CN107980337B - Automatic corn stalk harvesting and crushing device - Google Patents

Automatic corn stalk harvesting and crushing device Download PDF

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Publication number
CN107980337B
CN107980337B CN201711387085.3A CN201711387085A CN107980337B CN 107980337 B CN107980337 B CN 107980337B CN 201711387085 A CN201711387085 A CN 201711387085A CN 107980337 B CN107980337 B CN 107980337B
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China
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support
base
motor
camera
fixed
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CN201711387085.3A
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CN107980337A (en
Inventor
杨雪锋
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Lingwu City Xinxing Forage Industry Co. Ltd.
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Lingwu City Xinxing Forage Industry Co Ltd
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Priority to CN201711387085.3A priority Critical patent/CN107980337B/en
Publication of CN107980337A publication Critical patent/CN107980337A/en
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Classifications

    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D43/00Mowers combined with apparatus performing additional operations while mowing
    • A01D43/08Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01DHARVESTING; MOWING
    • A01D43/00Mowers combined with apparatus performing additional operations while mowing
    • A01D43/08Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters
    • A01D43/085Control or measuring arrangements specially adapted therefor
    • AHUMAN NECESSITIES
    • A01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01FPROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F29/00Cutting apparatus specially adapted for cutting hay, straw or the like
    • A01F29/09Details
    • A01F29/10Feeding devices
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D27/00Simultaneous control of variables covered by two or more of the preceding main groups
    • G05D27/02Simultaneous control of variables covered by two or more of the preceding main groups characterised by the use of electric means
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00Details of television systems
    • H04N5/222Studio circuitry; Studio devices; Studio equipment ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, TV cameras, video cameras, camcorders, webcams, camera modules for embedding in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/225Television cameras ; Cameras comprising an electronic image sensor, e.g. digital cameras, video cameras, camcorders, webcams, camera modules specially adapted for being embedded in other devices, e.g. mobile phones, computers or vehicles
    • H04N5/2257Mechanical and electrical details of cameras or camera modules for embedding in other devices

Abstract

The utility model provides an automatic breaker that reaps of maize straw, belongs to agricultural production application apparatus field, including hutch, first camera, camera base, second camera, controller, reaping apparatus, guiding device, first support, second support, high adjusting device, cutting device, feed inlet, third support, fourth support, first motor, wheel, first motor base, workstation and fifth support, the hutch is located the workstation rear, the controller is fixed at workstation right side middle part, the front end at the workstation is installed to reaping apparatus totally four groups, guiding device installs respectively in each group reaping apparatus entry the place ahead, high adjusting device installs the front end intermediate position at reaping apparatus, cutting device installs the below at the workstation, the feed inlet is fixed in the middle of the workstation. The invention realizes the complete automatic harvesting and crushing of the straws by automatic tracing, thereby reducing the labor cost.

