Picking head rotating speed control system, picking head rotating speed control method, and cotton picker

Abstract

The present invention provides a picking head rotating speed control system, a picking head rotating speed control method, and a cotton picker. The picking head rotating speed control system comprises a reference regulation module, a pressure acquisition module, and an adaptive adjustment module. The cotton picker comprises the picking head rotating speed control system and a raising / lowering safety device. The picking head raising / lowering safety device comprises a hanging frame, a hanging support, pull rods, a first driving member, and a safety assembly. The cotton picker further comprises a cooling fan. The cooling fan comprises a housing, fan blades, a fan blade shaft, a guide plate, a sliding block, a bearing, a transmission shaft, and a second driving member. The cotton picker of the present invention solves the problems in the prior art of low net harvest rate and high impurity rate of cotton pickers which control the picking head rotating speed on the basis of a vehicle harvesting speed and a fixed matching relationship, solves the technical problem of poor safety of single-drive picking head raising / lowering devices in cotton pickers during maintenance, and solves the technical problem that existing radiator maintenance methods restrict the operation efficiency and maintenance convenience of apparatuses.

Description

Collection head speed control system, collection head speed control method and cotton picker Technical Field

[0001] The present invention relates to the technical field of cotton pickers, and in particular to a collection head speed control system, a collection head speed control method and a cotton picker. Background Art

[0002] Cotton is a major cash crop worldwide. With the increasing development of agricultural mechanization, mechanized cotton picking is an inevitable trend in the cotton industry. The cotton harvester's collecting head is the core component for cotton picking. A cotton harvester can be equipped with multiple collecting heads. Each spindle in each collecting head is capable of independent rotation, effectively separating the cotton from the bolls by contacting, hooking, and wrapping the cotton, completing the picking process. Therefore, controlling the collecting head's speed is crucial for the cotton harvester's clean picking rate and efficiency. Current methods for controlling the collecting head's speed rely on obtaining the machine's current harvesting speed signal and then regulating the speed to a target operating speed based on a pre-set baseline relationship between the harvesting speed and the collecting head's speed. The baseline relationship between the harvesting speed and the collecting head's speed is defined as a fixed ratio between the collecting head's speed and the harvesting vehicle's speed. To ensure spindle hooking and wrapping, the collecting head has a minimum operating speed, while to accommodate the machine's load capacity, the head has a maximum operating speed. However, during actual harvesting operations, the growth characteristics of plants vary significantly at different harvesting periods. For example, the separation force between cotton and bolls varies greatly at different harvesting periods, and the separation force between cotton and bolls directly affects the cotton picking effect. If a fixed matching relationship is used to control the speed of the collection head, it cannot meet the harvesting needs of actual cotton field conditions. The cotton picking rate is low, the impurity rate is high, and the harvesting effect is poor.

[0003] The collection head on the cotton picker in the prior art is equipped with a lifting device, which includes a hanger, a suspension support, a pull rod and a frame. Two lifting cylinders are provided between the frame and the hanger. The two lifting cylinders are used to drive the hanger to rise and fall relative to the frame. The two lifting cylinders are arranged in parallel to achieve the lifting of the collection head. However, the synchronization of the two lifting cylinders when lifting at the same time is poor, making it difficult to maintain synchronous extension and retraction at all times, which greatly affects the stable operation of the hanger. In order to solve the above problems, Chinese invention patent CN215774334U discloses a three-row cotton picker and its collection head lifting device. By optimizing the structure, only one lifting cylinder is used to drive the hanger to rise and fall, eliminating one lifting cylinder, solving the problem of the two cylinders being out of sync, avoiding hanger fluctuations, and improving the working stability of the hanger. However, when repairing the collection head lifting device, the collection head needs to be raised to the highest position for inspection. At this time, since only one lifting cylinder is extended to the maximum extent to provide lifting force to lift the collection head, the load borne by the lifting cylinder is too large. If the lifting cylinder is lifted for a long time, the lifting cylinder may be damaged or even the collection head may fall, resulting in poor safety and inability to guarantee the safety of maintenance personnel.

[0004] Cotton harvesting machinery currently on the market typically relies on airflow generated by the engine's suction fan to cool the coolant in the hydraulic oil radiator and engine cooling system. However, conventional engine fans only deliver air in one direction. As dust and other impurities carried by the airflow accumulate on the radiator's exterior, the radiator's heat dissipation performance significantly degrades. This results in increased engine water and hydraulic oil temperatures, which not only reduces engine output but also increases the risk of oil leaks in the hydraulic system, impacting the stability and lifespan of the entire equipment. Currently, cleaning accumulated impurities from the radiator's exterior is commonly done manually or with a rotating brush, which is both time-consuming and inefficient. Furthermore, improper cleaning can easily clog the radiator's fins, further exacerbating the heat dissipation problem. Consequently, this reliance on manual or inefficient mechanical methods for radiator maintenance has become a bottleneck restricting equipment operational efficiency and ease of maintenance.

[0005] In summary, there is an urgent need for a cotton picker with a system that can control the speed of the collecting head, a device for protecting the lifting and lowering of the collecting head, and a device for dissipating heat from the machine to solve the problems existing in the prior art.

[0006] Summary of the Invention

[0007] The present invention aims to provide a collection head speed control system, a collection head speed control method, and a cotton picker to solve the problems of low clean picking rate and high impurity rate in the conventional cotton picker that controls the collection head speed based on the harvesting vehicle speed and a fixed matching relationship, the poor safety of the single-driven collection head lifting device during maintenance, and the technical problem that the existing radiator maintenance method restricts the equipment's operating efficiency and maintenance convenience. The specific technical solutions are as follows:

[0008] In the first aspect, the present invention provides a collection head speed control system, including: a baseline control module, used to obtain the harvesting speed of the cotton picker, and control the collection head speed to the target working speed according to the baseline correspondence between the harvesting speed and the collection head speed; a pressure acquisition module, used to obtain the real-time operating pressure of the collection head pump during the harvesting operation of the collection head at the target working speed; an adaptive adjustment module, used to adaptively adjust the harvesting speed and the collection head speed based on the real-time operating pressure of the collection head pump; a speed correction module, used to obtain the actual cotton picking rate based on the cotton field images before and after harvesting, and correct the collection head speed according to the actual cotton picking rate.

[0009] In a second aspect, the present invention further provides a control method using the above-mentioned acquisition head speed control system, comprising the following steps:

[0010] Providing a collection head speed control system as described above;

[0011] The harvesting speed of the cotton picker is obtained through the benchmark control module, and the speed of the harvesting head is controlled to the target working speed according to the benchmark correspondence between the harvesting speed and the speed of the harvesting head;

[0012] The real-time operating pressure of the head pump is obtained during the harvesting operation through the pressure acquisition module;

[0013] The self-adaptive adjustment module is used to adaptively adjust the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump.

[0014] A further improvement of the collection head speed control method of the present invention is that the process of adaptively adjusting the collection vehicle speed and the collection head speed based on the real-time operating pressure of the collection head pump is specifically as follows:

[0015] Setting a system protection limit value and a system acceleration limit value of the sampling head pump pressure, wherein the system protection limit value is less than the upper limit value of the operating pressure of the sampling head pump, and the system acceleration limit value is less than the system protection limit value;

[0016] The real-time operating pressure of the collection head pump is compared with the system protection limit value and the system acceleration limit value, and the collection vehicle speed and the collection head speed are adaptively adjusted according to the comparison results.

[0017] A further improvement of the collecting head speed control method of the present invention is that when the actual harvesting vehicle speed is lower than the target control vehicle speed and the real-time operating pressure of the collecting head pump is less than or equal to the system acceleration limit value, the cotton picker is allowed to accelerate to the target control vehicle speed, and the collecting head speed is controlled to increase to the target operating speed according to the reference correspondence between the harvesting vehicle speed and the collecting head speed; during the accelerated harvesting operation of the cotton picker, if the real-time operating pressure of the collecting head pump is greater than the system acceleration limit value, the harvesting speed and the collecting head speed are restricted from increasing; when the cotton picker performs a stable harvesting operation, if the real-time operating pressure of the collecting head pump is greater than the system protection limit value, the harvesting vehicle speed is reduced, and the collecting head speed is reduced accordingly according to the reference correspondence between the harvesting vehicle speed and the collecting head speed.

[0018] A further improvement of the collection head speed control method of the present invention is that the temperature of the collection hydraulic oil is collected. When the temperature of the hydraulic oil is lower than a preset threshold and the real-time operating pressure of the collection head pump is greater than the system protection limit value, the driver is prompted to preheat the equipment or perform maintenance.

[0019] A further improvement of the collection head speed control method of the present invention is that the actual cotton clean rate is obtained based on the cotton field images before and after harvesting, and the collection head speed is corrected according to the actual cotton clean rate. The specific process is as follows:

[0020] Obtain the first and second change curves of the head pump pressure in the system no-load state and the system cotton picking state respectively, and obtain the head pump pressure value required for cotton picking based on the pressure difference between the first and second change curves in the stable harvesting stage;

[0021] A first pressure margin influence coefficient is calculated based on the real-time operating pressure of the picking head pump, the system acceleration limit value, and the picking head pump pressure value required for cotton picking. A second pressure margin influence coefficient is calculated based on the real-time operating pressure of the picking head pump and the system protection limit value.

[0022] When the actual cotton picking rate is lower than the preset lower limit value, the first picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset lower limit value, and the collection head speed is positively corrected based on the first pressure margin influence coefficient and the first picking rate influence coefficient. When the actual cotton picking rate is higher than the preset upper limit value, the second picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset upper limit value, and the collection head speed is negatively corrected based on the second pressure margin influence coefficient and the second picking rate influence coefficient.

[0023] The further improvement of the acquisition head speed control method of the present invention is that:

[0024] The speed of the acquisition head is corrected in the positive direction based on the following formula: I=I base *α1*k0θ 2 ;

[0025] The reverse correction of the acquisition head speed is performed based on the following formula: I=I base *k1α2*k2ε 2 ;

[0026] Among them, I represents the correction current of the solenoid valve of the sampling pump, I base represents the reference control current of the solenoid valve of the mining head pump, α1 represents the first mining rate influence coefficient, α1=|N min -N pick |, N min Indicates the preset lower limit of cotton picking rate, N pick represents the actual cotton picking rate, α2 represents the second cotton picking rate influence coefficient, α2=|N max -N pick |, N max represents the preset upper limit of cotton picking rate, θ represents the first pressure margin influence coefficient, P acc Indicates the system acceleration limit value, P work Indicates the real-time operating pressure of the head pump, P ne Indicates the pressure value of the picking pump required for cotton picking, ε indicates the second pressure margin influence coefficient, ε=P work -P pro , P pro Indicates the system protection limit value, k0, k1, and k2 are fixed coefficients.

