CN110199590A - Intelligent mini-tiller and its hard object bypassing method - Google Patents
Intelligent mini-tiller and its hard object bypassing method Download PDFInfo
- Publication number
- CN110199590A CN110199590A CN201910280787.4A CN201910280787A CN110199590A CN 110199590 A CN110199590 A CN 110199590A CN 201910280787 A CN201910280787 A CN 201910280787A CN 110199590 A CN110199590 A CN 110199590A
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- China
- Prior art keywords
- trench digging
- digging component
- mini
- tiller
- component
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/02—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel
- A01B33/021—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools
- A01B33/024—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on horizontal shaft transverse to direction of travel with rigid tools with disk-like tools
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/087—Lifting devices; Depth regulation devices; Mountings
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Soil Working Implements (AREA)
- Agricultural Machines (AREA)
Abstract
A kind of intelligence mini-tiller, including, a mini-tiller body；One lifting assembly is located at the mini-tiller body；One trench digging component, is located at the lifting assembly, is used to carry out ditching operation, and the lifting assembly is used to control the lifting of the trench digging component；An and hard object processing system comprising a hard analyte detection unit, the hard analyte detection unit is for detecting whether the trench digging component contacts with hard object, and when the hard analyte detection unit detects the trench digging component and hard object contacts, generation one controls signal.
Description
Technical field
The present invention relates to mini-tiller field, further relate to it is a kind of with hard object evade function intelligent mini-tiller and
Its hard object bypassing method.
Background technique
With quickly propelling steadily for Urbanization Construction, huge variation is also had occurred in rural area, agricultural structure, quite
Some arable lands change from plantation traditional grain, industrial crops to industrialized agriculture, vegetables in greenhouse booth melon and fruit base, and tradition is dilatory
Machine cultivating unit is unable to satisfy the needs of above-mentioned farmland operation.On the other hand, more and more between twenty and fifty in rural areas in our country
Labour selects employment of going down town, the unbearable heavy rural labor of the stay-at-home person in middle and old age peasant in rural area, it is difficult to adapt to complicated machine
Tool operation.
Mini-tiller is a kind of work tool often used in agricultural production, mini-tiller have it is light-weight, small in size,
The features such as structure is simple can be widely used in the operations rings such as Plain, mountain area, the nonirrigated farmland on hills, paddy field and orchard
Border, the operations such as draw water, generate electricity, spray, spraying can be completed by mixing corresponding equipment, additionally it is possible to be drawn towed vehicle and be carried out short distance fortune
It is defeated, so that mini-tiller is widely used in agricultural production.
Traditional mini-tiller is hand-held fuel oil mini-tiller, and not only noise is larger when in use for the machine, and is making
Operator is needed to carry out hand steered operation during industry, operation difficulty is higher, and labor intensity is larger.On the other hand, due to adopting
As a source of power with fuel engines, a large amount of oxycarbide, nitrogen oxides and PM series can be generated at work
Particulate matter causes greatly to pollute to environment.
It may also be noted that the complicated multiplicity of the Land Environment of mini-tiller operation, it may in the operation soil of mini-tiller
There can be the hard object such as stone, in the course of work of mini-tiller, when the coulter of mini-tiller is contacted with the hard object such as stone in soil
When, the damages such as damaged, deformation can occur for the coulter of mini-tiller, influence the service life of coulter, and to a certain extent can shadow
Ring the operation effectiveness of mini-tiller.
Summary of the invention
It is an object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, plough wherein the intelligence is micro-
Machine can evade hard object automatically during the work time, prevent trench digging component from contacting with hard object and the trench digging component is caused to be damaged
It is bad.
It is an object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, plough wherein the intelligence is micro-
Machine can control the trench digging component and stop turning when the trench digging component and hard object for detecting the intelligent mini-tiller contact
It is dynamic, for continuing to rotate after preventing the trench digging component from contacting with the hard object, and the trench digging component is caused to be damaged.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, wherein the intelligence is micro-
Cultivated machine can control the trench digging component lift when the trench digging component and the hard object for detecting the intelligent mini-tiller contact
A preset height is risen, for preventing the trench digging component from contacting with hard object, and the trench digging component is caused to be damaged.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, wherein the intelligence is micro-
Cultivated machine can control a mini-tiller body of the intelligent mini-tiller when detecting that the trench digging component and the hard object contact
Stop movement, so that the trench digging component stops movement, for preventing the trench digging component from continuing to move to, continues to send out with hard object
Life contacts and the trench digging component is caused to damage.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, wherein the intelligence is micro-
Cultivated machine further comprises a torsion detection components, and the torsion detection components are configured for the torsion of one transmission shaft of detection,
Described in transmission shaft be driveably connected to the trench digging component, when the torsion detection components detect the transmission shaft
Torque value be greater than a preset torque value when, then can determine that the trench digging component is contacted with hard object, deterministic process simply, precision
It is high.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, wherein the intelligence is micro-
Cultivated machine further comprises a pressure detecting assembly, and the pressure detecting assembly is for detecting the trench digging component in operation process
Pressure, when the pressure detecting assembly detect it is described trench digging component pressure value be greater than a preset pressure value when, then can
Determine that the trench digging component is contacted with hard object, deterministic process is simple, precision is high.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, wherein when the trench digging
When the hard object of component touch, the intelligence mini-tiller can control simultaneously the trench digging component stop operating, control be lifted described in open
The height and the control mini-tiller body of ditch component stop movement, for providing guarantor to the trench digging component in all directions
Shield.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, wherein the intelligence is micro-
The machine of ploughing is crawler belt type miniature ploughing machine, can adapt to various operating environments, adaptable.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods for this, wherein the intelligence
Mini-tiller further comprises the pushing component for being located at mini-tiller body front end, and the pushing component is suitable for pushing and be located at
Hard object in the mini-tiller body advance route prevents hard object from influencing the advance of the mini-tiller body.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, wherein the intelligence is micro-
Cultivated machine structure is simple, easily manufactured, and production cost is low.
