CN111010992B - Ground height detection device and method and harvester with device - Google Patents
Ground height detection device and method and harvester with device Download PDFInfo
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- CN111010992B CN111010992B CN201911122012.0A CN201911122012A CN111010992B CN 111010992 B CN111010992 B CN 111010992B CN 201911122012 A CN201911122012 A CN 201911122012A CN 111010992 B CN111010992 B CN 111010992B
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- 238000001514 detection method Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 8
- 230000003321 amplification Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 239000002689 soil Substances 0.000 abstract description 5
- 239000004575 stone Substances 0.000 abstract description 5
- 235000021384 green leafy vegetables Nutrition 0.000 description 8
- 238000003306 harvesting Methods 0.000 description 6
- 235000013311 vegetables Nutrition 0.000 description 6
- 241000287828 Gallus gallus Species 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000003746 feather Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D47/00—Headers for topping of plants, e.g. stalks with ears
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
- Harvesting Machines For Root Crops (AREA)
Abstract
The invention provides a ground height detection device and method and a harvester provided with the device, comprising a ground profiling part, a corner amplifying mechanism, an angle sensor and a control unit; the ground profiling part comprises symmetrically installed profiling assemblies and swing arms, and each group of profiling assemblies comprises a sliding plate, a first connecting rod and a second connecting rod; the sliding plate comprises a sliding rod and Long Ban; the sliding plate is connected with one end of a first connecting rod, and the other end of the first connecting rod is connected with one end of a second connecting rod; the other ends and the middle parts of the two second connecting rods are respectively connected in a rotating way through a rotating shaft II; the rotating shaft II is connected with one end of the swing arm respectively, and the other end of the rotating arm is connected with the rotating shaft I; the corner amplifying mechanism is connected with the rotating shaft I through a coupler; the angle sensor is connected with the corner amplifying mechanism; the control unit is connected with the angle sensor. The ground profiling part can avoid the influence of stones and soil blocks to a certain extent, and a corner amplifying mechanism is added, so that the accuracy of ground height detection is improved.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to a ground height detection device and method and a harvester provided with the device.
Background
The mechanical research of leaf vegetable harvesting in China starts late, and the current mature machines for leaf vegetable harvesting are few. With the improvement of the living standard of people, for leaf vegetables such as small green vegetables and chicken hair vegetables, the quality of the vegetables is required to be high, and the quality and appearance of the vegetables are required to be attractive. In this regard, the ground height detection device or component with the profiling plate such as CN 109348798a or profiling wheel cannot guarantee the accuracy of the measured data due to the influence of the ridge stones and soil blocks, and the height of the cutting table needs to be accurately detected for the leaf vegetables with the length of 5-10mm at the harvesting part to adjust the height of the cutting table so as to ensure that the cutting stubble is tidy, the quality is beautiful, and the harvesting quality is improved.
Disclosure of Invention
Aiming at the technical problems, the invention provides a ground height detection device and method and a harvester provided with the device. Adopt novel ground profile modeling part to replace former or profile modeling roller, the slide of ground profile modeling part contact ridge surface part is equipped with the protuberance board, long Ban's middle part uplift, the front end is pointed end, can avoid the influence of stone, soil piece to a certain extent, and increase the corner and enlarge mechanism, swing arm turned angle to ground profile modeling part enlarges, make angle sensor can measure the corner accurately, improve the precision that ground height detected, provide the reference for the altitude mixture control of header, make the better cutting vegetables of harvester, leaf dish cuts the stubble neatly, the efficiency of the results of leaf dish harvester has been improved, and simple structure, and convenient operation.