[0027] In a third aspect, the present invention further provides a cotton picker, comprising:

[0028] The acquisition head speed control system as described above;

[0029] The collection head lifting safety device includes a hanger for installing the collection head, a suspension support hinged to the hanger for articulating the frame, a pull rod hinged to the hanger for articulating the frame, a first driving member hinged to the suspension support for articulating the frame to drive the end of the suspension support away from the frame to be lifted relative to the frame, and a safety component hinged to the suspension support and elastically detachably connected to the pull rod for avoiding the first driving member by rotating away from the first driving member or locking the first driving member by rotating close to the first driving member. The pull rod is arranged above the suspension support.

[0030] A further improvement of the cotton picker of the present invention is that the first driving member includes a cylinder for articulating the frame and a piston rod movably arranged on the cylinder and articulated to the suspension support.

[0031] A further improvement of the cotton picker of the present invention is that the safety assembly includes a locking member hinged to the suspension support for rotating away from or toward the cylinder, and an elastic member connected to the free end of the locking member and detachably connected to the pull rod.

[0032] A further improvement of the cotton picker of the present invention is that the elastic member includes a compression spring connected to the free end of the locking member and a traction rope connected to the compression spring and detachably connected to the pull rod.

[0033] A further improvement of the cotton picker of the present invention is that the bracket includes a connecting longitudinal beam, a first cross beam connected to the first end of the connecting longitudinal beam, a second cross beam connected to the second end of the connecting longitudinal beam, and a hinged seat fixedly arranged on the second cross beam, the vertical first end of the hinged seat is hinged to the pull rod, and the vertical second end of the hinged seat is hinged to the suspension support.

[0034] A further improvement of the cotton picker of the present invention is that the hanger further includes a first guard plate connected to the first end of the first beam and the first end of the second beam respectively, and a second guard plate connected to the second end of the first beam and the second end of the second beam respectively.

[0035] A further improvement of the cotton picker of the present invention is that the suspension support includes two mounting main beams arranged opposite to and at intervals, connecting cross beams respectively connected to the two mounting main beams, and connecting shafts for articulating the frame respectively connected to the two mounting main beams, and an articulated sleeve articulated to the articulated seat is provided on the end of the mounting main beam away from the connecting shaft, and the mounting main beam, the articulated sleeve and the articulated seat are arranged in a one-to-one correspondence.

[0036] A further improvement of the cotton picker of the present invention is that the suspension support also includes a connecting seat arranged on the installation main beam and hinged to the first driving member, and the connecting seat is arranged at the connection between the installation main beam and the connecting cross beam.

[0037] A further improvement of the cotton picker of the present invention is that two pull rods are arranged at intervals relative to each other, and the pull rods and the hinge seats are arranged in a one-to-one correspondence.

[0038] A further improvement of the cotton picker of the present invention is that the cotton picker also includes a heat dissipation fan, the heat dissipation fan includes a housing, fan blades, a fan blade shaft, a guide plate, a slider, a bearing, a transmission shaft and a second driving member, one end of the transmission shaft is connected to the power source, and the other end is fixedly connected to the housing, a plurality of fan blade shaft holes are circumferentially spaced apart on the housing, each fan blade shaft hole is provided with a sliding bearing, the fan blade shaft is sleeved on the sliding bearing, the fan blade is fixedly connected to the upper end of the fan blade shaft, the slider is installed on the transmission shaft through the bearing, the guide plate is fixedly connected to the housing, a through groove is opened axially on the guide plate, a part of the slider is located in the through groove to perform radial and circumferential limiting on the slider, so that the slider rotates synchronously with the housing and has freedom of axial movement relative to the housing, a fan shaft pin is provided at the lower end of the fan shaft, an annular slide groove is opened circumferentially on the slider, the fan shaft pin is inserted into the annular slide groove, the second driving member is driven and connected to the slider for driving the slider to move axially, and when the slider moves axially, the fan blade shaft pin is driven to rotate, thereby automatically adjusting the angle of the fan blade.

[0039] A further improvement of the cotton picker of the present invention is that the cooling fan also includes a first wedge-shaped slider and a second wedge-shaped slider that are fitted together through inclined sliding. The first wedge-shaped slider is fixedly connected to the inner ring of the bearing, and the driving member is connected to the second wedge-shaped slider. The driving member is controlled to drive the second wedge-shaped slider up and down, so that the second wedge-shaped slider drives the first wedge-shaped slider, the bearing, and the slider to move axially together.

[0040] A further improvement of the cotton picker of the present invention is that a compression spring is axially arranged between the slider and the housing, and the initial state of the compression spring is a compressed state, which is used to provide an axial rightward pre-tightening force for the slider.

[0041] A further improvement of the cotton picker of the present invention is that a slider pin is provided on the slider, a shell pin hole is provided on the shell, and the slider pin is inserted into the shell pin hole to play a guiding role when the slider moves axially.

[0042] A further improvement of the cotton picker of the present invention is that the second driving part is a hydraulic cylinder, and the cooling fan also includes a hydraulic oil source, a pressure reducing valve, a cylinder extension solenoid valve, a cylinder retraction solenoid valve, a controller and a hydraulic oil tank. The cylinder extension solenoid valve is arranged on the oil circuit connecting the hydraulic oil source and the rodless cavity of the hydraulic cylinder, and the cylinder retraction solenoid valve is arranged on the oil circuit connecting the hydraulic oil tank and the rodless cavity of the hydraulic cylinder. The controller is electrically connected to the cylinder extension solenoid valve and the cylinder retraction solenoid valve. When the controller controls the cylinder extension solenoid valve to be turned on and the cylinder retraction solenoid valve to be turned off, the hydraulic cylinder extends and drives the slider to move axially to the left. When the controller controls the cylinder extension solenoid valve to be turned off and the cylinder retraction solenoid valve to be turned on, if the slider moves axially to the right, the hydraulic cylinder is driven to retract. When the controller controls the cylinder extension solenoid valve and the cylinder retraction solenoid valve to be turned off, the hydraulic cylinder maintains the current position.

[0043] A further improvement of the cotton picker of the present invention is that the cooling fan also includes a temperature sensor for monitoring the temperature of the cooling system and a displacement sensor for monitoring the displacement of the hydraulic cylinder piston cylinder. The displacement sensor and the temperature sensor are both electrically connected to the controller, and the controller is used to realize closed-loop control and adjustment of the cooling system temperature according to the detection results of the displacement sensor and the temperature sensor.

[0044] A further improvement of the cotton picker of the present invention is that the controller controls the deflection angle of the fan shaft based on the following formula:

[0045] Among them, β represents the deflection angle of the fan blade shaft, r represents the radius of the circular motion trajectory of the fan blade shaft pin, α represents the angle between the contact inclined surface of the first wedge slider and the second wedge slider and the axial direction of the transmission shaft, and S represents the extension displacement of the hydraulic cylinder piston rod.

[0046] A further improvement of the cotton picker of the present invention is that when it is monitored that the temperature of the heat dissipation system is greater than or equal to the high temperature threshold, the controller controls the oil cylinder extension solenoid valve to be electrically conductive, and the hydraulic cylinder piston rod extends until the extension displacement of the piston rod increases to a preset third extension displacement. At this time, the positive deflection angle of the fan blade becomes larger to increase the heat dissipation air volume; when it is monitored that the temperature of the heat dissipation system is less than or equal to the low temperature threshold, the controller controls the oil cylinder retraction solenoid valve to be electrically conductive, and drives the hydraulic cylinder piston rod to retract until the extension displacement of the piston rod is reduced to a preset second extension displacement. At this time, the positive deflection angle of the fan blade becomes smaller to reduce the heat dissipation air volume.

[0047] A further improvement of the cotton picker of the present invention is that when the radiator needs to be self-cleaned, the controller controls the oil cylinder retraction solenoid valve to be energized and turned on, driving the hydraulic cylinder piston rod to retract until the extension displacement of the piston rod is reduced to a preset first extension displacement, and then controls the oil cylinder extension solenoid valve and the oil cylinder retraction solenoid valve to be de-energized and cut off and maintain for a preset time. At this time, the deflection angle of the fan blades is a negative deflection angle, and the fan blades change from sucking air to blowing air to automatically clean the radiator.

[0048] A further improvement of the cotton picker of the present invention is that the collection head speed control system also includes a speed correction module for obtaining the actual cotton picking rate based on cotton field images before and after harvesting, and correcting the collection head speed according to the actual cotton picking rate.

[0049] The application of the technical solution of the present invention has the following beneficial effects:

[0050] (1) The control system and method for the speed control of the collecting head of the cotton picker of the present invention, after obtaining the harvesting speed of the cotton picker, first adjusts the speed of the collecting head to the target working speed according to the reference correspondence between the harvesting speed and the speed of the collecting head, and obtains the real-time operating pressure of the collecting head pump during the harvesting operation, judges its pressure margin based on the real-time operating pressure of the collecting head pump, and adaptively adjusts the harvesting speed and the speed of the collecting head according to the pressure margin of the collecting head pump. When the pressure margin of the collecting head pump is insufficient, the harvesting speed and the speed of the collecting head are restricted from increasing, and when the pressure margin of the collecting head pump is sufficient, the harvesting speed and the speed of the collecting head are allowed to increase. Therefore, on the basis of the reference correspondence between the harvesting speed and the speed of the collecting head, the pressure margin of the collecting head pump is introduced as a regulating factor, and the harvesting speed and the speed of the collecting head can be more accurately regulated according to the different growth characteristics of the plants, which is more in line with the harvesting needs of the actual cotton field working conditions, improves the cotton picking rate, reduces the cotton impurity rate, and achieves a good cotton harvesting effect.

[0051] (2) The cotton picker's collecting head lifting safety device in the present invention is installed in the cotton picker, and a four-link mechanism is formed with the hanger, the suspension support, the pull rod and the frame. The collecting head is securely installed through the hanger, and then the end of the suspension support away from the frame is driven to rise and fall relative to the frame by the first driving member, thereby driving the hanger to rise and fall, thereby realizing the lifting of the collecting head. In the process of realizing the lifting of the collecting head, since the safety component is hinged to the suspension support and elastically detachably connected to the pull rod, and the pull rod is arranged above the suspension support, when the first driving member drives the collecting head to rise and fall, the pull rod synchronously drives the driving component to rotate upward relative to the suspension support away from the first driving member to avoid the first driving member, ensuring the first The driving member works stably. When the collection head is raised to the highest position for maintenance, the safety assembly and the pull rod are separated. The safety assembly rotates downward relative to the suspension support under the action of gravity and approaches the first driving member to stop the first driving member and prevent the first driving member from working. At the same time, it shares the load for the working end of the first driving member to prevent damage to the first driving member, thereby minimizing the risk of accidental falling of the collection head. This solution coordinates the hanging bracket, the suspension support, the pull rod and the first driving member to realize the lifting and lowering of the collection head relative to the frame through a single drive. Under the action of the safety assembly, compared with the existing technology, the safety of maintenance personnel is guaranteed, the solution is highly practical, and suitable for wide promotion and application.

