CN110012701A - Intelligent row aligning device of wheat row aligning no-tillage planter - Google Patents
Intelligent row aligning device of wheat row aligning no-tillage planter Download PDFInfo
- Publication number
- CN110012701A CN110012701A CN201910342626.3A CN201910342626A CN110012701A CN 110012701 A CN110012701 A CN 110012701A CN 201910342626 A CN201910342626 A CN 201910342626A CN 110012701 A CN110012701 A CN 110012701A
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- China
- Prior art keywords
- sliding block
- shaped groove
- driver
- rotary shaft
- plough
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
- A01C5/064—Devices for making drills or furrows with rotating tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/006—Minimum till seeding
Abstract
The invention belongs to the field of agricultural machinery, and particularly relates to an intelligent row alignment device of a wheat row alignment no-tillage planter. The device comprises a rack (10), wherein the rack (10) is a hollow cubic frame and comprises a front upper beam, a front lower beam and a rear lower beam; a three-point suspension mechanism (1) is arranged above the middle part of the frame (10); the device also comprises a corn stubble row recognition device, a transverse moving device, a rotating device and a control center. The device obtains the stubble row information through quick-witted vision recognition system of maize stubble line, utilizes sideslip and rotatory mode control arrow shovel to avoid the maize stubble, and the sideslip device guarantees that the furrow opener can avoid the maize stubble row, and the machines and tools also are advancing in the sideslip, and rotary device guarantees that arrow shovel point direction keeps unanimous rather than actual direction of motion, reduces the resistance of arrow shovel sideslip in soil, guarantees the operation quality of wheat to the no-tillage operation of going, improves the operating efficiency simultaneously.
Description
Technical field
The invention belongs to agricultural mechanical field, in particular to a kind of No-till Wheat intelligently sets luggage.
Background technique
No-tillage seeding is one core technology of conservation tillage, is not stirring surface soil and is having the case where crop material covering
Under sowed, can effectively reduce soil drifting, water erosion, improve soil physico-chemical property, increase soil fertility, be conducive to North China one
The area Nian Liangshu water-saving fertilizer-saving.After corn stubble-remaining harvest, straw mulching quantity is big, toughness is strong, causes seeder by difficulty, influences to broadcast
Kind quality, how to sow in the case where there is crop material covering is the key that carry out no-tillage seeding.Currently, external some relatively early
The national such as U.S., Australia for carrying out no-tillage seeding all there has been the no-tillage seeding equipment of comparative maturity, but these equipments
It is mostly large-scale towed, it carries out anti-blocking using more girder constructions while carrying out cutting stubble trench digging by self gravity, and do not meet North China
Two crops a year area plot is small, straw mulching quantity is big and the insufficient reality of peasant household's purchasing power.In recent years, studies in China personnel are from agriculture
The actual handling situations in field and peasant household's purchase feature are set out, and are proposed the thinking to row sowing, that is, are avoided corn stubble and broadcast
Kind, and a series of No-till Wheats are had developed, but when North China two crops a year area wheat sows row at present, Duo Yicao
Based on work person's driving experience, the operating efficiency and quality to row sowing are directly reduced.
Wheat no-tillage seeding is taken a broad view of to row Industry, being badly in need of one kind can be no-tillage to row to broadcast after corn stubble-remaining harvest
When kind wheat, plough can actively avoid the intelligent seeder that corn stubble carries out no-tillage seeding.
Summary of the invention
In view of the above technical problems, the object of the present invention is to provide a kind of No-till Wheat intelligence to luggage
It sets, the device is easy to operate, inexpensive, can actively avoid corn when being carried out by tractor-drawn to row no-tillage seeding wheat
Root stubble.
To achieve the goals above, the present invention provides the following technical scheme that
A kind of No-till Wheat is intelligent to set luggage, including rack 10, and the rack 10 is hollow cube
Body frame, including preceding upper beam, preceding underbeam and rear underbeam；Three-point hitch 1 is equipped with above the middle part of rack 10；The device also wraps
Include corn stubble row identification device, traverse displacement unit, rotating device and control centre.
The left and right both ends of the rear underbeam of rack 10 are respectively equipped with left gauge wheel 13 and right gauge wheel 12.
