Grain unloading device for harvesting equipment and harvesting equipment

Abstract

The invention relates to the technical field of harvesting equipment, and discloses a grain unloading device for harvesting equipment and the harvesting equipment, and the grain unloading device comprises a grain unloading cylinder assembly which is provided with a first pivot center and can rotate around the first pivot center on the horizontal plane; the transmission ring comprises a rotor assembly and a stator assembly, the stator assembly is arranged on the outer side of the rotor assembly in a sleeving mode and can conduct current and / or signal transmission with the rotor assembly, the rotor assembly is arranged on the outer side of the grain unloading cylinder assembly in a sleeving mode and rotates along with the grain unloading cylinder assembly, and the rotor assembly is connected with an external part arranged on the grain unloading cylinder assembly through a first cable; and the stator assembly is connected with a power supply or a signal source of the harvesting equipment through a second cable. According to the grain unloading device for the harvesting equipment and the harvesting equipment, 360-degree rotation of the grain unloading cylinder assembly is achieved, and the return efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of harvesting equipment, and specifically relates to a grain unloading device for harvesting equipment and a harvesting equipment. Background Art

[0002] The grain unloading barrel assembly of the grain unloading device has components such as working lights and angle sensors. The above components need to be set with corresponding circuits to realize their respective functions. However, when the grain unloading barrel assembly rotates to different angles, the above circuits will be pulled due to length limitations. In order to avoid the above circuits being torn off, the existing grain unloading device usually adopts the following two methods to limit the rotation of the grain unloading barrel assembly. The first is to limit the position by the travel switch, and the second is to limit the position by encoder counting. However, when the travel switch or encoder is damaged, or there is interference in the line, the limit protection will fail. If the driver does not notice the protection failure at this time, improper operation will still cause the oil pipe and line to break or be damaged; in addition, the rotation limit of the grain unloading barrel assembly will also cause the grain unloading barrel assembly to be unable to achieve 360-degree rotation, resulting in a dead angle area when the grain unloading barrel assembly rotates, affecting the performance of the grain unloading device (such as being unable to adapt to complex working conditions with obstacles such as trees and wires), and also making the grain unloading barrel assembly can only return to the original path when returning to its position, reducing the return efficiency. Summary of the invention

[0003] The purpose of the present application is to provide a grain unloading device and harvesting equipment for harvesting equipment, which realizes 360-degree rotation of the grain unloading barrel assembly and improves the return efficiency.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a grain unloading device for a harvesting device, the grain unloading device comprising:

[0005] A grain unloading drum assembly, the grain unloading drum assembly having a first pivot center and being able to rotate about the first pivot center on a horizontal plane;

[0006] The transmission ring includes a rotor assembly and a stator assembly. The stator assembly is sleeved on the outside of the rotor assembly and can transmit current and / or signals with the rotor assembly. The rotor assembly is sleeved on the outside of the grain unloading barrel assembly and rotates with the grain unloading barrel assembly. The rotor assembly is connected to an external component arranged on the grain unloading barrel assembly through a first cable, and the stator assembly is connected to a power source or signal source of the harvesting equipment through a second cable.

[0007] In an embodiment of the present invention, the grain unloading device further comprises:

[0008] A first angle detector, used to detect the rotation angle of the grain unloading barrel assembly;

[0009] The controller is configured as:

[0010] Make sure the return function of the grain unloading barrel assembly is turned on;

[0011] Determine the direction of rotation of the grain unloading drum assembly when it returns to its original position;

[0012] Make sure that the grain unloading drum assembly is in the accelerated motion area;

[0013] Controlling the grain unloading drum assembly to rotate at a first maximum preset speed in a rotation direction;

[0014] Acquiring the rotation angle in real time;

[0015] Determine that the grain unloading drum assembly rotates to a preset position according to the rotation angle;

[0016] The grain unloading barrel assembly is controlled to perform a deceleration operation so that the instantaneous angular velocity of the grain unloading barrel assembly is reduced to zero when the grain unloading barrel assembly rotates to a zero position, wherein the zero position refers to the position of the grain unloading barrel assembly when the grain unloading device is in a non-working state.

[0017] In an embodiment of the present invention, the controller is further configured to:

[0018] Determine the rotation direction of the grain unloading drum assembly when it returns to its original position and determine that the grain unloading drum assembly is in the deceleration motion area;

[0019] The grain unloading drum assembly is controlled to perform a deceleration operation so that the instantaneous angular velocity of the grain unloading drum assembly is reduced to zero when the grain unloading drum assembly rotates to a zero position.