[0052] (3) The cooling fan of the cotton picker in the present invention uses a guide plate to limit the slider radially and axially, which not only realizes the synchronous rotation of the housing, guide plate, slider, and outer ring of the bearing with the transmission shaft, but also allows the slider to move axially relative to the housing. In addition, the axial movement of the slider is converted into the angular deflection of the blade by sliding with the annular groove on the slider and the fan shaft pin. Under the drive of the second driving member, when the slider moves axially, the fan shaft pin can be driven to rotate. Without changing the speed and direction of the transmission shaft, not only the deflection angle of the fan blade can be adjusted, but also reverse deflection can be achieved, thereby realizing the self-cleaning function of the radiator. In addition, the overall structure of the device is compact and simple, and easy to maintain.

[0053] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0055] FIG1 is a flow chart of a method for controlling the speed of a cotton picker's collecting head according to a preferred embodiment of the present invention.

[0056] FIG2 is a schematic diagram showing the relationship between the separation force between cotton and boll shell, moisture content, and ripening time in a preferred embodiment of the present invention.

[0057] FIG3 is a schematic diagram of the linear relationship between the sampling head pump pressure and the sampling head rotation speed in a preferred embodiment of the present invention.

[0058] FIG4 is a schematic diagram of a sub-flow chart of step S3 in FIG1 .

[0059] FIG5 is a schematic diagram of another sub-flow chart of step S3 in FIG1 .

[0060] FIG6 is a diagram showing a relationship curve between the head pump pressure and the hydraulic oil temperature in a preferred embodiment of the present invention.

[0061] FIG7 is another flow chart of a method for controlling the speed of a cotton picker's collecting head according to a preferred embodiment of the present invention.

[0062] FIG8 is a schematic diagram showing the corresponding relationship between the speed of the harvesting head and the speed of the harvesting vehicle obtained according to a preferred embodiment of the present invention.

[0063] FIG9 is a schematic diagram of a sub-flow chart of step S4 in FIG7 .

[0064] 10 is a schematic diagram showing the relationship between the speed of the picking head pump and the operation time in the system no-load state, the system cotton picking state, and the system not preheated and cotton picking state in the preferred embodiment of the present invention.

[0065] FIG11 is a schematic diagram of the module structure of a cotton picker head speed control system according to another embodiment of the present invention.

[0066] FIG12 is a schematic structural diagram of a collection head lifting safety device according to a preferred embodiment of the present invention.

[0067] FIG13 is a schematic structural diagram of the rack in the collection head lifting safety device according to a preferred embodiment of the present invention.

[0068] FIG14 is a structural diagram of a suspension support in a collection head lifting safety device according to a preferred embodiment of the present invention.

[0069] FIG15 is a schematic diagram of a partial structure of a collection head lifting safety device according to a preferred embodiment of the present invention.

[0070] FIG16 is a side view of a cotton picker according to a preferred embodiment of the present invention.

[0071] Figure 17 is a schematic diagram of the bottom structure of the cotton picker according to a preferred embodiment of the present invention.

[0072] FIG18 is a schematic diagram of the overall structure of a heat dissipation fan according to a preferred embodiment of the present invention.

[0073] FIG19 is a schematic cross-sectional structural diagram of a heat dissipation fan according to a preferred embodiment of the present invention.

[0074] FIG20 is a schematic structural diagram of a slider according to a preferred embodiment of the present invention.

[0075] FIG. 21 is a schematic diagram of a hydraulic control system according to a preferred embodiment of the present invention.

[0076] FIG22 is a schematic diagram of the motion principle of the heat dissipation fan for adjusting the blade angle of the heat dissipation fan of the preferred embodiment of the present invention.

[0077] Among them, 100, bracket; 110, connecting longitudinal beam; 120, first crossbeam; 130, second crossbeam; 140, hinged seat; 150, first guard plate; 160, second guard plate; 200, suspension support; 210, installation main beam; 220, connecting crossbeam; 230, connecting shaft; 240, hinged sleeve; 250, connecting seat; 300, pull rod; 400, first driving member; 410, cylinder; 420, piston rod; 500, insurance component; 510, locking member; 520, elastic member; 521, compression spring; 522, traction rope; 1, housing; 2, fan blade; 3, fan blade shaft; 4, sliding bearing; 5, guide plate; 6, slider; 7, bearing; 8, Drive shaft; 9. First wedge-shaped slider; 10. Second wedge-shaped slider; 11. Second driving member; 12. Compression spring; 101. Housing pin hole; 301. Fan shaft pin; 601. Slider pin; 602. Annular groove; 603. Slider conductor; 604. Inner ring surface; 31. Hydraulic oil source; 32. Pressure reducing valve; 33. Cylinder extension solenoid valve; 34. One-way valve; 35. Damping; 36. Displacement sensor; 37. Controller; 38. Temperature sensor; 39. Cylinder retraction solenoid valve; 40. Hydraulic oil tank; 901. Bearing mounting ring; 13. Collection head; 14. Cooling fan; 15. Engine; 16. Radiator. DETAILED DESCRIPTION

[0078] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered by the claims.

[0079] In the first aspect, the present invention provides a collection head speed control system, including: a collection head speed control system, the collection head speed control system includes a reference control module, which is used to obtain the harvesting speed of the cotton picker, and regulate the speed of the collection head 13 to the target working speed according to the reference correspondence between the harvesting speed and the speed of the collection head 13; a pressure acquisition module, which is used to obtain the real-time operating pressure of the collection head pump during the harvesting operation of the collection head 13 at the target working speed; an adaptive adjustment module, which is used to adaptively adjust the harvesting speed and the speed of the collection head 13 based on the real-time operating pressure of the collection head pump.

[0080] It can be understood that the cotton picker's collecting head speed control system of this embodiment, after obtaining the cotton picker's harvesting speed, first regulates the collecting head 13 speed to the target working speed according to the reference correspondence between the harvesting speed and the speed of the collecting head 13, and obtains the real-time operating pressure of the collecting head pump during the harvesting operation, judges its pressure margin based on the real-time operating pressure of the collecting head pump, and adaptively adjusts the harvesting speed and the speed of the collecting head 13 according to the pressure margin of the collecting head pump. When the pressure margin of the collecting head pump is insufficient, the harvesting speed and the speed of the collecting head 13 are restricted from increasing, and when the pressure margin of the collecting head pump is sufficient, the harvesting speed and the speed of the collecting head 13 are allowed to increase. Therefore, on the basis of the reference correspondence between the harvesting speed and the speed of the collecting head 13, the pressure margin of the collecting head pump is introduced as a regulating factor, and the harvesting speed and the speed of the collecting head 13 can be more accurately regulated according to the different growth characteristics of the plants, which is more in line with the harvesting needs of the actual cotton field working conditions, improves the cotton picking rate, reduces the cotton impurity rate, and achieves a good cotton harvesting effect.

[0081] In addition, the speed control system of the cotton picker's collecting head further includes a speed correction module for obtaining the actual cotton picking rate based on cotton field images before and after harvesting, and correcting the speed of the collecting head 13 according to the actual cotton picking rate.

[0082] As shown in FIG1 , in a second aspect, a preferred embodiment of the present invention provides a method for controlling the speed of a cotton picker's collecting head, comprising the following:

[0083] Step S1: obtaining the harvesting speed of the cotton picker, and regulating the speed of the harvesting head 13 to a target operating speed according to a reference correspondence between the harvesting speed and the speed of the harvesting head 13;

[0084] Step S2: obtaining the real-time operating pressure of the harvesting head pump during the harvesting operation;

[0085] Step S3: Adaptively adjust the speed of the harvesting vehicle and the speed of the harvesting head 13 based on the real-time operating pressure of the harvesting head pump.

[0086] It can be understood that the separation force between cotton and boll is primarily related to the moisture content and maturity of the cotton. Specifically, as shown in Figure 2, as the moisture content of the cotton increases, the overall separation force between the cotton and boll gradually decreases. However, as the maturity time increases, the overall separation force between the cotton and boll shows a trend of first increasing and then decreasing. Furthermore, the maturity time of the cotton has a greater impact on the separation force between the cotton and boll than the moisture content. Therefore, as the harvesting period progresses, the speed of the harvesting head 13 should gradually increase and then decrease relative to the speed of the harvesting vehicle. When the speed of the harvesting head 13 matches too low, the spindle's hooking force is insufficient, increasing the amount of cotton hanging on branches and falling to the ground, resulting in a low cotton cleanliness rate. When the speed of the harvesting head 13 matches too high, the spindle's hooking force is too strong, increasing scraping damage to the cotton plant branches and increasing the impact of impurities and coloration on the cotton, resulting in a high cotton trash content. Therefore, due to the different growth characteristics of cotton at different stages, if the reference correspondence between the harvesting vehicle speed and the speed of the collecting head 13 is fixedly used to control the speed of the collecting head 13, it will inevitably lead to problems such as low cotton picking rate and high impurity rate. However, the present invention takes into account the existence of a reference linear correspondence between the speed of the collecting head 13 and the pressure of the collecting head pump. As shown in Figure 3, when the harvesting operation is carried out, a large amount of cotton is picked and wound around the collecting head 13, and the pressure of the collecting head pump will be further increased. Therefore, the collecting head pump needs to have sufficient pressure margin to meet the cotton harvesting needs. Among them, the pressure margin of the collecting head pump is positively correlated with its power margin, so the pressure margin can directly reflect the power margin. For the sake of convenience, the present invention uses the pressure margin for exemplary explanation.

[0087] Therefore, the cotton picker's collecting head speed control method of this embodiment, after obtaining the cotton picker's harvesting speed, first adjusts the collecting head 13 speed to the target working speed according to the reference correspondence between the harvesting speed and the speed of the collecting head 13, and obtains the real-time operating pressure of the collecting head pump during the harvesting operation, judges its pressure margin based on the real-time operating pressure of the collecting head pump, and adaptively adjusts the harvesting speed and the speed of the collecting head 13 according to the pressure margin of the collecting head pump. When the pressure margin of the collecting head pump is insufficient, the harvesting speed and the speed of the collecting head 13 are restricted from increasing, and when the pressure margin of the collecting head pump is sufficient, the harvesting speed and the speed of the collecting head 13 are allowed to increase. Therefore, on the basis of the reference correspondence between the harvesting speed and the speed of the collecting head 13, the pressure margin of the collecting head pump is introduced as a control factor, and the harvesting speed and the speed of the collecting head 13 can be more accurately adjusted according to the different growth characteristics of the plants, which is more in line with the harvesting needs of the actual cotton field working conditions, improves the cotton picking rate, reduces the cotton impurity rate, and achieves a good cotton harvesting effect.

[0088] It can be understood that in step S1, the speed of the cotton picker is collected in real time based on the vehicle speed sensor, and then the speed of the collecting head 13 is adjusted to the target working speed according to the preset reference correspondence between the harvesting speed and the speed of the collecting head 13.

