CN110809951B - Full-hydraulic crawler-type unmanned rape direct seeder - Google Patents
Full-hydraulic crawler-type unmanned rape direct seeder Download PDFInfo
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- CN110809951B CN110809951B CN201911042737.9A CN201911042737A CN110809951B CN 110809951 B CN110809951 B CN 110809951B CN 201911042737 A CN201911042737 A CN 201911042737A CN 110809951 B CN110809951 B CN 110809951B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/066—Devices for covering drills or furrows
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/06—Seeders combined with fertilising apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a full-hydraulic crawler-type unmanned rape direct seeder, relates to the technical field related to agricultural equipment, and comprises a chassis, a hydraulic device, a seeding device and a control device. The direct seeding machine adopts a rubber track chassis and is driven by a hydraulic motor. The chassis is provided with a hydraulic oil tank, the hydraulic device and the control device are fixed on the oil tank, and the seeding device is arranged at the tail part of the machine body. The direct seeding machine adopts hydraulic pressure as power to realize chassis walking, steering and the lifting of the seeding device. The unmanned control system is constructed by a software control system, an electric control hydraulic valve group, a satellite positioning receiver, a vision sensor, an electronic compass, a photoelectric sensor, a data acquisition card and a signal processing module, and automatically completes the processes of collecting field geographic information and local position information, planning and tracking paths, turning around and avoiding barriers in fields, lifting a seeding device, seeding at any speed and the like. The invention adopts modular design, has compact structure, portability and flexibility, good field trafficability and easy realization of automatic control.
Description
Technical Field
The invention relates to the technical field related to agricultural equipment, in particular to a full-hydraulic crawler-type unmanned rape direct seeder.
Background
The planting area of Chinese rapes is the top of the world, and about 1 hundred million acres of Chinese rapes are planted all the year round. Wherein the winter rape accounts for more than 85 percent, and the middle and lower reaches of Yangtze river are the main production areas of winter rape in China. The previous crops of winter rape in the middle and lower reaches of Yangtze river are mostly rice, soil is hardened and sticky, the traditional rape seeding machinery is generally heavy, the situation of slipping and sinking is easily caused in the field, and the factors of small and scattered field pieces and the like seriously limit the operation efficiency, so that the mechanized seeding level of the rape is low. Traditional rape seeding machines can not satisfy this area rape seeding requirement, along with the innovative development of agricultural science and technology, has appeared small-size light, the rape direct seeder that the field trafficability characteristic is good, but the process of walking and operation is accomplished to this type of seeder under driver's control usually, not only is difficult to last operation for a long time, and the seeding effect depends on driver's experience to a great extent in addition, is difficult to obtain the assurance. The production mode can consume a large amount of labor cost, and is very unfavorable for intelligent and industrialized development of the rape under the existing condition that rural labor population is in short supply.
Disclosure of Invention
The invention aims to provide a full-hydraulic crawler-type unmanned rape direct seeder, which solves the problems in the prior art, adopts a modular design as a whole, is compact in structure, light and flexible, has good field trafficability and is easy to realize automatic control. The whole machine is stable in operation and high in automation degree, and the requirement of rape direct seeding of unmanned automatic operation can be met.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a full-hydraulic crawler-type unmanned rape direct seeder, which can realize the rape direct seeding operation processes of ditching, seeding, earthing and the like under the unattended condition, is time-saving, labor-saving and efficient, and highly liberates labor resources in agricultural production; the seeding machine comprises a vehicle body, wherein the vehicle body comprises a chassis, a hydraulic device, a seeding device and a control device; the two sides of the chassis are symmetrically provided with driving wheels, and the driving wheels positioned on the same side are connected with each other in a wrapping manner through a rubber crawler belt; the hydraulic device comprises a hydraulic oil tank, the hydraulic oil tank is fixedly arranged on a cross beam of the chassis, and the hydraulic oil tank is positioned between the two rubber tracks; a vehicle body platform is fixedly arranged at the top of the hydraulic oil tank; hydraulic devices are arranged on the front side and the rear side of the hydraulic oil tank and on the vehicle body platform; the tail part of the vehicle body is connected with the seeding device through a hydraulic lifting device; the control device is mounted on the vehicle body platform.