It is another object of the present invention to provide an intelligent mini-tiller and its hard object bypassing methods, wherein the hard object rule
It is simple and effective to keep away method, there is preferable hard object to evade effect.
Correspondingly, in order to realize that at least one above goal of the invention, the present invention provide an intelligent mini-tiller comprising:
One mini-tiller body；
One lifting assembly is located at the mini-tiller body；
One trench digging component, is located at the lifting assembly, is used to carry out ditching operation, the lifting assembly is for controlling
Make the lifting of the trench digging component；And
One hard object processing system comprising a hard analyte detection unit, the hard analyte detection unit is for detecting the trench digging
Whether component contacts with hard object, when the hard analyte detection unit detects the trench digging component and hard object contacts, generates a control
Signal processed.
In some currently preferred embodiments of the present invention, the hard object processing system further comprises a rotation control unit,
The rotation control unit is operatively connected to the hard analyte detection unit, when the detection unit detects the trench digging
When component and the hard object contact, the rotation control unit obtains the control signal, and controls the trench digging component and stop turning
It is dynamic.
In some currently preferred embodiments of the present invention, the hard object processing system further comprises an elevating control unit,
The elevating control unit is operatively connected to the lifting assembly, when the hard analyte detection unit detects the trench digging group
When part and the hard object contact, the elevating control unit obtains the control signal, and control the lifting assembly make it is described
Component of ditching is lifted a preset height.
In some currently preferred embodiments of the present invention, the hard object processing system further comprises a walking control unit,
When the hard analyte detection unit detects the trench digging component and the hard object contacts, the travelling control unit obtains the control
Signal processed, and control the mini-tiller body and stop movement.
In some currently preferred embodiments of the present invention, controlled described in the trench digging component lifting in the elevating control unit
When preset height, the rotation control unit controls the trench digging component recovery rotation, described after by a preset time
Elevating control unit, which controls the trench digging component, reduces the preset height.
In some currently preferred embodiments of the present invention, controlled described in the trench digging component lifting in the elevating control unit
When preset height, the rotation control unit controls the trench digging component recovery rotation, while the travelling control unit controls
The mini-tiller body is mobile, and after a preset time, the elevating control unit, which controls the trench digging component, reduces institute
State preset height.
In some currently preferred embodiments of the present invention, the hard object processing system further comprises an elevating control unit,
When the hard analyte detection unit detects the trench digging component and hard object contacts, the elevating control unit controls the trench digging
Component is lifted a preset height.
In some currently preferred embodiments of the present invention, it is described pre- that the elevating control unit controls the trench digging component lifting
If after height, after a preset time, the elevating control unit, which controls the trench digging component, reduces the preset height.
In some currently preferred embodiments of the present invention, the hard analyte detection unit is a pressure detecting assembly, the pressure
Detection components are used to detect the pressure value of the trench digging component, when the pressure of the trench digging component of pressure detecting assembly detection
When force value is greater than a preset pressure value, the control signal is generated.
In some currently preferred embodiments of the present invention, the intelligent mini-tiller further comprises a transmission shaft, the biography
Moving axis is driveably connected to the trench digging component, wherein the hard analyte detection unit is a torsion detection components, the torsion
Power detection components are used to detect the torque value of the transmission shaft, when the torsion detection components detect the torsion of the transmission shaft
When value is greater than a preset torque value, the control signal is generated.
According to another aspect of the present invention, the present invention further provides the hard object bypassing methods of an intelligent mini-tiller, comprising:
101: whether one trench digging component of detection contacts with hard object；With
102: when detecting that the trench digging component and hard object contact, generating a control signal.
In some currently preferred embodiments of the present invention, the pressure of the trench digging component is detected by a pressure detecting assembly
Value generates the control signal when the pressure value of the trench digging component is greater than a preset pressure value.
In some currently preferred embodiments of the present invention, the torsion of a transmission shaft is detected by a torsion detection components, wherein
The drive shaft is driveably connected to the trench digging component, for driving the trench digging component to rotate, when the transmission shaft
Torque value be greater than a preset torque value when, generate the control signal.
In some currently preferred embodiments of the present invention, the hard object bypassing method of the intelligent mini-tiller further comprises:
201: obtaining the control signal；
202: the control trench digging component stops operating；
203: the control trench digging component is lifted a preset height；
204: the control trench digging component recovery rotation；And
205: reducing the preset height by after a preset time, controlling the trench digging component.
In some currently preferred embodiments of the present invention, the hard object bypassing method of the intelligent mini-tiller further comprises:
301: obtaining the control signal；
302: the control trench digging component is lifted a preset height；And
303: reducing the preset height by after a preset time, controlling the trench digging component.
In some currently preferred embodiments of the present invention, the hard object bypassing method of the intelligent mini-tiller further comprises:
401: obtaining the control signal；
402: the control trench digging component stops operating；
403: the control trench digging component is lifted a preset height；
404: controlling the mini-tiller body and stop movement；
405: the control trench digging component recovery rotation；
406: it is mobile to control the mini-tiller body recovery；And
407: after by a preset time, controlling the trench digging component reduces the preset height.
Detailed description of the invention
Figure 1A is the entirety of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
Structural schematic diagram.