The technical scheme adopted for solving the technical problems is as follows: the ground height detection device comprises a ground profiling part, a rotation angle amplifying mechanism, an angle sensor and a control unit;
The ground profiling part comprises symmetrically installed profiling assemblies and swing arms, and each group of profiling assemblies comprises a sliding plate, a first connecting rod and a second connecting rod; the sliding plate comprises a sliding rod and Long Ban; slide bars are respectively arranged on two sides of the protuberance plate, the middle part of the protuberance plate is raised, and the front end of Long Ban is a tip; the middle of the first connecting rod is of a bending structure; the sliding plate is connected with one end of a first connecting rod, and the other end of the first connecting rod is connected with one end of a second connecting rod; the other ends and the middle parts of the two second connecting rods are respectively connected in a rotating way through a rotating shaft II; the rotating shaft II is connected with one end of the swing arm respectively, and the other end of the rotating arm is connected with the rotating shaft I;
The corner amplifying mechanism is connected with the rotating shaft I through a coupler;
the angle sensor is connected with the corner amplifying mechanism;
The control unit is connected with the angle sensor.
In the scheme, each group of profiling assemblies further comprises a spring connecting seat and a spring;
The spring connecting seat is arranged in the middle of the second connecting rod; one end of the spring is connected with a rotating shaft II at the other end of the second connecting rod, and the other end of the spring is connected with the spring connecting seat.
In the scheme, the device also comprises a connecting seat;
the upper part of the connecting seat is used for being connected with the frame, and the lower part of the connecting seat is hinged with the swing arm through a rotating shaft I.
In the scheme, the corner amplifying mechanism comprises a gear ring, a gear ring driving wheel, a planet carrier, a planet wheel, a sun wheel and a sun wheel transmission shaft;
The rotating shaft I is connected with a gear ring driving wheel, the gear ring driving wheel is connected with a gear ring, the gear ring driving wheel drives the gear ring to rotate, the planetary gears are arranged on the planet carrier, the gear ring is internally meshed with three planetary gears, the planetary gears are externally meshed with a sun gear, and the sun gear is connected with a sun gear transmission shaft; the sun gear transmission shaft is connected with the angle sensor.
In the above scheme, the junction of head rod and second connecting rod is equipped with a plurality of through-holes that correspond, through bolted connection, can adjust the length between head rod and the second connecting rod.
In the above scheme, the one end and the slide of head rod pass through bolt I to be connected, and the other end passes through bolt II with the second connecting rod to be connected.
In the scheme, the device also comprises a connecting plate;
the planet carrier and the angle sensor are respectively arranged on the connecting plate.
A harvester comprises the ground height detection device.
The detection method of the ground height detection device comprises the following steps:
The sliding plate of the ground profiling part is contacted with the ridge surface, and the ridge plate floats on the ridge surface to advance; the sliding plate is along with the bulge or the dent on the ground, the swinging arm is driven to rotate through the first connecting rod and the second connecting rod, the swinging arm drives the rotating shaft I to rotate, the rotating shaft I amplifies the rotating angle through the rotating angle amplifying mechanism, the angle sensor measures the amplified angle and transmits the amplified angle to the control unit, and the control unit calculates the ground height variation h taking the ground as a reference.
In the above scheme, the control unit calculates the ground height variation h taking the ground as a reference through the following formula:
If the ground is convex:
if the ground is concave:
Wherein h is the ground height variation taking the ground as a reference, Alpha is the bending angle of the first connecting rod to form an acute angle, and L is the center distance from the rotating shaft I to the rotating shaft II;
the swing arm 108 amplifies the rotation angle by the rotation angle amplifying mechanism 3, and the change amount of the rotation angle of the swing arm 108 Equal to the gear ring 301 rotation angle/>Calculated by the following formula:
k is the rotation angle magnification, n 1 is the number of teeth of the gear ring 301, n 2 is the number of teeth of the sun gear 305,
The rotation angle of the sun gear 305 is measured by the angle sensor 4.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, a novel ground profiling part is adopted to replace a profiling plate or a profiling roller, a sliding plate of the ground profiling part, which is in contact with a ridge surface part, is provided with a protuberance plate, the middle part of the Long Ban is raised, the front end is pointed, the influence of stones and soil blocks can be avoided to a certain extent, and a rotation angle amplifying mechanism is added to amplify the rotation angle of a swinging arm of the ground profiling part, so that an angle sensor can accurately measure the rotation angle, the precision of ground height detection is improved, data support is provided for the height adjustment of a header, the harvester can cut vegetables better, the cutting of the leaf vegetables is tidy, the harvesting efficiency of the leaf vegetable harvester is improved, and the harvester has a simple structure and is convenient to operate.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of the overall mounting structure of an embodiment of the present invention;
FIG. 2 is an isometric view of a ground engaging member of an embodiment of the invention;
FIG. 3 is an isometric view of a skateboard of an embodiment of the present invention;
FIG. 4 is a schematic view showing the connection of the ground profiling part and the rotation angle amplifying mechanism according to an embodiment of the present invention;
FIG. 5 is an isometric view of an embodiment of the present invention;
FIG. 6 is a schematic view showing the internal structure of a rotation angle amplifying mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic view of the ground profiling part of an embodiment of the present invention;
fig. 8 is a schematic view showing an operation state of the ground copying means according to the embodiment of the present invention.
