CN106982654A - A kind of monocular recognition type cotton top-cutting machine - Google Patents
A kind of monocular recognition type cotton top-cutting machine Download PDFInfo
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- CN106982654A CN106982654A CN201610033413.9A CN201610033413A CN106982654A CN 106982654 A CN106982654 A CN 106982654A CN 201610033413 A CN201610033413 A CN 201610033413A CN 106982654 A CN106982654 A CN 106982654A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
- A01G3/081—Manual cutting tools not otherwise provided for, e.g. pruning hooks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30188—Vegetation; Agriculture
Abstract
The present invention is a kind of monocular recognition type cotton top-cutting machine, including grain lifter, pinch and lowering or hoisting gear, traction and support meanss, image acquisition and processing device, power set and frame, it is characterized in that the lower end that grain lifter is located at frame is connected with frame, image acquisition and processing device, which is located at, helps standing grain baffle plate inner, pinch and the lower end of frame plate is located at lowering or hoisting gear, cotton plant top can be carried out to pinch tracking, the front portion that draw-gear is located at frame is connected with the draw-gear of tractor, the structure for using wireline pulley group to be combined with spring with the lowering or hoisting gear in lowering or hoisting gear of pinching of the present invention, cutter of pinching is that a band sawtooth stationary knife tool and fixed pulley are constituted, stationary knife tool is aided with grain lifter to be formed with support cutting, energy consumption is small, cutting is stable, image acquisition and processing device is made up of camera and Halogen lamp LED, IMAQ is carried out using monocular camera, cotton plant elevation information can be obtained after image procossing, and then adjust cutter height, carry out cotton topping work.
Description
Technical field
The present invention is a kind of plant equipment for cotton topping, and more particularly to a kind of cotton top-cutting machine based on monocular identifying system belongs to agricultural mechanical field.
Background technology
Cotton topping refers to that cotton is top by removing, so as to eliminate the process of the apical growth advantage of cotton.Because Xinjiang region enters, the time in winter is more early, and the growth cycle of cotton is shorter, it is therefore desirable to suppress stem shoot and leaf growth by removing apical dominance, so cotton topping is the key link of cotton training work.By pinching so that reproductive organs fully grows, invalid stem branches and leaves etc. are reduced to moisture, the consumption of nutrition, so as to promote cotton plant early knot bell, tie bell so that turriform can be presented in growth rate of cotton plant trend more, it is easy to abundant photosynthesis, improves cotton plant yield, and be conducive to mechanical harvesting.
External cotton top-cutting machine occurs more early, but it is due to that external biotechnology have developed rapidly, medicine, which is pinched, gradually instead of machinery and pinches, but Xinjiang region soil is originally barrenr, the injury that medicine is pinched for soil is larger, obviously be not suitable for, so it is the main trend of cotton topping development that machinery, which is pinched,.
Research of the China to cotton top-cutting machine starts to walk more external evening, and at present, mainly there are drum-type and flail knife formula in the mechanism of pinching of topping machine, and both are that, without support cutting, energy consumption is big, and existing cotton top-cutting machine profiling mode is mainly：Mechanical contact, infrared induction and ultrasonic induction type, mechanical contact interference is more, and precision is not high, and field light is complicated, infrared-sensing type then needs the light interference environment of high requirement, so being difficult to realize its effect, ultrasonic induction type, reliability, and precision is higher, but without direction inductor.
The content of the invention
It is an object of the invention to overcome the shortcomings of present in prior art there is provided a kind of cotton plant height can accurately profiling, implementation result is good, solves the problems, such as a kind of monocular recognition type cotton top-cutting machine of cotton topping.
The present invention is a kind of monocular recognition type cotton top-cutting machine, including grain lifter, pinch and lowering or hoisting gear, traction and support meanss, image acquisition and processing device, power set and frame, it is characterized in that the lower end that grain lifter is located at frame is connected with frame, image acquisition and processing device, which is located at, helps standing grain baffle plate inner, pinch and the lower end of frame plate is located at lowering or hoisting gear, cotton plant top can be carried out to pinch tracking, the front portion that draw-gear is located at frame is connected with the draw-gear of tractor.
Described frame includes the back rest, crossbeam, front-axle beam and frame plate, and the above-mentioned back rest is fixed together with front-axle beam with four crossbeams constitutes whole frame, and frame plate is arranged on the back lower place of crossbeam, for laying other parts.
