CN116018938A - Self-propelled green fodder harvester header profiling detection mechanism and control method thereof - Google Patents

Abstract

The invention relates to a profile modeling detection mechanism of a header of a self-propelled green fodder harvester and a control method thereof. The profiling wheel contacts with the ground, converts the height change of the field ground into the angle change, and then converts the angle change into a control signal for controlling the lifting action of the header. The profiling detection mechanism is positioned at the front, has good profiling detection effect, can adapt to the field ground with large gradient change, and effectively avoids the condition that the cutting table touches the ground to cause mechanical damage. The power transmission between the profiling plate and the angle sensor adopts a gear transmission mode, so that the error is small, and the angle change transmission is timely. The cam can move in a large angle range, and mechanical damage caused by angle limitation of the cam is avoided. And a tension spring is arranged to ensure that the profile plate is kept at a specific position after being disengaged from the profile gear, and when the profile plate is restored to the original position by the torsion of the torsion spring, the same gear tooth engagement relative position as before is ensured. The invention improves the mechanization degree of the green fodder harvester and reduces the complexity of manual operation.

Description

Self-propelled green fodder harvester header profiling detection mechanism and control method thereof

Technical Field

The invention relates to a profile modeling detection mechanism of a header of a self-propelled green fodder harvester and a control method thereof, belonging to the technical field of agricultural machinery.

Background

In recent years, the total corn yield in China is in an upward trend, the silage ratio is gradually increased, and various technical requirements of a green feed harvester are also increased.

Most domestic green fodder harvesters are in the field when carrying out the harvesting operation, and there is slope change in the field ground mostly, based on its mechanical type multi-handle independent control's operation mode, need the lift of manual operation header, increased manual operation's intensity of labour, and when the operation is not standard, can lead to leaving stubble height or more or less, can even damage the header because of the operation is improper.

Disclosure of Invention

Aiming at the defects of the existing header technology, the invention provides the profile modeling detection mechanism and the control method for the header of the self-propelled green fodder harvester, which have the advantages that the profile modeling effect is good, the field ground with larger gradient change can be adapted, the mechanical damage caused by the header touching the ground is effectively avoided, the error is small, the angle change is transmitted timely, the movable range of the profile modeling plate is enlarged, and the false touch damage of the square detection mechanism during reversing is prevented.

In order to achieve the above purpose, the present invention provides the following technical solutions: in a first aspect, the invention provides a profile modeling detection mechanism of a cutting table of a self-propelled green fodder harvester, which comprises a lower bottom plate 1 of a divider, a sensor fixing plate 2, an angle sensor gear 3, an angle sensor 4, a profile gear tension spring 5, a profile gear 6, a profile gear fixing plate 7, a connecting plate 8, a torsion spring 9, a profile plate 10, a profile wheel 11, an arduino uno control plate 13 and a relay 14;

the utility model discloses a digital signal processing method for a cutting machine, including forming plate 10, connecting plate 8, forming plate 10 and connecting plate, can rotate around the articulated shaft through the pivot, torsional spring 9 is in articulated shaft department and provides holding power, connecting plate 8 passes through the locating hole and welds in the front end of divider lower plate 1 bottom surface, angle sensor gear 3 is connected with angle sensor 4 pivot and installs on divider lower plate 1 with bolted connection's mode, angle sensor gear 3 meets with special-shaped gear 6 one end with the mode of gear engagement, forming plate 10 upper end has the teeth of a cogwheel to mesh with special-shaped gear 6 other end teeth of a cogwheel, forming plate 10 installs a profile wheel 11, profile wheel 11 contacts with the ground, it swings from top to bottom to drive forming plate 10 along with the fluctuation of ground, and transmit forming plate 10's angle change to angle sensor 4 department, special-shaped gear 6 is connected with special-shaped gear fixed plate 7's pivot and installs on divider lower plate 1 with bolted connection's mode, tension spring 5 cover is on sensor fixed plate 2 and special-shaped gear 6's welding rod, angle sensor 4 output terminal directly with the input interface connection of a d no uno control panel 13, and by no d No. 6 other end teeth of a profile plate meshing, no electromagnetic valve 14 is opened, no input signal processing method is realized by the direct control panel, no electromagnetic valve 14 is opened, no input signal processing is realized directly after the digital signal processing is opened to the control panel.

As a further scheme of the invention, the divider lower bottom plate 1 comprises a through hole I101, a through hole II 102, a bending 103, a through hole III 104, a through hole IV 105, a through hole V106, a through hole VI 107, a positioning through hole I108, a rectangular groove 109, a positioning through hole II 110 and a round head 111; the front end of the lower bottom plate 1 of the grain divider is a round head 111, the radius of a semicircle at the front end of the round head 111 is 14mm, the included angle of oblique sides at two sides is 10 degrees, and the front end can slide to two sides when touching silage, so that a good grain dividing effect is realized; the through holes I101 and II 102 are connected with the cutting table by bolts; under the normal working condition, the header is not parallel to the ground, and the bending 103 is arranged to enable the lower bottom plate 1 of the divider to be approximately parallel to the ground; through holes III 104 and IV 105 are used for the bolted connection of the sensor fixing plate 2 and the lower bottom plate 1 of the grain divider, through holes V106 and VI 107 are used for the bolted connection of the special-shaped gear fixing plate 7 and the lower bottom plate 1 of the grain divider, positioning through holes I108 and II 110 are used for the welding positioning of the connecting plate 8 and the lower bottom plate 1 of the grain divider, and a rectangular groove 109 is used as a rotating space of the special-shaped gear 6.

