CN114847007B - Seedling pulling device of soybean harvester and control method - Google Patents

Abstract

The invention discloses a reel device of a soybean harvester and a control method, wherein the front part of the inner side of a frame is rotationally connected with a reel mechanism, two sides of the frame are provided with detection mechanisms for detecting the working state of the reel, the detection mechanisms are electrically connected with a control mechanism, and the control mechanism is electrically connected with the reel mechanism; the reel mechanism comprises a reel and a frame support arm used for connecting the reel; the invention utilizes the rotating speed sensor to detect the advancing speed of the harvester, and takes the advancing speed of the harvester as the basis for adjusting the rotating speed of the reel, thereby realizing the real-time adjustment of the rotating speed of the reel of the harvester along with the change of the operating speed of the harvester; the height of the reel can be automatically adjusted along with the height of the input crops, so that the purpose of adjusting the height of the reel is achieved; the reel can be operated by a key to rotate, start, speed up and speed down; the push button is operated to control the action of the reel hydraulic solenoid valve so as to realize the lifting instruction of the reel height.

Description

A soybean harvester reeling device and control method

technical field

The invention relates to the technical field of harvester reels, in particular to a soybean harvester reel device and a control method.

Background technique

As the fourth largest grain crop in my country, soybean is an important grain and oil feed agricultural product. In order to ensure the reeling effect of soybeans, it is necessary to adjust the reel speed and reel installation position according to the machine operation speed and crop growth conditions when the machine is harvesting. If the reel speed is too fast, the soybean pods will be fried, resulting in shattering loss; if the reel speed is too low, the soybean stalks cannot be fed to the header in time, and the cutting effect of the soybean cutter will be seriously affected. Secondly, the installation position of the reel is closely related to the feeding effect. When the combine harvester is operating normally, the position of the spring teeth of the reel should be at 2/3 of the crop height. If the position is too high, the reeling effect will be poor, and the crop stems After being cut, it is easy to fall on the cutter, and the stalks will slip off the header and fall to the ground; if the position is too low, it will cause the harvested crops to be entangled with the reel, and it is easy to take the cut crops out of the machine. Therefore, in order to reduce the loss of soybean reeling and shattering, it is necessary to adjust the reel speed and the installation height of the reel.

In the transmission system of the existing combine harvester, its walking transmission system and the transmission system of the working parts are independently adjusted, both of which can realize hydraulic stepless speed change, but the working parts of the harvester generally work at full load during work. It is not easy to adjust the rotation speed from time to time; while the operating speed of the machine during the harvesting process can be changed at any time, this results in that the rotating speed of the working parts will not be adjusted as the operating speed changes, and the adjustment of the rotating speed of the reel has a significant impact on the harvesting effect. However, in this transmission mode, the speed of the reel remains unchanged during the operation of the machine, and it cannot be matched and adjusted in real time for changes in the operation speed of the machine, which affects the reeling efficiency and feeding shattering loss to a certain extent. Secondly, most of the spring tooth parts of the reel adopt rigid spring teeth, which is not good for harvesting soybean crops, and has a greater impact on soybean stalks, resulting in severe pod explosion during soybean feeding, resulting in losses.

Contents of the invention

The object of the present invention is to provide a soybean harvester reeling device and a control method to solve the above-mentioned problems in the prior art.

In order to achieve the above object, the present invention provides the following scheme: the present invention provides a soybean harvester reeling device, including a frame, the inner front part of the frame is rotatably connected with a reel mechanism, and the two sides of the frame are installed There is a detection mechanism for detecting the working state of the reel, the detection mechanism is electrically connected to a control mechanism, and the control mechanism is electrically connected to the reel mechanism;

The reel mechanism includes a reel and a frame support arm for connecting the reel; the frame support arm is rotatably connected to one side of the support top surface, and the middle part of the frame support arm is rotatably connected with A hydraulic cylinder, the hydraulic cylinder is rotatably connected to the frame; several groups of spring teeth are detachably connected to the reel, and the several groups of spring teeth are all made of flexible materials;

The detection mechanism includes a displacement sensor for detecting the height of the reel, a vehicle sensor for detecting the speed of the harvester, and a speed sensor for detecting the speed of the reel;

The control mechanism includes a system controller and a touch screen for manipulating the system controller.

