CN109429731B - Hug careless device - Google Patents
Hug careless device Download PDFInfo
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- CN109429731B CN109429731B CN201811211707.1A CN201811211707A CN109429731B CN 109429731 B CN109429731 B CN 109429731B CN 201811211707 A CN201811211707 A CN 201811211707A CN 109429731 B CN109429731 B CN 109429731B
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- finger
- finger plate
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D78/00—Haymakers with tines moving with respect to the machine
- A01D78/08—Haymakers with tines moving with respect to the machine with tine-carrying rotary heads or wheels
- A01D78/14—Haymakers with tines moving with respect to the machine with tine-carrying rotary heads or wheels the tines rotating about a substantially horizontal axis
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D80/00—Parts or details of, or accessories for, haymakers
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Control Devices (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a grass raking device, and belongs to the field of agricultural machinery. The device comprises a frame, two finger disc assemblies, a lifting assembly and a connecting piece; the finger board assembly comprises a base, a first support and a plurality of first finger board pieces for raking grass; the lifting assembly corresponds to the finger plate assembly one by one and comprises a lifting hydraulic cylinder, a pressure sensor and a controller. The invention provides a grass raking device which judges whether each finger board assembly is suspended or not by means of the reaction force generated by the ground to the finger board assemblies and monitoring by a pressure sensor, and then controls a hydraulic cylinder to lift through a controller. Because the hydraulic cylinders are independently controlled, the height and the shape of the finger plate assembly can be combined at will, and the finger plate assembly is perfectly suitable for terrains with height difference.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a grass raking device.
Background
The rake is a grass harvesting machine which rakes grass scattered on the ground into grass strips. The purpose of raking is to fully dry the grass and facilitate the collection of hay.
The finger wheel type rake is composed of a plurality of finger wheels which are movably sleeved on a frame shaft and are arranged in parallel, and has a simple structure and no transmission device. During operation, the thumbwheel contacts the ground and rotates by the friction force of the ground to rake the pasture to one side to form continuous and tidy pasture strips. The angle between the plane of the thumbwheel and the direction of travel of the implement is typically 135. The operation speed can reach more than 15 km/h, and the method is suitable for raking pasture with high yield, residual crop straws and residual films in soil. The grass turning operation can be carried out by changing the included angle between the plane of the thumbwheel and the advancing direction of the machine tool.
Application number is 201720138643.1's utility model patent discloses a hug careless device and rake, belongs to agricultural machine technical field. The grass raking device comprises a rack, a connecting piece and two finger plate assemblies, wherein each finger plate assembly comprises a base, a first supporting piece, a first spring and a plurality of first finger plate pieces for raking grass, one end of each first supporting piece is rotatably connected to the base, one end, far away from the base, of each first supporting piece is rotatably connected with the first finger plate piece, one end of each first spring is connected with the base, and the other end of each first spring is connected with the first supporting piece; one end of the connecting piece is rotatably connected to the rack around the first rotating shaft, one end, far away from the rack, of the connecting piece is rotatably connected to the base around the second rotating shaft, and the axis of the first rotating shaft is perpendicular to the axis of the second rotating shaft.
The above-described device can only be adapted to flat terrain. In many planting areas, the problems of uneven terrain, steep slopes or gullies exist, the device cannot effectively collect forage on the surface of the device when the device is used and the device is not flat terrain or gullies, omission can be caused, and due to irregular terrain, omission and irregularity can be caused, and great inconvenience is caused in use.
Disclosure of Invention
The invention provides a raking device which can solve the problem that raking machines in the prior art cannot be effectively applied to terrains with fluctuating terrains, gullies and other terrains with height differences.
A grass raking device comprises a rack, two finger plate assemblies, a lifting assembly and a connecting piece;
the finger plate assembly comprises a base, a first supporting piece and a plurality of first finger plate pieces for raking grass, one end of the first supporting piece is rotatably connected to the output end of the lifting hydraulic cylinder, the pressure sensor is arranged on the base and used for monitoring the pressure applied to the lifting hydraulic cylinder, and one end, far away from the base, of the first supporting piece is rotatably connected with the first finger plate pieces;
the lifting assemblies correspond to the finger plate assemblies one by one and comprise lifting hydraulic cylinders, pressure sensors and controllers, and the pressure sensors and the lifting hydraulic cylinders are connected to the controllers in a signal mode;
one end of the connecting piece is rotatably connected to the rack around a first rotating shaft, one end of the connecting piece, far away from the rack, is rotatably connected to the base around a second rotating shaft, the axis of the first rotating shaft is perpendicular to the axis of the second rotating shaft, a traveling wheel and a first driving cylinder for driving the connecting piece to rotate around the first rotating shaft are arranged on the rack, the axis of the first rotating shaft is arranged along the traveling direction of the rack, and the first driving cylinder is positioned on one side, far away from the traveling wheel, of the rack;
the rake has a first state in which the two finger disc assemblies are relatively close and folded, and a second state in which the two finger disc assemblies are relatively far and unfolded;
in the first state, the two finger disc assemblies are arranged side by side, and the first finger disc piece is positioned on one side of the machine frame far away from the travelling wheel;
in the second state, the two finger plate assemblies are oppositely and obliquely arranged and are in a splayed shape, the openings of the two finger plate assemblies face the walking direction of the rack, and a working area suitable for raking grass is formed between the two finger plate assemblies.
