CN108702925A - A kind of device and control method for realizing the automatic unloading of grain harvesting machine - Google Patents
A kind of device and control method for realizing the automatic unloading of grain harvesting machine Download PDFInfo
- Publication number
- CN108702925A CN108702925A CN201810815650.XA CN201810815650A CN108702925A CN 108702925 A CN108702925 A CN 108702925A CN 201810815650 A CN201810815650 A CN 201810815650A CN 108702925 A CN108702925 A CN 108702925A
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- CN
- China
- Prior art keywords
- grain
- unloading
- controller
- vertical
- tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/063—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a container carried by the mower; Containers therefor
- A01D43/0635—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a container carried by the mower; Containers therefor with emptying means
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/1208—Tanks for grain or chaff
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/1208—Tanks for grain or chaff
- A01D41/1217—Unloading mechanisms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D43/00—Mowers combined with apparatus performing additional operations while mowing
- A01D43/06—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material
- A01D43/07—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a trailer
- A01D43/073—Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a trailer with controllable discharge spout
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Threshing Machine Elements (AREA)
Abstract
Present invention is disclosed a kind of devices and control method for realizing the automatic unloading of grain harvesting machine, including：Sensor, unloading grain tube, high limit sensors, transmission mechanism, rotary drive mechanism, lift drive mechanism for driving stirring cage in cylinder are expired in controller, control panel, storehouse, rotary drive mechanism is mounted on rotation of the side of vertical unloading grain tube for driving the vertical unloading grain tube, and lift drive mechanism is for driving rising or falling for the vertical unloading grain tube.The present invention substitutes artificial visual silo grain sky by silo sensor and is full of state, reaches and driver is allowed to be absorbed in driving operation, reduce labor intensity, rotation and the automatic reset function of putting grain and grain cylinder automatically may be implemented, reduce labor intensity and Operating Complexity.
Description
Technical field
The present invention relates to agricultural machinery discharge mechanism field, more particularly to a kind of device for realizing the automatic unloading of grain harvesting machine and
Control method.
Background technology
Grain harvesting machine is as the important type in agricultural machinery, huge effect in being played in agricultural, therefore, improves
The working efficiency of grain harvesting machine has positive effect, now country's grain harvesting machine for improving China's agricultural machinery development level
It is conventional to be carried out using artificial unloading mode, it, can be into when driver knows that cereal carrying silo expire during grain harvest
Row unloading operates, and employing mode is that manual control unloading grain tube is rotated, and then pulls unloading knob manually, connects stirring cage axis,
It operates unloading grain tube and carries out stirring cage unloading, unloading terminates.It is operated in a reverse order, pulls unloading spanner, disconnect stirring cage
Axis, manual control unloading grain tube are rotated, and unloading grain tube is gone back to unloading grain tube special stand, then could carry out harvest operation.
Conventional unloading Operation control, pair plus driver operation require it is high, it is desirable that machine work principle can be grasped, operate
Method, not only complex steps, when labour cost, are permanent, and all operationss are visual operation, and not only control accuracy is very low, if behaviour
It slips up, under extreme case, unloading grain tube may be broken, and collision causes safety accident.
Invention content
The invention mainly solves the technical problem of providing a kind of device for realizing the automatic unloading of grain harvesting machine and controls
Method.
