Cow breeding forage grass taking machine

Abstract

The invention discloses a cow breeding forage grass taking machine, and belongs to the technical field of livestock breeding equipment. The forage grass taking machine for cow breeding comprises a cutting wheel, a bucket and a telescopic mechanism, and further comprises a compacting mechanism which comprises a connecting rod and a pressing wheel, the pressing wheel is pressed on the wall of a forage pile, a coil spring is arranged at the joint of the connecting rod and the telescopic mechanism, and the pressing wheel is driven by the elastic force of the coil spring. The vertical section of the outer edge of the side, away from the bucket, of the pressing wheel coincides with the vertical section of the outer edge of the side, away from the bucket, of the cutting wheel. The angular displacement detector is arranged at the end, close to the cutting wheel, of the telescopic mechanism and used for detecting the real-time angular displacement of the connecting rod; the controller is electrically connected with the telescopic mechanism and the angular displacement detector, and the controller controls the telescopic mechanism to act according to the real-time angular displacement of the connecting rod, so that the angular displacement amount of the connecting rod is constant. According to the forage taking machine for breeding the dairy cows, it can be guaranteed that the cutting length of forage is relatively uniform in the taking process, and therefore it can be guaranteed that the forage and concentrated feed are fully mixed.

Description

Technical Field

[0001] This invention relates to the field of livestock breeding equipment technology, specifically to a forage harvester for dairy cows. Background Technology

[0002] Silage, a commonly used high-quality feed in dairy farming, faces the challenge of automating and precisely controlling its extraction process, which is a key factor hindering the upgrading of the dairy farming industry. As a core source of nutrition for dairy cows, the efficiency and quality of silage extraction directly impact farming costs, cow health, and ultimately, economic benefits. Utilizing forage harvesting machines significantly improves extraction efficiency when harvesting silage from silage piles.

[0003] Existing forage harvesters mostly use cutting blades (such as rotary cutter discs and shredder blades) to cut the silage in the haystack. The cut hay is then thrown into a bucket below the cutting blades to complete the harvesting. However, to prevent the silage from tipping over, the side walls of the silage pile are generally inclined, and the silage pile has a certain degree of looseness. Therefore, when using the above-mentioned forage harvesters to cut and harvest the hay, the cut length of the hay will exhibit considerable randomness and unevenness. When the hay of varying lengths enters the mixer and is mixed with concentrate, the shorter hay fragments, due to their small particle size and light specific gravity, are easily floated to the top of the mixing system under the centrifugal force of the mixer blades, while the longer hay fibers will entangle into bundles due to their own toughness, making it difficult for the hay to be evenly mixed with the concentrate. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems in the prior art and provide a forage harvester for dairy cows that can ensure that the cutting length of the forage is relatively uniform during the harvesting process, thereby ensuring that the forage and concentrate are fully mixed.

[0005] This invention provides a forage harvester for dairy cows, comprising a cutting wheel, a bucket, and a telescopic mechanism. The cutting wheel is connected to the bucket via the telescopic mechanism, which is used to adjust the distance between the cutting wheel and the bucket. The invention also includes: The compaction mechanism includes a connecting rod and a pressure roller. The connecting rod is arranged radially along the cutting wheel. One end of the connecting rod is rotatably connected to the end of the telescopic mechanism away from the bucket. The pressure roller is rotatably connected to the other end of the connecting rod. The pressure roller is located below the cutting wheel and parallel to the cutting wheel. The pressure roller presses against the wall of the hay pile. A coil spring is provided at the connection between the connecting rod and the telescopic mechanism. Under the action of the elastic force of the coil spring, the vertical cut surface of the outer edge of the pressure roller away from the bucket coincides with the vertical cut surface of the outer edge of the cutting wheel away from the bucket. An angular displacement detector is installed at one end of the telescopic mechanism near the cutting wheel. The angular displacement detector is used to detect the real-time angular displacement of the connecting rod. The controller is electrically connected to the telescopic mechanism and the angular displacement detector. The controller controls the telescopic mechanism to operate according to the real-time angular displacement of the connecting rod so that the angular displacement of the connecting rod is constant.

