CN111357476B - Harvester unloads grain section of thick bamboo automatic adjustment position appearance device - Google Patents
Harvester unloads grain section of thick bamboo automatic adjustment position appearance device Download PDFInfo
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- CN111357476B CN111357476B CN202010317930.5A CN202010317930A CN111357476B CN 111357476 B CN111357476 B CN 111357476B CN 202010317930 A CN202010317930 A CN 202010317930A CN 111357476 B CN111357476 B CN 111357476B
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- 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
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- 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
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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Abstract
The invention discloses an automatic pose adjusting device for a grain unloading cylinder of a harvester.A laser matrix detection processing module at the outlet end of the grain unloading cylinder collects and processes laser beam matrix distribution information of grain piles in a following boxcar and modulates and sends X-direction modulated laser and Y-direction modulated laser according to the processed laser beam matrix distribution information of the grain piles in the following boxcar; the modulation light detection flow communication and servo driving module receives modulation light to perform photoelectric conversion to obtain a motor horizontal driving signal and a motor vertical driving signal; the motor horizontal driving signal and the motor vertical driving signal are used for driving the X horizontal voice coil motor pose adjusting module and the Y vertical voice coil motor pose adjusting module to do corresponding actions respectively, so that the two-degree-of-freedom grain unloading barrel body is driven to rotate in the X horizontal direction and rotate in the Y vertical direction respectively. The method is not influenced by ambient illumination, does not need a third person to carry out vehicle-mounted monitoring operation, and greatly improves the operating efficiency and the automation level of the harvester.
Description
Technical Field
The invention relates to the technical field of agricultural machinery operation, in particular to an automatic pose adjusting device for a grain unloading cylinder of a harvester.
Background
When the combine harvester is used for harvesting, crushed green feed materials or threshed grains need to be conveyed into a following boxcar through a grain unloading screw via a grain unloading roller. The whole operation process needs to keep driving synchronously with the harvester in real time along with goods, and two drivers synchronously exchange the growth condition of the grain bulk in the carriage in real time to determine whether to adjust the position of the grain unloading roller or change the speed of a certain party. In order to ensure the driving safety, a third person is usually required to be arranged on the two trucks, the full condition of the grain piling box of the truck is observed by special naked eyes, drivers of the two trucks are informed, or the grain unloading rolling position is adjusted manually by the drivers, the grain is continuously unloaded to the free position of the carriage, the labor consumption is high, and the labor intensity is high. In practice, people usually consider lengthening the boxcar and hope to load more grains as much as possible in one-time following operation, but the boxcar operation area of the lengthening the boxcar obviously receives the restriction of the ground environment and the traffic road transition, and is only suitable for large farms which are very open and have good farmland road construction. Therefore, it is particularly important to design the automatic grain unloading operation device following the grain pile for the grain unloading roller. With the wide application of machine vision, a method for automatically adjusting the pose by adopting a camera image processing method appears in the prior art, but based on the natural defect that a camera is sensitive to illumination change, when the harvester changes in the light-facing, backlight, dark and clear weather, the image processing efficiency is obviously influenced, and even the harvester cannot work normally.
Disclosure of Invention
The invention aims to make up the defects of the prior art and provides an automatic pose adjusting device for a grain discharging barrel of a harvester. The invention adopts an array laser grid method to realize real-time measurement of the form change of the grain pile, and collects and converts the measured distribution depth information of grains or green fodder at each position of the carriage into two-dimensional plane adjustment input control quantity of the pose of the roller in real time, thereby completing the servo accurate dynamic adjustment operation of the grain unloading roller in the operation process. The method is not influenced by ambient illumination, does not need a third person to carry out vehicle-mounted monitoring operation, and greatly improves the operating efficiency and the automation level of the harvester.
The invention is realized by the following technical scheme:
an automatic pose adjusting device for a grain unloading cylinder of a harvester comprises a two-degree-of-freedom grain unloading cylinder body, a grain unloading cylinder outlet end laser matrix detection processing module, a modulation light detection flow communication and servo driving module and a grain unloading cylinder feed end two-dimensional voice coil motor pose adjusting module;
the two-dimensional voice coil motor pose adjusting module at the feeding end of the grain unloading barrel comprises an X horizontal voice coil motor pose adjusting module and a Y vertical voice coil motor pose adjusting module;
the laser matrix detection processing module at the outlet end of the grain unloading cylinder collects and processes laser beam matrix distribution information of grain piles in the following boxcar and modulates and sends X-direction modulated laser and Y-direction modulated laser according to the processed laser beam matrix distribution information of the grain piles in the following boxcar;
the modulated light stream detection communication and servo drive module receives the X-direction modulated laser and the Y-direction modulated laser, and respectively carries out photoelectric conversion on the received X-direction modulated laser and Y-direction modulated laser to obtain a motor horizontal drive signal and a motor vertical drive signal;
the motor horizontal driving signal and the motor vertical driving signal are used for driving the X horizontal voice coil motor pose adjusting module and the Y vertical voice coil motor pose adjusting module to do corresponding actions respectively, so that the two-degree-of-freedom grain unloading barrel body is driven to rotate in the X horizontal direction and rotate in the Y vertical direction respectively.
The grain unloading cylinder outlet end laser matrix detection processing module comprises an aluminum alloy shell fixed on the outer wall of the discharge port end of a two-degree-of-freedom grain unloading cylinder body, a laser matrix reflected light receiving window formed by a full-transmission lens and a laser matrix emitting light source emitting window formed by the full-transmission lens are respectively arranged on the upper and lower parts of the front side surface of the aluminum alloy shell, and a modulated communication light source emitting window is arranged on the rear side surface of the aluminum alloy shell;
a grid light path Bawell prism fixing seat, a triangular heat dissipation fixing seat, a red laser photodiode light source and a driving circuit board are sequentially arranged at the exit window of the laser matrix emission light source, a plurality of laser diode mounting holes with heat-conducting silicone grease are uniformly and equally arranged on the triangular heat dissipation fixing seat, the red laser photodiode light source and the photodiode light source of the driving circuit board are mounted in the laser diode mounting holes, a plurality of Bawell prisms with positions corresponding to the photodiode light sources one by one are mounted on the grid light path Bawell prism fixing seat, and the red laser photodiode light source and the driving circuit board, the triangular heat dissipation fixing seat and the grid light path Bawell prism fixing seat are all fixed through optical transparent glue; each Bawell prism in the grid light path Bawell prism fixing base is installed 90 degrees apart from each other, and every prism corresponds a bundle of laser diode light beam, and the diode converts the punctiform facula into a line form laser.