The traverse displacement unit is set to inside rack 10, including electric cylinder 11, motor 33, pin shaft 15, "u"-shaped groove connecting plate
16, "u"-shaped groove 24, lower-left sliding block 23, upper left sliding block 25, upper right sliding block 34, bottom right sliding block 38, sliding block guide rail 22, top shoe
Guide rail 26, framework connecting plate 21 and electric cylinder mounting plate 31.
The "u"-shaped groove 24 includes upper wall, lower wall and antetheca, and the upper wall, lower wall and antetheca surround one rearward
Opening；The upper wall of "u"-shaped groove 24, the corresponding position of lower wall are equipped with nine coaxial apertures with being respectively separated；The antetheca of "u"-shaped groove 24
Front end is respectively equipped with lower-left sliding block 23, upper left sliding block 25, upper right sliding block 34 and bottom right sliding block 38；It is respectively equipped with out on each sliding block
The forward guide-track groove 27 in mouth direction.
The longitudinal section of the framework connecting plate 21 is "u"-shaped, including upper and lower connection wall and rear rail wall；Above and below
Connection wall is fixed on the preceding upper beam and preceding underbeam of rack 10, and the opening of the "u"-shaped of upper and lower connection wall is facing forward.
The rear portion of the rear rail wall of framework connecting plate 21 is equipped with the top shoe guide rail 26 transversely and horizontally extended and sliding block is led
Rail 22；The guide-track groove 27 of upper left sliding block 25 and upper right sliding block 34 is installed on top shoe guide rail 26, and lower-left sliding block 23 and bottom right are sliding
The guide-track groove 27 of block 38 is installed on sliding block guide rail 22, so that "u"-shaped groove 24 can be along top shoe guide rail 26 and downslide
22 horizontal transverse movement of block guide rail.
The front end of the "u"-shaped groove connecting plate 16 is connect by bayonet lock with "u"-shaped groove 24；Vertically rotationally pacify rear end
Fill pin shaft 15.
The electric cylinder 11 includes output end and input terminal, wherein output end is connect with pin shaft 15, input terminal and motor 33
Connection；The electric cylinder 11 and motor 33 are fixed on electric cylinder mounting plate 31, and electric cylinder mounting plate 31 is fixed in rack 10.
The rotating device includes multiple rotating electric machines and multiple plough monomers.
The plough monomer includes upper flange 39, lower flange 40, rotary shaft 18, arrow shovel 17,19 and of rotary shaft connecting plate
Rotary shaft connecting rod 20；Wherein, the bottom end connection arrow shovel 17 of the rotary shaft 18, top connects upper flange 39 by bearing, intermediate
Portion lower flange 40 is installed by bearing；One end of the rotary shaft connecting plate 19 is connect with rotary shaft connecting rod 20, and the other end passes through
Positioning shaft shoulder is fixed in rotary shaft 18, is located between arrow shovel 17 and lower flange 40.Upper flange 39 and lower flange 40 respectively correspond
Coaxial aperture on the upper and lower wall of "u"-shaped groove 24, wherein upper flange 39 is located above 24 upper wall of "u"-shaped groove, and lower flange 40 is located at
Above 24 lower wall of "u"-shaped groove, so that plough monomer solid is due in "u"-shaped groove 24.
The plough monomer is nine, using adjacent three plough monomers as a plough monomer group, is equipped with altogether
Three plough monomer groups in each plough monomer group, pass through rotary shaft connecting plate 19 and rotation between adjacent plough monomer
Shaft connecting rod 20 is connected.
The rotating electric machine is three, is fixed in "u"-shaped groove 24 by rotating motor support frame respectively；Three electric rotatings
The output end of machine by the upper wall of "u"-shaped groove 24 and the coaxial aperture on lower wall successively be located in each plough monomer group
Between position plough monomer rotary shaft 18 connect.
The control centre includes that power supply 9, host computer PC 8, single-chip microcontroller 30, driver and encoder 14, driver include
First driver 4, the second driver 5, third driver 6 and fourth drive 7；First driver 4 respectively with single-chip microcontroller
30, motor 33, power supply 9 are electrically connected；Second driver 5, third driver 6 and fourth drive 7 with single-chip microcontroller 30 and power supply 9
Electrical connection, and the second driver 5, third driver 6 and fourth drive 7 are connected respectively a rotating electric machine.