Description

Automatic corn stalk harvesting and crushing device
Technical Field
The invention relates to an automatic corn straw harvesting and crushing device, in particular to a device for planning a path to advance through an intelligent camera, automatically harvesting and crushing corn straws, and belongs to the field of agricultural production application equipment.
Background
With the development of farmed planting technology in China, more and more large flat farms are built, great convenience is brought to mechanized agricultural production, and along with the development of the automatic harvesting and harvesting machines for agriculture, more and more types are developed. In the case of corn, large mechanical equipment for planting, collecting corn and collecting straw is also increasingly perfected, but the mechanical equipment is not completely automatic due to the fact that workers are required to drive the machine.
At present, the corn straw collecting machine used in farms in China needs to be driven by a driver, labor cost is high in busy seasons, great labor expenditure is brought to the farms, and the body of the driver is greatly damaged when the fuel-fired machine equipment is driven to operate all day long in hot weather.
Disclosure of Invention
Aiming at the defects, the invention provides an automatic corn straw harvesting and crushing device.
The invention is realized by the following technical scheme: an automatic corn straw harvesting and crushing device comprises a storage box, a first camera, a camera base, a second camera, a controller, a harvesting device, a flow guide device, a first support, a second support, a height adjusting device, a cutting device, a feed inlet, a third support, a fourth support, a first motor, wheels, a first motor base, a workbench and a fifth support, wherein the storage box is positioned behind the workbench, the first camera is mounted on the camera base, the direction of the first camera faces the rear of the device, the camera base is mounted in the middle position above the feed inlet, the second camera is mounted on the camera base, the direction of the second camera faces the front of the device, the controller is fixed in the middle of the right side of the workbench, the harvesting devices are mounted at the front end of the workbench in four groups, and the flow guide device is mounted in front of an inlet of each group of the harvesting device respectively, the two groups of the first supports are fixed at the two ends of each harvesting device respectively, the four groups of the second supports are fixed at the front end of each group of the first supports respectively, the height adjusting device is installed at the middle position of the front end of each harvesting device, the cutting device is installed below the workbench, the position of the cutting device is located at the front end of the workbench, the feed inlet is fixed in the middle of the workbench, the position of the feed inlet is located in the middle of the harvesting device and the storage box, the left support and the right support of the third support are fixed on the workbench respectively, the position of the third support is located on the two sides of the storage box, the fourth support is installed on the workbench at the rear part of the storage box and can be detached, two first motors are installed on two first motor bases at the rear part of the device respectively, the wheels are provided with two parts for installing the lower part of the rear end of the workbench respectively, the workbench is a cuboid base, which connects the harvesting devices of each group.
The harvesting device comprises a second motor, a driving shaft, a belt, a baffle, a sixth support, a driven shaft and a seventh support, wherein the second motor is installed at the rear end of the sixth support, the axis of the driving shaft is installed below the second motor in a consistent mode with the second motor, the belt is wound on the driving shaft and the driven shaft, the baffle is evenly and vertically installed on the belt, the sixth support is installed between the driving shaft and the driven shaft, the driven shaft is fixed at the front end of the sixth support, and the seventh support is installed below the two driving shafts and the two driven shafts.
The height adjusting device comprises a height adjusting device base, a first hydraulic cylinder, an ultrasonic sensor and a height adjusting wheel, the height adjusting device base is a hollow triangular iron block, the first hydraulic cylinder is installed in the height adjusting device base, the ultrasonic sensor is installed on the front lower portion of the height adjusting device base, and the height adjusting wheel is connected with the first hydraulic cylinder.
The cutting device comprises a third motor, a third motor base, an eccentric wheel, a sliding groove, a rack fixing sliding block and a rack fixing sliding rail, wherein the third motor is installed on the third motor base, the third motor base is connected with the eccentric wheel, the eccentric wheel is installed on the third motor, the axis of the eccentric wheel is consistent with that of the third motor, the sliding groove is installed at the left end of the rack, the rack is fixed between the sliding groove and the rack fixing sliding block, the rack fixing sliding block is installed at the right end of the rack, and the rack fixing sliding rail is connected with the rack fixing sliding block.
