CN115152408A - Highland barley reaper-binder based on machine vision - Google Patents
Highland barley reaper-binder based on machine vision Download PDFInfo
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- CN115152408A CN115152408A CN202210873510.4A CN202210873510A CN115152408A CN 115152408 A CN115152408 A CN 115152408A CN 202210873510 A CN202210873510 A CN 202210873510A CN 115152408 A CN115152408 A CN 115152408A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D37/00—Reaper-binders
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/12—Rotating rakes
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/20—Delivering mechanisms for harvesters or mowers with conveyor belts
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
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Abstract
The invention relates to the technical field of reaping and binding machines, and discloses a highland barley reaping and binding machine based on machine vision, which comprises walking equipment, image acquisition equipment and a highland barley bundling assembly, wherein a mounting plate is mounted on the front surface of the walking equipment, the image acquisition equipment is mounted at the top end of the front surface of the mounting plate, the highland barley bundling assembly is mounted on the right side of the mounting plate, a first driving assembly is arranged on the left side of the back surface of the mounting plate, a second driving assembly is arranged on the right side of the back surface of the mounting plate, a first separating assembly and a second separating assembly are respectively arranged on the right side and the left side of the front surface of the mounting plate, a highland barley conveying assembly is arranged between the first driving assembly and the second driving assembly, and a header assembly is arranged on the lower side of the highland barley conveying assembly; according to the header assembly, the height of the header assembly can be adjusted in real time through the image acquisition equipment and the height adjusting assembly, the problem of low bundling rate caused by inconsistent growth vigor of highland barley can be avoided, and the adaptability of machines and tools is improved.
Description
Technical Field
The invention relates to the technical field of reaper-binder, in particular to a highland barley reaper-binder based on machine vision.
Background
Highland barley is an important grain crop in Qinghai-Tibet plateau. Agricultural mechanization is an important mark for agricultural rural modernization. Promotes the mechanical production of the highland barley, can greatly reduce the planting cost of the highland barley, reduce the harvest loss and improve the labor productivity. In the mechanized links of highland barley production, the harvesting links are more complicated, and the combined harvesting operation is basically realized in low-altitude areas of China and suitable for farmlands operated by large-scale machines. However, the Japanese karst in Tibet autonomous region, the country of highland barley in the world, is mainly based on the segmented harvest.
The existing local segmented harvester mainly comprises two types:
(1) Backpack harvesters, also known as brush cutters. Its advantages are high flexibility and convenience. The defects are that the labor intensity is too high, the oxygen in the high-altitude area is thin, and the long-time labor operation cannot be supported.
(2) The reaper-binder is divided into a hand-held type and a riding type, and the riding type reaper-binder can greatly reduce the labor intensity and improve the production efficiency.
However, due to the fact that the highland barley planting water and fertilizer management technology is insufficient, land fertility is not uniform and the highland barley is used as a grain and feed dual-purpose crop, the highland barley in harvesting periods is uneven in height and growth, the operation effect of the machine tool is seriously hindered, and the fixed header is mostly arranged in the existing reaping and bundling machine, so that the adaptability is poor.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a highland barley reaper-binder based on machine vision, which solves the problems that the existing highland barley in the background art has uneven height and uneven growth when being harvested, the operation effect of a machine tool is seriously hindered, and the fixed header is mostly configured, so that the adaptability is poor.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a highland barley reaper based on machine vision, pricks the subassembly including walking equipment, image acquisition equipment and highland barley, the mounting panel is installed in walking equipment's front, the positive top at the mounting panel is installed to image acquisition equipment, the highland barley is pricked the right side of bundle unit mount at the mounting panel, the left side at the mounting panel back is provided with first drive assembly, the right side at the mounting panel back is provided with second drive assembly, the positive right side of mounting panel and left side are provided with first separable set and second separable set respectively, be provided with highland barley conveyor assembly between first drive assembly and the second drive assembly, highland barley conveyor assembly's downside is provided with the header subassembly, the header subassembly passes through altitude mixture control subassembly and first drive assembly swing joint.