[0006] Preferably, the telescopic mechanism includes a left hydraulic cylinder, a right hydraulic cylinder, and a hydraulic control circuit. The left and right hydraulic cylinders have the same structure and are symmetrically arranged on the left and right sides of the bucket. The piston of the left hydraulic cylinder is rotatably connected to a left sleeve, which can rotate horizontally relative to the piston of the left hydraulic cylinder. The piston of the right hydraulic cylinder is rotatably connected to a right sleeve, which can rotate horizontally relative to the piston of the right hydraulic cylinder. The left end of the cutting wheel is slidably connected to the left sleeve, and the right end of the cutting wheel is slidably connected to the right sleeve. The hydraulic control circuit is connected to the cylinder bodies of the left and right hydraulic cylinders.

[0007] Preferably, a T-junction is provided between the hydraulic control circuit and the cylinder bodies of the left and right hydraulic cylinders, the cylinder body of the left hydraulic cylinder is connected to the cylinder body of the right hydraulic cylinder through the T-junction, and the hydraulic control circuit is connected to the cylinder bodies of the left and right hydraulic cylinders through the T-junction.

[0008] Preferably, the three-way valve is provided with a fluid passage hole A, a fluid passage hole B, a fluid passage hole C and a cavity. The fluid passage holes A, B and C are all connected to the cavity. The fluid passage hole A is connected to the hydraulic control circuit, the fluid passage hole B is connected to the cylinder body of the left hydraulic cylinder, and the fluid passage hole C is connected to the cylinder body of the right hydraulic cylinder. A valve plate is provided in the cavity, which is used to adjust the opening degree of the fluid passage hole A, B or C.

[0009] Preferably, a vibration detector is provided on the cylinder body of the left hydraulic cylinder. The vibration detector is used to detect the real-time vibration frequency of the piston of the left hydraulic cylinder relative to the cylinder body. A power device is connected to the valve plate. The power device is used to drive the valve plate to adjust the opening of fluid passage A, fluid passage B or fluid passage C. Both the power device and the vibration detector are electrically connected to the controller. The controller has a preset vibration frequency threshold. When the real-time vibration frequency is greater than the vibration frequency threshold, the controller controls the power device to drive the valve plate to move, thereby reducing the opening of fluid passage A and fluid passage B.

[0010] Preferably, the angular displacement detector is a non-contact angular displacement detector.

[0011] Preferably, the end of the connecting rod away from the pressure roller is rotatably connected to the outer wall of the left or right sleeve.

[0012] Preferably, the diameter of the pressure roller is greater than 20 cm and smaller than the diameter of the cutting roller.

[0013] Preferably, the bucket is connected to a lifting mechanism, which is used to drive the bucket to move in the vertical direction.

[0014] Preferably, the pressure roller is made of a corrosion-resistant material.

[0015] Compared with existing technologies, the beneficial effects of this invention are as follows: When this material handling machine is working, the cutting wheel cuts the grass from the top of the grass pile, and the cut grass is thrown into the bucket below. Because the vertical cut surface of the outer edge of the pressure wheel away from the bucket coincides with the corresponding cut surface of the cutting wheel, the pressure wheel will also abut against the side wall of the grass pile when the cutting wheel contacts it. By controlling the telescopic mechanism, the cutting depth of the cutting wheel can be precisely adjusted, thereby controlling the cutting length of the grass. The pressure wheel will contact the grass pile first, and the pressure it applies can compact the pre-cut position. This makes the cutting wheel cutting less laborious, reduces equipment energy consumption, extends the service life of the cutting wheel, and at the same time reduces grass splashing and improves material handling efficiency. As the cutting depth increases, the pressure wheel drives the connecting rod to rotate under the supporting force of the grass pile, and the elastic force of the coil spring keeps the pressure wheel pressed against the side wall. After the angular displacement detector detects the angular displacement of the connecting rod, the controller can accurately determine the cutting depth by combining the distance between the center line of the pressure wheel and the connection point of the connecting rod and the telescopic mechanism and the trigonometric function relationship. The compaction of the hay pile sidewalls by the pressure rollers makes the detection benchmark more stable, thus ensuring the accuracy of the cutting depth detection. When the cutting depth is reached, the bucket moves downwards, causing the cutting rollers to move downwards, achieving top-to-bottom cutting and material removal. If the hay pile sidewalls are uneven, the cutting depth will change, and the pressure rollers will also drive the connecting rods to rotate accordingly. At this time, the controller will control the telescopic mechanism to drive the cutting rollers and pressure rollers to move in opposite directions to adjust the cutting depth. Under the action of the coil spring, the pressure rollers always abut against the sidewalls, eventually restoring the angular displacement of the connecting rods to their initial state, ensuring the stability of the cutting depth and hay length. This avoids problems such as difficulty in swallowing hay due to excessive length, increased digestive burden on dairy cows, or palatability issues due to excessively short hay.