The feed inlet includes first cylinder, seventh support, cutting knife base, second pneumatic cylinder base, cutting knife sword groove, fourth motor, gearbox, deflector and second cylinder, first cylinder is installed at the deflector rear, the seventh support is fixed in cutting knife sword groove below, the cutting knife is installed on the cutting knife base, the second pneumatic cylinder is fixed on the second pneumatic cylinder base, second pneumatic cylinder base mounting is in the deflector top, the cutting knife base mounting is on the second pneumatic cylinder, the fourth motor is fixed in the deflector left part, the gearbox is installed in fourth motor top, the deflector is two iron sheets that have certain inclination, the second cylinder is installed directly over first cylinder.
The corn stalk harvester has the beneficial effects that the controller receives a signal of the front second camera, the road strength for harvesting corn stalks is planned, the fifth motor is controlled to perform differential rotation of the left wheel and the right wheel, the functions of steering, advancing and the like of the device are realized, the rear first camera is used for capturing information behind the vehicle during steering, and other articles are prevented from being touched during steering, so that the automatic driving of the device is realized, a driver is reduced, and the cost is saved; the inclination condition of the front part of the vehicle is controlled by the height adjusting device, so that the cutting device can be ensured to cut from the bottom of the corn straws all the time, and the completeness of straw cutting is ensured; the guide plate is used for collecting the straws in the direction into the harvesting device, and the vertical straws are changed into transverse straws to enter the feeding hole through the grid of the second bracket; when the storage box is full, the device arrives at the unloading point according to the path plan for unloading.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a rear view of fig. 1 according to the present invention.
FIG. 3 is a bottom view of the structure of FIG. 1 according to the present invention.
Fig. 4 is a schematic view of the upper structure of the harvesting device of fig. 1.
Fig. 5 is a schematic view of the bottom structure of the harvesting device of fig. 1 according to the present invention.
Fig. 6 is a schematic structural view of the height adjusting device of fig. 1 according to the present invention.
FIG. 7 is a schematic view of the cutting device shown in FIG. 1 according to the present invention.
FIG. 8 is a schematic diagram of the front structure of the feed inlet of FIG. 1 according to the present invention.
FIG. 9 is a schematic view of the rear portion of the feed inlet of FIG. 1 according to the present invention.
In the figure, 1, a storage box, 2, a first camera, 3, a camera base, 4, a second camera, 5, a controller, 6, a harvesting device, 601, a second motor, 602, a driving shaft, 603, a belt, 604, a baffle, 605, a sixth bracket, 606, a driven shaft, 607, a seventh bracket, 7, a diversion device, 8, a first bracket, 9, a second bracket, 10, a height adjusting device, 1001, a height adjusting device base, 1002, a first hydraulic cylinder, 1003, an ultrasonic sensor, 1004, a height adjusting wheel, 11, a cutting device, 1101, a third motor, 1102, a third motor base, 1103, an eccentric wheel, 1104, a chute, 1105, a rack, 1106, a rack fixing slide block, 1107, a rack fixing slide rail, 12, 1201, a feed inlet 1201, a first roller, a seventh bracket, 1203, a cutting knife, 1204, a cutting knife base, 1202, a second hydraulic cylinder, 1206. second hydraulic cylinder base, 1207, cutting knife groove, 1208, fourth motor, 1209, gearbox, 1210, deflector, 1211, second cylinder, 13, third support, 14, fourth support, 15, first motor, 16, wheel, 17, first motor base, 18, workstation, 19, fifth support.
Detailed Description
The invention is realized by the following technical scheme: an automatic corn straw harvesting and crushing device comprises a storage box 1, a first camera 2, a camera base 3, a second camera 4, a controller 5, a harvesting device 6, a flow guide device 7, a first support 8, a second support 9, a height adjusting device 10, a cutting device 11, a feed inlet 12, a third support 13, a fourth support 14, a first motor 15, wheels 16, a first motor base 17, a workbench 18 and a fifth support 19, wherein the storage box 1 is positioned behind the workbench 18, the first camera 2 is mounted on the camera base 3, the direction of the first camera 2 faces the rear of the device, the camera base 3 is mounted in the middle position above the feed inlet 12, the second camera 4 is mounted on the camera base 3, the direction of the second camera faces the front of the device, the controller 5 is fixed in the middle of the right side of the workbench 18, the harvesting devices 6 are mounted at the front end of the workbench 18 in four groups, the diversion device 7 is respectively arranged in front of an inlet of each group of harvesting devices 6, two first supports 8 are respectively fixed at two ends of each harvesting device 6 in a group, four second supports 9 are respectively fixed at the front end of each group of first supports 8, the