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

A kind of acquisition head rotating speed control system, acquisition head rotating speed control method and cotton picker TECHNICAL FIELD

[0001] The present application relates to the technical field of cotton picker, specifically relates to a kind of acquisition head rotating speed control system, acquisition head rotating speed control method and cotton picker. BACKGROUND

[0002] Cotton is an important economic crop in the world, with the in-depth development of agricultural mechanization, mechanized cotton picking is the inevitable trend of cotton industry, and the acquisition head of cotton picker is the core component for realizing cotton picking operation.A cotton harvester can be equipped with multiple acquisition heads, and each picking spindle in each acquisition head can rotate independently.Through contact, hooking and winding cotton, the effective separation of cotton and boll shell is realized, and the picking process is completed.Therefore, the rotating speed control of acquisition head is the key to affect the net picking rate and picking efficiency of cotton picker.Currently, the acquisition head rotating speed control method is to obtain the current harvesting speed signal of cotton picker, and then adjust the acquisition head rotating speed to the target working speed according to the preset reference corresponding relationship between harvesting speed and acquisition head rotating speed, wherein the reference corresponding relationship between harvesting speed and acquisition head rotating speed is that the ratio of acquisition head rotating speed to harvesting speed is a fixed value.In order to ensure the winding effect of picking spindle, the acquisition head rotating speed has a minimum working speed, and in order to adapt to the mechanical carrying capacity, the acquisition head rotating speed has a maximum working speed.However, during actual harvesting operation, the plant growth characteristics change significantly in different harvesting periods.For example, the separation force between cotton and boll shell changes greatly in different harvesting periods, and the separation force between cotton and boll shell directly affects the cotton picking effect.If a fixed matching relationship is used to control the acquisition head rotating speed, it cannot meet the harvesting requirements of actual cotton field conditions, the net picking rate of cotton is low, the impurity rate is high, and the harvesting effect is poor.

[0003] The existing cotton picking machine has a lifting device on the picking head, the lifting device includes a hanging frame, a suspension support, a pull rod and a rack, two lifting oil cylinders are arranged between the rack and the hanging frame, the hanging frame is lifted relative to the rack by the two lifting oil cylinders, the two lifting oil cylinders are arranged in parallel to realize the lifting of the picking head, but the synchronization of the two lifting oil cylinders is poor, it is difficult to keep synchronization at all times, and the stability of the hanging frame is affected. In order to solve the above problems, a three-row cotton picking machine and its picking head lifting device are disclosed in Chinese Invention Patent CN215774334U, by optimizing the structure, only one lifting cylinder can drive the hanging frame to lift, one lifting cylinder is saved, the problem of unsynchronized two lifting cylinders is solved, the hanging frame is avoided from fluctuating, and the working stability of the hanging frame is improved. However, when the picking head lifting device is maintained, the picking head needs to be lifted to the highest position for maintenance, at this time, since only one lifting cylinder is maximally extended to provide lifting force to lift the picking head, the load borne by the lifting cylinder is too large, if the lifting cylinder is lifted for a long time, the lifting cylinder is prone to damage and even the picking head falls down, the safety is poor, and the safety of the maintenance personnel cannot be guaranteed.

[0004] The heat dissipation mechanism of the cotton picking machine in the current market is usually dependent on the airflow generated by the engine equipped with a suction fan, which aims to cool the hydraulic oil radiator and the cooling liquid in the engine cooling system. However, the traditional engine fan design can only send air in one direction, and when dust and other impurities carried by the airflow gradually accumulate outside the radiator, the heat dissipation performance of the radiator will be significantly reduced. As a result, the water temperature and hydraulic oil temperature of the engine will rise, which may not only lead to a decrease in engine output power, but also increase the risk of hydraulic system oil leakage, thereby affecting the stability and life of the entire device. For cleaning the impurities accumulated outside the radiator, the current common methods are still manual cleaning or using a rotating brush machine, which is time-consuming and inefficient. More seriously, during the cleaning process, if not handled properly, it is easy to block the radiator fins, further exacerbating the poor heat dissipation problem. Therefore, this way of relying on manual or inefficient mechanical means for radiator maintenance has become a bottleneck restricting the efficiency and maintenance convenience of the device.

[0005] In summary, there is an urgent need for a cotton picking machine with a controllable picking head speed system, a device for securing the lifting of the picking head, and a device for dissipating heat from the machine to solve the problems in the prior art.

[0006] SUMMARY

[0007] The application aims to provide a collection head rotating speed control system, a collection head rotating speed control method and a cotton picker to solve the problems of low net picking rate and high impurity rate in the prior art, the poor safety of the single-drive collection head lifting device during maintenance, and the technical problems of the existing radiator maintenance mode restricting the equipment operation efficiency and maintenance convenience.

[0008] In a first aspect, the application provides a collection head rotating speed control system, comprising: a reference control module configured to obtain a harvesting vehicle speed of a cotton picker and control the rotating speed of the collection head to a target working speed according to a reference corresponding relationship between the harvesting vehicle speed and the rotating speed of the collection head; a pressure acquisition module configured to acquire a real-time working pressure of a collection head pump during the harvesting operation of the collection head at the target working speed; an adaptive adjustment module configured to adaptively adjust the harvesting vehicle speed and the rotating speed of the collection head based on the real-time working pressure of the collection head pump; and a rotating speed correction module configured to obtain an actual cotton net picking rate based on cotton field images before and after harvesting and correct the rotating speed of the collection head according to the actual cotton net picking rate.

[0009] In a second aspect, the application further provides a control method using the collection head rotating speed control system as described above, comprising the following steps:

[0010] providing the collection head rotating speed control system as described above;

[0011] obtaining the harvesting vehicle speed of the cotton picker by the reference control module and controlling the rotating speed of the collection head to the target working speed according to the reference corresponding relationship between the harvesting vehicle speed and the rotating speed of the collection head;

[0012] acquiring the real-time working pressure of the collection head pump during the harvesting operation by the pressure acquisition module;

[0013] adaptively adjusting the harvesting vehicle speed and the rotating speed of the collection head based on the real-time working pressure of the collection head pump by the adaptive adjustment module.

[0014] The further improvement of the collection head rotating speed control method of the application is that the process of adaptively adjusting the harvesting vehicle speed and the rotating speed of the collection head based on the real-time working pressure of the collection head pump is specifically:

[0015] setting a system protection limit value and a system acceleration limit value of the working pressure of the collection head pump, wherein the system protection limit value is less than the upper limit value of the working pressure of the collection head pump, and the system acceleration limit value is less than the system protection limit value;

[0016] comparing the real-time working pressure of the collection head pump with the system protection limit value and the system acceleration limit value, and adaptively adjusting the harvesting vehicle speed and the rotating speed of the collection head according to the comparison result.

[0017] The further improvement of the bale pickup rotating speed control method is that when the actual harvesting speed is lower than the target control speed and the real-time working pressure of the bale pickup pump is less than or equal to the system acceleration limit value, the cotton picker is allowed to accelerate to the target control speed, and the bale pickup rotating speed is controlled to increase to the target working rotating speed according to the reference corresponding relationship between the harvesting speed and the bale pickup rotating speed; during the acceleration harvesting operation of the cotton picker, if the real-time working pressure of the bale pickup pump is greater than the system acceleration limit value, the increase of the harvesting speed and the bale pickup rotating speed is limited; when the cotton picker is in stable harvesting operation, if the real-time working pressure of the bale pickup pump is greater than the system protection limit value, the harvesting speed is reduced, and the bale pickup rotating speed is correspondingly reduced according to the reference corresponding relationship between the harvesting speed and the bale pickup rotating speed.

[0018] The further improvement of the bale pickup rotating speed control method is that the temperature of the hydraulic oil is collected, and when the temperature of the hydraulic oil is lower than a preset threshold value and the real-time working pressure of the bale pickup pump is greater than the system protection limit value, the driver is prompted to preheat the equipment or perform maintenance.

[0019] The further improvement of the bale pickup rotating speed control method is that the actual cotton harvesting rate is obtained based on the cotton field images before and after harvesting, and the bale pickup rotating speed is corrected according to the actual cotton harvesting rate, and the specific process is as follows:

[0020] The first change curve and the second change curve of the bale pickup pump pressure under the system idle state and the system picking state are obtained respectively, and the bale pickup pump pressure value required for picking is obtained according to the pressure difference of the first change curve and the second change curve in the stable harvesting stage;

[0021] The first pressure margin influence coefficient is calculated based on the real-time working pressure of the bale pickup pump, the system acceleration limit value and the bale pickup pump pressure value required for picking, and the second pressure margin influence coefficient is calculated based on the real-time working pressure of the bale pickup pump and the system protection limit value;

[0022] When the actual cotton harvesting rate is lower than a preset lower limit value, the first harvesting rate influence coefficient is calculated based on the difference between the actual cotton harvesting rate and the preset lower limit value, and the bale pickup rotating speed is positively corrected based on the first pressure margin influence coefficient and the first harvesting rate influence coefficient; when the actual cotton harvesting rate is higher than a preset upper limit value, the second harvesting rate influence coefficient is calculated based on the difference between the actual cotton harvesting rate and the preset upper limit value, and the bale pickup rotating speed is negatively corrected based on the second pressure margin influence coefficient and the second harvesting rate influence coefficient.

[0023] The further improvement of the bale pickup rotating speed control method is that,

[0024] The bale pickup rotating speed is positively corrected based on the following formula: I = I base *α1*k0θ 2 ;

[0025] The rotating speed of the collection head is corrected reversely based on the following formula: I = I base *k1α2*k2ε 2 ;

[0026] Wherein, I represents the corrected current of the electromagnetic valve of the collection head pump, I base represents the reference control current of the electromagnetic valve of the collection head pump, α1 represents the first net picking rate influence coefficient, α1 = |N min -N pick |, N min represents the preset lower limit value of the cotton net picking rate, N pick represents the actual cotton net picking rate, α2 represents the second net picking rate influence coefficient, α2 = |N max -N pick |, N max represents the preset upper limit value of the cotton net picking rate, θ represents the first pressure margin influence coefficient, P acc represents the system acceleration limit value, P work represents the real-time working pressure of the collection head pump, P ne represents the required collection head pump pressure value for picking cotton, ε represents the second pressure margin influence coefficient, ε = P work -P pro , P pro represents the system protection limit value, k0, k1 and k2 represent fixed coefficients.