Preferably, image acquisition equipment includes that image acquisition camera, position sensor, operation controller and single chip microcomputer control unit, image acquisition camera passes through data line and operation controller electric connection, position sensor passes through data line and operation controller electric connection, operation controller passes through data line and single chip microcomputer control unit electric connection, image acquisition equipment installs on the mounting panel through the dismantlement subassembly, the dismantlement subassembly includes U type installing frame, installation piece and stopper, installation piece fixed connection is on image acquisition camera, the installation piece cooperatees with U type installing frame, image acquisition camera passes through installation piece slidable mounting on U type installing frame, install the elevating system who is used for driving the stopper lift on the mounting panel, elevating system includes fixed block, threaded rod, gag lever post and spacing hole, fixed block fixed connection is on the mounting panel, the one end of threaded rod is passed through the bearing and is rotated with the stopper and is connected, the other end fixedly connected with hand wheel of threaded rod, the thread groove has been seted up at the middle part of fixed block, the thread groove cooperatees with the threaded rod, and the threaded rod passes through thread groove and fixed block threaded rod and threaded rod, spacing rod and spacing hole all are provided with two threaded rod and the spacing hole and the spacing rod is established on the spacing rod top the spacing rod runs through symmetrical clearance and is extended to the spacing rod and two spacing rod top the spacing rod.
Preferably, the first driving assembly comprises a box body, a power shaft, a power belt pulley, a first transmission shaft, a driving bevel gear and a driven bevel gear, the first fixing seat is fixedly connected to the bottom end of the back face of the mounting plate, the box body is fixedly connected to the back face of the mounting plate, one end of the power shaft penetrates through the inside of the box body and is fixedly connected with the driving bevel gear, the other end of the power shaft is fixedly connected with the power belt pulley, the power shaft is rotatably connected with the box body through a bearing, the driving bevel gear is meshed with the driven bevel gear, one end of the first transmission shaft is fixedly connected with the driven bevel gear, the other end of the first transmission shaft penetrates through the lower surface of the box body and the first fixing seat and is fixedly connected with the first belt pulley, and the first transmission shaft is rotatably connected with the box body and the first fixing seat through a bearing.
Preferably, the second drive assembly includes secondary drive shaft and two second fixing bases, two the second fixing base all with the back fixed connection of mounting panel, the upper and lower both ends of secondary drive shaft are passed through the bearing and are rotated with two second fixing bases and be connected, the bottom of secondary drive shaft extends to the outside and the fixedly connected with second band pulley of second fixing base.
Preferably, first separator element includes first diaphragm, first hang plate, rotation axis and separation disc, the one end and the mounting panel fixed connection of first diaphragm, the other end and the first hang plate fixed connection of first diaphragm, leave the clearance between the one end that first diaphragm was kept away from to first hang plate and the mounting panel, the upper and lower both ends of rotation axis are rotated with first hang plate and first diaphragm through the bearing respectively and are connected, separation disc fixed connection is at the surface of rotation axis, a plurality of first of surface fixedly connected with of separation disc dials the tooth, the bottom of rotation axis extends to the lower surface and the fixedly connected with third band pulley of first diaphragm, control two third band pulleys and be connected with first band pulley and second band pulley transmission through two driving belt respectively.
Preferably, the second separation component comprises a second transverse plate and a second inclined plate, one end of the second transverse plate is fixedly connected with the mounting plate, the other end of the second transverse plate is fixedly connected with the second inclined plate, and one end of the second transverse plate and the mounting plate are fixedly connected with each other.
Preferably, highland barley conveyor components includes first conveyor belt wheel, second conveyor belt wheel and conveyor belt, first conveyor belt wheel fixed connection is in the surface of first transmission shaft, second conveyor belt wheel fixed connection is in the surface of second transmission shaft, conveyor belt installs between first conveyor belt wheel and second conveyor belt wheel, a plurality of second of conveyor belt's surface even fixedly connected with are dialled the tooth, set up the slot hole corresponding with highland barley conveyor components on the mounting panel.
Preferably, the header subassembly includes fly leaf, fixed blade and movable blade, the through-hole has been seted up on the mounting panel, two guide bars of the left and right sides fixedly connected with of roof in the through-hole, the bottom of guide bar run through the fly leaf and with the interior diapire fixed connection of through-hole, guide bar and fly leaf sliding connection, fixed blade fixed connection is at the upper surface of fly leaf, the top of fly leaf is provided with the backup pad through the subassembly that resets, movable blade installs the lower surface in the backup pad.