Optionally, the hydraulic device further comprises a hydraulic station, a hydraulic driving device and a hydraulic lifting device; the hydraulic station comprises the hydraulic oil tank arranged on the chassis, a gasoline engine, a storage battery, a hydraulic pump, a pipeline filter and a valve group arranged on a front side plate of the hydraulic oil tank, wherein the gasoline engine, the storage battery, the hydraulic pump and the pipeline filter are arranged on the vehicle body platform; the valve group comprises an oil path block, an electromagnetic overflow valve, a first proportional directional valve, a second proportional directional valve, an electromagnetic directional valve, a two-way throttle valve, a first hydraulic lock, a second hydraulic lock, a third hydraulic lock, a pressure gauge and a pressure measuring connector, wherein the electromagnetic overflow valve, the first proportional directional valve, the second proportional directional valve, the electromagnetic directional valve, the two-way throttle valve, the first hydraulic lock, the second hydraulic lock, the third hydraulic lock; the hydraulic pump and the gasoline engine are in transmission through a belt pulley, and an oil inlet of the hydraulic pump is connected with the hydraulic oil tank through an oil suction hard pipe; the pipeline filter is arranged between the hydraulic pump and the valve bank, and two ends of the pipeline filter are respectively connected with an oil outlet of the hydraulic pump and a main oil inlet in the valve bank through hoses; the oil circuit block is fixedly connected with the hydraulic oil tank, and an oil return port of the oil circuit block is communicated with a molded hole in the wall of the hydraulic oil tank. The oil circuit block is fixedly connected with the oil tank, and hydraulic oil returns to the oil tank through an oil return port of the oil circuit block and a hole in the wall of the oil tank to form an oil return circuit.
Optionally, the hydraulic driving device includes two hydraulic motors symmetrically mounted on the chassis, and output shafts of the two hydraulic motors are respectively connected with the driving wheels located on two sides of the chassis; one of the hydraulic motors is provided with a first oil inlet, the other hydraulic motor is provided with a second oil inlet, the first oil inlet is sequentially connected with the oil circuit block and the first proportional reversing valve through hard pipes, the second oil inlet is sequentially connected with the oil circuit block and the second proportional reversing valve through hard pipes, and the oil leakage ports of the two hydraulic motors are respectively connected with the hydraulic oil tank through hard pipes. The two hydraulic motors change the flow of hydraulic oil in the oil inlets by controlling the first proportional reversing valve and the second proportional reversing valve, so that the rotating speed of the crawler belts on the two sides is controlled.
Optionally, the hydraulic lifting device includes a lifting cylinder, an upper pull rod, a left lower pull rod and a right lower pull rod; the lifting oil cylinder is arranged on the rear side of the hydraulic oil tank, one end of the lifting oil cylinder is hinged with the rear side plate of the oil tank, the other end of the lifting oil cylinder is hinged with the upper pull rod, an oil cylinder plug cavity oil port of the lifting oil cylinder is connected with the valve group through a hose, and an oil cylinder rod cavity oil port of the lifting oil cylinder is connected with the hydraulic oil tank through a hose; one end of the upper pull rod is hinged with the L-shaped support, the other end of the upper pull rod is hinged with the top of the seeding device, and the L-shaped support is fixed at the tail of the vehicle body platform; one end of the left lower pull rod and one end of the right lower pull rod are hinged with the rear side plate of the oil tank respectively, and the other ends of the left lower pull rod and the right lower pull rod are hinged with the bottom of the seeding device; and the hinge joint of the upper pull rod and the L-shaped bracket and the hinge joint of the left lower pull rod and the right lower pull rod and the rear side plate of the oil tank are positioned on the same plane.
Optionally, the sowing device comprises a sowing rack provided with land wheels, a hanging rack connected with the hydraulic lifting device, a furrow opener supporting beam provided with a plurality of furrow openers and a seed guide pipe with one end mounted on the furrow opener; the seeding rack is fixedly connected with the hanging rack; the furrow opener supporting beam is fixedly connected to the sowing rack; the furrow opener is provided with a soil covering plate and is fixedly connected with one end of the adjusting rod; the adjusting rod is provided with a plurality of pin holes, is connected with the furrow opener supporting beam and can be adjusted up and down with a rod sleeve on the furrow opener supporting beam; the seeding machine also comprises a multi-row centrifugal seeding device arranged on the seeding rack, and the other end of the seed guide pipe is connected with a seed outlet of the centrifugal seeding device.
Optionally, the control device comprises a vehicle-mounted software control system installed on the vehicle body platform, a control box, a satellite positioning receiver, an electronic compass and a vision sensor; the software control system provides hardware communication, control execution, algorithm support and man-machine interaction; the control box, the vision sensor, the satellite positioning receiver and the electronic compass are respectively connected with the software control system through a USB and a serial port; the control box comprises a data acquisition card, a signal conditioning module and a power supply; the seed sowing machine also comprises an encoder arranged on the hydraulic motor and a speed-following seed sowing system arranged on the sowing rack; the encoder is connected with the small shaft of the hydraulic motor and is used for collecting the rotating speed of the hydraulic motor; the speed-following seed metering system comprises a photoelectric coded disc coaxially mounted with a land wheel, a photoelectric sensor fixed on a seeding rack, and a battery and a direct current motor mounted on the seeding rack, wherein the photoelectric coded disc and the photoelectric sensor collect the rotating speed of the land wheel, and an output shaft of the direct current motor drives a centrifugal seed metering device to meter seeds; the encoder and the speed-following seed sowing system are electrically connected with the control box; and a control valve in the valve group is electrically connected with the control box.
