CN107960190A - The intelligent self-propelled broken climing machine of sweet potato - Google Patents
The intelligent self-propelled broken climing machine of sweet potato Download PDFInfo
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- CN107960190A CN107960190A CN201810029144.8A CN201810029144A CN107960190A CN 107960190 A CN107960190 A CN 107960190A CN 201810029144 A CN201810029144 A CN 201810029144A CN 107960190 A CN107960190 A CN 107960190A
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- rack
- sweet potato
- steering
- broken climing
- cutter shaft
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D23/00—Topping machines
- A01D23/02—Topping machines cutting the tops before being lifted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
- A01D33/06—Haulm-cutting mechanisms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
- A01D33/14—Lifting or lowering mechanisms for the tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D23/00—Topping machines
- A01D23/02—Topping machines cutting the tops before being lifted
- A01D2023/026—Devices with movable knives for topping, e.g. rotatable cutting disks
- A01D2023/028—Cutters rotating around a shaft forming a cutting rotor
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The present invention relates to a kind of intelligent self-propelled broken climing machine of sweet potato, includes connecting the rack of driving device（1）, the rack（1）Broken climing device is equipped with, the broken climing device includes being rotatably connected on rack（1）On protective cover（15）, the protective cover（15）Inside it is equipped with and protective cover（15）The cutter shaft of rotation connection（37）, the cutter shaft（37）Driven by driving device and be hinged with flail knife vertically（26）.The present invention can reduce destruction to furrow seedling vine, improve furrow seedling vine elimination efficiency；Ridge shape intelligent control technology, the self-propelled Navigation Control technology of imitative ridge shape are imitated using broken climing height, can ensure seedling vine crush efficiency and reduce potato-damaging rate, mitigate labor intensity.
Description
Technical field
The present invention relates to intelligent agricultural machinery equipment technology field, and in particular to a kind of intelligent self-propelled broken climing machine of sweet potato.
Background technology
Sweet potato is that one kind is overgrow type ridge culture planting crop, its seedling vine sprawl growth, Stagger-wrap, yield are big, per per mu yield
More than 2000 kilograms.The plantation ridge spacing of domestic sweet potato is all at 85 centimetres or so, high 22 centimetres or so of ridge, harvest substantially
Facilitate subsequent artefacts to excavate or machine harvest, it is necessary to by potato on furrow, ridge face it is climing remove it is clean.
The country's broken climing machinery of sweet potato is mostly purely mechanic on the basis of potato seedling killing machine or straw chopping and returning machine at present
Repacking, i.e., using the back suspended single ridge of large and medium-sized four-wheel tractor configuration or more row spacing width implements, then hang
For the broken climing machine of formula in farm work, front tractor can roll seedling vine, destroy the upward normal growth of seedling vine, influence broken climing effect
Fruit.Its there are the problem of mainly have：
（1）Seedling vine Crushing ratio is relatively low, the height for the stubble left is larger；
（2）Furrow seedling vine clearance rate is low；
（3）Potato-damaging rate height etc..
The main reason for producing these problems is that the broken climing machinery of domestic sweet potato is mostly in potato seedling killing machine or straw powder
Purely mechanic repacking on the basis of broken chopper, it is unactual with reference to sweet potato plantation agronomy, seedling vine growth characteristic and field
The factors such as situation and carry out intelligentized design.
Not yet there is a kind of broken climing machinery of intelligentized sweet potato in the country, and the processing of sweet potato seedling vine still manually cut off more by use.
Therefore, with the aggravation of China rural laborer structural shortage contradiction, the broken climing machine of intelligent sweet potato with strong applicability is researched and developed
Tool has been extremely urgent.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of intelligent self-propelled broken climing machine of sweet potato, can reduce to ridge
The destruction of ditch seedling vine, improve furrow seedling vine elimination efficiency；It is self-propelled that ridge shape intelligent control technology, imitative ridge shape are imitated using broken climing height
Navigation Control technology, can ensure seedling vine crush efficiency and reduce potato-damaging rate, mitigate labor intensity.
The present invention is achieved through the following technical solutions：
A kind of intelligent self-propelled broken climing machine of sweet potato is provided, includes the rack of connection driving device, the rack is equipped with broken
Climing device, the broken climing device include being rotatably connected on protective cover in rack, are equipped with the protective cover and protective cover
The cutter shaft of rotation connection, the cutter shaft are driven by driving device and are hinged with flail knife vertically.