[0016] The hydraulic control circuit fills the cylinders of the left and right hydraulic cylinders with different volumes of hydraulic oil, causing a difference in the piston extension and retraction of the two hydraulic cylinders. This drives the cutting wheel to deflect in one direction in the horizontal direction until the axis of the cutting wheel is parallel to the side wall of the hay pile. At this point, the cutting depth at both ends of the cutting wheel is relatively uniform, thereby further improving the uniformity of the length of the cut hay. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the first embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the second embodiment of the present invention; Figure 3 For the present invention Figure 2 Schematic diagram of the structure of surface AA; Figure 4 For the present invention Figure 3 Schematic diagram of the structure of the middle BB surface; Figure 5For the present invention Figure 3 Schematic diagram of the structure of the C-plane; Figure 6 This is a schematic diagram of the structure of the tee joint of the present invention.

[0018] Explanation of reference numerals in the attached figures: 1. Haystack; 101. Cutting wheel; 102. Bucket; 103. Connecting rod; 104. Pressure roller; 105. Coil spring; 106. Angular displacement detector; 201. Left hydraulic cylinder; 202. Right hydraulic cylinder; 203. Left sleeve; 204. Right sleeve; 3. T-joint; 401. Cavity; 402. Valve plate; 501. Vibration detector; 502. Power unit; 6. Lifting mechanism; 7. Vehicle body. Detailed Implementation

[0019] The following is combined Figures 1-6 The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] like Figures 1-6As shown, the dairy cow forage harvester provided by the present invention includes a vehicle body 7, a cutting wheel 101, a bucket 102, and a telescopic mechanism. The cutting wheel 101 is located above the bucket 102 and is used to cut forage and throw the cut forage into the bucket 102 below. The cutting wheel 101 is connected to the bucket 102 via the telescopic mechanism, which is used to adjust the distance between the cutting wheel 101 and the bucket 102. The bucket 102 is connected to the vehicle body 7. The machine also includes a compaction mechanism, an angular displacement detector 106, and a controller. The compaction mechanism includes a connecting rod 103 and a pressure roller 104. The connecting rod 103 is arranged radially along the cutting wheel 101, and one end of the connecting rod 103 is rotatably connected to the end of the telescopic mechanism away from the bucket 102. The pressure roller 104 is rotatably connected to the other end of the connecting rod 103 and is located below the cutting wheel 101. The pressure roller 104 is parallel to the cutting wheel 101 and presses against the wall of the hay pile 1. A coil spring 105 is provided at the connection between the connecting rod 103 and the telescopic mechanism. Under the action of the elastic force of the coil spring 105, the vertical cut surface of the outer edge of the pressure roller 104 away from the bucket 102 coincides with the vertical cut surface of the outer edge of the cutting wheel 101 away from the bucket 102. An angular displacement detector 106 is provided at the end of the telescopic mechanism near the cutting wheel 101. The angular displacement detector 106 is used to detect the angular displacement of the connecting rod 103. The controller is electrically connected to the telescopic mechanism and the angular displacement detector 106. The controller calculates the horizontal displacement of the pressure roller 104 based on the angular displacement of the connecting rod 103 and the distance between the axis of the pressure roller 104 and the connection between the connecting rod 103 and the telescopic mechanism. The controller controls the telescopic mechanism to operate based on the displacement to keep the horizontal displacement of the pressure roller 104 constant.