Preferably, the reel includes a main shaft located in the middle of the reel, the two ends of the main shaft are fixedly connected with spoke disks; The main shaft mounting seat is fixedly connected with the support arm of the frame; several groups of the spoke disc rods are connected at equal intervals on the circumference of the spoke disc, and each group of the spoke disc rods is hinged at one end away from the spoke disc There is a spring tooth shaft, and several groups of the spring teeth are fixedly connected with equal intervals on the spring tooth shaft.

Preferably, the spoke disc is divided into a left spoke disc and a right spoke disc, and the two ends of the main shaft respectively pass through the left spoke disc and the right spoke disc;

An in-wheel motor mounting disc is fixedly installed in the middle of the right spoke disc away from the side close to the rack arm, the in-wheel motor mounting disc is fixedly connected to the in-wheel motor, and the rotating shaft of the in-wheel motor is fixedly connected to the main shaft; The side of the in-wheel motor mounting disk away from the right spoke disk is fixedly connected to the spindle mounting seat;

An eccentric disk is arranged on the side of the left spoke disk close to the frame support arm, the back of the eccentric disk is fixedly connected with the frame support arm, and the eccentric disk faces the end surface of one side of the left spoke disk. Three sets of cylindrical roller shafts are arranged at equal intervals on the edge of the eccentric disk; one side of the center position of the end face of the eccentric disc is fixedly provided with an eccentric main shaft, the eccentric main shaft is fixedly connected with the main shaft, and the three sets of cylindrical roller shafts are externally connected There is an eccentric spoke, and the center of the eccentric spoke is fixedly connected to the eccentric main shaft.

Preferably, a crank is arranged between the end of each spoke rod on the eccentric spoke and the end of each spring tooth shaft closest to it, one end of the crank is fixedly connected to the end of the spring tooth shaft, The other end of the crank is hinged to the end of the spoke rod on the eccentric spoke.

Preferably, the displacement sensor is fixedly arranged on one side of the end of the piston rod of the hydraulic cylinder, the vehicle speed sensor is coaxially connected and rotatably arranged on the driving wheel shaft of the crawler chassis structure of the harvester, and the speed sensor is fixedly arranged on the hub motor internal.

Preferably, the system controller and the touch screen are electrically connected to a vehicle-mounted power supply, and the hydraulic proportional solenoid valve, system controller, vehicle-mounted power supply and circuit conversion system are all installed inside the power distribution box; The hydraulic proportional solenoid valve is permanently connected, and the hydraulic proportional solenoid valve is installed inside the frame of the harvester; the touch screen is installed on the console of the harvester.

Preferably, the inner side of the frame is located at the bottom of the reel and is fixedly equipped with a cutting knife, and the cutting knife is connected to the driving main shaft of the header in transmission; the inner side of the frame is rotatably connected to There is a screw conveying cylinder, and the rotating shaft of the screw conveying cylinder is connected with the drive main shaft of the header.

A method for controlling the reeling device of a soybean harvester, comprising the following steps:

Step 1: Detect the traveling speed of the harvester through the vehicle speed sensor;

Step 2: Comparing the speed of the reel at a certain moment with the target speed of the reel, and then sending a speed regulation command to the hub motor through the control system controller;

Step 3: By inputting the average crop height value on the touch screen, the controller reads the information, calculates the target installation height of the reel, and adjusts the working height of the reel by controlling the hydraulic cylinder.

Preferably, (a) when the speed n of the reel at a certain moment<the target speed _n of the reel, the controller sends an acceleration command to the drive hub motor until the speed of the reel reaches the target speed value;

(b) When the speed n of the reel at a certain moment>the target speed n _d of the reel, the controller sends an instruction to reduce the speed of the reel to the drive hub motor to make its speed reach the target speed value;

(c) When the system detects that the reel speed n at a certain moment is equal to the reel target speed n _d , the reel speed control program will continue to collect and analyze sensor signals to prepare for the next step of automatic control operations.