height adjusting device 10 is arranged at the middle position of the front end of the harvesting devices 6, the cutting device 11 is arranged below the workbench 18 and is positioned at the front end of the workbench 18, the feed inlet 12 is fixed in the middle of the workbench 18 and is positioned between the harvesting devices 6 and the storage box 1, the left and right of each third support 13 are respectively fixed on the workbench 18 and are positioned at two sides of the storage box 1, the fourth support 14 is arranged on the workbench 18 at the rear part of the storage box 1 and can be detached, two first motors 15 are respectively arranged on two first motor bases 17 at the rear part of the device, the wheel 16 has two and installs 18 rear end below of workstation respectively, workstation 18 is a cuboid base, fifth support 19 is fixed in the middle part of the below of reaping apparatus 6, and it connects every a set of reaping apparatus 6.
The harvesting device 6 comprises a second motor 601, a driving shaft 602, belts 603, baffles 604, a sixth support 605, a driven shaft 606 and a seventh support 607, wherein the second motor 601 is mounted at the rear end of the sixth support 605, the axis of the driving shaft 602 is mounted below the second motor 601 in accordance with the second motor 601, the belts 603 are wound on the driving shaft 602 and the driven shaft 606, the baffles 604 are uniformly and vertically mounted on the belts 603, the sixth support 605 is mounted between the driving shaft 602 and the driven shaft 606, the driven shaft 606 is fixed at the front end of the sixth support 605, and the seventh support 607 is mounted below the two driving shafts 602 and the two driven shafts 606.
The height adjusting device 10 comprises a height adjusting device base 1001, a first hydraulic cylinder 1002, an ultrasonic sensor 1003 and a height adjusting wheel 1004, wherein the height adjusting device base 1001 is a hollow triangular iron block, the first hydraulic cylinder 1002 is installed in the height adjusting device base 1001, the ultrasonic sensor 1003 is installed at the front lower part of the height adjusting device base 1001, and the height adjusting wheel 1004 is connected with the first hydraulic cylinder 1002.
The cutting device 11 comprises a third motor 1101, a third motor base 1102, an eccentric wheel 1103, a sliding chute 1104, a rack 1105, a rack fixing slider 1106 and a rack fixing slide rail 1107, wherein the third motor 1101 is installed on the third motor base 1102, the third motor base 1102 is connected with the eccentric wheel 1103, the eccentric wheel 1103 is installed on the third motor 1101, the axis of the eccentric wheel is consistent with that of the third motor 1101, the sliding chute 1104 is installed at the left end of the rack 1105, the rack 1105 is fixed between the sliding chute 1104 and the rack fixing slider 1106, the rack fixing slider 1106 is installed at the right end of the rack 1105, and the rack fixing slide rail 1107 is connected with the rack fixing slider 1106.
The feed inlet 12 comprises a first roller 1201, a seventh support 1202, a cutter 1203, a cutter base 1204, a second hydraulic cylinder 1205, a second hydraulic cylinder base 1206, a cutter slot 1207, a fourth motor 1208, a gearbox 1209, a guide plate 1210 and a second roller 1211, the first roller 1201 is mounted behind the guide plate 1210, the seventh leg 1202 is fixed below the cutter pocket 1207, the cutting knife 1203 is mounted on a cutting knife base 1204, the second hydraulic cylinder 1205 is fixed on a second hydraulic cylinder base 1206, the second cylinder base 1206 is mounted over the guide plate 1210, the cutter base 1204 is mounted on the second cylinder 1205, the fourth motor 1208 is fixed to the left side of the guide plate 1210, the transmission case 1209 is installed above the fourth motor 1208, the guide plate 1210 is two iron sheets with a certain inclination, and the second roller 1211 is installed right above the first roller 1201.
The working principle is as follows: the first camera 2 and the second camera 4 transmit road information to the controller 5, the controller 5 processes and drives the first motor 15 to rotate to drive the wheels 16 to rotate, so that the device moves forward to the straw, the distance between the cutting device 11 and the ground is read through the ultrasonic sensor 1003, the height of the first hydraulic cylinder 1002 is adjusted to change, the cutting device 11 can be ensured to be cut to the bottom of the straw all the time and not to be inserted into soil, the third motor 1101 drives the eccentric wheel 1103 to rotate so as to drive the rack 1105 to cut back and forth left and right, so that the straw is cut off, the second motor 601 drives the driving shaft 602 to rotate, so that the straw entering from the flow guide device 7 enters the feed inlet 12, the straw enters the cutting knife 1203 through the extrusion transmission of the upper and lower two rollers, the cutting knife 1203 is driven by the second hydraulic cylinder 1205 to move up and down periodically, so that the straw is cut into short blocks, then the straw blocks enter the storage box 1, after the storage box 1 is full, the device returns to a discharging point to discharge, and the device stops working after all straw crushing work is finished.
It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.

