CN107926263A - Oscillatory type harvesting lotus root equipment and its intelligent control method - Google Patents
Oscillatory type harvesting lotus root equipment and its intelligent control method Download PDFInfo
- Publication number
- CN107926263A CN107926263A CN201611153627.6A CN201611153627A CN107926263A CN 107926263 A CN107926263 A CN 107926263A CN 201611153627 A CN201611153627 A CN 201611153627A CN 107926263 A CN107926263 A CN 107926263A
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- China
- Prior art keywords
- rack
- rotating brushes
- lotus rhizome
- lotus root
- oscillatory type
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D31/00—Other digging harvesters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Harvesting Machines For Root Crops (AREA)
Abstract
The present invention provides a kind of oscillatory type harvesting lotus root equipment and its intelligent control method, which includes hydraulic cylinder I, lifting platform, leakage sieve, rack, rotating brushes, gearbox, hydraulic motor, belt wheel mechanism and crank double rocker mechanism.Power is provided by tractor, equipment is installed on tractor front end, lotus rhizome top layer soil is removed using rotating brushes, coordinates leakage sieve to loosen lotus rhizome deep layer soil, the lotus rhizome for taking off mud is emerged.Its intelligent control method is the pressure change for detecting rotating brushes brush lotus rhizome top layer in real time by pressure sensor, to realize that hairbrush height adaptive is adjusted；The rotating speed of hydraulic motor and power set engine is detected in real time by speed probe at the same time, and realizes the automatic adjusument of rotating speed.The lotus rhizome that the equipment is widely used in artificial lotus field is excavated, it can be achieved that cost-saving synergistic.The popularization and application of equipment will promote the leap of lotus rhizome excavation mode " matter ", and then drive lotus rhizome production, secondary industry, promote agricultural sector structure adjustment.
Description
Technical field
The invention belongs to Machinery Automation technical field, and in particular to oscillatory type harvesting lotus root machine machine intelligence controls
Method.
Background technology
Lotus rhizome is a kind of Ways of Special Agricultural Products good in economic efficiency, edible value is high.With the adjustment of agricultural structure, I
State's lotus rhizome cultivated area constantly expands, ten thousand mu more than 6000.But lotus rhizome is also a kind of difficult agricultural product received of easily kind, it is excavated
Method relies primarily on manually at present, and not only labor intensity is big, and operating environment is severe, and the net rate of digging is low, and lotus root damage is serious, this system
The about development of Lotus Industry.
Domestic harvesting lotus root equipment uses high pressure spray ability of swimming cropper mostly at present, its operation principle is will using water pump
Water in lotus field after filtering pressure-increasing unit to giant, and after the fluid jet nozzle that passes through installed in giant bottom formed and penetrate
Stream, rinses the soil being covered in above lotus rhizome repeatedly, until lotus rhizome emerges automatically.But existing lotus root digging harvester is asked there are following
Topic：1) washed away repeatedly using giant, high energy consumption, activity duration length；2) worker needs underwater operation and giant is not easy
Control, labor intensity is big, technical requirements are high；3) underwater environment is complicated, water circulation filtering system faults frequent.
The content of the invention
Present invention aim to address the deficiency of high pressure spray ability of swimming cropper, there is provided a kind of oscillatory type harvesting lotus root equipment.
To realize that the technical solution that the object of the invention uses is a kind of such, oscillatory type harvesting lotus root equipment, including
Hydraulic cylinder I, lifting platform, leakage sieve, rack, rotating brushes, gearbox, hydraulic motor, belt wheel mechanism and crank double rocker mechanism.
The rack is fixed on the front end of lifting platform.Hydraulic cylinder I is connected with rear side of the lifting platform.The hydraulic cylinder I pushes away
Dynamic lifting platform moves up and down.The gearbox and hydraulic motor are installed in rack.The fluid motor-driven gearbox work.
The rotating brushes is installed in the front end shaft of rack.
The side of the rack is provided with belt wheel mechanism.The belt wheel mechanism includes driving wheel, driven wheel I and conveyer belt.