A first red laser narrowband filter, a double-sided concave lens and a laser detection matrix circuit board are sequentially arranged at the laser matrix reflected light receiving window, and the first red laser narrowband filter, the double-sided concave lens and the laser detection matrix circuit board are all fixed through optical transparent adhesive; the double-sided concave lens converts incident laser into a parallel light matrix; the first red laser narrow-band filter is used for removing various natural light harmonic interference and only leaving detection laser with the same wavelength as an emission light source to pass through; the optical transparent adhesive tape is used for fixing the detection unit and ensuring laser penetrability.
A communication module fixing seat is fixed at the exit window of the modulation communication light source through optical transparent adhesive tape, and an X-direction modulation optical communication diode light source and a Y-direction modulation optical communication diode light source are arranged on the communication module fixing seat;
the control module is respectively connected with the output end of the laser detection matrix circuit board, the control ends of the red laser photodiode light source and the drive circuit board, and the control ends of the X-direction modulation optical communication diode light source and the Y-direction modulation optical communication diode light source;
the laser detection matrix circuit board obtains the current in the X direction and the Y direction of a light beam matrix after carrying out photoelectric conversion and amplification on the collected light signals, and when the harvester unloads grains, when the following carriage is blank, the light beam matrix is uniformly distributed, and the depth of field of the grain pile is consistent or has small difference; after the harvester continues to unload the grain, the grain pile begins to grow, and the depth of field of the grain pile on the truck box appears in a scene with different heights; these two situations are typical scenarios for harvesting and unloading operations; because the depths of field of grain piles in the following boxcar are different, the reflected light beam intensity is different, and the current intensity of the light beam matrix in each direction is different; the current in the X direction and the current in the Y direction are sent to a control module, and the control module performs secondary amplification and conditioning on different current intensities to respectively obtain an X-dimensional modulation light driving output signal and a Y-dimensional modulation light driving output signal; the control module modulates an X-direction modulation optical communication diode light source and a Y-direction modulation optical communication diode light source of a communication module fixing seat according to the X-dimension modulation optical drive output signal and the Y-dimension modulation optical drive output signal, modulated X-direction modulation laser and Y-direction modulation laser are emitted, and the X-direction modulation laser and the Y-direction modulation laser are received by the modulation optical detection flow communication and servo drive module.
The conversion of the laser detection matrix circuit board to the optical signal is as follows:
dividing every two adjacent photodiodes in the detection array into XY different dimensions, respectively inputting the XY dimensions into a hardware accumulation circuit for summation, and setting the induced current of each photodiode after detecting laser as IijThen, the sum of the current intensities in the XY two-dimensional directions is respectively:
wherein, IxIs the sum of the current intensities in the X direction, IyIs the sum of the current intensities in the Y direction.
The aluminum alloy shell is characterized in that an aluminum alloy radiating substrate with a TEC refrigerating sheet is fixedly mounted inside the aluminum alloy shell through a heat conducting silicone grease layer, a radiating substrate with a triangular radiating fixing seat heat conducting copper pipe and a radiating substrate with a communication module fixing seat heat radiating copper pipe are respectively fixed on the aluminum alloy radiating substrate, a first radiating copper block is fixed below the triangular radiating fixing seat through a fixing column and the heat conducting silicone grease, the first radiating copper block is connected with the triangular radiating fixing seat heat conducting copper pipe, a second radiating copper block is fixed below the communication module fixing seat through the fixing column and the heat conducting silicone grease, the second radiating copper block is connected with the communication module fixing seat heat radiating copper pipe, and a control end of the TEC refrigerating sheet is connected with a control module. The TEC refrigeration piece is used for efficiently cooling the aluminum alloy heat dissipation substrate and transferring heat to the laser matrix detection processing module aluminum alloy body through the heat conduction silicone grease.
The aluminum alloy shell is characterized in that a single-input double-output gearbox gear set, a direct current generator, a multi-plectrum gearbox power input roller, a gearbox power input gear for fixing the power input roller and an aluminum alloy heat dissipation module are arranged on the outer side surface of the aluminum alloy shell, a fan mounting groove is formed in the aluminum alloy heat dissipation module, a heat dissipation fan is arranged in the fan mounting groove, a plectrum of the multi-plectrum gearbox power input roller extends into a discharge hole of a two-freedom-degree grain unloading cylinder body, grains in the two-freedom-degree grain unloading cylinder body flow at a high speed to drive the plectrum to rotate, so that the gearbox power input gear for fixing the power input roller rotates, the gearbox power input gear for fixing the power input roller drives an input end gear of the single-input double-output gearbox gear set to rotate, and two output end gears of the single-input double-output gearbox gear set respectively drive a gearbox The gearbox power output gear rotates to provide power for the direct current generator to generate power and the cooling fan to rotate, and the power output end of the direct current generator is connected with the control module. When the harvester starts to unload grains, the grains in the grain unloading barrel flow at a high speed, the shifting piece is driven to rotate, the gearbox enters a working state, and power is output to the generator and the fan.
The single-input double-output gearbox gear set respectively transmits the rotating speeds of a gearbox power input gear 1:20 and a gearbox power input gear 1:25 of a fixed power input roller to a gearbox power output gear of a fixed direct-current generator and a variable gearbox power output gear of a fixed fan, drives the gearbox power output gear and the variable gearbox power output gear to rotate at high speed, and provides power for the direct-current generator and the fan to rotate.
And a fan air guide sleeve is further installed on the aluminum alloy heat dissipation module, and an air flow outlet of the fan air guide sleeve points to the rotating direction of the shifting sheet of the power input roller of the multi-shifting-sheet gearbox. The fan guide cover is provided with a transmission power input gear set fixing hole, an airflow outlet of the guide cover points to the rotation direction of a transmission power input roller shifting piece, the fan is guided to conduct heat of the aluminum alloy heat dissipation module to be dispersed into the air, and sundries such as dust and seed fragments of a grain unloading barrel brought by the shifting piece are removed, so that the fan is prevented from being blocked.
The modulation light detection flow communication and servo driving module is arranged on the outer wall of the grain discharging cylinder body with two degrees of freedom, the modulation light detection flow communication and servo driving module comprises a communication and servo driving module mounting seat, a full transmission lens, a red laser narrow-band filter II, an XY horizontal vertical modulation light detection photodiode and a modulation light detection flow communication and servo driving circuit are sequentially arranged on the communication and servo driving module mounting seat, X-direction modulation laser and Y-direction modulation laser emitted from an X-direction modulation light communication diode light source and a Y-direction modulation light communication diode light source sequentially pass through the full transmission lens and the red laser narrow-band filter II and then are received by the XY horizontal vertical modulation light detection photodiode, the XY horizontal vertical modulation light detection photodiode converts an X-direction light signal and a Y-direction light signal into an X-dimensional modulation light driving output signal and a Y-dimensional modulation light driving output signal respectively, and the modulation light detection flow communication and servo drive circuit respectively modulates and amplifies the X-dimensional modulation light drive output signal and the Y-dimensional modulation light drive output signal to obtain a motor horizontal drive signal and a motor vertical drive signal, and the motor horizontal drive signal and the motor vertical drive signal are used for driving the X horizontal voice coil motor pose adjusting module and the Y vertical voice coil motor pose adjusting module to act.