Optionally, hydraulic tank is the cuboid structure, be equipped with liquid level liquid thermometer on the hydraulic tank, the automobile body platform including weld in the square steel sheet of hydraulic tank top both sides with hydraulic tank's top.
Compared with the prior art, the invention has the following technical effects:
the full-hydraulic crawler-type unmanned rape direct seeder provided by the invention adopts the crawler-type chassis, has the advantages of good traction and adhesion performance, low vibration, low land subsidence rate, in-situ turning and the like relative to a wheel-type device, has good field trafficability of the direct seeder, small disturbance on the ploughed soil and compact layout, and is suitable for rape seeding operation in different field sizes, different terrain environments, particularly hilly and mountainous areas; the crawler chassis adopts a full hydraulic transmission structure, and can easily realize the movements of walking, steering and the like of the crawler chassis in the field by depending on the large torque output by the hydraulic motor; the hydraulic transmission is stable, the adjustment and control are convenient, and the stepless speed regulation characteristic is provided, so that the direct seeding machine works stably and is controllable in the whole process; the carrying control device comprises a motion control device, a lifting control device and a seed sowing control device, wherein a direct sowing machine can be operated through manual remote control by a remote controller; the unmanned automatic seeding machine can also combine satellite and vision combined navigation, adopts full-automatic control of walking, obstacle avoidance, seeding device lifting and seed discharging speed through scientific and accurate operation path planning, realizes unmanned automatic operation, reduces labor intensity, and ensures seeding efficiency and stability.
The invention carries a centralized seed metering device, and one seed metering device can efficiently and simultaneously complete multi-row seed metering operation. The speed-following seeding technology is adopted, and the rotating speed of the seeding device is adjusted according to the advancing speed of the direct seeding machine so as to realize stable seeding quantity. The hydraulic lifting device adopts a three-point-like suspension design, and can stably realize the vertical lifting of the seeding device; the two ends of the pull rod of the hydraulic lifting device are hinged by joint bearings, and the seeding device can horizontally swing relative to the chassis, so that the linearity of unmanned automatic operation of the direct seeding machine is improved; during operation, the sowing device can be used for profiling the ground to ensure the consistency of sowing depth; after the operation is finished, the seeding device is lifted, so that the seeding device is convenient to walk and climb in the field. According to the invention, direct seeding of rapes with different widths and different planting densities can be realized by replacing the seeding device. Through loading fertilizer discharging device, can also realize fertilizing and seeding integration operation, reach the effect of a tractor serves several purposes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of the whole mechanism of the full hydraulic crawler type unmanned rape direct seeder of the invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic structural diagram of a valve bank of the full-hydraulic crawler-type unmanned rape direct seeder of the invention;
FIG. 4 is a schematic structural diagram of a hydraulic oil tank of the full-hydraulic crawler-type unmanned rape direct seeder of the invention;
FIG. 5 is a schematic structural view of a hydraulic lifting device of the full-hydraulic crawler-type unmanned rape direct seeder of the invention;
FIG. 6 is a schematic structural view of a seeding device of the full-hydraulic crawler-type unmanned rape direct seeder of the invention;
FIG. 7 is a schematic view of a hydraulic oil circuit of the full-hydraulic crawler-type unmanned rape direct seeder of the invention;
wherein, 1 is a chassis, 2 is a driving wheel, 3 is a hydraulic oil tank, 4 is an encoder, 5 is a hydraulic motor, 6 is a valve bank, 7 is a visual sensor, 8 is an L-shaped support, 9 is a lifting oil cylinder, 10 is a seeding device, 11 is a hydraulic lifting device, 12 is a vehicle body platform, 13 is a vehicle-mounted computer, 14 is an oil tank cover, 15 is an electronic compass, 16 is a control box, 17 is a satellite positioning receiver, 18 is a storage battery, 19 is a gasoline engine, 20 is a belt pulley, 21 is a hydraulic pump, 22 is an oil absorption hard pipe, 23 is a pipeline filter, 24-1 is a first oil inlet, 24-2 is a second oil inlet, 25 is a two-way throttle valve, 26-1 is a first hydraulic lock, 26-2 is a second hydraulic lock, 26-3 is a third hydraulic lock, 27 is an electromagnetic directional valve, 28-1 is a first proportional directional valve, 28-2 is a second proportional directional valve, 29 is an electromagnetic overflow valve, 30 is a pressure gauge, 31 is a main oil inlet of a valve group, 32 is a pressure measuring joint, 33 is an oil path block, 34 is an oil inlet of a lifting cylinder, 35 is an air filter, 36 is a rib plate, 37 is an oil outlet of a hydraulic motor, 38 is an oil return port of the valve group, 39 is an oil discharge port of an oil tank, 40 is a liquid level liquid thermometer, 41 is a