Figure 1B be according to a preferred embodiment of the present invention with hard object evade function intelligent mini-tiller it is another
State overall structure diagram.
Fig. 2 is the vertical view knot of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
Structure schematic diagram.
Fig. 3 is the three-dimensional knot of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
Structure schematic diagram.
Fig. 4 is the application knot of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
Structure schematic diagram.
Fig. 5 is the block diagram knot of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
Structure schematic diagram.
Fig. 6 is at the hard object of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
The structure of block diagram schematic diagram of reason system.
Fig. 7 is at the hard object of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
The structure of block diagram schematic diagram of one variant embodiment of reason system.
Fig. 8 is at the hard object of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
The structure of block diagram schematic diagram of one second variant embodiment of reason system.
Fig. 9 is at the hard object of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
The structure of block diagram schematic diagram of one third variant embodiment of reason system.
Figure 10 is the hard object of the intelligent mini-tiller for evading function with hard object according to a preferred embodiment of the present invention
The block diagram flow chart of bypassing method.
Figure 11 be according to a preferred embodiment of the present invention with hard object evade function intelligent mini-tiller it is another
The block diagram flow chart of hard object bypassing method.
Figure 12 be according to a preferred embodiment of the present invention with hard object evade function intelligent mini-tiller it is another
The block diagram flow chart of hard object bypassing method.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Reference book attached drawing 1A to Fig. 9, provided by the present invention one intelligent mini-tiller 100 are set forth, and the present invention is mentioned
The intelligent mini-tiller 100 supplied remotely can control or realize during carrying out micro- farming industry it is unmanned, so as to
The labor intensity that people carry out agricultural production is enough reduced, the efficiency of rural labor is improved.Further, institute provided by the present invention
Stating intelligent mini-tiller 100 is crawler type intelligence mini-tiller, can adapt to different operating environments, meets the need of different micro- farming industry
It asks.
Specifically, the intelligence mini-tiller 100 further comprises that a mini-tiller body 10, one trench digging component 21 and one pushes away
Dynamic component 22, the trench digging component 21 and the pushing component 22 are located at the mini-tiller body 10, the promotion group respectively
Part 22 is located at the front end of the mini-tiller body 10, and the trench digging component 21 is located at the rear end of the mini-tiller body 10.
Preferably, in the preferred embodiment, the trench digging component 21 is a trench digging component, and the trench digging component 21 is used for described micro-
It ploughs in the moving process of machine body 10 and carries out ditching operation in the rear end of the mini-tiller body 10, the pushing component 22 is used for
It pushes the hard object on the trench digging path of the trench digging component 21 open during the advance of the mini-tiller body 10, prevents
Hard object on the trench digging path of the trench digging component 21 damages the trench digging component 21, while improving the trench digging
The trench digging efficiency of component.
Reference book attached drawing 1A and Figure 1B, the pushing component 22 is a pushing plate, the length of the pushing component 22
It is adapted with height and the length and width size of the mini-tiller body 10, the tip of the pushing component 22 is away from described micro-
Plough the direction of machine body 10, that is to say, that the direction that 22 tip of pushing component is advanced towards the mini-tiller body 10.?
During the advance of the mini-tiller body 10, when the pushing component 22 and it is located on the trench digging path of the trench digging component 21
Hard object when being in contact, hard object can be moved to the trench digging path of the trench digging component 21 along the two sides of the pushing component 22
Two sides, so as to be effectively prevented it is described trench digging component 21 be located at it is described trench digging component 21 trench digging path on firmly object connect
Touching prevents the trench digging component 21 impaired while improving the trench digging efficiency of the trench digging component 21.
The intelligence mini-tiller 100 further comprises a lifting assembly 23, and the lifting assembly 23 is located at described micro- cultivated
Machine body 10, the trench digging component 21 are located at the lifting assembly 23, and the lifting assembly 23 is for controlling the trench digging group
The height of part 21 meets the depth requirements of Different Crop for controlling the ditching depth of the trench digging component 21.The skill of this field
Art personnel it should be understood that when the lifting assembly 23 control it is described trench digging component 21 height increase when, the trench digging group
The ditching depth of part 21 reduces, when the pushing component 22 controls the height decline of the trench digging component 21, the trench digging group
The ditching depth of part 21 is deepened.By the lifting assembly 23 can control the trench digging component 21 at various height between phase
Mutually switching, so as to according to the ditching depth for needing to adjust the trench digging component 21 of the crops of required plantation.
Preferably, in the preferred embodiment, the quantity of the lifting assembly 23 is two, a lifting assembly 23
It is located between the mini-tiller body 10 and the trench digging component 21, the lifting for controlling the mini-tiller body 10 is high
Degree, another lifting assembly 23 are located between the mini-tiller body 10 and the pushing component 22, described for controlling
The rising height of pushing component 22.
Reference book attached drawing 1A and Fig. 3, the lifting assembly 23 further comprise a lifters 231 and a control-rod
232, the lifters 231 are operatively connected to the control-rod 232, and the trench digging component 21 is located at the control-rod
232, the lifters 231 can control the activity point of view of the control-rod 232, to change the height of the trench digging component 21.
Preferably, in the preferred embodiment, the lifters 231 are oily hydrodynamic cylinder pressures, are adjusted by hydraulicdriven mode described
The rotational angle of control-rod 232, for adjusting the height of the trench digging component 21, so as to adjust the trench digging of the trench digging component 21
Depth.
The intelligence mini-tiller 100 further comprises a power supply module 24 and a driving assembly 25, the power supply module 24
It is located at the mini-tiller body 10 respectively with the driving component 25, the power supply module 24 is electrically connected to the driving group
Part 25, the driving component 25 are driveably connected to the mini-tiller body 10, and the driving component 25 can drive institute
It is mobile to state mini-tiller body 10.
