CN110235590A - A kind of long-rhizome class crop intelligence harvesting system - Google Patents
A kind of long-rhizome class crop intelligence harvesting system Download PDFInfo
- Publication number
- CN110235590A CN110235590A CN201910497395.3A CN201910497395A CN110235590A CN 110235590 A CN110235590 A CN 110235590A CN 201910497395 A CN201910497395 A CN 201910497395A CN 110235590 A CN110235590 A CN 110235590A
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- Prior art keywords
- vibration
- digger blade
- vibrating screen
- soil
- rack
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D15/00—Digging machines with sieve graters but without conveying mechanisms
- A01D15/04—Digging machines with sieve graters but without conveying mechanisms with moving or vibrating grates
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Root Crops (AREA)
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
Technical field
The present invention relates to agricultural machinery technological fields, and in particular to a kind of long-rhizome class crop intelligence harvesting system refers in particular to
A kind of intelligent harvesting system by compressed air as working media of suitable long-rhizome class crop.
Background technique
The growth depth of long-rhizome class crop mostly in soil 20cm hereinafter, some even can reach 50cm or so, it is this kind of
The harvest of root crop is always the problem of agricultural mechanical field.
For this kind of crop, there are no the appearance of high-efficient, adaptable harvest machinery at present.This kind of crop still mainly according to
Manual pick after manually harvesting or being excavated using simple excavating machinery, this harvesting approach labor intensity height, low efficiency, receipts
Obtain loss late height.And the time property of some crop harvests is stronger, cannot such as harvest in time, it will causes greatly economic damage
It loses.
Summary of the invention
A variety of soil are suitable for the object of the present invention is to provide one kind and operation tractive resistance can be effectively reduced, and improve operation
The long-rhizome class crop intelligence harvesting system of depth and efficiency.Farming width of the present invention is 1.2 meters, and tilth is up to 50 lis
Rice.The present invention reduces soil cutting resistance by increasing the two-dimension vibration of digger blade, while increasing intelligence control system, in real time
Multiple sensor signals are acquired, and the vibration frequency of digger blade is adjusted in real time, to adapt to the farming of Different Soil
Environment.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of long-rhizome class crop intelligence harvesting system, including rack have in the rack vibration digger blade hinged therewith,
Pneumatic exciting actuator, the sliding block of the pneumatic exciting actuator and the linear bearing on vibration digger blade are housed in the rack
Hingedly, to push vibration digger blade of reciprocating vibration.
The rack and tractor suspension junction are equipped with tension sensor, real-time monitoring tractor-drawn resistance；It is described
It vibrates digger blade and is equipped with vibrating sensor, real-time monitoring vibrates the vibration frequency and amplitude of digger blade.
Intelligent controller is installed, intelligent controller acquires tension sensor from battery electricity-taking and in real time in the rack
The amplitude signal of pulling force signal and vibrating sensor calculates harvest machinery workload by built-in algorithm, and according to load
Value increases or decreases the motor speed of pneumatic exciting actuator in real time, is finally detected and is shaken according to the frequency signal of vibrating sensor
Whether the vibration frequency of dynamic digger blade reaches preset value, to form closed-loop control.
The rack two sides respectively have a connecting rod and rack hinged, and the connecting rod other end and vibrating screen are hinged, the rack
Hinged with vibrating screen swing rod, vibrating screen swing rod lower end and vibrating screen are hinged.
Gearbox is housed in the rack, it is defeated by power output crankshaft after gearbox power is inputted by power input shaft
Out, power output crankshaft imparts power to vibrating screen swing rod, to drive vibrating screen of reciprocating vibration.
