CN109526354A - Remote control type lotus root digging harvester device people and control method - Google Patents
Remote control type lotus root digging harvester device people and control method Download PDFInfo
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- CN109526354A CN109526354A CN201710859995.0A CN201710859995A CN109526354A CN 109526354 A CN109526354 A CN 109526354A CN 201710859995 A CN201710859995 A CN 201710859995A CN 109526354 A CN109526354 A CN 109526354A
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- floating body
- lotus root
- remote control
- digging harvester
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D31/00—Other digging harvesters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D44/00—Harvesting of underwater plants, e.g. harvesting of seaweed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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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)
- Marine Sciences & Fisheries (AREA)
- Harvesting Machines For Root Crops (AREA)
Abstract
The invention discloses a kind of remote control type lotus root digging harvester device people, it is characterized in that, including remote controler, floating body, it is arranged on floating body and passes through with the remote controler controller of communication module communication link, the pumping water device being fixed on floating body, scouring mechanism and the harvest mechanism for being fixed at floating body front end；The harvest mechanism includes multiple cropping knifes that floating body front end is arranged in and is sequentially connected with the power device.The present invention is realized using the steering nozzle of rotation and is turned to, reduce the application of solenoid valve for the change of flow path, it can be effectively applicable to Sewage Environment, it reduces because of electromagnetism valve events impacted the drawbacks of bringing, simultaneously, when not needing to turn to, digging lotus root function can equally be executed by turning to nozzle, enhance the globality of equipment.Meanwhile by remote control, realizes a people and manipulate more lotus root digging harvester device people, reduce cost of labor.
Description
Technical field
The present invention relates to agricultural machinery technological fields, more particularly to a kind of remote control type lotus root digging harvester device people and control method.
Background technique
Currently, developing due to China's Lotus Industry, the relevant unit of lotus root digging harvester research and development is also being increasing, market
Also present some lotus root digging harvesters.But there are machine construction heaviness, job insecurity, lotus root damage rate height, effects for most lotus root digging harvester products
The problems such as rate is low, cost is also high, and most of lotus root digging harvester product is to excavate lake lotus root (i.e. the lotus field depth of water is greater than 200mm)
It is main, it is not suitable for the harvesting of knob shallow water field lotus root.
205961850 U of Chinese patent CN discloses a kind of New lotus root digging harvester, including body；It is equipped with below the body
Pontoon；The body is equipped with water pump, and the water inlet of water pump is connected with water inlet pipe, and the end of water inlet pipe is equipped with pulp water filter；
The water outlet of the water pump is equipped with outlet pipe, and the end of outlet pipe is connected with ejecting device；Driving spray is provided on the body
The control stick that head device moves up and down.
But existing lotus root digging harvester is typically necessary manual operation, and cost of labor is caused to increase, and does not utilize monoblock type
Monitoring.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide a kind of remote control type lotus root digging harvester device people
And control method.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of remote control type lotus root digging harvester device people, which is characterized in that including remote controler, floating body, be arranged on floating body and with it is described
Remote controler by the controller of communication module communication link, the pumping water device being fixed on floating body, scouring mechanism and
It is fixed at the harvest mechanism of floating body front end, the pumping water device includes power device, is driven with the power device
The water pump of connection, the scouring mechanism includes the collector pipe being connected to the water outlet of the water pump, multiple to be fixed at
Bottom of the tube of catchmenting and the flush pipe being connected to the collector pipe, and be rotatably arranged in catchment and tube end and communicate therewith
Steering nozzle, to change its angle of water, the steering nozzle is arranged described the steering nozzle driven rotation
Collector pipe one end or be arranged at collector pipe both ends；The harvest mechanism include it is multiple setting floating body front end and with it is described
Power device transmission connection cropping knife.
The steering nozzle is L-type, rotatable to be fixed at the tube end that catchments, and is catchmented in described
It is fixedly installed on pipe and connects with the steering motor for turning to nozzle transmission connection, the steering motor and controller communication
Knot.