Preferably, in the preferred embodiment, the power supply module 24 is power supply, and the driving component 25 is direct current
Machine, the power supply are electrically connected to the direct current generator, it should be pointed out that the intelligent mini-tiller in the preferred embodiment
100 use electric energy for power resources, compared with conventional fuel oil engine, can reduce the discharge of polluted gas, be conducive to protect
Environment.
The intelligence mini-tiller 100 further comprises a speed changer 26, and the speed changer 26 is by being operatively connected to
State trench digging component 21, the speed changer 26 for changing it is described trench digging component 21 velocity of rotation, for meet in different type
Soil on the demand ditched.Those skilled in the art it should be understood that land type and it is described trench digging component 21 turn
Speed there is strong influence to pass through the speed changer according to different land types the trench digging effect of the trench digging component 21
26 can change the revolving speed for changing ditch component 21, so that the revolving speed of the trench digging component 21 and land type are adapted, take
Obtain effect of preferably ditching.
The intelligence mini-tiller 100 further comprises a speed reducer 27 and two tracked wheel assemblies 28, and the speed reducer 27 divides
It is not operatively connected to the driving component 25 and two tracked wheel assemblies 28, the speed reducer 27 is used for the drive
Driving force caused by dynamic component 25 is transferred to two tracked wheel assemblies 28.Two Athey wheels 28 respectively by can place of working set
In the two sides of the mini-tiller body 10, for driving the mini-tiller body 10 mobile.
Specifically, the track assembly 28 further comprise a crawler belt 281, a driving wheel 282, a tensioning wheel 283 and
Multiple support wheels 284, the crawler belt 281 are endless track, the driving wheel 282, the tensioning wheel 283 and multiple branch
Support wheel 284 is located at the inside of the crawler belt 281 respectively, and multiple support wheels 284 are used to support the crawler belt 281, described
Tensioning wheel 283 is for being tensioned the crawler belt 281, and the driving wheel 282 is for driving the crawler belt 281 to rotate.Preferably, described
Driving wheel 282 close to the front end of the mini-tiller body 10, the tensioning wheel 283 close to the rear end of the mini-tiller body 10,
The driving wheel 282 is driveably connected to the speed reducer 27, and the speed reducer 27 is used for 25 institute of the driving component
The driving force of generation is transferred to the driving wheel 282, for driving the driving wheel 282 to rotate.
The intelligence mini-tiller 100 further comprises a control assembly 29, and the control assembly 29 is located at described micro- cultivated
Machine body 10, the control assembly 10 are operatively connected to the lifting assembly 23, power supply module 24, described respectively
Driving assembly 25, the speed changer 26 and the speed reducer 27, the control assembly is for controlling the lifting assembly 23, institute
State the work of power supply module 24, the driving component 25, the speed changer 26 and the speed reducer 27.The control assembly 29
It is also operatively connected to a tele-control system, the tele-control system is suitable for controlling institute by the control assembly 29
State the work of lifting assembly 23, the power supply module 24, the driving component 25, the speed changer 26 and the speed reducer 27
Make.
The intelligence mini-tiller 100 further comprises a hard object processing system 30, and the hard object processing system 30 is located at
The mini-tiller body 10, the hard object processing system 30 are used for when the trench digging component 21 encounters hard object, open described in control
Ditch component 21 generates corresponding workaround, damages for preventing the trench digging component 21 from colliding with hard object.
The hard object processing system 30 further comprises a hard analyte detection unit 31, and the hard analyte detection unit 31 is for examining
Survey whether the trench digging component 21 contacts with a hard object, when the hard analyte detection unit 31 detects the trench digging component 21 and institute
When stating the contact of hard object, a control signal is generated, the hard object processing system 30 controls the trench digging component 21 and takes accordingly
Workaround.
Preferably, the hard analyte detection unit 31 includes a torsion detection components 311, the hard object processing system 30 into one
Step includes a rotation control unit 32, and the torsion detection components 311 are operatively connected to the rotation control unit 32,
The rotation control unit 32 is operatively connected to the trench digging component 21, and the rotation control assembly 32 is configured for
Control the velocity of rotation of the trench digging component 21.
The intelligence mini-tiller 100 further comprises a transmission shaft 211, and the transmission shaft 211 is driveably connected to
Between the trench digging component 21 and the speed changer 26, the transmission shaft 211 is used to transmit the driving force of the speed changer 26
To the trench digging component 21, the trench digging component 21 is driven to rotate, so that the trench digging component 21 is able to carry out ditching operation.
The torsion detection components 311 of the hard object processing system 30 are configured for detecting the transmission shaft 211
Torsion, when the torsion detection components 311 detect the torsion of the transmission shaft 211 more than a preset torque value, described turn
Dynamic control unit 32 controls 21 underdrive of trench digging component, touches for preventing the trench digging component 21 and hard object from fierceness occurs
It hits and the trench digging component is caused to damage.
