CN109819741A - Farmland pen machine and farmland scribing line machine control system - Google Patents
Farmland pen machine and farmland scribing line machine control system Download PDFInfo
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- CN109819741A CN109819741A CN201910270647.9A CN201910270647A CN109819741A CN 109819741 A CN109819741 A CN 109819741A CN 201910270647 A CN201910270647 A CN 201910270647A CN 109819741 A CN109819741 A CN 109819741A
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- 239000000463 material Substances 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000005520 cutting process Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 8
- 230000001143 conditioned effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 239000002689 soil Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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- 239000011435 rock Substances 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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Abstract
The present invention provides a kind of farmland pen machine and farmland scribing line machine control systems, belong to agricultural mechanical field.Above-mentioned farmland pen machine includes vehicle frame, storage bin and lineation device；Storage bin is connect with vehicle frame；Lineation device includes feeding mechanism and cutting agency, and feeding mechanism includes hopper and material toggling component, and the lower section of storage bin is arranged in hopper, and connect with vehicle frame.Scribing line medium in storage bin can drop into hopper.Material toggling component can dial in the scribing line medium in hopper in feeder pipe.Since farmland pen machine overall movement speed ratio is very fast, and staff's portable container is not needed；Therefore, whole efficiency is higher, can be effectively reduced labor intensity.Above-mentioned farmland scribing line machine control system, can acquire motion information, and correct motion state according to the error of motion profile and desired guiding trajectory in real time, so that the line marked and desired guiding trajectory scribing line deviation are smaller.
Description
Technical field
The present invention relates to agricultural mechanical fields, in particular to a kind of farmland pen machine and farmland pen machine control system
System.
Background technique
In the production of agriculture, it is often necessary to field carry out piecemeal scribing operation, with realize field planning of science activities and
Effective use.Con-ventional handheld pen machine relies primarily on the hand-held container equipped with scribing line medium (powdered) of manpower and crosses,
It is more laborious, it is not suitable for long-time, large area scribing line.Currently, the lineation device of this poor efficiency is increasingly not suitable for
The requirement of modern reading intelligent agriculture equipment, it would be highly desirable to improve.Therefore it provides a kind of farmland pen machine has important practical meaning
Justice.
Summary of the invention
The purpose of the present invention is to provide a kind of farmland pen machines, can be effectively reduced labor intensity, improve labour effect
Rate.
Of the invention additionally provides a kind of farmland scribing line machine control system, and it can be used to above-mentioned farmland pen machines.
The present invention is implemented as follows:
A kind of farmland pen machine, for the dashing work of Agriculture Field, comprising:
The bottom of vehicle frame, the vehicle frame is provided with vehicle wheel component；
Storage bin, the storage bin are connect with the vehicle frame；
Lineation device, the lineation device include feeding mechanism and cutting agency；The feeding mechanism includes hopper and dials
Expect component, the lower section of the storage bin is arranged in the hopper, and connect with the vehicle frame, the scribing line medium in the storage bin
It can drop into the hopper；The lower part of the hopper is provided with unlatching door；
The material toggling component includes shaft and switch-plate, and the shaft is horizontally set in the hopper, and with the material
The side wall of bucket is rotatably connected, and the switch-plate is connect with the shaft, and extends along the length direction of the shaft；
The cutting agency includes feeder pipe, and the top of the feeder pipe is connect with the lower part of the hopper, the unlatching
When door is opened, the scribing line medium in the hopper can be dropped into the feeder pipe.
In use, powdered scribing line medium is stored into storage bin in advance；Then farmland pen machine is driven to farmland
In, and farmland pen machine is crossed while walking according to desired guiding trajectory.Specifically, when the shaft rotation of material toggling component,
Medium of crossing is pushed the position that hopper opens door by switch-plate；At this point, will open door open (opening ways can with when manually grasp
Make, perhaps use motor that will open door and open or opened using other mechanisms to an application active force is opened)；Scribing line medium
It falls under the active force of gravity and material toggling component, and is dropped into farmland along feeder pipe.
Due to scribing line medium be it is powdered, drop is excessively high in order to prevent, cause cross medium deviate under the action of the forces of the wind
Direction originally, thus it is provided with feeder pipe, and the nozzle of feeder pipe is made to keep lesser gap from the ground.