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

[0028] The rotating speed control system of the collection head as described above;

[0029] The collection head lifting safety device comprises a hanger for mounting the collection head, a suspension support for hinging the machine frame and hinged to the hanger, a pull rod for hinging the machine frame and hinged to the hanger, a first driving member for hinging the machine frame to lift the end of the suspension support away from the machine frame and hinged to the suspension support, and a safety assembly for avoiding the first driving member by rotating away from the first driving member or clamping the first driving member by rotating close to the first driving member and hinged to the suspension support and elastically detachably connected to the pull rod, and the pull rod is arranged above the suspension support.

[0030] The first driving member of the cotton picker of the present application further comprises a cylinder for hinging the machine frame and a piston rod movably arranged on the cylinder and hinged to the suspension support.

[0031] The further improvement of the cotton picking machine lies in that the safety assembly comprises a clamping piece hinged with the suspension support and used for clamping the cylinder by rotating away or by rotating close, and a spring connected with the free end of the clamping piece and detachably connected with the pull rod.

[0032] The further improvement of the cotton picking machine lies in that the spring comprises a compression spring connected with the free end of the clamping piece, and a traction rope connected with the compression spring and detachably connected with the pull rod.

[0033] The further improvement of the cotton picking machine lies in that the hanger comprises a connecting longitudinal beam, a first transverse beam connected with the first end of the connecting longitudinal beam, a second transverse beam connected with the second end of the connecting longitudinal beam, and a hinged seat fixedly arranged on the second transverse beam, the vertical first end of the hinged seat is hinged with the pull rod, and the vertical second end of the hinged seat is hinged with the suspension support.

[0034] The further improvement of the cotton picking machine lies in that the hanger further comprises a first guard plate connected with the first end of the first transverse beam and the first end of the second transverse beam respectively, and a second guard plate connected with the second end of the first transverse beam and the second end of the second transverse beam respectively.

[0035] The further improvement of the cotton picking machine lies in that the suspension support comprises two installation main beams arranged oppositely and at intervals, a connecting transverse beam connected with the two installation main beams respectively, and a connecting shaft for hinging the hanger connected with the two installation main beams respectively, the end of the installation main beam away from the connecting shaft is provided with a hinged sleeve hinged with the hinged seat, and the installation main beam, the hinged sleeve and the hinged seat are arranged one by one.

[0036] The further improvement of the cotton picking machine lies in that the suspension support further comprises a connecting seat arranged on the installation main beam and hinged with the first driving piece, and the connecting seat is arranged at the connecting position of the installation main beam and the connecting transverse beam.

[0037] The further improvement of the cotton picking machine lies in that the pull rod is arranged oppositely and at intervals, and the pull rod and the hinged seat are arranged one by one.

[0038] The further improvement of the cotton picking machine lies in that the cotton picking machine further comprises a heat dissipation fan, the heat dissipation fan comprises a shell, a fan blade, a fan blade shaft, a guide plate, a sliding block, a bearing, a transmission shaft and a second driving member, one end of the transmission shaft is connected with the power source, the other end is fixedly connected with the shell, a plurality of fan blade shaft holes are arranged on the shell in a circumferential direction, a sliding bearing is arranged in each fan blade shaft hole, the fan blade shaft is sleeved on the sliding bearing, the fan blade is fixedly connected with the upper end of the fan blade shaft, the sliding block is installed on the transmission shaft through the bearing, the guide plate is fixedly connected with the shell, a through slot is arranged on the guide plate in an axial direction, a part of the sliding block is located in the through slot to limit the radial and circumferential positions of the sliding block, so that the sliding block rotates synchronously with the shell and has the axial movement freedom relative to the shell, the lower end of the fan blade shaft is provided with a fan blade shaft column pin, an annular sliding groove is arranged on the sliding block in a circumferential direction, the fan blade shaft column pin is inserted into the annular sliding groove, the second driving member is drivingly connected with the sliding block, and is used for driving the sliding block to move in the axial direction; when the sliding block moves in the axial direction, the fan blade shaft column pin is driven to rotate, so that the angle of the fan blade is automatically adjusted.

[0039] The further improvement of the cotton picking machine lies in that the heat dissipation fan further comprises a first wedge-shaped sliding block and a second wedge-shaped sliding block which are slidingly connected through inclined surfaces, the first wedge-shaped sliding block is fixedly connected with the inner ring of the bearing, the driving member is connected with the second wedge-shaped sliding block, the second wedge-shaped sliding block is driven to move up and down by controlling the driving member, so that the first wedge-shaped sliding block, the bearing and the sliding block are driven to move in the axial direction.

[0040] The further improvement of the cotton picking machine lies in that a compression spring is arranged between the sliding block and the shell in the axial direction, and the initial state of the compression spring is a compressed state, so as to provide the sliding block with the pre-tightening force in the axial direction to the right.

[0041] The further improvement of the cotton picking machine lies in that a sliding block column pin is arranged on the sliding block, a shell pin hole is arranged on the shell, and the sliding block column pin is inserted into the shell pin hole, so as to play a guiding role when the sliding block moves in the axial direction.

[0042] The further improvement of the cotton picking machine lies in that the second driving member is a hydraulic cylinder, and the heat dissipation fan further comprises a hydraulic oil source, a pressure reducing valve, an oil cylinder extension electromagnetic valve, an oil cylinder contraction electromagnetic valve, a controller and a hydraulic oil tank, the oil cylinder extension electromagnetic valve is arranged on an oil path connected between the hydraulic oil source and the rodless cavity of the hydraulic cylinder, the oil cylinder contraction electromagnetic valve is arranged on an oil path connected between the hydraulic oil tank and the rodless cavity of the hydraulic cylinder, the controller is electrically connected with the oil cylinder extension electromagnetic valve and the oil cylinder contraction electromagnetic valve, when the controller controls the oil cylinder extension electromagnetic valve to be turned on and the oil cylinder contraction electromagnetic valve to be cut off, the hydraulic cylinder is extended to drive the sliding block to move in the axial direction to the left, when the controller controls the oil cylinder extension electromagnetic valve to be cut off and the oil cylinder contraction electromagnetic valve to be turned on, if the sliding block moves in the axial direction to the right, the hydraulic cylinder is driven to be retracted, and when the controller controls the oil cylinder extension electromagnetic valve and the oil cylinder contraction electromagnetic valve to be cut off, the hydraulic cylinder is kept at the current position.

[0043] The further improvement of the cotton picker lies in that the heat dissipation fan further comprises a temperature sensor for monitoring the temperature of the heat dissipation system and a displacement sensor for monitoring the displacement amount of the hydraulic cylinder piston rod, the displacement sensor and the temperature sensor are electrically connected with the controller, and the controller is used for realizing closed-loop control adjustment of the temperature of the heat dissipation system according to the detection results of the displacement sensor and the temperature sensor.

[0044] The further improvement of the cotton picker lies in that the controller controls the deflection angle of the fan blade shaft based on the following formula:

[0045] Wherein, β represents the deflection angle of the fan blade shaft, r represents the radius of the circular motion track of the fan blade shaft pin, α represents the included angle between the contact inclined surface of the first and second wedge-shaped sliders and the axial direction of the transmission shaft, and S represents the extension displacement amount of the hydraulic cylinder piston rod.

[0046] The further improvement of the cotton picker lies in that when the monitored temperature of the heat dissipation system is greater than or equal to the high temperature threshold value, the controller controls the oil cylinder extension electromagnetic valve to be powered on, the hydraulic cylinder piston rod is extended, and the extension displacement of the piston rod is increased to the preset third extension displacement amount, at this time, the positive deflection angle of the fan blade is increased to increase the heat dissipation air volume; when the monitored temperature of the heat dissipation system is less than or equal to the low temperature threshold value, the controller controls the oil cylinder retraction electromagnetic valve to be powered on, drives the hydraulic cylinder piston rod to retract, and the extension displacement of the piston rod is reduced to the preset second extension displacement amount, at this time, the positive deflection angle of the fan blade is reduced to reduce the heat dissipation air volume.

[0047] The further improvement of the cotton picker lies in that when the heat radiator needs to be self-cleaned, the controller controls the oil cylinder retraction electromagnetic valve to be powered on, drives the hydraulic cylinder piston rod to retract, and the extension displacement of the piston rod is reduced to the preset first extension displacement amount, then the oil cylinder extension electromagnetic valve and the oil cylinder retraction electromagnetic valve are controlled to be powered off and cut off for a preset time, at this time, the deflection angle of the fan blade is a negative deflection angle, and the fan blade is changed from air suction to air blowing to automatically clean the heat radiator.

[0048] The further improvement of the cotton picker lies in that the picking head rotating speed control system further comprises a rotating speed correction module, which is used for obtaining an actual cotton picking rate based on the cotton field images before and after picking, and correcting the rotating speed of the picking head according to the actual cotton picking rate.

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

[0050] (1) The cotton picking machine's collection head rotation speed control system and method, after obtaining the picking vehicle speed of the cotton picking machine, first adjusts the collection head rotation speed to the target working speed according to the reference corresponding relationship between the picking vehicle speed and the collection head rotation speed, and obtains the real-time working pressure of the collection head pump during the picking operation, judges the pressure margin of the collection head pump based on the real-time working pressure of the collection head pump, and adjusts the picking vehicle speed and the collection head rotation speed adaptively according to the pressure margin of the collection head pump. When the pressure margin of the collection head pump is insufficient, the picking vehicle speed and the collection head rotation speed are limited to increase, and when the pressure margin of the collection head pump is sufficient, the picking vehicle speed and the collection head rotation speed are allowed to increase. Thus, based on the reference corresponding relationship between the picking vehicle speed and the collection head rotation speed, the pressure margin of the collection head pump is introduced as a control factor. The picking vehicle speed and the collection head rotation speed can be more accurately controlled according to the different growth characteristics of the plants, which is more suitable for the actual cotton field working conditions of the picking operation, improves the cotton picking rate, reduces the impurity content of the cotton, and achieves good cotton picking effect.

[0051] (2) The cotton picking machine's collection head lifting safety device is installed in the cotton picking machine, and constitutes a four-bar linkage mechanism through a hanger, a suspension support, a pull rod and a rack. The collection head is reliably installed through the hanger, and then the end portion of the suspension support away from the rack is lifted relative to the rack by driving the suspension support through the first driving part, thereby driving the hanger to lift, so as to realize the lifting of the collection head. In the process of lifting the collection head, the safety assembly 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 part drives the collection head to lift, the pull rod synchronously drives the driving assembly to rotate upward relative to the suspension support and away from the first driving part to avoid the first driving part, so as to ensure the stable work of the first driving part. When the collection head is lifted to the highest position for maintenance, the safety assembly is separated from the pull rod, and the safety assembly rotates downward relative to the suspension support and close to the first driving part under the action of gravity to block the first driving part and prevent the first driving part from working. At the same time, the working end of the first driving part shares the load to prevent the first driving part from being damaged, thereby greatly reducing the risk of accidental falling of the collection head. The hanger, the suspension support, the pull rod and the first driving part are cooperated with each other to realize the lifting of the collection head relative to the rack by single driving. Under the action of the safety assembly, the safety of the maintenance personnel is ensured compared with the prior art, the practicability is high, and the scheme is suitable for wide promotion and application.