Those skilled in the art it should be understood that during the intelligent mini-tiller 100 carries out ditching operation,
When the trench digging component 21 is in contact with hard object, for example stone, ironware etc., the velocity of rotation of the trench digging component 21 slow down,
The torsion of the transmission shaft 211 becomes larger.Likewise, when the torsion detection components 311 detect the torsion of the transmission shaft 211
When becoming larger, then it can estimate the trench digging component 21 and be contacted during ditching operation with hard object.Those skilled in the art answers
When understanding, during the trench digging component 21 carries out ditching operation, contacted with hard object when the trench digging component 21 and
When not taking appropriate measures, the trench digging component 21 can be damaged, and need replacing new open after used a period of time
Ditch component 21 greatly influences the service life of trench digging component 21, not only increases operating cost, and replacement trench digging component can disappear
Consume a large amount of human body and time cost.In the intelligent mini-tiller 100 provided by the present invention, the trench digging component 21 into
Row ditching operation, when the trench digging component 21 is in contact with hard object, that is to say, that when the torsion detection components 311 detect
When the torque magnitude of the transmission shaft 211 is greater than the preset torque value, the rotation control unit 32 controls the trench digging group
Part 21 reduces velocity of rotation, causes the trench digging component 21 to damage for avoiding the trench digging component 21 from colliding with hard object fierceness
It is bad.
Specifically, the hard object processing system 30 further comprises a comparing unit 33, the comparing unit 33 is by can work
It is connected to the torsion detection components 311 with making, the comparing unit 33 is suitable for obtaining from the torsion detection components 311 described
The torque magnitude of the transmission shaft 211 detected of torsion detection components 311, and the torsion detection components 311 are detected
Torque magnitude compared with the preset torque value.It is single that the comparing unit 33 is also operatively connected to the rotation control
Member 32, when the torque magnitude of the comparing unit 33 torsion detection components 311 transmission shaft 211 detected is big
When the preset torque value, states rotation control unit 32 and control the reduction of trench digging component 21 velocity of rotation, for preventing
It states trench digging component 21 and hard object occurs fierce collision and the trench digging component 21 is caused to damage.
Preferably, in the preferred embodiment, when the torsion detection components 311 detect the torsion of the transmission shaft 211
When power size is greater than the preset torque value, the rotation control unit 32 controls the trench digging component 21 and stops operating, for
Prevent the trench digging component 21 from fierce collision occurs with hard object and the trench digging component 21 is caused to be damaged.
Reference book attached drawing 4, the application structure for showing the intelligent mini-tiller 100 provided by the present invention are shown
It is intended to, during the intelligent mini-tiller 100 carries out ditching operation, when the trench digging component 21 is contacted with hard object, institute
It states rotation control unit 32 to control the trench digging component 21 and stop operating, for preventing the trench digging component 21 and the generation of hard object sharp
It is strong collision and cause the trench digging component 21 to be damaged.
Preferably, in the preferred embodiment, the rotation control unit 32 is operatively connected to the speed changer
26, the rotation control unit 32 is used to control the work of the speed changer 26 for controlling the rotation speed of the trench digging component 21
Degree.
Further, the hard object processing system 30 further comprises an elevating control unit 34, the elevating control list
Member 34 is operatively connected to the comparing unit 33 and/or the torsion detection components 311, and the lifting unit 34 is matched
Set the height for adjusting the trench digging component 21.Specifically, when the torsion detection components 311 detect the transmission shaft
When 211 torque magnitude is greater than the size of the preset torque value, the control of elevating control unit 34 is lifted the trench digging group
The height of part 21 causes the trench digging component 21 to be damaged for preventing the trench digging component 21 from contacting with hard object.
Specifically, the elevating control unit 34 is operatively connected to the lifting assembly 23, the elevating control
Unit 34 is configured for controlling the work of the lifting assembly 23, for controlling the rising height of the trench digging component 21.When
When the torsion detection components 311 detect that the torque magnitude of the transmission shaft 211 is greater than the size of the preset torque value, institute
The work that elevating control unit 34 controls the lifting assembly 23 is stated, so that the lifting assembly 23 is lifted the trench digging component
21 height prevents the trench digging for preventing the trench digging component 21 from fierce collision occurs with hard object during trench digging
Component 21 is damaged.That is, in the preferred embodiment, when the torsion detection components 311 detect the transmission group
When the torque magnitude of part 211 is greater than the size of the preset torque value, the rotation control unit 32 controls the trench digging component
21 while stop operating, the height of the control of the elevating control unit 34 lifting trench digging component 21, described for preventing
Trench digging component 21 occurs fierce collision with hard object and is damaged.
Further, after the height of the elevating control unit 34 control lifting trench digging component 21, the rotation
Control unit 32 controls the trench digging component 21 and continues to rotate, so that the trench digging component 21 continues ditching operation.This
The technical staff in field is it should be understood that be lifted the height of the trench digging component 21 in the elevating control unit 34 control
Afterwards, the trench digging component 21 is mutually separated with hard object, and the trench digging component 21, which restores rotation, to be in contact with the hard object, will not
The trench digging component 21 is caused to be damaged.In the preferred embodiment, described in being lifted when the elevating control unit 34 control
It ditches after the height of component 21, the rotation control unit 32 controls the trench digging component 21 and continues to rotate, so that the trench digging
Component 21 carries out ditching operation in higher height, that is to say, that the ditching depth of the trench digging component 21 reduces.
Those skilled in the art is it should be understood that work as the torsion detection components 311 transmission shaft detected
211 torque magnitude is greater than the size of the preset torque value, and the elevating control unit 34 controls described 21 liters of trench digging component
High height number is A, then the range of the height number A can be 10cm-80cm.Those skilled in the art should manage
Solution, as long as goal of the invention of the invention can be reached, when the torsion detection components 311 transmission shaft detected
211 torque magnitude is greater than the size of the preset torque value, and the elevating control unit 34 controls the trench digging component and increases
Specific height number should not be construed as limiting the invention.
The height of the trench digging component 21, and the rotation control unit are lifted in the elevating control unit 34 control
After the 32 control trench digging components 21 restore rotation, by a preset time B, the elevating control unit 34 controls described open
Ditch component 21 reduces the height A, so that the ditching depth that the trench digging component 21 is kept constant carries out ditching operation.