Encoder 14 is mounted on the axis of left gauge wheel 13 or right gauge wheel 12, is electrically connected with single-chip microcontroller 30 and host computer PC 8
It connects.
The corn stubble row identification device includes video camera 2 and camera mount 3；The video camera 2 is fixed on camera shooting
On machine support 3, camera mount 3 is fixed on 24 open upper end of "u"-shaped groove.
The control centre further includes and control centre's mounting rack 32；Control centre's mounting rack 32 is mounted on rack
10 left side relative to equipment direction of advance, power supply 9 are mounted on the rear portion on control centre's mounting rack 32；First driver 4,
Two drivers 5, third driver 6 and fourth drive 7 are sequentially arranged at the front end of control centre's mounting rack 32 from front to back.
Spacing on the upper wall and lower wall of "u"-shaped groove 24 between adjacent coaxial aperture is 20cm.
The front end of the "u"-shaped groove connecting plate 16 is equipped with bayonet lock, and the front end of bayonet lock is stuck in the upper and lower of 24 middle part of "u"-shaped groove
The inside of wall opening；The upper and lower part of rear end is equipped with symmetrical connecting plate, vertically rotationally pacifies between two connecting plates
Fill pin shaft 15.
In each plough monomer group, the rotary shaft connecting rod 20 of the plough monomer in left side is located at its own rotation axis connection
The lower section of plate 19, the rotary shaft connecting rod 20 of the plough monomer on right side are located at the top of its own rotary shaft connecting plate 19；Installation
When, all plough monomers keep sustained height.
The host computer PC 8 is mounted on 9 top of power supply, close to 10 left end of rack；Single-chip microcontroller 30 be mounted on the top of power supply 9,
The right side of host computer PC 8.
When equipment operation, the camera lens of the video camera 2 is perpendicular to corn stubble row surface.
The top of the camera mount 3 and the altitude range on ground are 0.8-1.2m.
It is 30 °~50 ° that the camera lens and horizontal plane of the video camera 2, which are at an angle of range,.
The distance range of the vertical axis of the corn stubble row identification device and left end plough monomer be 10cm~
15cm。
Compared with prior art, the beneficial effects of the present invention are:
1) No-till Wheat of the invention intelligently sets luggage, passes through corn stubble row Machine Vision Recognition system
System obtains root stubble row information, by it is traversing put english turn in the way of control arrow shovel and avoid corn stubble, traverse displacement unit guarantees plough
Can avoid corn stubble row, equipment equipment while traversing is also advancing, rotating device guarantee arrow shovel shovel tip direction in fact
The border direction of motion is consistent, and is reduced arrow and is shoveled resistance traversing in the soil；
2) No-till Wheat of the invention intelligently sets luggage, by it is traversing put english turn in the way of control trench digging
Device avoids corn stubble, so that plough can be laterally moved a distance in the soil during the work time, realizes trench digging
The problem of transverse shifting in the soil is difficult in the device course of work；
3) No-till Wheat of the invention intelligently sets luggage, when can reduce wheat to row no-tillage farming pair
The dependence of driver's high precision tracking corn stubble row guarantees that wheat to the operation quality of row no-tillage farming, while improving work
Industry efficiency.
Detailed description of the invention
Fig. 1 is the main view that No-till Wheat of the invention intelligently sets luggage；
Fig. 2 is the top view that No-till Wheat of the invention intelligently sets luggage；
Fig. 3 is the axonometric drawing that No-till Wheat of the invention intelligently sets luggage；
Fig. 4 is the structural schematic diagram for the traverse displacement unit that No-till Wheat of the invention intelligently sets luggage；
Fig. 5 is the cross-sectional view for the traverse displacement unit that No-till Wheat of the invention intelligently sets luggage；
Fig. 6 is the structural schematic diagram of slide block guide rail and framework connecting plate assembly in traverse displacement unit shown in Fig. 4；
Fig. 7 is the axonometric drawing of sliding block and the assembly of "u"-shaped groove 24 in traverse displacement unit shown in Fig. 4；
Fig. 8 is the schematic diagram for the plough monomer that No-till Wheat of the invention intelligently sets luggage.