[0021] The working principle of the above embodiments is briefly described below: When ranch workers begin the foraging operation, they first need to drive the foraging machine to the designated work area next to the silage pit. At this time, the haystack 1 in the silage pit is mostly a cubic or cuboid structure that has been compacted and sealed for fermentation. The surface may have formed a small amount of dry hard crust due to long-term storage, while the side walls and interior remain moist, soft, and rich in moisture, exhibiting a strong silage fiber characteristic. The operator drives the bucket 102 towards one side of the haystack 1 via the vehicle body 7, tilting the bucket 102 at a 45° angle and slowly approaching the haystack 1 until the cutting wheel 101 comes into contact with the haystack 1. Then, the operator drives the cutting wheel 101 to rotate, using the rotating cutting wheel 101 to cut the haystack 1 from the top, so that the cut haystack 1 is thrown into the bucket 102 below.

[0022] During this process, since the vertical cut surface of the outer edge of the pressure roller 104 away from the bucket 102 coincides with the vertical cut surface of the outer edge of the cutting roller 101 away from the bucket 102, when the cutting roller 101 abuts against the side wall of the hay pile 1, the pressure roller 104 also abuts against the side wall of the hay pile 1. By controlling the movement of the telescopic mechanism, the cutting depth of the cutting roller 101 can be precisely adjusted, thereby precisely adjusting the length of the cut hay. Since the pressure roller 104 is located below the cutting roller 101 and parallel to the cutting roller 101, the pressure roller 104 will contact the hay pile 1 before the cutting roller 101, and the squeezing force it applies to the hay pile 1 can compact the pre-cut position on the side wall of the hay pile 1. In this way, the cutting wheel 101 cuts the compacted grass. On the one hand, the compacted grass is more regular, and the cutting wheel 101 is less labor-intensive when cutting, which can reduce equipment energy consumption and extend the service life of the cutting wheel 101. On the other hand, it can also make the cutting process more stable, reduce grass splashing, and improve material collection efficiency.

[0023] As the cutting depth of the cutting wheel 101 increases, the pressure wheel 104, under the support of the hay pile 1, drives the connecting rod 103 to rotate relative to the connection between the connecting rod 103 and the telescopic mechanism. The elastic force applied by the coil spring 105 to the connecting rod 103 drives the pressure wheel 104 to remain pressed against the side wall of the hay pile 1. When the connecting rod 103 rotates, the angular displacement detector 106 detects the angular displacement of the connecting rod 103. Based on the angular displacement of the connecting rod 103 and the distance between the axis of the pressure wheel 104 and the connection between the connecting rod 103 and the telescopic mechanism, combined with trigonometric relationships, the controller can accurately determine the horizontal displacement of the pressure wheel 104. The horizontal displacement of the pressure wheel 104 is the cutting depth of the cutting wheel 101. Furthermore, because the pressure wheel 104 compacts the side wall of the hay pile 1, making the side wall of the hay pile 1 flatter and the detection benchmark more stable, the accuracy of the cutting depth of the cutting wheel 101 detected using the above scheme is high.

[0024] Once the cutting depth of the cutting wheel 101 reaches the predetermined requirement, the bucket 102 is controlled to move downwards, thereby driving the cutting wheel 101 downwards to cut and extract material from the haystack 1 from top to bottom. During this process, as the sidewall of the haystack 1 undulates, the cutting depth of the cutting wheel 101 increases or decreases. The pressure wheel 104 also drives the connecting rod 103 to rotate clockwise or counterclockwise as the sidewall of the haystack 1 undulates. At this time, the angular displacement of the connecting rod 103 increases or decreases, and the horizontal displacement of the pressure wheel 104 also increases or decreases. The controller controls the telescopic mechanism to move, thereby driving the cutting wheel 101 and the pressure wheel 104 to move in opposite directions, thus decreasing or increasing the cutting depth of the cutting wheel 101. Under the action of the elastic force of the coil spring 105, the pressure roller 104 is always in contact with the side wall of the hay pile 1. The pressure roller 104 drives the connecting rod 103 to rotate counterclockwise or clockwise, thereby reducing or increasing the angular displacement of the connecting rod 103 until the angular displacement of the connecting rod 103 returns to the initial horizontal position, so that the cutting depth of the cutting wheel 101 returns to the initial cutting depth, ensuring that the cutting length of the hay is relatively constant.