As a further aspect of the present invention, the sensor fixing plate 2 includes a through hole vii 201, a through hole viii 202, a through hole ix 203, a through hole x 204, a through hole xi 205, and a through hole xii 206; the through hole VIII 202 is welded with a vertical rod, the center of the hole is 50mm away from the bottom surface and 11.3mm away from the left side, and the position of the hole can enable the tension spring 5 to pull the special-shaped gear 6 to a specific position after the special-shaped gear 6 is disengaged, so that when the profile plate 10 is engaged with the special-shaped gear 6 again, the previous engagement position can be ensured; through hole VII 201, through hole IX 203, through hole XI 205 are used for screw mounting of angle sensor 4; the rotation shaft of the angle sensor 4 can rotate in the through hole X204; the sensor fixing plate 2 is arranged on the lower bottom plate 1 of the divider through a through hole XII 206 by bolts; the sensor fixing plate 2 is provided with an inclined plane above to reduce the occupied space.

As a further aspect of the present invention, the angle sensor gear 3 is integrally formed with the coupling and is connected to the rotation shaft of the angle sensor 4.

As a further scheme of the invention, the special-shaped gear 6 comprises gear teeth I601, a vertical rod 602 and a first through hole 603; the special-shaped gear 6 is formed by cutting a gear with the modulus of 1, the tooth number of 100 and the thickness of 3, 7 teeth are reserved at one end of the special-shaped gear 6 meshed with the angle sensor gear 3, one tooth at the lowest end is a gear tooth I601, a vertical stick 602 is welded, and 6 teeth are reserved at one end meshed with the profiling plate 10; the special-shaped gear 6 is not disengaged from the angle sensor gear 3 in the moving range; 13 teeth on the special-shaped gear 6 except the gear tooth I601 are symmetrically distributed about the center of the first through hole 603; the tooth form of the gear teeth is involute gear teeth; the first through hole 603 is connected with the rotating shaft 701 of the special-shaped gear fixing plate 7; the special-shaped gear 6 is pulled by the tension spring 5, the profile plate 10 is stressed by the torsion spring 9, and the rotation trend of the special-shaped gear 6 and the rotation trend of the profile plate 10 are opposite by two forces, so that only one side tooth surface contacts when the special-shaped gear 6 and the profile plate 10 normally operate, and the accuracy of angle transmission is ensured.

As a further aspect of the present invention, the special gear fixing plate 7 is formed by welding a steel plate and a rotating shaft, and the rotating shaft 701 is used as a rotating shaft of the special gear 6; the second through hole 702 and the third through hole 703 are arranged on the lower bottom plate 1 of the divider by bolts; the length of the rotating shaft 701 is 28mm, and the special-shaped gear 6 can not fall off.

As a further scheme of the invention, the connecting plate 8 comprises an outer contour 801, a positioning through hole III 802, a hinging position I803, a hollow groove 804, a groove 805 and a positioning through hole IV 806; the shape of the outer contour 801 of the connecting plate 8 is consistent with the shape of the front end of the lower bottom plate 1 of the divider, so that the welding is convenient; the positioning through holes III 802 and IV 806 are used for welding and positioning with the divider lower bottom plate 1; hinge I803 hinges profile plate 10; the empty slot 804 is used for the rotation space of the profiling plate 10, so that the profiling plate 10 has a larger swinging range, and the swinging range is 0-160 degrees; the groove 805 is 4mm wide and serves as a rotational space for the profile gear 6.

As a further scheme of the invention, the profile plate 10 comprises a long groove 1001, a gear tooth II 1002, a hinge II 1003, a welding plate 1004, a left profile plate 1005, a right profile plate 1006 and a hinge III 1007; 6 gear teeth II 1002 which can be meshed with the special-shaped gear 6 are uniformly distributed on one side of the hinged position of the upper end of the cam 10, the cam 10 is formed by welding a cam left plate 1005, a cam right plate 1006 and two welding plates 1004, two holes of the cam left plate 1005 and two holes of the cam right plate 1006 are respectively concentric, a rotating shaft can pass through the holes, the two welding plates 1004 are welded between the cam left plate 1005 and the cam right plate 1006, and a gap is reserved between the two welding plates 1004 to fix the torsion spring 9;

the long groove 1001 is arranged on the left cam 1005 and the right cam 1006 to reduce the space occupied by the cam, so that the cam has a larger moving range; the profile plate is overlong, the profile plate is too small in the condition of being close to the ground, the field ground with large gradient change shows poor performance, the profile plate is too short, when the profile plate is not grounded, the horizontal included angle is too large, a mechanical structure is easy to damage when the profile plate is suddenly grounded, the allowable range of the stubble height is 100 mm-150 mm, the hinge part II 1003 and the hinge part III 1007 are respectively arranged at the upper end and the lower end of the profile plate left plate 1005 and the profile plate right plate 1006 and are respectively used for connecting the connecting plate 8 and the profile wheel 11, the function relation between the distance of the hinge part II in the vertical ground direction and the stubble height H is H=h+r+l, the H is the distance between the cutter and the hinge part II 1003 in the direction perpendicular to the ground, r is the radius of the profile wheel, L is the distance between two hinge points of the profile plate, the alpha is the included angle between the profile plate and the horizontal direction, the calculated range of the hinge part II 1003 and the hinge part III in the vertical ground direction is 16.8 mm-66.8 mm, the function relation between the hinge part II and the profile plate is h=h=h+r+l+l, the highest in the horizontal direction is 10.77 DEG, the highest in the profile plate is 10.5 mm, the highest in the horizontal direction is the profile plate is 12.5 mm, and the maximum included angle between the profile plate and the profile plate is 10.5.5 mm, and the maximum in the horizontal direction is the largest in the angle between the two values of the profile plate and the two values of 5.5.5 mm.

As a further aspect of the invention, the crop divider further comprises a crop divider housing 12 at the tip of the crop divider lower base plate 1, wherein the crop divider housing 12 is fixedly connected above the crop divider lower base plate 1.