It should be pointed out that the initial ditching depth for assuming the trench digging component 21 is h1, when the trench digging component 21 and
Hard object contact, the elevating control unit 34 control the trench digging component 21 and are lifted after the height A, the trench digging component 21
Ditching depth be h2, then in the preset time B, the trench digging component 21 with depth h2 progress ditching operation,
To the trench digging component 21 can across the hard object, process the preset time B after, the elevating control unit
34 controls reduce the ditching depth of the trench digging component 21 to h1, so that the 21 1 ditching depth h1 of trench digging component continues
Ditching operation.
If may also be noted that after by the preset time B, institute is controlled in the elevating control unit 34
During stating the trench digging decline of component 21, the trench digging component 21 encounters hard object again, that is to say, that the torsion detection components
311 detect again the transmission shaft 211 torsion be greater than the preset torque value size when, the rotation control unit 32
While controlling the trench digging component 21 and stop operating, the elevating control unit 34 controls the lifting trench digging component 21 again
Height, it is preferred that the height that trench digging component 21 is lifted described in secondary control again of described control unit 34 and the elevating control list
The height that 34 control of the member trench digging component 21 declines is consistent.
One variant embodiment of reference book attached drawing 6, the hard object processing system 30 provided by the present invention is explained
It states, in this variant embodiment, the hard object processing system 30 includes the torsion detection components 311, a comparison
Unit 33 and an elevating control unit 34, when the torsion of the torsion detection components 311 transmission shaft 211 detected
When force value is greater than the preset torque value, the elevating control unit 34 controls the trench digging component 21 and is lifted the default height
Degree, after by the preset time, the elevating control unit 34, which controls the trench digging component, reduces the preset height,
So that the trench digging component 21 can object more really up to the mark, prevent the trench digging component 21 and hard object from colliding and cause described open
Ditch component is damaged.
Reference book attached drawing 8, an another variant embodiment for the hard object processing system 30 provided by the present invention
It is set forth, in this variant embodiment, the hard object processing system 30 further comprises a walking control unit 35, the row
It walks control unit 35 and is operatively connected to the torsion detection components 311 and/or the comparing unit 33, the walking control
Unit 35 processed is used to control the movement speed of the mini-tiller body 10.When the torsion detection components 311 detect the biography
When the torque magnitude of moving axis 211 is greater than the size of the preset pressure value, the travelling control unit 35 controls the mini-tiller
10 Reduced Speed Now of body, it is preferred that in the preferred embodiment, when the torsion detection components 311 detect the transmission shaft
When 211 torque magnitude is greater than the size of the preset pressure value, the travelling control unit 35 controls the mini-tiller body
10 stop movement.
In this variant embodiment, when the torsion detection components 311 detect that the torque value of the transmission shaft 211 is big
Small when being greater than the preset pressure value size, the travelling control unit 35 controls the mini-tiller body 10 and stops movement, together
Shi Suoshu rotation control unit 32 controls the trench digging component 21 and stops operating, while the elevating control unit 34 control lifting
The height of the trench digging component 21 prevents the trench digging component 21 so that the trench digging component 21 can mutually be separated with hard object
It is collided with hard object and the trench digging component 21 is caused to be damaged.
Further, in the height of the elevating control unit 34 control lifting trench digging component 21, by the trench digging
When the ditching depth of component 21 becomes h2 from h1, the rotation control unit 32 controls the trench digging component 21 with speed appropriate
Rotation, while the travelling control unit 35 controls the mini-tiller body 10 and travels.After by the preset time B,
The elevating control unit 34 control reduces the height of the trench digging component 21, for by the ditching depth of the trench digging component 21
H1 is become from h2, so that the trench digging component 21 carries out ditching operation with original ditching depth h1.
It should be pointed out that detecting the transmission shaft in the torsion detection components 311 in this variant embodiment
When 21 torque magnitude is greater than the preset pressure value size, that is to say, that described when the trench digging component 21 touches hard object
Travelling control unit 35 controls the mini-tiller body 10 and stops movement, that is to say, that the control trench digging component 21 stops moving
It is dynamic, for preventing the hard object larger, during the trench digging component 21 continues to move along, the trench digging component 21 and
Hard object is collided and is damaged.
In the preferred embodiment, when the torsion detection components 311 detect that the torque value of the transmission shaft 211 is greater than
When the preset pressure value, the walking unit 35 controls the mini-tiller body 10 and stops movement, while the rotation controls
Unit 32 controls the trench digging component 21 and stops operating, while the elevating control unit 34 control is lifted the trench digging component 21
Height, damaged for preventing the trench digging component 21 from colliding with hard object.In other preferred embodiments of the invention
In, it is described when the torsion detection components 311 detect the torque value of the transmission shaft 211 greater than the preset pressure value
Travelling control unit 35 controls while the mini-tiller body 10 stops mobile described in the rotation control unit 32 controls
Trench digging component 21 stops operating, then the height of the control of the elevating control unit 34 lifting trench digging component.This field
As long as technical staff is it should be understood that can reach goal of the invention of the invention, the travelling control unit 35 controls described
Mini-tiller body 10 stops mobile, the described rotation control unit 32 and controls the trench digging component 21 stopping operating and the lifting
The sequencing of the control lifting of the control unit 34 trench digging component 21 should not be construed as limiting the invention.