[0025] The dairy cow forage harvester of this invention ensures relatively uniform cut lengths of forage during the harvesting process, thereby guaranteeing thorough mixing of forage and concentrate feed. This prevents poor palatability caused by insufficiently mixed feed, which could negatively impact dairy cow feeding. Furthermore, precise control of the cutting depth reduces forage waste, lowers farming costs, and makes the equipment more stable and reliable, reducing maintenance frequency and improving the overall operational efficiency of the farm.

[0026] Based on the above embodiments, in order to ensure that the cutting depth at both ends of the cutting wheel 101 is relatively uniform, thereby further improving the uniformity of the length of the cut grass.

[0027] like Figures 1-5 and Figure 6 As shown, the telescopic mechanism includes a left hydraulic cylinder 201, a right hydraulic cylinder 202, and a hydraulic control circuit. The left hydraulic cylinder 201 and the right hydraulic cylinder 202 have the same structure and are symmetrically arranged on the left and right sides of the bucket 102. The piston of the left hydraulic cylinder 201 is rotatably connected to a left sleeve 203, which can rotate horizontally relative to the piston of the left hydraulic cylinder 201. The piston of the right hydraulic cylinder 202 is rotatably connected to a right sleeve 204, which can rotate horizontally relative to the piston of the right hydraulic cylinder 202. The left end of the cutting wheel 101 is slidably connected to the left sleeve 203, and the right end of the cutting wheel 101 is slidably connected to the right sleeve 204. The hydraulic control circuit is connected to the cylinder bodies of the left hydraulic cylinder 201 and the right hydraulic cylinder 202.

[0028] During the adjustment of the cutting depth of the cutting wheel 101 by the telescopic mechanism, when it is necessary to increase the cutting depth of the cutting wheel 101, the same volume of hydraulic oil is injected into the cylinder bodies of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 through the hydraulic control circuit. Since the left hydraulic cylinder 201 and the right hydraulic cylinder 202 have the same structure, when the cylinder bodies of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 are filled with the same volume of hydraulic oil, the pistons of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 extend outward by the same distance, thereby driving both ends of the cutting wheel 101 to move the same distance towards the hay pile 1, thus increasing the cutting depth of the cutting wheel 101. When it is necessary to decrease the cutting depth of the cutting wheel 101, the opposite is true. However, when the axis of the cutting wheel 101 is not parallel to the side wall of the hay pile 1, the cutting depth of the cutting wheel 101 gradually decreases from one end of the cutting wheel 101 to the other end, and the length of the hay cut by the cutting wheel 101 is also uneven. At this time, the hydraulic control circuit fills the cylinder bodies of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 with different volumes of hydraulic oil, so that the pistons of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 extend at different distances, thereby driving the cutting wheel 101 to deflect in one direction in the horizontal direction. During the deflection of the cutting wheel 101, the cutting wheel 101 can slide relative to the left sleeve 203 or the right sleeve 204 along the axial direction of the cutting wheel 101. The left sleeve 203 rotates relative to the piston of the left hydraulic cylinder 201, and the right sleeve 204 rotates relative to the piston of the right hydraulic cylinder 202, until the axis of the cutting wheel 101 is parallel to the side wall of the hay pile 1. At this time, the cutting depth at both ends of the cutting wheel 101 is relatively uniform, thereby further improving the uniformity of the length of the cut hay.