[0052] (3) The heat dissipation fan of the cotton picker in the application utilizes the guide plate to limit the slide block in the radial direction and the axial direction, which not only realizes the synchronous rotation of the shell, the guide plate, the slide block and the outer ring of the bearing with the transmission shaft, but also allows the axial movement of the slide block relative to the shell. Moreover, through the sliding cooperation of the annular sliding groove on the slide block and the fan blade shaft pin, the axial movement of the slide block is converted into the angular deflection of the fan blade. Under the driving of the second driving element, the fan blade shaft pin can be driven to rotate when the slide block moves axially, without changing the rotation speed and direction of the transmission shaft. Not only the deflection angle of the fan blade can be adjusted, but also the reverse deflection can be realized, so as to realize the self-cleaning function of the radiator. Moreover, the overall structure of the device is compact and simple, and is convenient to maintain.

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

[0054] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, illustrate preferred embodiments of the application, and assist in the explanation of the application. In the drawings:

[0055] Fig. 1 is a flowchart of the method for controlling the rotation speed of the picking head of the cotton picker according to the preferred embodiment of the application.

[0056] Fig. 2 is a schematic diagram of the relationship between the separation force between the cotton and the boll shell and the moisture content and the ripening time according to the preferred embodiment of the application.

[0057] Fig. 3 is a schematic diagram of the linear relationship between the pump pressure of the picking head and the rotation speed of the picking head according to the preferred embodiment of the application.

[0058] Fig. 4 is a sub-flowchart of step S3 in Fig. 1.

[0059] Fig. 5 is another sub-flowchart of step S3 in Fig. 1.

[0060] Fig. 6 is a schematic diagram of the relationship between the pump pressure of the picking head and the temperature of the hydraulic oil according to the preferred embodiment of the application.

[0061] Fig. 7 is another flowchart of the method for controlling the rotation speed of the picking head of the cotton picker according to the preferred embodiment of the application.

[0062] Fig. 8 is a schematic diagram of the corresponding relationship between the rotation speed of the picking head and the speed of the cotton picker according to the preferred embodiment of the application.

[0063] Fig. 9 is a sub-flowchart of step S4 in Fig. 7.

[0064] Figure 10 is a schematic diagram showing the relationship between the speed of the head pump and the operation time in a preferred embodiment of the present invention under the following conditions: system no-load state, system cotton picking state, and system without preheating and cotton picking state.

[0065] Figure 11 is a schematic diagram of the module structure of the cotton harvester head speed control system according to another embodiment of the present invention.

[0066] Figure 12 is a schematic diagram of the structure of the acquisition head lifting safety device according to a preferred embodiment of the present invention.

[0067] Figure 13 is a schematic diagram of the structure of the bracket in the acquisition head lifting safety device of a preferred embodiment of the present invention.

[0068] Figure 14 is a schematic diagram of the suspension support in the acquisition head lifting safety device of a preferred embodiment of the present invention.

[0069] Figure 15 is a partial structural schematic of the acquisition head lifting safety device according to a preferred embodiment of the present invention.

[0070] Figure 16 is a side view of a cotton harvester according to a preferred embodiment of the present invention.

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

[0072] Figure 18 is a schematic diagram of the overall structure of the cooling fan according to a preferred embodiment of the present invention.

[0073] Figure 19 is a cross-sectional structural schematic diagram of the cooling fan of a preferred embodiment of the present invention.

[0074] Figure 20 is a schematic diagram of the slider structure of a preferred embodiment of the present invention.

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

[0076] Figure 22 is a schematic diagram of the motion principle of the cooling fan adjusting the blade angle in a preferred embodiment of the present invention.

[0077] Wherein, 100, a rack; 110, a connecting longitudinal beam; 120, a first cross beam; 130, a second cross beam; 140, a hinged seat; 150, a first guard plate; 160, a second guard plate; 200, a suspension support; 210, a mounting main beam; 220, a connecting cross beam; 230, a connecting shaft; 240, a hinged sleeve; 250, a connecting seat; 300, a pull rod; 400, a first driving member; 410, a cylinder barrel; 420, a piston rod; 500, a safety assembly; 510, a clamping member; 520, an elastic member; 521, a compression spring; 522, a traction rope; 1, a housing; 2, a fan blade; 3, a fan blade shaft; 4, a sliding bearing; 5, a guide plate; 6, a sliding block; 7, a bearing; 8, a transmission shaft; 9, a first wedge-shaped sliding block; 10, a second wedge-shaped sliding block; 11, a second driving member; 12, a compression spring; 101, a housing pin hole; 301, a fan blade shaft column pin; 601, a sliding block column pin; 602, an annular sliding groove; 603, a sliding block conductor; 604, an inner ring surface; 31, a hydraulic oil source; 32, a pressure reducing valve; 33, an oil cylinder extension electromagnetic valve; 34, a check valve; 35, a damper; 36, a displacement sensor; 37, a controller; 38, a temperature sensor; 39, an oil cylinder contraction electromagnetic valve; 40, a hydraulic oil tank; 901, a bearing mounting ring; 13, a collection head; 14, a cooling fan; 15, an engine; 16, a radiator. DETAILED DESCRIPTION

[0078] The embodiments of the present application will be described in detail below with reference to the accompanying drawings, but the present application can be implemented in various different ways as defined and covered by the claims.

[0079] In a first aspect, the present application provides a collection head rotating speed control system, comprising: a collection head rotating speed control system, the collection head rotating speed control system comprising a reference control module, configured to obtain a harvesting vehicle speed of a cotton picker, and control a rotating speed of a collection head 13 to a target working rotating speed according to a reference corresponding relationship between the harvesting vehicle speed and the rotating speed of the collection head 13; a pressure collection module, configured to obtain a real-time working pressure of a collection head pump in a process in which the collection head 13 performs harvesting operation at the target working rotating speed; and an adaptive adjustment module, configured to adaptively adjust the harvesting vehicle speed and the rotating speed of the collection head 13 based on the real-time working pressure of the collection head pump.

[0080] It can be understood that the picking head rotating speed control system of the cotton picker in the embodiment first adjusts the rotating speed of the picking head 13 to the target working rotating speed according to the reference corresponding relationship between the harvesting vehicle speed and the rotating speed of the picking head 13 after obtaining the harvesting vehicle speed of the cotton picker, obtains the real-time working pressure of the picking head pump in the process of harvesting operation, judges the pressure margin of the picking head pump based on the real-time working pressure of the picking head pump, and adaptively adjusts the harvesting vehicle speed and the rotating speed of the picking head 13 according to the pressure margin of the picking head pump. When the pressure margin of the picking head pump is insufficient, the harvesting vehicle speed and the rotating speed of the picking head 13 are limited to increase, and when the pressure margin of the picking head pump is sufficient, the harvesting vehicle speed and the rotating speed of the picking head 13 are allowed to increase. Thus, on the basis of the reference corresponding relationship between the harvesting vehicle speed and the rotating speed of the picking head 13, the pressure margin of the picking head pump is introduced as a control factor, the harvesting vehicle speed and the rotating speed of the picking head 13 can be more accurately controlled according to different growth characteristics of plants, the harvesting requirements of the actual cotton field are better met, the cotton picking rate is improved, the impurity content of cotton is reduced, and good cotton harvesting effect is achieved.

[0081] In addition, the picking head rotating speed control system of the cotton picker further includes a rotating speed correction module configured to obtain an actual cotton picking rate based on cotton field images before and after harvesting, and correct the rotating speed of the picking head 13 according to the actual cotton picking rate.

[0082] As shown in FIG. 1, in a second aspect, a preferred embodiment of the present application provides a picking head rotating speed control method of a cotton picker, which includes the following contents.

[0083] Step S1: obtaining a harvesting vehicle speed of the cotton picker, and adjusting the rotating speed of the picking head 13 to a target working rotating speed according to a reference corresponding relationship between the harvesting vehicle speed and the rotating speed of the picking head 13.

[0084] Step S2: obtaining a real-time working pressure of a picking head pump in the process of harvesting operation.

[0085] Step S3: adaptively adjusting the harvesting vehicle speed and the rotating speed of the picking head 13 based on the real-time working pressure of the picking head pump.

[0086] It can be understood that the separation force between the cotton and the bell shell is mainly related to the moisture content of the cotton and the maturation time, as shown in FIG. 2. With the increase of the moisture content of the cotton, the separation force between the cotton and the bell shell gradually decreases as a whole. With the increase of the maturation time, the separation force between the cotton and the bell shell first increases and then decreases, and the influence of the maturation time of the cotton on the separation force between the cotton and the bell shell is greater than that of the moisture content. Therefore, with the passage of the harvesting period, the speed of the collection head 13 relative to the speed of the harvesting vehicle should be gradually increased and then gradually decreased. When the matching relationship of the speed of the collection head 13 is low, the hooking force of the spindle is insufficient, at this time, the cotton on the branches and the cotton on the ground increases, resulting in a low net picking rate of the cotton. When the matching relationship of the speed of the collection head 13 is high, the hooking force of the spindle is large, at this time, the damage to the branches of the cotton plant increases, the influence of impurities and coloring on the cotton is aggravated, resulting in a high impurity content of the cotton. Therefore, due to the different growth characteristics of the cotton at different stages, if the reference corresponding relationship between the speed of the harvesting vehicle and the speed of the collection head 13 is fixed to regulate the speed of the collection head 13, it will inevitably lead to the problems of low net picking rate and high impurity content of the cotton. The present application considers that there is a reference linear corresponding relationship between the speed of the collection head 13 and the pressure of the collection head pump, as shown in FIG. 3. When the harvesting operation is performed, a large amount of cotton is hooked on the collection head 13, and the pressure of the collection head pump will further increase. Therefore, the collection head pump needs to have sufficient pressure margin to meet the demand of cotton harvesting. The pressure margin of the collection head pump has a positive correlation with the power margin, so the pressure margin can directly reflect the power margin. In order to facilitate the description, the pressure margin is used for example.