The collector pipe include intermediate fixed section and along its be axially disposed within fixing end one or both ends and with it is solid
Fixed end keeps the rotation section of connection, and the steering nozzle is arranged in the rotation section and communicates therewith, in the collection
Steering motor is provided on the fixed section of water pipe, the steering motor and the rotation section are sequentially connected.
It further include being fixed on floating body and water level sensing that is connecting with controller communication mechanism, after the floating body
End is fixedly installed locating rack, and the flushing device is fixed on adjustable shelf, and the adjustable shelf is arranged in described
Guiding driving mechanism is provided on locating rack and between the adjustable shelf and the locating rack to realize described move up and down.
The pumping water device includes the engine for being arranged in the middle part of floating body and linking with the controller communication, with institute
The eddy current type water pump for the driving engine connection stated, the water inlet side of the water pump is provided with trash rack, the water pump
Impeller shaft be pierced by the trash rack and be fixedly installed rubbing blade in end.
Grooved hole is formed in the middle part of floating body, the water inlet of the water pump is positioned in the slot, the water inlet of water pump
Mouth side is provided with the water level sensor with controller communication connection, further includes the gear being fixedly connected with the water pump
Case is provided with water seal mechanism in the shell of the water pump, and the water seal mechanism includes the dynamic sealing being arranged in impeller shaft
Ring is set in the impeller shaft and holds with the rotary packing ring top stationary seal ring of contact, the leaf of gear-box and shell
It is provided with outer sleeve on transmission shaft between wheel, leakage sensor is provided in outer sleeve, the pumping water device is provided with manual control
Or the clutch being connect with the controller communication.
It further include the double output type reduction gearbox being sequentially connected with the power device, the water pump and cropping knife difference
It is sequentially connected with the output shaft of the reduction gearbox, the floating body front end is fixedly installed locating rack, and the cropping knife can
It is rotatably fixed on the locating rack.
The cropping knife is laid out along floating body front-rear direction multi-layer.
The cropping knife is in multi-layer stereoscopic arrangement in the vertical direction.
The control method of the remote control type lotus root digging harvester device people of the invention, includes the following steps,
1) remote control starting, elder generation's self-test when starting, self-test are disconnected by rear clutch and the transmission of reduction gearbox and start pump
Water installations, clutch control connection power after reaching predetermined condition；The self-test step includes detection pumping water device
Oneself state and floating body bottom have anhydrous, while equally can when occurring situations such as fuel oil, machine oil or water seal mechanism leak
No starting simultaneously provides corresponding warning message to be checked,
2) water level sensing mechanism, which senses water level depth and controls adjustable shelf, is moved downward to predetermined depth；
3) flush pipe water spray is rinsed formula and digs lotus root realizes that cropping knife is to floating body front end progress powder when walking from walking simultaneously
Broken removing；
4) remote controler issues steering order, and controller output control turns to nozzle driven rotation to change angle of water；
Floating body turns under reaction force acts.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is realized using the steering nozzle of rotation and is turned to, and the application of solenoid valve, energy are reduced for the change of flow path
It is effectively applicable to Sewage Environment, is reduced because of electromagnetism valve events impacted the drawbacks of bringing, meanwhile, when not needing to turn to, turn
It can equally be executed to nozzle and dig lotus root function, enhance the globality of equipment.Meanwhile by remote control, realizes a people and manipulate more diggings
Lotus root robot reduces cost of labor.
Detailed description of the invention
Fig. 1 show the oblique view of lotus root digging harvester device people of the invention；
Fig. 2 show side view shown in FIG. 1；
Fig. 3 show bottom view shown in FIG. 1；
Fig. 4 show water pump decomposition texture schematic diagram；
Fig. 5 show water-stop structural scheme of mechanism；
Fig. 6 show clutch schematic diagram；
Fig. 7 show harvest mechanism schematic diagram.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As shown, a kind of remote control type lotus root digging harvester device people of the invention, including controller 1, floating body 2 are fixed at floating
Pumping water device 3 on body, scouring mechanism 4 and the harvest mechanism 8 for being fixed at floating body front end, the scouring mechanism include
The collector pipe 41 being connected to the water outlet of the pumping water device, it is multiple be fixed to catchment bottom of the tube and catchment with described
The flush pipe 42 of pipe connection, and it is rotatably arranged in catchment tube end and the steering nozzle 43 that communicates therewith, described turns
To nozzle driven rotation to change its angle of water, described collector pipe one end or setting is arranged in the steering nozzle
At collector pipe both ends.The harvest mechanism includes multiple floating body front end being arranged in and is sequentially connected with the power device
Cropping knife 81.
