CN110036759A - Leafy vegetable cropper forward type divides standing grain profiling acquisition control system and harvest control method - Google Patents
Leafy vegetable cropper forward type divides standing grain profiling acquisition control system and harvest control method Download PDFInfo
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- CN110036759A CN110036759A CN201910322313.1A CN201910322313A CN110036759A CN 110036759 A CN110036759 A CN 110036759A CN 201910322313 A CN201910322313 A CN 201910322313A CN 110036759 A CN110036759 A CN 110036759A
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- standing grain
- ceding
- taiwan
- feeler
- electric cylinders
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/26—Harvesting of standing crops of cabbage or lettuce
- A01D45/263—Harvesting of standing crops of cabbage or lettuce of lettuce
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/28—Harvesting of standing crops of spinach
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/01—Devices for leading crops to the mowing apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D63/00—Outside dividers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45003—Harvester
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Harvesting Machines For Root Crops (AREA)
- Agricultural Machines (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention provides a kind of leafy vegetable cropper forward types to divide standing grain profiling acquisition control system and harvest control method.Leafy vegetable cropper forward type divides standing grain profiling acquisition control system to include mounting rack, divide standing grain feeler, contour wheel and ceding of Taiwan electric cylinders, divides standing grain feeler to connect with mounting rack, and can vertically float；Contour wheel is located at and divides standing grain feeler rear and connect with mounting rack, and can vertically float；Mounting rack is also rotatablely connected first angle sensor for measuring contour wheel floating range and for measuring the second angle sensor for dividing standing grain feeler floating range；First angle sensor, second angle sensor and ceding of Taiwan electric cylinders are electrically connected with the controller.
Description
Technical field
The present invention relates to a kind of leafy vegetable cropper forward types to divide standing grain profiling acquisition control system and harvest control method,
The device is suitble to plant intensive leafy vegetable harvest operation use, belongs to agricultural mechanical field.
Background technique
Vegetables industry is the leading industry of China's agricultural economy pillar industry and increasing peasant income, concerning peasant's " moneybag
Son " and town dweller's " vegetable basket ", leafy vegetable account for about the 40% of vegetables production as the important composition of vegetables industry.With small oil
Dish, spinach, Lettuce etc. are that the leaf vegetables growth adaptability of representative is strong, the huge market demand, and big model is most suitable in leafy vegetable
It encloses, large-scale planting.However, because associated equipment operation quality is undesirable, critical equipment missing influences, current country's leafy vegetable
Mechanization production integral level is less than 20%.As vegetables produce gradually to scale, intensive, Standardization Development, leaf class vegetable
Dish production mechanization and the low problem of level of intelligence highlight.Currently, leafy vegetable harvests critical equipment automated job journey
It spends low, ground required distance especially is pasted in 1cm or so to the ceding of Taiwan when harvesting intensive shadow on lung, spinach, the vegetables such as Lettuce, should be reduced
Cutting position guarantees harvest condition, prevents the too low soil of bringing into of cutter from increasing later period sorting processing difficulty again.Due to vegetable field
It is undesirable that sagging effect easily occurs in the soft tradition machinery formula hardness limiting device of soil.And dish leaf blocks sight by manual control
Then reaction speed is slow, control difficulty is big for ceding of Taiwan height, and the efficiency and quality of harvest operation are lower.Therefore, research forward type divides standing grain
Profiling acquisition control system, excluding dish leaf prevents from accurately detecting landform in front of cropper under the premise of hurting dish, and the pre-control ceding of Taiwan is dynamic
Make, raising copying control precision and operating efficiency are of great significance.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of leafy vegetable cropper forward types to divide standing grain profiling acquisition control
System processed and harvest control method.
The present invention to achieve the above object, is achieved through the following technical solutions:
A kind of leafy vegetable cropper forward type divides standing grain profiling acquisition control system, including mounting rack, divides standing grain feeler, is imitative
Shape wheel and ceding of Taiwan electric cylinders, divide standing grain feeler to connect with mounting rack, and can vertically float；Contour wheel is after dividing standing grain feeler
The connection of Fang Bingyu mounting rack, and can vertically float；Mounting rack is also rotatablely connected for measuring contour wheel floating range
One angular transducer and for measuring the second angle sensor for dividing standing grain feeler floating range；First angle sensor, second
Angular transducer and ceding of Taiwan electric cylinders are electrically connected with the controller.