[0020] In the embodiment of the present invention, determining the rotation direction of the grain unloading drum assembly when returning to its original position includes:

[0021] Determine that a first angle between the current position of the grain unloading drum assembly and the zero position is less than 180°;

[0022] Make sure that the rotation direction of the grain unloading drum assembly when returning to its original position is opposite to the initial rotation direction of the grain unloading drum assembly.

[0023] In the embodiment of the present invention, determining the rotation direction of the grain unloading drum assembly when returning to its original position includes:

[0024] Determine that a first angle between the current position of the grain unloading drum assembly and the zero position is greater than 180°;

[0025] Make sure that the direction of rotation of the grain unloading drum assembly when it returns to its original position is the same as the initial rotation direction of the grain unloading drum assembly.

[0026] In an embodiment of the present invention, controlling the grain unloading drum assembly to perform a deceleration operation includes:

[0027] Determine the preset acceleration;

[0028] Determine the instantaneous angular velocity of the grain unloading drum assembly during the deceleration operation according to the preset acceleration, wherein the instantaneous angular velocity is related to the angle value of the first angle, the angle value of the second angle, the preset acceleration, and the first maximum preset speed, and the second angle is the angle between the preset position and the zero position;

[0029] The grain unloading drum assembly is controlled to perform a deceleration operation according to the instantaneous angular velocity.

[0030] In the embodiment of the present invention, the preset acceleration is related to the first maximum preset speed and the angle value of the second angle.

[0031] In an embodiment of the present invention, the grain unloading cylinder assembly includes a first cylinder body and a second cylinder body, the first cylinder body is arranged in a vertical direction, the second cylinder body is arranged on the first cylinder body and can deflect up and down with the top end of the first cylinder body as the second pivot center, and the grain unloading device also includes:

[0032] A second angle detector, used for detecting a third angle between the second cylinder and the horizontal plane;

[0033] The controller is further configured to:

[0034] Make sure the grain unloading barrel assembly rotates to the zero position;

[0035] Determining that the third angle is greater than the preset angle;

[0036] controlling the second cylinder to deflect downward at a second maximum preset speed;

[0037] Determine that the third angle is consistent with the preset angle;

[0038] Controlling the second cylinder to deflect downward at a preset speed;

[0039] When it is determined that the third included angle is zero, the second cylinder is controlled to stop moving.

[0040] In the embodiment of the present invention, the preset speed is related to the second maximum preset speed.

[0041] A second aspect of the present application provides a harvesting device, which includes the above-mentioned grain unloading device for the harvesting device.

[0042] It can be known from the above technical scheme that the grain unloading device includes a grain unloading barrel assembly and a transmission ring. The stator assembly of the transmission ring is sleeved on the outside of the rotor assembly and can transmit current and / or signals with the rotor assembly. The rotor assembly is sleeved on the outside of the grain unloading barrel assembly and rotates with the grain unloading barrel assembly. The rotor assembly is connected to the peripheral component arranged on the grain unloading barrel assembly through a first cable, and the stator assembly is connected to the power supply or signal source of the harvesting equipment through a second cable, so that the peripheral component and its first cable can rotate with the grain unloading barrel assembly, and the first cable will not be pulled. During the rotation, the current and / or signal transmission between the peripheral component and the power supply and signal source is completely unaffected, so that the grain unloading barrel assembly can achieve dead angle rotation, which is beneficial to select the shortest path for returning to the unloading barrel assembly as needed, thereby improving the return efficiency of the grain unloading barrel assembly.

[0043] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0045] Figure 1 This is a simplified structural diagram of a grain unloading device in an embodiment of the present invention;

[0046] Figure 2 It is a schematic cross-sectional structure diagram of a grain unloading drum assembly in an embodiment of the present invention;

[0047] Figure 3 It is a top view schematic diagram of a grain unloading drum assembly in an embodiment of the present invention;

[0048] Figure 4 This is a schematic diagram of current or signal transmission of a grain unloading device in an embodiment of the present invention;

[0049] Figure 5 Schematic diagram of the rotation area of ​​the grain unloading drum assembly in the embodiment of the present invention (excluding the acceleration movement area and the deceleration movement area);

[0050] Figure 6 Schematic diagram of the rotation area of ​​the grain unloading drum assembly in the embodiment of the present invention (including the acceleration movement area and the deceleration movement area);

[0051] Figure 7 It is a schematic diagram of the control flow when the grain unloading drum assembly returns to its original position in an embodiment of the present invention.