The output terminal connection of the driving wheel and gearbox, driven wheel I is transferred to by conveyer belt by power.The driven wheel I is installed
In the shaft of rotating brushes.
The leakage sieve is located in the lower section of rack, it is connected with rack by crank double rocker mechanism.The leakage sieve is flat
Face net structure, its front end carry sawtooth.The crank double rocker mechanism includes crank, connecting rod, rocking bar I and rocking bar II.Institute
The output terminal for stating crank and gearbox connects.One end of the connecting rod is hinged with crank, and the other end is hinged on the E points of Lou sieve.Institute
The one end and rack for stating rocking bar I are hinged, and the other end is hinged on the E points of Lou sieve.The rocking bar II is arranged in parallel with rocking bar I, it
One end is hinged with rack, and the other end and leakage sieve are hinged.
Further, the belt wheel mechanism further includes another driven wheel II.The driven wheel II is fixed on the defeated of hydraulic cylinder II
Outlet.The hydraulic cylinder II is installed in rack, and the hydraulic cylinder II adjusts driven wheel II and moves up and down.
Further, which is installed on the front end of farm tractor.
Further, the amplitude range of the leakage sieve is 20~40mm.
Based on a kind of above-mentioned oscillatory type harvesting lotus root equipment, the present invention also provides a kind of intelligence of oscillatory type harvesting lotus root equipment
Energy control method, including pressure sensor, speed probe, adjustable height control module, operating speed control module, microcontroller
Controller.
The pressure on the pressure sensor detection rotating brushes brush lotus rhizome top layer.The speed probe detects hydraulic pressure horse
The output speed and the rotating speed of power set engine reached.
During operation, the engine rotational speed signal detected, hydraulic motor rotary speed signal and rotating brushes pressure signal are passed
It is handed to singlechip controller.If singlechip controller detects that their numerical value transfinites, liter is passed through using FUZZY ALGORITHMS FOR CONTROL
Drop height control module and operating speed control module adjust rotating brushes height and hydraulic motor rotary speed respectively.
The operation principle of the present invention：
The devices such as the baby tractor being had by oneself by farmer provide power, and the equipment of the present invention is installed on power set
Front end, lotus rhizome top layer soil is removed using rotating brushes, then coordinates leakage sieve to loosen lotus rhizome deep layer soil, and then makes to take off mud
Lotus rhizome emerges automatically.The equipment detects the pressure change on rotating brushes brush lotus rhizome top layer by pressure sensor in real time,
To realize that hairbrush height adaptive is adjusted；Meanwhile detect Lou sieve, hydraulic motor and power set in real time by speed probe and send out
The rotating speed of motivation, and realize the automatic adjusument of rotating speed.
The solution have the advantages that unquestionable, of the invention oscillatory type harvesting lotus root equipment, can make full use of
The existing tractor of farmer realizes the intelligence excavation of artificial lotus field lotus rhizome as power source in a manner of efficient, energy saving.The machine
Tool is high without spcific power, operating efficiency；Dig lotus root personnel and drop down mud without lower water, operating condition can be effectively improved, it is strong to reduce work
Degree；Meanwhile lotus rhizome damage can be effectively reduced, and improve and dig net rate.The lotus rhizome excavation of artificial lotus field is widely used in, it can be achieved that section
This synergy.
Brief description of the drawings
Fig. 1 is the implement structure schematic diagram of the present invention.
Fig. 2 is the structure diagram of Fig. 1 other directions.
Fig. 3 is the schematic diagram of mechanism of crank double rocking lever structure.
Fig. 4 is the schematic diagram that the present invention is installed on tractor.
Fig. 5 is the overview flow chart of intelligence control system.
Fig. 6 is the specific control flow chart of intelligence control system.