[0087] Therefore, the method for controlling the speed of the collection head of the cotton picker of the present embodiment first regulates the speed of the collection head 13 to the target working speed according to the reference corresponding relationship between the speed of the harvesting vehicle and the speed of the collection head 13 after obtaining the speed of the harvesting vehicle, and then obtains the real-time working pressure of the collection head pump during the harvesting operation. The pressure margin of the collection head pump is judged based on the real-time working pressure, and the speed of the harvesting vehicle and the speed of the collection head 13 are adaptively adjusted according to the pressure margin of the collection head pump. When the pressure margin of the collection head pump is insufficient, the speed of the harvesting vehicle and the speed of the collection head 13 are limited to increase. When the pressure margin of the collection head pump is sufficient, the speed of the harvesting vehicle and the speed of the collection head 13 are allowed to increase. Therefore, on the basis of the reference corresponding relationship between the speed of the harvesting vehicle and the speed of the collection head 13, the pressure margin of the collection head pump is introduced as a regulating factor. The speed of the harvesting vehicle and the speed of the collection head 13 can be more accurately regulated according to the different growth characteristics of the plants, which is more suitable for the actual harvesting demand of the cotton field, improves the net picking rate of the cotton, reduces the impurity content of the cotton, and achieves good cotton harvesting effect.

[0088] It can be understood that in the step S1, the driving speed of the cotton picker is collected by the vehicle speed sensor in real time, and then the speed of the collection head 13 is regulated to the target working speed according to the reference corresponding relationship between the speed of the harvesting vehicle and the speed of the collection head 13.

[0089] It can be understood that in the step S2, in the process of increasing the harvesting vehicle speed to the target control vehicle speed, the rotating speed of the collection head 13 is also gradually increased to the target working rotating speed, and the pressure of the collection head pump is gradually increased with the increase of the rotating speed of the collection head 13, and with the progress of the harvesting, the pressure of the collection head pump is further increased due to the large amount of cotton winding on the collection head 13. In this process, the working pressure value of the collection head pump can be collected in real time through the pressure sensor, so as to facilitate the real-time monitoring of the pressure margin of the collection head pump. Once it is monitored that the pressure margin of the collection head pump is insufficient, it means that the collection head 13 is wound with too much cotton and the collection head 13 has the risk of being blocked. At this time, it is necessary to reduce the harvesting vehicle speed and the rotating speed of the collection head 13.

[0090] It can be understood that, as shown in FIG. 4, in the step S3, the process of self-adaptive adjustment of the harvesting vehicle speed and the rotating speed of the collection head 13 based on the real-time working pressure of the collection head pump is specifically:

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

[0092] Step S32: comparing the real-time working pressure of the collection head pump with the system protection limit value and the system acceleration limit value, and self-adaptively adjusting the harvesting vehicle speed and the rotating speed of the collection head 13 according to the comparison result.

[0093] Specifically, in order to adapt to the mechanical carrying capacity, the pick-up pump pressure has an upper limit of working pressure, when the working load of the pick-up head 13 is too large, the pick-up pump pressure is higher than the upper limit of working pressure, the hydraulic system will naturally depressurize to protect the system safety. In addition, when the pick-up head 13 is blocked due to the influence of foreign matter in the field, the mechanical clutch naturally pops up, triggering the clutch alarm, protecting the system safety. And the high pressure limit protection of the pick-up pump is generally higher than the mechanical clutch, ensuring that the system still has good protection ability when the clutch fails. Therefore, the present application first sets a system protection limit value and a system acceleration limit value of the pick-up pump pressure, wherein the system protection limit value is less than the upper limit of working pressure of the pick-up pump, and the system acceleration limit value is less than the system protection limit value. The system protection limit value plays a role of high pressure limit in the process of smooth harvesting, and the system acceleration limit value plays a role of high pressure limit in the process of accelerating harvesting. In addition, the specific values of the system protection limit value and the system acceleration limit value can be selected as needed, which will not be described 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 armrest box control speed at this time, the cotton picker is ready to start accelerating harvesting, if the real-time working pressure of the pick-up pump is less than or equal to the system acceleration limit value at this time, it means that the pick-up pump has sufficient pressure margin, then the cotton picker is allowed to accelerate to the target control speed, and the pick-up head 13 speed is controlled to increase to the target working speed according to the corresponding relationship between the harvesting speed and the pick-up head 13 speed. If the real-time working pressure of the pick-up pump is greater than the system acceleration limit value at this time, it means that the pressure margin of the pick-up pump is insufficient, and the increase of the harvesting speed and the pick-up head 13 speed is limited. In addition, when the cotton picker is in smooth harvesting, that is, the harvesting speed increases to the target control speed, and the pick-up head 13 speed increases to the target working speed, if the real-time working pressure of the pick-up pump is greater than the system protection limit value, the harvesting speed is reduced, and the pick-up head 13 speed is reduced according to the corresponding relationship between the harvesting speed and the pick-up head 13 speed, to prevent the pick-up head 13 from being blocked.

[0094] Optionally, as shown in Figure 5, the step S3 further comprises 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 value and the real-time working pressure of the pick-up pump is greater than the system protection limit value, prompt the driver to preheat the equipment or perform maintenance.

[0096] During the cotton picking season, the climate changes significantly, the temperature difference is large, and the properties of the lubricating grease are obviously affected by the temperature. In addition, there are many components in the picking head 13 that need to be lubricated, which causes the working pressure of the picking head pump to increase sharply with the decrease of the air temperature, as shown in FIG. 6. Therefore, the equipment must be fully preheated in a cold environment to ensure that the picking head pump has a certain amount of working power margin, otherwise, there will be a problem that the rotating speed of the picking head 13 does not match the speed of the picking vehicle, or even if the rotating speed of the picking head 13 matches the speed of the picking vehicle, but due to the lack of sufficient picking power, the load of the picking head 13 increases after entering the cotton field, which causes the picking head 13 to slow down, block and stop, and affects the picking efficiency. Therefore, the present application detects the temperature of the hydraulic oil in real time through the temperature sensor. When the temperature of the hydraulic oil is lower than the preset threshold value, and the real-time working pressure of the picking head pump is greater than the system protection limit value, it means that the temperature has a great influence on the pressure of the picking head pump, which causes the picking head pump to lack power margin, which may cause the rotating speed of the picking head 13 to not match the speed of the picking 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, which further ensures the picking effect.

[0097] Optionally, as shown in FIG. 7, the method for controlling the rotating speed of the picking head of the cotton picker further includes the following contents:

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

[0099] Specifically, the images of the cotton field before and after picking are first taken by the cameras installed before and after the cotton picker, and the cotton area before and after picking is identified based on the collected images based on image processing technology, and then the actual cotton picking rate is calculated. The specific image processing technology belongs to the prior art and will not be described here. Then, the rotating speed of the picking head 13 is corrected according to the actual cotton picking rate. When the actual cotton picking rate is lower than the preset lower limit value, it means that the cotton picking effect is poor, and then the slope of the corresponding relationship between the reference working vehicle speed state and the rotating speed of the picking head 13 is increased, that is, the rotating speed of the picking head 13 corresponding to the reference working vehicle speed state is increased to improve the picking effect. When the actual cotton picking rate is higher than the preset upper limit value, it means that the picking effect is good, but when the picking rate is too high, it means that the impurity rate will also be high. In order to balance the picking rate and the impurity rate, the present application adopts appropriate loss of picking rate to maximize the reduction of the impurity rate, and then the slope of the corresponding relationship between the reference working vehicle speed state and the rotating speed of the picking head 13 is reduced, that is, the rotating speed of the picking head 13 corresponding to the reference working vehicle speed state is reduced, so as to reduce the impurity rate and dyeing rate of cotton, and at the same time reduce the wear of the mechanism. In addition, the corresponding relationship between the rotating speed of the picking head 13 and the picking vehicle speed obtained by the present application is shown in FIG. 8. The gray area in FIG. 8 is the value range of the ratio of the rotating speed of the picking head 13 to the picking vehicle speed after correction based on the picking rate.

[0100] Wherein, as shown in Figure 9, the process of correcting the rotating speed of the collection head 13 according to the actual cotton picking rate is specifically:

[0101] Step S41: Obtain the first change curve and the second change curve of the pump pressure of the collection head under the system idle state and the system picking state respectively, and obtain the required pump pressure value of the collection head according to the pressure difference value of the first change curve and the second change curve in the stable harvesting stage;

[0102] Step S42: Calculate the first pressure margin influence coefficient based on the real-time working pressure of the collection head pump, the system acceleration limit value and the required pump pressure value of the collection head, and calculate the second pressure margin influence coefficient based on the real-time working pressure of the collection 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, calculate the first picking rate influence coefficient based on the difference between the actual cotton picking rate and the preset lower limit value, and correct the rotating speed of the collection head 13 in the positive direction 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, calculate the second picking rate influence coefficient based on the difference between the actual cotton picking rate and the preset upper limit value, and correct the rotating speed of the collection head 13 in the reverse direction based on the second pressure margin influence coefficient and the second picking rate influence coefficient.

[0104] Specifically, the first change curve and the second change curve of the pickup pump pressure changing with time in the system idle state and the system picking state are acquired respectively, in addition, the third change curve of the pickup pump pressure in the system not preheating and picking state can also be acquired, and a specific curve diagram is shown in FIG. 10. Wherein, the system idle state and the system picking state are in the system preheating and normal grinding condition, or in the condition of high air temperature without preheating and grinding, and the system not preheating and picking state is in the condition of low air temperature without preheating and grinding. As can be seen from FIG. 10, in the system idle state, the speed of the collection head 13 linearly increases with the harvesting speed, and the pickup pump pressure also linearly increases with the speed of the collection head 13, until the maximum harvesting speed is reached, and the speed of the collection head 13 and the pickup pump pressure remain stable; in the system picking state, the speed of the collection head 13 linearly increases with the harvesting speed, and the pickup pump pressure also linearly increases with the speed of the collection head 13, until the maximum harvesting speed is reached, and the speed of the collection head 13 and the pickup pump pressure remain stable, at this time, since the picking spindle hooks the cotton under the picking operation, the pickup pump pressure is greater than that in the idle state; and in the system not preheating and picking state under low temperature environment, at this time, the pickup pump load is higher than that in normal picking operation, and with the extension of operation time, the hydraulic system pressure linearly decreases and is kept flat with the normal picking operation condition. In addition, in the system not preheating and picking state, there will also be a situation that the pickup pump pressure has reached the upper limit, resulting in that the speed of the collection head 13 cannot be increased to match the harvesting speed, in this case, the equipment does not have the picking operation ability, the pickup pump pressure is kept at the system upper limit value for a long time, the speed of the collection head 13 linearly and slowly increases with the preheating time, and only when the collection head 13 is lifted to the highest speed, the hydraulic system pressure will linearly and slowly decrease with the preheating time. Alternatively, under the premise of reserving a certain pressure margin, the maximum value in the third change curve can be set as the system acceleration limit value. Then, according to the pressure difference value of the first change curve and the second change curve in the stable harvesting stage, the pickup pump pressure value required for picking can be calculated.