[0029] Furthermore, this feeder can build a data hub through a cloud server, supporting two-way data interaction between a computer management platform and a mobile app (such as iOS / Android applications). Users can view the equipment status in real time on the app interface (such as the stroke of the left hydraulic cylinder 201 or the right hydraulic cylinder 202, and the rotation speed of the cutting wheel 101), and input the forage cutting length (range: 10-15cm) through a graphical parameter setting module. The system uses the Modbus protocol to achieve encrypted transmission of instructions, ensuring data security. The hydraulic control loop controls the left hydraulic cylinder 201 and the right hydraulic cylinder 202, and its core control logic is as follows: Data acquisition layer: Real-time monitored cutting depth data is uploaded to the cloud via a 4G network through a DTU module (model HC5000). Intelligent decision-making layer: The cloud platform has a built-in fuzzy-PID composite controller, which establishes a forage hardness-left hydraulic cylinder 201 or right hydraulic cylinder 202 pressure mapping model based on historical cutting data, and dynamically adjusts the PID parameters to optimize the response speed (adjustment time is reduced by 39%-87%). Execution control layer: After receiving instructions from the cloud, the servo valve of the control loop precisely controls the hydraulic oil flow through pulse width modulation (PWM) technology to achieve synchronous displacement of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 (synchronization accuracy ±0.2mm), and finally adjusts the cutting angle of the cutting wheel 101.

[0030] As a preferred option, such as Figures 2-6 As shown, a three-way valve 3 is provided between the hydraulic control circuit and the cylinder body of the left hydraulic cylinder 201 and the cylinder body of the right hydraulic cylinder 202. The cylinder body of the left hydraulic cylinder 201 is connected to the cylinder body of the right hydraulic cylinder 202 through the three-way valve 3, and the hydraulic control circuit is connected to the cylinder body of the left hydraulic cylinder 201 and the cylinder body of the right hydraulic cylinder 202 through the three-way valve 3. By setting a three-way valve 3, the hydraulic control circuit can supply or withdraw hydraulic oil into or from the cylinder bodies of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 through the three-way valve 3, thereby controlling the action of the left hydraulic cylinder 201 or the right hydraulic cylinder 202. When the cutting depths of the left and right ends of the cutting wheel 101 are different, the end with the deeper cutting depth receives a larger reaction force. Since the structures of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 are the same, the hydraulic oil in the cylinder body of the left hydraulic cylinder 201 or the right hydraulic cylinder 202 corresponding to the end with the deeper cutting depth will automatically flow into the cylinder body of the right hydraulic cylinder 202 or the left hydraulic cylinder 201 through the three-way valve 3. This allows the cutting depth of the end with the deeper cutting depth of the cutting wheel 101 to gradually decrease adaptively, while the cutting depth of the end with the shallower cutting depth of the cutting wheel 101 to gradually increase adaptively, thereby further ensuring the uniformity of the cutting depth at both ends of the cutting wheel 101.

[0031] As a preferred option, such as Figure 3 and Figure 6As shown, the three-way valve 3 is provided with a fluid passage hole A, a fluid passage hole B, a fluid passage hole C and a cavity 401. The fluid passage holes A, B and C are all connected to the cavity 401. The fluid passage hole A is connected to the hydraulic control circuit, the fluid passage hole B is connected to the cylinder body of the left hydraulic cylinder 201, and the fluid passage hole C is connected to the cylinder body of the right hydraulic cylinder 202. The cavity 401 is provided with a valve plate 402, which is used to adjust the opening degree of the fluid passage hole A, the fluid passage hole B or the fluid passage hole C. Hydraulic control circuit introduces hydraulic oil into cavity 401 through fluid inlet A. The hydraulic oil then enters the cylinder bodies of left hydraulic cylinder 201 and right hydraulic cylinder 202 through fluid inlets B and C, respectively, thereby adjusting the overall cutting depth of cutting wheel 101. Once the overall cutting depth of cutting wheel 101 is adjusted, the opening of fluid inlet A, fluid inlet B, or fluid inlet C is adjusted by controlling the movement of valve plate 402. By blocking fluid inlet A with valve plate 402 and reducing the opening of fluid inlet B or fluid inlet C, the flow rate of hydraulic oil between the cylinder bodies of left hydraulic cylinder 201 and right hydraulic cylinder 202 can be controlled. This allows for adjustment of the adaptive response speed of cutting depth at both ends of cutting wheel 101, ensuring uniform cutting depth at both ends of cutting wheel 101 while preventing damage to cutting wheel 101 due to excessive vibration frequency.