Wherein, the steering nozzle can for one, two or it is multiple be one group, it is multiple be divided into two groups etc. it is any
Quantity changes the angle with horizontal plane by rotation, that is, its projection angle in vertical plane can be changed when rotation,
By the reaction force that water spray generates, power can be provided to turn to, realize auxiliary even auto-steering, turning particularly to can be by one
The forward thrust or back pressure of side are realized, can also be realized by two sides forward thrust and pusher force-fitting, can also be different big in the same direction by two sides
Small thrust is realized to realize that major diameter turns to.
Meanwhile to realize that a power device drives water pump and cropping knife simultaneously, including being driven with the power device
The double output type reduction gearbox of connection, the water pump and cropping knife 81 are sequentially connected with the output shaft of the reduction gearbox respectively,
Specifically, the floating body front end is fixedly installed locating rack 80, the cropping knife be rotatably fixed be arranged in it is described
On locating rack；The shaft of the cropping knife is arranged on the branch pipe of locating rack by bearing, the axial direction and horizontal plane of crushing knife
To utilize centrifugal force to disperse when broken, the cutter hub of the crushing knife is located at below branch pipe vertical or holding acute angle,
Power transmission belt wheel or gear are arranged above branch pipe, and the cropping knife is laid out along floating body front-rear direction multi-layer, alternatively, described
Cropping knife be in the vertical direction in multi-layer stereoscopic arrangement.The transmission connection is belt transmission, gear drive or universal
Axis transmission.
Harvest mechanism is arranged in floating body front in the present invention, can be to the branches and tendrils in pool using multiple spaced cropping knifes
It is shredded, after cutting, yoke obstacle will not be constituted when floating body and pumping water device are advanced forward, improves speed of advancing forward
Degree improves operation stability.
Each cropping knife mesothelium V belt translation or gear drive reduce running resistance.The running part of the cropping knife is protected
Plate is screened wherein, and the cropping knife is laid out along direction multilayer in the front-rear direction, perpendicular of floating body, forms similar knife battle array,
Cutting chopping effectively can be carried out to branches and tendrils,
Meanwhile effectively to eliminate floating body forward path, protected for rear portion, especially flush pipe etc., the harvesting
The height of knife is lower than the flush pipe, and preferably cropping knife and flush pipe correspondence is arranged.Moreover, the locating rack is in
Arc is distributed in the floating body front end and keeps fitting state distribution, to carry out crushing type cleaning to its entire travel path.
The present invention is realized using the steering nozzle of rotation and is turned to, and the application of solenoid valve, energy are reduced for the change of flow path
It is effectively applicable to Sewage Environment, is reduced because of electromagnetism valve events impacted the drawbacks of bringing, meanwhile, when not needing to turn to, turn
It can equally be executed to nozzle and dig lotus root function, enhance the globality of equipment.
As one of specific embodiment, the steering nozzle 43 is L-type, for two and rotatable respectively
It is fixed at the tube end that catchments, is fixedly installed on the collector pipe and steering nozzle transmission connection
Steering motor.Suitability setting can be carried out to carry out normally digging lotus root, difference by turning to nozzle and the size of flush pipe etc.
It is that steering nozzle is driven and is able to rotate and can generate biggish forward thrust or back pressure to realize and assist to turn to.
Certainly, the mode of collector pipe partial rotational also can be used, the collector pipe includes intermediate fixed section and edge
It is axially disposed within fixing end one or both ends and keeps the rotation section being connected to fixing end, and the steering nozzle is arranged in institute
In the rotation section stated and communicate therewith.Steering motor, the steering motor are provided on the fixed section of the collector pipe
It is sequentially connected with the rotation section.Using end rotation, it can be achieved that the synchronous steering simultaneously of multiple steering nozzles is, it can be achieved that quickly
It turns to.