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

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

[0107] Wherein, θ represents the first pressure margin influence coefficient, P acc represents the system acceleration limit value, P work represents the real-time operation pressure of the pickup pump, P ne represents the pickup pump pressure value required for picking, and P pro represents the system protection limit value.

[0108] When the actual cotton picking rate is lower than the preset lower limit value, a 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 calculation formula is: α1=|N min -N pick |, α1 represents the first picking rate influence coefficient, N min represents the preset lower limit value of the cotton picking rate, and N pick represents the actual cotton picking rate. Then, the speed of the collection head 13 is positively corrected based on the following formula: I=I base *α1*k0θ 2 ;

[0109] Wherein, I represents the corrected current of the pump electromagnetic valve of the collection head, I base represents the reference control current of the pump electromagnetic valve of the collection head, that is, the current value of the pump electromagnetic valve of the collection head when the speed of the collection head 13 and the speed of the harvesting vehicle are in a reference corresponding relationship, and k0 represents a fixed coefficient, so as to improve the speed of the collection head 13 corresponding to the reference working vehicle speed state. In addition, the specific value of k0 can be obtained through experiments, and is generally a value between (0.01, 0.03), for example, the value can be 0.01, 0.015, 0.02, etc.

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

[0111] Wherein, k1 and k2 represent fixed coefficients, and 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 corrected current I is calculated, the control current of the pump electromagnetic valve of the collection head is obtained based on the reference control current I base and combined with the corrected current I.

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

[0113] The above reverse correction formula is mainly applicable to the case that the picking rate is too high and the pump pressure of the picking head is abnormally high, for example, during the end of the picking season, the branches and stems are dry and broken, and the cotton is picked at the same time, the branches and stems are broken and mixed into the picking mechanism, the load is increased, although the picking rate is high, the blockage rate is extremely high, and the cotton cannot be sold due to the high impurity rate. Alternatively, when the actual cotton picking rate is higher than the preset upper limit value, but the pressure margin of the pump of the picking head is sufficient, that is, the real-time working pressure of the pump of the picking head is less than the system protection limit value, the above reverse correction formula is changed to I = I base *k1α2, that is, at this time, only the influence of the picking rate on the rotating speed of the picking head 13 is considered, because the purpose of the reverse correction is to reduce the rotating speed of the picking head 13, and the reduction of the rotating speed of the picking head 13 will inevitably increase the pressure margin of the pump of the picking head 13, so at this time, the limitation of the pressure margin on the rotating speed of the picking head 13 cannot be considered.

[0114] Alternatively, when the rotating speed of the picking head 13 is positively corrected, if the rotating speed of the picking head 13 reaches the maximum working speed, the harvesting speed needs to be reduced to reduce the cotton feeding amount. The specific control algorithm is the same as the reverse correction formula of the rotating speed of the picking head 13, and will not be described here.

[0115] In addition, the rotating speed control method of the picking head of the cotton picker can also detect the state of the clutch of the picking head 13 through a proximity switch, and when the clutch of the picking head 13 is popped up, the proximity switch can send a feedback signal to the display screen to prompt the driver that the picking head 13 is blocked and stuck, and to stop the machine for inspection in time.

[0116] In addition, because the cotton itself has a certain water absorption, if the wetting water pressure is set too high, the overall moisture content of the cotton will be high, increasing the risk of mold during storage, and if the wetting water pressure is set too low, the cleaning of the picking spindle will not be sufficient, which will cause the cotton to tightly wind around the picking spindle, reduce the hooking and winding capacity of the picking spindle, affect the picking rate, and increase the risk of friction fire. Therefore, the rotating speed control method of the picking head of the cotton picker can also detect the wetting water pressure of the picking head 13 through a water pressure sensor, and compare the detected value with the set value interval, if the detected value is greater than the upper limit value of the set value interval, the wetting water pressure is reduced, and if the detected value is less than the upper limit value of the set value interval, the wetting water pressure is increased. Because the required wetting water pressure for day and night picking is different, the specific value of the set value interval is different for day and night. In addition, the current working time can be judged to be day or night by analyzing the cotton field environment image and combining the system clock, and then the set value interval of the wetting water pressure is set correspondingly.

[0117] It can be understood that each module of the system embodiment corresponds to each step of the method embodiment, and therefore the specific working process of each module will not be described here.

[0118] Fig. 12 is a schematic diagram of the structure of the gathering head lifting safety device of the preferred embodiment of the present application; Fig. 13 is a schematic diagram of the structure of the hanger of the gathering head lifting safety device of the preferred embodiment of the present application; Fig. 14 is a schematic diagram of the structure of the suspension support of the gathering head lifting safety device of the preferred embodiment of the present application; and Fig. 15 is a schematic diagram of the partial structure of the gathering head lifting safety device of the preferred embodiment of the present application.

[0119] Referring to Fig. 16, in a third aspect, the present application also provides a cotton picker, as shown in Fig. 12, comprising:

[0120] a gathering head rotating speed control system as described above;

[0121] The collecting head lifting safety device comprises a hanger 100 for mounting the collecting head 13, a suspension support 200 for hinging the hanger, a pull rod 300 for hinging the hanger and hinged to the hanger 100, a first driving member 400 for hinging the hanger to drive the suspension support 200 to lift the end of the suspension support 200 away from the hanger relative to the hanger, and a safety assembly 500 hinged to the suspension support 200 and elastically detachably connected to the pull rod 300, the pull rod 300 being arranged above the suspension support 200. Specifically, the collecting head lifting safety device of the present application forms a four-bar linkage mechanism with the hanger 100, the suspension support 200, the pull rod 300 and the hanger, the collecting head 13 is reliably mounted through the hanger 100, the end of the suspension support 200 away from the hanger is lifted relative to the hanger through the first driving member 400, and the hanger 100 is lifted, thereby realizing the lifting of the collecting head 13. During the lifting of the collecting head 13, the safety assembly 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 collecting head 13 to lift, the pull rod 300 synchronously drives the driving assembly to rotate upward away from the first driving member 400 relative to the suspension support 200, so as to avoid the first driving member 400, and ensure the stable operation of the first driving member 400. When the collecting head 13 is lifted to the highest position for maintenance, the safety assembly 500 is separated from the pull rod 300, and the safety assembly 500 rotates downward close to the first driving member 400 relative to the suspension support 200 under the action of gravity, so as to block the first driving member 400 and prevent the first driving member 400 from working, while sharing the load of the working end of the first driving member 400, preventing the first driving member 400 from being damaged, and minimizing the risk of accidental falling of the collecting head 13. The hanger 100, the suspension support 200, the pull rod 300 and the first driving member 400 are cooperated with each other to realize the lifting of the collecting head 13 relative to the hanger through single driving. Under the action of the safety assembly 500, the safety of the maintenance personnel is ensured compared with the prior art, the practicality is high, and the collecting head lifting safety device is suitable for wide promotion and application.

[0122] As shown in FIG. 15, in the present embodiment, the first driving member 400 comprises a cylinder 410 for hinging the hanger and a piston rod 420 movably arranged on the cylinder 410 and hinged to the suspension support 200. Specifically, the hanger is hinged through the cylinder 410, and the suspension support 200 is hinged through the piston rod 420, so as to drive the piston rod 420 to stretch or retract relative to the cylinder 410 by introducing hydraulic medium into the cylinder 410, and realize the lifting of the collecting head 13.

[0123] As shown in FIG. 12 and FIG. 15, in the embodiment, the locking component 500 includes a locking piece 510 hinged to the suspension support 200 for turning away from or turning close to the cylinder 410, and an elastic piece 520 connected to the free end of the locking piece 510 and detachably connected to the pull rod 300. Specifically, the elastic piece 520 and the pull rod 300 are elastically detachably connected, so as to elastically pull the locking piece 510 to turn away from the cylinder 410 through the pull rod 300, or the elastic piece 520 and the pull rod 300 are separated, so as to make the locking piece 510 abut against the cylinder 410 under the action of gravity, to prevent the piston rod 420 from extending and retracting relative to the cylinder 410, thereby locking the first driving component 400.

[0124] As shown in FIG. 12 and FIG. 15, in the embodiment, the elastic piece 520 includes a compression spring 521 connected to the free end of the locking piece 510, and a pulling rope 522 connected to the compression spring 521 and detachably connected to the pull rod 300. Specifically, the pull rod 300 pulls the pulling rope 522, so as to stretch the compression spring 521, and then elastically pull the locking piece 510 under the elastic force of the compression spring 521, to ensure that the locking piece 510 turns away from the cylinder 410, to avoid the cylinder 410, and to ensure that the piston rod 420 normally extends and retracts. It should be understood that, if a rigid traction is used, it is possible to cause the locking piece 510 and the suspension support 200 to interfere with each other.

[0125] As shown in FIG. 13, in the embodiment, the hanger 100 includes a connecting beam 110, a first cross beam 120 connected to the first end of the connecting beam 110, a second cross beam 130 connected to the second end of the connecting beam 110, and a hinged seat 140 fixedly arranged on the second cross beam 130, the vertical first end of the hinged seat 140 is hinged to the pull rod 300, and the vertical second end of the hinged seat 140 is hinged to the suspension support 200. Specifically, the first end and the second end of the connecting beam 110 are connected to the first cross beam 120 and the second cross beam 130 respectively, to constitute a bracket structure for reliably installing the collection head 13, and the hinged seat 140 is fixedly arranged on the second cross beam 130, so as to be hinged to the pull rod 300 and the suspension support 200 through the vertical first end and the vertical second end of the hinged seat 140 respectively, so that the pull rod 300 is above the suspension support 200, and a four-bar linkage mechanism is constituted by the hinged seat 140, the hanger 100, the suspension support 200 and the rack.

[0126] As shown in FIG. 12, in the embodiment, the hanger 100 further comprises a first guard plate 150 connected with the first end of the first cross beam 120 and the first end of the second cross beam 130 respectively, and a second guard plate 160 connected with the second end of the first cross beam 120 and the second end of the second cross beam 130 respectively. Specifically, the first end of the first cross beam 120 and the first end of the second cross beam 130 are connected by the first guard plate 150, and the second end of the first cross beam 120 and the second end of the second cross beam 130 are connected by the second guard plate 160, so as to improve the structural strength of the hanger 100 and ensure reliable support of the hanger 100.

