CN110235590A - An intelligent harvesting system for long root crops - Google Patents

Abstract

The present invention relates to agricultural machinery technological fields, and in particular to a kind of long-rhizome class crop intelligence harvesting system.The present invention reduces soil cutting resistance by increasing the two-dimension vibration of digger blade, while increasing intelligence control system, multiple sensor signals is acquired in real time, and adjusted in real time to the vibration frequency of digger blade, to adapt to the farming environment of Different Soil.Digger blade is vibrated because the promotion of pneumatic exciting actuator generates two-dimension vibration, which also produces broken effect while the tractive resistance that cropper is effectively reduced, to the soil of feeding digger blade, provides convenience to the separation of subsequent medicine soil.The soil of feeding and crop are separated the two by vibrating in the vibrating screen at machine rear portion.

Description

An intelligent harvesting system for long root crops

technical field

The invention relates to the technical field of agricultural machinery, in particular to an intelligent harvesting system for long-rooted crops, in particular to an intelligent harvesting system suitable for long-rooted crops and using compressed air as a working medium.

Background technique

The growth depth of long root crops is mostly below 20cm in the soil, and some can even reach about 50cm. The harvest of such root crops has always been a difficult problem in the field of agricultural machinery.

At present, there is no harvesting machinery with high efficiency and strong adaptability for this type of crops. Such crops still mainly rely on manual harvesting or manual picking after digging with simple excavating machines. This harvesting method has high labor intensity, low efficiency, and high harvest loss rate. And some crops are harvested seasonally, if they cannot be harvested in time, great economic losses will be caused.

Contents of the invention

The purpose of the present invention is to provide an intelligent harvesting system for long-root crops that can adapt to various soils and can effectively reduce traction resistance of operations and improve operation depth and efficiency. The tillage width of the present invention is 1.2 meters, and the tillage depth can reach 50 centimeters. The invention reduces soil cutting resistance by increasing the two-dimensional vibration of the digging shovel, and at the same time adds an intelligent control system to collect multiple sensor signals in real time and adjust the vibration frequency of the digging shovel in real time to adapt to different types of soil farming environments.

In order to achieve the above object, the technical scheme that the present invention takes is:

An intelligent harvesting system for long-rooted crops, comprising a frame, on which a vibrating excavating shovel is hinged, on which a pneumatic excitation actuator is mounted, and the pneumatic excitation actuator is connected to the vibrating excavating shovel The slider on the linear bearing is hinged, thereby pushing the vibrating excavating shovel to reciprocate and vibrate.

A tension sensor is provided at the suspension connection between the frame and the tractor to monitor the traction resistance of the tractor in real time; a vibration sensor is provided on the vibrating excavating shovel to monitor the vibration frequency and amplitude of the vibrating excavating shovel in real time.

An intelligent controller is installed on the frame, and the intelligent controller takes power from the battery and collects the tension signal of the tension sensor and the amplitude signal of the vibration sensor in real time, calculates the working load of the harvesting machine through a built-in algorithm, and increases or increases in real time according to the load value. Reduce the motor speed of the pneumatic excitation actuator, and finally detect whether the vibration frequency of the vibrating excavating shovel reaches the preset value according to the frequency signal of the vibration sensor, thereby forming a closed-loop control.

There is a connecting rod on both sides of the frame hinged with the frame, the other end of the connecting rod is hinged with the vibrating screen, the frame is hinged with the swing rod of the vibrating screen, and the lower end of the swing rod of the vibrating screen is hinged with the vibrating screen.

The frame is equipped with a speed-up box, after the power of the speed-up box is input by the power input shaft, it is output by the power output crankshaft, and the power output crankshaft transmits the power to the swing rod of the vibrating screen, thereby driving the vibrating screen to reciprocate and vibrate.

The invention integrates the functions of vibration drag reduction, vibration crushing, crop separation, soil sieving, loosening, turning and intelligent adjustment for different soils. The vibration direction of the digging shovel is 45° to the forward direction, and the stroke is about 10 mm. It effectively reduces the traction resistance of the harvester and improves its operating depth and efficiency. During operation, the vibrating excavating shovel produces two-dimensional vibration due to the push of the pneumatic actuator. This two-dimensional vibration effectively reduces the traction resistance of the harvester, and at the same time, it also breaks the soil fed to the excavating shovel. The separation of medicine and soil provides convenience. The fed soil and crops are in the vibrating screen at the rear of the machine, and the two are separated by vibration. The frequency of the vibrating system can be adjusted in real time within the range of 10 Hz to 60 Hz, and can adapt to soil types and different soil states corresponding to various long root crops. The operating efficiency of the harvester is effectively improved, and its scope of application is greatly improved. At the same time, compared with traditional harvesting machines, the present invention can achieve energy saving and emission reduction, and effectively reduce pollution.