Preferably, the side for opening door is rotatably connected by articulated shaft and the hopper, and the articulated shaft is parallel
In the shaft；The material toggling component includes multiple switch-plates, and when the shaft rotates, the switch-plate can be by the unlatching
Door is opened；Perpendicular on the cross section of the shaft, the switch-plate is arc, and the lower part of the hopper is arc-shaped.
When the rotation of the shaft of material toggling component, switch-plate is rotated synchronously；When being rotated down due to switch-plate, can with open
An abutting is opened, therefore, switch-plate, which can push down on, opens door to open unlatching door.Since switch-plate is arc, also, expect
The part that bucket is closed on switch-plate be it is arc-shaped, when so that switch-plate moving to hopper circular arc portion, the end of switch-plate and material
Gap very little between the inner wall of bucket；When the medium that will cross is stirred downwards, scribing line medium is difficult to from gap upward switch-plate
Movement, can only be pushed downward, be beaten so that switch-plate can will open door to unlatching door application thrust by scribing line medium
It opens, scribing line medium is fallen in feeder pipe by opening the gap that door is opened.
Preferably, multiple switch-plates are evenly distributed on the circumference of shaft, also, the end of switch-plate is to the distance of shaft
Greater than the distance opened when door is closed to shaft；So that switch-plate rotate when, at least one switch-plate can encounter open door from
And it is pushed open door is opened.
Preferably, 3 switch-plates are arranged in material toggling component, and the switch-plate of negligible amounts is used to enable to the line marked for not
Continuous dotted line, to save scribing line medium.If switch-plate is excessive, this makes have switch-plate to abut with door is opened always, opens
It opens door and remains opening state, scribing line medium flows down always.In order to reduce charging frequency, the volume of storage bin needs to increase,
Since storage bin is disposed over, biggish storage bin not only makes structure not compact, moves up the center of gravity of complete machine, chassis
It is unstable.Therefore, scribing line medium can be saved using 3 switch-plates, so that compact integral structure, chassis is more steady.Also, use 3
Switch-plate can also make under same travel speed, and the interval of dotted line is unlikely to excessive.In other embodiments, material toggling component can be with
1,2,4 or other appropriate number of switch-plates are set.
Preferably, connecting rod and guide cylinder are provided in the feeder pipe；The lower end of the feeder pipe is provided with discharge door, institute
It states guide cylinder to connect with the inner wall of the feeder pipe, the connecting rod is vertically arranged, and is slidably connected with the guide cylinder；Under described
The lower end of bin gate and the connecting rod is detachably connected；When the connecting rod moves up and down, the connecting rod is able to drive discharge door for institute
Feeder pipe is stated to block or open；
Elastic component is additionally provided between the connecting rod and the guide cylinder, the elastic component can apply upward to the connecting rod
Power so that the discharge door blocks the feeder pipe；
The upper end of the connecting rod is provided with plate, is provided with push rod below the unlatching door, one end of the push rod with
The connection for opening door, the other end are provided with idler wheel, and the idler wheel is abutted with the plate；When the unlatching door is opened, institute
Stating push rod can push the plate that the connecting rod is moved down, and the discharge door is opened the feeder pipe.
Since the lower end of feeder pipe is relatively close from the ground, inevitably there is the soil block or rock ballast of protrusion in field again；Work as feeder pipe
When encountering soil block or rock ballast, under the action of jolting, soil block may be entered in feeder pipe and be blocked.Therefore, feeder pipe
End be provided with discharge door；So that soil block is difficult to enter in feeder pipe from the end of feeder pipe.
Under the action of the elastic member, connecting rod pulls up discharge door, so that discharge door be closed.When the unlatching of hopper lower part
When door is opened, push rod is rotated down, to be pushed down on plate and connecting rod by idler wheel, discharge door is opened；From unlatching
Gap of the scribing line medium that door is fallen between discharge door and feeder pipe is fallen.When opening door closing, connecting rod and discharge door exist
It is resetted under the action of elastic component.Under the mating reaction of above-mentioned connecting rod, elastic component, discharge door, push rod, material toggling component etc., when need
When having scribing line medium to fall, discharge door is turned on；Otherwise, scribing line door, which is closed, prevents feeder pipe to be blocked.
