CN114097399A - Visual test experiment platform and method suitable for orchard and lawn mower - Google Patents
Visual test experiment platform and method suitable for orchard and lawn mower Download PDFInfo
- Publication number
- CN114097399A CN114097399A CN202111337206.XA CN202111337206A CN114097399A CN 114097399 A CN114097399 A CN 114097399A CN 202111337206 A CN202111337206 A CN 202111337206A CN 114097399 A CN114097399 A CN 114097399A
- Authority
- CN
- China
- Prior art keywords
- speed sensor
- wind speed
- platform
- electric push
- cutting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 29
- 238000002474 experimental method Methods 0.000 title claims abstract description 26
- 230000000007 visual effect Effects 0.000 title claims abstract description 26
- 239000002420 orchard Substances 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title abstract description 8
- 230000008859 change Effects 0.000 claims abstract description 20
- 238000004140 cleaning Methods 0.000 claims description 49
- 229910052782 aluminium Inorganic materials 0.000 claims description 33
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 31
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 29
- 239000011521 glass Substances 0.000 claims description 27
- 230000007246 mechanism Effects 0.000 claims description 17
- 244000025254 Cannabis sativa Species 0.000 claims description 16
- 241000196324 Embryophyta Species 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 abstract description 2
- 238000012800 visualization Methods 0.000 abstract 1
- 239000004411 aluminium Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 229910003460 diamond Inorganic materials 0.000 description 3
- 239000010432 diamond Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical compound Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229920002943 EPDM rubber Polymers 0.000 description 1
- 241001494496 Leersia Species 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 229910002804 graphite Inorganic materials 0.000 description 1
- 239000010439 graphite Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/73—Cutting apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/74—Cutting-height adjustment
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/82—Other details
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D47/00—Headers for topping of plants, e.g. stalks with ears
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/18—Safety devices for parts of the machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
Abstract
The invention provides a visual test experiment platform and a method suitable for orchard and lawn mowers.A lifting and tilting device is arranged on a conveyor belt platform through an electric push rod to realize height and angle adjustment, a high-speed camera is arranged on a header device to realize the visualization of the movement track of the mower during mowing and mowing, an air pressure sensor is arranged on the header device and is used for measuring the air pressure change in the header, the input end of a torque rotating speed sensor is connected with the output shaft of a mowing servo motor, the output end of the torque rotating speed sensor is connected with a cutting part, the torque and the rotating speed generated by the cutting part during mowing are measured, and horizontal and vertical wind speed sensors are arranged on a safety side plate and are used for measuring the wind speed generated during mowing. The invention is beneficial to measuring various working parameters of the mower and provides support for the optimization of the structure and the working parameters of the mower.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a visual test experiment platform and method suitable for orchard and lawn mowers.
Background
Orchard economy becomes one of the pillar industries in various planting industries, becomes the main force for developing rural economy, and people have increasingly strong demand on orchard mowers, and lawn mowers have large demand and wide application. In recent years, the wide application of the mower saves a large amount of manpower, relieves the labor intensity of workers, and can effectively improve the working efficiency, but the mower usually does not reach the optimal working state in the mowing process. Particularly, the torque generated when the mower cuts grass, the deformation of the blade acting on the grass, the wind speed generated by the rotation of the blade and the micro-swing of the grass caused by the air pressure change in the header can all influence the operation effect of the mower, and the current domestic research on the detection and test of mowing equipment is almost vacant.
Disclosure of Invention
In view of the above, the invention provides a visual test experiment platform and method suitable for orchard and lawn mowers, which can test various working conditions of the mowers, facilitate optimization of the structure and operation parameters of the mowers, give full play to the advantages of the mowers, and reduce the operation intensity of the mowers.
The present invention achieves the above-described object by the following technical means.
Visual test experiment platform suitable for orchard and lawn mower includes:
the lifting and tilting device comprises a front electric push rod, a rear electric push rod, a straight rotating shaft, a concave rotating shaft, a first connecting rod and a second connecting rod, wherein the pair of front electric push rods and the pair of rear electric push rods are arranged at the upper part of the conveying platform;
the cutting table device comprises a mowing servo motor, a torque rotating speed sensor, a circular cutting table, a cutting part and an organic glass plate, wherein the mowing servo motor is arranged in the middle of the circular cutting table, an output shaft of the mowing servo motor is connected with an input shaft of the torque rotating speed sensor, an output shaft of the torque rotating speed sensor is connected with the cutting part, and the organic glass plate is fixed on the upper part of the circular cutting table; the round header is fixedly connected with the other ends of the first connecting rod and the second connecting rod;
the testing and shooting unit comprises a high-speed camera, an air pressure sensor, a horizontal wind speed sensor, a vertical wind speed sensor, a cleaning servo motor and a cleaning mechanism, wherein the high-speed camera and the cleaning servo motor are arranged on the organic glass plate;
the control system comprises an upper industrial personal computer and a lower computer controller, wherein the upper industrial personal computer is connected with an air pressure sensor, a torque rotating speed sensor, a horizontal wind speed sensor and a vertical wind speed sensor and is connected with a high-speed camera, and the lower computer controller is connected with a mowing servo motor driver, a cleaning servo motor driver, a front electric push rod, a rear electric push rod and a stepping motor driver.