[0052] Description of Reference Numerals

[0053] 1 Grain unloading cylinder assembly 101 First cylinder

[0054] 102 Second cylinder 2 transmission ring

[0055] 201 rotor 202 stator

[0056] 203 rotor terminal 204 stator terminal

[0057] 3 First cable 4 Peripheral parts

[0058] 5 Second cable 6 Controller

[0059] 7 Acceleration area 8 Deceleration area

[0060] 9 Rotating motor 10 Angle sensor

[0061] 11 Encoder 12 U-shaped fork

[0062] 13 Rotor cable inlet 14 Stator cable inlet

[0063] 15 Unloading handle 16 Electric push rod

[0064] 17 Bracket 18 Granary

[0065] 19 Work light 20 Power supply

[0066] 21 First rotation area 22 Second rotation area

[0067] θ0 The angle value of the second angle

[0068] θ1 The angle between the actual position of the grain unloading drum assembly and the zero position DETAILED DESCRIPTION

[0069] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0070] In an embodiment of the present application, a grain unloading device for a harvesting device is provided, such as Figure 1-3 As shown, the grain unloading device comprises:

[0071] The grain unloading drum assembly 1 has a first pivot center and can rotate circumferentially around the first pivot center;

[0072] The transmission ring 2 includes a rotor assembly and a stator assembly. The stator assembly is sleeved on the outside of the rotor assembly and can transmit current and / or signals with the rotor assembly. The rotor assembly is sleeved on the outside of the grain unloading barrel assembly 1 and rotates with the grain unloading barrel assembly 1. The rotor assembly is connected to the external component 4 arranged on the grain unloading barrel assembly 1 through a first cable 3, and the stator assembly is connected to the power supply 20 or signal source of the harvesting equipment through a second cable 5.

[0073] Specifically, the harvesting equipment in this embodiment includes but is not limited to a rice harvester, a wheat harvester and a corn harvester. The grain unloading barrel assembly 1 includes a first barrel 101 and a second barrel 102. The grain unloading device also includes a rotating drive member for driving the grain unloading barrel assembly 1 to rotate circumferentially. The first barrel 101 is arranged in a vertical direction, and the first end of the second barrel 102 is connected to the top of the first barrel 101. The first barrel 101 and the second barrel 102 have a grain unloading channel formed inside them. A grain unloading outlet is formed at the second end of the second barrel 102, and the material (such as rice or wheat) entering the grain unloading channel is output from the grain unloading outlet; the rotating drive member can be selected as a rotating motor 9, which is arranged inside the first barrel 101. When the rotating motor 9 rotates, it can drive the first barrel 101 and the second barrel 102 to rotate circumferentially, and the axis of the first barrel 101 is the first pivot center.

[0074] like Figure 4As shown, the peripheral component 4 in this embodiment can be selected as at least one of the components such as the working light 19, the deflection drive component and the angle sensor 10, and the above components are arranged on the first cylinder 101 and / or the second cylinder 102 and have a power supply cable and / or a signal transmission cable (i.e., the first cable 3); the transmission ring 2 can be selected as a collector ring (the collector ring is also called a conductive ring, a slip ring, a collector ring, a collector ring, etc., which can be used in any electromechanical system that requires continuous rotation and needs to transmit power and signals from a fixed position to a rotating position), the grain unloading device also includes a grain bin 18 for storing materials, and a rotor assembly The components include a rotor 201 and a rotor terminal 203, the stator component includes a stator 202 and a stator terminal 204, the rotor terminal 203 can transmit current and / or signals with the stator terminal 204, the stator 202 is sleeved on the outside of the rotor 201, the rotor 201 is sleeved on the outside of the grain unloading barrel component 1 and rotates with the grain unloading barrel component 1, the rotor terminal 203 is arranged inside the rotor 201 and is used to connect with the external component 4 arranged on the grain unloading barrel component 1 through the first cable 3, and the stator terminal 204 is arranged inside the stator 202 and is used to connect with the receiving The stator 202 of the transmission ring 2 includes a copper ring, a first shell, and a mounting frame, etc. The first shell and the mounting frame are fixedly connected, for example, by bolts, welding, etc., and a mounting hole is provided on the mounting frame. The mounting frame and the granary 18 are fixed together through the above-mentioned mounting hole and bolt assembly (or the mounting frame and the granary 18 are welded together), that is, the stator 202 is in a fixed state, the copper ring is arranged inside the first shell, the stator terminal 204 is arranged on the copper ring, and the first shell is provided with a stator inlet 14 for the second cable 5 to pass through; the rotor 20 1 comprises a second shell, a contact brush (such as a carbon brush) and a U-shaped fork 12, etc. A cylindrical cavity for the first cylinder 101 to pass through is formed in the center of the second shell, that is, the second shell is sleeved on the outside of the first cylinder 101, and a rotor inlet 13 for the first cable 3 to pass through is provided on the second shell, the U-shaped fork 12 is arranged on the top wall of the second shell, and a pin is provided on the first cylinder 101, and the pin passes through the U-shaped groove of the U-shaped fork 12, and the contact brush and the rotor terminal 203 are both arranged inside the second shell, and current and / or signal transmission can be performed between the contact brush and the rotor terminal 203. When the first cylinder 101 rotates, the pin shaft drives the U-shaped fork 12 to rotate, and the U-shaped fork 12 drives the entire rotor 201 to rotate, while the stator 202 is stationary relative to the rotor 201. Further, when the rotor 201 rotates, the contact brush brushes across the copper ring, and the current from the power supply 20 (or the signal from the signal source, where the signal source can be selected as the controller 6) is transmitted to the peripheral component 4 after passing through the second cable 5, the stator terminal 204, the copper ring, the contact brush, the rotor terminal 203 and the first cable 3 in sequence, so that the peripheral component 4 performs the corresponding function.