In a second aspect, a control method of a self-propelled green fodder harvester header profiling detection mechanism is provided, which is used for controlling the self-propelled green fodder harvester header profiling detection mechanism according to the first aspect, and comprises the following steps:

taking the average value of the stubble height of the profiling detection mechanism in a previous period of time as a basis for profiling action judgment, wherein the lifting profiling action of the header coexists with the left-right inclined profiling action, the lifting profiling action does not conflict, and when the average value of the stubble height measured on one side exceeds a threshold range, the profiling action is triggered:

(1) When the left stubble height of the header is smaller than a threshold range or the right stubble height of the header is larger than the threshold range, the difference value of the left stubble height and the right stubble height of the header is larger than a set value A, the copying action of tilting the header to the right is triggered, and when the difference value of the left stubble height and the right stubble height of the header is smaller than a set value B, the copying action is ended;

(2) When the left stubble height is smaller than the threshold range or the left stubble height is larger than the threshold range, the difference value of the left stubble height and the right stubble height is larger than the set value A, the left inclined copying action of the cutting table is triggered, and when the difference value of the left stubble height and the right stubble height is smaller than the set value B, the copying action is ended;

(3) The stubble height of one side of the header is smaller than a threshold range, the difference value of the stubble heights of the two sides is smaller than a set value A, the profile modeling action of the header lifting is triggered, and the action is ended when the difference value of the stubble heights of the two sides exceeds a normal value;

(4) The stubble height of one side of the header is larger than the threshold range, the difference value of the stubble height of two sides is smaller than the set value A, the copying action of the header descending is triggered, and the action is ended when the difference value of the stubble height of one side is smaller than the normal value.

The beneficial effects of the invention are as follows:

according to the self-propelled green fodder harvester header profiling detection mechanism and the control method thereof, provided by the invention, on the basis of the existing green fodder harvester header, the design is carried out on the basis of the principle of gear transmission, the structure is simple, the use is simple and convenient, the corresponding control system is provided, the mechanization degree of the green fodder harvester is improved, and the complexity degree of manual operation is reduced.

The profiling wheel of the profiling detection mechanism is contacted with the ground, so that the field ground height change is converted into angle change, and then converted into a control signal for controlling the lifting action of the header, and the current stubble height can be monitored. The profiling detection mechanism is positioned at the front, has good profiling detection effect, can adapt to the field ground with larger gradient change, and effectively avoids the condition that the cutting table touches the ground to cause mechanical damage. The power transmission between the profiling plate and the angle sensor adopts a gear transmission mode, so that the error is small, and the angle change transmission is timely.

The cam can move in a large angle range, when reversing, the cam can possibly collide with an obstacle, and the large angle range of movement enables the cam to slide over the obstacle, so that mechanical damage caused by limiting the angle of the cam is avoided. And a tension spring is arranged to ensure that the profile plate is kept at a specific position after being disengaged from the profile gear, and when the profile plate is restored to the original position by the torsion of the torsion spring, the same gear tooth engagement relative position as before is ensured.

In general, the harvesting efficiency of the green fodder is ensured, the harvesting effect is reduced, the waste is reduced, the complexity of operation and the operation time are greatly reduced, the green fodder harvester can operate on uneven field ground, and the green fodder harvester has good economic and social benefits and wide market prospect.

Drawings

FIG. 1 is an oblique view of the main structure of a profile modeling detection mechanism of a self-propelled green fodder harvester;

FIG. 2 is an oblique view of the lower bottom plate of the crop divider of the header profiling detection mechanism of the self-propelled green fodder harvester of the present invention;

FIG. 3 is an oblique view of a sensor fixing plate of a header profiling detection mechanism of the self-propelled green fodder harvester of the present invention;

FIG. 4 is a front view of a profiled gear of a header profiling detection mechanism of the self-propelled green fodder harvester;

FIG. 5 is an oblique view of a profiled gear fixing plate of a header profiling detection mechanism of the self-propelled green fodder harvester;

FIG. 6 is an oblique view of a connecting plate of a profile modeling detection mechanism of the header of the self-propelled green fodder harvester;

FIG. 7 is an oblique view of a profile plate of a header profile detection mechanism of the self-propelled green fodder harvester of the present invention;

FIG. 8 is a graph showing the stubble height function of the profile modeling detection mechanism of the header of the self-propelled green fodder harvester;

FIG. 9 is an external view of a profile modeling detection mechanism of a header of the self-propelled green fodder harvester;

FIG. 10 is a schematic installation view of a profile modeling detection mechanism of a header of the self-propelled green fodder harvester;

FIG. 11 is a schematic structural diagram of a control system of a profile modeling detection mechanism of a header of the self-propelled green fodder harvester;

FIG. 12 is a control flow chart of the profile modeling detection mechanism of the self-propelled green fodder harvester.

Reference numerals illustrate:

1-a lower bottom plate of a divider, 101-a through hole I, 102-a through hole II, 103-bending, 104-a through hole III, 105-a through hole IV, 106-a through hole V, 107-a through hole VI, 108-a positioning through hole I, 109-a rectangular groove, 110-a positioning through hole II and 111-a round head; 2-sensor fixing plate, 201-through hole VII, 202-through hole VIII, 203-through hole IX, 204-through hole X, 205-through hole XI, 206-through hole XII, 3-angle sensor gear, 4-angle sensor, 5-tension spring, 6-special gear, 601-gear tooth I, 602-vertical stick, 603-first through hole, 7-special gear fixing plate, 701-rotation shaft, 702-second through hole, 703-third through hole, 8-connection plate, 801-outline, 802-positioning through hole III, 803-hinge position I, 804-empty slot, 805-slot, 806-positioning through hole IV, 9-torsion spring, 10-cam, 1001-long groove, 1002-gear tooth II, 1003-hinge position II, 1004-welding plate, 1005-cam left plate, 1006-cam right plate, 1007-hinge position III, 11-cam, 12-divider housing, 13-arduno uno control plate, 14-relay.