Preferably, the reel speed control: according to the harvest operation speed of the detected harvester and the actual reel speed comparison, the reel controller software program calculates the reel target speed according to the harvest operation speed, and compares the target speed with the reel speed. The actual speed of the reel is compared with the actual speed of the reel; the actual speed of the reel is detected by the built-in Hall magnetoelectric speed sensor inside the hub motor, the reel speed signal line is connected to the input end of the system controller, and the speed signal is converted by the system controller signal After that, the speed signal is transmitted to the touch screen for display.

The invention discloses the following technical effects: on the basis of the mechanical adjustment of the reel of the traditional harvester, the present invention adopts sensor technology, electric control technology and hydraulic transmission technology, etc., to realize the automatic control of the reel speed and the adjustment of the height of the reel. Automatic control, to match the change of machine operating speed and to automatically adjust the reel in time when the field is replaced. At the same time, the system has a manual mode. The driving mode of the reel is driven by a hub motor. Detect the working status of the reel and take control measures in time; the spring teeth of the reel are made of resin materials with good anti-adhesion and high wear resistance, so as to reduce the impact of the spring teeth on the crops and prevent the entanglement of the cut crops The reel has spring teeth, and the working performance of the reel is guaranteed. Compared with the traditional reel, the reel control system is more convenient to operate, which not only improves the crop reeling effect, improves the crop feeding loss, but also greatly improves the working efficiency of the harvester. When harvesting soybean crops, installing the reel device and the installation and configuration control system produced by the technology of the present invention can reduce the pod frying loss of the header to a certain extent and improve the crop feeding effect.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is the overall structure schematic diagram of reeling device and control system of the present invention;

Fig. 2 is a structural schematic diagram of the reeling device of the present invention;

Fig. 3 is another structural schematic diagram of the reeling device of the present invention;

Fig. 4 is a schematic diagram of the connection mode between the right spoke disc and the hub motor of the present invention;

Fig. 5 is a structural schematic diagram of the deflection wheel of the present invention;

Fig. 6 is a schematic diagram of the positional relationship between the deflection wheel and the left spoke disc in the present invention;

Fig. 7 is a schematic diagram of the structure of the spring tooth and the spring tooth shaft of the present invention;

Fig. 8 is a schematic diagram of the connection between the spring tooth and the spring tooth shaft of the present invention;

Fig. 9 is the hardware connection diagram of the system of the present invention;

Fig. 10 is a flow chart of the main program of the control method of the present invention.

1. Rack; 2. Reel; 3. Hub motor; 4. Hydraulic cylinder; 5. Displacement sensor; 6. Vehicle speed sensor; 7. Drive wheel of crawler chassis; 8. Distribution box; 9. Touch screen; 10. Hydraulic proportional solenoid valve; 11. Cutter; 12. Rack support arm; 13. Spoke disc rod; 14. Right spoke disc; 15. Main shaft mounting seat; 16. Left spoke disc; 17. Eccentric spoke disc; 18. Main shaft ;19, spring tooth; 20, spring tooth shaft; 21, screw conveying cylinder; 22, crank; 23, eccentric disc; 24, cylindrical roller shaft; 25, header drive main shaft; 26, eccentric shaft; 27, shaft Cover; 28, hub motor mounting plate.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to Figures 1-10, the present invention provides a soybean harvester reeling device, including a frame 1, a reel 2 mechanism is rotatably connected to the front of the inside of the frame 1, and a reel 2 mechanism is installed on both sides of the frame 1 for detecting reels. 2 The detection mechanism in the working state, the detection mechanism is electrically connected to the control mechanism, and the control mechanism is electrically connected to the reel 2 mechanism; the reel 2 mechanism includes the reel 2 and the frame support for connecting the reel 2 Arm 12; frame support arm 12 is rotationally connected with one side of the support top surface, and the middle part of frame support arm 12 is rotationally connected with hydraulic cylinder 4, and hydraulic cylinder 4 is rotationally connected with frame 1; Group spring teeth 19, several groups of spring teeth 19 all adopt flexible material to make; The spring teeth 19 can reduce the impact of the spring teeth 19 on the crops and prevent the cut crops from winding around the reel spring teeth 19, so that the working performance of the reel 2 is guaranteed.