One variant embodiment of reference book attached drawing 9, the intelligent mini-tiller 100 provided by the present invention is explained
It states, is in place of this variant embodiment and the difference of above-mentioned preferred embodiment, in this variant embodiment, the hard object
Detection unit 31 further comprises a pressure detecting assembly 312, and the pressure detecting assembly 312 is configured for opening described in detection
The pressure size suffered when carrying out ditching operation of ditch component 21, to judge whether the trench digging component 21 touches hard object.
Those skilled in the art it should be understood that the trench digging component 21 carry out ditching operation during, when the trench digging group
When part 21 touches hard object, pressure suffered by the trench digging component 21 increases, that is to say, that when the pressure detecting assembly
312 detect it is described trench digging component 21 pressure increase when, then can judge that the trench digging component 21 is contacted with hard object.
Further, the pressure detecting assembly 312 is operatively connected to the rotation control unit 32, the ratio
Compared with unit 33 and the elevating control unit 34, the comparing unit 33 can obtain institute from the pressure detecting assembly 312
The pressure value of the trench digging component 21 detected of pressure detecting assembly 312 is stated, and the pressure detecting assembly 312 is examined
The pressure value size of survey is compared with a preset pressure value, when the pressure detecting assembly 312 trench digging component detected
When 21 pressure value is greater than the preset pressure value, the rotation control unit 32 controls the trench digging component 21 and stops operating,
The height of the control of the elevating control unit 34 lifting trench digging component 21 simultaneously, so that the trench digging component 21 and hard object
It mutually separates, the trench digging component 21 is prevented to be damaged.Those skilled in the art is it should be understood that elevating control described here
Unit 34 controls the specific height that the trench digging component 21 is lifted and should not be construed as limiting the invention.
After the height of the elevating control unit 34 control lifting trench digging component 21, the rotation control unit 32
It controls the trench digging component 21 and restores rotation, so that the trench digging component 21 carries out ditching operation with existing height.Institute
It states rotation control unit 32 and controls the trench digging component 21 and restore after rotating through the preset time B, the elevating control
The control of unit 34 reduces the height of the trench digging component 21, so that the trench digging component 21 is opened with original ditching depth
Ditch operation.
In other preferred embodiments of the invention, the pressure detecting assembly 312 is also by being operatively connected to
Travelling control unit 35 is stated, when the pressure value of the pressure detecting assembly 312 trench digging component 21 detected is greater than institute
When stating preset pressure value, the rotation control unit 32 control the trench digging component 21 stop operating, the elevating control unit
While the height of the 34 control lifting trench digging components 21, the travelling control unit 35 controls the mini-tiller body 10 and stops
Only move.Certain height, the rotation control unit are lifted when the elevating control unit 34 controls the trench digging component 21
While the 32 control trench digging components 21 restore rotation, the travelling control unit 35, which controls the mini-tiller body 10, to be continued
Advance, so that the trench digging component 21 carries out ditching operation with the height after being lifted.It is controlled in the travelling control unit 35
The recovery of mini-tiller body 10 is advanced past after the preset time B, described in the control of elevating control unit 34 reduction
The height of trench digging component 21, so that the trench digging component 21 carries out ditching operation with original depth.
Reference book attached drawing 10 to 12, according to another aspect of the present invention, it is micro- cultivated that the present invention further provides an intelligence
The hard object bypassing method of machine characterized by comprising
101: whether one trench digging component 21 of detection contacts with a hard object；With
102: when detecting that the trench digging component 21 is contacted with the hard object, generating a control signal.
According to a preferred embodiment of the present invention, wherein in the step 101, pass through a pressure detecting assembly 312
The pressure for detecting the trench digging component 21, when the pressure value of the trench digging component 21 of the pressure detecting assembly 312 detection is big
When a preset pressure value, determine that the trench digging component 21 is contacted with the hard object.
According to a preferred embodiment of the present invention, wherein in the step 101, pass through a torsion detection components 311
The torsion of a transmission shaft 211 is detected, wherein the transmission shaft 211 is driveably connected to the trench digging component 21, for driving
The trench digging component 21 rotates, and presets when the torque value of the transmission shaft 211 of the torsion detection components 311 detection is greater than one
When torque value, determine that the trench digging component 21 is contacted with the hard object.
According to a preferred embodiment of the present invention, wherein in the step 102, when detecting the trench digging component 21
When being contacted with the hard object, further comprise:
201: obtaining the control signal；
202: the control trench digging component 21 stops operating；
203: the control trench digging component 21 is lifted a preset height；
204: the control trench digging component 21 restores rotation；And
205: reducing the preset height by after a preset time, controlling the trench digging component 21.
According to a preferred embodiment of the present invention, wherein in the step 102, when detecting the trench digging component 21
When being contacted with the hard object, further comprise:
301: obtaining the control signal；
302: the control trench digging component 21 is lifted a preset height；And
303: reducing the preset height by after a preset time, controlling the trench digging component 21.
According to a preferred embodiment of the present invention, wherein in the step 102, when detecting the trench digging component 21
When being contacted with the hard object, further comprise:
401: obtaining the control signal；
402: the control trench digging component 21 stops operating；
403: the control trench digging component 21 is lifted a preset height；
404: the control one mini-tiller body 10 stops movement；
405: the control trench digging component 21 restores rotation；
406: controlling the mini-tiller body 10 and restore movement；And
407: after by a preset time, controlling the trench digging component 21 reduces the preset height.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (16)
1. a kind of intelligence mini-tiller characterized by comprising
One mini-tiller body；
One lifting assembly is located at the mini-tiller body；
One trench digging component, is located at the lifting assembly, is used to carry out ditching operation, the lifting assembly is for controlling institute
State the lifting of trench digging component；And
One hard object processing system comprising a hard analyte detection unit, the hard analyte detection unit is for detecting the trench digging component
Whether contacted with hard object, when the hard analyte detection unit detects the trench digging component and hard object contacts, generates a control letter
Number.