Preferably, the discharge door includes hang plate and vertical plate, and the vertical plate is vertically arranged, the hang plate inclination
Setting, and connect with the vertical plate；The lower end of the connecting rod and the hang plate are clamped；
The inner wall of the feeder pipe is vertically arranged with dovetail groove, the dovetail groove, is provided with dovetail shaped on the vertical plate
Guide pad；
The vertical plate is vertically arranged and passes through the guide pad and is slidably matched with the dovetail groove.
For the ease of maintenance, the nozzle of blanking bottom of the tube should be wide enough so that tool convenient for operation；But lineation device
It realizes and marks a thinner line, therefore when discharge door is opened, gap width between discharge door and feeder pipe should be compared with
It is small.Using hang plate structure, scribing line medium is on the one hand enabled to fall along hang plate, it on the other hand again can be biggish in nozzle
In the case of realize the gap aperture of smaller width.
In addition, being connect only by top with connecting rod since hang plate is obliquely installed；When to encounter ground convex for hang plate
When the soil block risen, the connection between connecting rod is easy to be damaged.The setting of above-mentioned vertical plate, guide pad and dovetail groove is so that incline
The power of horizontal direction suffered by inclined plate is born by dovetail groove and guide pad, and the connection between connecting rod is protected.
Preferably；The discharge door is the shell of tetrapyamid shape, the lower end company on the top of the discharge door and the connecting rod
It connects；The lower end of the feeder pipe is provided with tubaeform chamfering, and the tilt angle of the chamfering is equal with the taper of the shell.
Setting chamfering can prevent discharge door to be stuck in feeder pipe when closed.
Preferably；The elastic component is set in the connecting rod, and one end is abutted with guide cylinder；The other end is put down with described
The lower surface of plate abuts.
Preferably；It is additionally provided with limit plate on the plate, for limiting sliding of the push rod relative to the plate
Stroke, the limit plate are vertically arranged with the plate；
The push rod is rotatably connected with the unlatching door by trunnion axis, so that the push rod and the unlatching door are free
Angle between end can be conditioned；
Dynamic clamping head and quiet clamping head is also set up between the push rod and the unlatching door, the dynamic clamping head and quiet clamping head has the angle
Has the tendency that increase；
The push rod and the junction for opening door are provided with fixed block, for limiting the push rod and the unlatching door
The maximum angle of free end.
When the unlatching amplitude for opening door is larger, push rod unitary rotation angle is larger.At this point, if being not provided with limit plate,
The lower end of push rod is larger relative to plate sliding distance so that the pressure that push rod applies to plate deviate the distance of connecting rod compared with
Greatly, so that push rod is by biggish torque；The torque makes connecting rod deviate vertical position in guide cylinder, and with guiding
Bigger frictional force is generated between cylinder inner wall.The frictional force may cause connecting rod and cannot smoothly be pushed down, so that
Discharge door can not be normally-open.
Above-mentioned design so that, when the lower end of push rod is abutted with limit plate, limit plate can anti-throw-out lever be applied to connection
The torque of bar is excessive.When push rod is abutted with limit plate to be moved, since push rod is rotatably connected with door is opened, and push rod
Dynamic clamping head and quiet clamping head is provided between door with opening；When this makes the aperture for opening door continue to increase, push rod still is able to level
Plate applies downward active force so that discharge door can continue to it is normally-open.When opening door closing, dynamic clamping head and quiet clamping head to push away
Bar resets to the position abutted with fixed block, pushes away consequently facilitating opening push rod when door is opened next time and can continue to apply to level board
Power.
Preferably, the stiffness factor of dynamic clamping head and quiet clamping head is greater than the stiffness factor of push rod upper elastic member.
Preferably；
The vehicle wheel component includes two active fronts, and the active front is driven by two independent motors respectively
It is dynamic；
The farmland pen machine further includes control unit, electronic compass and GPS locator, and the electronic compass is for collecting
Vehicle body attitude information, the GPS locator is for determining vehicle location information；Described control unit respectively with the electronic compass
It is electrically connected with the GPS locator, for receiving and processing the signal of the electronic compass and the GPS locator；The control
Unit processed is also electrically connected with described two motors, for controlling the output revolving speed of two motors；Described control unit can store
Preset path information.