The rotatable cutter shaft set in rack, by axially setting flail knife, is rotated to sweet on ridge by flail knife
It is climing to be cut, realize and seedling vine is crushed, improve furrow seedling vine elimination efficiency.
Further, guide control device is further included, the guide control device includes navigation controller, and by navigating
Guider, copying device, cutter shaft adjusting device and the driving device of controller control.
Navigation controller controls driving device driving device overall operation, and guider is used for the side of control device entirety
To copying device is used for the change for gathering landform and eventually for the action for controlling to adjust cutter shaft adjusting device.
Further, the guider includes being connected to below the front beam both ends of rack by steering axes
Directive wheel, is fixed with the cover plate positioned at directive wheel top in the steering spindle, steering beam is fixed between the cover plate,
The middle part of the steering beam and one end of the steering link of square are hinged, the other end of the steering link and connection
The steering push rod for having steering engine is hinged, and the steering link is cut with scissors in right angle by the bottom of rotation axis and the front beam of rack
Connect.
Steering engine pulls steering push rod to move backward, and steering link is rotated counterclockwise relative to rotation axis, and steering link drives
Steering beam is oriented to Wheelhouse panel and drives directive wheel to be rotated counterclockwise relative to directive wheel mounting base, so that leading to left movement
The function of turning to the left is realized to device；Steering engine promotes steering push rod to travel forward, and steering link is clockwise relative to rotation axis
Rotate, steering link drives steering beam to move right, and is oriented to Wheelhouse panel and drives directive wheel relative to directive wheel mounting base up time
Pin rotates, so that guider realizes the function of turning to the right.
Further, the steering engine is fixed in the fixed link between the front beam of rack and middle cross beam.
Further, the copying device includes the rocking arm that both ends are respectively equipped with shaft, and the shaft at both ends is parallel to each other
And it is vertical with rocking arm, shaft and the rack axis of one end connect, and contour wheel is provided with the shaft of the rocking arm other end.
Further, it is provided with the shaft of contour wheel and is connected with absolute value rotary encoder, absolute value rotation
Turn encoder to be electrically connected with the input terminal of navigation controller, the navigation controller output terminal is electrically connected with steering engine.
Contour wheel is close to the walking of ridge face, and when ridge face raises suddenly, rocking arm and the angle in rack direction can be less than initial angle
Degree, when ridge face reduces suddenly, rocking arm and the angle in rack direction can be more than initial angle, and information gathering part can be from absolute value
The angle that corresponding moment input shaft is turned over is read in rotary encoder.Absolute value rotary encoder gathers signal by information gathering
Portion collection, and pass to navigation controller；Navigation controller completes the analysis for the signal that information gathering part is sent with sentencing
It is disconnected, and control signal is passed into steering engine.
Further, the cutter shaft adjusting device includes the hydraulic cylinder for being connected with hydraulic device, described hydraulic cylinder one end
It is connected with rack and its other end is connected with away from protective cover with the protective cover of gantry rotation point side.
Protective cover carries out rise and fall action by the effect of hydraulic cylinder, imitative ridge shape effect is realized, easy on cutter shaft
Flail knife climing is cut to sweet.
Further, the hydraulic device is electrically connected with navigation controller.
Further, it is rotatablely connected between the cutter shaft and protective cover by bearing, described cutter shaft one end passes through anti-
The bearing of shield side simultaneously passes through transition of first belt with rotation in rack by key connection big belt wheel, the big belt wheel
Wheel connection, the transition wheel are connected by the small pulley of the second belt and the output shaft of driving device, the driving device
It is fixed on the chassis of installation traveling wheel, the chassis is fixedly connected with rack.
Cutter shaft by the small pulley of driving device by transition wheel passing power, for driving flail knife climing to be cut to sweet
Cut.
Preferably, the cutter shaft is hinged the length of flail knife and flail knife base among cutter shaft to two by flail knife base
Side is progressively longer, and the cutter head of the flail knife interlocks symmetric arrays for the axial direction of Y types knife and flail knife in cutter shaft in double helix.
Flail knife distribution form realizes the imitative ridge shape sweet potato seedling vine crushing effect of broken climing device, and flail knife head uses y-type structure
Good crushing effect, sweet potato seedling vine is cut off when rotating at a high speed and brings into broken climing device cavity to carry out crushing cutter shaft again driving get rid of
Knife rotate carry out it is broken climing.