Claims (3)

1. The utility model provides an automatic breaker that reaps of maize straw, includes hutch, first camera, camera base, second camera, controller, reaping apparatus, guiding device, first support, second support, high adjusting device, cutting device, feed inlet, third support, fourth support, first motor, wheel, first motor base, workstation and fifth support, its characterized in that: the storage box is positioned behind the workbench, the first camera is arranged on the camera base, the direction of the first camera faces the rear of the device, the camera base is arranged at the middle position above the feed inlet, the second camera is arranged on the camera base, the direction of the second camera faces the front of the device, the controller is fixed at the middle part of the right side of the workbench, the harvesting devices are arranged at the front end of the workbench in four groups, the flow guide devices are respectively arranged at the front of the inlet of each group of harvesting devices, two first supports are respectively fixed at the two ends of each harvesting device in two groups, four second supports are respectively fixed at the front end of each first support, the height adjusting device is arranged at the middle position of the front end of the harvesting devices, the cutting device is arranged below the workbench, the position of the cutting device is positioned at the front end of the workbench, and the feed inlet is fixed in the middle of the, the position of the third support is located between the harvesting device and the storage box, the left support and the right support are respectively fixed on the workbench, the positions of the third support and the right support are located on two sides of the storage box, the fourth support is installed on the workbench at the rear part of the storage box and can be detached, two first motors are respectively installed on two first motor bases at the rear part of the device, two wheels are respectively installed below the rear end of the workbench, the workbench is a cuboid base, and the fifth support is fixed in the middle part below the harvesting device and connected with each group of harvesting devices;
the height adjusting device comprises a height adjusting device base, a first hydraulic cylinder, an ultrasonic sensor and a height adjusting wheel, wherein the height adjusting device base is a hollow triangular iron block, the first hydraulic cylinder is installed in the height adjusting device base, the ultrasonic sensor is installed at the front lower part of the height adjusting device base, and the height adjusting wheel is connected with the first hydraulic cylinder;
the cutting device comprises a third motor, a third motor base, an eccentric wheel, a sliding groove, a rack fixing sliding block and a rack fixing sliding rail, wherein the third motor is installed on the third motor base, the third motor base is connected with the eccentric wheel, the eccentric wheel is installed on the third motor, the axis of the eccentric wheel is consistent with that of the third motor, the sliding groove is installed at the left end of the rack, the rack is fixed between the sliding groove and the rack fixing sliding block, the rack fixing sliding block is installed at the right end of the rack, and the rack fixing sliding rail is connected with the rack fixing sliding block.
2. The automatic corn straw harvesting and crushing device of claim 1, wherein: the harvesting device comprises a second motor, a driving shaft, a belt, a baffle, a sixth support, a driven shaft and a seventh support, wherein the second motor is installed at the rear end of the sixth support, the axis of the driving shaft is installed below the second motor in a consistent mode with the second motor, the belt is wound on the driving shaft and the driven shaft, the baffle is evenly and vertically installed on the belt, the sixth support is installed between the driving shaft and the driven shaft, the driven shaft is fixed at the front end of the sixth support, and the seventh support is installed below the two driving shafts and the two driven shafts.
3. The automatic corn straw harvesting and crushing device of claim 1, wherein: the feed inlet includes first cylinder, seventh support, cutting knife base, second pneumatic cylinder base, cutting knife sword groove, fourth motor, gearbox, deflector and second cylinder, first cylinder is installed at the deflector rear, the seventh support is fixed in cutting knife sword groove below, the cutting knife is installed on the cutting knife base, the second pneumatic cylinder is fixed on the second pneumatic cylinder base, second pneumatic cylinder base mounting is in the deflector top, the cutting knife base mounting is on the second pneumatic cylinder, the fourth motor is fixed in the deflector left part, the gearbox is installed in fourth motor top, the deflector is two iron sheets that have certain inclination, the second cylinder is installed directly over first cylinder.
CN201711387085.3A 2017-12-20 2017-12-20 Automatic corn stalk harvesting and crushing device Active CN107980337B (en)

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CN201711387085.3A CN107980337B (en) 2017-12-20 2017-12-20 Automatic corn stalk harvesting and crushing device

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Application Number Priority Date Filing Date Title
CN201711387085.3A CN107980337B (en) 2017-12-20 2017-12-20 Automatic corn stalk harvesting and crushing device

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CN107980337B true CN107980337B (en) 2020-03-17

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109022087B (en) * 2018-08-07 2020-09-25 长沙市纯绿生态农业发展有限公司 Preparation method of straw fuel
CN112119760A (en) * 2020-06-12 2020-12-25 金华市农业科学研究院 Male parent hybrid rice harvester
CN111699821A (en) * 2020-08-05 2020-09-25 安徽奉念城机电设计服务有限公司 Compression member for promoting straw returning to field
CN111713248A (en) * 2020-08-05 2020-09-29 安徽奉念城机电设计服务有限公司 Promote automatic harvesting of straw returning and tailor rubbing crusher
CN111788925A (en) * 2020-08-05 2020-10-20 安徽奉念城机电设计服务有限公司 Automatic throwing component for promoting straw returning to field

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10327478A1 (en) * 2003-06-18 2005-02-03 Deere & Company, Moline Self-propelled harvester
CN104686066A (en) * 2013-12-06 2015-06-10 刘扬 Automatic steering control system of corn harvesting robot
CN105850349A (en) * 2016-04-21 2016-08-17 广东丹霞农机有限公司 Multifunctional intelligent tracked harvester
CN206423150U (en) * 2017-01-11 2017-08-22 抚顺鑫兴农业机械有限责任公司 A kind of corn picker
CN106961925B (en) * 2017-03-24 2019-05-21 安徽省宿州市汇丰液压机械有限公司 A kind of corncob and stalk corn harvester

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