Appended drawing reference therein are as follows:
1, three-point hitch 2, video camera
3, camera mount 4, the first driver
5, the second driver 6, third driver
7, fourth drive 8, host computer PC
9, power supply 10, rack
11, electric cylinder 12, right gauge wheel
13, left gauge wheel 14, encoder
15, pin shaft 16, "u"-shaped groove connecting plate
17, arrow shovels 18, rotary shaft
19, rotary shaft connecting plate 20, rotary shaft connecting rod
21, framework connecting plate 22, sliding block guide rail
23, lower-left sliding block 24, "u"-shaped groove
25, upper left sliding block 26, top shoe guide rail
27, guide-track groove 30, single-chip microcontroller
31, electric cylinder mounting plate 32, control centre's mounting rack
33, motor 34, upper right sliding block
35, the first rotating electric machine 36, the second rotating electric machine
37, third rotating electric machine 38, bottom right sliding block
39, upper flange
Specific embodiment
Invention is further explained with reference to the accompanying drawings and examples.
As shown in FIG. 1 to 3, a kind of No-till Wheat intelligently sets luggage, including rack 10, corn stubble
Row identification device, traverse displacement unit, rotating device and control centre.
The rack 10 is hollow cube frame, including preceding upper beam, preceding underbeam, rear upper beam and rear underbeam.Rack 10
Middle part above be equipped with three-point hitch 1.The three-point hitch 1 includes two symmetrical supporting beams and an activity
Beam；It is angled affixed between two symmetrical supporting beams, and be fixed on the preceding upper beam of rack 10；The top of one walking beam with
Two supporting beams are movably connected, and the other end is fixed on the rear upper beam of rack 10.In use, tractor and trifilar suspension machine
The walking beam of structure 1 connects, and then draws and set carry out operation to luggage.
The left and right both ends of the rear underbeam of rack 10 are respectively equipped with left gauge wheel 13 and right gauge wheel 12.
As shown in Figure 4 to 7, the traverse displacement unit is set to the inside of rack 10, including electric cylinder 11, motor 33, pin shaft
15, "u"-shaped groove connecting plate 16, "u"-shaped groove 24, lower-left sliding block 23, upper left sliding block 25, upper right sliding block 34, bottom right sliding block 38, downslide
Block guide rail 22, top shoe guide rail 26, framework connecting plate 21 and electric cylinder mounting plate 31.
The "u"-shaped groove 24 includes upper wall, lower wall and antetheca；The upper wall, lower wall and antetheca surround one rearward
Opening.The upper wall of "u"-shaped groove 24, the corresponding position of lower wall are equipped with nine coaxial apertures, phase on upper wall and lower wall with being respectively separated
Spacing between adjacent coaxial aperture is 20cm.The front end of the antetheca of "u"-shaped groove 24 is respectively equipped with lower-left sliding block 23, upper left sliding block
25, upper right sliding block 34 and bottom right sliding block 38 are respectively equipped with the forward guide-track groove 27 of opening direction on each sliding block.
The longitudinal section of the framework connecting plate 21 is "u"-shaped, including upper and lower connection wall and rear rail wall；Installation
When, upper and lower connection wall is fixed on the preceding upper beam and preceding underbeam of rack 10, and the opening court of the "u"-shaped of upper and lower connection wall
Before.
The rear portion of the rear rail wall of framework connecting plate 21 is equipped with transversely horizontal-extending top shoe guide rail 26 and sliding block
Guide rail 22.The guide-track groove 27 of upper left sliding block 25 and upper right sliding block 34 is installed on top shoe guide rail 26, lower-left sliding block 23 and bottom right
The guide-track groove 27 of sliding block 38 is installed on sliding block guide rail 22, so that "u"-shaped groove 24 can be along top shoe guide rail 26 under
22 horizontal transverse movement of slide block guide rail.