Compared with prior art, the beneficial effects of the invention are as follows：
First, using traveling wheel in rear, directive wheel in preceding, broken climing retracting device overall structure form placed in the middle, reduce engine
Destruction to furrow seedling vine, improves furrow seedling vine clearance rate.
2nd, directive wheel promotes the function of turning to push rod and realize steering using steering engine, has the advantages of simple structure and easy realization self-propelled lead
Boat control.
3rd, the flail knife of y-type structure form interlocks symmetric arrays in double helix, meets sweet potato plantation agriculture requirement, and at a high speed
Dynamic balancing can be realized during rotation, Oscillation Amplitude is smaller, and seedling vine Crushing ratio is higher.
4th, flail knife, which is highly adjusted, is adjusted whole broken climing device using hydraulic pressure execution structure, overcomes and rotates at a high speed
Cutter shaft vibration produce influence, adjustment process safety, stabilization.
5th, coordinate the adjusting of absolute value encoder and navigation controller by contour wheel, ensure flail knife with the top of the face of ridge away from
From remaining unchanged, realize that the seedling vine height for the stubble left is consistent, while greatly reduce potato-damaging rate.
6th, the imitative ridge shape automatically walk of realization device entirety, further ensures seedling vine crushing effect and reduces potato-damaging rate,
Also significantly reduce labor intensity.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the left view of the present invention；
Fig. 4 is the top view of the present invention；
Fig. 5 is the cutter shaft of the present invention and the structure diagram of flail knife；
Fig. 6 is the structure diagram of the hydraulic device of the present invention；
Fig. 7 is the structure diagram of the rack directive wheel of the present invention；
Fig. 8 is the schematic diagram of the hydraulic device of the present invention；
Fig. 9 is the work flow diagram of the present invention；
Figure 10 is the structure diagram of the control circuit of the present invention；
Figure 11 is the control system general principles figure of the present invention；
Shown in figure：
1st, rack, 2, cover plate, 3, directive wheel, 4, absolute value rotary encoder, 5, big belt wheel, 6, expansion tightening wheel, 7, chassis, 8, belt wheel
Rack, 9, navigation controller, 10, traveling wheel, 11, engine, 12, hydraulic device, 13, power supply, 14, fuel tank, 15, protective cover,
16th, hydraulic cylinder, 17, front beam, 18, steering beam, 19, oil outlet, 20, oil inlet, 21, steering engine, 22, turn to push rod, 23, shake
Arm, 24, wheel of following an example, 25, mounting base, 26, flail knife, the 27, first belt, 28, transition wheel, the 29, second belt, 30, small pulley,
31st, hydraulic pump, 32, flow divider, 33, combiner valve, 34, bearing, 35, motor, 36, hinge, 37, cutter shaft, 38, flail knife base, 39,
Oil inlet pipe, 40, flowline, 41, hydralic pressure gauge, 42, electromagnetism three position four-way directional control valve, 43, speed governing valve, 44, hinged seat, 45, turn to
Connecting rod, 46, steering spindle, 47, middle cross beam.
Embodiment
In order to clarify the technical characteristics of the invention, below by embodiment, this programme is illustrated.
As shown in figure 3, a kind of intelligent self-propelled broken climing machine of sweet potato, includes connecting the rack 1 of driving device, the machine
Frame 1 is equipped with broken climing device, and the broken climing device includes the protective cover 15 being rotatably connected in rack 1, the protective cover
The cutter shaft 37 being rotatablely connected with protective cover 15 is equipped with 15, the cutter shaft 37 is driven and is hinged with vertically by driving device and got rid of
Knife 26.
The intelligent self-propelled broken climing machine of sweet potato further includes guide control device, and the guide control device includes Navigation Control
Device 9, and guider, copying device, cutter shaft adjusting device and the driving device controlled by navigation controller 9.
As shown in fig. 7, guider includes being connected to leading below 17 both ends of front beam of rack 1 by steering axes
To wheel 3, the cover plate 2 positioned at 3 top of directive wheel is fixed with the steering spindle, it is horizontal that steering is fixed between the cover plate 2
One end of beam 18, the middle part of the steering beam 18 and the steering link 45 of square is hinged, the steering link 45
The other end and the steering push rod 22 for being connected with steering engine 21 are hinged, and the steering link 45 passes through rotation axis and rack in right angle
The bottom of 1 front beam 17 is hinged.Wherein, the steering engine 21 is fixed between the front beam 17 of rack 1 and middle cross beam 47
In fixed link.
