be dropped into the field along the selected direction of the conveying belt perpendicular to the advancing direction of the harvester. The tilt angle sensor detects the inclination angle of the harvester body and transmits it to the control unit (9), and the control unit (9) judges which side of the harvester is inclined according to the inclination angle; If the reed material is to be delivered to the field on the side of the slope, the control unit (9) controls the rotary wheel conveyor (3) to change the delivery speed v, if the reed material is to be delivered to the field on the side of the slope, the control unit (9) controls the rotary wheel conveyor (3) to change the delivery speed v, if the reed material is to be delivered to the field on the side of the slope, the control unit (9) controls the rotary wheel conveyor (3) to change the delivery speed 7. The control method of the post-cut conveying device of the reed harvester according to claim 6, characterized in that, When the reed harvested by the header (1) is on the first conveying belt (2), the vision sensor collects the image of the reed material conveyed by the header (1) received by the first conveying belt (2) and transmits it to the control unit (9), the control unit (9) processes the image and obtains the relative inclination angle of the reed material conveyed by the header (1) received by the first conveying belt (2) The control unit (9) controls the first servo motor (302-3-1) to rotate Q circles, so that the first rotary driving mechanism (302-3) drives the balance wheel device (302-2) to rotate an angle Q is calculated according to the following formula: ； wherein, is the number of starts of the worm; is the number of teeth of the worm wheel; The control unit (9) controls the second servo motor (302-4-1) to rotate T turns, so that the second rotary driving mechanism (302-4) drives the balance wheel device (302-2) to rotate an angle , T is calculated according to the following formula:

Images