Detailed Description

The following describes the embodiments of the present invention further with reference to the drawings.

As shown in fig. 1, the invention provides a self-propelled green fodder harvester cutting table profiling detection mechanism, in a first aspect, the invention provides a self-propelled green fodder harvester cutting table profiling detection mechanism, which comprises a divider lower plate 1, a sensor fixing plate 2, an angle sensor gear 3, an angle sensor 4, a special-shaped gear tension spring 5, a special-shaped gear 6, a special-shaped gear fixing plate 7, a connecting plate 8, a torsion spring 9, a profiling plate 10, a profiling wheel 11, an arduno uno control plate 13 and a relay 14;

the utility model discloses a digital signal processing method for a cutting machine, including forming plate 10, connecting plate 8, forming plate 10 and connecting plate, can rotate around the articulated shaft through the pivot, torsional spring 9 is in articulated shaft department and provides holding power, connecting plate 8 passes through the locating hole and welds in the front end of divider lower plate 1 bottom surface, angle sensor gear 3 is connected with angle sensor 4 pivot and installs on divider lower plate 1 with bolted connection's mode, angle sensor gear 3 meets with special-shaped gear 6 one end with the mode of gear engagement, forming plate 10 upper end has the teeth of a cogwheel to mesh with special-shaped gear 6 other end teeth of a cogwheel, forming plate 10 installs a profile wheel 11, profile wheel 11 contacts with the ground, it swings from top to bottom to drive forming plate 10 along with the fluctuation of ground, and transmit forming plate 10's angle change to angle sensor 4 department, special-shaped gear 6 is connected with special-shaped gear fixed plate 7's pivot and installs on divider lower plate 1 with bolted connection's mode, tension spring 5 cover is on sensor fixed plate 2 and special-shaped gear 6's welding rod, angle sensor 4 output terminal directly with the input interface connection of a d no uno control panel 13, and by no d No. 6 other end teeth of a profile plate meshing, no electromagnetic valve 14 is opened, no input signal processing method is realized by the direct control panel, no electromagnetic valve 14 is opened, no input signal processing is realized directly after the digital signal processing is opened to the control panel.

As a further scheme of the invention, the divider lower bottom plate 1 comprises a through hole I101, a through hole II 102, a bending 103, a through hole III 104, a through hole IV 105, a through hole V106, a through hole VI 107, a positioning through hole I108, a rectangular groove 109, a positioning through hole II 110 and a round head 111; the front end of the lower bottom plate 1 of the grain divider is a round head 111, the radius of a semicircle at the front end of the round head 111 is 14mm, the included angle of oblique sides at two sides is 10 degrees, and the front end can slide to two sides when touching silage, so that a good grain dividing effect is realized; the through holes I101 and II 102 are connected with the cutting table by bolts; under the normal working condition, the header is not parallel to the ground, and the bending 103 is arranged to enable the lower bottom plate 1 of the divider to be approximately parallel to the ground; through holes III 104 and IV 105 are used for the bolted connection of the sensor fixing plate 2 and the lower bottom plate 1 of the grain divider, through holes V106 and VI 107 are used for the bolted connection of the special-shaped gear fixing plate 7 and the lower bottom plate 1 of the grain divider, positioning through holes I108 and II 110 are used for the welding positioning of the connecting plate 8 and the lower bottom plate 1 of the grain divider, and a rectangular groove 109 is used as a rotating space of the special-shaped gear 6.

As a further aspect of the present invention, the sensor fixing plate 2 includes a through hole vii 201, a through hole viii 202, a through hole ix 203, a through hole x 204, a through hole xi 205, and a through hole xii 206; the through hole VIII 202 is welded with a vertical rod, the center of the hole is 50mm away from the bottom surface and 11.3mm away from the left side, and the position of the hole can enable the tension spring 5 to pull the special-shaped gear 6 to a specific position after the special-shaped gear 6 is disengaged, so that when the profile plate 10 is engaged with the special-shaped gear 6 again, the previous engagement position can be ensured; through hole VII 201, through hole IX 203, through hole XI 205 are used for screw mounting of angle sensor 4; the rotation shaft of the angle sensor 4 can rotate in the through hole X204; the sensor fixing plate 2 is arranged on the lower bottom plate 1 of the divider through a through hole XII 206 by bolts; the sensor fixing plate 2 is provided with an inclined plane above to reduce the occupied space.

As a further aspect of the present invention, the angle sensor gear 3 is integrally formed with the coupling and is connected to the rotation shaft of the angle sensor 4.

As a further scheme of the invention, the special-shaped gear 6 comprises gear teeth I601, a vertical rod 602 and a first through hole 603; the special-shaped gear 6 is formed by cutting a gear with the modulus of 1, the tooth number of 100 and the thickness of 3, 7 teeth are reserved at one end of the special-shaped gear 6 meshed with the angle sensor gear 3, one tooth at the lowest end is a gear tooth I601, a vertical stick 602 is welded, and 6 teeth are reserved at one end meshed with the profiling plate 10; the special-shaped gear 6 is not disengaged from the angle sensor gear 3 in the moving range; 13 teeth on the special-shaped gear 6 except the gear tooth I601 are symmetrically distributed about the center of the first through hole 603; the tooth form of the gear teeth is involute gear teeth; the first through hole 603 is connected with the rotating shaft 701 of the special-shaped gear fixing plate 7; the special-shaped gear 6 is pulled by the tension spring 5, the profile plate 10 is stressed by the torsion spring 9, and the rotation trend of the special-shaped gear 6 and the rotation trend of the profile plate 10 are opposite by two forces, so that only one side tooth surface contacts when the special-shaped gear 6 and the profile plate 10 normally operate, and the accuracy of angle transmission is ensured.