The present invention realizes the course of work turned to：Steering engine 21 promotes steering push rod 22 to travel forward, and steering link 45 is opposite
Rotated clockwise in steering beam 18, steering link 45 drives steering beam 18 to move right, and cover plate 2 drives directive wheel 3 opposite
Rotated clockwise in directive wheel mounting base, realize the function of turning to the right；Steering engine 21 pulls steering push rod 22 to move backward, turns to
Connecting rod 45 is rotated counterclockwise relative to steering beam 18, and steering link 45 drives steering beam 18 to drive and lead to left movement, cover plate 2
Rotated counterclockwise to wheel 3 relative to directive wheel mounting base, realize the function of turning to the left.
As shown in figure 3, the copying device includes the rocking arm 23 that both ends are respectively equipped with shaft, the shaft at both ends is mutually flat
Go and vertical with rocking arm 23, the shaft and 1 axis of rack of 23 one end of rocking arm connect, and contour wheel is provided with the shaft of 23 other end of rocking arm
24。
It is provided with the shaft of contour wheel 24 and is connected with absolute value rotary encoder 4, the absolute value rotary encoder 4
It is electrically connected with the input terminal of navigation controller 9, the output terminal of the navigation controller 9 is electrically connected with steering engine 21.
Wherein, in the present embodiment, the radius of contour wheel 24 be 5 centimetres, wheel rim for 1 centimetre, contour wheel 24 passes through one
Root transverse axis and one end of rocking arm 23 are installed together, and the other end of rocking arm 23 uses interference fit and bearing by an output shaft
Inner ring nests together, and absolute value rotary encoder 4 is installed on the opposite side of bearing；Contour wheel 24 is close to the walking of ridge face, works as ridge
When face raises suddenly, the angle in rocking arm 23 and 1 direction of rack can be less than initial angle, when ridge face reduces suddenly, rocking arm 23 and
The angle in 1 direction of rack can be more than initial angle, and the information gathering part of control circuit can be read from absolute value rotary encoder 4
Go out the angle that corresponding moment input shaft is turned over.
As shown in figure 3, cutter shaft adjusting device includes the hydraulic cylinder 16 for being connected with hydraulic device 12, described 16 one end of hydraulic cylinder
It is connected with rack 1 and its other end is connected with away from protective cover 15 with the protective cover 15 of 1 run-on point side of rack.The protection
The front end of cover 15 is hinged by mounting base 25 and the cylinder body of hydraulic cylinder 16 respectively in 1 both sides of rack, and one kind as the present invention is real
Apply mode, inclined 45 DEG C of 25 forward upward of mounting base of the left and right sides on protective cover 15 tiltedly stretches out and hinged oblique by leveling screw
Downward 16 cylinder body of hydraulic cylinder, the piston rod of the hydraulic cylinder 16 is hinged with the middle cross beam 47 of rack 1 respectively downwards, described
Hydraulic cylinder 16 is connected with the hydraulic device 12 being fixed in rack 1, and the rear end of the protective cover 15 passes through hinge 36 and rack 1
It is hinged.
As shown in fig. 6, wherein hydraulic device 12 includes hydraulic power unit, flow divider 32, combiner valve 33 and oil line pipe.It is described
Hydraulic power unit in main hydraulic include：Motor 35, hydraulic pump 31, fuel tank 14, overflow valve, throttle valve, check valve, liquid
Press table 41, electromagnetism three position four-way directional control valve 42, speed governing valve 43 and hydraulic retarder.The base of hydraulic power unit is installed on using bolt
In rack 1, the fuel tank 14 of hydraulic power unit is close to rack 1 and is installed, the upside of fuel tank 14 installation hydraulic pump 31, motor 35,13 and of power supply
Hydraulic controller；Main integrated hydraulic device in hydraulic controller；Two 16 bottoms of hydraulic cylinder pass through leveling screw and rack 1
Hinged seat 44 on middle cross beam 47 is hinged, and the upper end of two hydraulic cylinders 16 passes through the hydraulic pressure on leveling screw and broken climing device side plate
16 upper end mounting base 25 of cylinder is hinged, and the upper and lower ends of two hydraulic cylinders 16 install oil inlet pipe 39 and flowline 40 respectively；Two into
Oil pipe 39 is convergeed at one by a flow divider 32, synthesizes an oil inlet pipe 39, this root oil inlet pipe 39 and electromagnetism 3-position 4-way
Reversal valve 42 is connected；Two flowlines 40 are convergeed at one by a combiner valve 33, synthesize a flowline 40, this root is fuel-displaced
Pipe 40 is connected with electromagnetism three position four-way directional control valve 42.