Preferably, the reset assembly includes movable block, slide bar and spring, the equal fixedly connected with fixed column in the left and right sides of fly leaf upper surface, the upper surface of fixed column begins flutedly, the one end of slide bar and the left side inner wall fixed connection of recess, the other end of slide bar run through the movable block and with the right side inner wall fixed connection of recess, slide bar and movable block sliding connection, the spring housing is established at the surface of slide bar, the one end of spring and the inner wall fixed connection of recess, the other end and the movable block fixed connection of spring, screw and movable block threaded connection are passed through to the backup pad.
Preferably, the height adjusting assembly comprises a first connecting plate and a second connecting plate, the first connecting plate is fixedly connected to the bottom end of the back face of the mounting plate, the second connecting plate is fixedly connected to the back face of the movable plate, the back face of the supporting plate is fixedly connected with the movable frame, the upper surface of the first connecting plate is fixedly connected with a motor, the motor is electrically connected with the single chip microcomputer control unit through a wire, the output end of the motor is fixedly connected with a lead screw, the top end of the lead screw penetrates through the second connecting plate and is connected with a limiting block through a bearing in a rotating mode, the limiting block is fixedly connected with the mounting plate, the lead screw is in threaded connection with the second connecting plate, a first driving shaft is connected to the first connecting plate through a bearing in a rotating mode, the top end of the first driving shaft is fixedly connected with a long gear, the bottom end of the first driving shaft is fixedly connected with a fourth belt pulley, the fourth belt pulley is connected with the second belt pulley through a driving belt in a transmission mode, the second connecting plate is connected with a second driving shaft through a bearing in a rotating mode, the bottom end of the second driving shaft is fixedly connected with a spur gear, the spur gear is connected with the long gear in a meshing mode, the top end of the second driving shaft is connected with a disc, the disc is connected with an eccentric shaft, the upper surface of the second driving shaft is fixedly connected with the long gear, the disc is connected with an eccentric shaft, the disc is fixedly connected with the disc, the eccentric shaft, and is fixedly connected with the top end of the eccentric shaft, and is connected with the disc, and is located inside of the eccentric shaft, and is located inside of the movable frame.
(III) advantageous effects
Compared with the prior art, the invention provides a machine vision-based highland barley reaper-binder, which has the following beneficial effects:
1. this highland barley reaping and binding machine based on machine vision, reap the highland barley through the cooperation of movable blade and fixed blade, the drive device on the walking equipment drives the power band pulley rotatory simultaneously, the power band pulley can drive power shaft and drive bevel gear rotatory at rotatory in-process, drive bevel gear can drive first transmission shaft and first conveyer belt wheel rotatory with driven bevel gear cooperation at rotatory in-process, first conveyer belt wheel drives the second through conveyor belt at rotatory in-process and dials the tooth and the second conveyer belt is rotatory, because leave the clearance between first hang plate and the mounting panel, promote the highland barley of reaping through the second and prick the bundle subassembly and conveniently tie up, second conveyer belt wheel can drive the rotation of second transmission shaft at rotatory in-process simultaneously, second transmission shaft and first transmission shaft drive third band pulley and rotation of rotation axis through conveyor belt at rotatory in-process, the rotation axis can drive the separation dish and the rotation of first group tooth rotatory in-process, it conveniently reaps to push the header subassembly to reap to dial highland barley through first group tooth.
2. The highland barley reaper based on machine vision drives the reaper to move through walking equipment, an image acquisition camera acquires highland barley ear head images in a swath in real time, an average height of the highland barley ear heads is calculated through an operation controller, meanwhile, a position sensor acquires the moving distance of the reaper, the position of a header assembly at the moment is calculated through the operation controller, then signals are transmitted to a single chip microcomputer control unit, the motor is driven to rotate through the single chip microcomputer control unit, the motor can drive a lead screw to rotate in the rotating process, the lead screw is in threaded connection with a second connecting plate, the lead screw can drive the second connecting plate and a movable plate to move upwards in the rotating process, the second connecting plate can drive a spur gear to move along a long gear in the moving process, the movable plate can drive the header assembly to move in the moving process, the height of the header assembly can be adjusted in real time, the problem that the bundling rate is low due to different lengths of highland barley can be avoided, and the adaptability of machines and tools can be improved.
