CN110012701B - 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
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- CN110012701B CN110012701B CN201910342626.3A CN201910342626A CN110012701B CN 110012701 B CN110012701 B CN 110012701B CN 201910342626 A CN201910342626 A CN 201910342626A CN 110012701 B CN110012701 B CN 110012701B
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- driver
- furrow opener
- shaped groove
- slide block
- wall
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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
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- 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 the field of agricultural machinery, and particularly relates to an intelligent row alignment device of a wheat row alignment no-tillage planter.
Background
The no-tillage seeding is a core technology of protective farming, and seeding is carried out under the conditions that surface soil is not turned over and crop straws are covered, so that the wind erosion and the water erosion of the soil can be effectively reduced, the physical and chemical properties of the soil are improved, the soil fertility is increased, and water and fertilizer conservation in the double cropping area of the first year in North China is facilitated. After the corn is harvested, the straw coverage is large, the toughness is strong, the seeder is difficult to pass, the seeding quality is influenced, and the key of no-tillage seeding is how to sow under the condition that crop straws are covered. At present, some countries such as the United states, Australia and the like which develop no-tillage seeding earlier abroad have mature no-tillage seeding machines, but the machines are mostly large-scale traction type, adopt a multi-beam structure to prevent blockage, and simultaneously rely on self gravity to carry out stubble cutting and ditching, and do not accord with the reality that the one-year-two-harvest area in North China is small in land, the straw coverage is large and the purchasing ability of farmers is insufficient. In recent years, domestic researchers put forward the idea of row sowing from actual operation conditions of farmlands and purchasing characteristics of farmers, namely, sowing is avoided by avoiding corn stubbles, and a series of wheat row-to-row no-tillage seeders are developed, but the current wheat row-to-row sowing in the double cropping zone of North China is mainly based on the driving experience of operators, so that the operation efficiency and quality of row sowing are directly reduced.
In view of the current situation of wheat no-tillage seeding to the row industry, an intelligent seeder which can actively avoid corn stubbles to carry out no-tillage seeding by a furrow opener when wheat is sown in the row without tillage after the corn stubbles are harvested is urgently needed.
Disclosure of Invention
In view of the above technical problems, the present invention provides an intelligent row aligning device of a no-tillage wheat seeder, which is simple in operation and low in cost, and can actively avoid corn stubbles when the no-tillage wheat seeding machine is pulled by a tractor to sow rows of wheat.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent row aligning device of a wheat row aligning no-tillage planter comprises a frame 10, wherein the frame 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 left and right ends of the rear lower beam of the frame 10 are respectively provided with a left depth wheel 13 and a right depth wheel 12.
The transverse moving device is arranged inside the rack 10 and comprises an electric cylinder 11, a motor 33, a pin shaft 15, a U-shaped groove connecting plate 16, a U-shaped groove 24, a left lower sliding block 23, a left upper sliding block 25, a right upper sliding block 34, a right lower sliding block 38, a lower sliding block guide rail 22, an upper sliding block guide rail 26, a rack connecting plate 21 and an electric cylinder mounting plate 31.
The "U" shaped channel 24 comprises an upper wall, a lower wall and a front wall, which enclose a rearward opening; nine coaxial holes are respectively arranged at the corresponding positions of the upper wall and the lower wall of the U-shaped groove 24 at intervals; the front end of the front wall of the U-shaped groove 24 is respectively provided with a left lower slide block 23, a left upper slide block 25, a right upper slide block 34 and a right lower slide block 38; each slider is provided with a guide groove 27 having a forward opening direction.
The longitudinal section of the rack connecting plate 21 is of a U-shaped structure and comprises an upper connecting wall, a lower connecting wall and a rear guide rail wall; the upper and lower connecting walls are fixed on the front upper beam and the front lower beam of the frame 10, and the openings of the U-shaped structures of the upper and lower connecting walls face forward.