Further, above-mentioned steering by be the rotation for turning to nozzle because flush pipe itself all has inclining backwards
Tiltedly to slide by reaction force realization is self-service, then the present invention, which is also may rely on, realizes auto-steering, e.g., collector pipe to flow cavitation result
Centre separates, and is connected to by the road with the water outlet of water pump by valve respectively, works normally, and two sides all normally intake, when
When needing to turn to, side is cut off the water supply, and another side hydraulic pressure increases, and steering can be realized in motive force increase.
Meanwhile to realize long-range control, realizes the remote control or automatic work of equipment, further include and the controller communication
The remote controler of connection, the positioning mechanism linked with the controller communication, and the communication with cloud service platform communication connection
Module.The positioning mechanism such as GPS or Beidou positioning chip etc., the controller acquire the pose of current lotus root digging harvester device people
Information and status information, such as current shaft horsepower, water level, oil mass etc., meanwhile, controller and exportable control, such as control turn to
Nozzle steering, start and stop of pumping water device etc., and it is sent to cloud platform by communication module, it is convenient for the calculating of data and deposits
The control of very-long-range may be implemented by cloud platform for storage, improve lease or remote service.The specific implementation of cloud platform can be based on
The business cloud services such as Ali's cloud, Huawei's cloud oneself can also be set up, and specific implementation is not similarly to the prior art, reinflated herein to retouch
It states.By location fit remote control or the application of cloud platform, the control to lotus root digging harvester is enhanced, and can be achieved certainly using positioning
The operation of dynamic rail mark is reduced artificial.
Meanwhile collector pipe or exit of pump being provided with the pressure sensor with controller communication connection, lead to
Cross the output and calculation of pressure for acquiring current diesel engine, it can be determined that whether will appear the case where washing away blockage, to reality
Operation carries out effective monitoring, realizes Internet of Things.
Further, camera and sensing mechanism are provided on the floating body, the camera passes through communication mould
Perhaps cloud platform is communicated so that video acquisition to be sent to the screen of remote controler or carries out the storage of cloud data for block and remote controler,
The sensing mechanism is connect with the controller communication, to barrier or the boundary mark etc. for sensing working region, so as to
Realization evades automatically or auto-steering.
In steering procedure, can by described camera or positioning mechanism etc. feed back actual steering track, and with it is pre-
If whether path matches, the angle for turning to nozzle or fit system can be changed in real time to correct route in real time, or execute advance
Or retreat etc., meanwhile, it further include being connect by the remote controler or cloud service platform sending instruction or path planning, controller
Receive and parse the step of should controlling with output phase.The step of controller should be controlled according to the automatic output phase of location information.It is controlling
After output, the feedback of posture information is realized according to the feedback of positioning mechanism, positioning carries out automatic deviation correction in real time, guarantees traveling road
Line constitutes closed-loop control.
Specifically, lotus root digging harvester of the invention further includes water level sensing mechanism, and the scouring mechanism 4 includes being driven phase
To the adjustable shelf 45 that floating body moves up and down, the horizontal collector pipe 41 be fixedly connected with the adjustable shelf and with the pump
The water outlets of water installations is connected to, the water discharging direction of the flush pipe be rear ramp or/and the diagonally forward of opposite floating body with by
Water outlet reaction force realizes sliding for floating body, that is, while washing pool bottom sludge open by water flow realization, by the anti-work of water flow
It firmly moves ahead for floating body and power is provided, realize self-service slide.Wherein, to realize rear ramp water outlet, the flush pipe be can be used
Flush pipe can also be vertically arranged and same towards the tiltedly rear nozzle sprayed water washing away bottom of the tube setting by the mode being obliquely installed certainly
Sample is able to achieve above-mentioned purpose.Wherein, water spraying direction, which can be used, is all arranged towards rear ramp, or the super diagonally forward part court in part
Rear ramp design improves flushing effect, prevents after once washing away again using two groups of water discharging directions, it can be achieved that rinsing twice
Capped situation.