As a further aspect of the present invention, the special gear fixing plate 7 is formed by welding a steel plate and a rotating shaft, and the rotating shaft 701 is used as a rotating shaft of the special gear 6; the second through hole 702 and the third through hole 703 are arranged on the lower bottom plate 1 of the divider by bolts; the length of the rotating shaft 701 is 28mm, and the special-shaped gear 6 can not fall off.

As a further scheme of the invention, the connecting plate 8 comprises an outer contour 801, a positioning through hole III 802, a hinging position I803, a hollow groove 804, a groove 805 and a positioning through hole IV 806; the shape of the outer contour 801 of the connecting plate 8 is consistent with the shape of the front end of the lower bottom plate 1 of the divider, so that the welding is convenient; the positioning through holes III 802 and IV 806 are used for welding and positioning with the divider lower bottom plate 1; hinge I803 hinges profile plate 10; the empty slot 804 is used for the rotation space of the profiling plate 10, so that the profiling plate 10 has a larger swinging range, and the swinging range is 0-160 degrees; the groove 805 is 4mm wide and serves as a rotational space for the profile gear 6.

As a further scheme of the invention, the profile plate 10 comprises a long groove 1001, a gear tooth II 1002, a hinge II 1003, a welding plate 1004, a left profile plate 1005, a right profile plate 1006 and a hinge III 1007; 6 gear teeth II 1002 which can be meshed with the special-shaped gear 6 are uniformly distributed on one side of the hinged position of the upper end of the cam 10, the cam 10 is formed by welding a cam left plate 1005, a cam right plate 1006 and two welding plates 1004, two holes of the cam left plate 1005 and two holes of the cam right plate 1006 are respectively concentric, a rotating shaft can pass through the holes, the two welding plates 1004 are welded between the cam left plate 1005 and the cam right plate 1006, and a gap is reserved between the two welding plates 1004 to fix the torsion spring 9;

the long groove 1001 is arranged on the left cam 1005 and the right cam 1006 to reduce the space occupied by the cam, so that the cam has a larger moving range; the profile plate is overlong, the profile plate is too small in the condition of being close to the ground, the field ground with large gradient change shows poor performance, the profile plate is too short, when the profile plate is not grounded, the horizontal included angle is too large, a mechanical structure is easy to damage when the profile plate is suddenly grounded, the allowable range of the stubble height is 100 mm-150 mm, the hinge part II 1003 and the hinge part III 1007 are respectively arranged at the upper end and the lower end of the profile plate left plate 1005 and the profile plate right plate 1006 and are respectively used for connecting the connecting plate 8 and the profile wheel 11, the function relation between the distance of the hinge part II in the vertical ground direction and the stubble height H is H=h+r+l, the H is the distance between the cutter and the hinge part II 1003 in the direction perpendicular to the ground, r is the radius of the profile wheel, L is the distance between two hinge points of the profile plate, the alpha is the included angle between the profile plate and the horizontal direction, the calculated range of the hinge part II 1003 and the hinge part III in the vertical ground direction is 16.8 mm-66.8 mm, the function relation between the hinge part II and the profile plate is h=h=h+r+l+l, the highest in the horizontal direction is 10.77 DEG, the highest in the profile plate is 10.5 mm, the highest in the horizontal direction is the profile plate is 12.5 mm, and the maximum included angle between the profile plate and the profile plate is 10.5.5 mm, and the maximum in the horizontal direction is the largest in the angle between the two values of the profile plate and the two values of 5.5.5 mm.

As a further aspect of the present invention, the profile wheel 11 has a diameter of 20mm.

As a further aspect of the invention, the crop divider further comprises a crop divider housing 12 at the tip of the crop divider lower base plate 1, wherein the crop divider housing 12 is fixedly connected above the crop divider lower base plate 1.

In a second aspect, a control method of a self-propelled green fodder harvester header profiling detection mechanism is provided, which is used for controlling the self-propelled green fodder harvester header profiling detection mechanism according to the first aspect, and comprises the following steps:

because the actual field ground is uneven, the profiling action is not required to be performed in real time, the average value of the stubble height of the profiling detection mechanism in a previous period of time is taken as the basis for the judgment of the profiling action, the error of ground information acquisition is reduced, the stability is improved, the lifting profiling action of the header and the left-right inclined profiling action coexist and do not conflict, and when the average value of the stubble height measured on one side exceeds a threshold range, the profiling action is triggered:

(1) When the left stubble height of the header is smaller than a threshold range or the right stubble height of the header is larger than the threshold range, the difference value of the left stubble height and the right stubble height of the header is larger than a set value A, the copying action of tilting the header to the right is triggered, and when the difference value of the left stubble height and the right stubble height of the header is smaller than a set value B, the copying action is ended;

(2) When the left stubble height is smaller than the threshold range or the left stubble height is larger than the threshold range, the difference value of the left stubble height and the right stubble height is larger than the set value A, the left inclined copying action of the cutting table is triggered, and when the difference value of the left stubble height and the right stubble height is smaller than the set value B, the copying action is ended;

(3) The stubble height of one side of the header is smaller than a threshold range, the difference value of the stubble heights of the two sides is smaller than a set value A, the profile modeling action of the header lifting is triggered, and the action is ended when the difference value of the stubble heights of the two sides exceeds a normal value;

(4) The stubble height of one side of the header is larger than the threshold range, the difference value of the stubble height of two sides is smaller than the set value A, the copying action of the header descending is triggered, and the action is ended when the difference value of the stubble height of one side is smaller than the normal value.