The rear part of the rear guide rail wall of the frame connecting plate 21 is provided with an upper slide guide rail 26 and a lower slide guide rail 22 which horizontally extend in the transverse direction; the guide rail grooves 27 of the left and right upper sliders 25 and 34 are mounted on the upper slider guide rail 26, and the guide rail grooves 27 of the left and right lower sliders 23 and 38 are mounted on the lower slider guide rail 22, so that the "U" -shaped groove 24 can horizontally move laterally along the upper and lower slider guide rails 26 and 22.
The front end of the U-shaped groove connecting plate 16 is connected with the U-shaped groove 24 through a bayonet; the rear end vertically rotatably mounts the pin 15.
The electric cylinder 11 comprises an output end and an input end, wherein the output end is connected with the pin shaft 15, and the input end is connected with the motor 33; the electric cylinder 11 and the motor 33 are fixed on the electric cylinder mounting plate 31, and the electric cylinder mounting plate 31 is fixed on the frame 10.
The rotating device comprises a plurality of rotating motors and a plurality of furrow opener monomers.
The single furrow opener comprises an upper flange 39, a lower flange 40, a rotating shaft 18, an arrow shovel 17, a rotating shaft connecting plate 19 and a rotating shaft connecting rod 20; wherein, the bottom end of the rotating shaft 18 is connected with the arrow shovel 17, the top end is connected with the upper flange 39 through a bearing, and the middle part is provided with the lower flange 40 through a bearing; one end of the rotating shaft connecting plate 19 is connected with the rotating shaft connecting rod 20, and the other end of the rotating shaft connecting plate is fixed on the rotating shaft 18 through a positioning shaft shoulder and is positioned between the arrow shovel 17 and the lower flange 40. The upper flange 39 and the lower flange 40 correspond to coaxial holes in the upper and lower walls of the "U" shaped channel 24, respectively, wherein the upper flange 39 is positioned above the upper wall of the "U" shaped channel 24 and the lower flange 40 is positioned above the lower wall of the "U" shaped channel 24, thereby securing the shank to the "U" shaped channel 24.
Nine furrow openers are single, regard adjacent three furrow opener monomer as a furrow opener monomer group, be equipped with three furrow opener monomer group altogether, in every furrow opener monomer group, link to each other through rotation axis connecting plate 19 and rotation axis connecting rod 20 between the adjacent furrow opener monomer.
Three rotating motors are respectively fixed on the U-shaped groove 24 through rotating motor supporting frames; the output ends of the three rotating motors are sequentially connected with the rotating shaft 18 of the single furrow opener positioned in the middle position in each furrow opener single group through coaxial holes on the upper wall and the lower wall of the U-shaped groove 24.
The control center comprises a power supply 9, an upper computer PC8, a singlechip 30, a driver and an encoder 14, wherein the driver comprises a first driver 4, a second driver 5, a third driver 6 and a fourth driver 7; the first driver 4 is respectively and electrically connected with the singlechip 30, the motor 33 and the power supply 9; the second driver 5, the third driver 6 and the fourth driver 7 are all electrically connected with the single chip microcomputer 30 and the power supply 9, and the second driver 5, the third driver 6 and the fourth driver 7 are respectively and correspondingly connected with a rotating motor.
The encoder 14 is arranged on the shaft of the left depth wheel 13 or the right depth wheel 12 and is electrically connected with the singlechip 30 and the upper computer PC 8.
The corn stubble row recognition device comprises a camera 2 and a camera bracket 3; the camera 2 is fixed on the camera support 3, and the camera support 3 is fixed at the upper end of the opening of the U-shaped groove 24.
The control center further comprises a control center mounting frame 32; the control center mounting frame 32 is arranged on the left side of the frame 10 relative to the advancing direction of the machine tool, and the power supply 9 is arranged on the rear part of the control center mounting frame 32; the first driver 4, the second driver 5, the third driver 6 and the fourth driver 7 are installed at the front end of the control center mounting bracket 32 in sequence from front to rear.
The spacing between adjacent coaxial holes in the upper and lower walls of the "U" shaped slot 24 is 20 cm.
The front end of the U-shaped groove connecting plate 16 is provided with a clamping pin, and the front end of the clamping pin is clamped at the inner sides of the upper and lower wall openings in the middle of the U-shaped groove 24; the upper and lower parts of the rear end are provided with symmetrical connecting plates, and a pin shaft 15 is vertically and rotatably mounted between the two connecting plates.