The two-degree-of-freedom grain unloading cylinder body comprises a lower end vertical cylinder part and an upper end arc cylinder part, a feeding hole and a power air inlet are respectively arranged on the side surface of the lower end vertical cylinder part, and a discharging hole is arranged at the upper end of the upper end arc cylinder part;
the X horizontal voice coil motor pose adjusting module comprises an X horizontal voice coil motor component fixing seat and an X horizontal voice coil motor component, the X horizontal voice coil motor component comprises an X horizontal voice coil motor and an X horizontal grooved rack fixing seat, an X horizontal sliding rail is arranged on the X horizontal voice coil motor component fixing seat, the X horizontal voice coil motor is fixedly arranged on the X horizontal voice coil motor component fixing seat, the X horizontal grooved rack fixing seat is arranged in the X horizontal sliding rail in a sliding fit manner, the X horizontal voice coil motor drives the X horizontal grooved rack fixing seat to slide left and right in the X horizontal sliding rail, an X horizontal rotating fixing bearing with a rack on the outer wall is fixedly connected to the lower end of the upper end arc barrel body part, and the inner side of the X horizontal rotating fixing bearing is connected to the upper end of the lower end vertical barrel body part through a key pin, x horizontal voice coil loudspeaker voice coil CD-ROM drive motor subassembly fixing base is fixed on the upper end outer wall of the vertical barrel part of lower extreme, makes the outer wall rack of X horizontal rotation fixing bearing and the rack toothing on the X horizontal direction trough of belt rack fixing base, X horizontal voice coil loudspeaker voice coil CD-ROM drive motor drive X horizontal direction trough of belt rack fixing base horizontal slip in X horizontal direction slide rail, it is rotatory to drive X horizontal rotation fixing bearing and use the vertical barrel part of lower extreme to be the center to it is rotatory to drive upper end arc barrel part.
The Y vertical voice coil motor pose adjusting module comprises a Y vertical voice coil driving motor component fixing seat and a Y vertical voice coil driving motor component, the Y vertical voice coil driving motor component comprises a Y vertical voice coil driving motor and a Y vertical direction grooved rack fixing seat, a Y vertical direction sliding rail is arranged on the Y vertical voice coil driving motor component fixing seat, the Y vertical voice coil driving motor is fixedly arranged on the Y vertical voice coil driving motor component fixing seat, the Y vertical direction grooved rack fixing seat is arranged in the Y vertical direction sliding rail in a sliding fit mode, the Y vertical voice coil driving motor drives the Y vertical direction grooved rack fixing seat to slide up and down in the Y vertical direction sliding rail, a Y dimension driving rotating gear is arranged on the outer wall of one side of the lower end vertical cylinder part, and a Y dimension driven rotating gear is arranged on the outer wall of the other opposite face of the lower end vertical cylinder part, the Y-dimension driving rotary gear is in transmission connection with a Y-dimension driven rotary gear shaft, the Y-dimension driving rotary gear is meshed with a rack on a Y-dimension vertical direction grooved rack fixing seat, a groove is formed in the other end of the Y-dimension vertical voice coil driving motor component fixing seat, a ball bearing with a tooth groove matched with the Y-dimension driven rotary gear is installed in the groove, the Y-dimension driven rotary gear is clamped in the tooth groove in the inner side of the ball bearing, the Y-dimension vertical voice coil driving motor drives the Y-dimension vertical direction grooved rack fixing seat to slide up and down in a Y-dimension vertical direction sliding rail, the Y-dimension driving rotary gear and the Y-dimension driven rotary gear are sequentially driven to rotate, and therefore the whole two-degree-of-freedom grain unloading barrel.
And a flow guide dustproof rubber pad is arranged in the vertical barrel part at the lower end of the two-freedom-degree grain unloading barrel body, and the flow guide dustproof rubber pad is obliquely and upwards installed from the position below the power air inlet. The guide dustproof rubber pad is used for guiding the wind direction of the grain unloading fan and preventing grains or green feed from being blocked and accumulated at the bottom of the grain unloading barrel.
The invention is used for automatically adjusting the position of the grain unloading barrel during the grain unloading operation of the combine harvester, realizes the growth of the grain unloading barrel along with a grain stack, automatically moves to a low-lying area, continuously and uniformly unloads grains into a following truck carriage, and improves the automatic operation level of the following truck and the combine harvester loading.
The invention has the advantages that: the invention automatically realizes that the grain unloading barrel changes along with the depth of the grain pile of the carriage, and the grain unloading angle and the orientation of the grain unloading barrel change along with the growth change of the grain pile;
the grain unloading roller automatically performs self two-dimensional pose servo adjustment according to the change of the carriage depth information;
the operation process is not influenced by ambient illumination and weather change, the anti-interference performance is good, and the line adjustment and maintenance are simplified when the grain unloading cylinder is frequently disassembled by adopting the modularized wireless modulation optical communication;
the grain unloading operation dust greatly causes centimeter-level precision sensors such as laser radars and cameras to be incapable of working, and also has hundreds of millimeter error influence on the precision of a laser detection matrix, but the error completely meets the grain unloading operation precision requirement of agricultural machinery within the common sense range.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of an aluminum alloy housing.
Fig. 3 is a left side view of the laser matrix detection processing module.
Fig. 4 is a right side view of the laser matrix detection processing module.
FIG. 5 is a side view of a laser matrix detection processing module.
Fig. 6 is a structural view of an aluminum alloy heat dissipation fixing plate with a TEC refrigeration plate attached.
Fig. 7 is a schematic structural diagram of an aluminum alloy heat dissipation module.
Fig. 8 is a schematic view of a fan shroud structure.
Fig. 9 is a view showing the structure of an aluminum alloy heat dissipating module with a cowling assembled.
FIG. 10 is a schematic diagram of a single input dual output transmission gearset configuration.
FIG. 11 is a schematic diagram of a laser matrix detection light source design.
Fig. 12 is a schematic view of a triangular heat-dissipating fixing base with a laser diode mounting hole.
Fig. 13 is a schematic view of a grid optical path powell prism fixing seat structure.
Fig. 14 is a schematic diagram illustrating a principle of converting a point-shaped light spot of a laser diode into a linear light.