In figure：Hydraulic cylinder I 1, lifting platform 2, leakage sieve 3, rack 4, rotating brushes 5, gearbox 6, hydraulic motor 7, band turbine
Structure 8, driving wheel 801, driven wheel I 802, conveyer belt 803, driven wheel II 804, crank double rocker mechanism 9, crank 901, connecting rod
902nd, rocking bar I 903, rocking bar II 904, hydraulic cylinder II 10.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples, but should not be construed the above-mentioned theme of the present invention
Scope is only limitted to following embodiments.Without departing from the idea case in the present invention described above, known according to ordinary skill
Knowledge and customary means, make various replacements and change, should all include within the scope of the present invention.
Referring to Fig. 1 and Fig. 2, the present embodiment provides a kind of oscillatory type harvesting lotus root equipment, including hydraulic cylinder I 1, lifting platform 2,
Leakage sieve 3, rack 4, rotating brushes 5, gearbox 6, hydraulic motor 7, belt wheel mechanism 8 and crank double rocker mechanism 9.
The rack 4 is fixed on the front end of lifting platform 2.The rear side of the lifting platform 2 is connected with hydraulic cylinder I 1.The present embodiment
In, as shown in figure 4, the equipment is installed on the front end of farm tractor, the hydraulic cylinder I 1 is fixed on the front end of tractor, and liquid
Cylinder pressure I 1 promotes lifting platform 2 to move up and down, so that the working depth of the rack 4 also adjusted, to ensure the leakage sieve 3 of the lower section of rack 4
Driving depth is constant.
The gearbox 6 and hydraulic motor 7 are installed in rack 4.The hydraulic motor 7 drives gearbox 6 to work, so that
Crank double rocker mechanism 9 and belt wheel mechanism 8 is driven to move.The rotating brushes 5 is installed in the front end shaft of rack 4.
The side of the rack 4 is provided with belt wheel mechanism 8.The belt wheel mechanism 8 includes driving wheel 801, driven wheel I 802
With conveyer belt 803.The driving wheel 801 is connected with the output terminal of gearbox 6, is transferred to power by conveyer belt 803 driven
Take turns I 802.The driven wheel I 802 is installed in the shaft of rotating brushes 5.The rotation of the driven wheel I 802, which will drive, rotates hair
Brush 5 is rotated with identical angular speed.The belt wheel mechanism 8 further includes driven wheel II 804.Hydraulic cylinder I 1 promotes lifting platform about 2
Mobile, the driven wheel II 804 is fixed on the output terminal of hydraulic cylinder II 10；The hydraulic cylinder II 10 is installed in rack 4, described
Hydraulic cylinder II 10 adjusts driven wheel 804 and moves up and down, to ensure that belt wheel mechanism 8 works normally.
The leakage sieve 3 is located in the lower section of rack 4, it is connected with rack 4 by crank double rocker mechanism 9.The leakage sieve 3
For plane mesh structure, its front end carries sawtooth.The crank double rocker mechanism 9 includes crank 901, connecting rod 902, rocking bar I
903 and rocking bar II 904.The crank 901 is connected with the output terminal of gearbox 6.Cut with scissors with crank 901 one end of the connecting rod 902
Connect, the other end is hinged on the E points of Lou sieve 3.One end of the rocking bar I 903 is hinged with rack 4, and the other end is hinged on the E of Lou sieve 3
Point.The rocking bar II 904 is arranged in parallel with rocking bar I 903, its one end is hinged with rack 4, and the other end and leakage sieve 3 are hinged.
Referring to Fig. 3, for the schematic diagram of mechanism of crank double rocker mechanism 9, wherein A, B, C is the hinge in rack 4, and E, F are leakage
Hinge on sieve 3, L3 represent crank 901, and L4 represents connecting rod 902, and L6, L7 represent two rocking bars I 903 being parallel to each other and shake respectively
Bar II 904.During this city is implemented, material of the steel alloy as crank double rocker mechanism 9 is selected.Specifically, L1=300mm, L2=
381.4mm, L3=58.6mm, L4=564mm, L5=300mm, L6=300mm, L7=390mm.Its limit of sports record position angle
Degree：A1=81.86 °, a2=107.62 °, pivot angle is 25.77 °, amplitude 41mm.