In each furrow opener monomer group, the rotary shaft connecting rod 20 of the furrow opener monomer on the left side is positioned below the rotary shaft connecting plate 19 of the furrow opener monomer, and the rotary shaft connecting rod 20 of the furrow opener monomer on the right side is positioned above the rotary shaft connecting plate 19 of the furrow opener monomer; when the single furrow opener is installed, all the single furrow opener bodies are kept at the same height.
The upper computer PC8 is arranged above the power supply 9 and close to the left end of the rack 10; the singlechip 30 is arranged above the power supply 9 and on the right side of the upper computer PC 8.
When the machine works, the lens of the camera 2 is vertical to the position right above the corn stubble row.
The height range of the top end of the camera support 3 and the ground is 0.8-1.2 m.
The angle range between the lens of the camera 2 and the horizontal plane is 30-50 degrees.
The distance range between the corn stubble row recognition device and the vertical axis of the single body of the left-most opener is 10-15 cm.
Compared with the prior art, the invention has the beneficial effects that:
1) according to the intelligent alignment device of the wheat alignment no-tillage planter, the information of stubble rows is acquired through a vision recognition system of a corn stubble row-aligning machine, the arrow shovel is controlled to avoid corn stubbles in a transverse moving and rotating mode, the transverse moving device ensures that the furrow opener can avoid the corn stubble rows, the implement moves forward while transversely moving, and the rotating device ensures that the direction of the shovel tip of the arrow shovel is consistent with the actual moving direction of the arrow shovel, so that the resistance of the arrow shovel in the transverse moving of soil is reduced;
2) according to the intelligent row aligning device of the wheat row aligning no-tillage planter, the furrow opener is controlled to avoid corn stubbles in a transverse moving and rotating mode, so that the furrow opener can transversely move for a certain distance in soil in the working process, and the problem that the furrow opener is difficult to transversely move in the soil in the working process is solved;
3) the intelligent row alignment device of the wheat row alignment no-tillage planter can reduce the dependence on a driver for tracking the corn stubble rows with high precision during the wheat row alignment no-tillage operation, ensure the operation quality of the wheat row alignment no-tillage operation and improve the operation efficiency at the same time.
Drawings
FIG. 1 is a front view of the intelligent row aligning device of the wheat row aligning no-tillage planter of the invention;
FIG. 2 is a top view of the intelligent row aligning device of the wheat row aligning no-tillage planter of the invention;
FIG. 3 is an axonometric view of the intelligent row alignment device of the wheat row alignment no-tillage planter of the invention;
FIG. 4 is a schematic structural diagram of a traverse device of the intelligent row aligning device of the wheat row aligning no-tillage planter of the invention;
FIG. 5 is a cross-sectional view of the traverse device of the intelligent row aligning device of the wheat row aligning no-tillage planter of the invention;
FIG. 6 is a schematic view of the assembly of the slider rails with the frame web in the traversing apparatus shown in FIG. 4;
FIG. 7 is an isometric view of the cross-over device shown in FIG. 4 with the slide assembled with the "U" shaped slot 24;
fig. 8 is a schematic view of a furrow opener monomer of the intelligent row aligning device of the wheat row aligning no-tillage planter of the invention.
Wherein the reference numerals are:
1. three-point suspension mechanism 2, camera
3. Camera support 4, first driver
5. Second driver 6, third driver
7. Fourth driver 8 and upper computer PC
9. Power supply 10 and frame
11. Electric cylinder 12 and right depth wheel
13. Left depth wheel 14 and encoder
15. Pin 16 and U-shaped groove connecting plate
17. Arrow shovel 18, rotation axis
19. Rotating shaft connecting plate 20 and rotating shaft link
21. Frame connecting plate 22, lower sliding block guide rail
23. Left lower slide block 24 and U-shaped groove
25. Left upper slide block 26 and upper slide block guide rail
27. Guide rail groove 30 and single chip microcomputer
31. Electric cylinder mounting plate 32 and control center mounting frame
33. Motor 34, right upper sliding block
35. First rotating electric machine 36 and second rotating electric machine
37. Third rotating electrical machine 38, right lower slider
39. Upper flange
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1 to 3, an intelligent row aligning device of a wheat row aligning no-tillage planter comprises a frame 10, a corn stubble row recognition device, a transverse moving device, a rotating device and a control center.