The front end of the "u"-shaped groove connecting plate 16 is connect by bayonet lock with "u"-shaped groove 24；Vertically rotationally pacify rear end
Fill pin shaft 15.Further, the front end of the "u"-shaped groove connecting plate 16 is equipped with bayonet lock, and when installation, the front end of bayonet lock is stuck in " U "
The inside of the upper and lower wall opening at 24 middle part of shape slot；The upper and lower part of rear end is equipped with symmetrical connecting plate, between two connecting plates
Vertically it is rotatably mounted pin shaft 15.
The electric cylinder 11 includes output end and input terminal, wherein output end is connect with pin shaft 15, input terminal and motor 33
Connection.The electric cylinder 11 and motor 33 are fixed on electric cylinder mounting plate 31, and electric cylinder mounting plate 31 is fixed in rack 10.
The rotating device includes multiple rotating electric machines and multiple plough monomers.
As shown in figure 8, the plough monomer includes upper flange 39, lower flange 40, rotary shaft 18, arrow shovel 17, rotary shaft
Connecting plate 19 and rotary shaft connecting rod 20.Wherein, the bottom end connection arrow shovel 17 of the rotary shaft 18, top connects upper method by bearing
Orchid 39, middle part install lower flange 40 by bearing.One end of the rotary shaft connecting plate 19 is connect with rotary shaft connecting rod 20, separately
One end is fixed in rotary shaft 18 by positioning shaft shoulder, is located between arrow shovel 17 and lower flange 40.When installation, upper flange 39 is under
Flange 40 respectively corresponds the coaxial aperture on the upper and lower wall of "u"-shaped groove 24, wherein upper flange 39 is located on 24 upper wall of "u"-shaped groove
Side, lower flange 40 are located above 24 lower wall of "u"-shaped groove, so that plough monomer solid is due in "u"-shaped groove 24.
The plough monomer is nine, using adjacent three plough monomers as a plough monomer group, is equipped with altogether
Three plough monomer groups.In each plough monomer group, pass through rotary shaft connecting plate 19 and rotation between adjacent plough monomer
Shaft connecting rod 20 is connected, wherein the rotary shaft connecting rod 20 of the plough monomer in left side is located at its own rotary shaft connecting plate 19
Lower section, the rotary shaft connecting rod 20 of the plough monomer on right side are located at the top of its own rotary shaft connecting plate 19.When installation, own
Plough monomer keeps sustained height.
The rotating electric machine is three, respectively the first rotating electric machine 35, the second rotating electric machine 36 and third electric rotating
Machine 37.Rotating electric machine is fixed in "u"-shaped groove 24 by rotating motor support frame.First rotating electric machine 35, the second rotating electric machine
36 and the output end of third rotating electric machine 37 pass through the upper wall of "u"-shaped groove 24 and coaxial aperture on lower wall respectively successively and often
The rotary shaft 18 of centrally located plough monomer connects in a plough monomer group.When work, each rotating electric machine band
The rotary shaft 18 for moving plough monomer centrally located in each plough monomer group rotates, the plough list in middle position
The rotary shaft 18 of body drives the plough list of adjacent two sides by rotary shaft connecting plate 19 and rotary shaft connecting rod 20 while rotation
The axial rotary same direction of body rotates, and reaches three plough monomers in the same plough monomer group simultaneously to a side
To the effect of rotation.
The control centre includes power supply 9, host computer PC 8, single-chip microcontroller 30, driver, encoder 14 and control centre
Mounting rack 32.Control centre's mounting rack 32 is mounted on left side of the rack 10 relative to equipment direction of advance, and power supply 9 is mounted on
Rear portion on control centre's mounting rack 32.Driver includes the first driver 4, the second driver 5, third driver 6 and the 4th
Driver 7；And it is sequentially arranged at the front end of control centre's mounting rack 32 from front to back.Single-chip microcontroller 30 is installed on 9 top of power supply,
First driver 4 is electrically connected with single-chip microcontroller 30, motor 33 and power supply 9 respectively；Second driver 5, third driver 6 and
Four drivers 7 are electrically connected with single-chip microcontroller 30 and power supply 9, and the second driver 5, third driver 6 and fourth drive 7 are distinguished
It is correspondingly connected with the first rotating electric machine 35, the second rotating electric machine 36 and third rotating electric machine 37.
The encoder 14 is mounted on the axis of left gauge wheel 13 or right gauge wheel 12, with single-chip microcontroller 30 and host computer PC 8
Electrical connection.