[0089] It can be understood that in step S2, in the process of increasing the harvesting vehicle speed to the target control speed, the speed of the collecting head 13 also gradually increases to the target working speed, and the pressure of the collecting head pump also gradually increases with the increase in the speed of the collecting head 13. As the harvesting progresses, due to a large amount of cotton wrapped around the collecting head 13, the pressure of the collecting head pump further increases. During this process, the operating pressure value of the collecting head pump can be collected in real time by the pressure sensor, so as to facilitate real-time monitoring of the pressure margin of the collecting head pump. Once it is detected that the pressure margin of the collecting head pump is insufficient, it means that there is too much cotton wrapped around the collecting head 13, and the collecting head 13 is at risk of clogging. At this time, it is necessary to reduce the harvesting vehicle speed and the speed of the collecting head 13.

[0090] It can be understood that, as shown in FIG4 , in step S3 , the process of adaptively adjusting the speed of the harvesting vehicle and the speed of the harvesting head 13 based on the real-time operating pressure of the harvesting head pump is specifically as follows:

[0091] Step S31: setting a system protection limit value and a system acceleration limit value of the sampling head pump pressure, wherein the system protection limit value is less than the upper limit value of the operating pressure of the sampling head pump, and the system acceleration limit value is less than the system protection limit value;

[0092] Step S32: Compare the real-time operating pressure of the harvesting head pump with the system protection limit value and the system acceleration limit value, and adaptively adjust the harvesting vehicle speed and the speed of the harvesting head 13 according to the comparison result.

[0093] Specifically, to accommodate the mechanical load capacity, the pressure of the harvesting head pump will have an upper operating pressure limit. When the workload of the harvesting head 13 is too large and the pressure of the harvesting head pump exceeds the upper operating pressure limit, the hydraulic system will naturally release pressure to protect the system. In addition, when the harvesting head 13 is blocked or stuck due to foreign matter in the field, the mechanical clutch will naturally spring up, triggering the clutch alarm to protect the system. The high-pressure limit protection of the harvesting head pump is generally higher than that of the mechanical clutch, ensuring that the system still has good protection capabilities in the event of a clutch failure. Therefore, the present invention first sets a system protection limit value and a system acceleration limit value for the harvesting head pump pressure, wherein the system protection limit value is less than the upper operating pressure limit value of the harvesting head pump, and the system acceleration limit value is less than the system protection limit value. The system protection limit value serves as a high-pressure limit during a stable harvesting operation, while the system acceleration limit value serves as a high-pressure limit during an accelerated harvesting operation. In addition, the specific values ​​of the system protection limit value and the system acceleration limit value can be selected as needed and will not be elaborated here. Then, when the actual harvesting speed of the cotton picker is lower than the target control speed, that is, the real-time speed detected by the speed sensor is lower than the speed controlled by the armrest box, the cotton picker is ready to start accelerated harvesting. If the real-time operating pressure of the harvesting head pump is less than or equal to the system acceleration limit value, it means that the harvesting head pump has sufficient pressure margin, then the cotton picker is allowed to accelerate to the target control speed, and the speed of the harvesting head 13 is controlled to increase to the target working speed according to the reference correspondence between the harvesting speed and the speed of the harvesting head 13. If the real-time operating pressure of the harvesting head pump is greater than the system acceleration limit value, it means that the pressure margin of the harvesting head pump is insufficient, then the harvesting speed and the speed of the harvesting head 13 are restricted. Moreover, during the process of the cotton picker performing accelerated harvesting operations, as the cotton feed volume continues to increase, if the real-time operating pressure of the harvesting head pump is greater than the system acceleration limit value, it means that the pressure margin of the harvesting head pump is insufficient and there is a risk of clogging of the harvesting head 13, then the harvesting speed and the speed of the harvesting head 13 are restricted. In addition, when the cotton picker is performing a stable harvesting operation, that is, the harvesting vehicle speed increases to the target control speed, and the speed of the collecting head 13 increases to the target working speed, if the real-time operating pressure of the collecting head pump is greater than the system protection limit value, the harvesting vehicle speed is reduced, and the speed of the collecting head 13 is reduced accordingly according to the benchmark correspondence between the harvesting vehicle speed and the speed of the collecting head 13 to prevent the collecting head 13 from being blocked.

[0094] Optionally, as shown in FIG5 , step S3 further includes the following contents:

[0095] Step S33: Collect the temperature of the hydraulic oil. When the temperature of the hydraulic oil is lower than the preset threshold and the real-time operating pressure of the head pump is greater than the system protection limit value, the driver is prompted to preheat the equipment or perform maintenance.

[0096] During the cotton picking season, the climate changes significantly and the temperature difference is large, and the properties of lubricating grease are significantly affected by temperature. In addition, there are many parts in the collection head 13 that require lubricating grease, which causes the working pressure of the collection head pump to increase sharply as the temperature drops, as shown in Figure 6. Therefore, in a cold environment, the equipment must be fully preheated to ensure that the collection head pump has a certain amount of working power margin. Otherwise, there will be a problem of mismatch between the speed of the collection head 13 and the speed of the harvesting vehicle, or even if the speed of the collection head 13 is suitable for the speed of the harvesting operation, due to the lack of sufficient harvesting power, the load of the collection head 13 increases after entering the cotton field, causing the collection head 13 to slow down, become blocked and shut down, affecting the harvesting efficiency. Therefore, the present invention detects the temperature of the hydraulic oil in real time through a temperature sensor. When the temperature of the hydraulic oil is lower than the preset threshold and the real-time operating pressure of the harvesting head pump is greater than the system protection limit value, it means that the temperature has too much influence on the pressure of the harvesting head pump, resulting in insufficient power margin of the harvesting head pump, which may cause the speed of the harvesting head 13 to not match the speed of the harvesting vehicle, and the cotton picker does not have the ability to harvest cotton. At this time, a prompt will be issued to remind the driver to preheat the equipment or perform maintenance, further ensuring the harvesting effect.

[0097] Optionally, as shown in FIG7 , the cotton picker collecting head speed control method further includes the following contents:

[0098] Step S4: obtaining the actual cotton picking rate based on the cotton field images before and after harvesting, and correcting the rotation speed of the harvesting head 13 according to the actual cotton picking rate.

[0099] Specifically, cameras mounted on the front and rear of the cotton picker capture images of the cotton field before and after harvesting. Image processing techniques are then used to identify the cotton area before and after harvesting based on the captured images, and the actual cotton clean rate is calculated. The specific image processing techniques are known in the art and will not be detailed here. The speed of the harvesting head 13 is then corrected based on the actual cotton clean rate. When the actual cotton clean rate is below a preset lower limit, indicating poor cotton clean rate, the slope of the relationship between the harvesting vehicle speed and the reference speed of the harvesting head 13 is increased, i.e., the speed of the harvesting head 13 corresponding to the reference operating speed is increased to improve cotton clean rate. When the actual cotton clean rate is above a preset upper limit, indicating good cotton clean rate, an excessively high cotton clean rate also indicates a high trash content. To balance the cotton clean rate and trash content, the present invention employs an appropriate loss of clean rate to minimize the trash content. This is done by reducing the slope of the relationship between the harvesting vehicle speed and the reference speed of the harvesting head 13, i.e., reducing the speed of the harvesting head 13 corresponding to the reference operating speed, thereby reducing the cotton trash content and dyeing rate, while also minimizing wear on the mechanism. In addition, the corresponding relationship between the rotation speed of the collection head 13 and the collection vehicle speed obtained by the present invention is shown in Figure 8. The gray area in Figure 8 is the ratio range of the rotation speed of the collection head 13 and the collection vehicle speed after correction based on the net recovery rate.

[0100] As shown in FIG9 , the process of correcting the rotation speed of the collection head 13 according to the actual cotton picking rate is specifically as follows:

[0101] Step S41: obtaining a first change curve and a second change curve of the picking pump pressure in a system no-load state and a system cotton picking state, respectively, and obtaining the picking pump pressure value required for cotton picking based on the pressure difference between the first change curve and the second change curve in a stable harvesting stage;

[0102] Step S42: Calculating a first pressure margin influence coefficient based on the real-time operating pressure of the harvesting head pump, the system acceleration limit value, and the harvesting head pump pressure value required for cotton picking; and calculating a second pressure margin influence coefficient based on the real-time operating pressure of the harvesting head pump and the system protection limit value;

[0103] Step S43: When the actual cotton picking rate is lower than the preset lower limit value, the first picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset lower limit value, and the rotation speed of the collection head 13 is positively corrected based on the first pressure margin influence coefficient and the first picking rate influence coefficient. When the actual cotton picking rate is higher than the preset upper limit value, the second picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset upper limit value, and the rotation speed of the collection head 13 is negatively corrected based on the second pressure margin influence coefficient and the second picking rate influence coefficient.

[0104] Specifically, a first variation curve and a second variation curve of the head pump pressure changing with time in the system no-load state and the system cotton picking state are obtained respectively. In addition, a third variation curve of the head pump pressure in the system not preheating and cotton picking state can also be obtained. The specific curve diagram is shown in Figure 10. Among them, the system no-load state and the system cotton picking state are both under normal system preheating and running-in conditions, or under high temperature conditions without preheating and running-in, while the system not preheating and cotton picking state is under low temperature conditions without preheating and running-in. As can be seen from Figure 10, when the system is in an unloaded state, the speed of the collecting head 13 increases linearly with the speed of the harvesting vehicle, and the pressure of the collecting head pump also increases linearly with the speed of the collecting head 13 until the maximum speed is reached, and the speed of the collecting head 13 and the pressure of the collecting head pump remain stable; when the system is in a cotton picking state, the speed of the collecting head 13 increases linearly with the speed of the harvesting vehicle, and the pressure of the collecting head pump also increases linearly with the speed of the collecting head 13 until the maximum speed is reached, and the speed of the collecting head 13 and the pressure of the collecting head pump remain stable. At this time, since the picking spindles are hooked around the cotton during the harvesting operation, the pressure of the collecting head pump is greater than that when unloaded; and when the system is in a low temperature environment without preheating and in a cotton picking state, the load of the collecting head pump is higher than that of a normal cotton picking operation, and as the operation time increases, the pressure of the hydraulic system decreases linearly and is on par with the normal cotton picking operation. In addition, when the system is not preheated and the cotton is being picked, there may be a situation where the pressure of the picking head pump has reached the upper limit, resulting in the speed of the collecting head 13 being unable to increase to match the speed of the harvesting vehicle. In this case, the equipment no longer has the ability to pick cotton, and the pressure of the picking head pump remains at the system upper limit for a long time. The speed of the collecting head 13 increases linearly and slowly with the preheating time until the collecting head 13 reaches the maximum speed. Only then will the pressure of the hydraulic system decrease linearly and slowly with the preheating time. Optionally, while retaining a certain pressure margin, the maximum value in the third change curve can be set as the system acceleration limit value. Then, based on the pressure difference between the first change curve and the second change curve in the stable harvesting stage, the pressure value of the picking head pump required for cotton picking can be calculated.