right lower pull rod, 42 is an oil plug cavity oil port, 43 is a left lower pull rod, 44 is a first double-lug hinge seat, 45 is an oil tank rear side plate, 46 is an oil return port of the lifting cylinder, 47 is an upper pull rod, 48 is a joint bearing, 49 is an oil rod cavity oil port, 50 is an earth covering plate, 51 is a furrow opener, 52 is a seeding frame, 53 is a land wheel, 54 is a photoelectric code disc, 55 is a photoelectric sensor, 56 is a second double-lug hinge seat, 57 is a hanging frame, 58 is a centrifugal seed sowing device, 59 is a direct current motor, 60 is a, 63 is an adjusting rod, 64 is a hydraulic pump oil drain pipe, 65 is a hydraulic motor oil drain pipe, and 66 is an oil absorption coarse filter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a full-hydraulic crawler-type unmanned rape direct seeder, which solves the problems in the prior art, adopts a modular design as a whole, is compact in structure, light and flexible, has good field trafficability and is easy to realize automatic control. The whole machine is stable in operation and high in automation degree, and the requirement of rape direct seeding of unmanned automatic operation can be met.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a full-hydraulic crawler-type unmanned rape direct seeder which comprises a chassis, a hydraulic device, a seeding device and a control device. The direct seeding machine adopts a rubber track chassis and is driven by a hydraulic motor. The chassis is provided with a hydraulic oil tank, the hydraulic device and the control device are fixed on the oil tank, and the seeding device is arranged at the tail part of the machine body. The direct seeding machine adopts hydraulic pressure as power to realize chassis walking, steering and the lifting of the seeding device. The unmanned control system is constructed by a software control system, an electric control hydraulic valve group, a satellite positioning receiver, a vision sensor, an electronic compass, a photoelectric sensor, a data acquisition card and a signal processing module, and automatically completes the processes of collecting field geographic information and local position information, planning and tracking paths, turning around and avoiding barriers in fields, lifting a seeding device, seeding at any speed and the like. The invention adopts modular design, has compact structure, portability and flexibility, good field trafficability and easy realization of automatic control. The whole machine has light weight and high automation degree, and can meet the requirement of rape direct seeding of unmanned automatic operation.
Referring to fig. 1 in detail, and shown in fig. 2 to 7, the seeding apparatus includes a chassis 1, a hydraulic device, a seeding device 10 and a control device, wherein the chassis 1 is a rubber crawler chassis 1, and a hydraulic oil tank 3 is carried on the chassis 1; the hydraulic oil tank 3 is a cuboid formed by welding six steel plates, is horizontally arranged between the two side tracks, and the bottom of the hydraulic oil tank 3 is fixedly welded with a cross beam of the chassis 1; the hydraulic oil tank 3 is provided with an oil tank cover 14, an air filter 35 and a liquid level liquid thermometer 40, the top plate of the oil tank is provided with a hydraulic pump oil suction port, the front side plate of the oil tank is provided with an oil tank oil drainage port 39, a hydraulic motor oil drainage port 37 and a valve group oil return port 38, as shown in fig. 7, the hydraulic motor oil drainage port 37 is communicated with the hydraulic oil tank 3 through a hydraulic motor oil drainage pipe 65, and the rear side plate 45 of the oil tank is provided with a lifting oil cylinder oil return port 46; square steel plates are welded on the left side and the right side of the top of the hydraulic oil tank 3 and supported by a plurality of rib plates 36 to form a vehicle body platform 12 together with the top of the hydraulic oil tank 3; the vehicle body platform 12 is welded with a plurality of mounting seats and positioning holes for fixing all the parts; hydraulic oil is loaded inside the hydraulic oil tank 3, and hydraulic means, seeder 10 and controlling means are carried on to the outside, and seeder 10 installs on automobile body platform 12 through hydraulic pressure elevating gear 11, plays the effect of automobile body frame when as hydraulic pressure functional element, compact structure moreover for the complete machine is light.
The hydraulic device comprises a hydraulic station, a hydraulic driving device and a hydraulic lifting device; the hydraulic station comprises a hydraulic oil tank 3, a gasoline engine 19, a storage battery 18, a hydraulic pump 21, a pipeline filter 23 and a valve group 6. The gasoline engine 19 and the hydraulic pump 21 are driven by a belt pulley 20, are arranged on the vehicle body platform 12 and are fixed by using a mounting seat, and a belt pulley tensioning device is arranged on the mounting seat; the oil inlet of the hydraulic pump is connected with the oil suction hard pipe 22; the tail end of the oil absorption hard pipe 22 is connected with an oil absorption rough filter 66 and is immersed in the hydraulic oil; the pipeline filter 23 is fixed on the vehicle body platform 12 through bolt connection, and is connected into the main oil circuit of the hydraulic device through a hose, and two ends of the pipeline filter are respectively connected with the hydraulic pump 21 and the valve group 6.