The leafy vegetable cropper forward type divides standing grain profiling acquisition control system preferred embodiment, divides standing grain feeler top logical
It crosses linking arm to connect with mounting rack, standing grain feeler lower part is divided to connect with support arm one end, support arm middle-end is connect with mounting rack, branch
The brace other end connection divides standing grain feeler connecting rod one end, divide the standing grain feeler connecting rod other end connect lower shake-changing arm, lower shake-changing arm with
Second angle sensor connects mounting rack through first rotating shaft, and standing grain feeler connecting rod is divided to be equipped with nearside divider adjustment spring.
The leafy vegetable cropper forward type divides standing grain profiling acquisition control system preferred embodiment, and support arm section is U
Shape.
The leafy vegetable cropper forward type divides standing grain profiling acquisition control system preferred embodiment, and contour wheel connects contour wheel
Connecting rod one end, the contour wheel connecting rod other end are rotatablely connected upper rocker arm one end, the upper rocker arm other end and first angle sensor
Mounting rack is connected through the second shaft, contour wheel connecting rod is equipped with contour wheel and adjusts spring.
The leafy vegetable cropper forward type divides standing grain profiling acquisition control system preferred embodiment, divides the standing grain feeler front end to be
Acute angle shape, bottom are arc surface.
A kind of harvest control method for dividing standing grain profiling acquisition control system using the leafy vegetable cropper forward type, packet
Include following steps
(1) driver can set distance of the cutter away from ground by controller before operation, and standing grain feeler is divided to move up and down,
The voltage signal of time-varying is generated according to different amplitude of fluctuation second angle sensors 7, and is transmitted to controller, detects to cut
The topography variation of the fixed position in knife front end；
(2) contour wheel is influenced to move up and down by surface relief when cropper advances, and contour wheel is mobile, according to different amplitude of fluctuation
It spends first angle sensor and generates the voltage signal of time-varying, and be transmitted to controller；
(3) controller calculates the difference in height Δ h and correspondence electric cylinders on ground between fixed range by the two paths of signals obtained
Pre- movement distance, delta c, formula are as follows:
C2=c1+ Δ c；
L- ceding of Taiwan swivel joint to cutter distance；
θ-ceding of Taiwan swivel joint angle while with L perpendicular to the ground
A- ceding of Taiwan swivel joint is to the ceding of Taiwan at a distance from ceding of Taiwan electric cylinders tie point
B- ceding of Taiwan swivel joint to ceding of Taiwan electric cylinders swivel joint distance
The initial distance of the c1- ceding of Taiwan and ceding of Taiwan electric cylinders tie point to ceding of Taiwan electric cylinders swivel joint
Distance after the c2- ceding of Taiwan and ceding of Taiwan electric cylinders tie point to the pre- movement of ceding of Taiwan electric cylinders swivel joint
And according to the travel speed v obtained from cropper, cutter is extrapolated and is moved to a point standing grain feeler position being taken
Between(d- divides standing grain feeler to the mounting distance of cutter)；
(4) it is calculated by prediction, the real-time verification of first angle sensor signal and ceding of Taiwan electric cylinders feedback signal, controller
Control ceding of Taiwan electric cylinders (13) movement speed and distance, guarantee cutter position proceed to currently divide standing grain feeler detect position when,
It is at a distance from ground always in setting range value.
The present invention has the advantages that
Pass through the real-time verification of first angle sensor, second angle sensor and ceding of Taiwan electric cylinders feedback signal, controller
Control the ceding of Taiwan electric cylinders movement speed and distance, it is ensured that cutter position proceed to currently divide standing grain feeler detect position when,
With the height on ground always in setting range value；Point standing grain feeler and contour wheel are independent relative to the ceding of Taiwan, thus not by
Ceding of Taiwan movement influences and leads to detection inaccuracy；Excluding dish leaf prevents from accurately detecting landform in front of cropper under the premise of hurting dish,
Pre-control ceding of Taiwan movement, improves copying control precision and operating efficiency.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
Fig. 1 is the schematic front view of the selected embodiment of the present invention.