Intelligent lotus root digging harvester of the invention is sensed water level depth and is automatically controlled according to the depth and rushed by water level sensing mechanism
Brush mechanism is moved downward to set depth, and the height of adjust automatically water outlet realizes the adaptivity to the different lotus field depth of waters, real
Automation, the intelligence that existing lifting device is adjusted.The flush pipe is fixed setting, and angle generally is fixed, and turns to
The angle of nozzle be it is adjustable, using its carry out course changing control while, can also by the variation of its angle realize advance
The control of speed, that is, in the case where water pumping amount is constant, change travel speed.
As one of specific embodiment, the floating body tail end is fixedly installed locating rack 21, the positioning
Top of the trellis is provided with handrail to manipulate, and the controller 1 is contained within cabinet and is fixed on locating rack, together
When, the display screen that connect with controller communication is additionally provided on the cabinet to carry out human-computer interaction, realize touch control operation,
One key operation etc., manipulation when, the hand steered handrail of operator can convenient control controller, moreover, by impact water anti-work
Firmly be able to achieve it is self-service slide, reduce labor intensity, fixed frame 21 can be arranged in the adjustable shelf 45 up or down
On, guiding driving mechanism is provided between the adjustable shelf and the locating rack with realize it is described move up and down, specifically
It says, the guiding driving mechanism includes the sleeve being arranged on locating rack, the guide rod being correspondingly arranged on adjustable shelf, and described
Guide rod be arranged in parallel and with the rotatable screw rod being fixedly connected of the adjustable shelf, and the spiral shell being correspondingly arranged on fixed frame
Mother, the nut or screw rod can be by lifting motors or handwheel driving to realize lifting.Described moving up and down can be vertical
It moves up and down, or diagonally moves up and down.Bolt and nut is driven then to realize moving up and down for adjustable shelf by lifting motor,
The adjustment of flush pipe lower end water outlet height can be carried out according to water level in real time.
Wherein, ultrasonic sensor sensing water level depth can be used in the water level sensing mechanism, and the ultrasonic wave passes
Sensor is arranged on floating body, on fixed frame 21 or adjustable shelf, meanwhile, further to promote intelligence, in the adjustable shelf
Or the also settable touch panel that can be in contact with water-bed mud face on fixed frame, pressure sensor, institute are provided on the touch panel
The touch panel stated is moved up and down by realizations such as leadscrew-nut mechanism or linear motors until pressure sensor by electric or hand
Predetermined pressure is sensed, mellowness is judged by the difference of touch panel outreach and the depth of water, that is, realizes and is matched by pressure sensor
It closes ultrasonic wave sensor to evaluate and test the mellowness of water-bed soil, by the detection of the mellowness to water-bed soil, repair in real time
The actual height and discharge pressure of positive water outlet improve and dig lotus root effect, naturally it is also possible to by select different soil types into
Data input is under line actually to control the moving distance of adjustable shelf after correcting ultrasonic wave sensing water depth.Specifically, in work
The mechanisms such as guide cylinder are set in moving frame, touch panel sent out downward vertically using push-and-pull pincers fixed range and with water-bed mud face contact,
Further amendment is carried out to realize to different mud surface hardness by the reading data to pressure sensor come the height to floating shelf
Impact soil formula dig lotus root.