The course of work of hydraulic device 12：Motor 35 in hydraulic power unit provides power for hydraulic system, and motor 35 drives
31 pump oil of hydraulic pump, hydraulic oil flow through oil inlet pipe 39 and enter hydraulic cylinder, make hydraulic cylinder works, and hydraulic oil flows through flowline 40 and enters
Fuel tank 14；Speed governing valve receives the output signal of control circuit, and carries out throttle grverning to oil circuit, can change executive component hydraulic cylinder
Operating rate；Electromagnetism three position four-way directional control valve 42 receives the output signal of control circuit, and controls hydraulic pressure oil stream direction, changes
The direction of motion of hydraulic cylinder.
Above-mentioned protective cover 15 using being in semi-cylindrical form shell, shroud the top of broken climing device, arranged on left and right sides and
Forward and backward face, is rotatablely connected between the cutter shaft 37 and protective cover 15 by bearing 34, and described 37 one end of cutter shaft passes through protection
Cover the bearing 34 of 15 sides and by key connection big belt wheel 5, its other end used transition cooperation and 15 opposite side of protective cover
Bearing 34 it is nested, the big belt wheel 5 is connected by transition wheel 28 of first belt 27 with rotation in rack 1, described
Expansion tightening wheel 6 is fixed between side on protective cover 15 on first belt 27.Broken climing device is lifted upwards when hydraulic cylinder 16 works
In the case of liter or falls downward, expansion tightening wheel 6 causes the first belt 27 to be in tensioning state all the time, so that ensure transmission efficiency,
Improve the efficiency that broken climing device crushes sweet potato seedling vine.
The transition wheel 28 is connected by the second belt 29 with the small pulley 30 of the output shaft of driving device, the drive
Dynamic device is fixed on the chassis 7 of installation traveling wheel 10, and the chassis 7 is fixedly connected with rack 1.
Composition one embodiment of the present invention, a belt wheel rack 8 is installed in rack 1, two are installed in belt wheel rack 8
Group transition wheel 28, driving device use engine 11, and the small pulley 30 on its output shaft is driven power by the second belt 29
Pass to the transition wheel 28 in belt wheel rack 8, the transition wheel 28 in belt wheel rack 8 is imparted power to by the first belt 27
The big belt wheel 5 of power is received on cutter shaft 37.The expansion tightening wheel 6 is installed on the top of the first belt 27 transmission, is close to all the time
Side belt；Broken climing device when hydraulic cylinder 16 works upwards lifting or falls downward in the case of, expansion tightening wheel causes belt all the time
In tensioning state, so as to ensure transmission efficiency, the efficiency that broken climing device crushes sweet potato seedling vine is improved.
Broken climing device is to drive flail knife 26 to rotate by horizontal cutter shaft 37 to carry out broken climing, the circumferential welding of cutter shaft 37
Flail knife base 38, flail knife 26 are handed in 38 head of flail knife base, flail knife 26 by bolted splice in the axial direction of cutter shaft 37 in double helix
Wrong symmetric arrays, 38 length of flail knife base among cutter shaft 37 is than positioned at the long of 37 arranged on left and right sides flail knife base 38 of cutter shaft
Spend it is short, it is most short positioned at middle 38 length of flail knife base, be longest positioned at the most both ends flail knife base 38 of cutter shaft 37, on cutter shaft 37
38 length of flail knife base of welding gradually increases from centre to both sides, and the imitative ridge shape sweet potato seedling vine for being achieved in broken climing device crushes
Effect.
Flail knife 26 uses Y type knives, and the afterbody of flail knife 26 is hinged using bolt and the flail knife base 38 on cutter shaft 37, flail knife 26
Head uses y-type structure.Y type knife good crushing effects, when rotating at a high speed, sweet potato seedling vine are cut off and is brought into broken climing device cavity
Crushed again.