The working principle of the invention is as follows:

when the grain divider works, the profiling wheel 11 is in contact with the ground and moves forward along with the whole machine, and when the height of the ground in the field changes, the original height of the lower bottom plate 1 of the grain divider is kept unchanged, and the angle of the rotation angle of the profiling plate 10 changes along with the change of the gradient.

When the cutting machine runs up a slope, the profiling plate 10 is upwards retracted, which is equivalent to clockwise rotation (the condition that the cutting machine is observed at a left viewing angle, the following is the same), the angle change is transmitted to the angle sensor 4 through the meshing of the special-shaped gear 6 and the angle sensor gear 3, the angle sensor 4 outputs corresponding voltage analog signals in real time, the corresponding voltage analog signals are directly received and processed by the arduino control board, the voltage analog signals of 0-5V are converted into analog values of 0-1023, the current stubble height is calculated through a functional relation, the corresponding hydraulic system is controlled to act according to the control logic, the current stubble height is calculated through the functional relation, the opening and closing of the corresponding relay are controlled according to the control logic, the transposition of the electromagnetic reversing valve is controlled, the expansion and contraction of the corresponding hydraulic cylinder are controlled, the left tilting, the right tilting, the lifting and the descending actions of the cutting table are controlled, and the profiling actions are completed.

When the cutting table runs down a slope, the profiling plate 10 is put down, which is equivalent to anticlockwise rotation (the condition that the cutting table is observed at a left viewing angle, the following is the same), the angle change is transmitted to the angle sensor 4 through the meshing of the special-shaped gear 6 and the angle sensor gear 3, the angle sensor 4 outputs corresponding voltage analog signals, the corresponding voltage analog signals are directly received and processed by the arduino control board, the voltage analog signals of 0-5V are converted into analog values of 0-1023, the current stubble height is calculated through a functional relation, the corresponding hydraulic system is controlled to act according to a control logic, the current stubble height is calculated through the functional relation, the opening and closing of the corresponding relay are controlled according to the control logic, the transposition of the electromagnetic reversing valve is controlled, the expansion and contraction of the corresponding hydraulic cylinder are controlled, the left tilting, right tilting and ascending and descending actions of the cutting table are controlled, and the profiling actions are completed.

In use, the header profiling detection mechanism is mounted on both sides of the header, as shown in FIG. 10.

The profiling control logic is as follows, the control system structure diagram is as shown in fig. 11, and the control flow is as shown in fig. 12.

Because the actual field ground is uneven, the average value of the stubble height in a short period of time is taken as the basis for judging the profiling action, the error of ground information acquisition is reduced, and the stability is improved.

The lifting profiling action and the left-right tilting profiling action of the header can coexist and do not conflict.

Triggering profiling action when the average value of the stubble height measured on one side exceeds a threshold range:

(1) When the left stubble height of the header is smaller than a threshold range or the right stubble height of the header is larger than the threshold range, the difference value of the left stubble height and the right stubble height of the header is larger than a set value A, the copying action of tilting the header to the right is triggered, and when the difference value of the left stubble height and the right stubble height of the header is smaller than a set value B, the copying action is ended;

(2) When the left stubble height is smaller than the threshold range or the left stubble height is larger than the threshold range, the difference value of the left stubble height and the right stubble height is larger than the set value A, the left inclined copying action of the cutting table is triggered, and when the difference value of the left stubble height and the right stubble height is smaller than the set value B, the copying action is ended;

(3) The stubble height of one side of the header is smaller than a threshold range, the difference value of the stubble heights of the two sides is smaller than a set value A, the profile modeling action of the header lifting is triggered, and the action is ended when the difference value of the stubble heights of the two sides exceeds a normal value;

(4) The stubble height of one side of the header is larger than the threshold range, the difference value of the stubble height of two sides is smaller than the set value A, the copying action of the header descending is triggered, and the action is ended when the difference value of the stubble height of one side is smaller than the normal value.

According to the self-propelled green fodder harvester header profiling detection mechanism and the control method thereof, provided by the invention, on the basis of the existing green fodder harvester header, the design is carried out on the basis of the principle of gear transmission, the structure is simple, the use is simple and convenient, the corresponding control system is provided, the mechanization degree of the green fodder harvester is improved, and the complexity degree of manual operation is reduced.

The profiling wheel of the profiling detection mechanism is contacted with the ground, so that the field ground height change is converted into angle change, and then converted into a control signal for controlling the lifting action of the header, and the current stubble height can be monitored. The profiling detection mechanism is positioned at the front, has good profiling detection effect, can adapt to the field ground with larger gradient change, and effectively avoids the condition that the cutting table touches the ground to cause mechanical damage. The power transmission between the profiling plate and the angle sensor adopts a gear transmission mode, so that the error is small, and the angle change transmission is timely.

The cam can move in a large angle range, when the car backs, if the cam collides with an obstacle, the cam can slide across the obstacle in a large angle range of movement, and mechanical damage caused by limiting the angle of the cam is avoided. And a tension spring is arranged to ensure that the profile plate is kept at a specific position after being disengaged from the profile gear, and when the profile plate is restored to the original position by the torsion of the torsion spring, the same gear tooth engagement relative position as before is ensured.

In general, the harvesting efficiency of the green fodder is ensured, the harvesting effect is reduced, the waste is reduced, the complexity of operation and the operation time are greatly reduced, the green fodder harvester can operate on uneven field ground, and the green fodder harvester has good economic and social benefits and wide market prospect.

The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.