2. intelligence mini-tiller according to claim 1, wherein the hard object processing system further comprises rotation control
Unit, the rotation control unit are operatively connected to the hard analyte detection unit, when the detection unit detects institute
Trench digging component and the hard object are stated when contacting, the rotation control unit acquisition control signal, and control the trench digging component
It stops operating.
3. intelligence mini-tiller according to claim 2, wherein the hard object processing system further comprises an elevating control
Unit, the elevating control unit are operatively connected to the lifting assembly, described in the hard analyte detection unit detection
When contacting, the elevating control unit obtains the control signal for trench digging component and the hard object, and controls the lifting assembly and make
It obtains the trench digging component and is lifted a preset height.
4. intelligence mini-tiller according to claim 3, wherein the hard object processing system further comprises a travelling control
Unit, when the hard analyte detection unit detects the trench digging component and the hard object contacts, the travelling control unit is obtained
The control signal, and control the mini-tiller body and stop movement.
5. intelligence mini-tiller according to claim 3, wherein controlling the trench digging component lift in the elevating control unit
When rising the preset height, the rotation control unit controls the trench digging component recovery and rotates, one preset time of process it
Afterwards, the elevating control unit, which controls the trench digging component, reduces the preset height.
6. intelligence mini-tiller according to claim 4, wherein controlling the trench digging component lift in the elevating control unit
When rising the preset height, the rotation control unit controls the trench digging component recovery rotation, while the travelling control list
Member controls the mini-tiller body movement, and after a preset time, the elevating control unit controls the task module
Reduce the preset height.
7. intelligence mini-tiller according to claim 1, wherein the hard object processing system further comprises an elevating control
Unit, when the hard analyte detection unit detects the trench digging component and hard object contacts, the elevating control unit controls institute
It states trench digging component and is lifted a preset height.
8. intelligence mini-tiller according to claim 7, wherein the elevating control unit controls the trench digging component lifting
After the preset height, after a preset time, it is described pre- that the elevating control unit controls the trench digging component reduction
If height.
9. according to the intelligent mini-tiller any in claim 2 to 8, wherein the hard analyte detection unit is a pressure detecting
Component, the pressure detecting assembly is used to detect the pressure value of the trench digging component, when the institute of pressure detecting assembly detection
When stating the pressure value of trench digging component greater than a preset pressure value, the control signal is generated.
10. it further comprise a transmission shaft according to the intelligent mini-tiller any in claim 2 to 8, the transmission shaft quilt
It is driveably connected to the trench digging component, wherein the hard analyte detection unit is a torsion detection components, the torsion detection
Component is used to detect the torque value of the transmission shaft, when the torsion detection components detect that the torque value of the transmission shaft is greater than
When one preset torque value, the control signal is generated.
11. the hard object bypassing method of an intelligent mini-tiller characterized by comprising
101: whether one trench digging component of detection contacts with hard object；With
102: when detecting that the trench digging component and hard object contact, generating a control signal.
12. the hard object bypassing method of intelligence mini-tiller according to claim 11, detects institute by a pressure detecting assembly
The pressure value for stating trench digging component generates the control signal when the pressure value of the trench digging component is greater than a preset pressure value.
13. the hard object bypassing method of intelligence mini-tiller according to claim 11, passes through torsion detection components detection one
The torsion of transmission shaft, wherein the drive shaft is driveably connected to the trench digging component, for driving the trench digging component
Rotation generates the control signal when the torque value of the transmission shaft is greater than a preset torque value.
14. according to claim 1 in 1 to 13 any intelligent mini-tiller hard object bypassing method, further comprise:
201: obtaining the control signal；
202: the control trench digging component stops operating；
203: the control trench digging component is lifted a preset height；
204: the control trench digging component recovery rotation；And
205: reducing the preset height by after a preset time, controlling the trench digging component.
15. according to claim 1 in 1 to 13 any intelligent mini-tiller hard object bypassing method, further comprise:
301: obtaining the control signal；
302: the control trench digging component is lifted a preset height；And
303: reducing the preset height by after a preset time, controlling the trench digging component.
16. according to claim 1 in 1 to 13 any intelligent mini-tiller hard object bypassing method, further comprise:
401: obtaining the control signal；
402: the control trench digging component stops operating；
403: the control trench digging component is lifted a preset height；
404: controlling the mini-tiller body and stop movement；
405: the control trench digging component recovery rotation；
406: it is mobile to control the mini-tiller body recovery；And
407: after by a preset time, controlling the trench digging component reduces the preset height.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910280787.4A CN110199590A (en) | 2019-04-09 | 2019-04-09 | Intelligent mini-tiller and its hard object bypassing method |
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| CN201910280787.4A CN110199590A (en) | 2019-04-09 | 2019-04-09 | Intelligent mini-tiller and its hard object bypassing method |
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| CN110178458A (en) * | 2019-04-25 | 2019-08-30 | 丰疆智能科技股份有限公司 | Crawler belt type miniature ploughing machine |
| CN112046629A (en) * | 2020-08-31 | 2020-12-08 | 国家林业和草原局北京林业机械研究所 | Power platform for afforestation and tending of hilly and mountainous regions and afforestation and tending method thereof |
| CN112673723A (en) * | 2020-12-22 | 2021-04-20 | 张金南 | Protection device of agricultural arable land rooter sawtooth |
| CN114521353A (en) * | 2022-02-25 | 2022-05-24 | 连云港九迁机械制造有限公司 | Rotary cultivator with intelligence fertilization function |
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