Among the above-mentioned technical scheme, cutting part includes spline housing, oval blade disc and flail knife, and spline housing upper end is fixed with torque speed sensor's output shaft, and oval blade disc is connected with the spline housing lower extreme, and oval blade disc bottom and spline housing bottom bolt-up are connected, and two flail knives of articulated on the oval blade disc.
Among the above-mentioned technical scheme, clean mechanism includes crank, side link, cleaning brush and sprinkler, crank and clean servo motor's output shaft, and side link one end is articulated with the crank, and the other end is articulated with cleaning brush, and the sprinkler is installed in organic glass board lower part.
In the technical scheme, the conveying platform comprises a conveying platform frame, a conveying flat belt, a driving shaft, a driven shaft, a driving shaft chain wheel, a driving motor chain wheel, a stepping motor, a speed reducer and a diamond-shaped seat bearing; a driving shaft is arranged on one side of the conveying platform rack, one end of the driving shaft is connected with a driving shaft chain wheel, the other end of the driving shaft is connected with a diamond-shaped seat bearing, two ends of the driven shaft are fixed on the conveying platform rack through the diamond-shaped seat bearing, and a conveying flat belt is arranged in the middle of the upper part of the conveying platform rack; one end of the platform frame is provided with a speed reducer which is connected with a driving motor chain wheel and a stepping motor.
Among the above-mentioned technical scheme, conveying platform frame includes aluminium crossbeam, aluminium crossbeam curb plate, fixed plate, conveying platform support socle, safe curb plate one, safe curb plate two and bearing roller, and two aluminium crossbeams are installed on conveying platform support socle upper portion, and the aluminium crossbeam curb plate is installed in the aluminium crossbeam outside, and two fixed plates are fixed both ends around the aluminium crossbeam is inboard respectively, and safe curb plate one and safe curb plate two are installed respectively on both sides aluminium crossbeam, and a plurality of bearing rollers are evenly arranged at aluminium crossbeam inboard.
In the technical scheme, the horizontal wind speed sensor penetrates through the cylindrical support and the first safety side plate to be fixedly connected with the circular cutting table.
In the technical scheme, the vertical wind speed sensor penetrates through the diamond-shaped support and the first safety side plate to extend into the circular cutting table and is fixedly connected with the circular cutting table.
In the above technical scheme, the axes of the two ends of the concave rotating shaft and the axis of the middle section are on two horizontal lines.
In the above technical scheme, the circular header is of an inwards concave structure.
An experiment method of a visual test experiment platform suitable for orchard and lawn mowers comprises the following steps:
the working angle and the height of the header device are adjusted through the front electric push rod and the rear electric push rod, the conveying flat belt works forwards under the control of the stepping motor, the control system controls the mowing servo motor to adjust the rotating speed of the cutting part to perform a grass cutting experiment, the torque and rotating speed sensor detects the torque and rotating speed generated by the cutting part during cutting movement, and the control system compares the detected torque and rotating speed with subsequent torque and wind speed change values;
the air pressure sensor measures an air pressure change value inside the round header, the horizontal wind speed sensor and the vertical wind speed sensor respectively measure a wind speed change value in the horizontal direction and a wind speed change value in the direction perpendicular to the conveying flat belt inside the round header, and the measured air pressure change value and the measured wind speed change value are displayed;
when weeds enter the header device, the high-speed camera acquires the condition of cutting the weeds and the movement track during mowing;
in the experiment of cutting grass, cleaning mechanism drives cleaning brush reciprocating swing, and the clearance is attached to the grass bits on the organic glass board.
The invention has the beneficial effects that:
(1) the height adjustment and the angle adjustment of the cutting knife of the header are finished through the lifting and inclining device; the mowing servo motor is connected with the torque rotating speed sensor and the cutting knife to complete mowing movement, so that the working environment for testing mowing movement is greatly improved;
(2) the lifting and inclining device comprises a front electric push rod, a rear electric push rod, a straight rotating shaft, a concave rotating shaft, a front sliding bearing, a rear sliding bearing, a first connecting rod, a second connecting rod and a shaft sleeve, wherein the front electric push rod and the rear electric push rod are controlled by a control system to simultaneously move up or down to drive the straight rotating shaft and the concave rotating shaft to synchronously move, so that the height adjustment of a cutting knife of the header is conveniently completed;
(3) the axes of the two ends of the concave rotating shaft and the axis of the middle part of the shaft are positioned on two horizontal lines, and when the front two electric push rods and the rear two electric push rods do not synchronously move, the displacement difference generated by the inclination of the header can be compensated through the concave rotating shaft, so that the complexity of the lifting and inclining device is well simplified through the design;
(4) according to the invention, the visual observation of the mowing movement of the mower is established by controlling the high-speed camera, the visual observation of the movement track of a cut object during mowing is realized, one end of the torque and rotation speed sensor is connected with the mowing servo motor, the other end of the torque and rotation speed sensor is connected with the cutting part, the torque and the rotation speed generated during mowing movement are detected, and a foundation is provided for establishing a mechanical model of the mowing movement of the mower;
(5) the part of the round header adopts the organic glass plate, the high-speed camera is arranged on the upper part of the organic glass plate, visual observation in a mowing state is established, meanwhile, the cleaning servo motor is arranged on the upper part of the organic glass plate, the rotation of the cleaning servo motor is converted into the swing of the cleaning brush through the crank-link mechanism, grass scraps attached to the organic glass plate during mowing are removed, in order to prevent the grass scraps from being dry, the cleaning brush cannot be cleanly scraped, a water sprayer is also arranged on the organic glass plate to spray water at regular time, and a great effect is achieved for the high-speed camera to clearly shoot;
(6) the middle plane of the upper part of the round header is lower than the periphery, the height difference exists, the torque rotating speed sensor is fixedly connected with the middle plane of the round header disc, the cutting part is fixedly connected with the output shaft of the torque rotating speed sensor, the height change of the header can be adjusted, the length of grass can be cut to the maximum extent, meanwhile, the high-speed camera is arranged at the edge position of the upper part of the round header and is higher than the middle plane, so that the visual angle of the high-speed camera is brighter when the high-speed camera takes a picture, and the situation that grass scraps block the high-speed camera is reduced to a certain extent;
(7) according to the invention, the mounting parts of the rhombic bracket and the cylindrical bracket for mounting the vertical wind speed sensor and the horizontal wind speed sensor are provided with the pair of holes, the bolts are arranged in the pair of holes, the nuts are mounted at the tail parts of the bolts, and the nuts can be rotated to fix the sensors to play a role in loosening and tightening, so that the positions of the vertical wind speed sensor and the horizontal wind speed sensor on the bracket can be adjusted, and the wind speed changes at different positions and in different directions in the cutting table disc can be conveniently measured.