The host computer PC 8 is mounted on 9 top of power supply, close to 10 left end of rack；Single-chip microcontroller 30 be mounted on the top of power supply 9,
The right side of host computer PC 8.
The corn stubble row identification device includes video camera 2 and camera mount 3.The video camera 2 is fixed on camera shooting
On machine support 3, camera mount 3 is fixed on the left of 24 open upper end of "u"-shaped groove.When equipment operation, the camera lens of video camera 2 is vertical
Right above corn stubble row.The camera mount 3 be fixed on "u"-shaped groove 24 opening upper end on the left of, camera mount 3 with
The altitude range on ground is 0.8-1.2m, and when operation, it is 30 °~50 ° that the camera lens and horizontal plane of video camera 2, which are at an angle of range,.Institute
The distance range for stating the vertical axis of corn stubble row identification device and left end plough monomer is 10cm~15cm.
The course of work that No-till Wheat of the invention intelligently sets luggage are as follows:
When work, tractor traction apparatus operation.
In operation process, the forward speed of 14 monitoring device of encoder, and transmit it to single-chip microcontroller 30 and host computer PC
8.Meanwhile corn stubble row identification device obtains the original image of corn stubble row by video camera 2, and will be sent in control
The host computer PC 8 of the heart, host computer PC 8 handle image, obtain the position of corn stubble row.
The image that the current forward speed of equipment and corn stubble line position that host computer PC 8 is transmitted according to single-chip microcontroller 30 are set, meter
Expectation traversing displacement and rotation angle of the left end plough monomer relative to corn stubble row are calculated, and by above-mentioned two parameters
It is sent to single-chip microcontroller 30, single-chip microcontroller 30 calculates the movement of rotating electric machine and motor 33 according to the traversing displacement of expectation and rotation angle
Parameter is simultaneously emitted by traversing and rotation instruction.
When traversing instruction is sent to the first driver 4 by single-chip microcontroller 30, the work of 4 driving motor 33 of the first driver, electricity
Machine 33 drives electric cylinder 11 to move, and along top shoe guide rail 26 and is glided by the flexible promotion "u"-shaped groove 24 of 11 push rod of electric cylinder
Block guide rail 22 is mobile, completes being moved to the left or right for traverse displacement unit.
Single-chip microcontroller 30 sends identical direction of rotation, angle to the second driver 5, third driver 6 and fourth drive 7 respectively
The rotation of degree and speed instructs.Three drivers drive corresponding first rotating electric machine 35, the second rotating electric machine 36 and
Third rotating electric machine 37, with the rotation of identical direction of rotation, angle and speed.Each rotating electric machine drives a plough monomer group
In it is centrally located on rotary shaft 18 rotate, pass through rotary shaft connecting rod 20 while the rotary shaft 18 on middle position rotates
The rotary shaft 18 of adjacent two sides is driven to rotate to the same direction, the effect for reaching nine plough monomers while rotating to a direction
Fruit.
When operation, when traverse displacement unit is traversing to the left, rotating device rotation counterclockwise simultaneously；When traverse displacement unit is traversing to the right
When, rotating device rotates clockwise simultaneously, to reduce the resistance of arrow shovel 17 in the soil.
No-till Wheat of the invention intelligently sets luggage, and when operation, plough can avoid corn stubble
Row carries out the dependence to row seeding operation, when reducing wheat to row no-tillage farming to driver's high precision tracking corn stubble row
Property, guarantee that wheat to the operation quality of row no-tillage farming, while improving operating efficiency.
Meanwhile No-till Wheat of the invention intelligently sets luggage, and plough is made to avoid corn stubble traveling
Row to the dependence of driver's high precision tracking corn stubble row when reducing wheat to row no-tillage farming, protects row seeding operation
Wheat is demonstrate,proved to the operation quality of row no-tillage farming, while improving operating efficiency.