Claims (10)

1. A self-propelled green fodder harvester header profile modeling detection mechanism, its characterized in that: the device comprises a divider lower bottom plate (1), a sensor fixing plate (2), an angle sensor gear (3), an angle sensor (4), a special-shaped gear tension spring (5), a special-shaped gear (6), a special-shaped gear fixing plate (7), a connecting plate (8), a torsion spring (9), a profile plate (10), a profile wheel (11), an arduino uno control plate (13) and a relay (14);

the cam (10) is hinged with the connecting plate (8) through a rotating shaft, can rotate around a hinge shaft, the torsion spring (9) is positioned at the hinge shaft to provide supporting force, the connecting plate (8) is welded at the front end of the bottom surface of the lower bottom plate (1) of the grain divider through a positioning hole, the angle sensor gear (3) is connected with the rotating shaft of the angle sensor (4) and is arranged on the lower bottom plate (1) of the grain divider in a bolt connection mode, the angle sensor gear (3) is connected with one end of the special-shaped gear (6) in a gear meshing mode, the upper end of the cam (10) is provided with gear teeth which are meshed with the gear teeth at the other end of the special-shaped gear (6), the lower end of the cam (10) is provided with a profiling wheel (11), the profiling wheel (11) is contacted with the ground, the cam (10) is driven to swing up and down along with the fluctuation of the ground, the angle change of the cam (10) is transmitted to the angle sensor (4), the special-shaped gear (6) is connected with the rotating shaft of the special-shaped gear fixing plate (7) and is arranged on the lower bottom plate (1) of the grain divider in a bolt connection mode, the tension spring (5) is sleeved on the welding vertical rod of the sensor fixing plate (2) and the special-shaped gear (6) to provide tension, the output terminal of the angle sensor (4) is directly connected with the input interface of the arduno uno control plate (13), the arduno uno control plate (13) supplies power, the arduno uno control plate (13) processes the input analog voltage signal, and outputting a digital signal, directly controlling the opening and closing of the relay (14), and further controlling the transposition of the electromagnetic valve to realize the profiling of the cutting table.

2. The self-propelled silage harvester header profiling detection mechanism of claim 1, wherein:

the divider lower bottom plate (1) comprises a through hole I (101), a through hole II (102), a bending part (103), a through hole III (104), a through hole IV (105), a through hole V (106), a through hole VI (107), a positioning through hole I (108), a rectangular groove (109), a positioning through hole II (110) and a round head (111); the front end of the lower bottom plate (1) of the grain divider is a round head (111), the radius of a semicircle at the front end of the round head (111) is 14mm, the included angle of oblique sides at two sides is 10 degrees, and the front end can slide to two sides when touching silage, so that a good grain dividing effect is realized; the through holes I (101) and II (102) are connected with the cutting table by bolts; under the normal working condition, the cutting table is not parallel to the ground, and the bending (103) is arranged to enable the lower bottom plate (1) of the divider to be approximately parallel to the ground; through holes III (104) and IV (105) are used for the bolted connection of the sensor fixing plate (2) and the divider lower plate (1), through holes V (106) and VI (107) are used for the bolted connection of the special-shaped gear fixing plate (7) and the divider lower plate (1), positioning through holes I (108) and II (110) are used for the welding positioning of the connecting plate (8) and the divider lower plate (1), and rectangular grooves (109) are used as rotating spaces of special-shaped gears (6).

3. The self-propelled silage harvester header profiling detection mechanism of claim 1, wherein:

the sensor fixing plate (2) comprises a through hole VII (201), a through hole VIII (202), a through hole IX (203), a through hole X (204), a through hole XI (205) and a through hole XII (206); the through hole VIII (202) is welded with a vertical rod, the center of the hole is 50mm away from the bottom surface and 11.3mm away from the left side, and the position of the through hole VIII can enable the tension spring (5) to pull the special-shaped gear (6) to a specific position after the special-shaped gear (6) is disengaged, so that when the profile plate (10) is engaged with the special-shaped gear (6) again, the previous engagement position can be ensured; through hole VII (201), through hole IX (203), through hole XI (205) for screw mounting angle sensor (4); the rotating shaft of the angle sensor (4) can rotate in the through hole X (204); the sensor fixing plate (2) is arranged on the lower bottom plate (1) of the divider through a through hole XII (206) by bolts; the upper part of the sensor fixing plate (2) is provided with an inclined plane to reduce the occupied space.

4. The self-propelled silage harvester header profiling detection mechanism of claim 1, wherein: the angle sensor gear (3) and the coupler are designed into a whole and are connected with a rotating shaft of the angle sensor (4).

5. The self-propelled silage harvester header profiling detection mechanism of claim 1, wherein: the special-shaped gear (6) comprises gear teeth I (601), a vertical rod (602) and a first through hole (603); the special-shaped gear (6) is formed by cutting a gear with the modulus of 1, the tooth number of 100 and the thickness of 3, 7 teeth are reserved at one end of the special-shaped gear (6) meshed with the angle sensor gear (3), one tooth at the lowest end is a gear tooth I (601), a stand bar (602) is welded, and 6 teeth are reserved at one end of the special-shaped gear meshed with the profiling plate (10); the special-shaped gear (6) is not disengaged with the angle sensor gear (3) in the moving range; 13 teeth on the special-shaped gear (6) except for the gear tooth I (601) are symmetrically distributed about the center of the first through hole (603); the tooth form of the gear teeth is involute gear teeth; the first through hole (603) is connected with a rotating shaft (701) of the special-shaped gear fixing plate (7); the special-shaped gear (6) is pulled by the tension spring (5), the profile plate (10) is stressed by the torsion spring (9), and the rotation trend of the special-shaped gear (6) and the rotation trend of the profile plate (10) are opposite, so that only one-sided tooth surface contacts when the special-shaped gear and the profile plate normally operate, and the accuracy of angle transmission is ensured.