The control circuit mainly includes information gathering part, information processing part, message output module and energy and supplies
Answer part；Information gathering part is used to gather broken climing machine directive wheel angular signal and speed signal, and signal is passed to information
Process part；Information processing part is mainly according to current deviation between broken climing machine real time position and destination path, is calculated down
2 corner of directive wheel and the speed of travel at one moment；Message output module passes to control signal in hydraulic lifting control system
Hydraulic power unit system in motor 35, speed governing valve 43 and electromagnetism three position four-way directional control valve 42；Predominantly believe energy supply part
Breath collecting part, information processing part and message output module are powered.The energy supply part is 24V lead electric power storages
Pond, for powering for hydraulic controller, navigation controller, each sensor, alignment system and other correlation modules.
The control circuit is integrated in the navigation controller 9 in rack 1, is according to path between original field
Automatically walk of the broken climing machine between field provides control instruction.Navigation controller 9 in the present invention is mono- using STM32F103ZET6
Piece machine exports signal to control each executive component.The information gathering part is mainly before broken climing machine work, by sweet potato
The path that field length, width and machine are walked in field is remembered into line trace, and the routing information of memory is stored in
In STM32F103ZET6 microcontrollers.
The intelligent self-propelled broken climing machine of sweet potato is in field during operation, when contour wheel 24 is close to the walking of ridge face：
When ridge face raises suddenly, the angle in rocking arm 23 and 1 direction of rack can be less than initial angle, and information gathering part can be from exhausted
To reading angle that corresponding moment input shaft turned in value rotary encoder 4 and signal being passed to information processing part, believe
Breath process part is mainly used for completing the analysis and judgement of the signal that information gathering part is sent, and control signal is passed to
Message output module, message output module include the motor 35 in the hydraulic power unit system in hydraulic lifting control system, speed governing
Valve 43 and electromagnetism three position four-way directional control valve 42；Motor receives the output signal of control system, starts to work, and drives hydraulic pump 31 to pump
Oil, hydraulic oil flow through oil inlet pipe 39 and enter hydraulic cylinder, make hydraulic cylinder works, and speed governing valve 43 receives the output signal of control system,
And throttle grverning is carried out to oil circuit, the operating rate of executive component hydraulic cylinder can be changed, electromagnetism three position four-way directional control valve 42 receives
The output signal of control system, and control hydraulic oil to flow to oil inlet pipe 39, hydraulic oil flow into hydraulic cylinder, hydraulic cylinder and then will be broken climing
Device jacks up.
When ridge face reduces suddenly, rocking arm 23 and the angle in 1 direction of rack can be more than initial angle, the information of control system
Collecting part can read the angle that corresponding moment input shaft is turned over from absolute value rotary encoder 4；Receive information gathering part
Collect the signal of absolute value rotary encoder 4, and signal is passed into information processing part, information processing part is mainly used for completing
The analysis and judgement for the signal that information gathering part is sent, and control signal is passed into message output module, information output
Module includes motor 35, speed governing valve 43 and the commutation of electromagnetism 3-position 4-way in the hydraulic power unit system in hydraulic lifting control system
Valve 42；Motor 35 receives the output signal of control system, and be stopped process, makes the no longer pump oil of hydraulic pump 31, and speed governing valve 43 connects
The output signal of control system is received, and throttle grverning is carried out to oil circuit, the operating rate of executive component hydraulic cylinder, electromagnetism can be changed
Three position four-way directional control valve 42 receives the output signal of control system, and controls hydraulic oil to flow through electromagnetism three by flowline 40
Flow to fuel tank 14 after four-way reversing valve 42, hydraulic cylinder and then reduce broken climing device.
The course of work of the present invention：
Start engine 11 to advance, engine 11 drives traveling wheel 10 so that intelligent self-propelled broken climing machine is walked in field；Hair
Small pulley 30 is installed on one power output shaft of motivation 11, is delivered to the torque that engine 11 exports by belt transmission broken
Cutter shaft 37 in climing device, the rotation in the protective cover 15 of broken climing device of cutter shaft 37, is smashed with the flail knife 26 around movable arbor 37
Sweet potato seedling vine.