Described power set include fixed beam, bevel gear set, belt wheel transmission group, gear deflecting transmission group, above-mentioned bevel gear set is connected when working with tractor dynamic power output device, tractor dynamic power axle is connected with bevel gear set, the bevel gear set other end is connected with belt wheel, partial power is passed to part by transmission belt and helps standing grain monomer by belt wheel, remainder power gives gear deflecting transmission group, so as to change steering, so that remaining part helps standing grain monomer to rotate backward, the gear motion of standing grain monomer is helped to provide power to realize.
Described image acquisition and processing device includes five groups of IMAQ rooms, every group of IMAQ room is made up of four uniform Halogen lamp LEDs and a CCD camera, CCD camera is arranged in the middle of collection room, and four Halogen lamp LEDs are distributed in CCD camera surrounding, to realize that uniform light is distributed.
Described grain lifter includes a point shape plate, rice crop-supporting plate, connecting plate, rubber sleeve with rubber ingot, take turns in broadband, wide transmission belt, driving belt pulley shaft, driven belt wheel shaft, driving gear, driven gear, driven gear shaft, rolling bearing units, rice crop-supporting plate is endways to be connected to the lower end of the frame plate left and right sides, point shape plate is connected to a pair of rice crop-supporting plate rear and front ends being staggered, fixed rolling bearing units on driving belt pulley shaft, upper end is connected to belt wheel, lower end is connected to two broadband wheels and a driving gear, rolling bearing units are connected to frame plate lower end, driving gear is engaged with driven gear, driven gear shaft one end is connected on the inside of frame plate by rolling bearing units, driven gear and a belt wheel are cased with driven gear shaft, belt wheel on opposite side driven belt wheel shaft is driven by transmission belt, so that driving belt pulley shaft is opposite with the steering of opposite side driven belt wheel shaft, so as to allow cotton plant to draw in, driven belt wheel shaft one end is connected on the inside of frame plate by rolling bearing units, two broadband wheels are connected on axle, wide transmission belt is connected on the broadband wheel on broadband wheel and the same side driven belt wheel shaft on driving belt pulley shaft, rubber sleeve with rubber ingot is enclosed on wide transmission belt, connecting plate is placed between the wheel of two broadbands.
Described pinching includes fixation with steel wire bolt with lowering or hoisting gear, fixed pulley, movable pulley, steel wire winding, spring, gear drive group, winding power transmission shaft, sawtooth cutter, controllable motor, motor fixing plate, fixation with steel wire bolt is fixed on upper right side on the inside of rice crop-supporting plate, fixed pulley is fixed on rice crop-supporting plate inner side left upper end and in the positive left end of fixation with steel wire bolt, movable pulley is connected to sawtooth cutter left and right ends, sawtooth cutter is across in a pair of rice crop-supporting plate rectangular channels, it can be slided up and down in groove, spring one end is connected to the lower section of sawtooth cutter side, the other end is connected to below rectangular channel, winding power transmission shaft is connected to rice crop-supporting plate inner side lower-left end and immediately below fixed pulley, steel wire winding and winding gear are each attached on winding power transmission shaft, winding gear is engaged with motor gear, motor gear is connected to controllable motor, controllable motor is connected with motor fixing plate, motor fixing plate is connected on the inside of rice crop-supporting plate, steel wire rope one end is entangled on steel wire winding, the other end bypasses fixed pulley and movable pulley, it is fixed on fixation with steel wire bolt, steel wire winding is driven to rotate a fixing turn by gear drive group when motor receives signal, so that certain length is tightened up or decontroled to steel wire rope, movable pulley is driven to rise or fall certain altitude, so as to realize the precision lift of sawtooth cutter, and because grain lifter make it that cotton plant is fixed and close with certain speed to sawtooth cutter, it is achieved thereby that there is the action that support is cut.
Described traction includes towing plate, frame auxiliary girder and land wheel with support meanss, lambdoid frame auxiliary girder is located at the front portion of frame and is bolted on the front side of towing plate, towing plate is fixed on the middle part of front suspension, frame auxiliary girder is connected by trifilar suspension structure with the towing plate of the left and right sides with the draw-gear of tractor with pin, two rubber tyres are connected to framework lateral plate by rotating shaft and connect section, and whole topping machine is played a supportive role.