[0105] Then, the first pressure margin influence coefficient is calculated based on the following formula:

[0106] The second pressure margin influence coefficient is calculated based on the following formula: ε=P work -P pro ;

[0107] Where θ represents the first pressure margin influence coefficient, P acc Indicates the system acceleration limit value, P work Indicates the real-time operating pressure of the head pump, P ne Indicates the pressure value of the picking pump required for cotton picking, P pro Indicates the system protection limit value.

[0108] When the actual cotton picking rate is lower than the preset lower limit, the first cotton picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset lower limit. The calculation formula is: α1=|N min -N pick |, α1 represents the first mining rate influence coefficient, N min Indicates the preset lower limit of cotton picking rate, N pick Then, the rotation speed of the collection head 13 is corrected in the positive direction based on the following formula: I = I base *α1*k0θ 2 ;

[0109] Among them, I represents the correction current of the solenoid valve of the sampling pump, I base k0 represents the baseline control current of the solenoid valve of the harvesting head pump, i.e., the current value of the solenoid valve of the harvesting head pump when the speed of the harvesting head 13 is in a baseline correspondence with the speed of the harvesting vehicle. k0 represents a fixed coefficient, which increases the speed of the harvesting head 13 corresponding to the baseline operating vehicle speed. The specific value of k0 can be determined through experimentation and is generally between (0.01 and 0.03), for example, 0.01, 0.015, 0.02, etc.

[0110] When the actual cotton picking rate is higher than the preset upper limit, the second cotton picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset upper limit. The calculation formula is: α2=|N max -N pick |, α2 represents the second net mining rate influence coefficient, N max Then, the rotation speed of the collection head 13 is reversely corrected based on the following formula: I = I base *k1α2*k2ε 2 ;

[0111] Among them, k1 and k2 represent fixed coefficients. The specific values ​​of the two can be obtained through experiments. The value of k1 is generally a value between (0.002, 0.01), and the value of k2 is generally a value between (0.1, 0.6). For example, the value of k1 is 0.005 and the value of k2 is 0.2; or the value of k1 is 0.006 and the value of k2 is 0.4, etc. After the correction current I is calculated, the reference control current I base Based on this, combined with the corrected current I, the control current of the solenoid valve of the sampling head pump is obtained.

[0112] It can be seen from the above two control formulas that the present invention takes into account the influence of the collection rate and pressure margin on the rotation speed correction of the collection head 13, and can accurately correct and adjust the rotation speed of the collection head 13, which is conducive to further improving the collection rate and reducing the impurity rate.

[0113] The above reverse correction formula is mainly applicable to situations where the picking rate is too high and the high pressure of the picking head pump is abnormal. For example, at the end of the picking season, the branches are dry and broken. When picking cotton, the branches are broken and mixed into the picking mechanism, which increases the load. Although the picking rate is high, the blockage rate is extremely high, and the cotton cannot be sold due to the high impurity content. Optionally, when the actual cotton picking rate is higher than the preset upper limit value, but the pressure margin of the picking head pump is sufficient, that is, when the real-time operating pressure of the picking head pump is less than the system protection limit value, the above reverse correction formula is transformed into I=I base *k1α2, that is, at this time, only the influence of the net collection rate on the rotation speed of the collection head 13 is considered, because the purpose of the reverse correction is to reduce the rotation speed of the collection head 13, and the reduction of the rotation speed of the collection head 13 will inevitably increase the pressure margin of the collection head pump. Therefore, at this time, the limitation of the pressure margin on the rotation speed of the collection head 13 cannot be considered.

[0114] Optionally, when performing a forward correction on the speed of the collecting head 13, if the speed of the collecting head 13 reaches the maximum operating speed, the speed of the harvesting vehicle needs to be reduced to reduce the amount of cotton fed. The specific control algorithm is the same as the reverse correction formula for the speed of the collecting head 13 and will not be repeated here.

[0115] In addition, the cotton picker's collecting head speed control method can also detect the clutch status of the collecting head 13 through a proximity switch. When the clutch of the collecting head 13 bounces, the proximity switch can send a feedback signal to the display screen to remind the driver that the collecting head 13 is blocked and stuck, and to stop the machine for inspection in time.

[0116] Furthermore, since cotton lint has a certain degree of water absorption, setting the wetting water pressure too high will result in a high overall moisture content in the cotton, increasing the risk of cotton mold during storage. Setting the wetting water pressure too low will result in inadequate spindle cleaning, causing lint to tightly wrap around the spindles, reducing their ability to hook and entangle, impacting the cleanliness rate, and increasing the risk of friction fires. Therefore, the cotton picker's collection head speed control method can also detect the wetting water pressure of the collection head 13 using a water pressure sensor and compare the detected wetting water pressure with a set value range. If the detected value is greater than the upper limit of the set value range, the wetting water pressure is reduced; if the detected value is less than the upper limit of the set value range, the wetting water pressure is increased. Since the wetting water pressure required for cotton harvesting varies during the day and night, the specific values ​​of the set value range are different for daytime and nighttime harvesting. Furthermore, by analyzing the cotton field environment image and combining it with the system clock, it can be determined whether the current operation time is daytime or nighttime, and the set value range of the wetting water pressure can be set accordingly.

[0117] It can be understood that the various modules of the present system embodiment correspond to the various steps of the above method embodiment, so the specific working process of each module will not be repeated here.

[0118] Figure 12 is a structural schematic diagram of the collection head lifting safety device of the preferred embodiment of the present invention; Figure 13 is a structural schematic diagram of the hanger in the collection head lifting safety device of the preferred embodiment of the present invention; Figure 14 is a structural schematic diagram of the suspension support in the collection head lifting safety device of the preferred embodiment of the present invention; Figure 15 is a partial structural schematic diagram of the collection head lifting safety device of the preferred embodiment of the present invention.

[0119] Referring to FIG16 , in a third aspect, the present invention further provides a cotton picker, as shown in FIG12 , comprising:

[0120] The acquisition head speed control system as described above;

[0121] The collection head lifting safety device includes a hanger 100 for installing the collection head 13, a suspension support 200 hinged to the hanger 100 for articulating the frame, a pull rod 300 hinged to the hanger 100 for articulating the frame, a first driving member 400 hinged to the suspension support 200 for articulating the frame to drive the end of the suspension support 200 away from the frame to rise and fall relative to the frame, and a safety assembly 500 hinged to the suspension support 200 and elastically detachably connected to the pull rod 300 for avoiding the first driving member 400 by rotating away from the first driving member 400 or locking the first driving member 400 by rotating close to the first driving member 400. The pull rod 300 is arranged above the suspension support 200. Specifically, the collection head lifting safety device of the present invention forms a four-bar linkage with the frame through the hanger 100, the suspension support 200, the pull rod 300 and the frame. The collection head 13 is reliably installed through the hanger 100, and then the first driving member 400 drives the suspension support 200 to move up and down relative to the frame, thereby driving the hanger 100 to move up and down, thereby realizing the lifting of the collection head 13. In the process of realizing the lifting of the collection head 13, since the safety component 500 is hinged to the suspension support 200 and elastically detachably connected to the pull rod 300, and the pull rod 300 is arranged above the suspension support 200, when the first driving member 400 drives the collection head 13 to move up and down, the pull rod 300 synchronously drives the driving component to rotate upward relative to the suspension support 200 away from the first driving member 400 to avoid the first driving member 400, ensuring that the first driving member 400 is lifted and lowered. The moving part 400 works stably. When the collection head 13 is raised to the highest position for maintenance, the safety component 500 and the pull rod 300 are separated. The safety component 500 rotates downward relative to the suspension support 200 under the action of gravity and approaches the first driving member 400 to stop the first driving member 400 and prevent the first driving member 400 from working. At the same time, it shares the load for the working end of the first driving member 400 to prevent damage to the first driving member 400, thereby minimizing the risk of accidental falling of the collection head 13. This solution coordinates the hanger 100, the suspension support 200, the pull rod 300 and the first driving member 400 to achieve the lifting and lowering of the collection head 13 relative to the frame through a single drive. Under the action of the safety component 500, compared with the existing technology, the safety of maintenance personnel is guaranteed, the practicability is strong, and it is suitable for wide promotion and application.

[0122] As shown in Figure 15 , in this embodiment, the first drive member 400 includes a cylinder 410 for articulating the frame, and a piston rod 420 movably disposed on the cylinder 410 and hingedly connected to the suspension support 200. Specifically, the frame is articulated via the cylinder 410, and the suspension support 200 is articulated via the piston rod 420. Hydraulic medium is introduced into the cylinder 410 to drive the piston rod 420 to extend and retract relative to the cylinder 410, thereby raising and lowering the collection head 13.

[0123] As shown in Figures 12 and 15, in this embodiment, the safety assembly 500 includes a locking member 510 hingedly connected to the suspension support 200 and configured to rotate away from or toward the cylinder 410, and an elastic member 520 connected to the free end of the locking member 510 and detachably connected to the pull rod 300. Specifically, the elastic member 520 is elastically and detachably connected to the pull rod 300, so that the locking member 510 can be elastically pulled away from the cylinder 410 by the pull rod 300, or the elastic member 520 and the pull rod 300 can be separated, so that the locking member 510 abuts against the cylinder 410 under the action of gravity, thereby preventing the piston rod 420 from extending or retracting relative to the cylinder 410, thereby locking the first driving member 400.

[0124] As shown in Figures 12 and 15 , in this embodiment, the elastic member 520 includes a compression spring 521 connected to the free end of the retaining member 510, and a traction rope 522 connected to the compression spring 521 and detachably connected to the pull rod 300. Specifically, the pull rod 300 pulls the traction rope 522 to stretch the compression spring 521. This, in turn, elastically pulls the retaining member 510 under the elastic force of the compression spring 521, ensuring that the retaining member 510 is away from the cylinder 410, thereby avoiding the cylinder 410 and ensuring the normal extension and retraction of the piston rod 420. It should be understood that if rigid traction is used, there is a possibility that the retaining member 510 and the suspension support 200 may interfere with each other.

[0125] As shown in Figure 13, in this embodiment, the bracket 100 includes a connecting longitudinal beam 110, a first cross beam 120 connected to the first end of the connecting longitudinal beam 110, a second cross beam 130 connected to the second end of the connecting longitudinal beam 110, and a hinge seat 140 fixedly arranged on the second cross beam 130, the vertical first end of the hinge seat 140 is hinged to the pull rod 300, and the vertical second end of the hinge seat 140 is hinged to the suspension support 200. Specifically, the first end and the second end of the longitudinal beam 110 are connected to the first cross beam 120 and the second cross beam 130 respectively to form a bracket structure for reliably installing the collection head 13, and then the hinge seat 140 is fixedly arranged on the second cross beam 130, so that the vertical first end and the vertical second end of the hinge seat 140 are respectively hinged to the pull rod 300 and the suspension support 200, so that the pull rod 300 is above the suspension support 200, and a four-bar linkage is formed with the frame through the hinge seat 140, the bracket 100, the suspension support 200 and the frame.