In the figure: 1. ground profiling part: 101. a slide plate; 102. a bolt I; 103. a first connecting rod; 104. a bolt II; 105. a connecting seat; 106. a spring connecting seat; 107. a rotating shaft I; 108. a swing arm; 109. a rotating shaft II; 110. a spring; 111. a second connecting rod; 2. a coupling; 3. rotation angle amplifying mechanism: 301. a gear ring; 302. a ring gear drive wheel; 303. a planet carrier; 304. a planet wheel; 305. a sun gear; 306. a sun gear drive shaft; 4. an angle sensor; 5. a connecting plate; 6. a cutting table; 7. a frame.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Fig. 1 shows a preferred embodiment of the ground level detecting device according to the present invention. The ground height detection device comprises a ground profiling part 1, a rotation angle amplifying mechanism 3, an angle sensor 4 and a control unit.
As shown in fig. 2 and 3, the ground profiling part 1 comprises symmetrically mounted profiling assemblies and swinging arms 108, each set of profiling assemblies comprises a slide plate 101, a first connecting rod 103 and a second connecting rod 111; the slide plate 101 comprises slide bars 1011 and Long Ban 1012; the two sides of Long Ban 1012 are respectively provided with a sliding rod 1011 and a middle part of Long Ban 1012 is raised, and the front end of Long Ban 1012 is a tip, so that the sliding plates 101 float on the ridge surface to advance, and can better avoid barriers such as stones and small soil blocks, and the distance between two adjacent sliding plates 101 can be set according to the ridge width. The middle of the first connecting rod 103 is a bending structure, and the bending angle of the first connecting rod 103 is determined according to the installation angle of the frame 7 and the included angle between the frame 7 and the ground. The sliding plate 101 is connected with one end of a first connecting rod 103, and the other end of the first connecting rod 103 is connected with one end of a second connecting rod 111; the other ends and the middle parts of the two second connecting rods 111 are respectively connected in a rotating way through a rotating shaft II 109; the rotation shaft II 109 is connected to one end of the swing arm 108, and the other end of the swing arm 108 is connected to the rotation shaft I107.
According to the present embodiment, preferably, one end of the first connecting rod 103 is connected to the sliding plate 101 through a bolt i 102, and the other end is connected to the second connecting rod 111 through a bolt ii 104.
According to the present embodiment, each set of profile modeling modules also preferably includes a spring connection seat 106 and a spring 110; the spring connecting seat 106 is installed in the middle of the second connecting rod 111; one end of the spring 110 is connected with the rotating shaft II 109 at the other end of the second connecting rod 111, and the other end of the spring 110 is connected with the spring connecting seat 106. The spring 110 is connected with the second connecting rod and the rotating shaft II 109, and a flexible mechanism is constructed, so that the ground profiling part 1 is well adapted to the fluctuation of the ground.
According to the present embodiment, it is preferable to further include a connection base 105; the upper part of the connecting seat 105 is used for being connected with the frame 7, and the lower part of the connecting seat is hinged with the swing arm 108 through a rotating shaft I107.
According to this embodiment, preferably, a plurality of corresponding through holes are provided at the connection position of the first connecting rod 103 and the second connecting rod 111, and the length between the first connecting rod 103 and the second connecting rod 111 can be adjusted according to the distance between the ridge surface and the bottom surface of the harvester by means of bolting.