The feeler mechanism of the present invention is pulley block mechanism, recognized using monocular computer vision, image information is gathered by CCD camera, then image is split and feature extraction, so as to draw the elevation information of cotton, a pair of rice crop-supporting plate enables the cotton plant passed through to form obvious prospect and background with rice crop-supporting plate, is easy to image to split.The elevation information on cotton top is received by control system, then controls controllable motor to rotate, passes through steel wire rope so that cutter rises or falls certain altitude, and then realizes the shape cutting to cotton top.
By using motor drive mode with the lifting part in lowering or hoisting gear pinching, overcome general cotton when cotton plant anterior and posterior height difference is larger and edge of a knife lifting speed it is inadequate caused by leakage cut phenomenon, and cutter of pinching is that a band sawtooth stationary knife tool and fixed pulley are constituted, the stationary knife has itself function and moved up and down, it is aided with grain lifter to be formed with support cutting, it is short with the longitudinally cutting length of small power consumption than flail knife formula or drum-type etc. without support cutting mode, the beneficial effect such as implementation is strong.
Brief description of the drawings
Fig. 1 is complete machine top view of the invention；
Fig. 2 is complete machine structure schematic diagram of the invention；
Fig. 3 is that monocular vision lamp house arranges top view；
Fig. 4 is one group and helps standing grain to lift structure top view of pinching；
Fig. 5 is to help standing grain to lift monomer structure schematic diagram of pinching；
Shown in figure：1 is land wheel, 2 be the back rest, 3 be crossbeam, 4 be front-axle beam, 5 be frame auxiliary girder, 6 be driving belt pulley shaft, 7 be belt wheel, 8 be frame plate, 9 be transmission belt, 10 be sawtooth cutter, 11 be the rubber sleeve with rubber ingot, 12 be connecting plate, 13 be a point shape plate, 14 be towing plate, 15 be Bevel Gear Transmission group, 16 be fixed beam, 17 be side plate, 18 be rice crop-supporting plate, 19 be lamp house wall, 20 be Halogen lamp LED, 21 be CCD camera, 22 be driven gear shaft, 23 be driving gear, 24 be rolling bearing units, 25 be driven gear, 26 be that broadband is taken turns, 27 be winding gear, 28 be spring, 29 be steel wire winding, 30 be movable pulley, 31 be rectangular channel, 32 be fixation with steel wire bolt, 33 be fixed pulley, 34 be winding power transmission shaft, 35 be motor fixing plate, 36 be wide transmission belt, 37 be driven belt wheel shaft, 38 be motor gear, 39 be controllable motor.
Embodiment
The present invention is described in further detail with reference to embodiment and accompanying drawing：
Embodiment 1：Referring to the drawings a kind of monocular recognition type cotton top-cutting machine, including grain lifter, pinch and lowering or hoisting gear, traction and support meanss, image acquisition and processing device, power set and frame, it is characterized in that the lower end that grain lifter is located at frame is connected with frame, image acquisition and processing device, which is located at, helps standing grain baffle plate inner, pinch and the lower end of frame plate is located at lowering or hoisting gear, cotton plant top can be carried out to pinch tracking, the front portion that draw-gear is located at frame is connected with the draw-gear of tractor.
Embodiment 2：
The difference of this example and embodiment 1 is that described frame includes the back rest 2, crossbeam 3, front-axle beam 4 and frame plate 8, the above-mentioned back rest 2 is fixed together with four crossbeams 4 with front-axle beam 3 and constitutes whole frame, frame plate 8 is arranged on the back lower place of crossbeam 3, for laying other parts.
Embodiment 3：
The difference of this example and embodiment 1 is that described power set include fixed beam 16, bevel gear set 15, belt wheel transmission group 7, deflecting driving gear 23 and the transmission group of driven gear 25, above-mentioned bevel gear set 15 is connected when working with tractor dynamic power output device, tractor dynamic power axle is connected with bevel gear set 15, the bevel gear set other end is connected with belt wheel 7, partial power is passed to part by transmission belt 9 and helps standing grain monomer by belt wheel, so that driving belt pulley shaft 6 is rotated, the deflecting transmission group that remainder power is combined by driving gear 23 with driven gear 25, so as to change steering, so that driven belt wheel shaft 37 is rotated backward, the gear motion of standing grain monomer is helped to provide power to realize.