In order to solve the above technical problems, one aspect of the present invention is：A kind of realization grain harvesting machine is automatic
The device of unloading, including：Controller, control panel, storehouse are expired sensor, unloading grain tube, high limit sensors, are stirred for driving in cylinder
Transmission mechanism, rotary drive mechanism, the lift drive mechanism of cage；
The control panel is electrically connected the controller, and the control panel includes automatic unloading button and self-return button,
The automatic unloading button is for starting automatic unloading pattern, and the self-return button is for starting unloading grain tube automatic homing mould
Formula；
The storehouse expires sensor and is connected with controller, and the top for being installed on silo is used to detect the storage of the cereal in silo
Amount；
The unloading grain tube includes vertical unloading grain tube, with vertical unloading grain tube lateral unloading grain tube connected vertically and with vertical unloading
Cylinder passes through steering axis connection and the oblique lifting cylinder of perforation；
The high limit sensors are connected with controller, the height for detecting the vertical unloading grain tube ascending motion；
The rotary drive mechanism is electrically connected the controller, is installed on the side of vertical unloading grain tube and described is vertically unloaded for driving
The rotation of grain cylinder；
The lift drive mechanism is electrically connected the controller, for driving rising or falling for the vertical unloading grain tube.
In a preferred embodiment of the present invention, the transmission mechanism includes clutch, lateral stirring cage transmission axle, vertically stirs
Cage transmission axle, the clutch are connect with engine, and described transverse direction stirring cage transmission axle one end is connect with clutch, the other end
It is sequentially connected with vertical stirring cage transmission axle.
In a preferred embodiment of the present invention, it is provided with and puts through the lateral unloading grain tube upper surface below the silo
Grain hole.
In a preferred embodiment of the present invention, the rotary drive mechanism includes surrounding to be arranged on the outside of vertical unloading grain tube
Transmission gear, driving transmission gear rotation driving motor and detect transmission gear rotation angle angular transducer.
In a preferred embodiment of the present invention, further include alarm device, the letter of the alarm device and the controller
Number output end electrical connection, for prompting silo to buy securities with all one's capital state and malfunction when putting grain.
In a preferred embodiment of the present invention, the lift drive mechanism is mounted on the oblique lifting cylinder and vertically
Raise-lower hydraulic valve between unloading grain tube.
In a preferred embodiment of the present invention, the top that the medium position of the oblique lifting cylinder passes through supporting rack and silo
Portion is connected, and support frame as described above is connected with the holder sensor for detecting the vertical unloading grain tube down position.
A kind of control method for realizing grain harvesting machine automatic grain discharging device, includes the following steps：
A. the control parameter in the controller is preset, the control parameter includes unloading grain tube rotation angle preset value, grain
Full preset value and grain expire alarming value；
B. automatic unloading button is pressed, controller receives the signal of automatic unloading button, confirms and enters automatic unloading pattern；Control
The rise that device drives lift drive mechanism to carry out unloading grain tube acts, when vertical unloading grain tube is close to high limit sensors, controller
The information that unloading grain tube goes to highest order is received, stopping is raised above action, and controller controls rotary drive mechanism rotation, drives
Vertical unloading grain tube is rotated to the right, and when vertical unloading grain tube is turned right, angular transducer sends perpendicular to controller
Angle information is correspondingly rotated to unloading grain tube, controller judges whether rotary drive mechanism stops turning according to the angle information of transmission
It is dynamic；
C. when controller detects that vertical unloading grain tube goes to preset value and when judging that the grain face in silo reaches grain and expires preset value, control
Device processed starts the step of transmission mechanism running is to complete to put grain；
D. when controller detects that silo inside cereal is discharged, start unloading grain tube automatic homing pattern, control transmission first
Mechanism shuts down and controls rotary drive mechanism and turned round, the information of controller real-time reception angular transducer transmission, when
When vertical unloading grain tube returns back to 0 °, controller judges that vertical unloading grain tube has returned to home position, then controls elevator drive machine
Structure carries out lowering action, realizes the self-return of vertical unloading grain tube.
In a preferred embodiment of the present invention, it when the grain face in controller judgement silo, which reaches grain, expires alarming value, carries
Show alarm.
In a preferred embodiment of the present invention, in the step b, when angular transducer detects vertical unloading grain tube rotation
When angle information becomes 90 °, controller control rotary drive mechanism stops operating.