[0126] As shown in Figure 12, in this embodiment, the rack 100 further includes a first guard plate 150 connected to the first end of the first crossbeam 120 and the first end of the second crossbeam 130, and a second guard plate 160 connected to the second end of the first crossbeam 120 and the second end of the second crossbeam 130. Specifically, the first guard plate 150 connects the first end of the first crossbeam 120 and the first end of the second crossbeam 130, respectively, and the second guard plate 160 connects the second end of the first crossbeam 120 and the second end of the second crossbeam 130, respectively, to improve the structural strength of the rack 100 and ensure reliable support of the rack 100.

[0127] As shown in Figure 14, in this embodiment, the suspension support 200 includes two mounting main beams 210 that are arranged opposite to each other and at intervals, connecting cross beams 220 respectively connected to the two mounting main beams 210, and connecting shafts 230 for articulating the frame respectively connected to the two mounting main beams 210. An articulated sleeve 240 articulated to the articulated seat 140 is provided at the end of the mounting main beam 210 away from the connecting shaft 230, and the mounting main beam 210, the articulated sleeve 240 and the articulated seat 140 are arranged in a one-to-one correspondence. Specifically, the two mounting main beams 210 are connected by connecting the cross beam 220, and then the two mounting main beams 210 are connected by the connecting shaft 230 and the frame is hinged to realize the articulation of the suspension support 200 to the frame, and then the articulation is realized by hingedly connecting the articulated head and the articulated seat 140 to realize the articulation of the suspension support 200 to the rack 100, and the two mounting main beams 210 and the two articulated sleeves 240 are used to simultaneously drive the rack 100 to rise and fall relative to the frame, ensuring that the collection head 13 installed on the rack 100 will not swing left and right during the lifting process, thereby ensuring that the collection head 13 is lifted and lowered stably.

[0128] As shown in Figure 14, in this embodiment, the suspension support 200 further includes a connecting base 250 disposed on the mounting main beam 210 and hingedly connected to the first drive member 400. The connecting base 250 is disposed at the junction of the mounting main beam 210 and the connecting crossbeam 220. Specifically, the connecting base 250 allows the suspension support 200 to be hingedly connected to the first drive member 400. The connecting base 250 is mounted at the junction of the main beam 210 and the connecting crossbeam 220, which provides a compact structure and reliable strength. It should be understood that the hinged connection of the suspension support 200 to the first drive member 400 via the connecting base 250 results in relatively large forces acting on the connecting base 250, thus ensuring that the connecting base 250 is securely mounted.

[0129] As shown in Figure 12 , in this embodiment, two pull rods 300 are spaced apart from each other, and each pull rod 300 corresponds to the articulated seat 140. Specifically, when the first drive member 400 is activated to raise or lower the collection head 13, the two pull rods 300 simultaneously pull the articulated seat 140, ensuring smooth raising and lowering of the collection head 13 and preventing it from swaying.

[0130] Specifically, by installing the above-mentioned collecting head lifting safety device in the cotton picker, the collecting head 13 can be lifted and lowered by a single drive while ensuring the safety of maintenance personnel during maintenance of the single drive. It is highly practical and suitable for wide promotion and application.

[0131] The cotton picker is provided with an open hydraulic system for overall control of the cotton picker. The open hydraulic system has hydraulic pipelines for transmitting working fluid. The open hydraulic system includes a bypass hydraulic oil source, which is the power source of the cooling fan 14. The cotton picker is provided with a radiator 16 and an engine 15, and the cooling fan 14 is located between the radiator 16 and the engine 15. The hydraulic pipeline passes through the inside of the radiator 16. The cooling fan 14 relies on the bypass hydraulic oil source to generate wind power and cool the engine 15 and hydraulic pipeline of the cotton picker.

[0132] As shown in Figures 18 to 20, the cotton picker of the present invention also includes a cooling fan 14, including a housing 1, blades 2, a blade shaft 3, a guide plate 5, a slider 6, a bearing 7, a transmission shaft 8 and a second driving member 11. One end of the transmission shaft 8 is connected to the power source, that is, one end of the transmission shaft 8 is connected to the bypass hydraulic oil source, serving as the power source for the rotation of the cooling fan 14, and the other end is fixedly connected to the housing 1. Specifically, the right end of the transmission shaft 8 is connected to the power source, and the left end of the transmission shaft 8 is connected to the housing 1 by bolts. A plurality of blade shaft holes are provided on the housing 1 at intervals along the circumference, and a sliding bearing 4 is provided in each blade shaft hole. The blade shaft 3 is sleeved on the sliding bearing 4, and the blade 2 is fixedly connected to the upper end of the blade shaft 3. Wherein, the blade 2 is connected to the upper end of the blade shaft 3 by bolts. The slider 6 is mounted on the transmission shaft 8 via a bearing 7. Specifically, an inner ring surface 604 is provided on the right end inner wall of the slider 6. The outer ring of the bearing 7 has an interference fit with the inner ring surface 604. The inner ring of the bearing 7 is movably mounted on the transmission shaft 8, allowing the slider 6 and the bearing 7 to move axially relative to the transmission shaft 8. The guide plate 5 is fixedly connected to the housing 1. A through slot is defined in the axial direction of the guide plate 5. A portion of the slider 6 is positioned within this slot to radially and circumferentially constrain the slider 6, allowing the slider 6 to rotate synchronously with the housing 1 and to have axial freedom of movement relative to the housing 1. Specifically, a slider conductor 603 is radially provided at the right end of the slider 6. The slider conductor 603 is embedded in the through slot of the guide plate 5. When the guide plate 5 and the housing 1 rotate together under the drive of the transmission shaft 8, the guide plate 5 drives the slider 6 to rotate synchronously. The lower end of the blade shaft 3 is eccentrically provided with a blade shaft pin 301, and an annular groove 602 is provided on the slider 6 along the circumference. The blade shaft pin 301 is inserted into the annular groove 602. When the slider 6 moves axially, the blade shaft pin 301 can be driven to rotate, thereby driving the blade shaft 3 and the blade 2 to rotate, and then adjusting the angle of the blade 2. The second driving member 11 is connected to the slider 6 for driving the slider 6 to move axially. When the slider 6 moves axially, the blade shaft pin 301 is driven to rotate, thereby adjusting the deflection angle of the blade 2. It can be understood that when the slider 6 moves axially to the left, the blade 2 is driven to rotate clockwise, and when the slider 6 moves axially to the right, the blade 2 is driven to rotate counterclockwise. Not only can the deflection angle of the blade 2 be adjusted, but reverse deflection can also be achieved, thereby realizing the self-cleaning function of the radiator. The second driving member 11 can be a linear driving mechanism such as a hydraulic cylinder, an electric push rod, a linear motor, etc., and preferably a hydraulic cylinder.Furthermore, the cooling fan 14 can also share a hydraulic cylinder with the open hydraulic system of the cotton picker, so the second driving member 11 can be omitted, thereby saving the cost of the entire machine and optimizing the space layout.

[0133] The cooling fan 14 of this embodiment utilizes the guide plate 5 to radially and axially limit the slider 6, thereby achieving synchronous rotation of the housing 1, guide plate 5, slider 6, and the outer ring of the bearing 7 with the drive shaft 8, while also allowing the slider 6 to move axially relative to the housing 1. Furthermore, the annular groove 602 on the slider 6 slides in conjunction with the blade shaft pin 301, converting the axial movement of the slider 6 into angular deflection of the blade 2. Driven by the second drive member 11, the axial movement of the slider 6 drives the blade shaft pin 301 to rotate. Without changing the speed or direction of the drive shaft 8, not only can the deflection angle of the blade 2 be adjusted, but reverse deflection can also be achieved, thereby realizing the self-cleaning function of the radiator. Furthermore, the overall structure of the device is compact and simple, making it easy to maintain.

[0134] Optionally, the cooling fan 14 further includes a first wedge-shaped slider 9 and a second wedge-shaped slider 10 that are engaged by an inclined sliding engagement. The first wedge-shaped slider 9 is fixedly connected to the inner ring of the bearing 7, and a second driving member 11 is connected to the second wedge-shaped slider 10. The second driving member 11 is controlled to drive the second wedge-shaped slider 10 up and down, thereby driving the first wedge-shaped slider 9, the bearing 7, and the slider 6 to move axially together. It can be understood that the inclined sliding engagement of the two wedge-shaped sliders converts the up and down movement of the second wedge-shaped slider 10 into the left and right movement of the first wedge-shaped slider 9. This allows the second driving member 11 to be positioned vertically on the same side of the transmission shaft 8, eliminating the axial space of the transmission shaft 8 and resulting in a more compact structural layout, making it more suitable for mechanical equipment requiring high compactness. Of course, in other embodiments of the present invention, the second driving member 11 can also be positioned axially in the transmission shaft 8 to directly drive the slider 6 and bearing 7 axially. However, this would occupy axial installation space and hinder a compact structure.

[0135] Preferably, one of the two mutually cooperating inclined surfaces of the first wedge-shaped slider 9 and the second wedge-shaped slider 10 is provided with a groove, and the other is provided with a boss. The boss and the groove slide together to guide the sliding engagement of the two wedge-shaped sliders, thereby improving the reliability of the sliding engagement of the two wedge-shaped sliders. Furthermore, a bearing mounting ring 901 is provided at the upper left end of the first wedge-shaped slider 9. The bearing mounting ring 901 is movably mounted on the transmission shaft 8, for example, using a clearance fit. The inner ring of the bearing 7 is fixedly mounted on the outer annular surface of the bearing mounting ring 901, for example, using an interference fit.

[0136] Optionally, a compression spring 12 is axially arranged between the slider 6 and the housing 1, and the initial state of the compression spring 12 is a compressed state, which is used to provide an axial rightward pre-tightening force for the slider 6. The left end of the compression spring 12 is pressed on the flange at the left end of the transmission shaft 8, and the right end of the compression spring 12 is pressed on the slider 6. The compression spring 12 can be sleeved on the transmission shaft 8, and of course, it can also be chosen not to be sleeved on the transmission shaft 8. When the second driving member 11 drives the slider 6 to move axially to the left, the compression spring 12 is further squeezed, and when the slider 6 needs to move axially to the right, the slider 6 can be driven to move axially to the right only under the action of the restoring force of the compression spring 12. Of course, in other embodiments of the present invention, the compression spring 12 can be omitted, and the slider 6 can be driven entirely by the second driving member 11 to move left and right axially.

[0137] Optionally, a slider pin 601 is provided on the slider 6, and a shell pin hole 101 is provided on the shell 1. The slider pin 601 is inserted into the shell pin hole 101 to guide the slider 6 when it moves axially, thereby enhancing the stability of the movement of the slider 6.