Embodiment 4：
The difference of this example and embodiment 1 is that described image acquisition and processing device includes five groups of IMAQ rooms, every group of IMAQ room is made up of four uniform Halogen lamp LEDs 20 and a CCD camera 21, CCD camera 21 is arranged in the middle of collection room, four Halogen lamp LEDs 20 are distributed in the surrounding of CCD camera 21, to realize that uniform light is distributed.
Embodiment 5：
The difference of this example and embodiment 1 is that described pinching includes fixation with steel wire bolt 32 with lowering or hoisting gear,Fixed pulley 33,Movable pulley 30,Steel wire winding 29,Spring 28,Winding gear 27,Motor gear 38,Winding power transmission shaft 34,Sawtooth cutter 10,Controllable motor 39,Motor fixing plate 35,Fixation with steel wire bolt 32 is fixed on the inner side upper right side of rice crop-supporting plate 18,Fixed pulley 33 is fixed on the inner side left upper end of rice crop-supporting plate 18 and in the positive left end of fixation with steel wire bolt 32,Movable pulley 30 is connected to the left and right ends of sawtooth cutter 10,Sawtooth cutter 10 is across in a pair of rectangular channels of rice crop-supporting plate 18,It can be slided up and down in groove,The one end of spring 28 is connected to the lower section of sawtooth cutter side,The other end is connected to below rectangular channel,Winding power transmission shaft 34 is connected to the inner side lower-left end of rice crop-supporting plate 18 and immediately below fixed pulley 33,Steel wire winding 29 and winding gear 27 are each attached on winding power transmission shaft 34,Winding gear 27 is engaged with motor gear 38,Motor gear 38 is connected to controllable motor 39,Controllable motor 39 is connected with motor fixing plate 35,Motor fixing plate 35 is connected to the inner side of rice crop-supporting plate 18,Steel wire rope one end is entangled on steel wire winding 29,The other end bypasses fixed pulley 33 and movable pulley 30,It is fixed on fixation with steel wire bolt 32,Steel wire winding is driven to rotate a fixing turn by gear drive group when motor 39 receives signal,So that certain length is tightened up or decontroled to steel wire rope,Movable pulley 30 is driven to rise or fall certain altitude,So as to realize the precision lift of sawtooth cutter 10,And because grain lifter causes cotton plant to fix and close with certain speed to sawtooth cutter 10,It is achieved thereby that there is the action that support is cut.
Embodiment 6：
The difference of this example and embodiment 1 is that described grain lifter includes point shape plate 13, rice crop-supporting plate 18, connecting plate 12, rubber sleeve 11 with rubber ingot, broadband wheel 26, wide transmission belt 36, driving belt pulley shaft 6, driven belt wheel shaft 37, driving gear 23, driven gear 25, driven gear shaft 22, rolling bearing units 24, rice crop-supporting plate 18 is endways to be connected to the lower end of the left and right sides of frame plate 8, point shape plate 13 is connected to a pair of rear and front ends of rice crop-supporting plate 18 being staggered, fixed rolling bearing units 24 on driving belt pulley shaft 6, upper end is connected to belt wheel 7, lower end is connected to two broadband wheels 26 and a driving gear 23, rolling bearing units 24 are connected to the lower end of frame plate 8, driving gear 23 is engaged with driven gear 25, the one end of driven gear shaft 22 is connected to the inner side of frame plate 8 by rolling bearing units 24, driven gear 25 and a belt wheel 7 are cased with driven gear shaft 37, belt wheel 7 on opposite side driven belt wheel shaft is driven by transmission belt 9, so that driving belt pulley shaft 6 is opposite with the steering of opposite side driven belt wheel shaft 37, so as to allow cotton plant to draw in, the one end of driven belt wheel shaft 37 is connected to the inner side of frame plate 8 by rolling bearing units 24, two broadband wheels 26 are connected on axle, wide transmission belt is connected on the broadband wheel 26 on broadband wheel 26 and the same side driven belt wheel shaft on driving belt pulley shaft 6, rubber sleeve 11 with rubber ingot is enclosed on wide transmission belt 36, connecting plate is placed between the wheel of two broadbands.