In addition as shown in figure 5, being intelligence control system overall structure, oscillatory type harvesting lotus root equipment needs really before operation
Determine the job position of rotating brushes and leakage sieve, intelligence control system mainly includes pressure sensor, speed probe, adjustable height
Control module, operating speed control module, singlechip controller etc., rotating brushes brush lotus is detected by pressure sensor in real time
The pressure change on lotus root top layer, to realize the automatic adjusument of hairbrush height；Vibrating screen is detected in real time by speed probe at the same time
The rotating speed of hydraulic motor and power set engine, and realize the automatic adjusument of rotating speed.
Main hardware selected as singlechip controller, touch-screen display and signal measurement module.
Singlechip controller：The intelligence control system of the present invention uses fuzzy control, and the selection of its controller depends primarily upon
The complexity of control system, control accuracy, the requirement for controlling height and the speed of service, the intelligent control fuzzy logic are clearly clear
It is clear, therefore select processor of single chip computer to be met the requirements as controller.
Touch-screen display：According to oscillatory type intelligence Implement for digging Lotus roots working environment selection it is waterproof it is dust-proof, suitable for open air
Touch-screen display, it is desirable to take into account light-filtering characteristic, the strength of materials and toughness, while effectively prevent external impacts, under strong light
Still possess good display effect, while do not influence signal transmission, the clear specific data for reacting each parameter under job state,
And working curve stationarity.
Signal measurement module：Rotating brushes pressure signal, hydraulic motor rotary speed signal when control system needs Collecting operation
And engine rotational speed signal.Pressure signal can be selected pressure sensor and measure, and judge rotating brushes work by pressure curve
Make height；Hall sensor can be selected in tach signal, measures pulse output signals, and rotating speed is realized through processor conversion pulse signal
Measurement.
Specific control flow is illustrated in figure 6, enters init state after control system start, checks that predefined parameter is set
Whether accurate, proceed by lotus root-digging out operation if putting, work hours are 0.1s according to the sampling period, gathers rotating brushes pressure letter respectively
Number, hydraulic motor and engine rotational speed signal, obtain relevant parameter curve, according to the parameter threshold of setting judge pressure signal and
Whether tach signal transfinites, if pressure exceedes limit value, calls FUZZY ALGORITHMS FOR CONTROL adjustment hairbrush height；If rotating speed exceedes ginseng
Number limit value, then call the rotating speed of FUZZY ALGORITHMS FOR CONTROL adjustment hydraulic motor.
Claims (5)
- A kind of 1. oscillatory type harvesting lotus root equipment, it is characterised in that：Including hydraulic cylinder I (1), lifting platform (2), leakage sieve (3), rack (4), rotating brushes (5), gearbox (6), hydraulic motor (7), belt wheel mechanism (8) and crank double rocker mechanism (9)；The rack (4) is fixed on the front end of lifting platform (2)；Hydraulic cylinder I (1) is connected with rear side of the lifting platform (2)；The liquid Cylinder pressure I (1) promotes lifting platform (2) to move up and down；The gearbox (6) and hydraulic motor (7) are installed in rack (4)；It is described Hydraulic motor (7) driving gearbox (6) work；The rotating brushes (5) is installed in the front end shaft of rack (4)；The side of the rack (4) is provided with belt wheel mechanism (8)；The belt wheel mechanism (8) includes driving wheel (801), driven wheel I (802) and conveyer belt (803)；The driving wheel (801) is connected with the output terminal of gearbox (6), will by conveyer belt (803) Power is transferred to driven wheel I (802)；The driven wheel I (802) is installed in the shaft of rotating brushes (5)；The leakage sieve (3) is located in the lower section of rack (4), it is connected with rack (4) by crank double rocker mechanism (9)；It is described Leakage sieve (3) is plane mesh structure, its front end carries sawtooth；The crank double rocker mechanism (9) includes crank (901), connects Bar (902), rocking bar I (903) and rocking bar II (904)；The crank (901) is connected with the output terminal of gearbox (6)；The connecting rod (902) one end is hinged with crank (901), and the other end is hinged on the E points for Lou sieving (3)；One end of the rocking bar I (903) and machine Frame (4) is hinged, and the other end is hinged on the E points for Lou sieving (3)；The rocking bar II (904) is arranged in parallel with rocking bar I (903), its one End is hinged with rack (4), and the other end is hinged with leakage sieve (3).