Description of drawings

Figure 1 is an axonometric view of the front of the machine.

Figure 2 is an axonometric view of the rear of the complete machine.

Figure 3 is a partial diagram of the vibration implementation part.

FIG. 4 is an anatomical diagram of the pneumatic vibration actuator 12 .

Fig. 5 is an axonometric view of "π"-shaped transmission rod 9.

Fig. 6 is a perspective view of connecting rod 6.

FIG. 7 is an isometric view of the swing rod 10 of the vibrating screen.

Detailed ways

In order to clearly illustrate the relevant structures and functions of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings:

As shown in Figure 1, it is an intelligent harvesting system for long-rooted crops. Its main features include: frame 1, tension sensor 2, power input shaft 3, speed increase box 4, battery 5, connecting rod 6, and vibrating excavating shovel 7 , Vibration sensor 8, "π" shaped transmission rod 9, vibrating screen swing rod 10, intelligent controller 11, pneumatic excitation actuator 12, linear bearing 13, vibrating screen 14, power output crankshaft 15.

The frame 1 includes cross bars on both sides and a middle platform.

The top ends of the cross bars on both sides of the frame 1 are hinged to the upper end of the connecting rod 6, and the lower end of the connecting rod 6 is hinged to the front end of the vibrating screen 14.

The front ends of the cross bars on both sides of the frame 1 are hinged to the vibrating excavating shovel 7;

The middle part of the horizontal bars on both sides of the frame 1 is hinged with the middle part of the vibrating screen swing rod 10; the lower end of the vibrating screen swing rod 10 is hinged with the middle part of the vibrating screen 10.

The upper ends of the vibrating screen swing rods 10 are respectively hinged with the two ends of the cross bar of the "π"-shaped transmission rod 9 (ends A and B in Fig. 5).

The vibrating screen 14 is connected with the frame 1 through the connecting rod 6 and the vibrating screen swing bar 10 , and the vibrating screen 14 can rock back and forth relative to the frame 1 .

Vibrating excavation shovel 7 shovel blades are positioned at vibrating screen 14 front end tops, and both do not contact each other.

The middle platform of the frame 1 is provided with a speed increasing box 4, and the speed increasing box 4 carries out power input by the power input shaft 3, and carries out power output by the power output crankshaft 15 of the speed increasing box 4.

The two vertical rod front ends (C, D ends in Fig. 5) of "π" shape transmission rod 9 are then hinged with the eccentric shaft on the power output crankshaft 15 (as shown in Figure 4); then the rotation of power output crankshaft 15 can pass through The "π"-shaped transmission rod 9 causes the reciprocating motion of the pendulum rod 10 of the vibrating screen, thereby driving the reciprocating vibration of the vibrating screen 14.

A linear bearing 13 is installed on the rear plane of the vibration excavating shovel 7, and the linear bearing 13 is divided into two parts, a slide rail 13-1 and a slide block 13-2 (as shown in Figure 3). On the internal plane, the slide block 13-2 is inlaid with the slide rail 13-1, and the slide block 13-2 can slide linearly on the slide rail 13-1 (as shown in Figure 3); the pneumatic vibration actuator 12 is installed vertically with the rack 1. The middle part of the cross bar on both sides penetrates through the frame 1 through the through hole on the cross bar. The working end 12-7 of the lower part of the pneumatic vibration actuator 12 is hinged with the middle part of the slider 13-2. According to the above structure, the vibration of the excavating shovel 7 Vibration can be generated under the excitation of the pneumatic vibration actuator 12 .

The structure of the pneumatic excitation actuator 12 is shown in Figure 4, and its main structure includes: motor 12-1, connecting rod 12-2, piston 12-3, cylinder 12-4, hammer 12-5, air hole 12-6, Working end 12-7, crank 12-8; motor 12-1 and crank 12-8 are coaxially installed, and the two ends of connecting rod 12-2 are respectively hinged with the end of piston 12-3 and the edge of crank 12-8; piston 12- 3. The hammer 12-5 and the working end 12-7 are installed coaxially in the cavity of the cylinder 12-4 in turn, and the air hole 12-6 is located on the wall of the cylinder 12-4. The motor 12-1 drives the crank 12-8 to rotate, thereby driving the connecting rod 12-2 to make the piston 12-3 reciprocate in the cylinder 12-4; when the piston 12-3 moves, the pressure in the right air chamber of the cylinder 12-4 Periodic changes will occur; the hammer 12-5 continuously hammers the working end 12-7 under the action of the left and right pressure difference, thereby driving the vibrating excavating shovel 7 to move; when the hammer 12-5 moves to the far left, the air hole 12- 6. Connect the air chamber on the right side with the outside world so that the hammer is reset.