[0032] As a preferred option, such as Figure 3 and Figure 6As shown, the left hydraulic cylinder 201 is equipped with a vibration detector 501. The vibration detector 501 is used to detect the real-time vibration frequency of the piston of the left hydraulic cylinder 201 relative to the cylinder body. A power unit 502 is connected to the valve plate 402. The power unit 502 is used to drive the valve plate 402 to adjust the opening of fluid passage A, fluid passage B, or fluid passage C. Both the power unit 502 and the vibration detector 501 are electrically connected to the controller. The controller has a preset vibration frequency threshold. When the real-time vibration frequency is greater than the vibration frequency threshold, the controller controls the power unit 502 to drive the valve plate 402 to move, thereby reducing the opening of fluid passage A and fluid passage B. During the adaptive adjustment of the cutting depth at both ends of the cutting wheel 101, the vibration frequency of the piston of the left hydraulic cylinder 201 relative to the cylinder body of the left hydraulic cylinder 201 is detected by the vibration detector 501. The vibration frequency of the cutting wheel 101 can then be determined. When the real-time vibration frequency, i.e. the vibration frequency of the cutting wheel 101, is greater than the vibration frequency threshold, the controller controls the power unit 502 to move, thereby driving the valve plate 402 to move and automatically reduce the opening of the fluid passage A and fluid passage B. The flow rate of hydraulic oil flowing back and forth between the cylinder bodies of the left hydraulic cylinder 201 and the right hydraulic cylinder 202 is slowed down, thereby suppressing excessive vibration of the cutting wheel 101. This ensures that the cutting depth at both ends of the cutting wheel 101 is uniform while preventing damage to the cutting wheel 101 caused by excessively high vibration frequency.

[0033] As a preferred option, such as Figure 3 As shown, the angular displacement detector 106 is a non-contact angular displacement detector 106. Using the non-contact angular displacement detector 106 to detect the angular displacement of the connecting rod 103 can improve the accuracy of the angular displacement detection of the connecting rod 103, thereby improving the accuracy of the cutting depth adjustment of the cutting wheel 101 and ensuring the uniformity of the length of the cut grass.

[0034] As a preferred option, such as Figure 3 and Figure 6 As shown, the end of the connecting rod 103 away from the pressure roller 104 is rotatably connected to the outer wall of the left sleeve 203 or the right sleeve 204. Setting the connecting rod 103 to be rotatably connected to the outer wall of the right sleeve 204 can prevent the connecting rod 103 from affecting the rotation of the cutting wheel 101, thereby ensuring the normal operation of the entire material handling machine.

[0035] As a preferred option, such as Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the diameter of the pressure roller 104 is greater than 20cm and smaller than the diameter of the cutting roller 101. Setting the diameter of the pressure roller 104 to be greater than 20cm and smaller than the diameter of the cutting roller 101 can prevent the pressure roller 104 from applying excessive pressure to the side wall of the hay pile 1, causing the pressure roller 104 to sink into the hay pile 1 and resulting in inaccurate adjustment of the cutting depth of the cutting roller 101.

[0036] As a preferred option, such as Figures 1-5 As shown, a lifting mechanism 6 is connected to the bucket 102, which drives the bucket 102 to move vertically. The lifting mechanism 6 drives the bucket 102 to move vertically, thereby driving the cutting wheel 101 to move vertically, thus cutting and removing material from the entire sidewall of the haystack 1 in one operation.

[0037] As a preferred option, such as Figures 1-5 As shown, the pressure roller 104 is made of a corrosion-resistant material. Since silage relies primarily on lactic acid bacteria fermentation, the fermentation process produces acidic substances that corrode the pressure roller 104. Using a corrosion-resistant material to make the pressure roller 104 improves its corrosion resistance, thereby extending the service life of the entire feed handling machine.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.