The valve group 6 comprises an oil circuit block 33, an electromagnetic overflow valve 29, a first proportional directional valve 28-1, a second proportional directional valve 28-2, an electromagnetic directional valve 27, a two-way throttle valve 25, a first hydraulic lock 26-1, a second hydraulic lock 26-2, a third hydraulic lock 26-3, a pressure gauge 30 and a pressure measuring joint 32; the oil path block 33 is of a cuboid structure and is fixed on the front side plate of the oil tank through bolts, so that the pipeline integration effect is achieved; control valves such as an electromagnetic overflow valve 29 and the like are sequentially arranged on the front side of the oil path block 33, wherein the first proportional directional valve 28-1, the second proportional directional valve 28-2, the first hydraulic lock 26-1, the second hydraulic lock 26-2, the third hydraulic lock 26-3, the electromagnetic directional valve 27 and the two-way throttle valve 25 are arranged in a superposition mode; the upper side and the lower side of the oil path block 33 are provided with pressure measuring joints 32, valve group main oil inlets 31, a first oil inlet 24-1 of one hydraulic motor 5, a second oil inlet 24-2 of the other hydraulic motor 5 and a lifting oil cylinder oil inlet 34; the left side is provided with a pressure gauge 30, and the right side is provided with a lifting oil cylinder oil inlet 34; the hydraulic oil enters the valve group 6 through the valve group main oil inlet 31 and returns to the hydraulic oil tank 3 through the control valve and the valve group oil return port 38.
The hydraulic driving device comprises two hydraulic motors 5 arranged on the chassis 1, and output shafts of the two hydraulic motors 5 are respectively directly connected with the driving wheels 2 of the chassis 1 to provide torque for driving the crawler tracks; the first oil inlet 24-1 and the second oil inlet 24-2 of the two hydraulic motors 5 are connected with the oil inlet of the oil circuit block 33 through hard pipes, and a proportional reversing valve in the valve group 6 is used for controlling the flow entering the first oil inlet 24-1 and the second oil inlet 24-2, so that the rotating speed and the steering of the output shafts of the two hydraulic motors 5 are controlled, the posture of the machine body is changed under the matching of the output torques of the two hydraulic motors 5, and the walking and the steering of the whole machine are realized.
The hydraulic lifting device adopts a three-point suspension-like design and comprises a lifting oil cylinder 9 arranged at the rear side of the hydraulic oil tank 3, an upper pull rod 47, a left lower pull rod 43 and a right lower pull rod 41, and is used for realizing the lifting and the falling of the seeding device 10; two ends of the upper pull rod 47, the left lower pull rod 43 and the right lower pull rod 41 are respectively provided with a joint bearing 48, one end of the joint bearing is hinged on the oil tank rear side plate 45 and the L-shaped support 8 through a first double-lug hinge seat 44, and the other end of the joint bearing is hinged with the seeding device 10; an earring at one end of the lifting oil cylinder 9 is hinged with a hinge seat on the oil tank rear side plate 45, the other end of the lifting oil cylinder is hinged with an upper pull rod 47, and the extension of an oil cylinder piston rod drives the upper pull rod 47 to swing; an oil cylinder plug cavity oil port 42 is connected with the valve group 6 through a hose, an oil cylinder rod cavity oil port 49 is connected with an oil tank, and the telescopic state, the stop state and the floating state of the oil cylinder are realized by the electromagnetic directional valve 27, the hydraulic lock and the two-way throttle valve 25 in the valve group 6. When the direct seeding machine works, the electromagnetic directional valve 27 is controlled, the inside of the lifting oil cylinder 9 is unloaded, the seeding device 10 can float up and down along the ground, and the seeding device 10 can be shaped on the ground.
The seeding device 10 comprises a hanging frame 57 provided with a second double-lug-ring hinge seat 56, the hanging frame 57 is welded on a seeding frame 52, a land wheel 53 and a multi-row centrifugal seeding device 58 are arranged on the seeding frame 52, the seed outlet of the seeding device is connected with one end of a seed guide pipe 61, and the other end of the seed guide pipe 61 is arranged in a furrow opener 51; a plurality of furrow openers 51 are uniformly arranged on the furrow opener supporting beam 62, and the furrow openers 51 can realize height adjustment by connecting adjusting rods 63; the seed metering device discharges seeds from a seed outlet, the seeds slide into a ditch formed by the furrow opener 51 through the seed guide pipe 61 under the action of gravity, and then the soil covering plate 50 covers the soil.