[0075] When the grain unloading barrel assembly 1 rotates, the peripheral component 4, the first cable 3, the stator 202 and the grain unloading barrel assembly 1 rotate synchronously, and the stator 202 and the second cable 5 connected to the power supply 20 (or signal source) are in a stationary state. The power supply 20 (or signal source) can still transmit current (or signal) through the first cable 3 and the second cable 5. Therefore, during the rotation of the grain unloading barrel assembly 1, the peripheral component 4 can still work normally, and the first cable 3 and the second cable 5 will not be pulled. That is, the grain unloading device in this embodiment can not only avoid the situation where the cable is pulled, but also realize the 360-degree rotation of the grain unloading barrel assembly 1, and there is no need to limit the rotation of the grain unloading barrel assembly 1. Therefore, when the grain unloading barrel assembly 1 needs to return, it does not need to return to the original path, and can choose the shortest return path according to its position, which can greatly improve the return efficiency.

[0076] Furthermore, in this embodiment, the peripheral component 4 is not limited to components such as the working light 19, the deflection drive component and the angle sensor 10, but may also be other components installed on the first cylinder 101 and / or the second cylinder 102 and need to be connected to the power supply 20 and / or the signal source through cables.

[0077] In one embodiment of the present invention, the grain unloading device further comprises:

[0078] A first angle detector is used to detect the rotation angle of the grain unloading drum assembly 1;

[0079] Controller 6, such as Figure 7 As shown, it is configured to perform the following steps:

[0080] Step S101: Determine that the return function of the grain unloading barrel assembly 1 is turned on;

[0081] Step S102: determining the rotation direction of the grain unloading drum assembly 1 when returning to its original position;

[0082] Step S103: determining that the grain unloading drum assembly 1 is in the accelerated motion area 7;

[0083] Step S104: controlling the grain unloading drum assembly 1 to rotate at a first maximum preset speed in a rotation direction;

[0084] Step S105: obtaining the rotation angle in real time;

[0085] Step S106: determining that the grain unloading drum assembly 1 rotates to a preset position according to the rotation angle;

[0086] Step S107: Control the grain unloading drum assembly 1 to perform a deceleration operation so that the instantaneous angular velocity of the grain unloading drum assembly 1 is reduced to zero when the grain unloading drum assembly 1 rotates to the zero position, wherein the zero position refers to the position of the grain unloading drum assembly 1 when the grain unloading device is in a non-working state.