[0138] In one embodiment of the present invention, the working process of the cooling fan 14 is as follows: when the transmission shaft 8 rotates, the housing 1, the fan blades 2, the fan blade shaft 3, the sliding bearing 4, the guide plate 5, the slider 6, the outer ring of the bearing 7 and the compression spring 12 are all driven by the transmission shaft 8 to perform synchronous rotational motion, while the inner ring of the bearing 7, the first wedge slider 9, the second wedge slider 10 and the hydraulic cylinder do not rotate with the above components. When the fan is rotating, when the pressure oil in the hydraulic cylinder flows into the oil, the piston rod of the hydraulic cylinder extends, pushing the second wedge-shaped slider 10 to move vertically upward, causing the first wedge-shaped slider 9 to move horizontally to the left. The first wedge-shaped slider 9 transmits the motion to the slider 6 through the bearing 7, causing the slider 6 to move horizontally to the left relative to the housing 1, and the annular slide groove 602 of the slider 6 pushes the blade shaft pin 301 to the left, causing the deflection angle of the blade 2 to rotate in the direction of the positive deflection angle; when the pressure oil in the hydraulic cylinder stops flowing, the preload force generated by the compression spring 12 is applied to the slider 6, fixing it in the current position, and the deflection angle of the blade 2 is fixed at the current position; when the return oil of the hydraulic cylinder is released When the hydraulic cylinder is in the downward direction, the piston rod of the hydraulic cylinder moves downward. When the hydraulic cylinder stops returning oil, the piston of the hydraulic cylinder no longer moves downward. The preload force generated by the compression spring 12 is applied to the slider 6 to fix it in the current position. At this time, the deflection angle of the fan blade 2 is fixed in the current position.

[0139] It is understood that, as a preferred embodiment, the second driving member 11 is a hydraulic cylinder. As shown in FIG21 , the cooling fan 14 further includes a hydraulic control system, specifically comprising a hydraulic oil source 31, a pressure reducing valve 32, a cylinder extension solenoid valve 33, a cylinder retraction solenoid valve 39, a controller 37, and a hydraulic oil tank 40. The cylinder extension solenoid valve 33 is disposed in the oil path connecting the hydraulic oil source 31 and the rodless chamber of the hydraulic cylinder, and the cylinder retraction solenoid valve 39 is disposed in the oil path connecting the hydraulic oil tank 40 and the rodless chamber of the hydraulic cylinder. The controller 37 is electrically connected to the cylinder extension solenoid valve 33 and the cylinder retraction solenoid valve 39. When the controller 37 controls the cylinder extension solenoid valve 33 to be turned on and the cylinder retraction solenoid valve 39 to be turned off, the hydraulic cylinder extends and drives the slider 6 to move axially to the left. When the controller 37 controls the cylinder extension solenoid valve 33 to be turned off and the cylinder retraction solenoid valve 39 to be turned on, if the slider 6 moves axially to the right, the hydraulic cylinder is driven to retract. When the controller 37 controls both the cylinder extension solenoid valve 33 and the cylinder retraction solenoid valve 39 to be turned off, the hydraulic cylinder maintains its current position.

[0140] Optionally, the cooling fan 14 further includes a pressure reducing valve 32 disposed between the hydraulic oil source 31 and the oil cylinder extension solenoid valve 33, for providing the hydraulic cylinder with pressurized oil at a certain temperature to increase the stability of the deflection angle control of the fan blade 2. In addition, a one-way valve 34 is disposed between the oil cylinder extension solenoid valve 33 and the rodless chamber of the hydraulic cylinder to prevent oil backflow and enable the hydraulic cylinder to stably maintain a specific position. In addition, a damper 35 is disposed between the one-way valve 34 and the rodless chamber of the hydraulic cylinder to control the speed of oil inlet to the hydraulic cylinder and enhance the smoothness of the movement of the fan blade 2 during angle adjustment.

[0141] Optionally, the cooling fan 14 further includes a temperature sensor 38 for monitoring the temperature of the cooling system and a displacement sensor 36 for monitoring the displacement of the hydraulic cylinder piston rod. Both the displacement sensor 36 and the temperature sensor 38 are electrically connected to the controller 37. The controller 37 is configured to implement closed-loop control and adjustment of the cooling system temperature based on the detection results of the displacement sensor 36 and the temperature sensor 38. It will be appreciated that the present invention can precisely adjust the extension and contraction of the hydraulic cylinder in a closed loop by monitoring the cooling system temperature and the displacement of the hydraulic cylinder piston rod, so that the fan blades 2 are at the most appropriate angle to match the optimal power demand of the cooling system, thereby improving power system utilization and reducing energy consumption.

[0142] In one embodiment of the present invention, the hydraulic control principle of the cooling fan 14 is as follows: when the hydraulic cylinder needs to be extended, the controller 37 sends a command signal to the cylinder extension solenoid valve 33. After the cylinder extension solenoid valve 33 is energized, the valve core changes to the left position function. At this time, the pressure oil output by the hydraulic oil source 31 passes through the pressure reducing valve 32, and then passes through the cylinder extension solenoid valve 33 to open the one-way valve 34. The pressure oil then passes through the damper 35 and enters the rodless chamber of the hydraulic cylinder. The pressure oil pushes the piston rod of the hydraulic cylinder to extend; when the hydraulic cylinder needs to be maintained at a certain position, the controller 37 does not send a command signal to the cylinder extension solenoid valve 33 and the cylinder retraction solenoid valve 39. At this time, the hydraulic oil The hydraulic system's oil inlet is blocked by the cylinder extension solenoid valve 33, and its return is blocked by the cylinder retraction solenoid valve 39. The hydraulic oil in the cylinder's rodless chamber is blocked by the check valve 34 and the cylinder retraction solenoid valve 39, preventing it from flowing. The cylinder's piston rod is held in its current position. When the cylinder needs to retract, the controller 37 sends a command signal to the cylinder retraction solenoid valve 39. Upon receiving power, the valve core of the cylinder retraction solenoid valve 39 switches to the upper function, connecting the cylinder's rodless chamber to the hydraulic oil tank 40. The hydraulic oil in the rodless chamber passes through the damper 35 and the cylinder retraction solenoid valve 39 and returns to the hydraulic oil tank 40. The preload of the compression spring 12 causes the cylinder's piston rod to retract. By adjusting the direction and flow rate of the hydraulic oil to control the rotation speed and rotation angle, the radiator can be backflushed to effectively remove impurities accumulated on the radiator's outer surface, ensuring unobstructed airflow between the fins and maintaining the efficient operation of the cooling system. This method proactively changes the limitations of previous reliance on manual or mechanically assisted cleaning, fundamentally improving heat dissipation efficiency and reducing the time and difficulty of maintenance work.

[0143] It can be understood that the controller 37 controls the deflection angle of the fan shaft 3 based on the following formula:

[0144] Among them, β represents the deflection angle of the fan blade shaft, r represents the radius of the arc motion trajectory of the fan blade shaft pin 301, α represents the angle between the contact slope of the first wedge-shaped slider 9 and the second wedge-shaped slider 10 and the axial direction of the transmission shaft 8, and S represents the extension displacement of the hydraulic cylinder piston rod. Specifically, the present invention also proposes a control relationship between the deflection angle of the fan blade 2 and the displacement of the hydraulic cylinder piston rod, as shown in Figure 22, O1 represents the motion reference coordinate system of the two wedge-shaped sliders, x1 is the horizontal axis of the coordinate system, and y1 is the vertical axis of the coordinate system; O2 represents the motion reference coordinate system of the fan blade shaft pin 301, x2 is the horizontal axis of the coordinate system, and y2 is the vertical axis of the coordinate system. is the longitudinal axis of the coordinate system; S represents the extension displacement of the hydraulic cylinder piston rod; α represents the angle formed by the contact inclined surface of the first wedge-shaped slider 9 and the second wedge-shaped slider 10 and the axial direction of the transmission shaft 8; ①, ②, ③ represent the zero position, positive deflection angle, and negative deflection angle positions of the blade shaft pin 301 in the motion trajectory, respectively; Δx2 represents the horizontal distance between the blade shaft pin 301 and the coordinate axis y2; r represents the radius of the circular arc motion trajectory of the blade shaft pin 301; β1 represents the complementary angle of the maximum positive deflection angle of the blade shaft 3, that is, the maximum positive deflection angle of the blade shaft 3 is (90°-β1); β2 represents the complementary angle of the maximum negative deflection angle of the blade shaft 3, that is, the maximum negative deflection angle of the blade shaft 3 is (90°-β2); β represents the deflection angle of the blade shaft 3, β∈[-90°+β2, 90°-β1].

[0145] According to the above definition, in the coordinate system O1, the displacement change Δx1 of the first wedge slider 9 and the displacement change Δy1 of the second wedge slider 10 have the following relationship: tanα=Δy1 / Δx1, and Δy1=S, then Δx1=S / tanα.

[0146] In coordinate system O2, the origin O2 is the center point of blade shaft 3. Blade shaft pin 301 moves along a circular arc with radius r and origin O2. The change in axial displacement of blade shaft pin 301 is equal to the change in axial displacement of first wedge-shaped slider 9, i.e., Δx2 = Δx1 = S / tanα. Since the trigonometric relationship between Δx2 and r is sinβ = Δx2 / r, the governing equation for the deflection angle β of blade shaft 3 is: Among them, r and α are constants. Therefore, within the range of β∈[-90°+β2, 90°-β1], the deflection angle β of the fan shaft 3 is a function equation about the extension displacement S of the hydraulic cylinder piston rod. It can be understood that when S=0, β=0, indicating that the deflection angle of the fan shaft 3 is zero deflection angle, and when the hydraulic cylinder piston rod is extended to a certain position, the zero position is calibrated as the initial state through the electrical program; when S>0, β∈(0°, 90°-β1], indicating that the deflection angle of the fan shaft 3 is a positive deflection angle, realizing normal heat dissipation and air suction of the fan blade 2 and fan blade angle adjustment; when S<0, β∈[-90°-β2, 0°), indicating that the deflection angle of the fan shaft 3 is a negative deflection angle, and the fan blade 2 is adjusted to a negative angle to realize the back-blowing function of the radiator.

[0147] The present invention fully satisfies the closed-loop control function of automatically adjusting the fan blade angle according to the temperature of the heat dissipation system through the above-mentioned fan blade angle adjustment hydraulic control system, and simply and effectively solves the difficulty of configuring and installing a fan blade angle sensor inside the rotating fan.

[0148] The temperature automatic adjustment control logic of the present invention is specifically as follows:

[0149] When it is monitored that the temperature T of the cooling system is greater than or equal to the high temperature threshold value T2, the controller 37 controls the oil cylinder extension solenoid valve 33 to be electrically conductive, and the hydraulic cylinder piston rod extends until the extension displacement S of the piston rod increases to a preset third extension displacement S3. The third extension displacement S3 represents the extension displacement of the hydraulic cylinder piston rod corresponding to the increase in the cooling air volume preset in the control program. At this time, the positive deflection angle of the fan blade 2 becomes larger to increase the cooling air volume, so that the temperature of the cooling system is reduced; when it is monitored that the temperature T of the cooling system is less than or equal to the low temperature threshold value T1, the controller 37 controls the oil cylinder retraction solenoid valve 39 to be electrically conductive, and drives the hydraulic cylinder piston rod to retract until the extension displacement S of the piston rod is reduced to a preset second extension displacement S2. The second extension displacement S2 represents the extension displacement of the hydraulic cylinder piston rod corresponding to the reduction in the cooling air volume preset in the control program. At this time, the positive deflection angle of the fan blade 2 becomes smaller to reduce the cooling air volume, so that the temperature of the cooling system is increased.