When walking in field, control instruction is provided for steering engine 21 and engine 11 by navigation controller 9.When broken climing machine straight
During walking, under the effect of navigation controller 9, engine 11 provides driving force for traveling wheel 10, and directive wheel 3 does not turn to；Work as walking
The field location turned to is needed in the field path recorded into navigation controller 9, navigation controller 9 assigns steering to steering engine 21
Signal：When steering engine 21 is received from 9 right-handed turn signal of navigation controller, steering engine 21, which promotes, turns to push rod 22 forward
Movement, steering link 45 are rotated clockwise relative to steering beam 18, and steering link 45 drives steering beam 18 to move right, and are covered
Plate 2 drives directive wheel 3 to be rotated clockwise relative to directive wheel mounting base, so that transfer realizes the work(turned to the right
Energy；When steering engine 21 is received from the turn signal that navigation controller 9 is turned left, steering engine 21 pulls steering push rod 22 to transport backward
Dynamic, steering link 45 is rotated counterclockwise relative to steering beam 18, and steering link 45 drives steering beam 18 to left movement, cover plate
2 drive directive wheels 3 are rotated counterclockwise relative to directive wheel mounting base, so that transfer realizes the function of turning to the left.
The intelligent self-propelled broken climing machine of sweet potato is in field during operation, and contour wheel 24 is close to the walking of ridge face, when ridge face is unexpected
During rise, rocking arm 23 and the angle in 1 direction of rack can be less than initial angle, and the information gathering part of control system can be from absolute value
The angle that corresponding moment input shaft is turned over is read in rotary encoder 4；Information gathering portion collection absolute value rotary encoder 4
Signal, and signal is passed into information processing part, information processing part is mainly used for completing information gathering part sending
Signal analysis and judgement, and control signal is passed into message output module, message output module includes hydraulic lifting control
The motor 35 in hydraulic power unit system, speed governing valve 43 and electromagnetism three position four-way directional control valve 42 in system processed；Motor 35 receives control
The output signal of system processed, starts to work, and drives 31 pump oil of hydraulic pump, and hydraulic oil flows through oil inlet pipe 39 and enters hydraulic cylinder, makes liquid
Cylinder pressure works, and speed governing valve 43 receives the output signal of control system, and carries out throttle grverning to oil circuit, can change executive component liquid
The operating rate of cylinder pressure, electromagnetism three position four-way directional control valve 42 receive control system output signal, and control hydraulic oil flow into
Oil pipe 39, hydraulic oil flow into hydraulic cylinder, hydraulic cylinder and then jack up broken climing device.When ridge face reduces suddenly, rocking arm 23 and machine
The angle in 1 direction of frame can be more than initial angle, and the information gathering part of control system can be read from absolute value rotary encoder 4
The angle that corresponding moment input shaft is turned over；The signal of information gathering portion collection absolute value rotary encoder 4, and signal is passed
Information processing part is passed, information processing part is mainly used for completing the analysis for the signal that information gathering part is sent with sentencing
It is disconnected, and control signal is passed into message output module, message output module includes the hydraulic pump in hydraulic lifting control system
Motor 35, speed governing valve 43 and electromagnetism three position four-way directional control valve 42 in system of standing；Motor 35 receives the output signal of control system,
Be stopped process, makes the no longer pump oil of hydraulic pump 31, and speed governing valve 43 receives the output signal of control system, and oil circuit is saved
Speed governing is flowed, the operating rate of executive component hydraulic cylinder can be changed, electromagnetism three position four-way directional control valve 42 receives the output of control system
Signal, and control hydraulic oil by flowline 40, flows through and fuel tank 14 is flowed to after electromagnetism three position four-way directional control valve 42, hydraulic cylinder and then
Broken climing device is reduced.
Certainly, described above is also not limited to the example above, the technical characteristic of the invention without description can by or
Realized using the prior art, details are not described herein；Above example and attached drawing are merely to illustrate technical scheme
It is limitation of the present invention, the present invention is described in detail with reference to preferred embodiment, the ordinary skill people of this area
Member is it should be appreciated that change, remodeling, the addition that those skilled in the art are made in the essential scope of the present invention
Or replace the claims that without departure from spirit of the invention, should also belong to the present invention.
Claims (10)
- A kind of 1. intelligent self-propelled broken climing machine of sweet potato, it is characterised in that：Rack including connecting driving device（1）, it is described Rack（1）Broken climing device is equipped with, the broken climing device includes being rotatably connected on rack（1）On protective cover（15）, it is described Protective cover（15）Inside it is equipped with and protective cover（15）The cutter shaft of rotation connection（37）, the cutter shaft（37）By driving device driving and Flail knife is hinged with vertically（26）.
- 2. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 1, it is characterised in that：Further include guiding control dress Put, the guide control device includes navigation controller（9）, and by navigation controller（9）Guider, the profiling dress of control Put, cutter shaft adjusting device and the driving device.