The control device is used for controlling the actions of the hydraulic driving device, the hydraulic lifting device and the seeding device 10 and comprises a vehicle-mounted software control system carried by a vehicle body platform 12, a control box 16, a vision sensor 7, a satellite positioning receiver 17, an electronic compass 15, an encoder 4 arranged on a hydraulic motor 5 and a speed-following seeding system arranged on the seeding device 10.
The vehicle-mounted software control system is a vehicle-mounted computer 13 and provides hardware communication, control execution, algorithm and human-computer interaction support for the invention; the control box 16, the vision sensor 7, the satellite positioning receiver 17 and the electronic compass 15 are respectively connected with the software control system through a USB and a serial port, the vision sensor 7 and the electronic compass 15 are respectively arranged at the front part and the middle part of the vehicle body platform 12 in a detachable and adjustable way through a supporting rod, and the control box 16 comprises a data acquisition card, a signal conditioning module and a power supply; the encoder 4, the seed sowing system with the speed and the control valve in the valve group 6 are all electrically connected with the control box 16; the encoder 4 is coaxially connected with a small output shaft at the tail end of the hydraulic motor 5 and is used for acquiring the rotating speed of the hydraulic motor 5; the speed-following seed sowing system comprises a photoelectric coded disc 54 coaxially mounted with the land wheel 53, a photoelectric sensor 55 fixed on the sowing rack 52, a battery 60 and a direct current motor 59 mounted on the sowing rack 52, wherein the photoelectric coded disc 54 and the photoelectric sensor 55 collect the rotating speed of the land wheel 53, and a software control system and a control box 16 process data and control the rotating speed of the direct current motor 59, so that the automatic speed-following seed sowing of the sowing device 10 is realized.
When the invention works, the electromagnetic overflow valve 29 is electrified to unload the hydraulic system, at the moment, the electrically started gasoline engine 19 is started safely without load, after the stable operation, the electromagnetic overflow valve 29 is powered off, and the hydraulic system recovers the working pressure. The engine drives the hydraulic pump 21 to work through the transmission of the belt pulley 20, the hydraulic pump 21 pumps hydraulic oil out of an oil tank, the pumped oil is filtered by the pipeline filter 23 and then reaches the valve group 6, and the valve group 6 distributes the hydraulic oil to the hydraulic motor 5 and the lifting oil cylinder 9 according to control. The hydraulic pump 21 is communicated with the hydraulic oil tank 3 through a hydraulic pump oil drain pipe 64; when the control device outputs an analog quantity signal (AO) to the proportional reversing valve, the hydraulic motor 5 drives the tracks to rotate at the moment, when the speeds of the tracks on the two sides are synchronous, the machine body walks linearly, and the steering of the machine body is realized by the difference of the rotating speeds of the tracks on the two sides; meanwhile, the walking speed of the machine body can be changed by adjusting the analog quantity of the control signal. In the process of moving, if the vehicle needs to be stopped, the control device gradually reduces the control signal output to the proportional reversing valve, so that the traveling speed is gradually reduced until the vehicle stops, and the vehicle is prevented from suddenly locking and rushing due to inertia; when the direct seeding machine stops on a slope, the hydraulic lock locks oil in an oil way of the hydraulic motor 5, so that the vehicle body cannot slide down due to dead weight. When the direct seeding machine works in the field, the control device gives a control signal A of the electromagnetic directional valve 27, the interior of the lifting oil cylinder 9 is unloaded, the seeding device 10 is profiled to the ground, the photoelectric sensor 55 and the photoelectric coded disc 54 collect the rotating speed of the land wheel 53, and the control device controls the seed sowing speed according to the rotating speed of the land wheel 53; after the operation is finished, the control device gives a control signal B of the electromagnetic directional valve 27, the lifting oil cylinder 9 lifts the seeding device 10, when the control signal is set to zero, the hydraulic lock locks oil in the oil cylinder, so that the seeding device 10 cannot descend due to self weight, the hydraulic control system adopts a hydraulic operation system in the prior art to control, a hydraulic oil path diagram refers to fig. 7, and the control operation of the hydraulic system can be conveniently and quickly carried out through the hydraulic oil path communication mode in fig. 7.
Furthermore, the full-hydraulic crawler-type unmanned rape direct seeder has multiple operation modes including a manual remote control mode and an unmanned full-automatic mode through a vehicle-mounted software control system. In the manual remote control mode, the remote controller sends a control instruction to the control device, an execution layer in the vehicle-mounted software control system analyzes the control instruction and transmits the control instruction to a data acquisition card of a communication layer, and a corresponding control signal is output through the data acquisition card, so that the remote control of the movement of the direct seeding machine, the lifting of the seeding device 10 and the seeding process is realized.