Specifically, the pumping water device 3 include the diesel type parallel bars being fixed at by damping device on floating body,
The engine 31 of the models such as three cylinders or four cylinders, the eddy current type water pump 32 being sequentially connected with the engine by belt, multi-cylinder
Design, effectively meets its power demand, suitable for different applications, such as digs lotus root or digs, the engine
Output shaft is parallel to the horizontal plane, and using the horizontal design with horizontal plane, which utilizes subtracts the input shaft of the water pump
Fast device 32 realizes that the flat horizontal design of axis effectively reduces space, improves operation stability, prevents from turning on one's side, wherein in the middle part of floating body
Grooved hole is formed, the axial water inlet of the water pump is positioned in the water inlet that water pump cover is carried out in the slot
It directly intakes, the water outlet of the water pump realizes pumping of the water to collector pipe from the water-supply-pipe 36 held in slot, finally
Each flush pipe of branching to through collector pipe sprays the impact for carrying out soil, wherein the water inlet side of the water pump be provided with into
Water grid 34, the impeller shaft of the water pump, which is pierced by the trash rack and is fixedly installed in end, rubs blade 35.Institute
The design of pleasure-boat formula can be used in the floating body stated, and two sides use strip cavate floating material, using the connecting plate at both ends by the drift of two sides
Floating object is connected as one, and front end constitutes fore using triangular design, and rear end uses bridge-type connection to guarantee its stability, intermediate
Channel be constitute the slot, meanwhile, also settable steering paddle etc. in the slot, which can be by people
It directly manipulates, can also controllably be connect with the controller, automatically controlled by realizations such as remote controls to controller.
Complete machine vibration and noise can be reduced using damping device, while power unit is played a certain protective role, led to
The filter net type trash rack 34 for being mounted on 32 pump case bottom of water pump is crossed, the sundries such as the biggish cauline leaf of lotus field inner volume can be filtered,
And rub blade 35 can be by rotary motion, the shear action for rubbing blade and trash rack will be adsorbed on trash rack
Biggish cauline leaf sundries cutting chopping to do not influence water pump normal operation size, it is ensured that water inlet it is smooth, avoid into water lattice
Blocking at grid can also make complete machine safer, reliable to realize the protection to water pump.Using notch design, by water pump
The appearance such as water inlet and rubbing blade is embedding wherein, can effectively prevent and surprisingly touches, while anti-in also settable grid in notch front etc.
Only large volume sundries enters.
Pump shaft and rubbing blade coaxial linkage setting, simplify modular construction, and the two is run simultaneously, reduce electronics
Possible failure is controlled, meanwhile, it is able to achieve by the torque protection of gear-box or clutch to water pump and rubs blade
Synchronous protection.
Wherein, further to promote operational effect, further include the gear-box 33 being fixedly connected with the water pump, utilize tooth
Roller box, it can be achieved that power transmission direction conversion, and can be carried out deceleration increase square, improve water flow conveying capacity, the water pump
Shell in be provided with water seal mechanism, the water seal mechanism includes the rotary packing ring 37 being arranged in impeller shaft, is set in institute
The stationary seal ring 38 of contact is held in the impeller shaft stated and with the rotary packing ring top, the stationary seal ring can float up and down ground
And be hermetically set in base sleeve 39, the base sleeve by part impeller axis and the bearing of impeller shaft etc. every shield wherein, it is described
It is arranged with the spring to compress the sealing ring and rotary packing ring in base sleeve, is set on the contact surface of the stationary seal ring
It is equipped with silicon carbide sealant, alloy sealant layers are provided on the rotary packing ring, such as alloy abrasion resistant steel is made, described is dynamic
Sealing ring and the sealing surface of accurate seal ring seal the opening of the base sleeve.Nationality is to realize the monoblock type of gear-box and water pump
Sealing.It is provided with outer sleeve between gear-box and the impeller of shell, leakage sensor is provided in outer sleeve, when the water seal
Mechanism prevents from further causing to damage to equipment there are that when leak, can sense in time and carry out alert process by controller.
Be driven using gear-box, at the same in water pump carry out water seal design, effectively avoid water enter water pump bearing and
Gear-box, while increasing leakage sensor in outer sleeve, it can effectively be monitored, prevent gear-box caused by leak from damaging
Evil.Meanwhile to prevent anhydrous starting from damaging to water pump rotary cutting apparatus and water seal mechanism bring, the floating body bottom is provided with
Water level sensor, only when floating body is in water, can at least be covered with water at water seal mechanism could start, and avoid overheating at water seal
Caused destruction.