6. The self-propelled silage harvester header profiling detection mechanism of claim 1, wherein:

the special-shaped gear fixing plate (7) is formed by welding a steel plate and a rotating shaft, and the rotating shaft (701) is used as a rotating shaft of the special-shaped gear (6); the second through hole (702) and the third through hole (703) are arranged on the lower bottom plate (1) of the divider by bolts; the length of the rotating shaft (701) is 28mm, and the special-shaped gear (6) can not fall off.

7. The self-propelled silage harvester header profiling detection mechanism of claim 1, wherein: the connecting plate (8) comprises an outer contour (801), a positioning through hole III (802), a hinging part I (803), an empty groove (804), a groove (805) and a positioning through hole IV (806); the shape of the outer contour (801) of the connecting plate (8) is consistent with the shape of the front end of the lower bottom plate (1) of the grain divider, so that the welding is convenient; the positioning through holes III (802) and the positioning through holes IV (806) are used for welding and positioning with the lower bottom plate (1) of the divider; the hinging part I (803) is used for hinging the profiling plate (10); the empty groove (804) is used for a rotation space of the profiling plate (10), so that the profiling plate (10) has a larger swinging range, and the swinging range is 0-160 degrees; the groove (805) is 4mm wide and serves as a rotational space for the profile gear (6).

8. The self-propelled silage harvester header profiling detection mechanism of claim 1, wherein: the profile plate (10) comprises a long groove (1001), gear teeth II (1002), a hinging position II (1003), a welding plate (1004), a left profile plate (1005), a right profile plate (1006) and a hinging position III (1007); 6 gear teeth II (1002) which can be meshed with the special-shaped gear (6) are uniformly distributed on one side of the hinged position of the upper end of the shaping plate (10), the shaping plate (10) is formed by welding a shaping plate left plate (1005), a shaping plate right plate (1006) and two welding plates (1004), two holes of the shaping plate left plate (1005) are concentric with two holes of the shaping plate right plate (1006) respectively, a rotating shaft can pass through the holes, the two welding plates (1004) are welded between the shaping plate left plate (1005) and the shaping plate right plate (1006), and gaps are reserved between the two welding plates (1004) to fix the torsion spring (9);

the long grooves (1001) are arranged on the left profiling plate (1005) and the right profiling plate (1006) to reduce the space occupied by the profiling plate, so that the profiling plate has a larger moving range; the profile plate is overlong and too small in included angle with the horizontal when approaching the ground, the profile plate is too short in the field ground with large gradient change, when the profile plate is not grounded, the horizontal included angle is too large, when suddenly grounded, a mechanical structure is easy to damage, the allowable range of the stubble height is 100 mm-150 mm, the hinge part II (1003) and the hinge part III (1007) are respectively arranged at the upper end and the lower end of the left profile plate (1005) and the upper end of the right profile plate (1006) and are respectively used for connecting a connecting plate (8) and a profile wheel (11), the function relation between the distance of the hinge part II (1003) in the vertical ground direction and the stubble height H is H=h+r+l, sin (alpha), wherein H is the stubble height, H is the distance between the cutting knife and the hinge part II (1003) in the vertical ground direction, r is the radius of the profile wheel, L is the distance between two hinge points of the profile plate, alpha is the included angle between the hinge part II (1003) and the hinge part III (1007) in the vertical ground direction is 16.8 degrees, the highest in the range of the 7.8=8.65 DEG, the highest in the included angle between the profile plate and the profile plate (8.65 mm) is 10.65 mm, and the lowest in the horizontal included angle between the profile plate and the profile plate (8.65.5 = 7.5 mm, and the profile plate is the largest in the horizontal angle between the profile plate and the lowest value is 12.65 mm, and the lowest in the value is the lowest in the range of the angle between the profile plate and the horizontal value (12.8.8 = 1.6 mm and the 7.5 degrees and the 7mm and the lowest in the horizontal angle is the 3.5, the distance between two holes on the same side of the profiling plate is 77mm.

9. The self-propelled silage harvester header profiling detection mechanism of claim 1, wherein: the crop divider also comprises a divider lower bottom plate (1) and a divider outer cover (12) at the tip end, wherein the divider outer cover (12) is fixedly connected above the divider lower bottom plate (1).

10. A control method for a self-propelled green fodder harvester header profiling detection mechanism, characterized by being used for controlling the self-propelled green fodder harvester header profiling detection mechanism according to any one of claims 1-9, comprising the following steps:

taking the average value of the stubble height of the profiling detection mechanism in a previous period of time as a basis for profiling action judgment, wherein the lifting profiling action of the header coexists with the left-right inclined profiling action, the lifting profiling action does not conflict, and when the average value of the stubble height measured on one side exceeds a threshold range, the profiling action is triggered:

(1) When the left stubble height of the header is smaller than a threshold range or the right stubble height of the header is larger than the threshold range, the difference value of the left stubble height and the right stubble height of the header is larger than a set value A, the copying action of tilting the header to the right is triggered, and when the difference value of the left stubble height and the right stubble height of the header is smaller than a set value B, the copying action is ended;

(2) When the left stubble height is smaller than the threshold range or the left stubble height is larger than the threshold range, the difference value of the left stubble height and the right stubble height is larger than the set value A, the left inclined copying action of the cutting table is triggered, and when the difference value of the left stubble height and the right stubble height is smaller than the set value B, the copying action is ended;

(3) The stubble height of one side of the header is smaller than a threshold range, the difference value of the stubble heights of the two sides is smaller than a set value A, the profile modeling action of the header lifting is triggered, and the action is ended when the difference value of the stubble heights of the two sides exceeds a normal value;

(4) The stubble height of one side of the header is larger than the threshold range, the difference value of the stubble height of two sides is smaller than the set value A, the copying action of the header descending is triggered, and the action is ended when the difference value of the stubble height of one side is smaller than the normal value.

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