[0127] As shown in FIG. 14, in the embodiment, the suspension support 200 comprises two installation main beams 210 arranged oppositely and spaced apart, a connecting cross beam 220 connected with the two installation main beams 210 respectively, and a connecting shaft 230 for hinging the rack connected with the two installation main beams 210 respectively. The end of the installation main beam 210 away from the connecting shaft 230 is provided with a hinge sleeve 240 hinged with the hinge seat 140, and the installation main beam 210, the hinge sleeve 240 and the hinge seat 140 are arranged one by one. Specifically, the two installation main beams 210 are connected by the connecting cross beam 220, and the two installation main beams 210 are connected by the connecting shaft 230 and hinged with the rack, so as to realize hinging of the rack by the suspension support 200, and hinging of the hanger 100 by the suspension support 200 through the hinge joint with the hinge seat 140, and lifting of the hanger 100 by the two installation main beams 210 and the two hinge sleeves 240 at the same time, so as to ensure that the collection head 13 mounted on the hanger 100 does not deviate left and right during lifting, and to ensure stable lifting of the collection head 13.

[0128] As shown in FIG. 14, in the embodiment, the suspension support 200 further comprises a connecting seat 250 arranged on the installation main beam 210 and hinged with the first driving member 400. The connecting seat 250 is arranged at the connection between the installation main beam 210 and the connecting cross beam 220. Specifically, the suspension support 200 is hinged with the first driving member 400 through the connecting seat 250, and the connecting seat 250 is arranged at the connection between the installation main beam 210 and the connecting cross beam 220, which has compact structure and reliable strength. It should be understood that the suspension support 200 is hinged with the first driving member 400 through the connecting seat 250, so that the connecting seat 250 bears relatively large force, and thus the installation of the connecting seat 250 needs to be ensured to be reliable.

[0129] As shown in FIG. 12, in the embodiment, the two pull rods 300 are arranged oppositely and spaced apart, and the pull rod 300 and the hinge seat 140 are arranged one by one. Specifically, when the first driving member 400 works to realize lifting of the collection head 13, the hinge seat 140 is pulled by the two pull rods 300 at the same time, so as to ensure stable lifting of the collection head 13 and avoid deviation of the collection head 13 left and right.

[0130] Specifically, by installing the above-mentioned picking head lifting safety device in the cotton picker, the safety of the maintenance personnel during maintenance of the single drive is ensured while the picking head 13 is lifted by the single drive, and the picking head lifting safety device has strong practicability and is 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 a hydraulic pipeline for transmitting working fluid, the open hydraulic system comprises a bypass hydraulic oil source, the bypass hydraulic oil source is a 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, and the cooling fan 14 generates wind power by using the bypass hydraulic oil source and cools and radiates the engine 15 and the hydraulic pipeline of the cotton picker.

[0132] As shown in FIGS. 18-20, the cotton picker of the present application further comprises a cooling fan 14, including a housing 1, a fan blade 2, a fan blade shaft 3, a guide plate 5, a sliding block 6, a bearing 7, a transmission shaft 8 and a second driving member 11. One end of the transmission shaft 8 is connected with a power source, i.e. one end of the transmission shaft 8 is connected with a bypass hydraulic oil source, serving as a power source for the rotation of the cooling fan 14, and the other end is fixedly connected with the housing 1. Specifically, the right end of the transmission shaft 8 is connected with the power source, and the left end of the transmission shaft 8 is connected with the housing 1 by bolts. A plurality of fan blade shaft holes are provided on the housing 1 at intervals in the circumferential direction, and a sliding bearing 4 is arranged in each fan blade shaft hole. The fan blade shaft 3 is sleeved on the sliding bearing 4, and the fan blade 2 is fixedly connected with the upper end of the fan blade shaft 3. The fan blade 2 is connected with the upper end of the fan blade shaft 3 by bolts. The sliding block 6 is mounted on the transmission shaft 8 by the bearing 7. Specifically, the inner wall of the right end of the sliding block 6 is provided with an inner annular surface 604, the outer ring of the bearing 7 is in interference fit with the inner annular surface 604, and the inner ring of the bearing 7 is movably mounted on the transmission shaft 8. The sliding block 6 and the bearing 7 are axially movable relative to the transmission shaft 8. The guide plate 5 is fixedly connected with the housing 1, and a through slot is formed in the guide plate 5 in the axial direction. A portion of the sliding block 6 is located in the through slot to limit the radial and circumferential movement of the sliding block 6, so that the sliding block 6 rotates synchronously with the housing 1 and has the freedom of axial movement relative to the housing 1. Specifically, the right end of the sliding block 6 is provided with a sliding block guide 603 in the radial direction, which is embedded in the through slot on 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 sliding block 6 to rotate synchronously. The lower end of the fan blade shaft 3 is eccentrically provided with a fan blade shaft column pin 301, and an annular sliding groove 602 is formed in the sliding block 6 in the circumferential direction. The fan blade shaft column pin 301 is inserted into the annular sliding groove 602. When the sliding block 6 moves axially, it can drive the fan blade shaft column pin 301 to rotate, thereby driving the fan blade shaft 3 and the fan blade 2 to rotate, and further adjusting the angle of the fan blade 2. The second driving member 11 is drivingly connected with the sliding block 6 for driving the sliding block 6 to move axially. When the sliding block 6 moves axially, it drives the fan blade shaft column pin 301 to rotate, thereby adjusting the deflection angle of the fan blade 2. It can be understood that when the sliding block 6 moves axially to the left, it drives the fan blade 2 to rotate clockwise, and when the sliding block 6 moves axially to the right, it drives the fan blade 2 to rotate counterclockwise. Not only can the deflection angle of the fan blade 2 be adjusted, but also the reverse deflection can be realized, thereby realizing the self-cleaning function of the radiator. The second driving member 11 can be selected from hydraulic cylinders, electric push rods, linear motors and other linear driving mechanisms, and a hydraulic cylinder is preferably used. Further, the cooling fan 14 can also share a hydraulic cylinder with the open hydraulic system of the cotton picker, thereby eliminating the need for the second driving member 11, saving the cost of the entire machine and optimizing the space arrangement.

[0133] The heat dissipation fan 14 of the embodiment uses the guide plate 5 to limit the radial and axial directions of the sliding block 6, which not only allows the shell 1, the guide plate 5, the sliding block 6 and the outer ring of the bearing 7 to rotate synchronously with the transmission shaft 8, but also allows the sliding block 6 to move axially relative to the shell 1. Moreover, the axial movement of the sliding block 6 is converted into the angular deflection of the fan blade 2 through the sliding fit between the annular sliding groove 602 on the sliding block 6 and the fan blade shaft pin 301. When the sliding block 6 moves axially, the fan blade shaft pin 301 can be driven to rotate under the drive of the second driving member 11. Without changing the rotation speed and direction of the transmission shaft 8, the deflection angle of the fan blade 2 can be adjusted, and the reverse deflection can also be achieved, thereby realizing the self-cleaning function of the radiator. Moreover, the overall structure of the device is compact and simple, and is easy to maintain.

[0134] Optionally, the heat dissipation fan 14 further comprises a first wedge-shaped sliding block 9 and a second wedge-shaped sliding block 10 which are in sliding fit with inclined surfaces. The first wedge-shaped sliding block 9 is fixedly connected with the inner ring of the bearing 7, and the second driving member 11 is connected with the second wedge-shaped sliding block 10. The second driving member 11 drives the second wedge-shaped sliding block 10 to move up and down, so that the second wedge-shaped sliding block 10 drives the first wedge-shaped sliding block 9, the bearing 7 and the sliding block 6 to move axially. It can be understood that the up-and-down movement of the second wedge-shaped sliding block 10 is converted into the left-and-right movement of the first wedge-shaped sliding block 9 through the sliding fit of the inclined surfaces of the two wedge-shaped sliding blocks, so that the second driving member 11 can be arranged in the vertical direction on the same side of the transmission shaft 8, without occupying the axial space of the transmission shaft 8, so that the structure layout is more compact, and the device can better adapt to the mechanical equipment with high compactness requirement. Of course, in other embodiments of the present application, the second driving member 11 can also be arranged in the axial direction of the transmission shaft 8 to directly drive the sliding block 6 and the bearing 7 to move axially, but it will occupy the axial installation space, which is not conducive to the compactness of the structure.

[0135] As a preferred, one of the two inclined surfaces of the first wedge-shaped sliding block 9 and the second wedge-shaped sliding block 10 is provided with a groove, and the other is provided with a boss. Through the sliding fit of the boss and the groove, the two wedge-shaped sliding blocks can be guided when they are in sliding fit, which is conducive to improving the reliability of the sliding fit of the two wedge-shaped sliding blocks. In addition, the upper left end of the first wedge-shaped sliding block 9 is provided with a bearing mounting ring 901 which is movably mounted on the transmission shaft 8, for example, in a clearance fit manner. The inner ring of the bearing 7 is fixedly mounted on the outer ring surface of the bearing mounting ring 901, for example, in an interference fit manner.

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

[0137] Optionally, the slider 6 is provided with a slider pin 601, and the housing 1 is provided with a housing pin hole 101, the slider pin 601 is inserted into the housing pin hole 101, which is used to play a guiding role when the slider 6 moves in the axial direction, and enhances the stability of the movement of the slider 6.

[0138] In one embodiment of the present application, the working process of the heat dissipation fan 14 is as follows: when the transmission shaft 8 rotates, the housing 1, the fan blade 2, the fan blade shaft 3, the sliding bearing 4, the guide plate 5, the sliding block 6, the outer ring of the bearing 7 and the compression spring 12 are driven to rotate synchronously by the transmission shaft 8, while the inner ring of the bearing 7, the first wedge-shaped sliding block 9, the second wedge-shaped sliding block 10 and the hydraulic cylinder do not rotate with the above-mentioned components. In the rotating state of the fan, when the pressure oil of the hydraulic cylinder enters, the piston rod of the hydraulic cylinder extends to push the second wedge-shaped sliding block 10 to move vertically upward, so that the first wedge-shaped sliding block 9 moves horizontally to the left, the first wedge-shaped sliding block 9 transmits the movement to the sliding block 6 through the bearing 7 to make the sliding block 6 move horizontally to the left relative to the housing 1, and the annular sliding groove 602 of the sliding block 6 pushes the fan blade shaft pin 301 to move to the left, so that the deflection angle of the fan blade 2 rotates to the positive deflection angle direction; when the pressure oil of the hydraulic cylinder stops entering, the pre-tightening force of the compression spring 12 is applied to the sliding block 6 to fix it at the current position, at this time the deflection angle of the fan blade 2 is fixed at the current position; when the return oil passage of the hydraulic cylinder, under the pre-tightening force of the compression spring 12, the sliding block 6 moves to the right relative to the housing 1, the annular sliding groove 602 of the sliding block 6 pushes the fan blade shaft pin 301 to move to the right, so that the deflection angle of the fan blade 2 rotates to the negative deflection angle direction, the sliding block 6 transmits the right movement to the first wedge-shaped sliding block 9 through the bearing 7, the first wedge-shaped sliding block 9 pushes the second wedge-shaped sliding block 10 to slide, so that the second wedge-shaped sliding block 10 moves vertically downward, and the piston rod of the hydraulic cylinder moves downward accordingly; when the return of the hydraulic cylinder stops, the piston of the hydraulic cylinder no longer moves downward, the pre-tightening force of the compression spring 12 is applied to the sliding block 6 to fix it at the current position, at this time the deflection angle of the fan blade 2 is fixed at the current position.