Meanwhile be protection equipment, the pumping water device be provided with manual control or connect with the controller communication from
Close mechanism.The input shaft side of gear-box as mentioned is provided with the clutch connecting with the controller communication.Described
Clutch includes handle or micromotor, is sequentially connected in series two through linkage rope with the motion end of the handle or micromotor
Lever, the clutch 7 that the lever 6 directly drives.Clutch is realized by the winding of the movement of handle or micromotor 5
The movement of device can realize that steering increases square using two levers 6, transmission is realized in small space, is reduced to space requirement.Certainly,
Also the clutch of electromagnetic control type or other structures form may be selected at this.
It preferably, further include the gearbox sensor being placed on gear-box to realize overall intelligence control, it can
With detection box inner fluid surplus, reach setting limit value and alarm, play reminding effect, gear-box is made to obtain maintaining dimension in time
Shield, prolongs its service life.And upper gear case is provided with respirator, plays ventilative and heat dissipation inside improvement gear-box
Effect is conducive to the running environment for improving gear, improves its service life.And add on the engine fuel sensor and
Engine oil sensor is set by controller and is controlled the time of replacement machine oil, in the case where being more than setting time or machine oil lacks,
Engine is by auto extinguishing；It detects that amount of fuel is very few in fuel sensor, when reaching warning value, has alarm signal.Pass through
Above two defencive functions realized to engine.
The operation control method of intelligent lotus root digging harvester of the invention, includes the following steps,
1) remote control starting, elder generation's self-test when starting, self-test disconnects by rear clutch and starts pumping water device, pre- when reaching
Clutch control connection power after fixed condition；The self-test step includes detecting the oneself state and floating body of pumping water device
Bottom has anhydrous, while equally No starting when occurring situations such as fuel oil, machine oil or water seal mechanism leak and providing phase
The warning message answered to be checked,
2) water level sensing mechanism, which senses water level depth and controls adjustable shelf, is moved downward to predetermined depth,
3) flush pipe water spray is rinsed formula and digs lotus root realizes that cropping knife is to floating body front end progress powder when walking from walking simultaneously
Broken removing；Operator can also carry out the control in speed, direction etc. by remote controler.
4) remote controler issues steering order, and controller output control turns to nozzle driven rotation to change angle of water；
Floating body turns under reaction force acts.
, it can be achieved that one-touch clean boot or remote control security starting, when starting, carries out necessary for control method of the invention
Safe self-test, avoids secondary damage, and its, by the control to clutch, when the non-loaded starting of engine, avoided favourable opposition
Hit the influence to engine, when reaching Rational Rotation Speed, such as 2500 rpms whens, carry out power again and plug into, after plugging into cropping knife and
Water pump is just started to work, and unexpected generation is avoided.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of remote control type lotus root digging harvester device people, which is characterized in that including remote controler, floating body, be arranged on floating body and with it is described
Remote controler is by the controller of communication module communication link, the pumping water device being fixed on floating body, scouring mechanism and solid
The harvest mechanism of floating body front end is set calmly, and the pumping water device includes power device, is driven and connects with the power device
The water pump connect, the scouring mechanism includes the collector pipe being connected to the water outlet of the water pump, multiple to be fixed at collection
Water pipe bottom and the flush pipe being connected to the collector pipe, and be rotatably arranged in catchment and tube end and communicate therewith
Nozzle is turned to, to change its angle of water, the steering nozzle is arranged in described the steering nozzle driven rotation
Collector pipe one end is arranged at collector pipe both ends；The harvest mechanism include it is multiple be arranged in floating body front end and with it is described
The cropping knife of power device transmission connection.
2. remote control type lotus root digging harvester device people as described in claim 1, which is characterized in that the steering nozzle is L-type, can be revolved
What is turned is fixed at the tube end that catchments, and is fixedly installed on the collector pipe and steering nozzle transmission
The steering motor of connection, the steering motor and controller communication link.
3. remote control type lotus root digging harvester device people as described in claim 1, which is characterized in that the collector pipe includes intermediate fixation
Section and the rotation section for being axially disposed within fixing end one or both ends along it and being connected to fixing end holding, the steering nozzle
It is arranged in the rotation section and communicates therewith, steering motor is provided on the fixed section of the collector pipe, it is described
Steering motor and the rotation section are sequentially connected.