The detection mechanism includes a displacement sensor 5 for detecting the height of the reel 2, a car sensor for detecting the speed of the harvester and a rotational speed sensor for detecting the rotating speed of the reel 2; touch screen9 of the controller.

The current installation height of the reel 2 is obtained indirectly after being detected by the displacement sensor 5 and calculated by the controller. The height information and rotational speed information of the reel 2 can be displayed on the touch screen 9. It is the basis for the automatic adjustment of the height of the reel 2, and realizes that the height of the reel 2 automatically adjusts the extension position of the hydraulic rod according to the input crop height, so as to achieve the purpose of adjusting the height of the reel 2; the control system has a manual mode, and the manual mode Down, the button can be used to operate the rotation start, increase speed, and deceleration of the reel 2; the button operation controls the action of the hydraulic solenoid valve of the reel 2, so as to realize the command of raising and lowering the height of the reel 2.

The power source for the rotation of the reel 2 adopts the hub motor 3, which has the advantages of high transmission efficiency, fast response and high precision compared with traditional mechanical pulley transmission and hydraulic motor drive.

The reel 2 comprises a main shaft 18 positioned at the middle part of the reel 2, and the two ends of the main shaft 18 are rotatably connected with spoke discs; The support arm 12 of the frame is fixedly connected; several groups of spoke rods 13 are connected at equal intervals on the circumference of the spoke disc, and the end of each group of spoke rods 13 away from the spoke disc is hinged with an elastic tooth shaft 20, which is fixedly connected at equal intervals Several groups of spring teeth 19 are arranged. In addition, the spring teeth 19 of the reel 2 are made of rubber material, with an anti-stick and wear-resistant coating on the surface, and the tip is bent at a certain angle to replace the rigid spring teeth 19 of the traditional harvester. The base of the spring teeth 19 is buckled and installed On the spring tooth 19 shaft, bolts and screws are used to lock to achieve circumferential and axial fixation; it can reduce the impact of the spring tooth 19 on the crops during the reeling operation, and the surface of the spring tooth 19 is coated with anti-sticking and wear-resistant coating. layer, to reduce the problem of the stalk winding around the spring teeth 19. The main shaft of the reel is fixedly connected on the main shaft mounting seat, and the hub motor main shaft and the reel main shaft are fixedly installed. When working, the power of the reel is driven by the hub motor to realize the rotation. The right disc is driven by the outer edge of the hub, and the right disc drives the spoke rod. At the same time, the spring gear shaft is moved, and the left end of the spring gear shaft is hinged on the left On the bar, therefore, make its right-hand disc and left-hand disc form a rotating body, and rotate around the main shaft.

The spoke disc of the grain reel 2 is a five-star spoke disc, and there are five groups of elastic gear shafts 20, so the grain reel 2 mechanism is composed of a plurality of groups of parallel four-bar mechanisms. Such setting, when working, can ensure that the elastic teeth 19 are inserted into the crop clump in parallel, reducing the impact on the ear head of the crop.

The spoke disc is divided into a left spoke disc 16 and a right spoke disc 14, and the two ends of the main shaft 18 run through the left spoke disc 16 and the right spoke disc 14 respectively;

The hub motor mounting plate 28 is fixedly installed in the middle part of the right spoke disc 14 away from the side close to the frame support arm 12, and the hub motor mounting plate 28 is fixedly connected to the hub motor 3, and the rotating shaft of the hub motor 3 is fixedly connected to the main shaft 18; The side of the disk 28 away from the right spoke disk 14 is fixedly connected with the spindle mounting seat 15;

The left spoke 16 is provided with an eccentric disc 23 on the side close to the rack support arm 12, the back of the eccentric disc 23 is fixedly connected with the rack support arm 12, and the edge of the eccentric disc 23 facing the end surface of the left spoke disc 16 is equally spaced There are three sets of cylindrical roller shafts 24; one side of the central position of the end surface of the eccentric disk 23 is fixedly provided with an eccentric main shaft 18, and the eccentric main shaft is fixedly connected with the main shaft 18; The central position of 17 becomes certain eccentric distance affixation with eccentric main shaft.