[0087] Specifically, the first angle detector in the present embodiment may be optionally an encoder 11 (the encoder 11 may also be replaced by an angle sensor 10 for detecting the rotation angle of the second cylinder 102 on a horizontal plane), the encoder 11 being arranged on the rotary motor 9 and being communicatively connected to the controller 6, the rotation angle of the rotary motor 9 being consistent with the rotation angle of the grain unloading barrel assembly 1, the encoder 11 transmitting the rotation angle of the grain unloading barrel assembly 1 to the controller 6 after acquiring the rotation angle; the grain unloading device also includes a grain unloading handle 15, on which a return button is provided, after the operator presses the return button, the return button transmits a corresponding signal to the controller 6, after the controller 6 receives the above signal, it can determine that the return function of the grain unloading barrel assembly 1 is turned on; after determining the rotation direction of the grain unloading barrel assembly 1 when returning and that it is in the acceleration motion area 7, the controller 6 controls the grain unloading barrel assembly 1 to rotate at a first maximum preset speed in the rotation direction, in the present embodiment, the first maximum preset speed is the rated speed of the rotary motor 9, so that the grain unloading barrel assembly 1 Rapidly passing through the acceleration movement area 7 to reach the preset position is beneficial to shortening the return time of the grain unloading barrel assembly 1 and improving the return efficiency; after the grain unloading barrel assembly 1 rotates to the preset position, it is necessary to reduce the rotation speed (i.e., angular velocity) and then continue to rotate to the zero position to avoid the problem of inaccurate positioning, large jitter and / or wear of the mechanical structure (such as the rotating motor brake) caused by inertia when the grain unloading barrel assembly 1 reaches the zero position at a higher rotation speed, wherein the acceleration movement area 7 refers to the area between the initial position and the preset position when the grain unloading barrel assembly 1 returns; the second angle between the preset position and the zero position ranges from 30° to 60°, and the rotating motor 9 is in a zeroing state at the zero position; and because a deceleration operation is adopted when controlling the deceleration of the grain unloading barrel assembly 1 in this embodiment, the angular velocity of the grain unloading barrel assembly 1 in the above process continues to change, realizing dynamic deceleration. This deceleration method can ensure the accuracy of the return and further improve the return efficiency of the grain unloading barrel assembly 1.

[0088] Furthermore, in this embodiment, the return button is not limited to being set on the grain unloading handle 15, but can also be set on a remote control handle that is communicatively connected to the controller 6, or a virtual return button can be set on an operation display screen that is communicatively connected to the controller 6.

[0089] In one embodiment of the present invention, the controller 6 is further configured to perform the following steps:

[0090] Step S201: determining the rotation direction of the grain unloading drum assembly 1 when returning to its original position and determining that the grain unloading drum assembly 1 is in the deceleration motion area 8;

[0091] Step S202: controlling the grain unloading drum assembly 1 to perform a deceleration operation, so that the instantaneous angular velocity of the grain unloading drum assembly 1 is reduced to zero when the grain unloading drum assembly 1 rotates to the zero position.

[0092] Specifically, Figure 6 As shown, the deceleration motion area 8 in this embodiment refers to the area between the preset position and the zero position. Since the angle occupied by the deceleration motion area 8 is relatively small, if the controller 6 determines that the grain unloading drum assembly 1 is in the deceleration motion area 8 before performing the return function based on the feedback signal of the encoder 11, there is no need to control the grain unloading drum assembly 1 to rotate at the first maximum preset speed first, so as to avoid the situation where the grain unloading drum assembly 1 still has a relatively high rotation speed when rotating to the zero position, resulting in inaccurate return.

[0093] In one embodiment of the present invention, determining the rotation direction of the grain unloading drum assembly 1 when returning to its original position in step S102 specifically includes steps S301 and S302, wherein:

[0094] Step S301: determining that a first angle between the current position of the grain unloading drum assembly 1 and the zero position is less than 180°;

[0095] Step S302: Determine that the rotation direction of the grain unloading drum assembly 1 when returning to its original position is opposite to the initial rotation direction of the grain unloading drum assembly 1 .

[0096] Specifically, in this embodiment, the initial rotation direction of the grain unloading barrel assembly 1 refers to the direction in which the grain unloading barrel assembly rotates when performing a grain unloading operation starting from the zero position; Figure 5 As shown, with the first pivot center as the center and the zero position as 0°, the rotatable area of ​​the grain barrel assembly 1 is 360°. The grain barrel assembly starts from the zero position and rotates clockwise (or counterclockwise) 180° through the area is the first rotation area 21; the grain barrel assembly starts from the zero position and rotates clockwise (or counterclockwise) 180°-360° through the area is the second rotation area 22. If the grain barrel assembly 1 is determined to be in the first rotation area 21 when the return function of the grain barrel assembly 1 is turned on, the rotation direction of the grain barrel assembly 1 when returning is opposite to the initial rotation direction of the grain barrel assembly 1, and the grain barrel assembly 1 can return to the zero position faster, that is, the reverse rotation of the grain barrel assembly 1 at this time is the shortest rotation path. For example, if the grain barrel assembly 1 initially rotates clockwise to a position 120° away from the zero position, the rotation direction when returning is counterclockwise. Furthermore, in this embodiment, the controller 6 outputs a positive voltage to the rotating motor 9, and the rotating motor 9 can rotate clockwise; the controller 6 outputs a reverse voltage to the rotating motor 9, and the rotating motor 9 can rotate counterclockwise.