More preferably, the hydraulic cylinder further comprises a telescopic sleeve which is arranged around the periphery of the piston rod of the hydraulic cylinder and extends or shortens along with the piston rod.
Preferably, the first finger plate comprises a first finger plate body rotatably connected to the first support member and a plurality of resilient fingers extending radially outwardly from the center of the first finger plate body, one end of the resilient fingers remote from the first finger plate body being curved.
Preferably, the lift assembly further comprises a gyroscope for monitoring the position of the base, the gyroscope being signally connected to the controller.
Preferably, the number of the first driving cylinders is two and the first driving cylinders are used for driving two connecting pieces respectively, the bases of the first driving cylinders are connected with one side, far away from the walking wheel, of the frame, and the cylinder rods of the first driving cylinders are connected with the two connecting pieces of the finger plate assemblies respectively.
Preferably, the rack is further provided with second driving cylinders, the second driving cylinders are used for driving the bases to rotate around the second rotating shaft, the number of the second driving cylinders is two, the bases of the two second driving cylinders are connected with the rack, and cylinder rods of the two second driving cylinders are respectively connected with the two bases of the two finger plate assemblies.
Preferably, the rack is further provided with a second finger disc piece, and the second finger disc piece is rotatably connected to the rack and located between the two finger disc assemblies.
The invention provides a grass raking device which is characterized in that the reaction force generated by the ground to finger plate assemblies is monitored by a pressure sensor to judge whether each finger plate assembly is suspended in the air or not so as to control a hydraulic cylinder to lift through a controller.
Drawings
FIG. 1 is a background art drawing;
FIG. 2 is a first schematic view of a working state of a raking device provided by the invention;
FIG. 3 is a schematic view showing a second working state of the raking device provided by the invention;
FIG. 4 is a schematic cross-sectional view of FIG. 2;
FIG. 5 is an enlarged view of a portion A of FIG. 4;
FIG. 6 is a system schematic of a rake provided by the present invention.
Description of reference numerals:
10-raking the grass device; 11-a frame; 13-a connector; 15-a finger disc assembly; 111-road wheels; 113-a first drive cylinder; 115-a second drive cylinder; 151-a base; 155-a first support; 157-a first finger disc; 17-a second finger pad; 101-a first rotating shaft; 102-a second shaft; 41. a lifting hydraulic cylinder; 42. a pressure sensor; 43. a telescopic sleeve.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
As shown in fig. 1 to 6, an embodiment of the invention provides a raking device 10, which comprises a frame 11, a connecting piece 13, two finger board assemblies 15 and a lifting assembly;
the lifting components correspond to the finger plate components 15 one by one, and comprise lifting hydraulic cylinders 41, pressure sensors 42 and controllers, the pressure sensor 42 and the hydraulic lifting cylinder 41 are both signally connected to the controller, as shown in fig. 4, the hydraulic cylinder 41 is fixedly installed on the base 151 by means of U-bolts, the output end of the hydraulic cylinder 41 is disposed downward, the end part of the lifting hydraulic cylinder is in an L-shaped structure, the finger plate assembly 15 is rotatably arranged at the output end of the lifting hydraulic cylinder 41, which can be raised or lowered in accordance with the extension and contraction of the hydraulic lift cylinder 41, a pressure sensor 42 is provided on the base 151, the monitoring end of the lifting hydraulic cylinder is connected to a lifting hydraulic cylinder 41, and as the lifting hydraulic cylinder 41 fixed by the U-shaped bolt has a certain displacement degree, when the finger disc assembly 15 contacts the ground, a slight deformation is generated, and the pressure sensor 42 can detect the pressure change and then generate a signal to be sent to the controller for subsequent action;
the finger plate assembly 15 comprises a base 151, a first support 155 and a plurality of first finger plate members 157 for raking grass, one end of the first support 155 is rotatably connected to the output end of the hydraulic lifting cylinder 41, the pressure sensor 42 is arranged on the base 151 and is used for monitoring the pressure applied to the hydraulic lifting cylinder 41, and one end of the first support 155, which is far away from the base 151, is rotatably connected with the first finger plate members 157;