Of the present invention is a kind of device and control method for realizing the automatic unloading of grain harvesting machine, can detect grain in real time
Storehouse grain sky is full of state, when silo is close to full position, sends out acousto-optic warning to driver and reminds, and controller is from controlling associated mechanisms
Component realizes that the automatic of unloading grain tube produces carry out unloading, and after unloading, driver, which presses automatic homing button and automatically controls, to unload
Grain cylinder automatic homing completes unloading action.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of device that realizing the automatic unloading of grain harvesting machine of the present invention；
Fig. 2 is a kind of flow diagram of control method that realizing grain harvesting machine automatic grain discharging device of the present invention；
Fig. 3 is a kind of flow diagram of the control method of device that realizing the automatic unloading of grain harvesting machine of the present invention.
Specific implementation mode
The preferred embodiments of the present invention will be described in detail below so that advantages and features of the invention can be easier to by
It will be appreciated by those skilled in the art that so as to make a clearer definition of the protection scope of the present invention.
- 3 are please referred to Fig.1, the embodiment of the present invention includes：A kind of device for realizing the automatic unloading of grain harvesting machine, including：Control
Device 1 processed, control panel 2, storehouse expire sensor 3, unloading grain tube 4, high limit sensors 5, the transmission mechanism for driving cylinder inner hauling cage,
Rotary drive mechanism, lift drive mechanism；
The control panel 2 is electrically connected controller 1, including automatic unloading button and self-return button, the automatic unloading are pressed
Button is for starting automatic unloading pattern, and the self-return button is for starting unloading grain tube automatic homing pattern；
The storehouse expires sensor 3 and is connected with controller 1, is installed on the top of silo 6 for detecting the cereal in silo
Amount of storage；
The unloading grain tube 4 includes vertical unloading grain tube 41, with the lateral unloading grain tube 42 connected vertically of vertical unloading grain tube 41 and with it is perpendicular
Pass through steering axis connection and the oblique lifting cylinder 43 of perforation to unloading grain tube 41；
The high limit sensors 5 are connected with controller 1, the height for detecting 41 ascending motion of vertical unloading grain tube；
The rotary drive mechanism is electrically connected controller 1, is installed on the side of vertical unloading grain tube for driving the vertical unloading
The rotation of cylinder 41；
The lift drive mechanism is electrically connected controller 1, for driving rising or falling for the vertical unloading grain tube 41.
The transmission mechanism includes clutch 7, lateral auger transmission axle 8, vertical auger transmission axle 9, the clutch 7 with
Engine connects, and described 8 one end of transverse direction auger transmission axle is connect with clutch 7, and the other end is passed with vertical auger transmission axle 9
Dynamic connection is provided with through 42 upper surface of lateral unloading grain tube in the lower section of silo 6 and puts grain hole（It is not marked in figure）, when unloading, from
Clutch pull-up transverse direction auger transmission axle 8 is coupled with engine, and engine power is made to be transferred to vertical auger transmission axle 9
And vertical auger transmission axle 9 is driven to synchronize rotation, cereal is unloaded from grain hole is put, and is conveyed by vertical and lateral stirring cage transmission axle
To inside unloading grain tube, under the push effect of vertical and lateral stirring cage transmission axle, cereal is finally pulled to outside vehicle, is realized automatic
Put grain function.
The rotary drive mechanism includes around transmission gear 10, the driving driving cog being arranged in 41 outside of vertical unloading grain tube
The driving motor 11 of 10 rotation of wheel and the angular transducer 12 for detecting transmission gear rotation angle, the angular transducer 12 are real
When detect the rotation angle information of vertical unloading grain tube and be sent to controller 1.
Among the above, further include alarm device 13, the alarm device is electrically connected with the signal output end of controller 1, is used for
Prompt silo is bought securities with all one's capital state and malfunction when putting grain.
