CN100998277A - Stalks guiding probe of tractor - Google Patents
Stalks guiding probe of tractor Download PDFInfo
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- CN100998277A CN100998277A CNA2006101443750A CN200610144375A CN100998277A CN 100998277 A CN100998277 A CN 100998277A CN A2006101443750 A CNA2006101443750 A CN A2006101443750A CN 200610144375 A CN200610144375 A CN 200610144375A CN 100998277 A CN100998277 A CN 100998277A
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- feeler lever
- rotating shaft
- stalks
- tractor
- strut
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/14—Measures for saving energy, e.g. in green houses
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Abstract
A stalk guiding and detecting mechanism of tractor for working between two lines of stalk in corn, sorghum, or cotton field is composed of a cantilever, a contact rod unit consisting of connected symmetrical two arc contact rods with rotary axle, and an angular displacement sensor with rotary axle linked with said rotary axle of contact rod unit.
Description
Technical field
The present invention relates to a kind of automatic guide sniffer that is used for farm power machinery in the operation in the ranks of corn (Chinese sorghum, cotton) stalk, belong to agricultural mechanical field.
Background technology
Conservation tillage is cancelled the operation of turning over, is covered the face of land, direct no-tillage seeding with a large amount of stalks and stubble, and energy water-retaining effect culture fertility is promoted in 1 year one cultivated land district of northern China large tracts of land.Carry out conservation tillage in North China winter wheat, the summer corn area of yielding two crops a year, be improve output, reduce cost, water saving, energy-conservation effective ways.But, because thick, the sturdy difficult cut-out of root stubble of maize straw, problems such as machine obstruction, furrower distortion often take place in the sowing wheat behind the harvest corn, have a strong impact on seeding quality, reduce production efficiency, also influence the carrying out of follow-up farm works such as spray medicine simultaneously.More satisfactory tillage free seeding method, be exactly to avoid corn stubble, wheat is broadcast at corn in the ranks.Yet only depend on driver's knack to realize that with concentrating operation is very difficult to row, often miss one's aim.The GPS navigation system can realize the tractor automatic guide, but costs an arm and a leg.Mechanical type auto-guider mechanism is simple, cost is lower, can depart from when travelling at agricultural machinery to produce detectable signal, offers controller and turns to control, effectively improves row precision and automatization level.External auto-guider utilizes ridge or ditch to lead for benchmark more, is not suitable for upright stalk environment.Also having a kind of vegetable crop auto-guider in addition is to adopt two symmetrical straight-bars to be fixed on the angular transducer both sides, rotate by the contact crop and survey, but its corner excursion is little, only is applicable to the auxiliary guiding the when driver sails every trade.Therefore need a kind of stalk self low-cost guide probe device of tractor in the ranks that is applicable to,, reduce driver's labour intensity to improve operation quality and operating efficiency.
Summary of the invention
The objective of the invention is to provide a kind of stalks guiding probe of tractor device, be used for tractor or other dynamic power machines in stalk automatic guide in the ranks, make it under upright naturally maize straw (or toothing) condition, be stalk arrange linearity may be relatively poor and the condition of stressed easy inclination under, obtain the continuous probe signal, for guiding control provides sufficient navigation information.
Comprise in order to reach the technical scheme that purpose of the present invention takes, cantilever beam and be located at the angular displacement sensor and the feeler lever mechanism of this cantilever beam front end, feature is: described feeler lever mechanism comprises the feeler lever and the rotating shaft of the symmetrical arc that is fixed together, the two can rotate simultaneously, the rotating shaft of joint angle displacement transducer in the described rotating shaft makes the rotating shaft of angular displacement sensor rotate with feeler lever mechanism.Angular displacement sensor produces detectable signal according to the rotational angle of its rotating shaft.
In the above-mentioned stalks guiding probe device, for feeler lever mechanism being returned when not contacting stalk and keeping the centering position, in feeler lever mechanism, be provided with and return centering body, this returns centering body and comprises the strut that connects and rotate with feeler lever, on this strut, be with two centralizing springs and a centering vertical rod, two centralizing springs are pressed in the both sides of centering vertical rod lower end respectively, impose on the reciprocal pressure of feeler lever when feeler lever rotates.
In the above-mentioned stalks guiding probe device, described feeler lever is a half-oval shaped, and described rotating shaft is close minor axis one side in this semielliptical center of circle.