- A kind of 2. oscillatory type harvesting lotus root equipment according to claim 1, it is characterised in that：The belt wheel mechanism (8) is also Including driven wheel II (804)；The driven wheel II (804) is fixed on the output terminal of hydraulic cylinder II (10)；The hydraulic cylinder II (10) it is installed in rack (4), the hydraulic cylinder II (10) adjusts driven wheel II (804) and moves up and down.
- A kind of 3. oscillatory type harvesting lotus root equipment according to claim 1, it is characterised in that：The device is installed on agricultural drag The front end of machine drawing.
- A kind of 4. oscillatory type harvesting lotus root equipment according to claim 1, it is characterised in that：The amplitude of the leakage sieve (3) Scope is 20~40mm.
- A kind of 5. intelligent control method of oscillatory type harvesting lotus root equipment, it is characterised in that：Including pressure sensor, revolution speed sensing Device, adjustable height control module, operating speed control module, singlechip controller；The pressure on described pressure sensor detection rotating brushes (5) brush lotus rhizome top layer；The speed probe detects hydraulic pressure horse Up to the output speed of (7) and the rotating speed of power set engine；During operation, by the engine rotational speed signal detected, hydraulic motor rotary speed signal and rotating brushes pressure signal transmission extremely Singlechip controller；If singlechip controller detects that their numerical value exceedes threshold value, liter is passed through using FUZZY ALGORITHMS FOR CONTROL Drop height control module and operating speed control module adjust rotating brushes height and hydraulic motor rotary speed respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611153627.6A CN107926263A (en) | 2016-12-14 | 2016-12-14 | Oscillatory type harvesting lotus root equipment and its intelligent control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611153627.6A CN107926263A (en) | 2016-12-14 | 2016-12-14 | Oscillatory type harvesting lotus root equipment and its intelligent control method |
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| CN107926263A true CN107926263A (en) | 2018-04-20 |
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| CN201611153627.6A Pending CN107926263A (en) | 2016-12-14 | 2016-12-14 | Oscillatory type harvesting lotus root equipment and its intelligent control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108668600A (en) * | 2018-06-29 | 2018-10-19 | 衡东县鸿达湘莲种植专业合作社 | A kind of lotus rhizome excavating gear |
| CN110999622A (en) * | 2019-12-10 | 2020-04-14 | 华中农业大学 | Lotus root digging ship based on mechanical arm and lotus root digging method |
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| CN106134611A (en) * | 2016-08-11 | 2016-11-23 | 福建农林大学 | Use potato picker and the method for work thereof of reverse dual shale shaker |
| CN206341599U (en) * | 2016-12-14 | 2017-07-21 | 重庆理工大学 | Oscillatory type harvesting lotus root equipment |
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| CN201947659U (en) * | 2010-12-28 | 2011-08-31 | 张掖市锦世农业股份有限公司 | Deep rhizome plant excavator |
| CN104303696A (en) * | 2014-10-13 | 2015-01-28 | 孟海峰 | Lotus root digging machine |
| CN204539930U (en) * | 2015-02-13 | 2015-08-12 | 青岛理工大学 | A kind of ginger cleaning quantitatively vanning and crushed stalk briquetting combined harvester |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108668600A (en) * | 2018-06-29 | 2018-10-19 | 衡东县鸿达湘莲种植专业合作社 | A kind of lotus rhizome excavating gear |
| CN110999622A (en) * | 2019-12-10 | 2020-04-14 | 华中农业大学 | Lotus root digging ship based on mechanical arm and lotus root digging method |
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