Among the above, the medium position of the oblique lifting cylinder 43 is connected by supporting rack 14 with the top of silo 6, described
Supporting rack 14 is connected with the holder sensor 15 for detecting the vertical unloading grain tube down position, the oblique lifting cylinder 43 with
It is provided with raise-lower hydraulic valve 16 between vertical unloading grain tube 41, when automatic unloading, controller control raise-lower hydraulic valve 16 is unloaded
The rise of grain cylinder acts.
A kind of control method for realizing grain harvesting machine automatic grain discharging device disclosed by the invention, includes the following steps：
A. the control parameter in the controller is preset, the control parameter includes unloading grain tube rotation angle preset value, grain
Full preset value and grain expire alarming value；
B. automatic unloading button is pressed, controller receives the signal of automatic unloading button, confirms and enters automatic unloading pattern；Control
The rise that device drives raise-lower hydraulic valve 16 to carry out unloading grain tube acts, when vertical unloading grain tube is close to high limit sensors, controller
The information that unloading grain tube goes to highest order is received, stopping is raised above action, and controller controls rotary drive mechanism rotation, drives
Vertical unloading grain tube is rotated to the right, and when vertical unloading grain tube is turned right, angular transducer sends perpendicular to controller
Angle information is correspondingly rotated to unloading grain tube, controller judges whether rotary drive mechanism stops turning according to the angle information of transmission
It is dynamic；
C. when controller detects that vertical unloading grain tube goes to preset value and when judging that the grain face in silo reaches grain and expires preset value, control
Device processed starts the step of transmission mechanism running is to complete to put grain；
D. when controller detects that silo inside cereal is discharged, start unloading grain tube automatic homing pattern, control transmission first
Motor 11 shuts down and controls rotary drive mechanism and turned round, the information of controller real-time reception angular transducer transmission,
When vertical unloading grain tube returns back to 0 °, controller judges that vertical unloading grain tube has returned to home position, then control lifting driving
Mechanism carries out lowering action, realizes the self-return of vertical unloading grain tube.
Preferably, when the grain face in controller judgement silo, which reaches grain, expires alarming value, alarm is prompted.
Preferably, in the step b, when angular transducer detects that vertical unloading grain tube rotational angle information becomes
At 90 °, controller control rotary drive mechanism stops operating.
The advantageous effect of a kind of device that realizing the automatic unloading of grain harvesting machine of the present invention and control method is：It can be real-time
Detection silo grain sky is full of state, and when silo is close to full position, control alarm device generates audio alert signal and to driver
Acousto-optic warning prompting is sent out, controller realizes that the automatic of unloading grain tube produces carry out unloading, unloading knot from control associated mechanisms component
Shu Hou, driver press automatic homing button and automatically control the completion unloading action of unloading grain tube automatic homing.
The foregoing is merely the specific implementation modes of the present invention, but scope of protection of the present invention is not limited thereto, any
Those skilled in the art within the technical scope disclosed by the invention, can without the variation that creative work is expected or
It replaces, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be limited with claims
Subject to fixed protection domain.
Claims (10)
1. a kind of device for realizing the automatic unloading of grain harvesting machine, which is characterized in that including：Controller, control panel, storehouse completely pass
Sensor, unloading grain tube, high limit sensors, transmission mechanism, rotary drive mechanism, elevator drive machine for driving stirring cage in cylinder
Structure；
The control panel is electrically connected the controller, and the control panel includes automatic unloading button and self-return button,
The automatic unloading button is for starting automatic unloading pattern, and the self-return button is for opening
Dynamic unloading grain tube automatic homing pattern；
The storehouse expires sensor and is connected with controller, and the top for being installed on silo is used to detect the storage of the cereal in silo
Amount；
The unloading grain tube includes vertical unloading grain tube, with vertical unloading grain tube lateral unloading grain tube connected vertically and with vertical unloading
Cylinder passes through steering axis connection and the oblique lifting cylinder of perforation；
The high limit sensors are connected with controller, the height for detecting the vertical unloading grain tube ascending motion；
The rotary drive mechanism is electrically connected the controller, is installed on the side of vertical unloading grain tube and described is vertically unloaded for driving
The rotation of grain cylinder；
The lift drive mechanism is electrically connected the controller, for driving rising or falling for the vertical unloading grain tube.