Fig. 15 is a schematic diagram of a matrix of converted light beams.
Fig. 16 is a schematic diagram of a laser probe beam matrix distribution in an empty car.
Fig. 17 is a schematic diagram of laser detection matrix distribution in a carriage after grain unloading operation.
Fig. 18 is a schematic diagram of the detection operation of the laser detection matrix beam reflection of the carriage.
FIG. 19 is a schematic diagram of a laser detection photodiode array.
Fig. 20 is a schematic diagram of the internal working principle of the laser light source driving, matrix light detection and modulated light communication control module.
Fig. 21 is a schematic structural view of a communication module mount provided with XY two-dimensional modulated photodiodes.
Fig. 22 is an assembly schematic diagram of a two-degree-of-freedom grain unloading barrel body, a flow detection communication and servo driving module and a two-dimensional voice coil motor pose adjusting module.
Fig. 23 is a schematic structural diagram of a voice coil motor assembly.
Fig. 24 is a schematic view of a voice coil motor assembly base structure.
Fig. 25 is a schematic view of the voice coil motor assembly.
Fig. 26 is a schematic view of a Y-dimension driven rotary gear mounting structure.
Fig. 27 is a schematic view of the mounting structure of the ball bearing with the tooth grooves matching with the Y-dimension driven rotary gear on the inner side of the fixing seat of the Y-vertical voice coil driving motor assembly.
Fig. 28 is a schematic view of an assembly structure of the Y-dimension driven rotary gear and the ball bearing.
Fig. 29 is a side view of the X horizontal rotation fixing bearing.
FIG. 30 is an X-ray horizontal rotation fixed bearing isometric view.
Fig. 31 is a cross-sectional view of the X horizontal rotation fixing bearing.
Fig. 32 is a schematic structural diagram of a modulated optical detection stream communication and servo driving module.
FIG. 33 is a circuit diagram of modulated photo stream communication and servo drive.
Detailed Description
As shown in fig. 1, the device for automatically adjusting the pose of a grain unloading cylinder of a harvester comprises a two-degree-of-freedom grain unloading cylinder body 1, a grain unloading cylinder outlet end laser matrix detection processing module 2, a modulation light detection flow communication and servo driving module 3 and a grain unloading cylinder feed end two-dimensional voice coil motor pose adjusting module 4;
the two-dimensional voice coil motor pose adjusting module 4 at the feeding end of the grain unloading barrel comprises an X horizontal voice coil motor pose adjusting module 5 and a Y vertical voice coil motor pose adjusting module 6;
the laser matrix detection processing module 2 at the outlet end of the grain unloading cylinder collects and processes laser beam matrix distribution information of grain piles in the following boxcar and modulates and sends X-direction modulated laser and Y-direction modulated laser according to the processed laser beam matrix distribution information of the grain piles in the following boxcar;
the modulated light stream detection communication and servo drive module 3 receives the X-direction modulated laser and the Y-direction modulated laser, and respectively carries out photoelectric conversion on the received X-direction modulated laser and Y-direction modulated laser to obtain a motor horizontal drive signal and a motor vertical drive signal;
the motor horizontal driving signal and the motor vertical driving signal are used for driving the X horizontal voice coil motor pose adjusting module 5 and the Y vertical voice coil motor pose adjusting module 6 to do corresponding actions respectively, so that the two-degree-of-freedom grain unloading barrel body 1 is driven to rotate in the X horizontal direction and swing in the Y vertical direction respectively.
As shown in fig. 2, the laser matrix detection processing module 2 at the outlet end of the grain unloading cylinder comprises an aluminum alloy shell 7 fixed on the outer wall of the outlet end of the two-degree-of-freedom grain unloading cylinder body 1, a laser matrix reflected light receiving window 8 formed by a full-transparent lens and a laser matrix emitting light source emitting window 9 formed by a full-transparent lens are respectively arranged on the front side surface of the aluminum alloy shell 7 from top to bottom, and a modulated communication light source emitting window 10 is arranged on the rear side surface of the aluminum alloy shell;
as shown in fig. 3 and 4, a grid optical path powell prism fixing seat 11, a triangular heat dissipation fixing seat 12, a red laser photodiode light source and a driving circuit board 13 are sequentially arranged at the exit window 9 of the laser matrix emission light source, a plurality of laser diode mounting holes 14 with heat-conducting silicone grease are uniformly and equally arranged on the triangular heat-radiating fixed seat 12, the red laser photodiode light source and the photodiode light source of the driving circuit board 13 are installed in the laser diode installation hole 14, a plurality of Bawell prisms 15 with one-to-one corresponding positions to the photodiode light sources are arranged on the grid light path Bawell prism fixing seat 11, the red laser photodiode light source and driving circuit board 13, the triangular heat dissipation fixing seat 12 and the grid optical path Bawell prism fixing seat 11 are all fixed through an optical transparent adhesive 67; as shown in fig. 13, each powell prism 15 in the grid optical path powell prism fixing base 11 is installed with a 90-degree difference, each prism corresponds to a laser diode beam, and the diode converts a point-like spot into a linear laser, as shown in fig. 14. And adjusting the angles of the adjacent Bawell prisms to enable the line lasers to vertically intersect, and finally forming a laser detection grid as shown in FIG. 15.
A first red laser narrowband filter 16, a double-faced concave lens 17 and a laser detection matrix circuit board 18 are sequentially arranged at the laser matrix reflected light receiving window 8, and the first red laser narrowband filter 16, the double-faced concave lens 17 and the laser detection matrix circuit board 18 are all fixed through an optical transparent adhesive 67; a double concave lens 17 for converting the incident laser light into a parallel light matrix; the red laser narrow-band filter I16 is used for removing various natural light harmonic interference and only leaving detection laser with the same wavelength as an emission light source to pass through; the optically clear adhesive 67 serves to fix the sensing unit and to ensure laser light penetration.