The present invention collect vibrating drag reduction, swing crushing, crop separation, sieve soil, loosen the soil, dig and for different soils intelligence
The functions such as it is adjustable in one, digger blade direction of vibration and direction of advance are in 45 °, and stroke is 10 millimeters or so, are effectively reduced
Cropper tractive resistance simultaneously improves its depth of implements and efficiency.When operation, digger blade is vibrated because of pneumatic exciting actuator
It pushes and generates two-dimension vibration, the two-dimension vibration is while the tractive resistance that cropper is effectively reduced, to the soil of feeding digger blade
Earth also produces broken effect, provides convenience to the separation of subsequent medicine soil.The soil of feeding and crop are at machine rear portion
In vibrating screen, the two is separated by vibrating.The frequency of the vibrational system can adjust in real time within the scope of 10Hz~60Hz, can be with
Adapt to the corresponding soil types of a variety of long-rhizome class crops and different soil conditions.Effectively increase the operation effect of cropper
Rate, and greatly improve its scope of application.Meanwhile compared to traditional harvest machinery, the present invention can accomplish energy-saving and emission-reduction, effectively
Reduce pollution.
Detailed description of the invention
Fig. 1 is complete machine front axonometric drawing.
Fig. 2 is complete machine rear portion axonometric drawing.
Fig. 3 is vibration execution part Local map.
Fig. 4 is pneumatic 12 internal anatomy of exciting actuator.
Fig. 5 is 9 axonometric drawing of " π " shape drive rod.
Fig. 6 is 6 axonometric drawing of connecting rod.
Fig. 7 is 10 axonometric drawing of vibrating screen swing rod.
Specific embodiment
To clearly state dependency structure and function of the invention, the present invention is described in detail with reference to the accompanying drawing:
It is a kind of long-rhizome class crop intelligence harvesting system as shown in Figure 1, main feature includes: rack 1, pull sensing
Device 2, power input shaft 3, gearbox 4, battery 5, connecting rod 6, vibration digger blade 7, vibrating sensor 8, " π " shape drive rod 9, vibration
Sieve swing rod 10, intelligent controller 11, pneumatic exciting actuator 12, linear bearing 13, vibrating screen 14, power output crankshaft 15.
Rack 1 includes two sides cross bar and halfpace.
1 two sides crossbar tip of rack and 6 upper end of connecting rod are hinged, and 6 lower end of connecting rod and 14 front end of vibrating screen are hinged.
1 two sides cross bar front end of rack and vibration digger blade 7 are hinged；Vibration digger blade 7 can do around hinge joint with respect to rack 1 past
Physical pendulum is dynamic.
It is hinged with 10 middle part of vibrating screen swing rod in the middle part of 1 two sides cross bar of rack；In 10 lower end of vibrating screen swing rod and vibrating screen 10
Portion is hinged.
10 upper end of vibrating screen swing rod is hinged (end A, B in Fig. 5) with the cross bar both ends of " π " shape drive rod 9 respectively.
Vibrating screen 14 is attached by connecting rod 6, vibrating screen swing rod 10 with rack 1, and vibrating screen 14 can be done with respect to rack 1
It is reciprocal to shake.
Vibration 7 edge of shovel of digger blade is located above 14 front end of vibrating screen, and the two is not in contact with each other.
The halfpace of rack 1 is equipped with gearbox 4, and gearbox 4 carries out power input by power input shaft 3, by speedup
The power output crankshaft 15 of case 4 carries out power output.
It is then cut with scissors with the eccentric shaft on power output crankshaft 15 two vertical bar front ends (end C, D in Fig. 5) of " π " shape drive rod 9
Connect (as shown in Figure 4)；Then the rotation of power output crankshaft 15 can cause the past of vibrating screen swing rod 10 by " π " shape drive rod 9
Multiple movement, to drive vibrating screen 14 of reciprocating vibration.
Vibration 7 rearward plane of digger blade is equipped with linear bearing 13, and linear bearing 13 divides for sliding rail 13-1 and sliding block 13-
2 two parts (such as Fig. 3), sliding rail 13-1 are fixedly mounted on vibration 7 rearward plane of digger blade, and sliding block 13-2 is inlayed with sliding rail 13-1
Installation, sliding block 13-2 being capable of linear slide (such as Fig. 3) on sliding rail 13-1；Pneumatic 12 right angle setting of exciting actuator and rack 1
In the middle part of the cross bar of two sides, and rack 1, pneumatic 12 lower part working end 12-7 of exciting actuator and sliding block are run through by the through-hole on cross bar
Hinged in the middle part of 13-2, then according to the above structure, vibration digger blade 7 can generate vibration under the exciting of pneumatic exciting actuator 12
It is dynamic.