[0139] It can be understood that, as preferred, the second driving member 11 is a hydraulic cylinder. As shown in FIG. 21, the heat dissipation fan 14 further comprises a hydraulic control system, specifically comprising a hydraulic oil source 31, a pressure reducing valve 32, an oil cylinder extension electromagnetic valve 33, an oil cylinder contraction electromagnetic valve 39, a controller 37 and a hydraulic oil tank 40, the oil cylinder extension electromagnetic valve 33 is arranged on the oil path connecting the hydraulic oil source 31 and the rodless cavity of the hydraulic cylinder, and the oil cylinder contraction electromagnetic valve 39 is arranged on the oil path connecting the hydraulic oil tank 40 and the rodless cavity of the hydraulic cylinder. The controller 37 is electrically connected with the oil cylinder extension electromagnetic valve 33 and the oil cylinder contraction electromagnetic valve 39, when the controller 37 controls the oil cylinder extension electromagnetic valve 33 to be conductive and the oil cylinder contraction electromagnetic valve 39 to be cut off, the hydraulic cylinder extends to drive the sliding block 6 to move to the left along the axial direction, when the controller 37 controls the oil cylinder extension electromagnetic valve 33 to be cut off and the oil cylinder contraction electromagnetic valve 39 to be conductive, if the sliding block 6 moves to the right along the axial direction, the hydraulic cylinder is driven to retract, and when the controller 37 controls the oil cylinder extension electromagnetic valve 33 and the oil cylinder contraction electromagnetic valve 39 to be cut off, the hydraulic cylinder remains at the current position.

[0140] Optionally, the heat dissipation fan 14 further comprises a pressure reducing valve 32 arranged between the hydraulic oil source 31 and the oil cylinder extension electromagnetic valve 33, for providing temperature pressure oil to the hydraulic cylinder to increase the stability of the control of the deflection angle of the fan blade 2. In addition, a one-way valve 34 is arranged between the oil cylinder extension electromagnetic valve 33 and the rodless cavity of the hydraulic cylinder, to prevent backflow of oil, so that the hydraulic cylinder can stably maintain a specific position. In addition, a damper 35 is arranged between the one-way valve 34 and the rodless cavity of the hydraulic cylinder, for controlling the speed of oil entering the hydraulic cylinder, to enhance the smoothness of the action of the fan blade 2 when the angle is adjusted.

[0141] Optionally, the heat dissipation fan 14 further comprises a temperature sensor 38 for monitoring the temperature of the heat dissipation system and a displacement sensor 36 for monitoring the displacement amount of the hydraulic cylinder piston rod, both of which are electrically connected to the controller 37, and the controller 37 is used to realize closed-loop control adjustment of the temperature of the heat dissipation system according to the detection results of the displacement sensor 36 and the temperature sensor 38. It can be understood that the present application can accurately close-loop adjust the extension and retraction amount of the hydraulic cylinder by monitoring the temperature of the heat dissipation system and the displacement of the hydraulic cylinder piston rod, so that the fan blade 2 can match the best power demand of the heat dissipation system at the most appropriate angle, improve the utilization rate of the power system, and reduce energy consumption.

[0142] In one embodiment of the present application, the hydraulic control principle of the heat dissipation fan 14 is as follows: when the hydraulic cylinder needs to extend, the controller 37 sends a command signal to the oil cylinder extension solenoid valve 33, and after the oil cylinder extension solenoid valve 33 is electrified, the valve core becomes left-position function, at this time the pressure oil output by the hydraulic oil source 31 passes through the pressure reducing valve 32, then passes through the oil cylinder extension solenoid valve 33 to open the one-way valve 34, and then the pressure oil passes through the damper 35 into the rodless cavity of the hydraulic cylinder, and the pressure oil pushes the piston rod of the hydraulic cylinder to extend; when the hydraulic cylinder needs to be kept at a certain position, the controller 37 does not send a command signal to the oil cylinder extension solenoid valve 33 and the oil cylinder retraction solenoid valve 39, at this time the oil inlet of the hydraulic system is cut off by the oil cylinder extension solenoid valve 33, the oil return is cut off by the oil cylinder retraction solenoid valve 39, the hydraulic oil in the rodless cavity of the hydraulic cylinder is cut off by the one-way valve 34 and the oil cylinder retraction solenoid valve 39 and cannot circulate, and the piston rod of the hydraulic cylinder is kept at the current position; and when the hydraulic cylinder needs to retract, the controller 37 sends a command signal to the oil cylinder retraction solenoid valve 39, and after the oil cylinder retraction solenoid valve 39 is electrified, the valve core becomes upper function, at this time the rodless cavity of the hydraulic cylinder is connected to the hydraulic oil tank 40, the hydraulic oil in the rodless cavity of the hydraulic cylinder passes through the damper 35 and the oil cylinder retraction solenoid valve 39 to return to the hydraulic oil tank 40, and under the pre-tightening force of the compression spring 12, the piston rod of the hydraulic cylinder retracts. By adjusting the direction and flow rate of the hydraulic oil, the rotation speed and rotation angle can be controlled, the radiator can be back blown, the impurities accumulated on the outer surface of the radiator can be effectively removed, the airflow between the cooling fins can be unobstructed, and the high-efficiency operation of the heat dissipation system can be continuously maintained. This way actively changes the past limitations of simply relying on manual or mechanical auxiliary cleaning, fundamentally improves the heat dissipation efficiency and reduces the time and difficulty of maintenance work.

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

[0144] Wherein, β represents the deflection angle of the fan shaft, r represents the radius of the circular motion track of the fan shaft pin 301, a represents the included angle between the contact inclined surface of the first and second wedge-shaped sliders 9 and 10 and the axial direction of the transmission shaft 8, and S represents the extension displacement of the hydraulic cylinder piston rod. Specifically, the application 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 FIG. 22, O1 represents the movement 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 movement reference coordinate system of the fan shaft pin 301, x2 is the horizontal axis of the coordinate system, and y2 is the vertical axis of the coordinate system; S represents the extension displacement of the hydraulic cylinder piston rod; a represents the included angle between the contact inclined surface of the first and second wedge-shaped sliders 9 and 10 and the axial direction of the transmission shaft 8; ①, ② and ③ respectively represent the zero position, positive deflection angle position and negative deflection angle position of the fan shaft pin 301 on the movement track; Δx2 represents the horizontal distance between the fan shaft pin 301 and the coordinate axis y2; r represents the radius of the circular motion track of the fan shaft pin 301; β1 represents the complementary angle of the maximum positive deflection angle of the fan shaft 3, that is, the maximum positive deflection angle of the fan shaft 3 is (90°-β1); β2 represents the complementary angle of the maximum negative deflection angle of the fan shaft 3, that is, the maximum negative deflection angle of the fan shaft 3 is (90°-β2); β represents the deflection angle of the fan shaft 3, and β ∈ [-90°+β2, 90°-β1].

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

[0146] In the coordinate system O2, the coordinate system origin O2 is the center point of the fan shaft 3, the fan shaft pin 301 moves on the circular track with O2 as the origin and r as the radius, and the axial displacement change amount of the fan shaft pin 301 is equal to the axial displacement change amount of the first wedge-shaped slider 9, that is, Δx2=Δx1=S / tan a. Since the trigonometric function relationship between Δx2 and r is sin β=Δx2 / r, the control equation of the deflection angle β of the fan shaft 3 is: Wherein, r and a are constants, thus, in 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 a zero deflection angle, and the zero position is calibrated as an initial state through an electrical program when the hydraulic cylinder piston rod is extended to a certain position; 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 angle adjustment; when S<0, β∈[-90°-β2, 0°), indicating that the deflection angle of the fan shaft 3 is a negative deflection angle, realizing negative angle adjustment of the fan blade 2 and realizing the back blowing function of the radiator.

[0147] The fan blade angle adjustment hydraulic control system disclosed by the application fully meets the closed loop control function of automatically adjusting the fan blade angle according to the temperature of the heat dissipation system, and simply and effectively solves the difficulty of configuring and installing a fan blade angle sensor in the rotating fan.

[0148] The temperature automatic adjustment control logic of the application is specifically:

[0149] When it is monitored that the temperature T of the heat dissipation system is greater than or equal to the high temperature threshold T2, the controller 37 controls the oil cylinder extension electromagnetic valve 33 to be powered on and conducted, the hydraulic cylinder piston rod is extended, and the extension displacement S of the piston rod is increased to a preset third extension displacement S3 until the extension displacement S of the piston rod is increased to the preset third extension displacement S3, the third extension displacement S3 indicating the corresponding extension displacement of the hydraulic cylinder piston rod when the heat dissipation air volume is increased in the control program, at this time, the positive deflection angle of the fan blade 2 is increased to increase the heat dissipation air volume, so that the temperature of the heat dissipation system is reduced; when it is monitored that the temperature T of the heat dissipation system is less than or equal to the low temperature threshold T1, the controller 37 controls the oil cylinder retraction electromagnetic valve 39 to be powered on and conducted, the hydraulic cylinder piston rod is retracted, and the extension displacement S of the piston rod is reduced to a preset second extension displacement S2 until the extension displacement S of the piston rod is reduced to the preset second extension displacement S2, the second extension displacement S2 indicating the corresponding extension displacement of the hydraulic cylinder piston rod when the heat dissipation air volume is reduced in the control program, at this time, the positive deflection angle of the fan blade 2 is reduced to reduce the heat dissipation air volume, so that the temperature of the heat dissipation system is increased.