A kind of farmland scribing line machine control system, comprising:
Control unit, described control unit include memory and processor, and the memory can store preset path letter
Breath, the processor can control the speed of travel and the direction of car body according to preset path information；
Detection unit, the detection unit are used to detect the speed of travel, vehicle body attitude and the location information of car body, and will be upper
It states information and is real-time transmitted to described control unit.
Preferably；The processor realizes the control to direction of travel by controlling the revolving speed of two adhesion wheels；Institute
Detection unit is stated and obtains by electronic compass and GPS locator the run trace of car body, what described control unit will acquire
Run trace and desired guiding trajectory in real time compared with, and control according to comparison result the speed of the adhesion wheel.
The beneficial effect of technical solution provided by the present invention is:
The farmland pen machine obtained by above-mentioned design, in use, powdered scribing line medium is stored into storage bin in advance
It is interior；Then farmland pen machine is driven in farmland, and farmland pen machine is crossed while walking according to desired guiding trajectory.
Specifically, when the shaft rotation of material toggling component, medium of crossing is pushed the position that hopper opens door by switch-plate；At this point, will open
Door is opened；Scribing line medium is fallen under the active force of gravity and material toggling component, and is dropped into farmland along feeder pipe.With vehicle
The overall movement of body, lineation device can mark plotted line in field.Since farmland pen machine overall movement speed ratio is very fast, and
And staff's portable container is not needed；Therefore, whole efficiency is higher, can be effectively reduced labor intensity.
Above-mentioned farmland scribing line machine control system, can acquire motion information, and according to motion profile and default rail in real time
The error of mark corrects motion state so that the line that marks and desired guiding trajectory scribing line deviate it is smaller.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is that the embodiment of the present invention provides the schematic perspective view of farmland pen machine；
Fig. 2 is the main view of farmland pen machine provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of hopper provided in an embodiment of the present invention and material toggling component；
Fig. 4 is the sectional view of lineation device provided in an embodiment of the present invention；
Fig. 5 is the partial enlarged view of Fig. 4 provided in an embodiment of the present invention；
Fig. 6 is the right view of Fig. 4 provided in an embodiment of the present invention；
Fig. 7 is the sectional view of lineation device in other implementations provided in an embodiment of the present invention.
Icon: the farmland 010- pen machine；100- lineation device；110- feeding mechanism；112- hopper；114- opens door；
1141- push rod；1142- fixed block；115- articulated shaft；116- material toggling component；1162- shaft；1164- switch-plate；120- blanking
Mechanism；121- feeder pipe；122- connecting rod；123- guide cylinder；124- fixed link；125- elastic component；126- plate；127- limit
Plate；128- guide pad；129- discharge door；1291- hang plate；1292- vertical plate；200- vehicle frame；210- active front；300- storage
Feed bin.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below to protect
The scope of the present invention of shield, but it is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.
In the description of the present invention, it is to be understood that, indicating position or the term of positional relationship are based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be on or below second feature
Directly contacted including the first and second features, also may include the first and second features be not direct contact but by them it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature second spy
Right above sign and oblique upper, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature it
Under, lower section and fisrt feature included below be directly below and diagonally below the second feature, or be merely representative of first feature horizontal height
Less than second feature.
Embodiment 1:
Fig. 1 and Fig. 2 are please referred to, a kind of farmland pen machine 010 is present embodiments provided, is used for the dashing work in farmland,
In order to which farmland to be divided into multiple and different regions.Above-mentioned farmland pen machine 010 includes vehicle frame 200, storage bin 300 and scribing line dress
100 are set, vehicle frame 200 is used to support other devices of entire farmland pen machine 010, and storage bin 300 is connect with vehicle frame 200, scribing line
The lower section of storage bin 300 is arranged in device 100.Powdered scribing line medium (such as plant ash) is preinstalled in storage bin 300, and
It can drop into lineation device 100.In use, farmland pen machine 010 is walked along preset path, lineation device 100 is from scribing line
Device 100 is controllably fallen on farmland, to realize scribing line.