According to this embodiment, preferably, a plurality of limiting holes are provided in the middle of the second connecting rod, so that the installation positions of the swing arm 108 and the second connecting rod 111 can be adjusted according to the actual positions of the connecting seat 5 on the frame 7.
According to the present embodiment, it is preferable to further include a connection plate 5; the planet carrier 303 and the angle sensor 4 are respectively mounted on the connection plate 5.
As shown in fig. 4, the rotation angle amplifying mechanism 3 is connected with a rotation shaft i 107 through a coupling 2; the angle sensor 4 is connected with the rotation angle amplifying mechanism 3; the control unit is connected with an angle sensor 4.
As shown in fig. 5 and 6, according to the present embodiment, preferably, the rotation angle amplifying mechanism 3 includes a ring gear 301, a ring gear driving wheel 302, a carrier 303, a planetary gear 304, a sun gear 305, and a sun gear transmission shaft 306; the rotating shaft I107 is connected with a gear ring driving wheel 302, the gear ring driving wheel 302 is fixedly connected with a gear ring 301, the gear ring driving wheel 302 drives the gear ring 301 to rotate, the planet gears 304 are arranged on a planet carrier 303, the gear ring 301 is internally meshed with three planet gears 304, the planet gears 304 are externally meshed with a sun gear 305, the sun gear 305 is connected with a sun gear transmission shaft 306, and the sun gear 305 rotates along with the rotation of the sun gear 305; the sun gear transmission shaft 306 is connected with the angle sensor 4, receives the rotation angle signal of the transmission shaft 306, and the rotation angle amplifying mechanism 3 and the angle sensor 4 are fixed on the connecting plate 5; the connecting plate 5 is fixed on the frame 7. The coupler 2 transmits the rotation of the rotating shaft I107, the gear ring 301, the planet gears 304 and the sun gear 305 are meshed with each other, the rotation angle is amplified by k times according to the gear ratio of the gear ring 301 and the sun gear 305, and then measured by the angle sensor 4, transmitted to the control unit and displayed by the display screen. Preferably, the gears can be straight-tooth gears, helical gears, ratchet gears and the like, and can be meshed, so that the gear ratio is in inverse proportion to the rotating speed.
The detection method of the ground height detection device comprises the following steps:
the sliding plate 101 of the ground profiling part 1 is contacted with the ridge surface, long Ban 1012 floats on the ridge surface to advance;
the sliding plate 101 drives the swing arm 108 to rotate along with the protrusion or depression of the ground through the first connecting rod 103 and the second connecting rod 111, the swing arm 108 drives the rotating shaft I107 to rotate, the rotating shaft I107 amplifies the rotating angle through the rotation angle amplifying mechanism 3, the angle sensor 4 measures the amplified angle and transmits the amplified angle to the control unit, and the control unit calculates the ground height variation h taking the ground as a reference.
The ground profiling part converts the vertical height change into a rotation angle change mode as follows: when the leaf vegetable harvester with the ground detection device enters a working area, the free state of the ground profiling part 1 is contacted with the ridge surface, and the initial rotation angle of the swing arm 108 is calibrated at the momentThe swing arm 108 has a rotation angle/>, which is in an actual working stateThe amount of change in the rotation angle of the swing arm 108/>
Fig. 7 shows that when the ground is raised, the swing arm 108 will rotate counterclockwise along with the raised ground surface of the ground profiling part 1,
Fig. 8 shows that when the ground is recessed, the ground profiling part 1 loses support due to the recessed ground, moves downward under the action of gravity until contacting with the ridge surface of the recessed ground again, at this time, the swing arm 108 rotates clockwise,
Wherein h is the ground height variation taking the ground as a reference,For the change of the rotation angle of the swing arm 108, α is an acute angle of the bending angle of the first connecting rod 103, and L is a center distance from the rotation axis i 107 to the rotation axis ii 109, that is, a length of the swing arm 108; the swing arm 108 is fixedly connected with the rotating shaft I107, and the rotation angle variation of the swing arm 108 is the rotation angle variation of the rotating shaft I107.