The frame 10 is a hollow cubic frame, and includes a front upper beam, a front lower beam, a rear upper beam, and a rear lower beam. A three-point suspension mechanism 1 is arranged above the middle part of the frame 10. The three-point suspension mechanism 1 comprises two symmetrical supporting beams and a movable beam; the two symmetrical supporting beams are fixedly connected in an angle and fixed on the front upper beam of the frame 10; the top end of one walking beam is movably connected with the two supporting beams, and the other end is fixed on the rear upper beam of the frame 10. When the tractor is used, the tractor is connected with the movable beam of the three-point suspension mechanism 1, and then the tractor is pulled to operate the traveling device.
The left and right ends of the rear lower beam of the frame 10 are respectively provided with a left depth wheel 13 and a right depth wheel 12.
As shown in fig. 4 to 7, the traverse device is provided inside the frame 10, and includes an electric cylinder 11, a motor 33, a pin 15, a "U" -shaped groove connection plate 16, a "U" -shaped groove 24, a left lower slider 23, a left upper slider 25, a right upper slider 34, a right lower slider 38, a lower slider guide rail 22, an upper slider guide rail 26, a frame connection plate 21, and an electric cylinder mounting plate 31.
The "U" shaped channel 24 comprises an upper wall, a lower wall and a front wall; the upper wall, the lower wall and the front wall enclose a rearward opening. Nine coaxial holes are respectively arranged at the corresponding positions of the upper wall and the lower wall of the U-shaped groove 24 at intervals, and the distance between the adjacent coaxial holes on the upper wall and the lower wall is 20 cm. The front end of the front wall of the U-shaped groove 24 is respectively provided with a left lower slide 23, a left upper slide 25, a right upper slide 34 and a right lower slide 38, and each slide is respectively provided with a guide rail groove 27 with a forward opening direction.
The longitudinal section of the rack connecting plate 21 is of a U-shaped structure and comprises an upper connecting wall, a lower connecting wall and a rear guide rail wall; during installation, the upper and lower connecting walls are fixed on the front upper beam and the front lower beam of the frame 10, and the openings of the U-shaped structures of the upper and lower connecting walls face forward.
The rear part of the rear guide wall of the frame connecting plate 21 is provided with an upper slide rail 26 and a lower slide rail 22 extending horizontally in the lateral direction. The guide rail grooves 27 of the left and right upper sliders 25 and 34 are mounted on the upper slider guide rail 26, and the guide rail grooves 27 of the left and right lower sliders 23 and 38 are mounted on the lower slider guide rail 22, so that the "U" -shaped groove 24 can horizontally move laterally along the upper and lower slider guide rails 26 and 22.
The front end of the U-shaped groove connecting plate 16 is connected with the U-shaped groove 24 through a bayonet; the rear end vertically rotatably mounts the pin 15. Furthermore, the front end of the U-shaped groove connecting plate 16 is provided with a bayonet lock, and when the U-shaped groove connecting plate is installed, the front end of the bayonet lock is clamped at the inner sides of the upper wall opening and the lower wall opening in the middle of the U-shaped groove 24; the upper and lower parts of the rear end are provided with symmetrical connecting plates, and a pin shaft 15 is vertically and rotatably mounted between the two connecting plates.
The electric cylinder 11 includes an output end and an input end, wherein the output end is connected with the pin 15, and the input end is connected with the motor 33. The electric cylinder 11 and the motor 33 are fixed on the electric cylinder mounting plate 31, and the electric cylinder mounting plate 31 is fixed on the frame 10.
The rotating device comprises a plurality of rotating motors and a plurality of furrow opener monomers.