Drawings
FIG. 1 is a schematic structural view of a visual test experiment platform suitable for orchard and lawn mowers according to the present invention;
FIG. 2 is a schematic view of the frame structure of the conveying platform according to the present invention;
FIG. 3(a) is a schematic structural view of a conveying platform according to the present invention;
FIG. 3(b) is a partial enlarged view of I in FIG. 3 (a);
FIG. 3(c) is a partial enlarged view of II in FIG. 3 (a);
FIG. 4 is a schematic view of the lifting and tilting device of the present invention;
fig. 5 is a schematic structural diagram of the header device of the present invention;
fig. 6 is a schematic view of the bottom structure of the header apparatus of the present invention;
FIG. 7 is a schematic view of a cutting element according to the present invention;
FIG. 8 is a schematic diagram of a partial testing and camera unit according to the present invention;
FIG. 9 is a schematic view of the cleaning mechanism of the present invention;
FIG. 10 is a schematic diagram of a control system according to the present invention;
in the figure: 1-conveying platform, 2-lifting and tilting device, 3-header device, 4-testing and camera unit, 5-control box, 11-conveying platform frame, 12-conveying flat belt, 13-driving shaft, 14-driven shaft, 15-driving shaft chain wheel, 16-driving motor chain wheel, 17-stepping motor, 18-reducer, 19-diamond seat bearing, 111-aluminum beam, 112-aluminum beam side plate, 113-fixing plate, 114-conveying platform supporting foot column, 115-safety side plate one, 116-safety side plate two, 117-supporting roller, 21-front electric push rod, 22-rear electric push rod, 23-front sliding bearing, 24-rear sliding bearing, 25-straight rotating shaft, 26-concave rotating shaft, 27-a shaft sleeve, 28-a connecting rod I, 29-a connecting rod II, 31-a mowing servo motor, 32-a fixed platform, 33-a coupler, 34-a torque rotating speed sensor, 35-a round header, 36-a cutting part, 37-an organic glass plate, 361-a spline housing, 362-an elliptical cutter head, 363-a flail knife, 41-a high-speed camera, 42-an air pressure sensor, 43-a horizontal wind speed sensor, 44-a vertical wind speed sensor, 45-a diamond bracket, 46-a cylindrical bracket, 47-a cleaning servo motor, 48-a cleaning mechanism, 49-a camera bracket, 481-a crank, 482-a connecting rod, 483-a cleaning brush, 484-a water tank, 485-a water pump, 486-a water pipe and 487-a water sprayer, 488-water sprayer support, 489-water tank mounting plate, 51-display screen.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1, a visual test experiment platform suitable for orchard and lawn mower comprises a conveying platform 1 for conveying weeds, a lifting and tilting device 2 for adjusting the height and angle of the cutting platform in cooperation with the cutting platform, a cutting platform device 3 for cutting weeds, a test and camera unit 4 and a control system.