As shown in fig. 21, a communication module fixing base 19 is fixed at the modulated communication light source exit window 10 through an optical transparent adhesive, and an X-direction modulated light communication diode light source 20 and a Y-direction modulated light communication diode light source 21 are mounted on the communication module fixing base 19;
a control module 22 is further installed inside the aluminum alloy shell 7, and the control module 22 is respectively connected with the output end of the laser detection matrix circuit board 18, the control ends of the red laser photodiode light source and the driving circuit board 13, and the control ends of the X-direction modulation optical communication diode light source 20 and the Y-direction modulation optical communication diode light source 21;
as shown in fig. 11, the red laser photodiode light source and the light source of the driving circuit board 13 emit laser, a dot-shaped spot is converted into a linear laser by the pow prism 15, a laser detection grid is finally formed, the linear laser passes through the exit window of the laser matrix emission light source and is hit on a grain pile in a wagon compartment, a light beam reflected by the surface of the grain pile passes through the laser matrix reflection light receiving window 8 and then sequentially passes through the red laser narrowband optical filter one 16 and the double-sided concave lens 17 to be collected by the laser detection matrix circuit board 18, the light is shown in fig. 18, the laser detection matrix circuit board 18 performs photoelectric conversion and amplification on the collected light signal to obtain currents in the X direction and the Y direction of the light beam matrix, and the laser detection photodiode array is shown in fig. 19; when the harvester unloads grain, when following the blank of carriage, the light beam matrix is distributed evenly, the depth of field of grain pile is unanimous or the difference is not big, as shown in figure 16; after the harvester continues to discharge the grain, the grain pile begins to grow, and the depth of field of the grain pile on the truck box appears in a scene with different heights, as shown in fig. 17; these two situations are typical scenarios for harvesting and unloading operations; because the depths of field of grain piles in the following boxcar are different, the reflected light beam intensity is different, and the current intensity of the light beam matrix in each direction is different; the currents in the X direction and the Y direction are sent to the control module 22, and the control module 22 performs secondary amplification and conditioning on different current intensities to obtain an X-dimensional modulation light driving output signal and a Y-dimensional modulation light driving output signal respectively; the control module 22 modulates the X-direction modulated optical communication diode light source 20 and the Y-direction modulated optical communication diode light source 21 of the communication module fixing base 19 according to the X-dimension modulated optical drive output signal and the Y-dimension modulated optical drive output signal to emit modulated X-direction modulated laser and Y-direction modulated laser, which are received by the modulated optical detection communication and servo drive module 3. The control module operating schematic is shown in fig. 20.
The conversion of the optical signal by the laser detection matrix circuit board 18 is as follows:
dividing every two adjacent photodiodes in the detection array into XY different dimensions, respectively inputting the XY dimensions into a hardware accumulation circuit for summation, and setting the induced current of each photodiode after detecting laser as IijThen, the sum of the current intensities in the XY two-dimensional directions is respectively:
wherein, IxIs the sum of the current intensities in the X direction, IyIs the sum of the current intensities in the Y direction.
As shown in fig. 6, an aluminum alloy heat dissipation substrate 25 with a TEC refrigeration plate 24 is further fixedly mounted inside the aluminum alloy housing 7 through a heat conduction silicone grease layer 23, a heat dissipation substrate 26 with a triangular heat dissipation fixing base heat conduction copper pipe and a heat dissipation substrate 27 with a communication module fixing base heat dissipation copper pipe are further respectively fixed on the aluminum alloy heat dissipation substrate 25, a heat dissipation copper block one 30 is fixed below the triangular heat dissipation fixing base 12 through a fixing column one 28 and a heat conduction silicone grease one 29, as shown in fig. 11 and 12, the heat dissipation copper block one 30 is connected with the triangular heat dissipation fixing base heat conduction copper pipe 31, a heat dissipation copper block two is fixed below the communication module fixing base 19 through a fixing column two and a heat conduction silicone grease two, the heat dissipation copper block two is connected with the communication module fixing base heat dissipation copper pipe, and a control end of the TEC refrigeration plate 24 is connected with the control module 22. The TEC refrigeration piece 24 is used for efficiently cooling the aluminum alloy heat dissipation substrate and transferring heat to the laser matrix detection processing module aluminum alloy body through the heat conduction silicone grease.
As shown in fig. 5, 7 and 10, a single-input double-output transmission case gear set 32, a dc generator 33, a multi-paddle transmission case power input roller 34, a transmission case power input gear 35 for fixing the power input roller and an aluminum alloy heat dissipation module 36 are installed on the outer side surface of the aluminum alloy shell 7, a fan installation groove is formed on the aluminum alloy heat dissipation module 36, a heat dissipation fan 37 is installed inside the fan installation groove, a paddle of the multi-paddle transmission case power input roller 34 extends into a discharge hole of the two-degree-of-freedom grain unloading barrel body 1, grains in the two-degree-of-freedom grain unloading barrel body 1 flow at a high speed to drive the paddle to rotate, so as to drive the transmission case power input gear 35 for fixing the power input roller to rotate, the transmission case power input gear 35 for fixing the power input roller drives an input end gear of the single-input double-output transmission case gear, two output end gears of the single-input double-output gearbox gear set 32 respectively drive a gearbox power output gear 38 of the direct current generator and a gearbox power output gear 39 of the cooling fan to rotate, so that power generation of the direct current generator 33 and rotating power of the cooling fan 37 are provided, and the power output end of the direct current generator 33 is connected with the control module 22. When the harvester starts to unload grain, the grain in the grain unloading barrel flows at high speed, and then the shifting piece is driven to rotate, so that the gearbox enters a working state, and outputs power to the generator and the fan.
The single-input double-output gearbox gear set 32 transmits the rotating speeds 1:20 and 1:25 of a gearbox power input gear 35 with fixed power input rollers to a gearbox power output gear 38 with a fixed direct-current generator and a variable gearbox power output gear 39 with a fixed fan respectively, drives the gearbox power output gear 38 with the fixed direct-current generator and the variable gearbox power output gear 39 with the fixed fan to rotate at high speed, and provides power for the direct-current generator and the fan to rotate.
As shown in fig. 8 and 9, a fan air guide sleeve 40 is further mounted on the aluminum alloy heat dissipation module 36, and an air outlet of the fan air guide sleeve 40 points to a rotation direction of the paddle of the multi-paddle gearbox power input roller 34. The fan air guide sleeve 40 is provided with a transmission power input gear set fixing hole, an air guide sleeve airflow outlet points to the rotation direction of a transmission power input roller shifting piece, the heat of the fan conduction aluminum alloy heat dissipation module is guided to be dispersed into the air, and sundries such as dust and seed grain fragments of a grain unloading barrel brought by the shifting piece are removed, so that the fan is prevented from being blocked.