[0150] When the radiator needs to be self-cleaned, for example, when the controller 37 manually executes the radiator cleaning instruction or periodically and automatically executes the radiator cleaning instruction, the controller 37 controls the cylinder retraction solenoid valve 39 to be energized, driving the hydraulic cylinder piston rod to retract until the extension displacement S of the piston rod is less than or equal to the preset first extension displacement S1. The first extension displacement S1 represents the extension displacement corresponding to the hydraulic cylinder piston rod in the radiator reverse blowing self-cleaning state in the control program, and then controls the cylinder extension solenoid valve 33 and the cylinder retraction solenoid valve 39 to be de-energized and cut off for the preset time t. At this time, the angle of the fan blade 2 is reversely deflected to blow air, thereby automatically cleaning the radiator. In addition, after the self-cleaning time t is reached, the controller 37 controls the cylinder extension solenoid valve 33 to be electrically connected, so that the hydraulic cylinder oil is connected and the hydraulic cylinder piston rod is extended until the extension displacement S of the piston rod is greater than or equal to the preset initial extension displacement S0. The initial extension displacement S0 represents the extension displacement of the hydraulic cylinder piston rod initialized by the cooling system startup preset in the control program. At this point, the radiator self-cleaning program is completed.

[0151] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0152] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiment of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal translation scripting language JavaScript, etc.

[0153] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each flow process and / or box in the flow chart and / or block diagram and the combination of the flow process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processing machine or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one flow chart flow or multiple flows and / or one box or multiple boxes of the block diagram.

[0154] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0156] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0157] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A collection head speed control system, characterized in that: include: A reference control module is used to obtain the harvesting speed of the cotton picker and control the speed of the harvesting head to the target working speed according to the reference correspondence between the harvesting speed and the speed of the harvesting head; The pressure acquisition module is used to obtain the real-time operating pressure of the collection head pump when the collection head performs the collection operation at the target working speed; An adaptive adjustment module is used to adaptively adjust the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump; The rotation speed correction module is used to obtain the actual cotton picking rate based on the cotton field images before and after harvesting, and to correct the speed of the collection head according to the actual cotton picking rate.

2. A control method using the acquisition head speed control system as claimed in claim 1, characterized in that: The steps include: The harvesting speed of the cotton picker is obtained through the reference control module, and the speed of the collection head is controlled to the target working speed according to the reference correspondence between the harvesting speed and the speed of the collection head; The real-time operating pressure of the mining head pump is obtained during the mining operation through the pressure acquisition module; The self-adaptive adjustment module is used to self-adapt the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump.

3. The method for controlling the speed of the acquisition head according to claim 2, characterized in that: The process of adaptively adjusting the speed of the harvesting vehicle and the speed of the harvesting head based on the real-time operating pressure of the harvesting head pump is specifically as follows: Setting a system protection limit value and a system acceleration limit value of the head pump pressure, wherein the system protection limit value is less than the upper limit value of the operating pressure of the head pump, and the system acceleration limit value is less than the system protection limit value; The real-time operating pressure of the collection head pump is compared with the system protection limit value and the system acceleration limit value, and the collection vehicle speed and the collection head speed are adaptively adjusted according to the comparison results.

4. The method for controlling the speed of the acquisition head according to claim 3, characterized in that: The actual cotton picking rate is obtained based on the cotton field images before and after harvesting, and the speed of the collection head is corrected according to the actual cotton picking rate. The specific process is as follows: The first change curve and the second change curve of the head pump pressure under the system no-load state and the system cotton picking state are respectively obtained, and the head pump pressure value required for cotton picking is obtained according to the pressure difference between the first change curve and the second change curve in the stable harvesting stage; The first pressure margin influence coefficient is calculated based on the real-time operating pressure of the picking head pump, the system acceleration limit value, and the picking head pump pressure value required for cotton picking, and the second pressure margin influence coefficient is calculated based on the real-time operating pressure of the picking head pump and the system protection limit value; When the actual cotton picking rate is lower than the preset lower limit, the first picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset lower limit, and the collection head rotation speed is positively corrected based on the first pressure margin influence coefficient and the first picking rate influence coefficient. When the actual cotton picking rate is higher than the preset upper limit, the second picking rate influence coefficient is calculated based on the difference between the actual cotton picking rate and the preset upper limit, and the collection head rotation speed is negatively corrected based on the second pressure margin influence coefficient and the second picking rate influence coefficient.

5. The method for controlling the speed of the acquisition head according to claim 4, characterized in that: The speed of the acquisition head is positively corrected based on the following formula: I=I base *α1*k0θ 2 ; The acquisition head speed is reversely corrected based on the following formula: I=I base *k1α2*k2ε 2 ; Where, I represents the correction current of the solenoid valve of the sampling pump, I base represents the reference control current of the solenoid valve of the mining head pump, α1 represents the first mining net rate influence coefficient, α1=|N min -N pick |, N min Indicates the preset lower limit of cotton picking rate, N pick represents the actual cotton picking rate, α2 represents the second picking rate influence coefficient, α2=|N max -N pick |, N max represents the preset upper limit of cotton picking rate, θ represents the first pressure margin influence coefficient, P acc Indicates the system acceleration limit value, P work Indicates the real-time operating pressure of the head pump, P ne represents the pressure value of the head pump required for cotton picking, ε represents the second pressure margin influence coefficient, ε=P work -P pro , P pro It represents the system protection limit value, and k0, k1, and k2 represent fixed coefficients.

6. A cotton picker, characterized in that: include: The acquisition head speed control system as claimed in claim 1; The collecting head lifting safety device comprises a hanging bracket for mounting the collecting head, a suspension support hinged to the hanging bracket for articulating the frame, a pull rod hinged to the hanging bracket for articulating the frame, a first driving member hinged to the suspension support for articulating the frame to drive the end of the suspension support away from the frame to be lifted relative to the frame, and a safety component hinged to the suspension support and elastically and detachably connected to the pull rod for avoiding the first driving member by rotating away from the first driving member or stopping the first driving member by rotating close to the first driving member, and the pull rod is arranged above the suspension support.

7. The cotton picker according to claim 6, characterized in that: The safety assembly includes a locking member hinged to the suspension support and used to rotate away from or toward the cylinder, and an elastic member connected to the free end of the locking member and detachably connected to the pull rod. The elastic member includes a compression spring connected to the free end of the locking member and a traction rope connected to the compression spring and detachably connected to the pull rod.

8. The cotton picker according to claim 7, characterized in that: The first driving member includes a cylinder for articulating the frame and a piston rod movably arranged on the cylinder and articulated with the suspension support; the hanger includes a connecting longitudinal beam, a first cross beam connected to the first end of the connecting longitudinal beam, a second cross beam connected to the second end of the connecting longitudinal beam, and an articulated seat fixedly arranged on the second cross beam, a vertical first end of the articulated seat is articulated with the pull rod, and a vertical second end of the articulated seat is articulated with the suspension support; The suspension support includes two mounting main beams that are arranged opposite to each other and at intervals, connecting cross beams that are respectively connected to the two mounting main beams, and connecting shafts for articulating the frame that are respectively connected to the two mounting main beams. An articulated sleeve that is articulated to the articulated seat is provided on the end of the mounting main beam away from the connecting shaft. The mounting main beams, the articulated sleeves and the articulated seat are arranged in a one-to-one correspondence.

9. The cotton picker according to claim 6, characterized in that: The cooling fan further comprises a casing, a fan blade, a fan blade shaft, a guide plate, a slider, a bearing, a transmission shaft and a second driving member, one end of the transmission shaft is connected to a power source, the other end is fixedly connected to the casing, a plurality of fan blade shaft holes are arranged at intervals along the circumference of the casing, each fan blade shaft hole is provided with a sliding bearing, the fan blade shaft sleeve is on the sliding bearing, the fan blade is fixedly connected to the upper end of the fan blade shaft, the slider is installed on the transmission shaft through the bearing, the guide plate is fixedly connected to the casing, a through groove is arranged axially on the guide plate, a part of the slider is located in the through groove to radially limit and circumferentially limit the slider, so that the slider rotates synchronously with the casing and has the freedom of axial movement relative to the casing, a fan blade shaft pin is arranged at the lower end of the fan blade shaft, an annular sliding groove is arranged circumferentially on the slider, the fan blade shaft pin is inserted into the annular sliding groove, the second driving member is drivingly connected to the slider for driving the slider to move axially, and when the slider moves axially, the fan blade shaft pin is driven to rotate, thereby automatically adjusting the angle of the fan blade; A first wedge-shaped slider and a second wedge-shaped slider are provided through the inclined surface sliding fit, the first wedge-shaped slider is fixedly connected to the inner ring of the bearing, the driving member is connected to the second wedge-shaped slider, and the second wedge-shaped slider is driven to move up and down by controlling the driving member, so that the second wedge-shaped slider drives the first wedge-shaped slider, the bearing, and the slider to move axially together; A compression spring is axially arranged between the slider and the housing, and the initial state of the compression spring is a compressed state, so as to provide an axial rightward pre-tightening force for the slider; The slider is provided with a slider column pin, and the shell is provided with a shell pin hole. The slider column pin is inserted into the shell pin hole to play a guiding role when the slider moves along the axial direction.

10. The cotton picker according to claim 9, characterized in that: It also includes a hydraulic oil source, a pressure reducing valve, a cylinder extension solenoid valve, a cylinder retraction solenoid valve, a controller and a hydraulic oil tank. The cylinder extension solenoid valve is arranged on an oil circuit connecting the hydraulic oil source and the rodless chamber of the hydraulic cylinder. The cylinder retraction solenoid valve is arranged on an oil circuit connecting the hydraulic oil tank and the rodless chamber of the hydraulic cylinder. The controller is electrically connected to the cylinder extension solenoid valve and the cylinder retraction solenoid valve. When the controller controls the cylinder extension solenoid valve to be turned on and the cylinder retraction solenoid valve to be turned off, the hydraulic cylinder extends and drives the slider to move axially to the left. When the controller controls the cylinder extension solenoid valve to be turned off and the cylinder retraction solenoid valve to be turned on, if the slider moves axially to the right, the hydraulic cylinder is driven to retract. When the controller controls the cylinder extension solenoid valve and the cylinder retraction solenoid valve to be turned off, the hydraulic cylinder maintains the current position. It also includes a temperature sensor for monitoring the temperature of the heat dissipation system and a displacement sensor for monitoring the displacement of the hydraulic cylinder piston. The displacement sensor and the temperature sensor are both electrically connected to the controller. The controller is used to achieve closed-loop control and adjustment of the heat dissipation system temperature based on the detection results of the displacement sensor and the temperature sensor.

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