As shown in fig. 1, 3(a), 3(b) and 3(c), the conveying platform 1 comprises a conveying platform frame 11, a conveying flat belt 12, a driving shaft 13, a driven shaft 14, a driving shaft chain wheel 15, a driving motor chain wheel 16, a stepping motor 17, a speed reducer 18 and a diamond-base bearing 19; as shown in fig. 2, the conveying platform frame 11 is composed of an aluminum beam 111, an aluminum beam side plate 112, a fixing plate 113, a conveying platform support leg 114, a safety side plate one 115, a safety side plate two 116 and a carrier roller 117; the two aluminum cross beams 111 are fastened at the tops of the three conveying platform supporting foot columns 114 through bolts, the two aluminum cross beam side plates 112 are respectively inserted into grooves on the outer sides of the two aluminum cross beams 111 and are reinforced through the bolts, the two fixing plates 113 are respectively installed at the front end and the rear end of the inner side of the aluminum cross beam 111 through the bolts (in the embodiment, the advancing direction of the conveying flat belt 12 is defined as the front), the first safety side plate 115 is fastened at the upper part of the left aluminum cross beam 111 through the bolts, the second safety side plate 116 is fastened at the upper part of the right aluminum cross beam 111 through the bolts, and two ends of six carrier rollers 117 are installed in through holes reserved on the inner sides of the two aluminum cross beams 111 to form a revolute pair; as shown in fig. 3(b) and 3(c), the driving shaft 13 is mounted on the aluminum beam 111, one end of the driving shaft 13 is connected with the driving shaft chain wheel 15, and the other end is connected with the diamond-shaped seat bearing 19 to form a revolute pair; the driven shaft 14 passes through a through hole reserved on the inner side of the aluminum cross beam 111, and two ends of the driven shaft are fixed on the conveying platform frame 11 through a diamond-shaped seat bearing 19 to form a revolute pair; the conveying flat belt 12 is arranged in the middle of the upper part of the conveying platform rack 11, and the driving shaft 13 and the driven shaft 14 are respectively used as a driving wheel and a driven wheel of the conveying flat belt 12 and drive the conveying flat belt 12 to move; the top of the carrier roller 117 contacts with the upper surface of the conveying flat belt 12 to play a supporting role; the front end of the aluminum beam 111 is provided with a speed reducer 18 through a bolt, an output shaft of the speed reducer 18 penetrates through a through hole of the aluminum beam 111 and is connected with a driving motor chain wheel 16 to form a revolute pair, a stepping motor 17 is fixedly connected with an output end of the speed reducer 18 through a bolt, an output shaft of the stepping motor 17 is connected with an input hole of the speed reducer 18 to drive the speed reducer 18 and the driving motor chain wheel 16 to rotate, and then a driving shaft chain wheel 15 and a driving shaft 13 are driven to rotate, and finally a conveying flat belt 12 is driven to move. The surfaces of the driving shaft 13 and the driven shaft 14 are coated with rubber materials and provided with textures, so that the friction effect is improved.
As shown in fig. 4, the lifting and tilting device 2 is composed of a front electric push rod 21, a rear electric push rod 22, a front sliding bearing 23, a rear sliding bearing 24, a straight rotating shaft 25, a concave rotating shaft 26, a shaft sleeve 27, a first connecting rod 28 and a second connecting rod 29; the pair of front electric push rods 21 and the pair of rear electric push rods 22 are symmetrically installed in the middle of the upper portion of the aluminum cross beam 111 through bolts, the front sliding bearings 23 are tightly and fixedly connected with the front electric push rods 21 through bolts, the rear sliding bearings 24 are tightly connected with the rear electric push rods 22 through bolts, the shaft ends of the straight rotating shafts 25 penetrate through the front sliding bearings 23 respectively to form revolute pairs, and the shaft ends of the concave rotating shafts 26 penetrate through the two rear sliding bearings 24 respectively to form revolute pairs; the control system sends signals to the front electric push rod 21 and the rear electric push rod 22 to move synchronously, so that the header device 3 is subjected to height adjustment, when the control system sends signals to the front electric push rod 21 and the rear electric push rod 22 to move asynchronously, the header device 3 is subjected to angle adjustment, at the moment, the concave rotating shaft 26 rotates passively, the displacement difference generated when the front electric push rod 21 and the rear electric push rod 22 are not positioned on the same horizontal plane can be made up, and the lifting and tilting device 2 can operate normally; the straight rotating shaft 25 sequentially penetrates through the interiors of the two shaft sleeves 27 to form a rotating pair, the two shaft sleeves 27 are symmetrically arranged, the diameter of the middle part of the straight rotating shaft 25 is larger than the diameters of the two ends, and the inner sides of the two shaft sleeves 27 are respectively in close contact with shaft shoulders of the straight rotating shaft 25, so that the freedom degrees of the two side directions of the header device 3 are limited, and the header device 3 is positioned; the concave rotating shaft 26 is connected with a shaft sleeve 27 to form a rotating pair, and one ends of the connecting rods I28 and the connecting rods II 29 are respectively and tightly connected with the shaft sleeve 27 through bolts.
As shown in fig. 5, the header device 3 is composed of a mowing servo motor 31, a fixed table 32, a coupler 33, a torque and rotation speed sensor 34, a round header 35, a cutting component 36 and an organic glass plate 37; the round cutting platform 35 is of an inwards concave structure, namely the middle plane of the upper part is lower than the periphery, and the fixed platform 32 is arranged in the middle of the upper part of the round cutting platform 35; the mowing servo motor 31 is in bolt fastening connection with the fixed table 32, an output shaft of the mowing servo motor 31 is connected with an input shaft of a torque and rotation speed sensor 34 through a coupling 33, the mowing servo motor 31 drives the torque and rotation speed sensor 34 to rotate, the torque and rotation speed sensor 34 is in fastening connection with the bottom of the fixed table 32 through bolts, an output shaft of the torque and rotation speed sensor 34 sequentially penetrates through a through hole in the bottom of the fixed table 32 and a round hole in the middle of the round cutting table 35 and then enters the round cutting table 35, and the lower surface of the bottom of the fixed table 32 is in fastening connection with the round cutting table 35 through bolts; as shown in fig. 6, the cutting member 36 is fastened to the output shaft of the torque and speed sensor 34, the output shaft of the torque and speed sensor 34 drives the cutting member 36 to rotate rapidly to cut grass, and the organic glass plate 37 is placed in the upper groove of the round cutting table 35 and is fastened by bolts. The upper part of the round cutting platform 35 is fixedly connected with the other ends of the first connecting rod 28 and the second connecting rod 29 respectively; the first connecting rods 28 are symmetrically arranged and fixed relative to the central line of the circular cutting platform 35, and the second connecting rods 29 are positioned on the central line of the circular cutting platform 35.