The swing arm 108 amplifies the rotation angle by the rotation angle amplifying mechanism 3, and the change amount of the rotation angle of the swing arm 108Equal to the gear ring 301 rotation angle/>Calculated by the following formula:
k is the rotation angle magnification, n 1 is the number of teeth of the gear ring 301, n 2 is the number of teeth of the sun gear 305,
The rotation angle of the sun gear 305 is measured by the angle sensor 4.
The rotation angle amplifying mechanism 3 is connected with the ground profiling part1 through a coupler 2, is received by a gear ring driving wheel 302 to rotate and drives a gear ring 301 to rotate, and simultaneously, the rotation angle amplifying mechanism 3 is fixed with the connecting plate 5 by a planet carrier 303; the gear ring 301, the planet wheel 304 and the sun wheel 305 are meshed with each other, the rotation angle is amplified by utilizing the gear transmission principle, and then the rotation angle is transmitted to the angle sensor 4 by the sun wheel transmission shaft 306, so that the measured data of the angle sensor 4 are more accurate, and the measured data are fed back to the display screen, thereby achieving the purpose of accurately adjusting the height of the cutting table 6.
Example 2
A harvester comprising the ground level detection device of embodiment 1 has the advantages of embodiment 1 and will not be described here.
According to the preferred embodiment, the harvester is suitable for harvesting leaf vegetables, the ground profiling parts 1 are symmetrically arranged right below the harvester frame 7 left and right, and the connecting seat 105 is flatly fixed on the bottom surface of the frame 7; the corner amplifying mechanism 3 is fixed on the side face of the frame 7 through a connecting plate 5. The first connecting rod 103, the swing arm 108 and the second connecting rod 111 are rod groups, the bolt I102 and the bolt II 104 are fixed points, the rotating shaft I107 and the rotating shaft II 109 are hinge points, the spring 110 provides a buffer effect, a multi-rod flexible mechanism is constructed, and the sliding plate 101 can move along with the fluctuation of the ground.
Taking the chicken feather dish as an example, firstly, determining the front end of the sliding plate 101 to be tilted according to the plant type of the chicken feather dish and the smoothness of the ridge surface, and designing a hollow middle part; the bending degree of the first connecting rod 103 is an acute angle between the rack 9 and the ridge surface; and then is fixed to the second connecting rod 111 by the bolt ii 104. The second connecting rod 111 rotates along with the movement of the sliding plate 101, and simultaneously transmits the rotation of the rotating shaft I107 to the rotation angle amplifying mechanism 3 through the coupler 2 to amplify the rotation angle, and the rotation angle of the sun gear transmission shaft 306, namely the amplified rotation angle, is measured by the angle sensor 4; and is fed back to the control unit and displayed on the display screen to provide data for the regulation and control header 6.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (8)
1. The ground height detection device is characterized by comprising a ground profiling part (1), a rotation angle amplifying mechanism (3), an angle sensor (4) and a control unit;
The ground profiling part (1) comprises symmetrically installed profiling assemblies and swinging arms (108), and each group of profiling assemblies comprises a sliding plate (101), a first connecting rod (103) and a second connecting rod (111); the sliding plate (101) comprises sliding rods (1011) and Long Ban (1012); the two sides of Long Ban (1012) are respectively provided with a sliding rod (1011), the middle part of Long Ban (1012) is raised, and the front end of Long Ban (1012) is a tip; the middle of the first connecting rod (103) is of a bending structure; the sliding plate (101) is connected with one end of a first connecting rod (103), and the other end of the first connecting rod (103) is connected with one end of a second connecting rod (111); the other ends and the middle parts of the two second connecting rods (111) are respectively connected in a rotating way through a rotating shaft II (109); the rotating shafts II (109) are respectively connected with one end of the swinging arms (108), and the other end of the swinging arms (108) is connected with the rotating shafts I (107); each group of profiling assemblies further comprises a spring connecting seat (106) and a spring (110); the spring connecting seat (106) is arranged in the middle of the second connecting rod (111); one end of the spring (110) is connected with a rotating shaft II (109) at the other end of the second connecting rod (111), and the other end of the spring (110) is connected with the spring connecting seat (106); also comprises a connecting seat (105); the upper part of the connecting seat (105) is used for being connected with the frame (7), and the lower part of the connecting seat is hinged with the swing arm (108) through a rotating shaft I (107);
The corner amplifying mechanism (3) is connected with the rotating shaft I (107) through a coupler (2);
the angle sensor (4) is connected with the corner amplifying mechanism (3);
the control unit is connected with the angle sensor (4).