Fig. 2 is the schematic top plan view of the selected embodiment of the present invention.
Fig. 3 is the schematic front view of the selected embodiment mounting rack of the present invention.
Fig. 4 is the schematic side view of the selected embodiment mounting rack of the present invention.
It is as shown in the figure:
1- divides standing grain feeler, 2- contour wheel, 3- linking arm, 4- contour wheel connecting rod, 5- upper rocker arm, 6- first angle sensing
Device, 7- second angle sensor, 8- lower shake-changing arm, 9- mounting rack, 10- divide standing grain feeler connecting rod, 11- support arm, 12- control
Device, 13- ceding of Taiwan electric cylinders, 14- nearside divider adjustment spring, the second shaft of 15-, 16- first rotating shaft, 17- axis body, 18- contour wheel tune
Whole spring.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
A kind of leafy vegetable cropper forward type divides standing grain profiling acquisition control system, including mounting rack 9, divide standing grain feeler 1,
Contour wheel 2 and ceding of Taiwan electric cylinders 13, divide standing grain feeler 1 to connect with mounting rack 9, and can vertically float；Contour wheel 2 is located at and divides standing grain
1 rear of feeler is simultaneously connect with mounting rack 9, and can vertically be floated；Mounting rack 9 is also rotatablely connected for measuring contour wheel 2
The first angle sensor 6 of floating range and for measuring the second angle sensor 7 for dividing 1 floating range of standing grain feeler；First
Angular transducer 6, second angle sensor 7 and ceding of Taiwan electric cylinders 13 are electrically connected with controller 12.
1 top of standing grain feeler is divided to connect 3 one end of linking arm, 3 other end of linking arm passes through axis body 17 and the rotation of mounting rack 9 company
It connects, 1 lower part of standing grain feeler is divided to connect with 11 one end of support arm, 11 middle-end of support arm is connect with mounting rack 9,11 other end of support arm
Connection divides standing grain feeler connecting rod 10 one end, and 10 other end of standing grain feeler connecting rod is divided to connect lower shake-changing arm 8, lower shake-changing arm 8 and second
Angular transducer 7 connects mounting rack 9 through first rotating shaft 16, and standing grain feeler connecting rod 10 is divided to be equipped with nearside divider adjustment spring 14.
11 section of support arm is U-shaped.
Contour wheel 2 connects 4 one end of contour wheel connecting rod, and 4 other end of contour wheel connecting rod is rotatablely connected 5 one end of upper rocker arm,
5 other end of upper rocker arm connect mounting rack 9 through the second shaft 15 with first angle sensor 6, and contour wheel connecting rod 4 is equipped with profiling
Wheel adjustment spring 18.
Dividing 1 front end of standing grain feeler is the dish leaf that acute angle shape is staggeredly blocked convenient for separation, and bottom can be with ground for arc surface
Face smooth engagement.
A kind of harvest control method for dividing standing grain profiling acquisition control system using leafy vegetable cropper forward type, including with
Lower step:
(1) driver can set distance of the cutter away from ground by controller before operation, and standing grain feeler is divided to move up and down,
The voltage signal of time-varying is generated according to different amplitude of fluctuation second angle sensors 7, and is transmitted to controller, detects to cut
The topography variation of the fixed position in knife front end；
(2) contour wheel 2 is influenced to move up and down by surface relief when cropper advances, and contour wheel 2 is mobile, according to different swings
Amplitude first angle sensor 6 generates the voltage signal of time-varying, and is transmitted to controller；
(3) controller calculates the difference in height Δ h and correspondence electric cylinders on ground between fixed range by the two paths of signals obtained
Pre- movement distance, delta c, formula are as follows:
C2=c1+ Δ c；
L- ceding of Taiwan swivel joint to cutter distance；
θ-ceding of Taiwan swivel joint angle while with L perpendicular to the ground
A- ceding of Taiwan swivel joint is to the ceding of Taiwan at a distance from ceding of Taiwan electric cylinders tie point
B- ceding of Taiwan swivel joint to ceding of Taiwan electric cylinders swivel joint distance
The initial distance of the c1- ceding of Taiwan and ceding of Taiwan electric cylinders tie point to ceding of Taiwan electric cylinders swivel joint
Distance after the c2- ceding of Taiwan and ceding of Taiwan electric cylinders tie point to the pre- movement of ceding of Taiwan electric cylinders swivel joint
And according to the travel speed v obtained from cropper, cutter is extrapolated and is moved to a point standing grain feeler position being taken
Between(d- divides standing grain feeler to the mounting distance of cutter)；
(4) it is calculated by prediction, the real-time verification of first angle sensor signal and ceding of Taiwan electric cylinders (13) feedback signal, control
The speed and distance of device control ceding of Taiwan electric cylinders (13) movement processed guarantee that cutter position proceeds to and standing grain feeler are currently divided to detect position
When, at a distance from ground always in setting range value.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of leafy vegetable cropper forward type divides standing grain profiling acquisition control system, including mounting rack (9), divide standing grain feeler
(1), contour wheel (2) and ceding of Taiwan electric cylinders (13), it is characterised in that: divide standing grain feeler (1) to connect with mounting rack (9), and being capable of edge
It floats up and down；Contour wheel (2) is located at and divides standing grain feeler (1) rear and connect with mounting rack (9), and can vertically float；Peace
(9) are shelved also to be rotatablely connected the first angle sensor (6) for measuring contour wheel (2) floating range and divide standing grain imitative for measuring
The second angle sensor (7) of shape device (1) floating range；First angle sensor (6), second angle sensor (7) and the ceding of Taiwan
Electric cylinders (13) are electrically connected with controller (12).
2. leafy vegetable cropper forward type divides standing grain profiling acquisition control system according to claim 1, it is characterised in that: point
Standing grain feeler (1) top is connect by linking arm (3) with mounting rack (9), and standing grain feeler (1) lower part and support arm (11) one end are divided
Connection, support arm (11) middle-end are connect with mounting rack (9), and the connection of support arm (11) other end divides standing grain feeler connecting rod (10) one
End divides standing grain feeler connecting rod (10) other end to connect lower shake-changing arm (8), and lower shake-changing arm (8) and second angle sensor (7) are through first
Shaft connects mounting rack (9), and standing grain feeler connecting rod (10) is divided to be equipped with nearside divider adjustment spring (14).
3. leafy vegetable cropper forward type divides standing grain profiling acquisition control system according to claim 1, it is characterised in that: branch
Brace (11) section is U-shaped.
4. leafy vegetable cropper forward type divides standing grain profiling acquisition control system according to claim 1, it is characterised in that:
Contour wheel (2) connects contour wheel connecting rod (4) one end, and contour wheel connecting rod (4) other end is rotatablely connected upper rocker arm (5) one
End, upper rocker arm (5) other end are connect mounting rack (9) with first angle sensor (6) through the second shaft, contour wheel connecting rod (4)
It is equipped with contour wheel adjustment spring (18).
5. leafy vegetable cropper forward type divides standing grain profiling acquisition control system according to claim 1, it is characterised in that: point
Standing grain feeler (1) front end is acute angle shape, and bottom is arc surface.