[0097] In one embodiment of the present invention, determining the rotation direction of the grain unloading drum assembly 1 when returning to its original position in step S102 specifically further includes steps S401 and S402, wherein:

[0098] Step S401: determining that a first angle between the current position of the grain unloading drum assembly 1 and the zero position is greater than 180°;

[0099] Step S402: Determine that the rotation direction of the grain unloading drum assembly 1 when returning to its original position is the same as the initial rotation direction of the grain unloading drum assembly 1 .

[0100] Similarly, if the grain barrel assembly 1 is determined to be in the second rotation area 22 when the return function of the grain barrel assembly 1 is turned on, the rotation direction of the grain barrel assembly 1 when returning is the same as the initial rotation direction of the grain barrel assembly 1, and the grain barrel assembly 1 can return to the zero position faster, that is, at this time, the grain barrel assembly 1 continues to rotate in the initial rotation direction, which is the shortest rotation path. For example, if the grain barrel assembly 1 initially rotates in a clockwise direction to a position 300° away from the zero position, the rotation direction when returning is clockwise.

[0101] Furthermore, the first rotation area 21 and the second rotation area 22 both include an acceleration movement area 7 and a deceleration movement area 8, and the boundary between the acceleration movement area 7 and the deceleration movement area 8 is the preset position.

[0102] In one embodiment of the present invention, controlling the grain unloading drum assembly 1 to perform a deceleration operation in step S107 specifically includes steps S501 to S503, wherein:

[0103] Step S501: determining a preset acceleration;

[0104] Step S502: determining the instantaneous angular velocity of the grain unloading drum assembly 1 during the deceleration operation according to the preset acceleration, wherein the instantaneous angular velocity is related to the angle value of the first angle, the angle value of the second angle, the preset acceleration, and the first maximum preset speed, and the second angle is the angle between the preset position and the zero position;

[0105] Step S503: controlling the grain unloading drum assembly 1 to perform a deceleration operation according to the instantaneous angular velocity.

[0106] Specifically, the instantaneous angular velocity is calculated according to the following formula:

[0107]

[0108] Among them, ω is the instantaneous angular velocity; θ1 is the angle value of the first angle (i.e. the angle between the real-time position and the zero position of the grain unloading barrel assembly 1); θ0 is the angle value of the second angle (i.e. the angle between the preset position and the zero position); a is the preset acceleration; ω0 is the first maximum preset speed.

[0109] When the preset acceleration is determined, the controller 6 can calculate the instantaneous angular velocity corresponding to the current position according to the real-time position of the grain unloading drum assembly 1 during the deceleration operation. Specifically, formula (1) is derived according to the following formula:

[0110] |θ1-θ0|=ω0t+a 2 / twenty two)

[0111] Wherein, t is the time required for the grain unloading barrel assembly 1 to rotate from a preset position to a position corresponding to θ1.

[0112] ω=ω0+at (3)

[0113] Transforming formula (3) and substituting t into formula (2) yields formula (4):

[0114]

[0115] Formula (1) can be obtained by transforming formula (4).

[0116] In one embodiment of the present invention, the preset acceleration is related to the first maximum preset speed and the angle value of the second angle.

[0117] Specifically, the preset acceleration is determined according to the following formula:

[0118]

[0119] Wherein, a is the preset acceleration; ω0 is the first maximum preset speed; θ0 is the angle value of the second angle.

[0120] Specifically, the preset acceleration in this embodiment is determined according to formula (5) so that the upper and lower grain barrel assembly 1 can be dynamically decelerated to zero when rotating to the zero position, so that the grain barrel assembly 1 can have both high return accuracy and return efficiency.