In the above-mentioned stalks guiding probe device, described feeler lever is connected with rotating shaft by a connecting plate, and strut also is connected on this connecting plate, makes feeler lever, and connecting plate, rotating shaft and strut can rotate together.
In the above-mentioned stalks guiding probe device, centralizing spring is a stage clip, be enclosed within on the strut and have certain initial compression deflection, centralizing spring produced deflection and imposes on the feeler lever pressure when strut rotated, and its maximum deformation quantity makes the feeler lever angle range reach 60 °.
In the above-mentioned stalks guiding probe device, described feeler lever mechanism and cantilever beam are for being rotationally connected.
In the above-mentioned stalks guiding probe device, described rotating shaft is provided with screw thread.
The present invention adopts mechanical device such as feeler lever and angular displacement sensor to combine, and obtains the runout information that tractor travels at maize straw in the ranks.The symmetrical arc of feeler lever can be arranged under the condition of linearity difference and stressed easy inclination at stalk and take place and the corresponding to rotation of tractor offset direction.The angle that angular displacement sensor rotates with feeler lever according to its rotating shaft obtains direction and variable quantity that tractor departs from, supplies with the controller control of leading.Two identical centralizing springs of specification impose on the reciprocal pressure of feeler lever when feeler lever rotates, make feeler lever can return the centering position after breaking away from stalk.The maximum deformation quantity of spring guarantees 60 ° of feeler lever corner up, guarantees that angular displacement sensor also can obtain detectable signal when tractor has big deviation distance.This tractor automatic guide sniffer can realize that tractor and matched farm tool travel in stalk automatic guide in the ranks, and assurance wheat cultivation plough can be avoided corn stubble, improves operation quality and production efficiency, reduces driver's labour intensity.This apparatus structure is simple, and Installation and Debugging are convenient, and cost is lower.
Description of drawings
Fig. 1 is the tractor of the present invention structural representation of guide probe device in the ranks.
Embodiment
As shown in Figure 1,1 is feeler lever, and 2 is connecting plate, and 3 are rotating shaft, and 4 is bearing, and 5 is angular displacement sensor, and 6 is cantilever beam, and 7 is strut, and 8 is centralizing spring, and 9 is the centering vertical rod.Feeler lever 1 of the present invention is symmetrical arc, and it is a half elliptic in the present embodiment, is connected the two ends of connecting plate 2, the center of connecting plate 2 connects vertical rotation axis 3 by axle sleeve, rotating shaft 3 is positioned at the symmetrical arc center of circle one side, and feeler lever 1, connecting plate 2 and rotating shaft 3 are connected as a single entity, and can rotate simultaneously.Described rotating shaft 3 tops are connected with cantilever beam 6 by bearing 4, and then the two can relatively rotate, and rotating shaft is provided with the screw thread of 30cm, can regulate feeler lever plane terrain clearance.The shell flange of angular displacement sensor 5 is fixed on the front end of cantilever beam 6.The rotating shaft of described angular displacement sensor 5 is fixed on the top of rotating shaft 3.Feeler lever 1 contacts stalk and stressed in detection process, feeler lever 1, connecting plate 2 and rotating shaft 3 are rotated with respect to cantilever beam 6, and identical angle is rotated in the rotating shaft of angular displacement sensor 5 simultaneously, and angular displacement sensor 5 can produce the correspondent voltage signal.
When selecting angular displacement sensor 5, the signal of telecommunication corresponding angle scope of its output should reach 90 °.
In the guide probe device of the present invention, the guide probe mechanism that feeler lever 1, connecting plate 2, rotating shaft 3, bearing 4, angular displacement sensor 5, cantilever beam 6 are formed, strut 7, centralizing spring 8, centering vertical rod 9 compositions return centering body.
Centering vertical rod 9 is positioned at the tractor center vertical plane, and its top and cantilever beam 6 are fixing, and during detection, tractor, cantilever beam 6 and centering vertical rod are for being rigidly connected.
Strut 4 is connected on the connecting plate 2, two centralizing springs 8 are enclosed within on the strut 4, be pressed in the both sides, lower end of centering vertical rod 9 respectively, when feeler lever 1 and connecting plate 2 rotations, can impose on feeler lever 1 and connecting plate 2 reciprocal pressures, make feeler lever and connecting plate get back to feeler lever symmetrical centre line position.