As shown in fig. 7, the cutting component 36 is composed of a spline housing 361, an elliptical cutter head 362 and a flail knife 363, wherein the upper end of the spline housing 361 is sleeved on the output shaft of the torque and speed sensor 34 and is tightly connected with the torque and speed sensor 34 through a set screw; the elliptical cutterhead 362 is connected with the lower end of the spline housing 361, slippage between the elliptical cutterhead and the spline housing 361 is prevented through a spline, and the bottom end of the elliptical cutterhead 362 is in fastening connection with a bolt at the bottom of the spline housing 361; the two flail knives 36 are hinged with the elliptical cutterhead 362, and when an obstacle exists, the flail knives 36 can be retracted inwards, so that the mowing blades can be protected, and meanwhile, the flying of the knives is prevented.
As shown in fig. 5, 6 and 8, the testing and imaging unit 4 includes a high-speed camera 41, an air pressure sensor 42, a horizontal wind speed sensor 43, a vertical wind speed sensor 44, a diamond bracket 45, a cylindrical bracket 46, a cleaning servo motor 47, a cleaning mechanism 48 and a camera bracket 49; the bottom of the camera support 49 is in bolt fastening connection with the organic glass plate 37, the high-speed camera 41 is installed on the upper portion of the camera support 49, and the high-speed camera 41 can clearly and quickly shoot the state of the cutting component 36 when cutting weeds through the transparent organic glass plate 37; the air pressure sensor 42 is arranged at the upper part of the round cutting platform 35; the cleaning servo motor 47 is in bolt fastening connection with the organic glass plate 37, an output shaft of the cleaning servo motor 47 penetrates through the organic glass plate 37 to be connected with the cleaning mechanism 48, the control system controls the cleaning servo motor 47 to rotate, and then the cleaning mechanism 48 is driven to operate to clean grass clippings attached to the organic glass plate 37; as shown in fig. 8, the first safety side plate 115 is provided with a mounting hole and is aligned and fixedly connected with a middle hole of the diamond-shaped bracket 45 through a bolt, the vertical wind velocity sensor 44 sequentially penetrates through the middle hole of the diamond-shaped bracket 45 and the first safety side plate 115 to extend into the circular cutting platform 35 and is fastened and connected through the bolt, and the length of the vertical wind velocity sensor 44 extending into the circular cutting platform 35 can be adjusted by adjusting the tightness of the bolt; and a through hole is formed in the rear upper part of the first safety side plate 115, which is provided with the diamond-shaped support 45, and is used for being fastened and connected with a middle hole of the cylindrical support 46 through a bolt, the horizontal wind speed sensor 43 penetrates through the cylindrical support 46 and the first safety side plate 115, and is fixedly connected with the circular cutting table 35 through a bolt hole in the upper part of the horizontal wind speed sensor 43, and the wind speed change value of the circular cutting table 35 is measured.
As shown in fig. 1 and 9, the cleaning mechanism 48 is composed of a crank 481, a link 482, a cleaning brush 483, a water tank 484, a water pump 485, a water pipe 486, a water sprayer 487, a water sprayer bracket 488, and a water tank mounting plate 489; the crank 481 is connected with an output shaft of the cleaning servo motor 47, one end of the link lever 482 is hinged with the crank 481, the other end is hinged with the cleaning brush 483, the tail end of the cleaning brush 483 is rotationally connected with a round shaft on the organic glass plate 37, the crank 481, the link lever 482 and the cleaning brush 483 form a crank link mechanism, and the control system controls the cleaning servo motor 47 to rotate and converts the rotation into the reciprocating swing of the cleaning brush 483 through the cleaning mechanism 48; the water tank mounting plate 489 is connected with the aluminum beam 111 through bolt fastening, the water tank 484 and the water pump 485 are placed on the water tank mounting plate 489, the water sprayer support 488 is connected with the organic glass plate 37 through bolts, the water sprayer 487 is installed in a through hole in the middle of the water sprayer support 488, the water tank 484 and the water pump 485 are connected through the water pipe 486, and the water pump 485 and the water sprayer 487 are connected through the water pipe 486. The cleaning brush 483 uses an EPDM rubber material as a base material, and is coated with a little graphite on the surface thereof.