A crank 22 is arranged between each spoke rod 13 end on the eccentric spoke 17 and each spring tooth shaft 20 end closest to it, and one end of the crank 22 is affixed to the spring tooth shaft 20 ends, and the crank 22 The other end is hinged to the end of the spoke disc rod 13 on the eccentric spoke disc 17 .

The displacement sensor 5 is fixedly arranged on one side of the end of the piston rod of the hydraulic cylinder 4, the vehicle speed sensor 6 is coaxially rotated and arranged on the driving wheel shaft of the crawler chassis structure of the harvester, and the speed sensor is fixedly arranged inside the hub motor 3; The module includes a displacement sensor 5 for detecting the installation height of the main shaft 18 of the reel 2 and a harvester vehicle speed sensor 6 module; the vehicle speed sensor 6 module adopts an incremental encoder and is fixedly connected to the harvester crawler chassis frame through the encoder mounting frame , the incremental encoder shaft is connected to the shaft body of the driving wheel through a coupling;

The system controller and the touch screen 9 are electrically connected to the vehicle power supply, and the hydraulic proportional solenoid valve 10, the system controller, the vehicle power supply and the circuit conversion system are all installed inside the power distribution box 8; the system controller is also electrically connected to the hydraulic proportional solenoid valve. The valve 10 and the hydraulic proportional solenoid valve 10 are installed at the bottom of the harvester; the touch screen 9 is installed on the console of the harvester. In addition, the controller of the control system realizes the information acquisition of the sensor module, and receives the information and instructions input by the touch screen 9, and jointly judges the control strategy, and sends control instructions to the in-wheel motor 3 and the hydraulic proportional solenoid valve 10 that controls the hydraulic cylinder 4 to lift. .

The inner side of the frame 1 is located at the bottom of the reel 2 and is fixedly equipped with a cutter 11, and the cutter 11 is in transmission connection with the header driving spindle 25; The rotating shaft of cylinder 21 is transmission connected with header drive main shaft 25. Described cutting knife 11 is converted into the reciprocating cutting mode of described cutting knife 11 with the rotation of described cutting platform driving main shaft 25 by swing ring mechanism by header drive main shaft 25; Swing ring mechanism comprises swing ring, swing shaft and swing fork; Wherein the pendulum ring is connected with the header driving main shaft 25 transmissions.

A method for controlling the reeling device of a soybean harvester, comprising the following steps:

Step 1: Detect the traveling speed of the harvester through the vehicle speed sensor 6;

Step 2: Comparing the rotational speed of the reel 2 at a certain moment with the target rotational speed of the reel 2, and then sending a speed regulation command to the hub motor 3 through the control system controller;

Step 3: By inputting the average crop height value on the touch screen 9, the controller reads the information, calculates the target installation height of the reel 2, and adjusts the working height of the reel 2 by controlling the hydraulic cylinder 4. Reeling installation height control, the installation height of reel 2 refers to the relative vertical distance between the main shaft 18 of reel 2 and the cutter 11; The average height of the crops, the controller can calculate the target installation height of the reel 2 after reading the information, the displacement sensor 5 sends the hydraulic rod extension position information to the controller for calculation, and the current reel can be displayed on the touch screen 9 Wheel 2 installation height. When the current height does not reach the target height, the operator can input the raising or lowering command on the touch screen 9 and send it to the controller, and then send the control signal to the hydraulic electromagnetic control valve to control the hydraulic cylinder 4 after being processed by the controller. The lifting operation can realize the adjustment of the installation height of the reel 2.

(a) When the rotational speed n of the reel 2 < the target rotational speed n _d of the reel 2 at a certain moment, the controller sends an acceleration instruction to the drive hub motor 3 until the rotational speed of the reel 2 reaches the target rotational speed value;

(b) When the rotational speed of the reel 2 at a certain moment n>the target rotational speed of the reel 2 n _d , the controller sends an instruction to drive the hub motor 3 to reduce the rotational speed of the reel 2 so that the rotational speed reaches the target rotational speed value;

(c) When the system detects that the rotational speed n of the reel 2 at a certain moment is equal to the target rotational speed n _d of the reel 2, the rotational speed control program of the reel 2 will continue to collect and analyze the sensor signals, and prepare for the next step of automatic control operations.

Reel 2 speed control: According to the harvesting operation speed detected by the harvester compared with the actual speed of reel 2, the reel controller software program calculates the target speed of reel 2 according to the harvesting speed, and compares the target speed with the reel 2 speed. The actual speed of the reel 2 is compared; the actual speed of the reel 2 is detected by the built-in Hall magnetoelectric speed sensor inside the hub motor 3, the speed signal line of the reel 2 is connected to the input terminal of the system controller, and the speed signal is passed through the system After the controller signal is converted, the rotational speed signal is transmitted to the touch screen 9 for display.

Working process: Before the soybean harvester starts harvesting, firstly start the engine and reel 2 control system. After the initialization of the control system is completed, the controller starts to send signals to the vehicle speed sensor 6, reel 2 speed sensor, displacement sensor 5, etc. Read data instructions and receive input instructions from the touch screen 9. At this time, the controller waits for the operation of the touch screen 9 to determine whether to enter the automatic mode or manual mode control; when the controller receives the control mode, the controller starts to process the received signals and instructions After being processed by the algorithm of the controller program, the adjusted speed value of the reel 2 and the control value of the hydraulic solenoid valve are obtained, and the controller sends the control information to the driver of the hub motor 3 and the hydraulic electromagnetic proportional reversing valve to realize the control of the reel 2. The rotation speed and the adjustment of the installation height, and the controller will send the current status information of the reel 2 to the touch screen 9 for display through the communication terminal.

After the initialization of the control system is completed, the controller sends a reading command to the sensor, and waits to receive commands and input signals from the touch screen 9. The crop height parameter L is set in the touch screen 9, and the reference basis for height adjustment of the reel 2 can be obtained. Touch screen 9 operation also includes the control mode of determining control system, i.e. manual control mode and automatic control mode; down operation;

Reel 2 automatic control mode:

During the automatic control process of the reel 2 speed, the speed control of the reel 2 is based on the forward speed of the machine and the vehicle speed. The input terminal of the control system will receive the vehicle speed signal and the current speed n signal of the reel 2. The controller calculates the reel speed according to the vehicle speed. The target speed of wheel 2 (n _d ), and compare the target speed with the current speed, the control method is:

(a) When the current speed n of the reel 2 < the target speed n _d of the reel 2, the controller sends a speed-up command to the drive hub motor 3 until the speed of the reel 2 reaches the target speed value.

(b) When the current speed n of the reel 2 > the target speed n _d of the reel 2, the controller sends an instruction to reduce the speed of the reel 2 to the driver of the hub motor 3, and the driver of the hub motor 3 outputs a corresponding control signal to drive the hub motor 3. Make its speed reach the target speed value n _d .

(c) When the system detects that the current speed n of the reel 2 is equal to the target speed n _d of the reel 2, the speed control program of the reel 2 will continue to collect and analyze the sensor signals to prepare for the next automatic control operation .

The installation height of the reel 2 is automatically adjusted, and the installation height control of the reel is based on the given crop height parameters in the touch screen 9. The operator first inputs the average crop height value L on the touch screen 9, and the controller can calculate after reading the crop height information Going out the target installation height Hd of the reel 2, after the displacement sensor 5 sends the hydraulic rod extension position information to the controller for calculation, the current installation height (H) of the reel 2 can be displayed on the touch screen 9 . When the current height (H) does not reach the target height, the height control amount to be output by the controller, after processing, sends the control signal to the hydraulic electromagnetic control valve to send the valve switch signal to realize the lifting operation of the control hydraulic cylinder 4 and realize the reel 2 mounting height adjustments.

Speed regulation of reel 2: During the working process of the harvester, the operating speed of the machine is generally kept constant. At this time, the speed control of reel 2 is regulated in real time according to the operating speed of the machine, and its speed regulation range is relatively stable; When the density of crop growth changes, the operator of the harvester will control the operating speed of the harvester in advance, and perform speed-up and speed-down operations in order to improve crop feeding efficiency and prevent blockage during crop feeding. First, in the field with sparse crop density, the machine operator will generally increase the operating speed of the machine. With the increase of the operating speed, the speed of the reel 2 will be increased accordingly to prevent the crops from being pushed by the machine. Crop feeding efficiency; secondly, in fields with dense crop density, the operator will reduce the machine operating speed in advance, and the speed of the reel 2 will be reduced accordingly to match the machine operating speed for reeling and feeding.

In describing the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientations or positional relationships indicated by "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention, rather than indicating or It should not be construed as limiting the invention by implying that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation.

The above-mentioned embodiments are only to describe the preferred mode of the present invention, not to limit the scope of the present invention. Without departing from the design spirit of the present invention, those skilled in the art may make various Variations and improvements should fall within the scope of protection defined by the claims of the present invention.

Claims (7)

1. a soybean harvester reeling device is characterized in that: comprise frame (1), described frame (1) inboard front part is rotatably connected with reel mechanism, and described frame (1) both sides are installed There is a detection mechanism for detecting the working state of the reel (2), the detection mechanism is electrically connected to a control mechanism, and the control mechanism is electrically connected to the reel mechanism; The reel mechanism includes a reel (2) and a frame support arm (12) for connecting the reel (2); the frame support arm (12) is connected to the top of the frame (1) One side of the surface is rotatably connected, and the middle part of the frame support arm (12) is rotatably connected with a hydraulic cylinder (4), and the hydraulic cylinder (4) is rotatably connected with the frame (1); Several groups of spring teeth (19) are detachably connected, and the spring teeth (19) of several groups are all made of flexible materials; The detection mechanism includes a displacement sensor (5) for detecting the height of the reel (2), a vehicle speed sensor for detecting the speed of the harvester, and a rotational speed sensor for detecting the rotational speed of the reel (2); The control mechanism includes a system controller and a touch screen (9) for manipulating the system controller; Described reel (2) comprises the main shaft (18) that is positioned at the middle part of reel (2), described main shaft (18) two ends are fixedly connected with disc; The outer sides of the spoke discs are all fixedly connected with a main shaft mounting seat (15), and the said main shaft mounting seat (15) is fixedly connected with the frame support arm (12); said spoke discs are connected with several groups of spoke discs at equal intervals on the circumference rod (13), each set of said spoke disc rods (13) is hinged with an elastic gear shaft (20) at one end away from said spoke disc, and said elastic gear shaft (20) is fixedly connected with several groups of said elastic gear shafts (20) at equal intervals. teeth (19); The elastic tooth (19) is made of rubber material, with an anti-stick and wear-resistant coating on the surface, and the tip is bent at a certain angle; the base of the elastic tooth (19) is buckled and mounted on the elastic tooth shaft (20) , and lock with bolts and screws to achieve circumferential and axial fixation; The spoke discs of the reel (2) are five-star spoke discs, and there are five groups of spring tooth shafts (20); The spoke disc is divided into a left spoke disc (16) and a right spoke disc (14), and the two ends of the main shaft (18) run through the left spoke disc (16) and the right spoke disc (14); The hub motor mounting disc (28) is fixedly installed in the middle part of the right spoke disc (14) away from the side close to the frame support arm (12), and the hub motor mounting disc (28) is fixedly connected to the hub motor (3) inside. , the rotating shaft of the hub motor (3) is fixedly connected to the main shaft (18); fixed connection; The left spoke disc (16) is provided with an eccentric disk (23) near the side of the frame support arm (12), and the back of the eccentric disk (23) is fixedly connected with the frame support arm (12) , the edge of the end face of the eccentric disc (23) facing the left spoke disc (16) is equidistantly provided with three groups of cylindrical roller shafts (24); An eccentric main shaft is fixedly arranged, and the eccentric main shaft is fixedly connected with the main shaft (18), and the three sets of cylindrical roller shafts (24) are externally connected with eccentric spoke discs (17), and the eccentric spoke discs (17) The central position is fixedly connected to the eccentric main shaft; A crank (22) is arranged between the end of each spoke rod (13) on the eccentric spoke (17) and the end of each spring tooth shaft (20) closest to it, and the crank (22) One end is fixedly connected to the end of the spring tooth shaft (20), and the other end of the crank (22) is hinged to the end of the spoke rod (13) on the eccentric spoke disc (17). 2. The reeling device of a soybean harvester according to claim 1, characterized in that: the displacement sensor (5) is fixedly arranged on one side of the end of the piston rod of the hydraulic cylinder (4), and the vehicle speed sensor (6) It is fixedly arranged on the chassis of the harvester, and the rotational speed sensor is fixedly arranged inside the hub motor (3). 3. A kind of soybean harvester reeling device according to claim 2, characterized in that: said system controller and touch screen (9) are electrically connected with vehicle-mounted power supply and hydraulic proportional solenoid valve (10), said The hydraulic proportional solenoid valve (10), the system controller, the vehicle power supply and the circuit conversion system are all installed inside the distribution box (8); the system controller is also electrically connected to the hydraulic proportional solenoid valve (10), and the hydraulic proportional solenoid valve (10) is The proportional solenoid valve (10) is installed inside the frame of the harvester; the touch screen (9) is installed on the console of the harvester. 4. The reeling device of a soybean harvester according to claim 3, characterized in that: the inner side of the frame (1) is fixedly provided with a cutter (11) at the bottom of the reel (2), so Said cutting knife (11) is converted into the reciprocating cutting mode of said cutting knife (11) by the header driving main shaft (25) through the swing ring mechanism; said frame (1 ) is located at the rear of the reel (2) and is rotatably connected with a screw conveying cylinder (21), and the rotating shaft of the spiral conveying cylinder (21) is transmission-connected with the header driving main shaft (25). 5. A method for controlling the reeling device of a soybean harvester, which is applied to the reeling device of a soybean harvester according to any one of claims 1-4; it is characterized in that: comprising the following steps: Step 1: Detect the traveling speed of the harvester by the vehicle speed sensor (6); Step 2: Comparing the rotational speed of the reel (2) at a certain moment with the target rotational speed of the reel (2), and then sending a speed regulation command to the hub motor (3) through the control system controller; Step 3: By inputting the average crop height value on the touch screen (9), the controller reads the information, calculates the target installation height of the reel (2), and adjusts the working height of the reel (2) by controlling the hydraulic cylinder (4) . 6. the control method of a kind of soybean harvester reeling device according to claim 5, is characterized in that: comprise following three situations in step 2: (a) When the rotational speed of the reel (2) at a certain moment n<the target rotational speed of the reel (2) n d, the controller sends a speed-up command to the drive hub motor (3) until the rotational speed of the reel (2) reaches target speed value; (b) When the speed n of the reel (2) at a certain moment>the target speed n d of the reel (2), the controller sends an instruction to reduce the speed of the reel (2) to the drive hub motor (3) to make its speed to the target speed value; (c) When the system detects that the speed n of the reel (2) at a certain moment is equal to the target speed n d of the reel (2), the speed control program of the reel (2) will continue to collect and analyze the sensor signals , do the next automatic control operation. 7. the control method of a kind of soybean harvester reeling device according to claim 6, is characterized in that: the reel in step 2 is carried out rotating speed control: according to the harvest operation speed of the harvester of detection and reel (2) Actual speed comparison, the reel controller software program calculates the target speed of the reel (2) according to the harvesting operation speed, and compares the target speed with the actual speed of the reel (2); The speed system is detected by the built-in Hall magnetoelectric speed sensor in the hub motor (3). The speed signal line of the reel (2) is connected to the input end of the system controller. After the speed signal is converted by the system controller signal, the The rotational speed signal is transmitted to the touch screen (9) for display.

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