The unmanned full-automatic mode provided by the invention comprises the processes of environmental information acquisition, path planning, path tracking, field obstacle avoidance, seed sowing at a certain speed, man-machine interaction and the like. The general embodiment of the unmanned automatic operation of the invention is as follows: the vehicle-mounted software control system is communicated with the satellite positioning receiver 17, the electronic compass 15 and the vision sensor 7 through a USB and a serial port, respectively obtains positioning information, course information and field image information in real time, and fuses and solves the information to obtain the position information of the live broadcast machine. Boundary information of a pre-operation field is input into the system, or field boundary information is collected around the field by a manual remote control live broadcast machine, and a vehicle-mounted software control system automatically plans a global path according to the size of the field and operation requirements. The course deviation and the navigation offset distance between the live broadcast machine and the operation path are calculated in real time by combining the position information of the live broadcast machine and the planning path information, the control quantity is obtained by combining the crawler rotating speed information acquired by the encoder 4 according to a path tracking deviation rectifying algorithm, and the live broadcast machine is driven to walk and turn by communicating with the data acquisition card so as to realize path tracking. In the operation process, the vehicle-mounted software control system collects the rotating speed of the land wheel 53 in real time through the photoelectric sensor 55 and the photoelectric coded disc 54, and controls the rotating speed of the direct current motor 59 according to a seed sowing algorithm along with the speed, so that automatic sowing is realized. A crop line recognition algorithm and an obstacle detection algorithm are embedded in the software control system, the field condition is analyzed by processing the collected field image information, and the field turning and obstacle avoidance of the direct seeding machine are realized by combining a path tracking algorithm and local dynamic path planning. Meanwhile, the vehicle-mounted software control system also provides a human-computer interaction interface and a navigation information storage function, and is used for setting, displaying and storing navigation information, so that the visualization of the unmanned operation process is realized, the development of later-stage research is facilitated, and the human-computer interaction experience is improved.
Furthermore, the software control system of the full-hydraulic crawler-type unmanned rape direct seeder provided by the invention is also provided with a communication interface for carrying other sensors and execution devices, so that the further optimization of the full-hydraulic crawler-type unmanned rape direct seeder is realized.
The full-hydraulic crawler-type unmanned rape direct seeder provided by the invention can also carry other seeding devices 10, and if the seeding devices 10 are replaced, the hanging device and the hydraulic lifting device need to be matched and connected. Through changing seeder 10, can realize the rape direct seeding of different breadth, different planting density, through loading fertilizer discharging device, can also realize the operation of fertilizing and seeding integration, reach the effect of a tractor serves several purposes.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. The full-hydraulic crawler-type unmanned rape direct seeder is characterized in that: the seeding machine comprises a vehicle body, wherein the vehicle body comprises a chassis, a hydraulic device, a seeding device and a control device; the two sides of the chassis are symmetrically provided with driving wheels, and the driving wheels positioned on the same side are connected with each other in a wrapping manner through a rubber crawler belt; the hydraulic device comprises a hydraulic oil tank, the hydraulic oil tank is fixedly arranged on a cross beam of the chassis, and the hydraulic oil tank is positioned between the two rubber tracks; a vehicle body platform is fixedly arranged at the top of the hydraulic oil tank; hydraulic devices are arranged on the front side and the rear side of the hydraulic oil tank and on the vehicle body platform; the tail part of the vehicle body is connected with the seeding device through a hydraulic lifting device; the control device is arranged on the vehicle body platform; the hydraulic device also comprises a hydraulic station, a hydraulic driving device and a hydraulic lifting device; the hydraulic station comprises the hydraulic oil tank arranged on the chassis, a gasoline engine, a storage battery, a hydraulic pump, a pipeline filter and a valve group arranged on a front side plate of the hydraulic oil tank, wherein the gasoline engine, the storage battery, the hydraulic pump and the pipeline filter are arranged on the vehicle body platform; the valve group comprises an oil path block, an electromagnetic overflow valve, a first proportional directional valve, a second proportional directional valve, an electromagnetic directional valve, a two-way throttle valve, a first hydraulic lock, a second hydraulic lock, a third hydraulic lock, a pressure gauge and a pressure measuring connector, wherein the electromagnetic overflow valve, the first proportional directional valve, the second proportional directional valve, the electromagnetic directional valve, the two-way throttle valve, the first hydraulic lock, the second hydraulic lock, the third hydraulic lock; the hydraulic pump and the gasoline engine are in transmission through a belt pulley, and an oil inlet of the hydraulic pump is connected with the hydraulic oil tank through an oil suction hard pipe; the pipeline filter is arranged between the hydraulic pump and the valve bank, and two ends of the pipeline filter are respectively connected with an oil outlet of the hydraulic pump and a main oil inlet in the valve bank through hoses; the oil circuit block is fixedly connected with the hydraulic oil tank, and an oil return port of the oil circuit block is communicated with a molded hole in the wall of the hydraulic oil tank; the hydraulic lifting device comprises a lifting oil cylinder, an upper pull rod, a left lower pull rod and a right lower pull rod; the lifting oil cylinder is arranged on the rear side of the hydraulic oil tank, one end of the lifting oil cylinder is hinged with the rear side plate of the oil tank, the other end of the lifting oil cylinder is hinged with the upper pull rod, an oil cylinder plug cavity oil port of the lifting oil cylinder is connected with the valve group through a hose, and an oil cylinder rod cavity oil port of the lifting oil cylinder is connected with the hydraulic oil tank through a hose; one end of the upper pull rod is hinged with the L-shaped support, the other end of the upper pull rod is hinged with the top of the seeding device, and the L-shaped support is fixed at the tail of the vehicle body platform; one end of the left lower pull rod and one end of the right lower pull rod are hinged with the rear side plate of the oil tank respectively, and the other ends of the left lower pull rod and the right lower pull rod are hinged with the bottom of the seeding device; and the hinge joint of the upper pull rod and the L-shaped bracket and the hinge joint of the left lower pull rod and the right lower pull rod and the rear side plate of the oil tank are positioned on the same plane.