Pneumatic 12 structure of exciting actuator is as shown in figure 4, its primary structure includes: motor 12-1, connecting rod 12-2, piston
12-3, cylinder 12-4, block stamp 12-5, stomata 12-6, working end 12-7, crank 12-8；Motor 12-1 coaxially pacifies with crank 12-8
Dress, the both ends connecting rod 12-2 are hinged with the end piston 12-3, the edge crank 12-8 respectively；Piston 12-3, block stamp 12-5 and working end
12-7 is successively co-axially mounted cylinder 12-4 is intracavitary, and stomata 12-6 is located on cylinder 12-4 wall.Motor 12-1 drives crank 12-8
Rotation, so that connecting rod 12-2 be driven to move back and forth piston 12-3 in cylinder 12-4；When piston 12-3 is moved, cylinder 12-4's
The indoor pressure of right side gas can generating period variation；Block stamp 12-5 constantly hammers working end under the action of the pressure difference of left and right
12-7, so that vibration digger blade 7 be driven to move；When block stamp 12-5 moves to Far Left, stomata 12-6 is by right side gas chamber and outside
Boundary is connected to so that block stamp resets.
Battery 5 is connected by cable with intelligent controller 11, and tension sensor 2, vibrating sensor 8, pneumatic exciting execute
Device 12 is connected with intelligent controller 11 by cable respectively.Battery 5 is the power supply of intelligent controller 11, and intelligent controller 11 passes through line
Cable acquire tension sensor 2, vibrating sensor 8 signal, and by the power output to pneumatic exciting actuator 12 to its into
Row control.
The overall operation process of cropper is as follows: vibration 7 shovel tip of digger blade be located under upper soll layer, cropper integrally to
While preceding traveling, upper soll layer crop below and surrounding soil are shoveled by vibration digger blade 7 into vibration digger blade 7 is in work
According to the different high-frequency vibrations that can generate 10Hz~60Hz of outer load when making, by the vibration of itself, to the soil of front contact
It is crushed, so that resistance when harvesting machine operation, crop and surrounding soil are reduced after the vibration feeding of digger blade 7, into position
Vibrating screen 14 in 7 lower section of vibration digger blade, vibrating screen 14 can generate compound shaking at work, and the soil of feeding is through over vibration
Dynamic digger blade 7 it is preliminary it is broken after, vibrating screen 14 undergo it is more violent be crushed, to be decomposed into fritter from the hole of vibrating screen 14
Ground is dropped back into hole, be in the soil of deeper depth originally therefore has come soil surface, is played simultaneously in this way and is loosened the soil and turn over
The purpose of soil.At this point, crop and some biggish stones are thrown machine because can not fall from the hole of vibrating screen 14
On the soil at device rear, while completing crop and separate with soil, the work of sieve soil is also completed.The farming of this digger blade is wide
Degree is 1.2 meters, and tilth is up to 50 centimetres.In cropper work, vibration digger blade 7 is negative by the variation of soil and crop
It carries, at this point, tension sensor 2 can detecte out value of thrust variation, vibrating sensor 8 can detecte out vibration digger blade 7 and vibrate
The variation of frequency and vibration amplitude, intelligent controller 11 pass through the signal intensity of both detections, and real-time by built-in algorithm
Calculate the situation of change of external loading.If external loading becomes smaller, reduce to pneumatic exciting actuator if intelligent controller 11
12 power output reduces the vibration frequency and amplitude of vibration digger blade 7, to achieve energy-saving and emission reduction purposes；If external
Load becomes larger, and intelligent controller 11 then increases the power output to pneumatic exciting actuator 12, increases the vibration of vibration digger blade 7
Frequency and amplitude reinforce vibration digger blade 7 to the fragmentation of soil, to further decrease tractive resistance.