2. The ground level detection apparatus according to claim 1, wherein the rotation angle amplification mechanism (3) includes a ring gear (301), a ring gear driving wheel (302), a carrier (303), a planetary wheel (304), a sun gear (305), and a sun gear transmission shaft (306);
The rotating shaft I (107) is connected with a gear ring driving wheel (302), the gear ring driving wheel (302) is connected with a gear ring (301), the gear ring driving wheel (302) drives the gear ring (301) to rotate, the planetary gears (304) are arranged on a planetary carrier (303), the gear ring (301) is internally meshed with three planetary gears (304), the planetary gears (304) are externally meshed with a sun gear (305), and the sun gear (305) is connected with a sun gear transmission shaft (306); the sun gear transmission shaft (306) is connected with the angle sensor (4).
3. The ground height detection device according to claim 1, wherein a plurality of corresponding through holes are formed at the connection position of the first connecting rod (103) and the second connecting rod (111), and the length between the first connecting rod (103) and the second connecting rod (111) can be adjusted through bolt connection.
4. The ground level detection device according to claim 1, wherein one end of the first connecting rod (103) is connected to the slide plate (101) by a bolt i (102), and the other end is connected to the second connecting rod (111) by a bolt ii (104).
5. The ground level detection device according to claim 2, further comprising a connection plate (5); the planet carrier (303) and the angle sensor (4) are respectively arranged on the connecting plate (5).
6. A harvester comprising a ground level detection apparatus as claimed in any one of claims 1 to 5.
7. A detection method of a floor level detection apparatus according to any one of claims 1 to 5, characterized in that,
The method comprises the following steps:
the sliding plate (101) of the ground profiling part (1) is contacted with the ridge surface, and Long Ban (1012) floats on the ridge surface to advance;
The sliding plate (101) drives the swing arm (108) to rotate along with the protrusion or the depression of the ground through the first connecting rod (103) and the second connecting rod (111), the swing arm (108) drives the rotating shaft I (107) to rotate, the rotating shaft I (107) amplifies the rotating angle through the rotating angle amplifying mechanism (3), the angle sensor (4) measures the amplified angle and transmits the amplified angle to the control unit, and the control unit calculates the ground height variation h taking the ground as a reference.
8. The detection method of the floor level detection device according to claim 7, wherein the control unit calculates the floor level change amount h with reference to the floor by the following formula:
If the ground is convex: ;
if the ground is concave: ；
Wherein h is the ground height variation taking the ground as a reference, For the change of the rotation angle of the swing arm (108)/(The bending angle of the first connecting rod (103) is L, and the center distance from the rotating shaft I (107) to the rotating shaft II (109) is L;
the swing arm (108) amplifies the rotating angle through the rotation angle amplifying mechanism (3), and the change amount of the rotating angle of the swing arm (108) Equal to the angle of rotation/>, of the gear ring (301)，/>Calculated by the following formula:
，
，
k is the rotation angle magnification, n 1 is the number of teeth of the gear ring (301), n 2 is the number of teeth of the sun gear (305), The rotation angle of the sun gear (305) is measured by an angle sensor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911122012.0A CN111010992B (en) | 2019-11-15 | 2019-11-15 | Ground height detection device and method and harvester with device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911122012.0A CN111010992B (en) | 2019-11-15 | 2019-11-15 | Ground height detection device and method and harvester with device |
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| CN111010992A CN111010992A (en) | 2020-04-17 |
| CN111010992B true CN111010992B (en) | 2024-06-07 |
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|---|---|---|---|---|
| CN113348862A (en) * | 2021-06-30 | 2021-09-07 | 江苏大学 | Automatic row aligning device and method for orderly harvesting leaf vegetables and harvester |
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