Described centralizing spring 8 is a stage clip, is enclosed within on the strut 7 and has certain initial compression deflection, and strut 7 rotates with connecting plate 2 in the detection process, and the centralizing spring on the strut produces deflection and imposes on feeler lever 1 and connecting plate 2 pulling force and pressure.This active force and stalk active force make feeler lever rotate together, and angle range should be able to reach 60 °, can realize the rotation detection when the tractor deviation distance is big.
It is corresponding with the corner of the stressed rotation of feeler lever that described angular displacement sensor 5 produces voltage signal, reacts the state that departs from of tractor simultaneously.Tractor departs to the left to make feeler lever contact left side stalk is stressed and rotates counterclockwise, and angular displacement sensor 5 produces angle signals and increases; Make stressed the clockwise rotating of feeler lever contact right side stalk otherwise tractor departs to the right, angular displacement sensor 5 produces angle signal and reduces.The deviation distance of tractor changes makes feeler lever corner size that respective change also take place, and angular displacement sensor 5 can produce corresponding angle variable quantity.
The tractor and the farm implements that have automatic guide sniffer of the present invention can need not the pilot control steering wheel accurate parallel the travelling of upright maize straw in the ranks.Can avoid human error assurance operation quality to save manpower again and improve the agricultural automation degree.
The key of guide probe is the shape and the structure of feeler lever.Guide probe is a symmetrical structure, can obtain to survey the targeting signal of two row stalks, reduces the error of monolateral detection.Feeler lever of the present invention is symmetrical arc, guarantee tractor travel deviation distance when big feeler lever under stalk pressure, also can rotate, and bias is big more, the detectable signal of feeler lever corner is also big more.The width of feeler lever is adjustable according to the stalk line-spacing, gets the mean value of stalk line-spacing.The line-spacing of maize straw is generally 50～70cm.
The operation principle of guide probe device is as follows:
The cantilever beam 6 of this guide probe device is fixed on the front portion of tractor or other dynamic power machine, and feeler lever 1 is positioned in the middle of the two row stalks.When tractor generation off-set phenomenon, feeler lever 1 contact stalk also is stressed.Feeler lever 1 and the connecting plate 2 that is attached thereto, rotating shaft 3 be center line rotation around the shaft together, the rotating shaft that also has angular displacement sensor 5 of rotating simultaneously.Angular displacement sensor 5 produces the corner of corresponding its rotating shaft of the signal of telecommunication by the rotation of its rotating shaft, and when the rotation of generation such as feeler lever 1 rotating part such as grade with respect to tractor and cantilever beam 6, angular displacement sensor 5 just obtains this angle signal.When tractor continues to travel, when stalk breaks away from feeler lever, feeler lever 1,2 pressures that are subjected to two centralizing springs 8 of connecting plate.Because centering vertical rod 9 is fixed on the cantilever beam and is in the centering position, the pressure that centralizing spring 8 produces makes feeler lever 1, connecting plate 2, strut 7 reverse rotations get back to the centering position.
The detectable signal that angular displacement sensor 5 produces can reflect the tractor offset direction, sets the tractor left side and just is deflected to, and the right side is deflected to negative.The signal that angular displacement sensor 5 produced when feeler lever 1 rotated counterclockwise increases, and reduces otherwise clockwise rotate angular displacement sensor 5 generation signals.The increase and decrease of angular displacement sensor signal is consistent with the direction that tractor departs from, and the angle signal variable quantity of angular displacement sensor has then reflected the variation of tractor deviation distance.Tractor centering state is the position that its axis is in the line-spacing center line of two row stalks, and this moment, the tractor deviation distance was zero, and the difference of detected angle signal of angular displacement sensor and centering initial value also is zero.When the tractor deflection distance increased, the signal of telecommunication that angle that the stressed rotation of feeler lever produces and angular displacement sensor produce also increased thereupon; Otherwise the tractor deflection distance reduces, and feeler lever corner and angular displacement sensor signal also reduce thereupon, so angular displacement sensor can be surveyed the variation of tractor deviation distance.
Practicality of the present invention, price is low, and price has only 1/10th of external like product.Can realize that synchronously to row, the accuracy of guiding reaches in the 50mm, have major application to be worth to the row no-tillage seeding, also can be applied in other places that synchronously row required for China's regional wheat that yields two crops a year.
It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.