Claims (5)
1. a kind of long-rhizome class crop intelligence harvesting system, which is characterized in that the long-rhizome class crop intelligence harvesting system packet
Including rack, power input shaft, gearbox, connecting rod, vibration digger blade, " π " shape drive rod, vibrating screen swing rod, pneumatic exciting execute
Device, linear bearing, vibrating screen, power output crankshaft；
Rack includes two sides cross bar and halfpace；
Rack two sides crossbar tip and small end are hinged, and connecting rod lower end and vibrating screen front end are hinged；
Rack two sides cross bar front end and vibration digger blade are hinged；Vibration digger blade can do reciprocally swinging with respect to rack around hinge joint；
It is hinged with vibrating screen swing rod middle part in the middle part of the cross bar of rack two sides；It is hinged in the middle part of vibrating screen swing rod lower end and vibrating screen；
Vibrating screen swing rod upper end is hinged with the cross bar both ends of " π " shape drive rod respectively；
Vibrating screen is attached by connecting rod, vibrating screen swing rod and rack, and vibrating screen can do reciprocal shaking with respect to rack；
The vibration digger blade edge of shovel is located above vibrating screen front end, and the two is not in contact with each other；
The halfpace of rack is equipped with gearbox, and gearbox carries out power input by power input shaft, by the power of gearbox
Output crank shaft carries out power output；
Two vertical bar front ends of " π " shape drive rod are then hinged with the eccentric shaft on power output crankshaft；Then power output crankshaft
Rotation can cause the reciprocating motion of vibrating screen swing rod by " π " shape drive rod, to drive vibrating screen of reciprocating vibration；
Vibration digger blade rearward plane is equipped with linear bearing, and linear bearing is divided into sliding rail and sliding block two parts, sliding rail are fixed
Installation is on vibration digger blade rearward plane, and sliding block and sliding rail inlay installation, and sliding block on the slide rail being capable of linear slide；It is pneumatic to swash
Shake actuator right angle setting and rack two sides cross bar middle part, and runs through rack, pneumatic exciting actuator by the through-hole on cross bar
Hinged in the middle part of lower part working end and sliding block, vibration digger blade can generate vibration under the exciting of pneumatic exciting actuator.
2. a kind of long-rhizome class crop intelligence harvesting system as described in claim 1, which is characterized in that the long-rhizome class is made
Object intelligence harvesting system further includes tension sensor, battery, vibrating sensor, intelligent controller；Rack and tractor suspension connect
It meets place and is equipped with tension sensor, real-time monitoring tractor-drawn resistance；The vibration digger blade is equipped with vibrating sensor, in real time
The vibration frequency and amplitude of monitoring vibration digger blade；
Intelligent controller is installed, intelligent controller acquires the pulling force of tension sensor from battery electricity-taking and in real time in the rack
The amplitude signal of signal and vibrating sensor calculates harvest machinery workload by built-in algorithm, and according to load value reality
When increase or decrease the motor speed of pneumatic exciting actuator, vibration is finally detected according to the frequency signal of vibrating sensor and is dug
Whether the vibration frequency of pick shovel reaches preset value, to form closed-loop control；
Battery is installed in the rack, battery is connected by cable with intelligent controller, tension sensor, vibrating sensor,
Pneumatic exciting actuator is connected with intelligent controller by cable respectively；Battery is intelligent controller power supply, and intelligent controller is logical
Cross cable acquisition tension sensor, vibrating sensor signal, and by the power output to pneumatic exciting actuator to its into
Row control.
3. a kind of long-rhizome class crop intelligence harvesting system as described in claim 1, which is characterized in that pneumatic exciting actuator
It is made of motor, connecting rod, piston, cylinder, block stamp, stomata, working end, crank；Motor is co-axially mounted with crank, connecting rod two end point
It is not hinged with pistons end, crank rim；Piston, block stamp and working end are successively co-axially mounted in cylinder chamber, and stomata is located at gas
On casing wall；Motor drives crank rotation, so that connecting rod be driven to move back and forth piston in cylinder；When piston motion, cylinder
The indoor pressure of right side gas can generating period variation；Block stamp constantly hammers working end under the action of the pressure difference of left and right, thus
Drive vibration digger blade movement；When block stamp moves to Far Left, right side gas chamber is in communication with the outside by stomata so that block stamp resets.