one end of the connecting member 13 is rotatably connected to the frame 11 around a first rotating shaft 101, one end of the connecting member 13, which is away from the frame 11, is rotatably connected to the base 151 around a second rotating shaft 102, an axis of the first rotating shaft 101 and an axis of the second rotating shaft 102 are vertically arranged, a traveling wheel 111 and a first driving cylinder 113 for driving the connecting member 13 to rotate around the first rotating shaft 101 are arranged on the frame 11, the axis of the first rotating shaft 101 is arranged along a traveling direction of the frame 11, and the first driving cylinder 113 is located on one side, which is away from the traveling wheel 111, of the frame 11;
the rake 10 has a first condition in which the two finger assemblies 15 are relatively close together and folded, and a second condition in which the two finger assemblies 15 are relatively far apart and unfolded;
in the first state, the two finger disc assemblies 15 are arranged side by side, and the first finger disc member 157 is positioned on one side of the frame 11 far away from the travelling wheel 111;
in the second state, the two finger plate assemblies 15 are arranged in a relatively inclined manner and are in a splayed shape, the openings of the two finger plate assemblies 15 face the walking direction of the rack 11, and a working area suitable for raking grass is formed between the two finger plate assemblies 15.
Since the rake 10 will generate a lot of dust when in operation, and the dust will be adsorbed on the piston rod of the hydraulic cylinder 41 and will affect the service life of the hydraulic cylinder 41, the present invention further comprises a telescopic sleeve 43 which is arranged around the periphery of the piston rod of the hydraulic cylinder and is extended or shortened along with the piston rod, and the telescopic sleeve 43 can prevent the dust from falling onto the telescopic rod.
Further, the first finger disc member 157 comprises a first finger disc member 157 body rotatably connected to the first support member 155, and a plurality of elastic teeth extending radially outward from the center of the first finger disc member 157 body, and one end of the elastic teeth away from the first finger disc member 157 body is bent.
Since the finger board assembly 15 is in the first state, during normal transport of the rake 10, the lift cylinder 41 will produce a change in pressure due to the change in position, and therefore, the erroneous detection of the pressure sensor 42, the lifting assembly of the present invention further includes a gyroscope for monitoring the position of the base 151, the gyroscope being mounted on the base 151, the gyroscope is connected with the controller through signals, the gyroscope can detect the state of the finger disc assembly and send signals to the controller, when the controller judges that the finger disc assembly 15 is in the transportation state, that is, when the finger board assembly 15 is set upward, the transportation state is determined, no action is performed on the signal detected by the pressure sensor 42, and when the gyroscope detects that the finger board assembly 15 is in the second working state, i.e., the finger board assembly 15 is vertically disposed, a corresponding action is given to the signal detected by the pressure sensor 42. The algorithm for determining the state of the object by using the gyroscope belongs to the prior art, and is not described again.
Further, the number of the first driving cylinders 113 is two and is used for driving two of the connecting pieces 13, the bases of the two first driving cylinders 113 are connected with one side of the frame 11 far away from the traveling wheels 111, and the cylinder rods of the two first driving cylinders 113 are connected with two of the connecting pieces 13 of the two finger plate assemblies 15.
Further, the frame 11 is further provided with second driving cylinders 115, the second driving cylinders 115 are used for driving the bases 151 to rotate around the second rotating shaft 102, the number of the second driving cylinders 115 is two, bases of the two second driving cylinders 115 are connected with the frame 11, and cylinder rods of the two second driving cylinders 115 are respectively connected with the two bases 151 of the two fingerboard assemblies 15.
Further, a second finger plate 17 is further disposed on the frame 11, and the second finger plate 17 is rotatably connected to the frame 11 and located between the two finger plate assemblies 15.