As shown in fig. 10, the control system is a schematic structural diagram, and includes a control box 5, an upper industrial personal computer, a lower computer controller, a power module, an air pressure acquisition module, a torque and rotation speed acquisition module, an air speed acquisition module and a display screen 51, where the display screen 51 is installed on the right half of a first safety side plate 115, the upper industrial personal computer is connected with an air pressure sensor 42 through the air pressure acquisition module, the upper industrial personal computer is connected with a torque and rotation speed sensor 34 through the torque and rotation speed acquisition module, the upper industrial personal computer is connected with a horizontal air speed sensor 43 and a vertical air speed sensor 44 through the air speed acquisition module, the upper industrial personal computer is connected with a high-speed camera 41 through an interface, and a display interface of the upper industrial personal computer is connected with the display screen 51; the lower computer controller is respectively connected with a mowing servo motor 31 driver, a cleaning servo motor 47 driver, a front electric push rod 21, a rear electric push rod 22 and a stepping motor 17 driver through IO ports, the upper industrial personal computer is connected with the lower computer controller through RS485 serial ports and is communicated with the lower computer controller, the control system is placed in the control box 5, the control box 5 is installed on the conveying platform frame 11, and the power supply module supplies power to the control system.
A working method of a visual test experiment platform suitable for orchard and lawn mowers specifically comprises the following steps:
before work begins, weeds to be cut are placed in a tray and placed at the tail end of a conveying platform 1, a lower computer controller in a control system controls a stepping motor 17 to rotate through a stepping motor driver and drives a driving motor chain wheel 16, a driving shaft chain wheel 15 and a driving shaft 13 to rotate, so that a conveying flat belt 12 is controlled to move forwards, and the work begins after the advancing speed of the conveying flat belt 12 is adjusted;
step (2), the height of the header device 3 is adjusted when the lower computer controller in the control system controls the front electric push rod 21 and the rear electric push rod 22 to move synchronously, and when the header device does not move synchronously, the concave rotating shaft 26 rotates to make up for the height difference generated by the front electric push rod 21 and the rear electric push rod 22, so that the angle of the header device 3 is adjusted, and the cutting height and angle required by the experiment are further achieved;
step (3), when the conveying flat belt 12 starts to run, the lower computer controller of the control system adjusts the required rotating speed through the mowing servo motor 31 to control the cutting part 36 to rotate;
step (4), an upper industrial personal computer in the control system receives the numerical value detected by the torque and rotation speed sensor 34 through the torque and rotation speed acquisition module, and compares the numerical value with the torque and wind speed change value generated during the subsequent grass cutting;
step (5), when weeds are about to enter the header device 3, the control system controls the high-speed camera 41 to start working, and transmits the picture shot by the high-speed camera 41 to an upper industrial personal computer, and the upper industrial personal computer transmits the picture to the display screen 51 and displays the picture by the display screen 51, so that the visual observation of the movement track of the cutting part 36 during the movement of cutting the weeds and the visual observation of the movement track during the mowing are realized;
step (6), the lower computer controller in the control system controls the cleaning servo motor 47 to rotate through the servo motor driver, and converts the rotation into reciprocating swing of the cleaning brush 483 through the cleaning mechanism 48, so that grass clippings attached to the organic glass plate 37 due to air flow change generated by the quick rotation of the flail 363 when the cutting component 36 cuts weeds are cleaned;
step (7), the control system controls the air pressure sensor 42 to operate, and the upper industrial personal computer detects the air pressure value inside the header device 3 through the air pressure acquisition module; the control system controls the horizontal wind speed sensor 43 to operate, the upper industrial personal computer detects the wind speed change value in the horizontal direction inside the header device 3 through the wind speed acquisition module, the control system controls the vertical wind speed sensor 44 to operate, the upper industrial personal computer detects the wind speed change value in the vertical direction inside the header device 3 through the wind speed acquisition module, and simultaneously the upper industrial personal computer transmits the measured air pressure value and the measured wind speed value to the display screen 51;
step (8), completing an experiment when the tray for containing weeds reaches the upper surface of the fixing plate 113 at the front end of the conveying platform 1;
and (9) after the experiment is completed, analyzing and comparing experimental data obtained by different heights, angles, cutting rotating speeds and feeding speeds during cutting to obtain an optimal operation parameter combination.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. Visual test experiment platform suitable for orchard and lawn mower, its characterized in that includes:
the lifting and tilting device (2) comprises a front electric push rod (21), a rear electric push rod (22), a straight rotating shaft (25), a concave rotating shaft (26), a first connecting rod (28) and a second connecting rod (29), wherein the pair of front electric push rod (21) and the pair of rear electric push rod (22) are installed on the upper part of the conveying platform (1), the top end of the front electric push rod (21) is rotatably connected with the straight rotating shaft (25) through a front sliding bearing (23), the straight rotating shaft (25) is rotatably connected with one end of the first connecting rod (28), the rear electric push rod (22) is rotatably connected with the concave rotating shaft (26) through a rear sliding bearing (24), and the concave rotating shaft (26) is rotatably connected with one end of the second connecting rod (29);
the cutting table device (3) comprises a mowing servo motor (31), a torque rotating speed sensor (34), a circular cutting table (35), a cutting part (36) and an organic glass plate (37), wherein the mowing servo motor (31) is arranged in the middle of the circular cutting table (35), an output shaft of the mowing servo motor (31) is connected with an input shaft of the torque rotating speed sensor (34), an output shaft of the torque rotating speed sensor (34) is connected with the cutting part (36), and the organic glass plate (37) is fixed on the upper portion of the circular cutting table (35); the round cutting table (35) is fixedly connected with the other ends of the first connecting rod (28) and the second connecting rod (29);
the testing and shooting unit (4) comprises a high-speed camera (41), an air pressure sensor (42), a horizontal wind speed sensor (43), a vertical wind speed sensor (44), a cleaning servo motor (47) and a cleaning mechanism (48), wherein the high-speed camera (41) and the cleaning servo motor (47) are installed on the organic glass plate (37), the air pressure sensor (42) is installed on the upper portion of the circular cutting table (35), the horizontal wind speed sensor (43) and the vertical wind speed sensor (44) are installed on one side of the circular cutting table (35), and the cleaning servo motor (47) is connected with the cleaning mechanism (48) located at the bottom of the organic glass plate (37);
the control system comprises an upper industrial personal computer and a lower computer controller, wherein the upper industrial personal computer is connected with an air pressure sensor (42), a torque rotating speed sensor (34), a horizontal wind speed sensor (43), a vertical wind speed sensor (44) and a high-speed camera (41), and the lower computer controller is connected with a mowing servo motor driver, a cleaning servo motor driver, a front electric push rod (21), a rear electric push rod (22) and a stepping motor driver.