4. remote control type lotus root digging harvester device people as described in any one of claims 1-3, which is characterized in that further include be fixed at it is floating
Water level sensing mechanism that is on body and connecting with controller communication, the floating body rear end is fixedly installed locating rack, described
Flushing device is fixed on adjustable shelf, and the adjustable shelf is arranged on the locating rack and the adjustable shelf and institute
Guiding driving mechanism is provided between the locating rack stated to realize described move up and down.
5. remote control type lotus root digging harvester device people as claimed in claim 4, which is characterized in that the pumping water device includes setting floating
The engine linked in the middle part of body and with the controller communication, the eddy current type water pump being connect with the driving engine, institute
The water inlet side for the water pump stated is provided with trash rack, and the impeller shaft of the water pump is pierced by the trash rack and in end
It is fixedly installed rubbing blade.
6. remote control type lotus root digging harvester device people as claimed in claim 5, which is characterized in that grooved hole is formed in the middle part of floating body, it is described
The water inlet of water pump is positioned in the slot, and the water inlet side of water pump is provided with and controller communication connection
Water level sensor further includes the gear-box being fixedly connected with the water pump, water seal machine is provided in the shell of the water pump
Structure, the water seal mechanism include the rotary packing ring being arranged in impeller shaft, be set in the impeller shaft and with it is described
The stationary seal ring of contact is held on rotary packing ring top, outer sleeve is provided on the transmission shaft between gear-box and the impeller of shell, in housing
Leakage sensor, the clutch that the pumping water device is provided with manual control or connect with the controller communication are provided in cylinder
Structure.
7. remote control type lotus root digging harvester device people as described in any one of claims 1-3, which is characterized in that further include and the power
The double output type reduction gearbox of device transmission connection, the water pump and cropping knife are driven with the output shaft of the reduction gearbox respectively
Connection, the floating body front end are fixedly installed locating rack, and the cropping knife, which is rotatably fixed, is arranged in the positioning
On frame.
8. remote control type lotus root digging harvester device people as claimed in claim 7, which is characterized in that the cropping knife is along floating body front-rear direction
Multi-layer layout.
9. remote control type lotus root digging harvester device people as claimed in claim 7, which is characterized in that the cropping knife is in the vertical direction
Multi-layer stereoscopic arrangement.
10. a kind of control method of such as described in any item remote control type lotus root digging harvester device people of claim 1-9, which is characterized in that packet
Include following steps,
1) remote control starting, elder generation's self-test when starting, self-test disconnect the transmission with reduction gearbox by rear clutch and start water pumping and fill
It sets, clutch control connection power after reaching predetermined condition；
2) water level sensing mechanism, which senses water level depth and controls adjustable shelf, is moved downward to predetermined depth；
3) flush pipe water spray is rinsed formula and digs lotus root realizes that cropping knife crush clearly to floating body front end when walking from walking simultaneously
It removes；
4) remote controler issues steering order, and controller output control turns to nozzle driven rotation to change angle of water；Floating body
It is turned under reaction force acts.
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| CN111492790A (en) * | 2020-04-28 | 2020-08-07 | 钟连慧 | Lotus root pulling device for lotus root planting |
| CN113141871A (en) * | 2020-12-31 | 2021-07-23 | 北方民族大学 | Daylily picking robot system based on Beidou navigation |
| CN113711761A (en) * | 2020-05-25 | 2021-11-30 | 浙江清华长三角研究院 | Novel unmanned remote control lotus root digging machine |
| CN114868510A (en) * | 2022-07-08 | 2022-08-09 | 农业农村部南京农业机械化研究所 | Automatic digging depth regulating and controlling method of intelligent fresh potato combine harvester |
| CN116686818A (en) * | 2023-07-27 | 2023-09-05 | 山东省海洋资源与环境研究院(山东省海洋环境监测中心、山东省水产品质量检验中心) | Dual-purpose pesticide sprinkler of sea land |
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| CN116686818B (en) * | 2023-07-27 | 2024-03-29 | 山东省海洋资源与环境研究院(山东省海洋环境监测中心、山东省水产品质量检验中心) | Dual-purpose pesticide sprinkler of sea land |
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