As shown in fig. 32 and 33, the modulated light stream detection communication and servo driving module 3 is installed on the outer wall of the two-degree-of-freedom grain discharging cylinder body 1, the modulated light stream detection communication and servo driving module 3 comprises a communication and servo driving module installation seat 41, a total transparent lens 42, a red laser narrow-band filter II 43, an XY horizontal vertical modulated light detection photodiode 44 and a modulated light stream detection communication and servo driving circuit 45 are sequentially installed on the communication and servo driving module installation seat 41, X direction modulated laser and Y direction modulated laser emitted from the X direction modulated light communication diode light source 20 and the Y direction modulated light communication diode light source 21 sequentially pass through the total transparent lens 42 and the red laser narrow-band filter II 43 and are received by the XY horizontal vertical modulated light detection photodiode 44, and the XY horizontal vertical modulated light detection photodiode 44 converts the X direction light signal and the Y direction light signal into an X-dimensional modulated light driving output signal and a Y-dimensional modulated light driving output signal respectively And the output signal is sent to a modulation light inspection flow communication and servo drive circuit 45, and the modulation light inspection flow communication and servo drive circuit 45 respectively modulates and amplifies the X-dimensional modulation light drive output signal and the Y-dimensional modulation light drive output signal to obtain a motor horizontal drive signal and a motor vertical drive signal, so as to drive the X horizontal voice coil motor pose adjusting module 5 and the Y vertical voice coil motor pose adjusting module 6 to act.
As shown in fig. 1 and 22, the two-degree-of-freedom grain unloading cylinder body 1 comprises a lower vertical cylinder part 46 and an upper arc cylinder part 47, wherein a feed port 48 and a power air inlet 49 are respectively arranged on the side surface of the lower vertical cylinder part 46, and the upper end of the upper arc cylinder part 47 is a discharge port;
as shown in fig. 22, the X horizontal voice coil motor pose adjusting module 5 includes an X horizontal voice coil driving motor assembly fixing seat 50 and an X horizontal voice coil driving motor assembly, the X horizontal voice coil driving motor assembly includes an X horizontal voice coil driving motor 51 and an X horizontal direction grooved rack fixing seat 52, an X horizontal direction sliding rail 53 is disposed on the X horizontal voice coil driving motor assembly fixing seat 50, the X horizontal voice coil driving motor 51 is fixedly mounted on the X horizontal voice coil driving motor assembly fixing seat 50, the X horizontal direction grooved rack fixing seat 52 is slidably mounted in the X horizontal direction sliding rail 53, the X horizontal voice coil driving motor 51 drives the X horizontal direction grooved rack fixing seat 52 to slide left and right in the X horizontal direction sliding rail 53, as shown in fig. 29, 30 and 31, an X horizontal rotation fixing bearing 54 with a rack on the outer wall is fixedly connected to the lower end of the upper end arc-shaped cylinder portion 47, the inner side of the X horizontal rotation fixing bearing 54 is connected to the upper end of the lower vertical cylinder 46 through a key pin 55, the X horizontal voice coil driving motor assembly fixing seat 50 is fixed on the outer wall of the upper end of the lower vertical cylinder 46, so that the outer wall rack of the X horizontal rotation fixing bearing 54 is engaged with the rack on the X horizontal direction slotted rack fixing seat 52, and the X horizontal voice coil driving motor 51 drives the X horizontal direction slotted rack fixing seat 52 to slide left and right in the X horizontal direction sliding rail 53, and drives the X horizontal rotation fixing bearing 54 to rotate around the lower vertical cylinder 46, thereby driving the upper arc cylinder 47 to rotate.
The Y vertical voice coil motor pose adjusting module 6 comprises a Y vertical voice coil driving motor component fixing seat 56 and a Y vertical voice coil driving motor component, the Y vertical voice coil driving motor component comprises a Y vertical voice coil driving motor 57 and a Y vertical direction grooved rack fixing seat 58, a Y vertical direction sliding rail 59 is arranged on the Y vertical voice coil driving motor component fixing seat 56, the Y vertical voice coil driving motor 57 is fixedly installed on the Y vertical voice coil driving motor component fixing seat 56, the Y vertical direction grooved rack fixing seat 58 is installed in the Y vertical direction sliding rail 59 in a sliding fit mode, the Y vertical voice coil driving motor 57 drives the Y vertical direction grooved rack fixing seat 58 to slide up and down in the Y vertical direction sliding rail 59, a Y dimension active rotating gear 60 is installed on the outer wall of one side of the lower end vertical cylinder part 46, a Y-dimension driven rotating gear 61 is mounted on the outer wall of the other opposite surface of the lower-end vertical cylinder part 46, as shown in fig. 26, a Y-dimension driving rotating gear 60 is in shaft transmission connection with the Y-dimension driven rotating gear 61, the Y-dimension driving rotating gear 60 is engaged with a rack on a Y-vertical-direction grooved rack fixing seat 58, a groove is formed at the other end of the Y-vertical voice coil driving motor assembly fixing seat 56, a ball bearing 62 having a tooth groove matched with the Y-dimension driven rotating gear 61 on the inner side is mounted in the groove, the Y-dimension driven rotating gear 61 is clamped in the tooth groove on the inner side of the ball bearing 62, as shown in fig. 27 and 28, the Y-vertical-direction voice coil driving motor 57 drives the Y-vertical-direction grooved rack fixing seat 58 to slide up and down in a Y-vertical-direction slide rail 59, and drives the Y-dimension driving rotating gear, thereby driving the whole grain unloading cylinder body 1 with two degrees of freedom to swing left and right.
A flow guide dustproof rubber pad 63 is arranged in the lower vertical cylinder part 46 of the two-degree-of-freedom grain unloading cylinder body 1, and the flow guide dustproof rubber pad 63 is obliquely and upwards arranged at the position below the power air inlet 49. The guide dustproof rubber pad 63 is used for guiding the wind direction of the grain unloading fan and preventing grains or green feed from being blocked and accumulated at the bottom of the grain unloading barrel.
The Y-vertical voice coil drive motor assembly mount 56 is fixed to the harvester chassis.
The X horizontal direction grooved rack fixing seat 52 and the Y vertical direction grooved rack fixing seat 58 are both L-shaped, a rack is arranged on the outer side of one side, the lower side is installed in a sliding rail corresponding to the rack in a sliding fit mode, and the inner side of the other side is fixedly connected with the output end of a driving motor corresponding to the rack.
As shown in fig. 23 and 24, the vcm assembly is composed of a cylindrical permanent magnet 64, a coil assembly 65, and a coil assembly fixing rack 66, and is schematically shown in fig. 25 after being assembled, and can move left and right on the slide rail after being driven and controlled by the vcm assembly.