2. the device according to claim 1 for realizing the automatic unloading of grain harvesting machine, which is characterized in that the transmission mechanism
Including clutch, lateral stirring cage transmission axle, vertical stirring cage transmission axle, the clutch is connect with engine, the transverse direction
Stirring cage transmission axle one end is connect with clutch, and the other end is sequentially connected with vertical stirring cage transmission axle.
3. the device according to claim 1 for realizing the automatic unloading of grain harvesting machine, which is characterized in that below the silo
It is provided with through the lateral unloading grain tube upper surface and puts grain hole.
4. the device according to claim 1 for realizing the automatic unloading of grain harvesting machine, which is characterized in that the rotation driving
Mechanism includes driving motor and the detection of the transmission gear, driving transmission gear rotation around being arranged on the outside of vertical unloading grain tube
The angular transducer of transmission gear rotation angle.
5. the device according to claim 1 for realizing the automatic unloading of grain harvesting machine, which is characterized in that further include alarm dress
It sets, the alarm device is electrically connected with the signal output end of the controller, for prompting silo to buy securities with all one's capital state and when putting grain
Malfunction.
6. the device according to claim 1 for realizing the automatic unloading of grain harvesting machine, which is characterized in that the lifting driving
Mechanism is the raise-lower hydraulic valve between the oblique lifting cylinder and vertical unloading grain tube.
7. the device according to claim 1 for realizing the automatic unloading of grain harvesting machine, which is characterized in that the oblique lifting
By being connected at the top of supporting rack and silo, support frame as described above is connected with for detecting the vertical unloading medium position of cylinder
The holder sensor of cylinder down position.
8. the control method according to any one of claims 1-7 for realizing grain harvesting machine automatic grain discharging device,
It is characterized in that, includes the following steps：
A. the control parameter in the controller is preset, the control parameter includes unloading grain tube rotation angle preset value, grain
Full preset value and grain expire alarming value；
B. automatic unloading button is pressed, controller receives the signal of automatic unloading button, confirms and enters automatic unloading pattern；Control
The rise that device drives lift drive mechanism to carry out unloading grain tube acts, when vertical unloading grain tube is close to high limit sensors, controller
The information that unloading grain tube goes to highest order is received, stopping is raised above action, and controller controls rotary drive mechanism rotation, drives
Vertical unloading grain tube is rotated to the right, and when vertical unloading grain tube is turned right, angular transducer sends perpendicular to controller
Angle information is correspondingly rotated to unloading grain tube, controller judges whether rotary drive mechanism stops turning according to the angle information of transmission
It is dynamic；
C. when controller detects that vertical unloading grain tube goes to preset value and when judging that the grain face in silo reaches grain and expires preset value, control
Device processed starts the step of transmission mechanism running is to complete to put grain；
D. when controller detects that silo inside cereal is discharged, start unloading grain tube automatic homing pattern, control transmission first
Mechanism shuts down and controls rotary drive mechanism and turned round, the information of controller real-time reception angular transducer transmission, when
When vertical unloading grain tube returns back to 0 °, controller judges that vertical unloading grain tube has returned to home position, then controls elevator drive machine
Structure carries out lowering action, realizes the self-return of vertical unloading grain tube.
9. according to the control method of the realization grain harvesting machine automatic grain discharging device described in claim 8, which is characterized in that when
When grain face in controller judgement silo reaches grain and expire alarming value, prompt to alarm.