4. a kind of long-rhizome class crop intelligence harvesting system as claimed in claim 2, which is characterized in that work in cropper
When, varying duty of the digger blade by soil and crop is vibrated, at this point, tension sensor can detecte out value of thrust variation, vibration
Dynamic sensor can detecte out the variation of vibration digger blade vibration frequency and vibration amplitude, and intelligent controller passes through both detections
Signal intensity, and calculate the situation of change of external loading in real time by built-in algorithm；If external loading becomes smaller, intelligence is controlled
Device processed then reduces the power output to pneumatic exciting actuator, reduces the vibration frequency and amplitude of vibration digger blade, to reach
The purpose of energy-saving and emission-reduction；Increase the power output to pneumatic exciting actuator if external loading becomes larger, if intelligent controller, increases
The vibration frequency and amplitude of big vibration digger blade are reinforced vibration digger blade to the fragmentation of soil, are led to further decrease
Draw resistance.
5. a kind of long-rhizome class crop intelligence harvesting system as described in claim 1, which is characterized in that vibration digger blade shovel tip
Under upper soll layer, while cropper integrally moves forward, upper soll layer crop below and surrounding soil are shaken
Dynamic digger blade is shoveled into vibration digger blade according to the different high-frequency vibrations that can generate 10Hz~60Hz of outer load, passes through at work
The vibration of itself is crushed the soil of front contact, thus resistance when reducing harvest machine operation, crop and surrounding soil
After vibration digger blade feeding, into the vibrating screen being located at below vibration digger blade, vibrating screen can generate compound rolling at work
It is dynamic, the soil of feeding by vibration digger blade it is preliminary it is broken after, vibrating screen undergo it is more violent be crushed, to be decomposed into
Fritter drops back into ground from the hole of vibrating screen, is in the soil of deeper depth originally therefore has come soil surface, same in this way
When play the purpose loosened the soil and digged；At this point, crop and some biggish stones from the hole of vibrating screen because can not decline
Under, so thrown on the soil of rear of machine, while completing crop and separate with soil, also complete the work of sieve soil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910497395.3A CN110235590A (en) | 2019-06-10 | 2019-06-10 | A kind of long-rhizome class crop intelligence harvesting system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910497395.3A CN110235590A (en) | 2019-06-10 | 2019-06-10 | A kind of long-rhizome class crop intelligence harvesting system |
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| CN110235590A true CN110235590A (en) | 2019-09-17 |
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| CN201910497395.3A Pending CN110235590A (en) | 2019-06-10 | 2019-06-10 | A kind of long-rhizome class crop intelligence harvesting system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111226565A (en) * | 2020-02-12 | 2020-06-05 | 南京农业大学 | Two-section type vibration digging shovel for digging jerusalem artichoke tubers |
| CN111264166A (en) * | 2020-01-16 | 2020-06-12 | 浙江中医药大学中药饮片有限公司 | Platycodon grandiflorum harvesting equipment |
| CN114402785A (en) * | 2022-02-24 | 2022-04-29 | 青岛理工大学 | Vibration excavating mechanism for ginger combined harvesting and ginger combined harvester |
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| CN207491531U (en) * | 2017-09-28 | 2018-06-15 | 迟玉珍 | Root crop harvester |
| JP2018117594A (en) * | 2017-01-27 | 2018-08-02 | 株式会社ササキコーポレーション | Digging-out device of underground stem crop |
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| CN202135494U (en) * | 2011-06-08 | 2012-02-08 | 王镐飞 | Crop excavating harvester |
| CN102498815A (en) * | 2011-11-16 | 2012-06-20 | 广西大学 | Cassava root harvester with controllable pull-up speed |
| CN107006200A (en) * | 2016-06-16 | 2017-08-04 | 刘彬 | A kind of deep root herb cropper |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114402785A (en) * | 2022-02-24 | 2022-04-29 | 青岛理工大学 | Vibration excavating mechanism for ginger combined harvesting and ginger combined harvester |
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