Embodiment 7：
The difference of this example and embodiment 1 is that described traction includes towing plate 14, frame auxiliary girder 5 and land wheel 1 with support meanss, lambdoid frame auxiliary girder 14 is located at the front portion of frame and is bolted on the front side of towing plate 14, towing plate is fixed on the middle part of front-axle beam, frame auxiliary girder 5 is connected by trifilar suspension structure with the towing plate 14 of the left and right sides with the draw-gear of tractor with pin, two rubber tyres 1 are connected to framework lateral plate 17 by rotating shaft and connect section, and whole topping machine is played a supportive role.
Above-described embodiment is only the preferably example of the present invention; it is not the restriction to embodiment of the present invention; for those of ordinary skill in the field; it can also make other changes in different forms on the basis of the above description; there is no necessity and possibility to exhaust all the enbodiments; within any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., the claims that should be included in the present invention.
Claims (7)
1. the present invention is a kind of monocular recognition type cotton top-cutting machine, including grain lifter, pinch and lowering or hoisting gear, traction and support meanss, image acquisition and processing device, power set and frame, it is characterized in that, grain lifter is located at the lower section of frame, pinching to be located at lowering or hoisting gear helps standing grain side plate inner, the front portion that draw-gear is located at frame is connected with the draw-gear of tractor, image acquisition and processing device, which is fixed on, helps standing grain side plate inner, and power set are located at the front of frame and the power output shaft of tractor is connected.
2. a kind of monocular recognition type cotton top-cutting machine according to claim 1, it is characterised in that described frame includes the back rest（2）, crossbeam（3）, front-axle beam（4）And frame plate（8), the above-mentioned back rest (2) is fixed together with front-axle beam (3) with four crossbeams (4) constitutes whole frame, and frame plate (8) is arranged on the back lower place of crossbeam (3), for laying other parts.
3. a kind of monocular recognition type cotton top-cutting machine according to claim 1, it is characterised in that described power set include fixed beam（16）, bevel gear set（15）, belt wheel transmission group（7）, deflecting driving gear（23）With driven gear（25）Transmission group, above-mentioned bevel gear set（15）It is connected during work with tractor dynamic power output device, tractor dynamic power axle and bevel gear set（15）It is connected, the bevel gear set other end and belt wheel（7）It is connected, belt wheel passes through transmission belt（9）Partial power is passed into part and helps standing grain monomer so that driving belt pulley shaft（6）Rotate, remainder power passes through driving gear（23）With driven gear（25）The deflecting transmission group of combination, so as to change steering so that driven belt wheel shaft（37）Rotate backward, help the gear motion of standing grain monomer to provide power to realize.
4. a kind of monocular recognition type cotton top-cutting machine according to claim 1, it is characterised in that described image acquisition and processing device includes five groups of IMAQ rooms, and every group of IMAQ room is by four uniform Halogen lamp LEDs（20）With a CCD camera（21）Composition, CCD camera（21）It is arranged in the middle of collection room, four Halogen lamp LEDs（20）It is distributed in CCD camera（21）Surrounding, to realize that uniform light is distributed.
5. a kind of monocular recognition type cotton top-cutting machine according to claim 1, it is characterised in that described pinching includes fixation with steel wire bolt with lowering or hoisting gear（32）, fixed pulley（33）, movable pulley（30）, steel wire winding（29）, spring（28）, winding gear（27）, motor gear（38）, winding power transmission shaft（34）, sawtooth cutter（10）, controllable motor（39）, motor fixing plate（35）, fixation with steel wire bolt（32）It is fixed on rice crop-supporting plate（18）Inner side upper right side, fixed pulley（33）It is fixed on rice crop-supporting plate（18）Inner side left upper end and in fixation with steel wire bolt（32）Positive left end, movable pulley（30）It is connected to sawtooth cutter（10）Left and right ends, sawtooth cutter（10）Across in a pair of rice crop-supporting plates（18）In rectangular channel, it can be slided up and down in groove, spring（28）One end is connected to the lower section of sawtooth cutter side, and the other end is connected to below rectangular channel, winding power transmission shaft（34）It is connected to rice crop-supporting plate（18）Inner side lower-left end and in fixed pulley（33）Underface, steel wire winding（29）With winding gear（27）It is each attached to winding power transmission shaft（34）On, winding gear（27）With motor gear（38）Engagement, motor gear（38）It is connected to controllable motor（39）, controllable motor（39）With motor fixing plate（35）Connection, motor fixing plate（35）It is connected to rice crop-supporting plate（18）Inner side, steel wire rope one end is entangled in steel wire winding（29）On, the other end bypasses fixed pulley（33）And movable pulley（30）, it is fixed on fixation with steel wire bolt（32）On, work as motor（39）Drive steel wire winding to rotate a fixing turn by gear drive group when receiving signal so that certain length is tightened up or decontroled to steel wire rope, drive movable pulley（30）Certain altitude is risen or fallen, so as to realize sawtooth cutter（10）Precision lift, and because grain lifter causes cotton plant to fix and to sawtooth cutter（10）It is close with certain speed, it is achieved thereby that there is the action that support is cut.