The battery 5 is connected to the intelligent controller 11 through cables, and the tension sensor 2, the vibration sensor 8, and the pneumatic excitation actuator 12 are respectively connected to the intelligent controller 11 through cables. The battery 5 supplies power to the intelligent controller 11, and the intelligent controller 11 collects the signals of the tension sensor 2 and the vibration sensor 8 through cables, and controls the pneumatic vibration actuator 12 through its power output.

The overall operation process of the harvester is as follows: the tip of the vibrating excavating shovel 7 is located under the soil surface, and while the harvester is moving forward as a whole, the crops below the soil surface and the surrounding soil are shoveled in by the vibrating excavating shovel 7, and the vibrating excavating shovel 7 is According to the different external loads during work, high-frequency vibrations of 10Hz to 60Hz will be generated. Through its own vibration, the soil in front of it will be broken, thereby reducing the resistance of the harvester during operation. After the crops and surrounding soil are fed from the vibrating excavating shovel 7 , enter the vibrating screen 14 located below the vibrating excavating shovel 7, the vibrating screen 14 will produce compound shaking when working, and the fed soil will experience more severe crushing in the vibrating screen 14 after being initially crushed by the vibrating excavating shovel 7, thereby Be decomposed into fritters and fall back to the ground from the hole of the vibrating screen 14, so the soil that was in a deeper depth has come to the land surface originally, thus playing the purpose of loosening the soil and turning the soil simultaneously. At this moment, crops and some larger stones are thrown onto the land behind the machine because they cannot fall from the holes of the vibrating screen 14, and when the crops are separated from the soil, the work of sieving the soil is also completed. The tillage width of the digging shovel is 1.2 meters, and the tillage depth can reach 50 centimeters. When the harvester is working, the vibrating excavating shovel 7 is subject to the changing load of the soil and crops. At this time, the tension sensor 2 can detect the change in the tension value, and the vibration sensor 8 can detect the vibration frequency and the vibration amplitude of the vibrating excavating shovel 7. Changes, The intelligent controller 11 detects the signal changes of the two, and calculates the change of the external load in real time through a built-in algorithm. If the external load becomes smaller, the intelligent controller 11 reduces the power output to the pneumatic excitation actuator 12 to reduce the vibration frequency and amplitude of the vibrating excavating shovel 7, thereby achieving the purpose of energy saving and emission reduction; if the external load becomes larger , the intelligent controller 11 increases the power output to the pneumatic excitation actuator 12, increases the vibration frequency and amplitude of the vibrating excavating shovel 7, and strengthens the crushing effect of the vibrating excavating shovel 7 on the soil, thereby further reducing traction resistance.

Claims (5)