Claims (9)
1. The utility model provides a harvester unloads grain section of thick bamboo automatic adjustment position appearance device which characterized in that: the device comprises a two-degree-of-freedom grain unloading barrel body, a grain unloading barrel outlet end laser matrix detection processing module, a modulation light detection flow communication and servo driving module and a grain unloading barrel feed end two-dimensional voice coil motor pose adjusting module;
the two-dimensional voice coil motor pose adjusting module at the feeding end of the grain unloading barrel comprises an X horizontal voice coil motor pose adjusting module and a Y vertical voice coil motor pose adjusting module;
the laser matrix detection processing module at the outlet end of the grain unloading cylinder collects and processes laser beam matrix distribution information of grain piles in the following boxcar and modulates and sends X-direction modulated laser and Y-direction modulated laser according to the processed laser beam matrix distribution information of the grain piles in the following boxcar;
the modulated light stream detection communication and servo drive module receives the X-direction modulated laser and the Y-direction modulated laser, and respectively carries out photoelectric conversion on the received X-direction modulated laser and Y-direction modulated laser to obtain a motor horizontal drive signal and a motor vertical drive signal;
the motor horizontal driving signal and the motor vertical driving signal are used for driving the X horizontal voice coil motor pose adjusting module and the Y vertical voice coil motor pose adjusting module to do corresponding actions respectively, so that the two-degree-of-freedom grain unloading barrel body is driven to rotate in the X horizontal direction and swing in the Y vertical direction respectively.
2. The harvester unloads grain section of thick bamboo automatic adjustment position appearance device of claim 1, characterized in that: the grain unloading cylinder outlet end laser matrix detection processing module comprises an aluminum alloy shell fixed on the outer wall of the discharge port end of a two-degree-of-freedom grain unloading cylinder body, a laser matrix reflected light receiving window formed by a full-transmission lens and a laser matrix emitting light source emitting window formed by the full-transmission lens are respectively arranged on the upper and lower parts of the front side surface of the aluminum alloy shell, and a modulated communication light source emitting window is arranged on the rear side surface of the aluminum alloy shell;
a grid light path Bawell prism fixing seat, a triangular heat dissipation fixing seat, a red laser photodiode light source and a driving circuit board are sequentially arranged at the exit window of the laser matrix emission light source, a plurality of laser diode mounting holes with heat-conducting silicone grease are uniformly and equally arranged on the triangular heat dissipation fixing seat, the red laser photodiode light source and the photodiode light source of the driving circuit board are mounted in the laser diode mounting holes, a plurality of Bawell prisms with positions corresponding to the photodiode light sources one by one are mounted on the grid light path Bawell prism fixing seat, and the red laser photodiode light source and the driving circuit board, the triangular heat dissipation fixing seat and the grid light path Bawell prism fixing seat are all fixed through optical transparent glue;
a first red laser narrowband filter, a double-sided concave lens and a laser detection matrix circuit board are sequentially arranged at the laser matrix reflected light receiving window, and the first red laser narrowband filter, the double-sided concave lens and the laser detection matrix circuit board are all fixed through optical transparent adhesive;
a communication module fixing seat is fixed at the exit window of the modulation communication light source through optical transparent adhesive tape, and an X-direction modulation optical communication diode light source and a Y-direction modulation optical communication diode light source are arranged on the communication module fixing seat;
the control module is respectively connected with the output end of the laser detection matrix circuit board, the control ends of the red laser photodiode light source and the drive circuit board, and the control ends of the X-direction modulation optical communication diode light source and the Y-direction modulation optical communication diode light source;
the laser detection matrix circuit board obtains the current in the X direction and the current in the Y direction of the light beam matrix after carrying out photoelectric conversion and amplification on the collected light signals, and the current in the X direction and the current in the Y direction of the light beam matrix are obtained due to the fact that the depths of field of the grain piles in the following boxcar are different, the reflected light beam intensity is different, and the current intensity of the light beam matrix in each direction is different; the current in the X direction and the current in the Y direction are sent to a control module, and the control module performs secondary amplification and conditioning on different current intensities to respectively obtain an X-dimensional modulation light driving output signal and a Y-dimensional modulation light driving output signal; the control module modulates an X-direction modulation optical communication diode light source and a Y-direction modulation optical communication diode light source of a communication module fixing seat according to the X-dimension modulation optical drive output signal and the Y-dimension modulation optical drive output signal, modulated X-direction modulation laser and Y-direction modulation laser are emitted, and the X-direction modulation laser and the Y-direction modulation laser are received by the modulation optical detection flow communication and servo drive module.
3. The harvester unloads grain section of thick bamboo automatic adjustment position appearance device of claim 2, characterized in that: the aluminum alloy shell is characterized in that an aluminum alloy radiating substrate with a TEC refrigerating sheet is fixedly mounted inside the aluminum alloy shell through a heat conducting silicone grease layer, a radiating substrate with a triangular radiating fixing seat heat conducting copper pipe and a radiating substrate with a communication module fixing seat heat radiating copper pipe are respectively fixed on the aluminum alloy radiating substrate, a first radiating copper block is fixed below the triangular radiating fixing seat through a fixing column and the heat conducting silicone grease, the first radiating copper block is connected with the triangular radiating fixing seat heat conducting copper pipe, a second radiating copper block is fixed below the communication module fixing seat through the fixing column and the heat conducting silicone grease, the second radiating copper block is connected with the communication module fixing seat heat radiating copper pipe, and a control end of the TEC refrigerating sheet is connected with a control module.
4. The harvester unloads grain section of thick bamboo automatic adjustment position appearance device of claim 2, characterized in that: the aluminum alloy shell is characterized in that a single-input double-output gearbox gear set, a direct current generator, a multi-plectrum gearbox power input roller, a gearbox power input gear for fixing the power input roller and an aluminum alloy heat dissipation module are arranged on the outer side surface of the aluminum alloy shell, a fan mounting groove is formed in the aluminum alloy heat dissipation module, a heat dissipation fan is arranged in the fan mounting groove, a plectrum of the multi-plectrum gearbox power input roller extends into a discharge hole of a two-freedom-degree grain unloading cylinder body, grains in the two-freedom-degree grain unloading cylinder body flow at a high speed to drive the plectrum to rotate, so that the gearbox power input gear for fixing the power input roller rotates, the gearbox power input gear for fixing the power input roller drives an input end gear of the single-input double-output gearbox gear set to rotate, and two output end gears of the single-input double-output gearbox gear set respectively drive a gearbox The gearbox power output gear rotates to provide power for the direct current generator to generate power and the cooling fan to rotate, and the power output end of the direct current generator is connected with the control module.
5. The harvester unloads grain section of thick bamboo automatic adjustment position appearance device of claim 4, characterized in that: and a fan air guide sleeve is further installed on the aluminum alloy heat dissipation module, and an air flow outlet of the fan air guide sleeve points to the rotating direction of the shifting sheet of the power input roller of the multi-shifting-sheet gearbox.