In operation, as mentioned above, when the gyroscope detects that the fingerboard assembly 15 is in the first state, the gyroscope sends a signal to the controller, the controller receives the signal to determine the state of the fingerboard assembly 15, and when the controller determines that the fingerboard assembly is in the first state, the signal detected by the pressure sensor 42 does not act; when the gyroscope detects the state change of the finger board assembly 15, a signal is sent to the controller, the controller judges that the finger board assembly 15 is in a second state, namely a working state, at the moment, the finger board assembly 15 generates pressure on the lifting hydraulic cylinder 41 due to contact with the ground, the lifting hydraulic cylinder 41 generates slight change, the pressure sensor 42 detects the signal and sends the signal to the controller, the controller judges whether the pressure change value exceeds a preset threshold value (the finger board assembly 15 also generates slight pressure change when vibrating, but the change value is far smaller than the reaction force given by the ground when in the working state), the threshold value can be selectively set according to the gravity of the lifting hydraulic cylinder 41 and the finger board assembly 15 and the overall rigidity of the grass raking device 10, when the finger board assembly 15 is suspended, the gravity action of the finger board assembly 15 and the lifting hydraulic cylinder 41 is certain to the signal generated by the pressure sensor 42, when the finger disc assembly 15 contacts the ground and starts to work, the ground gives a reaction force, the direction of the reaction force is opposite to the direction of the gravity of the finger disc assembly 15 and the gravity of the lifting hydraulic cylinder 41, the difference between the reaction force and the gravity of the finger disc assembly 15 and the gravity of the lifting hydraulic cylinder 41 is a pressure change value, when the controller judges that the pressure change exceeds a threshold value, the finger disc assembly 15 is judged to be in a normal working state, and the lifting hydraulic cylinder 41 does not give any action; when the controller judges that the pressure change value is smaller than the preset threshold value, namely that the finger plate assembly 15 is in a suspended state at the moment, the controller controls the electromagnetic valve to further control the lifting hydraulic cylinder 41 to extend, so that the finger plate assembly 15 at the corresponding position descends until the change value of the threshold value is detected to exceed the preset threshold value.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (1)
1. A control method of a grass raking device is characterized in that the grass raking device comprises a rack, two finger plate assemblies, a lifting assembly and a connecting piece;
the lifting assemblies correspond to the finger plate assemblies one by one and comprise lifting hydraulic cylinders, pressure sensors and controllers, and the pressure sensors and the lifting hydraulic cylinders are connected to the controllers in a signal mode;
the finger plate assembly comprises a base, a first supporting piece and a plurality of first finger plate pieces for raking grass, one end of the first supporting piece is rotatably connected to the output end of the lifting hydraulic cylinder, the pressure sensor is arranged on the base and used for monitoring the pressure applied to the lifting hydraulic cylinder, and one end, far away from the base, of the first supporting piece is rotatably connected with the first finger plate pieces;
one end of the connecting piece is rotatably connected to the rack around a first rotating shaft, one end of the connecting piece, far away from the rack, is rotatably connected to the base around a second rotating shaft, the axis of the first rotating shaft is perpendicular to the axis of the second rotating shaft, a traveling wheel and a first driving cylinder for driving the connecting piece to rotate around the first rotating shaft are arranged on the rack, the axis of the first rotating shaft is arranged along the traveling direction of the rack, and the first driving cylinder is positioned on one side, far away from the traveling wheel, of the rack;
the rake has a first state in which the two finger disc assemblies are relatively close and folded, and a second state in which the two finger disc assemblies are relatively far and unfolded;
in the first state, the two finger disc assemblies are arranged side by side, and the first finger disc piece is positioned on one side of the machine frame far away from the travelling wheel;
in the second state, the two finger plate assemblies are oppositely and obliquely arranged and are in a splayed shape, the openings of the two finger plate assemblies face the walking direction of the rack, and a working area suitable for raking grass is formed between the two finger plate assemblies;
the telescopic sleeve is arranged around the periphery of the piston rod of the hydraulic cylinder and extends or shortens along with the piston rod;
the first finger plate comprises a first finger plate body and a plurality of elastic teeth, the first finger plate body is rotatably connected with the first supporting piece, the elastic teeth extend outwards from the center of the first finger plate body along the radial direction of the first finger plate body, and one end of each elastic tooth, far away from the first finger plate body, is bent;