2. The visual test experiment platform suitable for orchard and lawn mower of claim 1, characterized in that, cutting part (36) includes spline housing (361), oval blade disc (362) and flail knife (363), spline housing (361) upper end is fixed with the output shaft of moment of torsion tachometric transducer (34), oval blade disc (362) is connected with spline housing (361) lower extreme, and oval blade disc (362) bottom and spline housing (361) bottom bolt-up connection, two flail knives (36) of articulated on oval blade disc (362).
3. The visual test experiment platform suitable for orchard and lawn mower according to claim 1, characterized in that the cleaning mechanism (48) comprises a crank (481), a side link (482), a cleaning brush (483) and a water sprayer (487), the crank (481) is connected with an output shaft of the cleaning servo motor (47), one end of the side link (482) is hinged with the crank (481), the other end is hinged with the cleaning brush (483), and the water sprayer (487) is installed at the lower part of the organic glass plate (37).
4. The visual test experiment platform suitable for orchard and lawn mower according to claim 1, wherein the conveying platform (1) comprises a conveying platform frame (11), a conveying flat belt (12), a driving shaft (13), a driven shaft (14), a driving shaft chain wheel (15), a driving motor chain wheel (16), a stepping motor (17), a speed reducer (18) and a diamond-shaped seat bearing (19); a driving shaft (13) is installed on one side of the conveying platform rack (11), one end of the driving shaft (13) is connected with a driving shaft chain wheel (15), the other end of the driving shaft (13) is connected with a diamond-shaped seat bearing (19), two ends of a driven shaft (14) are fixed on the conveying platform rack (11) through the diamond-shaped seat bearing (19), and a conveying flat belt (12) is installed in the middle of the upper portion of the conveying platform rack (11); one end of the platform frame (11) is provided with a speed reducer (18), and the speed reducer (18) is connected with a driving motor chain wheel (16) and a stepping motor (17).
5. The visual test experiment platform suitable for orchard and lawn mower according to claim 1, wherein the conveying platform frame (11) comprises aluminum beams (111), aluminum beam side plates (112), fixing plates (113), conveying platform supporting socles (114), first safety side plates (115), second safety side plates (116) and carrier rollers (117), the two aluminum beams (111) are installed on the upper portions of the conveying platform supporting socles (114), the aluminum beam side plates (112) are installed on the outer sides of the aluminum beams (111), the two fixing plates (113) are respectively fixed at the front end and the rear end of the inner side of the aluminum beams (111), the first safety side plates (115) and the second safety side plates (116) are respectively installed on the aluminum beams (111) on the two sides, and the plurality of carrier rollers (117) are uniformly arranged on the inner sides of the aluminum beams (111).
6. The visual test experiment platform suitable for orchard and lawn mower according to claim 5, wherein the horizontal wind speed sensor (43) passes through the cylindrical support (46) and the first safety side plate (115) to be fixedly connected with the circular cutting platform (35).
7. The visual test experiment platform suitable for orchard and lawn mower according to claim 5, wherein the vertical wind speed sensor (44) penetrates through the diamond-shaped bracket (45) and the first safety side plate (115) to extend into the circular cutting platform (35) and is fixedly connected with the circular cutting platform (35).
8. The visual test experimental platform suitable for orchard and lawn mower according to claim 1, characterized in that the axes of both ends and the axis of the middle section of the concave rotating shaft (26) are on two horizontal lines.
9. Visual test bench suitable for orchard and lawn mowers according to claim 1, characterised in that said circular header (35) is of concave structure.