Claims (8)
1, a kind of stalks guiding probe of tractor device, comprise a cantilever beam and the angular displacement sensor and the feeler lever mechanism that are located at this cantilever beam front end, it is characterized in that: described feeler lever mechanism comprises the feeler lever and the rotating shaft of the symmetrical arc that is fixed together, the rotating shaft of joint angle displacement transducer in the described rotating shaft makes the rotating shaft of angular displacement sensor rotate with feeler lever mechanism.
2, stalks guiding probe of tractor device according to claim 1, it is characterized in that, in feeler lever mechanism, be provided with and return centering body, this returns centering body and comprises the strut that connects and rotate with feeler lever, be with two centralizing springs and a centering vertical rod on this strut, two centralizing springs are pressed in the both sides of centering vertical rod lower end respectively.
3, stalks guiding probe of tractor device according to claim 1 and 2 is characterized in that, described feeler lever is a half-oval shaped, and described rotating shaft is close minor axis one side in this semielliptical center of circle.
4, stalks guiding probe of tractor device according to claim 1 and 2 is characterized in that, described feeler lever is connected with rotating shaft by a connecting plate, and strut also is connected on this connecting plate.
5, stalks guiding probe of tractor device according to claim 3 is characterized in that, described feeler lever is connected with rotating shaft by a connecting plate, and strut also is connected on this connecting plate.
6, stalks guiding probe of tractor device according to claim 2, it is characterized in that, centralizing spring is a stage clip, be enclosed within on the strut and have certain initial compression deflection, centralizing spring produced deflection and imposes on the feeler lever pressure when strut rotated, and its maximum deformation quantity makes the feeler lever angle range reach 60 °.
7, stalks guiding probe of tractor device according to claim 1 and 2 is characterized in that, described feeler lever mechanism and cantilever beam are for being rotationally connected.
8, stalks guiding probe of tractor device according to claim 1 and 2 is characterized in that, described rotating shaft is provided with screw thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101443750A CN100508727C (en) | 2006-12-05 | 2006-12-05 | Stalks guiding probe of tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101443750A CN100508727C (en) | 2006-12-05 | 2006-12-05 | Stalks guiding probe of tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN100998277A true CN100998277A (en) | 2007-07-18 |
| CN100508727C CN100508727C (en) | 2009-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101443750A Expired - Fee Related CN100508727C (en) | 2006-12-05 | 2006-12-05 | Stalks guiding probe of tractor |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102100137A (en) * | 2010-12-15 | 2011-06-22 | 杨太平 | Brake steering mechanism based on wheel-controlled single side separation |
| CN102907205A (en) * | 2012-10-31 | 2013-02-06 | 青岛农业大学 | Automatic aligning device |
| CN103392434A (en) * | 2013-07-08 | 2013-11-20 | 中国农业大学 | Plant avoidance type appropriate fertilizer applicator |
| CN104718827A (en) * | 2015-04-15 | 2015-06-24 | 中国农业大学 | Contact rod type auxiliary stubble-sheering-off guiding device |
| CN107155663A (en) * | 2017-05-11 | 2017-09-15 | 沈阳建筑大学 | A kind of combined type maize goes to push up rate fertilization robot |
| CN107567747A (en) * | 2017-11-01 | 2018-01-12 | 山东棉花研究中心 | A kind of method of cotton, sorghum and green manure crop miscegenation improvement salt-soda soil |
| CN108496513A (en) * | 2018-03-14 | 2018-09-07 | 山东农业大学 | It is a kind of automatically to row radish harvesting apparatus |
| CN109348760A (en) * | 2018-09-07 | 2019-02-19 | 农业部南京农业机械化研究所 | A kind of implement porter control device of agricultural machinery |