6. a kind of monocular recognition type cotton top-cutting machine according to claim 1, it is characterised in that described grain lifter includes a point shape plate（13）, rice crop-supporting plate（18）, connecting plate（12）, the rubber sleeve with rubber ingot（11）, broadband wheel（26）, wide transmission belt（36）, driving belt pulley shaft（6）, driven belt wheel shaft（37）, driving gear（23）, driven gear（25）, driven gear shaft（22）, rolling bearing units（24）, rice crop-supporting plate（18）It is endways to be connected to frame plate（8）The lower end of the left and right sides, point shape plate（13）It is connected to the rice crop-supporting plate being staggered for a pair（18）Rear and front end, driving belt pulley shaft（6）Upper fixed rolling bearing units（24）, upper end is connected to belt wheel（7）, lower end is connected to two broadband wheels（26）With a driving gear（23）, rolling bearing units（24）It is connected to frame plate（8）Lower end, driving gear（23）With driven gear（25）Engagement, driven gear shaft（22）One end passes through rolling bearing units（24）It is connected to frame plate（8）Inner side, driven gear shaft（37）On be cased with driven gear（25）With a belt wheel（7）, pass through transmission belt（9）Drive the belt wheel on opposite side driven belt wheel shaft（7）So that driving belt pulley shaft（6）With opposite side driven belt wheel shaft（37）Steering on the contrary, so as to allowing cotton plant to draw in, driven belt wheel shaft（37）One end passes through rolling bearing units（24）It is connected to frame plate（8）Two broadband wheels are connected on inner side, axle（26）, wide transmission belt is connected to driving belt pulley shaft（6）On broadband wheel（26）With the broadband wheel on the driven belt wheel shaft of the same side（26）On, the rubber sleeve with rubber ingot（11）It is enclosed on wide transmission belt（36）On, connecting plate is placed between the wheel of two broadbands.
7. a kind of monocular recognition type cotton top-cutting machine according to claim 1, it is characterised in that described traction includes towing plate with support meanss（14）, frame auxiliary girder（5）And land wheel（1）, lambdoid frame auxiliary girder（14）It is located at the front portion of frame and is bolted on towing plate（14）Front side, towing plate is fixed on the middle part of front-axle beam, frame auxiliary girder（5）With the towing plate of the left and right sides（14）It is connected by trifilar suspension structure with the draw-gear of tractor with pin, two rubber tyres（1）Framework lateral plate is connected to by rotating shaft（17）Even section, plays a supportive role to whole topping machine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610033413.9A CN106982654A (en) | 2016-01-19 | 2016-01-19 | A kind of monocular recognition type cotton top-cutting machine |
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| CN201610033413.9A CN106982654A (en) | 2016-01-19 | 2016-01-19 | A kind of monocular recognition type cotton top-cutting machine |
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| CN109526441A (en) * | 2019-01-24 | 2019-03-29 | 王泓鑫 | A kind of topping machine |
| CN110301247A (en) * | 2019-07-29 | 2019-10-08 | 黄健 | The electric working machine of cotton topping |
| CN110741828A (en) * | 2019-11-27 | 2020-02-04 | 山东理工大学 | Disc knife type cotton topping unmanned aerial vehicle with front standing grain lifting baffle |
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| CN110301247A (en) * | 2019-07-29 | 2019-10-08 | 黄健 | The electric working machine of cotton topping |
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