10. An experimental method of a visual test experimental platform suitable for orchard and lawn mower according to any one of claims 1-9, characterized in that:
the working angle and the height of the header device (3) are adjusted through a front electric push rod (21) and a rear electric push rod (22), a conveying flat belt (12) works forwards under the control of a stepping motor (17), a control system controls a mowing servo motor (31) to adjust the rotating speed of a cutting part (36) to perform a grass cutting experiment, a torque rotating speed sensor (34) detects the torque and the rotating speed generated by the cutting part (36) during cutting movement, and the control system compares the detected torque and the detected rotating speed with subsequent torque and wind speed change values;
the air pressure sensor (42) measures the air pressure change value inside the round cutting platform (35), the horizontal wind speed sensor (43) and the vertical wind speed sensor (44) respectively measure the wind speed change value in the horizontal direction inside the round cutting platform (35) and the wind speed change value in the direction vertical to the conveying flat belt (12), and the measured air pressure change value and the measured wind speed change value are displayed;
when weeds enter the header device (3), the high-speed camera (41) acquires the condition of cutting the weeds and the movement track during mowing;
in the grass cutting experiment, the cleaning mechanism (48) drives the cleaning brush (483) to swing in a reciprocating manner to clean grass scraps attached to the organic glass plate (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111337206.XA CN114097399B (en) | 2021-11-12 | 2021-11-12 | Visual test experiment platform and method suitable for orchard and lawn mower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111337206.XA CN114097399B (en) | 2021-11-12 | 2021-11-12 | Visual test experiment platform and method suitable for orchard and lawn mower |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114097399A true CN114097399A (en) | 2022-03-01 |
| CN114097399B CN114097399B (en) | 2023-01-17 |
Family
ID=80378897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111337206.XA Active CN114097399B (en) | 2021-11-12 | 2021-11-12 | Visual test experiment platform and method suitable for orchard and lawn mower |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114097399B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841982A (en) * | 2015-12-31 | 2016-08-10 | 金华职业技术学院 | Test device for combine harvester |
| US20170202136A1 (en) * | 2016-01-19 | 2017-07-20 | Sears Brands, L.L.C. | Lawn mowing apparatus with mower deck alignment sensors |
| CN107153007A (en) * | 2017-06-20 | 2017-09-12 | 江苏科技大学 | A kind of sitting type hay mover tumbling test platform and test method |
| CN109975037A (en) * | 2019-04-22 | 2019-07-05 | 苏州大学 | A kind of grass trimmer Testing Platform |
| WO2021004484A1 (en) * | 2019-07-09 | 2021-01-14 | 南京德朔实业有限公司 | Riding lawn mower and control method therefor |
| CN113079801A (en) * | 2021-04-27 | 2021-07-09 | 河南科技大学 | Intelligent mowing robot based on ROS system and laser scanning radar map construction method |
| CN113303075A (en) * | 2021-04-16 | 2021-08-27 | 北京农业智能装备技术研究中心 | Unmanned lawn mower |
-
2021
- 2021-11-12 CN CN202111337206.XA patent/CN114097399B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841982A (en) * | 2015-12-31 | 2016-08-10 | 金华职业技术学院 | Test device for combine harvester |
| US20170202136A1 (en) * | 2016-01-19 | 2017-07-20 | Sears Brands, L.L.C. | Lawn mowing apparatus with mower deck alignment sensors |
| CN107153007A (en) * | 2017-06-20 | 2017-09-12 | 江苏科技大学 | A kind of sitting type hay mover tumbling test platform and test method |
| CN109975037A (en) * | 2019-04-22 | 2019-07-05 | 苏州大学 | A kind of grass trimmer Testing Platform |
| WO2021004484A1 (en) * | 2019-07-09 | 2021-01-14 | 南京德朔实业有限公司 | Riding lawn mower and control method therefor |
| CN113303075A (en) * | 2021-04-16 | 2021-08-27 | 北京农业智能装备技术研究中心 | Unmanned lawn mower |
| CN113079801A (en) * | 2021-04-27 | 2021-07-09 | 河南科技大学 | Intelligent mowing robot based on ROS system and laser scanning radar map construction method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114097399B (en) | 2023-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110801919B (en) | Food processing equipment capable of improving raw material crushing quality | |
| CN105675287B (en) | A kind of more Cutting platform stalk crop cutting test devices | |
| CN108184417B (en) | Omnidirectional semi-automatic pineapple picking device | |
| CN107999840A (en) | A kind of weighting automatically grinding device based on screw propeller vertical static balancing instrument | |
| CN114097399B (en) | Visual test experiment platform and method suitable for orchard and lawn mower | |
| CN102598954B (en) | Corn-harvesting and stalk-chopping test bench | |
| CN102771253A (en) | Double-ridge sugarcane reaping and tip-cutting device | |
| CN113498675A (en) | Sugarcane harvester blade disc profile modeling cutting platform | |
| CN110663389B (en) | Adjustable single-rotating-shaft flower and fruit thinning machine | |
| US3961468A (en) | Hedger | |
| CN107371841A (en) | A kind of pruning machine suitable for wall surface | |
| CN207354941U (en) | A kind of pruning machine suitable for wall surface | |
| CN212126608U (en) | Book block conveying platform | |
| US4646800A (en) | Automated log splitter | |
| CN111758375A (en) | Large-area aquatic plant harvesting and treating device | |
| CN208242782U (en) | Rotary shearing mechanism and stalk rotary cutting apparatus | |
| CN115039564B (en) | Grass cutter for ridge culture orchard | |
| CN215836297U (en) | Rubber harvesting and gluing integrated equipment | |
| CN220545602U (en) | Folding broad width maize castration machine | |
| CN218025237U (en) | Lifting mechanism | |
| CN214316341U (en) | Flexible shaft driving trimmer | |
| CN113508678B (en) | Use profile modeling weeding device of unmanned aerial vehicle as adaptation slope topography and weeds height of carrier | |
| CN215601973U (en) | Sugarcane harvester blade disc profile modeling cutting platform | |
| CN209882570U (en) | Automatic transverse displacement obstacle-avoiding weeding machine | |
| CN220864035U (en) | Airport runway detection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |