中文摘要：

设计了一种弹簧力平衡式方捆机捡拾器高度自动仿形装置。通过对仿形装置的静力学和运动学分析,以仿形轮在垂直方向受力和仿形误差最小作为仿形性能的评价指标,建立了捡拾器运动参数λ、铰接仿形轮的可调节摆臂长度L和起伏地面的幅值H对仿形性能的影响关系。初选多组参数,按照评价指标获得了捡拾器运动参数和仿形装置结构参数的较优组合。通过仿形装置的运动分析表明,当机组前进速度vt为5~7.9 km/h,铰接仿形轮的可调节摆臂长度L为358 mm,仿形装置能满足地形起伏幅值H为±（8~12）cm的作业要求。样机的田间测试表明,仿形装置能够适应起伏均匀的地块,使捡拾器弹齿尖端具有合适的离地高度,仿形误差可以控制在-4~18mm。

英文摘要：

An automatic height profiling device with spring force-balance is designed to solve the problem of ground profiling in side-lining type of quadrate-bale baler pickup. Based on the analysis of statics and kinematics to the profiling device, the profiling performance is evaluated by the vertical direction force of profiling wheel and the profiling error. The effects of the kinematic parameter （A） of pickup, the length （L） of the swimming arm and the amplitude （H） of the ground on the profiling performance are analyzed. The appropriate pickup movement parameters and profiling device structure parameters are determined by making a comparative analysis on the profiling error of the end of spring-finger and vertical direction force of profiling wheel. These results show that the profiling device can fulfill the requirements of a wavy terrain which varies between ± 8 cm and ± 12 cm, when the unit speed （v,） moves from 5 km/h to 7.9 km/h and the length （L） of the swing arm of profiling wheel is 358 mm. The prototype test shows that the profiling device can adapt to wavy field and make the spring-finger of pickup have suitable ground clearance. The profiling error can be controlled between -4 mm and 18 mm.