Claims (10)
1. a kind of No-till Wheat intelligently sets luggage, including rack (10), the rack (10) is hollow stands
Cube frame, including preceding upper beam, preceding underbeam and rear underbeam；Three-point hitch (1) is equipped with above the middle part of rack (10)；It is special
Sign is: the device further includes corn stubble row identification device, traverse displacement unit, rotating device and control centre；
The left and right both ends of the rear underbeam of rack (10) are respectively equipped with left gauge wheel (13) and right gauge wheel (12)；
The traverse displacement unit is set to rack (10) inside, including the connection of electric cylinder (11), motor (33), pin shaft (15), "u"-shaped groove
Plate (16), "u"-shaped groove (24), lower-left sliding block (23), upper left sliding block (25), upper right sliding block (34), bottom right sliding block (38), sliding block
Guide rail (22), top shoe guide rail (26), framework connecting plate (21) and electric cylinder mounting plate (31)；
The "u"-shaped groove (24) includes upper wall, lower wall and antetheca, and the upper wall, lower wall and antetheca surround opening rearward
Mouthful；The upper wall of "u"-shaped groove (24), the corresponding position of lower wall are equipped with nine coaxial apertures with being respectively separated；The antetheca of "u"-shaped groove (24)
Front end be respectively equipped with lower-left sliding block (23), upper left sliding block (25), upper right sliding block (34) and bottom right sliding block 38；Divide on each sliding block
It She You not the forward guide-track groove of opening direction (27)；
The longitudinal section of the framework connecting plate (21) is "u"-shaped, including upper and lower connection wall and rear rail wall；Connect above and below
It connects wall to be fixed on the preceding upper beam and preceding underbeam of rack (10), and the opening of the "u"-shaped of upper and lower connection wall is facing forward；
The rear portion of the rear rail wall of framework connecting plate (21) is equipped with the top shoe guide rail (26) transversely and horizontally extended and sliding block is led
Rail (22)；The guide-track groove (27) of upper left sliding block (25) and upper right sliding block (34) is installed on top shoe guide rail (26), lower-left sliding block
(23) it is installed on sliding block guide rail (22) with the guide-track groove (27) of bottom right sliding block (38), so that "u"-shaped groove (24) can
Along top shoe guide rail (26) and sliding block guide rail (22) horizontal transverse movement；
The front end of the "u"-shaped groove connecting plate (16) is connect by bayonet lock with "u"-shaped groove (24)；Vertically rotationally pacify rear end
It fills pin shaft (15)；
The electric cylinder (11) includes output end and input terminal, wherein output end is connect with pin shaft (15), input terminal and motor
(33) it connects；The electric cylinder (11) and motor (33) are fixed on electric cylinder mounting plate (31), and electric cylinder mounting plate (31) is solid
It is scheduled on rack (10)；
The rotating device includes multiple rotating electric machines and multiple plough monomers；
The plough monomer includes upper flange (39), lower flange (40), rotary shaft (18), arrow shovel (17), rotary shaft connecting plate
(19) and rotary shaft connecting rod (20)；Wherein, the bottom end connection arrow shovel (17) of the rotary shaft (18), top are connected by bearing
Flange (39), middle part install lower flange (40) by bearing；One end of the rotary shaft connecting plate (19) and rotary shaft connecting rod
(20) it connects, the other end is fixed on rotary shaft (18) by positioning shaft shoulder, is located between arrow shovel (17) and lower flange (40)；On
Flange (39) and lower flange (40) respectively correspond the coaxial aperture on the upper and lower wall of "u"-shaped groove (24), wherein upper flange (39) position
Above "u"-shaped groove (24) upper wall, lower flange (40) is located above "u"-shaped groove (24) lower wall, so that plough monomer solid
Due on "u"-shaped groove (24)；
The plough monomer be nine, using adjacent three plough monomers as a plough monomer group, set altogether there are three
Plough monomer group by rotary shaft connecting plate (19) and rotates in each plough monomer group, between adjacent plough monomer
Axis connecting rod (20) is connected；
The rotating electric machine is three, is fixed on "u"-shaped groove (24) by rotating motor support frame respectively；Three rotating electric machines
Output end by the upper wall of "u"-shaped groove (24) and the coaxial aperture on lower wall successively be located in each plough monomer group
Between position plough monomer rotary shaft (18) connection；
The control centre includes power supply (9), host computer PC (8), single-chip microcontroller (30), driver and encoder (14), driver
Including the first driver (4), the second driver (5), third driver (6) and fourth drive (7)；First driver
(4) it is electrically connected respectively with single-chip microcontroller (30), motor (33), power supply (9)；Second driver (5), third driver (6) and the 4th
Driver (7) is electrically connected with single-chip microcontroller (30) and power supply (9), and the second driver (5), third driver (6) and 4 wheel driven
Dynamic device (7) are connected respectively a rotating electric machine；
Encoder (14) is mounted on the axis of left gauge wheel (13) or right gauge wheel (12), with single-chip microcontroller (30) and host computer PC
(8) it is electrically connected；
The corn stubble row identification device includes video camera (2) and camera mount (3)；The video camera (2), which is fixed on, takes the photograph
In camera cradle (3), camera mount (3) is fixed on "u"-shaped groove (24) open upper end.
2. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: in the control
The heart further includes and control centre's mounting rack (32)；Control centre's mounting rack (32) is mounted on rack (10) relative to equipment
The left side of direction of advance, power supply (9) are mounted on the rear portion on control centre's mounting rack (32)；First driver (4), the second driving
Device (5), third driver (6) and fourth drive (7) are sequentially arranged at the front end of control centre's mounting rack (32) from front to back.
3. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: "u"-shaped groove
(24) spacing on upper wall and lower wall between adjacent coaxial aperture is 20cm.
4. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: the " u "-shaped
The front end of slot connecting plate (16) is equipped with bayonet lock, and the front end of bayonet lock is stuck in the inside of the upper and lower wall opening in the middle part of "u"-shaped groove (24)；
The upper and lower part of rear end is equipped with symmetrical connecting plate, is vertically rotatably mounted pin shaft (15) between two connecting plates.
5. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: each plough
In monomer group, the rotary shaft connecting rod (20) of the plough monomer in left side is located at the lower section of its own rotary shaft connecting plate (19), right
The rotary shaft connecting rod (20) of the plough monomer of side is located at the top of its own rotary shaft connecting plate (19)；When installation, Suo Youkai
Ditch device monomer keeps sustained height.
6. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: the host computer
PC (8) is mounted on above power supply (9), close to rack (10) left end；Single-chip microcontroller (30) is mounted on power supply (9) top, host computer PC
(8) right side.
7. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: equipment operation
When, the camera lens of the video camera (2) is perpendicular to corn stubble row surface.
8. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: the video camera
The top of bracket (3) and the altitude range on ground are 0.8-1.2m.
9. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: the video camera
(2) it is 30 °~50 ° that camera lens and horizontal plane, which is at an angle of range,.
10. No-till Wheat according to claim 1 intelligently sets luggage, it is characterised in that: the corn
The distance range of the vertical axis of root stubble row identification device and left end plough monomer is 10cm~15cm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910342626.3A CN110012701B (en) | 2019-04-26 | 2019-04-26 | Intelligent row aligning device of wheat row aligning no-tillage planter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910342626.3A CN110012701B (en) | 2019-04-26 | 2019-04-26 | Intelligent row aligning device of wheat row aligning no-tillage planter |
Publications (2)
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| CN110012701A true CN110012701A (en) | 2019-07-16 |
| CN110012701B CN110012701B (en) | 2020-06-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115176562A (en) * | 2022-08-02 | 2022-10-14 | 中国农业大学 | Corn no-tillage sowing robot capable of realizing path tracking |
| CN115380650A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive multi-drive agricultural machinery opposite-row transverse-moving deflection device |
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| CN115380650A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive multi-drive agricultural machinery opposite-row transverse-moving deflection device |
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| CN115176562A (en) * | 2022-08-02 | 2022-10-14 | 中国农业大学 | Corn no-tillage sowing robot capable of realizing path tracking |
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|---|---|
| CN110012701B (en) | 2020-06-16 |
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Effective date of registration: 20220509 Address after: 100000 ronghua Xintai 3-1609, No. 10, Ronghua South Road, economic and Technological Development Zone, Daxing District, Beijing Patentee after: DEBONT Co.,Ltd. Address before: 100083 No. 17 Qinghua East Road, Beijing, Haidian District Patentee before: CHINA AGRICULTURAL University |