[0150] When the radiator needs to be self-cleaned, for example, the controller 37 manually executes the radiator cleaning instruction or periodically automatically executes the radiator cleaning instruction, the controller 37 controls the oil cylinder retraction electromagnetic valve 39 to be powered on and conductive, drives 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 of the hydraulic cylinder piston rod in the control program of the reverse blowing self-cleaning state of the radiator, and then controls the oil cylinder extension electromagnetic valve 33 and the oil cylinder retraction electromagnetic valve 39 to be powered off and cut off and maintained for a preset time t, at this time, the angle of the fan blade 2 is reversely deflected to blow, thereby automatically cleaning the radiator. In addition, after reaching the self-cleaning time t, the controller 37 controls the oil cylinder extension electromagnetic valve 33 to be powered on and conductive, so that the hydraulic cylinder is connected to the oil inlet, 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 in the control program of the preset start initialization of the heat dissipation system, and the self-cleaning program of the radiator is executed.

[0151] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application should be included in the protection scope of the present application.

[0152] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media containing computer usable program codes (including but not limited to disk storage, CD-ROM, optical storage, etc.). The solutions in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming languages Java and interpreted scripting language JavaScript, etc.

[0153] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0154] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0156] Although preferred embodiments of the application have been described herein, it will be apparent to those skilled in the art that various modifications and changes can be made to the embodiments without departing from the spirit and scope of the application. Accordingly, it is intended that all claims be interpreted to include all such modifications and changes as fall within the true spirit and scope of the application.

[0157] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A harvesting head rotational speed control system characterized by, The method comprises the following steps: The baseline control module is used to obtain the harvesting speed of the cotton picker and control the rotating speed of the collection head to the target working speed according to the baseline corresponding relationship between the harvesting speed and the rotating speed of the collection head. The pressure collection module is used to obtain the real-time working pressure of the collection head pump during the harvesting operation of the collection head at the target working speed. The adaptive adjustment module is used to adaptively adjust the harvesting speed and the rotating speed of the collection head based on the real-time working pressure of the collection head pump. The rotating speed correction module is used to obtain the actual cotton harvesting rate based on the images of the cotton field before and after harvesting and correct the rotating speed of the collection head according to the actual cotton harvesting rate.

2. A control method for the control system of the head rotation speed according to claim 1, characterized in that, The method comprises the following steps: The baseline control module is used to obtain the harvesting speed of the cotton picker and control the rotating speed of the collection head to the target working speed according to the baseline corresponding relationship between the harvesting speed and the rotating speed of the collection head. The pressure collection module is used to obtain the real-time working pressure of the collection head pump during the harvesting operation. The adaptive adjustment module is used to adaptively adjust the harvesting speed and the rotating speed of the collection head based on the real-time working pressure of the collection head pump.

3. The harvesting head rotational speed control method of claim 2, wherein, The process of adaptively adjusting the harvesting speed and the rotating speed of the collection head based on the real-time working pressure of the collection head pump comprises the following steps: The system protection limit value and the system acceleration limit value of the collection head pump pressure are set, wherein the system protection limit value is less than the upper limit value of the working pressure of the collection head pump, and the system acceleration limit value is less than the system protection limit value. The real-time working pressure of the collection head pump is compared with the system protection limit value and the system acceleration limit value, and the harvesting speed and the rotating speed of the collection head are adaptively adjusted according to the comparison result.

4. The harvesting head rotational speed control method of claim 3, wherein, The actual cotton harvesting rate is obtained based on the images of the cotton field before and after harvesting, and the rotating speed of the collection head is corrected according to the actual cotton harvesting rate. The first change curve and the second change curve of the collection head pump pressure in the system idle state and the system picking state are obtained respectively, and the collection head pump pressure value required for picking is obtained according to the pressure difference of 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 working pressure of the collection head pump, the system acceleration limit value and the collection head pump pressure value required for picking, and the second pressure margin influence coefficient is calculated based on the real-time working pressure of the collection head pump and the system protection limit value. When the actual cotton harvesting rate is lower than the preset lower limit value, the first harvesting rate influence coefficient is calculated based on the difference between the actual cotton harvesting rate and the preset lower limit value, and the rotating speed of the collection head is positively corrected based on the first pressure margin influence coefficient and the first harvesting rate influence coefficient; when the actual cotton harvesting rate is higher than the preset upper limit value, the second harvesting rate influence coefficient is calculated based on the difference between the actual cotton harvesting rate and the preset upper limit value, and the rotating speed of the collection head is negatively corrected based on the second pressure margin influence coefficient and the second harvesting rate influence coefficient.

5. The collection head rotating speed control method according to claim 4, wherein the rotating speed of the collection head is positively corrected based on the following formula: The rotating speed of the collection head is negatively corrected based on the following formula: I = I base * α1* k0θ 2 ; The method comprises the following steps: I = I base *k1a2*k2e 2 ; wherein I represents the corrected current of the sampling pump electromagnetic valve, I base represents the reference control current of the sampling pump electromagnetic valve, a1 represents the first sampling rate influence coefficient, a1 = |N min -N pick |, N min represents the preset lower limit value of the cotton sampling rate, N pick represents the actual cotton sampling rate, a2 represents the second sampling rate influence coefficient, a2 = |N max -N pick |, N max represents the preset upper limit value of the cotton sampling rate, θ represents the first pressure margin influence coefficient, P acc represents a system acceleration limit value, P work represents a real-time working pressure of the header pump, P ne represents a header pump pressure value required for cotton picking, ε represents a second pressure margin influence coefficient, and ε = P work -P pro , P pro represents a system protection limit value, and k0, k1, and k2 represent fixed coefficients.

6. A cotton harvester characterized by, The collection head rotating speed control system according to claim 1. ​ The collection head lifting safety device comprises a hanger for mounting the collection head, a suspension support for hinging the hanger, a pull rod for hinging the hanger, a first driving member for hinging the hanger and lifting the end of the suspension support away from the hanger, and a safety assembly for avoiding the first driving member by rotating away from the first driving member or blocking the first driving member by rotating close to the first driving member, which is hinged with the suspension support and elastically detachably connected with the pull rod, and the pull rod is arranged above the suspension support.

7. The cotton harvester of claim 6, wherein, The safety assembly comprises a blocking member for hinging the suspension support by rotating away or by rotating close to the cylinder, and an elastic member connected with the free end of the blocking member and detachably connected with the pull rod, and the elastic member comprises a compression spring connected with the free end of the blocking member and a traction rope connected with the compression spring and detachably connected with the pull rod.

8. The cotton harvester of claim 7, wherein, The first driving member comprises a cylinder for hinging the hanger and a piston rod movably arranged on the cylinder and hinged with the suspension support; the hanger comprises a connecting girder, a first cross beam connected with the first end of the connecting girder, a second cross beam connected with the second end of the connecting girder, and a hinge seat fixedly arranged on the second cross beam, the vertical first end of the hinge seat is hinged with the pull rod, and the vertical second end of the hinge seat is hinged with the suspension support; The suspension support comprises two oppositely and spacedly arranged installation main girders, a connecting cross beam connected with the two installation main girders respectively, and a connecting shaft for hinging the hanger connected with the two installation main girders respectively, the end of the installation main girder away from the connecting shaft is provided with a hinge sleeve hinged with the hinge seat, and the installation main girder, the hinge sleeve and the hinge seat are correspondingly arranged.

9. The cotton harvester of claim 6, wherein, Further comprising a heat dissipation fan, the heat dissipation fan comprises a housing, a fan blade, a fan blade shaft, a guide plate, a sliding block, a bearing, a transmission shaft and a second driving member, one end of the transmission shaft is connected with a power source, the other end is fixedly connected with the housing, a plurality of fan blade shaft holes are arranged on the housing in a circumferential direction, a sliding bearing is arranged in each fan blade shaft hole, the fan blade shaft is sleeved on the sliding bearing, the fan blade is fixedly connected with the upper end of the fan blade shaft, the sliding block is installed on the transmission shaft through the bearing, the guide plate is fixedly connected with the housing, a through slot is formed on the guide plate in an axial direction, a part of the sliding block is located in the through slot to limit the radial and circumferential positions of the sliding block, so that the sliding block rotates synchronously with the housing and has an axial movement degree relative to the housing, the lower end of the fan blade shaft is provided with a fan blade shaft column pin, an annular sliding groove is formed on the sliding block in a circumferential direction, the fan blade shaft column pin is inserted into the annular sliding groove, the second driving member is drivingly connected with the sliding block, and is used for driving the sliding block to move in an axial direction, when the sliding block moves in the axial direction, the fan blade shaft column pin is driven to rotate, so as to automatically adjust the angle of the fan blade. The first and second wedge-shaped sliding blocks are slidably connected with the inclined surface, the first wedge-shaped sliding block is fixedly connected with the inner ring of the bearing, the driving member is connected with the second wedge-shaped sliding block, the second wedge-shaped sliding block is driven to move up and down by controlling the driving member, so that the second wedge-shaped sliding block drives the first wedge-shaped sliding block, the bearing and the sliding block to move axially. A compression spring is arranged between the slider and the shell in the axial direction, and the initial state of the compression spring is a compressed state, which is used to provide the slider with a pre-tightening force in the axial direction to the right; A slider pin is arranged on the slider, and a shell pin hole is arranged on the shell, the slider pin is inserted into the shell pin hole, which is used to guide the slider when it moves in the axial direction.

10. The cotton harvester of claim 9, wherein, Further comprising a hydraulic oil source, a pressure reducing valve, an oil cylinder extension electromagnetic valve, an oil cylinder retraction electromagnetic valve, a controller and a hydraulic oil tank, the oil cylinder extension electromagnetic valve is arranged on the oil path connecting the hydraulic oil source and the rodless cavity of the hydraulic cylinder, the oil cylinder retraction electromagnetic valve is arranged on the oil path connecting the hydraulic oil tank and the rodless cavity of the hydraulic cylinder, the controller is electrically connected with the oil cylinder extension electromagnetic valve and the oil cylinder retraction electromagnetic valve, when the controller controls the oil cylinder extension electromagnetic valve to be on and the oil cylinder retraction electromagnetic valve to be off, the hydraulic cylinder extends to drive the slider to move in the axial direction to the left, when the controller controls the oil cylinder extension electromagnetic valve to be off and the oil cylinder retraction electromagnetic valve to be on, if the slider moves in the axial direction to the right, the hydraulic cylinder retracts; when the controller controls the oil cylinder extension electromagnetic valve and the oil cylinder retraction electromagnetic valve to be off, the hydraulic cylinder keeps the current position; Further comprising a temperature sensor for monitoring the temperature of the heat dissipation system and a displacement sensor for monitoring the displacement of the piston cylinder of the hydraulic cylinder, the displacement sensor and the temperature sensor are electrically connected with the controller, and the controller is used to realize closed-loop control adjustment of the temperature of the heat dissipation system according to the detection results of the displacement sensor and the temperature sensor.

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