10. according to the control method of the realization grain harvesting machine automatic grain discharging device described in claim 8, which is characterized in that
In the step b, when angular transducer detects that vertical unloading grain tube rotational angle information becomes 90 °, controller control rotation
Driving mechanism stops operating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810815650.XA CN108702925A (en) | 2018-07-24 | 2018-07-24 | A kind of device and control method for realizing the automatic unloading of grain harvesting machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810815650.XA CN108702925A (en) | 2018-07-24 | 2018-07-24 | A kind of device and control method for realizing the automatic unloading of grain harvesting machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108702925A true CN108702925A (en) | 2018-10-26 |
Family
ID=63875341
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810815650.XA Pending CN108702925A (en) | 2018-07-24 | 2018-07-24 | A kind of device and control method for realizing the automatic unloading of grain harvesting machine |
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| CN (1) | CN108702925A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109983914A (en) * | 2019-05-14 | 2019-07-09 | 董晓辉 | A kind of new-type intelligent agricultural machinery harvesting device |
| CN110178536A (en) * | 2019-07-15 | 2019-08-30 | 昆山博尔广智能科技有限公司 | Tomato-harvesting robot and its control method |
| CN110235789A (en) * | 2019-07-05 | 2019-09-17 | 宁夏大学 | Conveyer is collected in automatic cow dung cleaning |
| CN110637602A (en) * | 2019-10-15 | 2020-01-03 | 山东农业工程学院 | Full-automatic following harvester, grain collecting system and working method |
| CN111010994A (en) * | 2019-12-11 | 2020-04-17 | 新疆牧神机械有限责任公司 | Automatic homing method for material barrel and feed harvester |
| CN113170651A (en) * | 2021-05-25 | 2021-07-27 | 潍柴雷沃重工股份有限公司 | Granary, granary grain uniform distribution control method and harvester |
| CN114342645A (en) * | 2022-01-24 | 2022-04-15 | 潍柴雷沃重工股份有限公司 | Uniform distribution auger control method, system, device, medium, equipment and harvester |
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| CN107409606A (en) * | 2017-08-31 | 2017-12-01 | 天津职业技术师范大学 | United reaper high position unloading control system and control method |
| CN107750601A (en) * | 2017-11-30 | 2018-03-06 | 江苏沃得农业机械有限公司 | Harvester high position grain barrel-removing control device and control method |
| CN208639009U (en) * | 2018-07-24 | 2019-03-26 | 苏州诺思特微电子有限公司 | A kind of device for realizing the automatic unloading of grain harvesting machine |
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| CN105123099A (en) * | 2015-07-07 | 2015-12-09 | 浙江工业大学 | Automatic control device for high unloading recycle using one key of combine harvester |
| CN106576579A (en) * | 2017-01-20 | 2017-04-26 | 雷沃重工股份有限公司 | Grain unloading electric control system and self-correction grain unloading control method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109983914A (en) * | 2019-05-14 | 2019-07-09 | 董晓辉 | A kind of new-type intelligent agricultural machinery harvesting device |
| CN110235789A (en) * | 2019-07-05 | 2019-09-17 | 宁夏大学 | Conveyer is collected in automatic cow dung cleaning |
| CN110178536A (en) * | 2019-07-15 | 2019-08-30 | 昆山博尔广智能科技有限公司 | Tomato-harvesting robot and its control method |
| CN110637602A (en) * | 2019-10-15 | 2020-01-03 | 山东农业工程学院 | Full-automatic following harvester, grain collecting system and working method |
| CN111010994A (en) * | 2019-12-11 | 2020-04-17 | 新疆牧神机械有限责任公司 | Automatic homing method for material barrel and feed harvester |
| CN111010994B (en) * | 2019-12-11 | 2021-11-30 | 新疆牧神机械有限责任公司 | Automatic homing method for material barrel and feed harvester |
| CN113170651A (en) * | 2021-05-25 | 2021-07-27 | 潍柴雷沃重工股份有限公司 | Granary, granary grain uniform distribution control method and harvester |
| CN114342645A (en) * | 2022-01-24 | 2022-04-15 | 潍柴雷沃重工股份有限公司 | Uniform distribution auger control method, system, device, medium, equipment and harvester |
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