- 3. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 2, it is characterised in that：The guider includes Pass through steering spindle（46）It is rotatably connected on rack（1）Front beam（17）Directive wheel below both ends（3）, the steering spindle （46）On be fixed with positioned at directive wheel（3）The cover plate on top（2）, the cover plate（2）Between be fixed with steering beam（18）, institute The steering beam stated（18）Middle part and square steering link（45）One end be hinged, the steering link（45）It is another One end is with being connected with steering engine（21）Steering push rod（22）Hinged, described steering link（45）Right angle by rotation axis with Rack（1）Front beam（17）Bottom be hinged.
- 4. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 3, it is characterised in that：The steering engine（21）It is fixed In rack（1）Front beam（17）And middle cross beam（47）Between fixed link on.
- 5. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 2, it is characterised in that：The copying device includes Both ends are respectively equipped with the rocking arm of shaft（23）, the shaft at both ends is parallel to each other and and rocking arm（23）Vertically, rocking arm（23）One end Shaft and rack（1）Axis connects, rocking arm（23）Contour wheel is installed in the shaft of the other end（24）.
- 6. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 5, it is characterised in that：Contour wheel is installed（24）'s Absolute value rotary encoder is connected with shaft（4）, the absolute value rotary encoder（4）With navigation controller（9）It is defeated Enter end to be electrically connected, the navigation controller（9）Output terminal and steering engine（21）It is electrically connected.
- 7. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 2, it is characterised in that：The cutter shaft adjusting device Including being connected with hydraulic device（12）Hydraulic cylinder（16）, the hydraulic cylinder（16）One end and rack（1）Connection and its other end With remote protective cover（15）With rack（1）The protective cover of run-on point side（15）Connection.
- 8. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 7, it is characterised in that：The hydraulic device（12） With navigation controller（9）It is electrically connected.
- 9. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 1, it is characterised in that：The cutter shaft（37）With preventing Shield（15）Between pass through bearing（34）Rotation connection, the cutter shaft（37）One end passes through protective cover（15）The bearing of side （34）And pass through key connection big belt wheel（5）, the big belt wheel（5）Pass through the first belt（27）With rotating in rack（1）On Transition wheel（28）Connection, the transition wheel（28）Pass through the second belt（29）With the small pulley of the output shaft of driving device（30） Connection, the driving device are fixed on installation traveling wheel（10）Chassis（7）On, the chassis（7）With rack（1）It is fixed Connection.
- 10. the broken climing machine of the self-propelled sweet potato of intelligence according to claim 1, it is characterised in that：The cutter shaft（37）It is logical Cross flail knife base（38）Hinged flail knife（26）And flail knife base（38）Length from cutter shaft（37）Middle, institute progressively longer to both sides The flail knife stated（26）Cutter head be Y types knife and flail knife（26）In cutter shaft（37）Axial direction interlock symmetric arrays in double helix.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029144.8A CN107960190B (en) | 2018-01-12 | 2018-01-12 | Intelligent self-propelled sweet potato vine breaker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810029144.8A CN107960190B (en) | 2018-01-12 | 2018-01-12 | Intelligent self-propelled sweet potato vine breaker |
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| Publication Number | Publication Date |
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| CN107960190A true CN107960190A (en) | 2018-04-27 |
| CN107960190B CN107960190B (en) | 2023-09-22 |
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| CN201810029144.8A Active CN107960190B (en) | 2018-01-12 | 2018-01-12 | Intelligent self-propelled sweet potato vine breaker |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110366978A (en) * | 2019-09-06 | 2019-10-25 | 河北农业大学 | Automatic cotton topping machine of row to row |
| CN111480441A (en) * | 2020-03-18 | 2020-08-04 | 山东省农业机械科学研究院 | Combined machine for harvesting peanut seedlings and recovering residual films |
| CN113207406A (en) * | 2021-05-12 | 2021-08-06 | 金华市农业科学研究院(浙江省农业机械研究院) | Ridge-culture potato vine crushing machine |
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| CN111480441B (en) * | 2020-03-18 | 2021-09-28 | 山东省农业机械科学研究院 | Combined machine for harvesting peanut seedlings and recovering residual films |
| CN113207406A (en) * | 2021-05-12 | 2021-08-06 | 金华市农业科学研究院(浙江省农业机械研究院) | Ridge-culture potato vine crushing machine |
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