Specifically, please continue to refer to Fig. 1 and Fig. 2, vehicle frame 200 is the frame structure being welded by profile, and bottom is set
It is equipped with vehicle wheel component, top is provided with power device.Vehicle wheel component includes that two independent active fronts 210 and two are universal
Wheel, power device include battery and two motors, and two motors respectively drive two active fronts 210 and rotate；Battery is used
In to two motor power supplies.For the ease of controlling speed, in the present embodiment, motor uses servo motor.
The top of vehicle frame 200 is arranged in storage bin 300, and is bolted to connection with vehicle frame 200；Its entirety is in loudspeaker
Housing shape, for holding powdered scribing line medium；Its bottom is provided with outlet.
Fig. 2 and Fig. 3 are please referred to, the lower section of storage bin 300 is arranged in lineation device 100, and connect with vehicle frame 200.Scribing line
Device 100 includes feeding mechanism 110 and cutting agency 120, and feeding mechanism 110 is connect with the lower part outlet of storage bin 300；Blanking
Mechanism 120 is connect with the lower part outlet of feeding mechanism 110.Feeding mechanism 110 is controllable by the scribing line medium fallen from storage bin 300
It is sent in cutting agency 120 to system, cutting agency 120 will cross on medium water conservancy diversion to farmland ground.
Specifically, please refer to Fig. 3-Fig. 6, feeding mechanism 110 includes hopper 112 and material toggling component 116, hopper 112 it is upper
Portion is open to be directly connected to the lower part outlet of storage bin 300, and the scribing line medium in storage bin 300 can be fallen directly in hopper 112.
Material toggling component 116 includes that shaft 1162 and three switch-plates 1164, shaft 1162 are horizontally set in hopper 112, and both ends are logical
The bearing two side walls opposite with hopper 112 are crossed to connect.Three switch-plates 1164 are evenly distributed on the circumferential surface of shaft 1162
On, and extend along 1162 length direction of shaft.Vertically and on the cross section of shaft 1162, the free end of switch-plate 1164 is provided with
Segmental arc, and the direction rotated towards shaft 1162 is bent, and corresponding, the lower part of hopper 112 is arc-shaped.Also, switch-plate
Gap between the inner wall of the arc-shaped plate of 1164 112 lower part of end and hopper is smaller (0.5-1CM).Above structure makes
Scribing line medium is convenient for being sent to the lower exit of bucket body by switch-plate 1164, after preventing powdered scribing line medium to be under pressure relative to
Switch-plate 1164 moves up.
It is provided at the lower openings of hopper 112 and opens door 114, the side for opening door 114 passes through articulated shaft 115 and hopper
112 connections, also, articulated shaft 115 is parallel with the shaft 1162 of material toggling component 116.The shaft 1162 of material toggling component 116 installs height
Degree is lower than the free end of switch-plate 1164 to the distance at 1162 center of shaft, and switch-plate 1164 is touched when turning to lower section
To unlatching door 114 to be pushed open.At this point, scribing line medium passes through since switch-plate 1164 pushes scribing line medium to move downward
The gap for opening door 114 is fallen in cutting agency 120.
Cutting agency 120 includes feeder pipe 121 and discharge door 129, and the upper end of feeder pipe 121 is horn mouth, and is set in
The lower part of hopper 112 is connect with the outer wall of hopper 112.The lower end of feeder pipe 121 is the consistent rectangular tube in cross section, discharge door
129 can open or close the outlet of 121 lower end of feeder pipe.Feeder pipe 121 is internally provided with connecting rod 122 and guide cylinder
123, guide cylinder 123 is vertically arranged in the middle part of feeder pipe 121, and passes through horizontally disposed fixed link 124 and feeder pipe 121
Inner wall is fixedly connected.Connecting rod 122 passes through guide cylinder 123, and the upper end is provided with level board 126, and lower end and discharge door 129 are detachable
Connection.When connecting rod 122 moves up and down, connecting rod 122 be able to drive discharge door 129 move up and down to open feeder pipe 121 or
It closes.