2. The full-hydraulic crawler-type unmanned rape direct seeder of claim 1, characterized in that: the hydraulic driving device comprises two hydraulic motors which are symmetrically arranged on the chassis, and output shafts of the two hydraulic motors are respectively connected with the driving wheels positioned on two sides of the chassis; one of the hydraulic motors is provided with a first oil inlet, the other hydraulic motor is provided with a second oil inlet, the first oil inlet is sequentially connected with the oil circuit block and the first proportional reversing valve through hard pipes, the second oil inlet is sequentially connected with the oil circuit block and the second proportional reversing valve through hard pipes, and the oil leakage ports of the two hydraulic motors are respectively connected with the hydraulic oil tank through hard pipes.
3. The full-hydraulic crawler-type unmanned rape direct seeder of claim 1, characterized in that: the seeding device comprises a seeding rack provided with land wheels, a hanging rack connected with the hydraulic lifting device, a furrow opener supporting beam provided with a plurality of furrow openers and a seed guide pipe with one end arranged on the furrow openers; the seeding rack is fixedly connected with the hanging rack; the furrow opener supporting beam is fixedly connected to the sowing rack; the furrow opener is provided with a soil covering plate and is fixedly connected with one end of the adjusting rod; the adjusting rod is provided with a plurality of pin holes, is connected with the furrow opener supporting beam and can be adjusted up and down with a rod sleeve on the furrow opener supporting beam; the seeding machine also comprises a multi-row centrifugal seeding device arranged on the seeding rack, and the other end of the seed guide pipe is connected with a seed outlet of the centrifugal seeding device.
4. The full-hydraulic crawler-type unmanned rape direct seeder of claim 3, characterized in that: the control device comprises a software control system, a control box, a satellite positioning receiver, an electronic compass and a visual sensor, wherein the software control system is installed on the vehicle body platform; the software control system is used for providing hardware communication, control execution, algorithm support and man-machine interaction; the control box comprises a data acquisition card, a signal conditioning module and a power supply; the seeding machine also comprises an encoder arranged on the hydraulic motor and a speed-following seeding system arranged on the seeding rack; the encoder is connected with the small shaft of the hydraulic motor; the speed-following seed metering system comprises a photoelectric coded disc coaxially mounted with a land wheel, a photoelectric sensor fixed on a seeding rack, and a battery and a direct current motor mounted on the seeding rack, wherein the photoelectric coded disc and the photoelectric sensor collect the rotating speed of the land wheel, and an output shaft of the direct current motor is used for driving a centrifugal seed metering device to meter seeds; the encoder and the speed-following seed sowing system are electrically connected with the control box; and a control valve in the valve group is electrically connected with the control box.
5. The full-hydraulic crawler-type unmanned rape direct seeder of claim 1, characterized in that: the hydraulic tank is the cuboid structure, be equipped with liquid level liquid thermometer on the hydraulic tank, the automobile body platform including weld in the square steel sheet of hydraulic tank top both sides with hydraulic tank's top.
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| CN112586296B (en) * | 2020-12-09 | 2022-02-25 | 华中农业大学 | Method for synchronously harvesting rice and sowing rape in rice-oil rotation area late rice field |
| CN113545219B (en) * | 2021-07-13 | 2022-10-28 | 江苏大学 | Combine harvester field head steering system and method and combine harvester |
| CN115119570A (en) * | 2022-06-16 | 2022-09-30 | 昆明理工大学 | Medicine integration intelligent robot is spouted in seeding of hills mountain region |
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