As shown in fig. 8, the shank includes an upper flange 39, a lower flange 40, a rotary shaft 18, a curette 17, a rotary shaft connecting plate 19, and a rotary shaft link 20. Wherein, the bottom end of the rotating shaft 18 is connected with the arrow shovel 17, the top end is connected with the upper flange 39 through a bearing, and the middle part is provided with the lower flange 40 through a bearing. One end of the rotating shaft connecting plate 19 is connected with the rotating shaft connecting rod 20, and the other end of the rotating shaft connecting plate is fixed on the rotating shaft 18 through a positioning shaft shoulder and is positioned between the arrow shovel 17 and the lower flange 40. When installed, the upper flange 39 and the lower flange 40 correspond to coaxial holes in the upper and lower walls of the "U" shaped channel 24, respectively, wherein the upper flange 39 is positioned above the upper wall of the "U" shaped channel 24 and the lower flange 40 is positioned above the lower wall of the "U" shaped channel 24, thereby securing the shank to the "U" shaped channel 24.
Nine furrow opener monomers are provided, and three furrow opener monomer groups are arranged by taking three adjacent furrow opener monomers as a furrow opener monomer group. In each furrow opener monomer group, adjacent furrow opener monomers are connected through a rotating shaft connecting plate 19 and a rotating shaft connecting rod 20, wherein the rotating shaft connecting rod 20 of the left furrow opener monomer is positioned below the rotating shaft connecting plate 19 of the left furrow opener monomer, and the rotating shaft connecting rod 20 of the right furrow opener monomer is positioned above the rotating shaft connecting plate 19 of the right furrow opener monomer. When the single furrow opener is installed, all the single furrow opener bodies are kept at the same height.
The number of the rotating electrical machines is three, and the rotating electrical machines are respectively a first rotating electrical machine 35, a second rotating electrical machine 36, and a third rotating electrical machine 37. The rotating motor is fixed on the U-shaped groove 24 through a rotating motor support frame. The output ends of the first rotating motor 35, the second rotating motor 36 and the third rotating motor 37 are respectively connected with the rotating shaft 18 of the furrow opener monomer positioned at the middle position in each furrow opener monomer group in sequence through coaxial holes on the upper wall and the lower wall of the U-shaped groove 24. When the rotary ditcher is in work, each rotary motor drives the single rotary shaft 18 of each ditcher in each ditcher single group to rotate, the single rotary shaft 18 of each ditcher in the middle rotates and simultaneously drives the single rotary shafts of the ditchers on two adjacent sides to rotate in the same direction through the rotary shaft connecting plate 19 and the rotary shaft connecting rod 20, and the effect that three ditcher single bodies in the same ditcher single group rotate in the same direction is achieved.
The control center comprises a power supply 9, an upper computer PC8, a single chip microcomputer 30, a driver, an encoder 14 and a control center mounting frame 32. The control center mounting bracket 32 is mounted on the left side of the frame 10 with respect to the forward direction of the implement, and the power supply 9 is mounted on the rear of the control center mounting bracket 32. The drivers include a first driver 4, a second driver 5, a third driver 6 and a fourth driver 7; and are sequentially installed at the front end of the control center mounting frame 32 from front to back. The top end of the power supply 9 is provided with a single chip microcomputer 30, and the first driver 4 is respectively and electrically connected with the single chip microcomputer 30, the motor 33 and the power supply 9; the second driver 5, the third driver 6 and the fourth driver 7 are electrically connected with the single chip microcomputer 30 and the power supply 9, and the second driver 5, the third driver 6 and the fourth driver 7 are correspondingly connected with a first rotating motor 35, a second rotating motor 36 and a third rotating motor 37 respectively.
The encoder 14 is arranged on a shaft of the left depth wheel 13 or the right depth wheel 12 and is electrically connected with the singlechip 30 and the upper computer PC 8.
The upper computer PC8 is arranged above the power supply 9 and close to the left end of the rack 10; the singlechip 30 is arranged above the power supply 9 and on the right side of the upper computer PC 8.