Elastic component 125 (the present embodiment is compressed spring), one end of elastic component 125 and plate are also arranged on connecting rod 122
126 abut, and the other end is abutted with guide cylinder 123；So that plate 126 has the trend moved upwards.In order to open discharge door
129, the lower section for opening door 114 is provided with push rod 1141, and one end of push rod 1141 is connect with the lower surface for opening door 114, lower end
It is provided with idler wheel；Push rod 1141 is abutted by idler wheel with the upper surface of plate 126.When open door 114 open when, push rod 1141 to
Lower movement so that plate 126 and connecting rod 122 be pushed to move down, and then opens discharge door 129.At this point, stroke that Cong Shangfang is fallen
Line medium can be flowed out by the gap between discharge door 129 and feeder pipe 121.
Fig. 4 and Fig. 5 are please referred to, discharge door 129 includes that the discharge door 129 includes hang plate 1291 and vertical plate 1292,
The vertical plate 1292 is vertically arranged, and the hang plate 1291 is obliquely installed, and is connect with the vertical plate 1292.The connecting rod
122 lower end and the hang plate 1291 are clamped；The inner wall of the feeder pipe 121 is vertically arranged with dovetail groove, the vertical plate
Swallow-tailed guide pad 128 is provided on 1292；The vertical plate 1292 is slided by the guide pad 128 with the dovetail groove
Cooperation.When connecting rod 122 drives discharge door 129 to move downward, the gap between 121 inner wall of hang plate 1291 and feeder pipe adds
Greatly.When entering foreign matter in feeder pipe 121, will open the drop-down of door 114 can make unlatching door 114 and the connection of connecting rod break
It opens；After maintenance, door 114 will be opened and push up and can reconnect.
Further, with continued reference to FIG. 4, the upper surface of plate 126 is additionally provided with limit plate 127, for limiting push rod
1141 sliding stroke relative to plate 126, limit plate 127 are vertically arranged with plate 126.Push rod 1141 and unlatching door 114 are logical
It crosses trunnion axis to be rotatably connected, the included angle A between push rod 1141 and unlatching 114 free end of door is conditioned.
Dynamic clamping head and quiet clamping head (the present embodiment is extension spring), elastic reset are also set up between push rod 1141 and unlatching door 114
Part makes angle have the trend increased.Push rod 1141 and the junction for opening door 114 are provided with fixed block 1142, for limiting
Push rod 1141 and the maximum angle for opening 114 free end of door (in the present embodiment, maximum angle 90).
When the unlatching amplitude for opening door 114 is larger, 1141 unitary rotation angle of push rod is larger.At this point, if being not provided with
The lower end of limit plate 127, push rod 1141 is larger relative to 126 sliding distance of plate, so that push rod 1141 applied to plate 126
The distance that pressure deviates connecting rod is larger, so that push rod 1141 is by biggish torque.The torque is leading connecting rod
Deviate vertical position into cylinder 123, and the frictional force that the generation between 123 inner wall of guide cylinder is bigger.The frictional force may
Cause connecting rod that cannot smoothly be pushed down, so that discharge door 129 can not be normally-open.
When unlatching door 114 drives push rod 1141 to rotate down, 1141 lower end idler wheel of push rod is moved to the left along plate 126
(with reference to the accompanying drawings), until the idler wheel of push rod 1141 is abutted with limit plate 127, since push rod 1141 can turn with door 114 is opened
Dynamic connection, and dynamic clamping head and quiet clamping head is provided between push rod 1141 and unlatching door 114；This continues the aperture for opening door 114
When increase, push rod 1141 overcomes the elastic force of dynamic clamping head and quiet clamping head, and push rod 1141 and the included angle A opened between door 114 become smaller, push rod
1141 still are able to apply downward active force to level board 126 so that discharge door 129 can continue to it is normally-open.Work as unlatching
When door 114 is closed, dynamic clamping head and quiet clamping head makes push rod 1141 reset to the position abutted with fixed block 1142, consequently facilitating next time opens
Opening push rod 1141 when door 114 is opened can continue to apply thrust to level board 126.
Further, farmland pen machine 010 further includes control unit, electronic compass and GPS locator, and electronic compass is for receiving
Collect vehicle body attitude information, GPS locator is for determining vehicle location information.Control unit respectively with electronic compass and GPS positioning
Device electrical connection, for receiving and processing the signal of electronic compass and GPS locator.Control unit is also electrically connected with two motors,
For controlling the output revolving speed of two motors；Control unit can store preset path information.