Claims

1. A forage harvester for dairy cows, comprising a cutting wheel, a bucket, and a telescopic mechanism, wherein the cutting wheel is connected to the bucket via the telescopic mechanism, and the telescopic mechanism is used to adjust the distance between the cutting wheel and the bucket, characterized in that, Also includes: The compaction mechanism includes a connecting rod and a pressure roller. The connecting rod is arranged radially along the cutting wheel. One end of the connecting rod is rotatably connected to the end of the telescopic mechanism away from the bucket. The pressure roller is rotatably connected to the other end of the connecting rod. The pressure roller is located below the cutting wheel and parallel to the cutting wheel. The pressure roller presses against the wall of the hay pile. A coil spring is provided at the connection between the connecting rod and the telescopic mechanism. Under the action of the elastic force of the coil spring, the vertical cut surface of the outer edge of the pressure roller away from the bucket coincides with the vertical cut surface of the outer edge of the cutting wheel away from the bucket. An angular displacement detector is installed at one end of the telescopic mechanism near the cutting wheel. The angular displacement detector is used to detect the real-time angular displacement of the connecting rod. The controller is electrically connected to the telescopic mechanism and the angular displacement detector. The controller controls the telescopic mechanism to operate according to the real-time angular displacement of the connecting rod so that the angular displacement of the connecting rod is constant.

2. The dairy cow forage harvester as described in claim 1, characterized in that, The telescopic mechanism includes a left hydraulic cylinder, a right hydraulic cylinder, and a hydraulic control circuit. The left and right hydraulic cylinders have the same structure and are symmetrically arranged on the left and right sides of the bucket. The piston of the left hydraulic cylinder is rotatably connected to a left sleeve, which can rotate horizontally relative to the piston of the left hydraulic cylinder. The piston of the right hydraulic cylinder is rotatably connected to a right sleeve, which can rotate horizontally relative to the piston of the right hydraulic cylinder. The left end of the cutting wheel is slidably connected to the left sleeve, and the right end of the cutting wheel is slidably connected to the right sleeve. The hydraulic control circuit is connected to the cylinder bodies of the left and right hydraulic cylinders.

3. The dairy cow forage harvester as described in claim 2, characterized in that, A T-junction is provided between the hydraulic control circuit and the cylinder bodies of the left and right hydraulic cylinders. The cylinder body of the left hydraulic cylinder is connected to the cylinder body of the right hydraulic cylinder through the T-junction, and the hydraulic control circuit is connected to the cylinder bodies of the left and right hydraulic cylinders through the T-junction.

4. The dairy cow forage harvester as described in claim 3, characterized in that, The three-way valve is provided with a fluid passage hole A, a fluid passage hole B, a fluid passage hole C and a cavity. Fluid passage holes A, B and C are all connected to the cavity. Fluid passage hole A is connected to the hydraulic control circuit, fluid passage hole B is connected to the cylinder body of the left hydraulic cylinder, and fluid passage hole C is connected to the cylinder body of the right hydraulic cylinder. A valve plate is provided in the cavity, which is used to adjust the opening degree of fluid passage hole A, fluid passage hole B or fluid passage hole C.

5. The dairy cow forage harvester as described in claim 4, characterized in that, A vibration detector is installed on the cylinder body of the left hydraulic cylinder. The vibration detector is used to detect the real-time vibration frequency of the piston of the left hydraulic cylinder relative to the cylinder body. A power device is connected to the valve plate. The power device is used to drive the valve plate to adjust the opening of fluid passage A, fluid passage B or fluid passage C. Both the power device and the vibration detector are electrically connected to the controller. The controller has a preset vibration frequency threshold. When the real-time vibration frequency is greater than the vibration frequency threshold, the controller controls the power device to drive the valve plate to move, thereby reducing the opening of fluid passage A and fluid passage B.

6. The dairy cow forage harvester as described in claim 1, characterized in that, The angular displacement detector is a non-contact angular displacement detector.

7. The dairy cow forage harvester as described in claim 2, characterized in that, The end of the connecting rod away from the pressure roller is rotatably connected to the outer wall of the left or right sleeve.

8. The dairy cow forage harvester as described in claim 1, characterized in that, The diameter of the pressure roller is greater than 20cm and smaller than the diameter of the cutting roller.

9. The dairy cow forage harvester as described in claim 1, characterized in that, The bucket is connected to a lifting mechanism, which is used to drive the bucket to move in the vertical direction.

10. The dairy cow forage harvester as described in claim 1, characterized in that, The pressure roller is made of corrosion-resistant material.

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