6. a kind of divide standing grain profiling acquisition control system using any one of claim 1 to the 5 leafy vegetable cropper forward type
Harvest control method, it is characterised in that: include the following steps
(1) driver can set distance of the cutter away from ground by controller before operation, and standing grain feeler is divided to move up and down, according to
Different amplitude of fluctuation second angle sensors 7 generate the voltage signal of time-varying, and are transmitted to controller, before detecting cutter
Hold the topography variation of fixed position；
(2) contour wheel 2 is influenced to move up and down by surface relief when cropper advances, and contour wheel 2 is mobile, according to different amplitudes of fluctuation
First angle sensor 6 generates the voltage signal of time-varying, and is transmitted to controller；
(3) controller calculates the difference in height Δ h and corresponding electric cylinders pre-activity on ground between fixed range by the two paths of signals obtained
Make distance, delta c, formula is as follows:
C2=c1+ Δ c；
L- ceding of Taiwan swivel joint to cutter distance；
θ-ceding of Taiwan swivel joint angle while with L perpendicular to the ground
A- ceding of Taiwan swivel joint is to the ceding of Taiwan at a distance from ceding of Taiwan electric cylinders tie point
B- ceding of Taiwan swivel joint to ceding of Taiwan electric cylinders swivel joint distance
The initial distance of the c1- ceding of Taiwan and ceding of Taiwan electric cylinders tie point to ceding of Taiwan electric cylinders swivel joint
Distance after the c2- ceding of Taiwan and ceding of Taiwan electric cylinders tie point to the pre- movement of ceding of Taiwan electric cylinders swivel joint
And according to the travel speed v obtained from cropper, extrapolates cutter and be moved to a point standing grain feeler position required time(d- divides standing grain feeler to the mounting distance of cutter)；
(4) it is calculated by prediction, the real-time verification of first angle sensor signal and ceding of Taiwan electric cylinders (13) feedback signal, controller
Control ceding of Taiwan electric cylinders (13) movement speed and distance, guarantee cutter position proceed to currently divide standing grain feeler detect position when,
It is at a distance from ground always in setting range value.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910322313.1A CN110036759B (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester |
| PCT/CN2020/083095 WO2020216036A1 (en) | 2019-04-22 | 2020-04-03 | Front-mounted crop dividing and profiling collection control system for leaf vegetable harvester and harvest control method |
| LU101908A LU101908B1 (en) | 2019-04-22 | 2020-04-03 | Front-end dividing contour-following collection and control system for a leafy vegetable harvester and a harvesting control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910322313.1A CN110036759B (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110036759A true CN110036759A (en) | 2019-07-23 |
| CN110036759B CN110036759B (en) | 2023-05-16 |
Family
ID=67278241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910322313.1A Active CN110036759B (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN110036759B (en) |
| LU (1) | LU101908B1 (en) |
| WO (1) | WO2020216036A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110839400A (en) * | 2019-11-25 | 2020-02-28 | 江苏大学 | Header is horizontal indulges profile modeling final controlling element and is installed device's harvester |
| CN112243682A (en) * | 2020-09-23 | 2021-01-22 | 江苏大学 | Header profiling device, control system and method thereof and harvester |
| CN113678634A (en) * | 2021-08-05 | 2021-11-23 | 星光正工（江苏）采棉机有限公司 | Controllable profile modeling device of angle for cotton picker |
| CN117280938A (en) * | 2023-10-07 | 2023-12-26 | 无锡悦田农业机械科技有限公司 | Ridge surface height sensing device of harvester and harvesting height adjusting method |
| CN117716880A (en) * | 2024-02-07 | 2024-03-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116326340B (en) * | 2023-03-07 | 2023-12-12 | 湖北工业大学 | Cutter head height detection device of sugarcane harvester |
| CN117918068A (en) * | 2024-02-27 | 2024-04-26 | 华南农业大学 | Profiling supporting type paddy field precise land leveling machine and land leveling method |
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|---|---|---|---|---|
| CN110839400A (en) * | 2019-11-25 | 2020-02-28 | 江苏大学 | Header is horizontal indulges profile modeling final controlling element and is installed device's harvester |
| CN110839400B (en) * | 2019-11-25 | 2024-06-07 | 江苏大学 | Header transverse and longitudinal profiling executing device and harvester with same |
| CN112243682A (en) * | 2020-09-23 | 2021-01-22 | 江苏大学 | Header profiling device, control system and method thereof and harvester |
| CN113678634A (en) * | 2021-08-05 | 2021-11-23 | 星光正工（江苏）采棉机有限公司 | Controllable profile modeling device of angle for cotton picker |
| CN117280938A (en) * | 2023-10-07 | 2023-12-26 | 无锡悦田农业机械科技有限公司 | Ridge surface height sensing device of harvester and harvesting height adjusting method |
| CN117280938B (en) * | 2023-10-07 | 2024-04-30 | 无锡悦田农业机械科技有限公司 | Ridge surface height sensing device of harvester and harvesting height adjusting method |
| CN117716880A (en) * | 2024-02-07 | 2024-03-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
| CN117716880B (en) * | 2024-02-07 | 2024-04-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110036759B (en) | 2023-05-16 |
| WO2020216036A1 (en) | 2020-10-29 |
| LU101908B1 (en) | 2021-01-11 |
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