the lifting assembly further comprises a gyroscope for monitoring the position of the base, the gyroscope being signally connected to the controller;
the number of the first driving cylinders is two, the first driving cylinders are respectively used for driving the two connecting pieces, bases of the two first driving cylinders are connected with one side, far away from the travelling wheel, of the rack, and cylinder rods of the two first driving cylinders are respectively connected with the two connecting pieces of the two finger disc assemblies;
the rack is also provided with two second driving cylinders, the two second driving cylinders are used for driving the bases to rotate around the second rotating shaft, the bases of the two second driving cylinders are connected with the rack, and cylinder rods of the two second driving cylinders are respectively connected with the two bases of the two finger plate assemblies;
the rack is also provided with a second finger disc piece, and the second finger disc piece is rotatably connected to the rack and positioned between the two finger disc assemblies;
the control method comprises the following steps:
s1, detecting the state of the finger disc assembly by the gyroscope;
s2, when the gyroscope detects that the finger board assembly is in the first state, the gyroscope sends a signal to the controller, the controller receives the signal to judge the state of the finger board assembly, and when the finger board assembly is judged to be in the first state, the gyroscope does not perform any action and returns to S1; when the gyroscope detects that the state of the finger pad assembly changes, a signal is sent to the controller, the controller judges that the finger pad assembly is in a second state, namely a working state, the finger pad assembly is in contact with the ground, pressure is generated on the lifting hydraulic cylinder, the lifting hydraulic cylinder changes, the pressure sensor detects a pressure change signal and sends the pressure change signal to the controller, and S3 is carried out;
s3, the controller judges whether the pressure change value exceeds a preset threshold value;
s4, when the controller judges that the pressure change exceeds the threshold value, the finger board assembly is judged to be in a normal working state, the lifting hydraulic cylinder does not act any more, and the operation returns to S1; and when the controller judges that the pressure change value is smaller than the preset threshold value, namely that the finger plate assembly is in a suspended state at the moment, the controller controls the electromagnetic valve to further control the lifting hydraulic cylinder to extend, so that the finger plate assembly at the corresponding position descends until the change value of the threshold value is detected to exceed the preset threshold value, and the step S1 is returned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811211707.1A CN109429731B (en) | 2018-09-30 | 2018-09-30 | Hug careless device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811211707.1A CN109429731B (en) | 2018-09-30 | 2018-09-30 | Hug careless device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109429731A CN109429731A (en) | 2019-03-08 |
| CN109429731B true CN109429731B (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811211707.1A Active CN109429731B (en) | 2018-09-30 | 2018-09-30 | Hug careless device |
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| CN (1) | CN109429731B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5377482A (en) * | 1993-09-03 | 1995-01-03 | Miller-St. Nazianz, Inc. | Hydraulic lift rotary rake |
| CN105165186A (en) * | 2015-08-11 | 2015-12-23 | 北京农业智能装备技术研究中心 | Repressive force control apparatus for wheeled repression device |
| CN106973617A (en) * | 2017-03-15 | 2017-07-25 | 德迈智能装备有限公司 | Grass-cutting head Intelligent electronic control system, control method, governor motion and hay mover |
| CN206442716U (en) * | 2017-02-15 | 2017-08-29 | 安达市凯农农业机械经销有限公司 | One kind hugs careless device and rake |
| CN206728621U (en) * | 2017-02-28 | 2017-12-12 | 呼伦贝尔市瑞丰农牧业科技有限公司 | A kind of automatic control system of rake |
| CN107836211A (en) * | 2016-09-20 | 2018-03-27 | 苏州宝时得电动工具有限公司 | Electric tool and its tamper-resistant control method |
| CN207692379U (en) * | 2017-12-08 | 2018-08-07 | 山东五征集团有限公司 | Harvester for peanut ground-contour-following device |
-
2018
- 2018-09-30 CN CN201811211707.1A patent/CN109429731B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5377482A (en) * | 1993-09-03 | 1995-01-03 | Miller-St. Nazianz, Inc. | Hydraulic lift rotary rake |
| CN105165186A (en) * | 2015-08-11 | 2015-12-23 | 北京农业智能装备技术研究中心 | Repressive force control apparatus for wheeled repression device |
| CN107836211A (en) * | 2016-09-20 | 2018-03-27 | 苏州宝时得电动工具有限公司 | Electric tool and its tamper-resistant control method |
| CN206442716U (en) * | 2017-02-15 | 2017-08-29 | 安达市凯农农业机械经销有限公司 | One kind hugs careless device and rake |
| CN206728621U (en) * | 2017-02-28 | 2017-12-12 | 呼伦贝尔市瑞丰农牧业科技有限公司 | A kind of automatic control system of rake |
| CN106973617A (en) * | 2017-03-15 | 2017-07-25 | 德迈智能装备有限公司 | Grass-cutting head Intelligent electronic control system, control method, governor motion and hay mover |
| CN207692379U (en) * | 2017-12-08 | 2018-08-07 | 山东五征集团有限公司 | Harvester for peanut ground-contour-following device |
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| CN109429731A (en) | 2019-03-08 |
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