[0121] In one embodiment of the present invention, the grain unloading drum assembly 1 includes a first drum 101 and a second drum 102, the first drum 101 is arranged in a vertical direction, the second drum 102 is arranged on the first drum 101 and can deflect up and down with the top of the first drum 101 as the second pivot center, and the grain unloading device also includes:

[0122] A second angle detector, used for detecting a third angle between the second cylinder 102 and the horizontal plane;

[0123] The controller 6 is further configured to perform the following steps:

[0124] Step S601: Determine whether the grain unloading drum assembly 1 rotates to the zero position;

[0125] Step S602: Determine that the third angle is greater than the preset angle;

[0126] Step S603: controlling the second cylinder 102 to deflect downward at a second maximum preset speed;

[0127] Step S604: Determine whether the third angle is consistent with the preset angle;

[0128] Step S605: controlling the second cylinder 102 to deflect downward at a preset speed;

[0129] Step S606: When it is determined that the third angle is zero, the second cylinder 102 is controlled to stop moving.

[0130] Specifically, the second angle detector may be selected as an angle sensor 10, and the grain unloading device also includes a deflection driving member for driving the second cylinder 102 to deflect up and down with the top of the first cylinder 101 as the second pivot center and communicate with the controller 6. In this embodiment, the deflection driving member is preferably an electric push rod 16, and the fixed end of the electric push rod 16 is rotatably connected to the first cylinder 101, and the telescopic end of the electric push rod 16 is drivingly connected to the second cylinder 102. When the electric push rod 16 performs the telescopic function, it can drive the end of the second cylinder 102 away from the first cylinder 101 to deflect up and down in a vertical plane, which can further expand the material distribution range of the grain unloading device when unloading grain; the grain unloading device also includes a bracket 17, which is arranged below the second cylinder 102 and is formed with a support groove for placing the second cylinder 102. When the second cylinder 102 is placed in the support groove, its third angle with the horizontal line is 0°.

[0131] When the grain unloading barrel assembly 1 rotates to the zero position, the rotating motor 9 sends a corresponding signal to the controller 6. After receiving the above signal, the controller 6 can determine that the grain unloading barrel assembly 1 has rotated to the zero position; thereafter, the second angle detector detects the third angle between the second cylinder 102 and the horizontal plane, and then sends the above third angle to the controller 6. After receiving the above third angle, the controller 6 compares it with the pre-stored preset angle. If it is determined that the third angle is greater than the preset angle according to the comparison result, the controller 6 controls the electric push rod 16 to drive the top of the first cylinder 101 as the second pivot center to deflect downward, toward The speed during the downward deflection is the second maximum preset speed, so that the second cylinder 102 can quickly move to the position corresponding to the preset angle. In this embodiment, the second maximum preset speed refers to the deflection speed of the second cylinder 102 when the electric push rod 16 contracts at the rated speed; the range of the preset angle is 0°-20°; when the second cylinder 102 moves to the position corresponding to the preset angle, it starts to decelerate. When the third angle is zero, the second cylinder 102 is controlled to stop moving to avoid the second cylinder 102 moving too fast and causing an impact on the bracket 17, thereby affecting the service life of the grain unloading barrel assembly 1 and the bracket 17.

[0132] Furthermore, the deflection driving member in this embodiment is not limited to the electric push rod 16, but can also be replaced by other electric telescopic members.

[0133] In one embodiment of the present invention, the preset speed is related to a second maximum preset speed.

[0134] Specifically, the preset speed is determined according to the following formula:

[0135] V=V0*γ (6)

[0136] Wherein, V is the preset speed, V0 is the second maximum preset speed, γ is the deceleration coefficient, and the range of γ is 0.1-0.3.

[0137] The above arrangement is conducive to the second cylinder 102 falling slowly into the support groove, which not only avoids impact on the bracket 17, but also ensures that the second cylinder 102 can fall into the support groove as soon as possible, thereby improving the efficiency of the second cylinder 102 deflecting downward.

[0138] Another embodiment of the present application provides a harvesting device, which includes the grain unloading device for the harvesting device in the above embodiment.

[0139] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0140] In this application, 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, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0141] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0142] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A grain unloading device for harvesting equipment, characterized in that: The grain unloading device comprises: A grain unloading drum assembly (1), wherein the grain unloading drum assembly (1) has a first pivot center and can rotate circumferentially around the first pivot center; The transmission ring (2) comprises a rotor assembly and a stator assembly, wherein the stator assembly is sleeved on the outside of the rotor assembly and is capable of transmitting current and / or signals with the rotor assembly, the rotor assembly is sleeved on the outside of the grain unloading drum assembly (1) and rotates with the grain unloading drum assembly (1), the rotor assembly is connected to an external component (4) arranged on the grain unloading drum assembly (1) via a first cable (3), and the stator assembly is connected to a power source (20) or a signal source of a harvesting device via a second cable (5).