The corn stubble row recognition device comprises a camera 2 and a camera support 3. The camera 2 is fixed on the camera support 3, and the camera support 3 is fixed on the left side of the upper end of the opening of the U-shaped groove 24. When the machine works, the lens of the camera 2 is vertical to the position right above the corn stubble row. The camera support 3 is fixed on the left side of the upper end of the opening of the U-shaped groove 24, the height range of the camera support 3 and the ground is 0.8-1.2m, and the angle range of the lens of the camera 2 and the horizontal plane is 30-50 degrees during operation. The distance range between the corn stubble row recognition device and the vertical axis of the single body of the left-most opener is 10-15 cm.
The working process of the intelligent row aligning device of the wheat row aligning no-tillage planter in the invention is as follows:
when the tractor works, the tractor traction device works.
During operation, the encoder 14 monitors the forward speed of the device and transmits it to the single chip microcomputer 30 and the upper computer PC 8. Meanwhile, the corn stubble row recognition device acquires the original image of the corn stubble row through the camera 2, and transmits the original image to the upper computer PC8 of the control center, and the upper computer PC8 processes the image to obtain the position of the corn stubble row.
The PC8 calculates the expected transverse movement displacement and rotation angle of the left-most furrow opener monomer relative to the corn stubble row according to the image of the current advancing speed of the machine and the position of the corn stubble row transmitted by the single chip microcomputer 30, and transmits the two parameters to the single chip microcomputer 30, and the single chip microcomputer 30 calculates the movement parameters of the rotating motor and the motor 33 according to the expected transverse movement displacement and rotation angle and simultaneously transmits transverse movement and rotation instructions.
When the single chip microcomputer 30 sends the transverse moving instruction to the first driver 4, the first driver 4 drives the motor 33 to work, the motor 33 drives the electric cylinder 11 to move, and the U-shaped groove 24 is pushed to move along the upper slide rail 26 and the lower slide rail 22 through the extension and contraction of the push rod of the electric cylinder 11, so that the transverse moving device moves leftwards or rightwards.
The single chip microcomputer 30 sends rotation instructions of the same rotation direction, angle and speed to the second driver 5, the third driver 6 and the fourth driver 7, respectively. The three drivers drive the respective corresponding first rotating electric machine 35, second rotating electric machine 36, and third rotating electric machine 37 to rotate in the same rotational direction, angle, and speed. Each rotating motor drives the rotating shaft 18 positioned in the middle position in each furrow opener monomer group to rotate, and the rotating shafts 18 positioned in the middle position drive the rotating shafts 18 on two adjacent sides to rotate in the same direction through the rotating shaft connecting rods 20 while rotating, so that the effect that nine furrow opener monomers rotate in the same direction is achieved.
During operation, when the traversing device traverses leftwards, the rotating device simultaneously rotates anticlockwise; when the traversing device traverses to the right, the rotating device simultaneously rotates clockwise to reduce the resistance of the arrow shovel 17 in the soil.
According to the intelligent row alignment device of the wheat row alignment no-tillage planter, during operation, the furrow opener can avoid corn stubble rows to perform row alignment seeding operation, the dependency of the wheat on the high-precision tracking of the corn stubble rows by a driver during the row alignment no-tillage operation is reduced, the operation quality of the wheat on the row alignment no-tillage operation is ensured, and meanwhile, the operation efficiency is improved.
Meanwhile, the intelligent row alignment device of the wheat row alignment no-tillage planter ensures that the furrow opener avoids the corn stubble rows to perform row alignment seeding operation, reduces the dependence of the wheat on the high-precision tracking of the corn stubble rows by a driver during the row alignment no-tillage operation, ensures the operation quality of the wheat row alignment no-tillage operation and improves the operation efficiency.