Control unit controls turning for two motors according to electronic compass and the collected posture of GPS locator and location information
Speed, so that the inconsistent adjustment for realizing the direction of motion of the revolving speed of two adhesion wheels.The memory of control unit stores up
The preset path information deposited includes preset coordinates system and multiple preset coordinates positions.
Above-mentioned control unit uses PLC, since PLC, electronic compass and GPS locator can directly be bought, no
It is described in detail.
Fig. 6 and Fig. 7 are please referred to, in other embodiments, other shapes of unlatching door 114, such as quadrangular can be used
Housing shape.
Embodiment 2:
A kind of 010 control system of farmland pen machine is present embodiments provided, the farmland scribing line of the offer of embodiment 1 can be provided
Machine 010, including control unit and detection unit.Control unit includes memory and processor, and the memory can store pre-
If routing information, including customized coordinate system and multiple coordinate values.Detection unit is used to detect the speed of travel, the car body appearance of car body
State and location information, and above- mentioned information are real-time transmitted to described control unit.Walking coordinate that processor can will acquire,
The information such as velocity and acceleration are in real time compared with preset path information.When deviateing the desired guiding trajectory left side, control left side motor
The reduction of faster rotational speed or the right motor；When deviateing on the right of desired guiding trajectory, the revolving speed of control left side motor reduces or the right motor
Revolving speed increase.
Above-mentioned 010 control system of farmland pen machine can acquire motion information in real time, and according to motion profile and preset
The error of track corrects motion state so that the line that marks and desired guiding trajectory scribing line deviate it is smaller.The foregoing is merely
The preferred embodiment of the present invention is not intended to restrict the invention, and for those skilled in the art, the present invention can
To there is various modifications and variations.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on,
It should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of farmland pen machine, the dashing work for farmland characterized by comprising
The bottom of vehicle frame (200), the vehicle frame (200) is provided with vehicle wheel component；
Storage bin (300), the storage bin (300) connect with the vehicle frame (200)；
Lineation device (100), the lineation device (100) include feeding mechanism (110) and cutting agency (120)；The feeding
Mechanism (110) includes hopper (112) and material toggling component (116), and the hopper (112) is arranged under the storage bin (300)
Side, and connect with the vehicle frame (200), the scribing line medium in the storage bin (300) can drop into the hopper (112)
In；The lower part of the hopper (112), which is provided with, opens door (114)；
The material toggling component (116) includes shaft (1162) and switch-plate (1164), and the shaft (1162) is horizontally set on institute
It states in hopper (112), and is rotatably connected with the side wall of the hopper (112), the switch-plate (1164) and the shaft
(1162) it connects, and extends along the length direction of the shaft (1162)；
The cutting agency (120) includes feeder pipe (121), under the top and the hopper (112) of the feeder pipe (121)
Portion's connection, when the unlatching door (114) is opened, the scribing line medium in the hopper (112) can drop into the feeder pipe
(121) in.
2. farmland pen machine according to claim 1, it is characterised in that:
The side for opening door (114) is rotatably connected by articulated shaft (115) with the hopper (112), the articulated shaft
(115) shaft (1162) are parallel to；The material toggling component (116) includes 3 switch-plates (1164), the shaft (1162)
When rotation, the unlatching door (114) can be turned on by the switch-plate (1164)；
Perpendicular on the cross section of the shaft (1162), the free end of the switch-plate (1164) is arc, the hopper
(112) lower part is arc-shaped.
3. farmland pen machine according to claim 2, it is characterised in that:
Connecting rod (122) and guide cylinder (123) are provided in the feeder pipe (121)；The lower end of the feeder pipe (121) is provided with
Discharge door (129), the guide cylinder (123) connect with the inner wall of the feeder pipe (121), and the connecting rod (122) is vertically arranged,
And it is slidably connected with the guide cylinder (123)；The discharge door (129) and the lower end of the connecting rod (122) are detachably connected；
When the connecting rod (122) moves up and down, the connecting rod (122) is able to drive discharge door (129) for the feeder pipe (121)
It blocks or opens；
It is additionally provided between the connecting rod (122) and the guide cylinder (123) elastic component (125), the elastic component (125) can give
The connecting rod (122) applies power upward, so that the discharge door (129) blocks the feeder pipe (121)；
The upper end of the connecting rod (122) is provided with plate (126), is provided with push rod (1141) below the unlatching door (114),
One end of the push rod (1141) and the connection for opening door (114), the other end are provided with idler wheel, and the idler wheel is put down with described
Plate (126) abuts；When the unlatching door (114) is opened, it is described that the push rod (1141) can push the plate (126) to make
Connecting rod (122) moves down, and the discharge door (129) is opened the discharge door (129).