2. The grain unloading device for harvesting equipment according to claim 1, characterized in that: The grain unloading device also includes: A first angle detector, used for detecting the rotation angle of the grain unloading drum assembly (1); The controller (6) is configured to: Determining that the return function of the grain unloading barrel assembly (1) is turned on; Determining the rotation direction of the grain unloading drum assembly (1) when returning to its original position; Determining that the grain unloading drum assembly (1) is in an accelerated motion region (7); Controlling the grain unloading drum assembly (1) to rotate at a first maximum preset speed in the rotation direction; Acquiring the rotation angle in real time; Determining that the grain unloading barrel assembly (1) rotates to a preset position according to the rotation angle; The grain unloading drum assembly (1) is controlled to perform a deceleration operation so that the instantaneous angular velocity of the grain unloading drum assembly (1) is reduced to zero when the grain unloading drum assembly (1) rotates to a zero position, wherein the zero position refers to the position of the grain unloading drum assembly (1) when the grain unloading device is in a non-working state.

3. The grain unloading device for harvesting equipment according to claim 2, characterized in that: The controller (6) is also configured to: Determining the rotation direction of the grain unloading drum assembly (1) when returning to its original position and determining that the grain unloading drum assembly (1) is in a deceleration motion region (8); The grain unloading drum assembly (1) is controlled to perform the deceleration operation, so that the instantaneous angular velocity of the grain unloading drum assembly (1) is reduced to zero when the grain unloading drum assembly (1) rotates to the zero point position.

4. The grain unloading device for harvesting equipment according to claim 2, characterized in that: Determining the rotation direction of the grain unloading drum assembly (1) when returning to its original position comprises: Determining that a first angle between the current position of the grain unloading drum assembly (1) and the zero position is less than 180°; It is determined that the rotation direction of the grain unloading drum assembly (1) when returning to its original position is opposite to the initial rotation direction of the grain unloading drum assembly (1).

5. The grain unloading device for harvesting equipment according to claim 4, characterized in that: The step of determining the rotation direction of the grain unloading drum assembly (1) when returning to its original position further comprises: Determining that a first angle between the current position of the grain unloading drum assembly (1) and the zero position is greater than 180°; It is determined that the rotation direction of the grain unloading drum assembly (1) when returning to its original position is the same as the initial rotation direction of the grain unloading drum assembly (1).

6. The grain unloading device for harvesting equipment according to claim 4, characterized in that: The controlling the grain unloading drum assembly (1) to perform a deceleration operation comprises: Determine the preset acceleration; Determining the instantaneous angular velocity of the grain unloading drum assembly (1) during the deceleration operation according to the preset acceleration, wherein the instantaneous angular velocity is related to the angle value of the first angle, the angle value of the second angle, the preset acceleration, and the first maximum preset speed, and the second angle is the angle between the preset position and the zero position; The grain unloading drum assembly (1) is controlled to perform the deceleration operation according to the instantaneous angular velocity.

7. The grain unloading device for harvesting equipment according to claim 6, characterized in that: The preset acceleration is related to the first maximum preset speed and the angle value of the second angle.

8. The grain unloading device for harvesting equipment according to claim 3, characterized in that: The grain unloading cylinder assembly (1) comprises a first cylinder (101) and a second cylinder (102), wherein the first cylinder (101) is arranged in a vertical direction, and the second cylinder (102) is arranged on the first cylinder (101) and can deflect up and down with the top end of the first cylinder (101) as a second pivot center, and the grain unloading device further comprises: a second angle detector, used for detecting a third angle between the second cylinder (102) and a horizontal plane; The controller (6) is further configured to: Determining that the grain unloading drum assembly (1) rotates to the zero position; Determining that the third angle is greater than a preset angle; controlling the second cylinder (102) to deflect downward at a second maximum preset speed; Determining that the third angle is consistent with the preset angle; Controlling the second cylinder (102) to deflect downward at a preset speed; When it is determined that the third angle is zero, the second cylinder (102) is controlled to stop moving.

9. The grain unloading device for harvesting equipment according to claim 8, characterized in that: The preset speed is related to the second maximum preset speed.

10. A harvesting device, characterized in that: The harvesting equipment comprises a grain unloading device for a harvesting equipment according to any one of claims 1-9.

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