1. An intelligent harvesting system for long-rooted crops, characterized in that, the intelligent harvesting system for long-rooted crops includes a frame, a power input shaft, a speed-up box, a connecting rod, a vibration digging shovel, and a "π"-shaped transmission rod , vibrating screen swing rod, pneumatic actuator, linear bearing, vibrating screen, power output crankshaft; The frame includes cross bars on both sides and a middle platform; The top of the cross bar on both sides of the frame is hinged with the upper end of the connecting rod, and the lower end of the connecting rod is hinged with the front end of the vibrating screen; The front ends of the cross bars on both sides of the frame are hinged with the vibrating excavating shovel; the vibrating excavating shovel can swing back and forth around the hinge point relative to the frame; The middle part of the horizontal bar on both sides of the frame is hinged with the middle part of the vibrating screen swing rod; the lower end of the vibrating screen swing rod is hinged with the middle part of the vibrating screen; The upper end of the swing rod of the vibrating screen is respectively hinged with the two ends of the cross bar of the "π" shaped transmission rod; The vibrating screen is connected to the frame through connecting rods and vibrating screen swing rods, and the vibrating screen can reciprocate relative to the frame; The cutting edge of the vibrating excavating shovel is located above the front end of the vibrating screen, and the two do not touch each other; The middle platform of the frame is equipped with a speed-up box, the power input of the speed-up box is carried out by the power input shaft, and the power output is carried out by the power output crankshaft of the speed-up box; The front ends of the two vertical rods of the "π"-shaped transmission rod are hinged with the eccentric shaft on the power output crankshaft; the rotation of the power output crankshaft can cause the reciprocating motion of the swing rod of the vibrating screen through the "π"-shaped transmission rod, thereby driving the vibrating screen reciprocating vibration; The rear plane of the vibrating excavating shovel is installed with a linear bearing. The linear bearing is divided into two parts: a slide rail and a slider. The slide rail is fixedly installed on the rear plane of the vibrating excavating shovel. It can slide in a straight line; the pneumatic vibration actuator is vertically installed in the middle of the cross bar on both sides of the frame, and penetrates the frame through the through hole on the cross bar. The lower working end of the pneumatic vibration actuator is hinged with the middle of the slider. Vibration is generated under the excitation of the pneumatic vibration actuator. 2. A kind of long root crops intelligent harvesting system as claimed in claim 1, is characterized in that, described long root crops intelligent harvesting system also comprises tension sensor, battery, vibration sensor, intelligent controller; Frame and tractor A tension sensor is provided at the suspension connection to monitor the traction resistance of the tractor in real time; a vibration sensor is provided on the vibrating excavating shovel to monitor the vibration frequency and amplitude of the vibrating excavating shovel in real time; An intelligent controller is installed on the frame, and the intelligent controller takes power from the battery and collects the tension signal of the tension sensor and the amplitude signal of the vibration sensor in real time, calculates the working load of the harvesting machine through a built-in algorithm, and increases or increases in real time according to the load value. Reduce the motor speed of the pneumatic excitation actuator, and finally detect whether the vibration frequency of the vibrating excavating shovel reaches the preset value according to the frequency signal of the vibration sensor, thereby forming a closed-loop control; A battery is installed on the frame, and the battery is connected to the intelligent controller through a cable, and the tension sensor, the vibration sensor, and the pneumatic excitation actuator are respectively connected to the intelligent controller through cables; the battery supplies power to the intelligent controller, and the intelligent controller passes The cable collects the signals of the tension sensor and the vibration sensor, and controls it through the power output of the pneumatic vibration actuator. 3. The intelligent harvesting system for long-root crops as claimed in claim 1, wherein the pneumatic vibration actuator is composed of a motor, a connecting rod, a piston, a cylinder, a hammer, an air hole, a working end, and a crank; It is installed coaxially with the crank, and the two ends of the connecting rod are respectively hinged with the end of the piston and the edge of the crank; The rod makes the piston reciprocate in the cylinder; when the piston moves, the pressure in the air chamber on the right side of the cylinder will change periodically; the hammer continuously hammers the working end under the action of the left and right pressure difference, thereby driving the vibrating excavating shovel to move; When the hammer moves to the far left, the air hole communicates the air chamber on the right side with the outside world to reset the hammer. 4. The intelligent harvesting system for long-rooted crops as claimed in claim 2, wherein when the harvester is working, the vibrating digging shovel is subject to the changing load of the soil and crops, and at this moment, the tension sensor can detect the tension value The vibration sensor can detect the change of the vibration frequency and vibration amplitude of the vibrating excavating shovel. The intelligent controller detects the signal changes of the two and calculates the change of the external load in real time through the built-in algorithm; if the external load becomes smaller, the intelligent The controller reduces the power output of the pneumatic excitation actuator, reduces the vibration frequency and amplitude of the vibrating excavating shovel, so as to achieve the purpose of energy saving and emission reduction; if the external load becomes larger, the intelligent controller increases the output of the pneumatic excitation The power output of the vibrating actuator increases the vibration frequency and amplitude of the vibrating excavating shovel, and strengthens the crushing effect of the vibrating excavating shovel on the soil, thereby further reducing the traction resistance. 5. The intelligent harvesting system for long-root crops as claimed in claim 1, wherein the tip of the vibrating excavating shovel is located under the soil surface, and when the harvester moves forward as a whole, the crops below the soil surface and the surrounding The soil is shoveled in by the vibrating excavating shovel. The vibrating excavating shovel will generate high-frequency vibration of 10Hz to 60Hz according to the different external loads during operation. Through its own vibration, the soil in front of it will be broken, thereby reducing the resistance of the harvester during operation. After the crops and surrounding soil are fed from the vibrating excavating shovel, they enter the vibrating screen located under the vibrating excavating shovel. The vibrating screen will produce compound shaking when it is working. More violent crushing, thus decomposing into small pieces and falling back to the ground from the holes of the vibrating screen, the soil that was originally at a deeper depth came to the surface of the land, which simultaneously played the purpose of loosening and turning the soil; at this time, the crops And some larger stones cannot fall from the holes of the vibrating screen, so they are thrown to the land behind the machine, completing the separation of crops and soil, and also completing the work of sieving soil.