6. The harvester unloads grain section of thick bamboo automatic adjustment position appearance device of claim 2, characterized in that: the modulation light detection flow communication and servo driving module is arranged on the outer wall of the grain discharging cylinder body with two degrees of freedom, the modulation light detection flow communication and servo driving module comprises a communication and servo driving module mounting seat, a full transmission lens, a red laser narrow-band filter II, an XY horizontal vertical modulation light detection photodiode and a modulation light detection flow communication and servo driving circuit are sequentially arranged on the communication and servo driving module mounting seat, X-direction modulation laser and Y-direction modulation laser emitted from an X-direction modulation light communication diode light source and a Y-direction modulation light communication diode light source sequentially pass through the full transmission lens and the red laser narrow-band filter II and then are received by the XY horizontal vertical modulation light detection photodiode, the XY horizontal vertical modulation light detection photodiode converts an X-direction light signal and a Y-direction light signal into an X-dimensional modulation light driving output signal and a Y-dimensional modulation light driving output signal respectively, and the modulation light detection flow communication and servo drive circuit respectively modulates and amplifies the X-dimensional modulation light drive output signal and the Y-dimensional modulation light drive output signal to obtain a motor horizontal drive signal and a motor vertical drive signal, and the motor horizontal drive signal and the motor vertical drive signal are used for driving the X horizontal voice coil motor pose adjusting module and the Y vertical voice coil motor pose adjusting module to act.
7. The harvester unloads grain section of thick bamboo automatic adjustment position appearance device of claim 6, characterized in that: the two-degree-of-freedom grain unloading cylinder body comprises a lower end vertical cylinder part and an upper end arc cylinder part, a feeding hole and a power air inlet are respectively arranged on the side surface of the lower end vertical cylinder part, and a discharging hole is arranged at the upper end of the upper end arc cylinder part;
the X horizontal voice coil motor pose adjusting module comprises an X horizontal voice coil motor component fixing seat and an X horizontal voice coil motor component, the X horizontal voice coil motor component comprises an X horizontal voice coil motor and an X horizontal grooved rack fixing seat, an X horizontal sliding rail is arranged on the X horizontal voice coil motor component fixing seat, the X horizontal voice coil motor is fixedly arranged on the X horizontal voice coil motor component fixing seat, the X horizontal grooved rack fixing seat is arranged in the X horizontal sliding rail in a sliding fit manner, the X horizontal voice coil motor drives the X horizontal grooved rack fixing seat to slide left and right in the X horizontal sliding rail, an X horizontal rotating fixing bearing with a rack on the outer wall is fixedly connected to the lower end of the upper end arc barrel body part, and the inner side of the X horizontal rotating fixing bearing is connected to the upper end of the lower end vertical barrel body part through a key pin, x horizontal voice coil loudspeaker voice coil CD-ROM drive motor subassembly fixing base is fixed on the upper end outer wall of the vertical barrel part of lower extreme, makes the outer wall rack of X horizontal rotation fixing bearing and the rack toothing on the X horizontal direction trough of belt rack fixing base, X horizontal voice coil loudspeaker voice coil CD-ROM drive motor drive X horizontal direction trough of belt rack fixing base horizontal slip in X horizontal direction slide rail, it is rotatory to drive X horizontal rotation fixing bearing and use the vertical barrel part of lower extreme to be the center to it is rotatory to drive upper end arc barrel part.
8. The harvester unloads grain section of thick bamboo automatic adjustment position appearance device of claim 7, characterized in that: the Y vertical voice coil motor pose adjusting module comprises a Y vertical voice coil driving motor component fixing seat and a Y vertical voice coil driving motor component, the Y vertical voice coil driving motor component comprises a Y vertical voice coil driving motor and a Y vertical direction grooved rack fixing seat, a Y vertical direction sliding rail is arranged on the Y vertical voice coil driving motor component fixing seat, the Y vertical voice coil driving motor is fixedly arranged on the Y vertical voice coil driving motor component fixing seat, the Y vertical direction grooved rack fixing seat is arranged in the Y vertical direction sliding rail in a sliding fit mode, the Y vertical voice coil driving motor drives the Y vertical direction grooved rack fixing seat to slide up and down in the Y vertical direction sliding rail, a Y dimension driving rotating gear is arranged on the outer wall of one side of the lower end vertical cylinder part, and a Y dimension driven rotating gear is arranged on the outer wall of the other opposite face of the lower end vertical cylinder part, the Y-dimension driving rotary gear is in transmission connection with a Y-dimension driven rotary gear shaft, the Y-dimension driving rotary gear is meshed with a rack on a Y-dimension vertical direction grooved rack fixing seat, a groove is formed in the other end of the Y-dimension vertical voice coil driving motor component fixing seat, a ball bearing with a tooth groove matched with the Y-dimension driven rotary gear is installed in the groove, the Y-dimension driven rotary gear is clamped in the tooth groove in the inner side of the ball bearing, the Y-dimension vertical voice coil driving motor drives the Y-dimension vertical direction grooved rack fixing seat to slide up and down in a Y-dimension vertical direction sliding rail, the Y-dimension driving rotary gear and the Y-dimension driven rotary gear are sequentially driven to rotate, and therefore the whole two-degree-of-freedom grain unloading barrel.
9. The harvester unloads grain section of thick bamboo automatic adjustment position appearance device of claim 8, characterized in that: and a flow guide dustproof rubber pad is arranged in the vertical barrel part at the lower end of the two-freedom-degree grain unloading barrel body, and the flow guide dustproof rubber pad is obliquely and upwards installed from the position below the power air inlet.
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| WO2016079580A1 (en) * | 2014-11-19 | 2016-05-26 | Agco Corporation | Unloading conveyor swing control system |
| CN106717490A (en) * | 2017-02-23 | 2017-05-31 | 中联重机浙江有限公司 | A kind of high-order unloading assembly apparatus capable of reversing of longitudinal axial-flow type combine |
| JP2017112974A (en) * | 2015-12-25 | 2017-06-29 | 株式会社クボタ | Combine-harvester |
| 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 |
| CN110637593A (en) * | 2019-08-28 | 2020-01-03 | 江苏大学 | Grain unloading opening positioning system and positioning method and combine harvester |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10015928B2 (en) * | 2015-08-10 | 2018-07-10 | Deere & Company | Method and stereo vision system for managing the unloading of an agricultural material from a vehicle |
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2020
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016079580A1 (en) * | 2014-11-19 | 2016-05-26 | Agco Corporation | Unloading conveyor swing control system |
| JP2017112974A (en) * | 2015-12-25 | 2017-06-29 | 株式会社クボタ | Combine-harvester |
| CN106717490A (en) * | 2017-02-23 | 2017-05-31 | 中联重机浙江有限公司 | A kind of high-order unloading assembly apparatus capable of reversing of longitudinal axial-flow type combine |
| 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 |
| CN110637593A (en) * | 2019-08-28 | 2020-01-03 | 江苏大学 | Grain unloading opening positioning system and positioning method and combine harvester |
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