4. farmland pen machine according to claim 3, it is characterised in that:
The discharge door (129) includes hang plate (1291) and vertical plate (1292), and the vertical plate (1292) is vertically arranged, institute
It states hang plate (1291) to be obliquely installed, and is connect with the vertical plate；The lower end of the connecting rod (122) and the hang plate
(1291) it is clamped；
The inner wall of the feeder pipe (121) is vertically arranged with dovetail groove, and swallow-tailed guide pad is provided on the vertical plate
(128)；
The vertical plate is slidably matched by the guide pad (128) with the dovetail groove.
5. farmland pen machine according to claim 3, it is characterised in that:
The discharge door (129) is the shell of tetrapyamid shape, under the top of the discharge door (129) and the connecting rod (122)
End connection；The lower end of the feeder pipe (121) is provided with tubaeform chamfering, the tilt angle of the chamfering and the shell
Taper is equal.
6. farmland pen machine according to claim 3, it is characterised in that:
The elastic component (125) is set in the connecting rod, and one end is abutted with guide cylinder (123)；The other end is put down with described
The lower surface of plate (126) abuts.
7. farmland pen machine according to claim 3, it is characterised in that:
Limit plate (127) are additionally provided on the plate (126), for limiting the push rod (1141) relative to the plate
(126) sliding stroke, the limit plate (127) are vertically arranged with the plate (126)；
The push rod (1141) is rotatably connected with the unlatching door (114) by trunnion axis so that the push rod (1141) with
The angle opened between door (114) free end can be conditioned；
Dynamic clamping head and quiet clamping head is also set up between the push rod (1141) and the unlatching door (114), the dynamic clamping head and quiet clamping head makes institute
Stating angle has the trend increased；
The push rod (1141) and the junction for opening door (114) are provided with fixed block (1142), for limiting described push away
Bar (1141) and the maximum angle for opening door (114) free end.
8. farmland pen machine according to claim 1, it is characterised in that:
The vehicle wheel component include two active fronts (210), the active front (210) respectively by two independent motors into
Row driving；
The farmland pen machine (010) further includes control unit, electronic compass and GPS locator, and the electronic compass is for receiving
Collect vehicle body attitude information, the GPS locator is for determining vehicle location information；Described control unit respectively with electronics sieve
Disk and GPS locator electrical connection, for receiving and processing the signal of the electronic compass and the GPS locator；It is described
Control unit is also electrically connected with described two motors, for controlling the output revolving speed of two motors；Described control unit can deposit
Store up preset path information.
The machine control system 9. a kind of farmland is crossed characterized by comprising
Control unit, described control unit include memory and processor, and the memory can store preset path information, institute
The speed of travel and the direction of car body can be controlled according to preset path information by stating processor；
Detection unit, the detection unit are used to detect the speed of travel, vehicle body attitude and the location information of car body, and by above-mentioned letter
Breath is real-time transmitted to described control unit.
10. farmland scribing line machine control system according to claim 9, it is characterised in that:
The processor realizes the control to direction of travel by controlling the revolving speed of two adhesion wheels；The detection unit is logical
Electronic compass and GPS locator are crossed to obtain the run trace of car body, the run trace that described control unit will acquire and pre-
If track is compared in real time, and controls the speed of the adhesion wheel according to comparison result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270647.9A CN109819741A (en) | 2019-04-04 | 2019-04-04 | Farmland pen machine and farmland scribing line machine control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270647.9A CN109819741A (en) | 2019-04-04 | 2019-04-04 | Farmland pen machine and farmland scribing line machine control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109819741A true CN109819741A (en) | 2019-05-31 |
Family
ID=66874134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910270647.9A Pending CN109819741A (en) | 2019-04-04 | 2019-04-04 | Farmland pen machine and farmland scribing line machine control system |
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| Country | Link |
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| CN (1) | CN109819741A (en) |
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