| CN109541719A (en) * | 2019-01-18 | 2019-03-29 | 厦门大学嘉庚学院 | Avoidance signal detecting device and its working method |
| CN110692299A (en) * | 2019-09-16 | 2020-01-17 | 北京农业智能装备技术研究中心 | Row-aligning detection device, intertillage topdressing machine and control method thereof |
| CN112526986A (en) * | 2020-10-28 | 2021-03-19 | 苏州极目机器人科技有限公司 | Ridge-following operation method and device |
| CN113826460A (en) * | 2016-03-09 | 2021-12-24 | 洋马动力科技有限公司 | Working vehicle |
| WO2022088289A1 (en) * | 2020-10-28 | 2022-05-05 | 苏州极目机器人科技有限公司 | Edge finding device and unmanned agricultural vehicle |
| WO2022088287A1 (en) * | 2020-10-28 | 2022-05-05 | 苏州极目机器人科技有限公司 | Ridge following assembly and unmanned vehicle |
| WO2022088288A1 (en) * | 2020-10-28 | 2022-05-05 | 苏州极目机器人科技有限公司 | Navigation structure and unmanned aerial vehicle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU546313A1 (en) * | 1975-07-11 | 1977-02-15 | Грузинский Институт Субтропического Хозяйства | Device for automatically guiding the tractor in a series of plants |
| US4367621A (en) * | 1981-04-09 | 1983-01-11 | The University Of Kentucky Research Foundation | Crop harvester including a quickly adjustable semi-floating, self-steering cutter head |
| DE4220039C2 (en) * | 1992-06-19 | 1995-05-24 | Weimar Werk Maschinenbau Gmbh | Device for guiding work organs or machines for harvesting crops grown in dams |
-
2006
- 2006-12-05 CN CNB2006101443750A patent/CN100508727C/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102100137A (en) * | 2010-12-15 | 2011-06-22 | 杨太平 | Brake steering mechanism based on wheel-controlled single side separation |
| CN102907205A (en) * | 2012-10-31 | 2013-02-06 | 青岛农业大学 | Automatic aligning device |
| CN102907205B (en) * | 2012-10-31 | 2015-05-27 | 青岛农业大学 | Automatic aligning device |
| CN103392434A (en) * | 2013-07-08 | 2013-11-20 | 中国农业大学 | Plant avoidance type appropriate fertilizer applicator |
| CN104718827A (en) * | 2015-04-15 | 2015-06-24 | 中国农业大学 | Contact rod type auxiliary stubble-sheering-off guiding device |
| CN113826460B (en) * | 2016-03-09 | 2023-09-29 | 洋马动力科技有限公司 | work vehicle |
| CN113826460A (en) * | 2016-03-09 | 2021-12-24 | 洋马动力科技有限公司 | Working vehicle |
| CN107155663A (en) * | 2017-05-11 | 2017-09-15 | 沈阳建筑大学 | A kind of combined type maize goes to push up rate fertilization robot |
| CN107567747B (en) * | 2017-11-01 | 2019-12-20 | 山东棉花研究中心 | Method for improving saline-alkali soil by mixed planting of cotton, sorghum and green manure crops |
| CN107567747A (en) * | 2017-11-01 | 2018-01-12 | 山东棉花研究中心 | A kind of method of cotton, sorghum and green manure crop miscegenation improvement salt-soda soil |
| CN108496513A (en) * | 2018-03-14 | 2018-09-07 | 山东农业大学 | It is a kind of automatically to row radish harvesting apparatus |
| CN108496513B (en) * | 2018-03-14 | 2023-09-22 | 山东农业大学 | Automatic alignment radish harvesting device |
| CN109348760A (en) * | 2018-09-07 | 2019-02-19 | 农业部南京农业机械化研究所 | A kind of implement porter control device of agricultural machinery |
| CN109541719A (en) * | 2019-01-18 | 2019-03-29 | 厦门大学嘉庚学院 | Avoidance signal detecting device and its working method |
| CN109541719B (en) * | 2019-01-18 | 2023-11-24 | 厦门大学嘉庚学院 | Obstacle avoidance signal detection device and working method thereof |
| CN110692299A (en) * | 2019-09-16 | 2020-01-17 | 北京农业智能装备技术研究中心 | Row-aligning detection device, intertillage topdressing machine and control method thereof |
| CN112526986A (en) * | 2020-10-28 | 2021-03-19 | 苏州极目机器人科技有限公司 | Ridge-following operation method and device |
| WO2022088289A1 (en) * | 2020-10-28 | 2022-05-05 | 苏州极目机器人科技有限公司 | Edge finding device and unmanned agricultural vehicle |
| WO2022088287A1 (en) * | 2020-10-28 | 2022-05-05 | 苏州极目机器人科技有限公司 | Ridge following assembly and unmanned vehicle |
| WO2022088288A1 (en) * | 2020-10-28 | 2022-05-05 | 苏州极目机器人科技有限公司 | Navigation structure and unmanned aerial vehicle |
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| Publication number | Publication date |
|---|---|
| CN100508727C (en) | 2009-07-08 |
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Granted publication date: 20090708 Termination date: 20111205 |