Claims (10)
1. An intelligent row alignment device of a wheat row alignment no-tillage planter 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 method is characterized in that: the device also comprises a corn stubble row recognition device, a transverse moving device, a rotating device and a control center;
the left end and the right end of a rear lower beam of the frame (10) are respectively provided with a left depth wheel (13) and a right depth wheel (12);
the transverse moving device is arranged in the rack (10) and comprises an electric cylinder (11), a motor (33), a pin shaft (15), a U-shaped groove connecting plate (16), a U-shaped groove (24), a left lower slide block (23), a left upper slide block (25), a right upper slide block (34), a right lower slide block (38), a lower slide block guide rail (22), an upper slide block guide rail (26), a rack connecting plate (21) and an electric cylinder mounting plate (31);
the U-shaped groove (24) comprises an upper wall, a lower wall and a front wall, and the upper wall, the lower wall and the front wall enclose a rearward opening; nine coaxial holes are respectively arranged at the corresponding positions of the upper wall and the lower wall of the U-shaped groove (24) at intervals; the front end of the front wall of the U-shaped groove (24) is respectively provided with a left lower slide block (23), a left upper slide block (25), a right upper slide block (34) and a right lower slide block (38); each slide block is provided with a guide rail groove (27) with a forward opening direction;
the longitudinal section of the rack connecting plate (21) is of a U-shaped structure and comprises an upper connecting wall, a lower connecting wall and a rear guide rail wall; the upper and lower connecting walls are fixed on the front upper beam and the front lower beam of the frame (10), and the openings of the U-shaped structures of the upper and lower connecting walls face forwards;
the rear part of the rear guide rail wall of the frame connecting plate (21) is provided with an upper slide guide rail (26) and a lower slide guide rail (22) which horizontally extend in the transverse direction; the guide rail grooves (27) of the left upper slide block (25) and the right upper slide block (34) are arranged on the upper slide block guide rail (26), and the guide rail grooves (27) of the left lower slide block (23) and the right lower slide block (38) are arranged on the lower slide block guide rail (22), so that the U-shaped groove (24) can horizontally and transversely move along the upper slide block guide rail (26) and the lower slide block guide rail (22);
the front end of the U-shaped groove connecting plate (16) is connected with the U-shaped groove (24) through a bayonet lock; the rear end is vertically and rotatably provided with a pin shaft (15);
the electric cylinder (11) comprises an output end and an input end, wherein the output end is connected with the pin shaft (15), and the input end is connected with the motor (33); the electric cylinder (11) and the motor (33) are fixed on an electric cylinder mounting plate (31), and the electric cylinder mounting plate (31) is fixed on the rack (10);
the rotating device comprises a plurality of rotating motors and a plurality of furrow opener monomers;
the single furrow opener comprises an upper flange (39), a lower flange (40), a rotating shaft (18), an arrow shovel (17), a rotating shaft connecting plate (19) and a rotating shaft connecting rod (20); wherein the bottom end of the rotating shaft (18) is connected with the arrow shovel (17), the top end is connected with an upper flange (39) through a bearing, and the middle part is provided with a lower flange (40) through a bearing; one end of the rotating shaft connecting plate (19) is connected with the rotating shaft connecting rod (20), and the other end of the rotating shaft connecting plate is fixed on the rotating shaft (18) through a positioning shaft shoulder and is positioned between the arrow shovel (17) and the lower flange (40); the upper flange (39) and the lower flange (40) respectively correspond to coaxial holes on the upper wall and the lower wall of the U-shaped groove (24), wherein the upper flange (39) is positioned above the upper wall of the U-shaped groove (24), and the lower flange (40) is positioned above the lower wall of the U-shaped groove (24), so that the furrow opener monomer is fixed on the U-shaped groove (24);
nine furrow opener single bodies are provided, three adjacent furrow opener single bodies are used as a furrow opener single body group, and three furrow opener single body groups are arranged in total, wherein in each furrow opener single body group, the adjacent furrow opener single bodies are connected with a rotating shaft connecting rod (20) through a rotating shaft connecting plate (19);
the number of the rotating motors is three, and the rotating motors are respectively fixed on the U-shaped groove (24) through rotating motor supporting frames; the output ends of the three rotating motors are sequentially connected with the rotating shaft (18) of the single furrow opener positioned in the middle position in each furrow opener single body group through coaxial holes on the upper wall and the lower wall of the U-shaped groove (24);
the control center comprises a power supply (9), an upper computer PC (8), a single chip microcomputer (30), a driver and an encoder (14), wherein the driver comprises a first driver (4), a second driver (5), a third driver (6) and a fourth driver (7); the first driver (4) is respectively and electrically connected with the singlechip (30), the motor (33) and the power supply (9); the second driver (5), the third driver (6) and the fourth driver (7) are electrically connected with the single chip microcomputer (30) and the power supply (9), and the second driver (5), the third driver (6) and the fourth driver (7) are respectively and correspondingly connected with a rotating motor;
the encoder (14) is arranged on a shaft of the left depth wheel (13) or the right depth wheel (12) and is electrically connected with the singlechip (30) and the upper computer PC (8);
the corn stubble row recognition device comprises a camera (2) and a camera bracket (3); the camera (2) is fixed on the camera support (3), and the camera support (3) is fixed at the upper end of the opening of the U-shaped groove (24).
2. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: the control center further comprises a control center mounting frame (32); the control center mounting rack (32) is mounted on the left side of the rack (10) relative to the advancing direction of the machine tool, and the power supply (9) is mounted on the rear portion of the control center mounting rack (32); the first driver (4), the second driver (5), the third driver (6) and the fourth driver (7) are sequentially installed at the front end of the control center installation frame (32) from front to back.
3. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: the distance between adjacent coaxial holes on the upper wall and the lower wall of the U-shaped groove (24) is 20 cm.
4. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: the front end of the U-shaped groove connecting plate (16) is provided with a clamping pin, and the front end of the clamping pin is clamped at the inner sides of the upper and lower wall openings in the middle of the U-shaped groove (24); the upper part and the lower part of the rear end are provided with symmetrical connecting plates, and a pin shaft (15) is vertically and rotatably arranged between the two connecting plates.
5. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: in each furrow opener monomer group, the rotating shaft connecting rod (20) of the furrow opener monomer on the left side is positioned below the rotating shaft connecting plate (19) of the furrow opener monomer, and the rotating shaft connecting rod (20) of the furrow opener monomer on the right side is positioned above the rotating shaft connecting plate (19) of the furrow opener monomer; when the single furrow opener is installed, all the single furrow opener bodies are kept at the same height.
6. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: the upper computer PC (8) is arranged above the power supply (9) and close to the left end of the rack (10); the singlechip (30) is arranged above the power supply (9) and on the right side of the upper computer PC (8).
7. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: when the machine works, the lens of the camera (2) is vertical to the position right above the corn stubble row.
8. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: the height range of the top end of the camera support (3) and the ground is 0.8-1.2 m.
9. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: the angle between the lens of the camera (2) and the horizontal plane ranges from 30 degrees to 50 degrees.
10. The intelligent row alignment device of the wheat row alignment no-tillage planter of claim 1, wherein: the distance range between the corn stubble row recognition device and the vertical axis of the single body of the left-most opener is 10-15 cm.
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| CN115176562B (en) * | 2022-08-02 | 2023-04-25 | 中国农业大学 | Corn no-tillage seeding robot capable of realizing path tracking |
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| US5402740A (en) * | 1990-06-22 | 1995-04-04 | Iseki & Co., Ltd. | Vehicular machine for transplanting vegetal seedlings |
| CN1255014C (en) * | 2002-12-24 | 2006-05-10 | 中国农业大学 | Line centering no-tillage sowing machine for wheat in farmland covered by corn stalk |
| CN201091095Y (en) * | 2007-06-04 | 2008-07-30 | 费崇斌 | No-tillage fertilizing and sowing machine for grain |
| CN202773292U (en) * | 2012-08-07 | 2013-03-13 | 石河子精博利科技有限公司 | Stub land no-tillage seeding machine |
| CN204652901U (en) * | 2015-05-19 | 2015-09-23 | 潍坊盛瑞零部件有限公司 | No-tillage seeding machine |
| CN206042725U (en) * | 2016-06-27 | 2017-03-29 | 吴忠市伊禾农机作业服务有限公司 | No-tillage Maize Planter |
| CN206442695U (en) * | 2017-01-17 | 2017-08-29 | 宁夏智源农业装备有限公司 | Woods fruit fertilizer distributor with monitoring function |
| CN207369567U (en) * | 2017-10-25 | 2018-05-18 | 中国农业大学 | A kind of wheat no-tillage planter |
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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 |