Drawings
FIG. 1 is a circuit schematic of the structure of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a perspective view of the present invention;
FIG. 4 is a schematic front view of the present invention;
FIG. 5 is a rear view of the present invention;
FIG. 6 is a schematic bottom view of the present invention;
FIG. 7 is a perspective view of a first separator assembly according to the present invention;
FIG. 8 is a side perspective view of the present invention;
FIG. 9 is an enlarged view at B of FIG. 8 in accordance with the present invention;
FIG. 10 is a perspective view of the mounting plate of the present invention;
FIG. 11 is an enlarged view of the invention at A in FIG. 10;
fig. 12 is a schematic view of a header assembly of the present invention;
FIG. 13 is a perspective view of the barley transportation assembly of the present invention;
fig. 14 is a front view schematically illustrating a mounting plate in embodiment 2 of the present invention.
In the figure: 1. a walking device; 2. an image acquisition device; 3. a highland barley bundling component; 4. mounting a plate; 5. a first drive assembly; 6. a second drive assembly; 7. a first separation assembly; 8. a second separation assembly; 9. a highland barley conveying component; 10. a header assembly; 11. a height adjustment assembly; 12. disassembling and washing the assembly; 13. a lifting mechanism; 201. an image acquisition camera; 202. a position sensor; 203. an arithmetic controller; 204. a singlechip control unit; 501. a box body; 502. a power shaft; 503. a power pulley; 504. a first drive shaft; 505. a drive bevel gear; 506. a driven bevel gear; 507. a first fixed seat; 508. a first pulley; 601. a second drive shaft; 602. a second fixed seat; 603. a second pulley; 701. a first transverse plate; 702. a first inclined plate; 703. a rotating shaft; 704. a separation disc; 705. a first shifting tooth; 706. a third belt pulley; 707. a drive belt; 801. a second transverse plate; 802. a second inclined plate; 901. a first conveyor belt wheel; 902. a second conveyor belt wheel; 903. a conveyor belt; 904. a second shifting tooth; 1001. a movable plate; 1002. fixing a blade; 1003. a movable blade; 1004. a through hole; 1005. a guide rod; 1006. a reset assembly; 1007. a support plate; 1061. a movable block; 1062. a slide bar; 1063. a spring; 1064. fixing a column; 1065. a groove; 1066. a screw; 1101. a first connecting plate; 1102. a second connecting plate; 1103. a movable frame; 1104. a motor; 1105. a screw rod; 1106. a limiting block; 1107. a first drive shaft; 1108. a long gear; 1109. a fourth pulley; 1110. a drive belt; 1111. a second drive shaft; 1112. a spur gear; 1113. a disc; 1114. an eccentric shaft; 1201. a U-shaped mounting frame; 1202. mounting blocks; 1203. a limiting block; 1301. a fixed block; 1302. a threaded rod; 1303. a limiting rod; 1304. hand wheel.
Detailed Description
In order to better understand the purpose, structure and function of the present invention, the highland barley reaper and method based on machine vision of the present invention will be described in detail below with reference to the accompanying drawings.
Example 1
Referring to fig. 1-13, the invention provides a highland barley reaper-binder based on machine vision, which comprises a walking device 1, an image acquisition device 2 and a highland barley bundling assembly 3, wherein a mounting plate 4 is installed on the front surface of the walking device 1, the image acquisition device 2 is installed at the top end of the front surface of the mounting plate 4, the highland barley bundling assembly 3 is installed on the right side of the mounting plate 4, a first driving assembly 5 is arranged on the left side of the back surface of the mounting plate 4, a second driving assembly 6 is arranged on the right side of the back surface of the mounting plate 4, a first separating assembly 7 and a second separating assembly 8 are respectively arranged on the right side and the left side of the front surface of the mounting plate 4, a highland barley conveying assembly 9 is arranged between the first driving assembly 5 and the second driving assembly 6, a header assembly 10 is arranged on the lower side of the highland barley conveying assembly 9, and the header assembly 10 is movably connected with the first driving assembly 5 through a height adjusting assembly 11;
specifically, the image acquisition device 2 includes an image acquisition camera 201, a position sensor 202, an operation controller 203 and a single chip microcomputer control unit 204, the image acquisition camera 201 is electrically connected with the operation controller 203 through a data line, the position sensor 202 is electrically connected with the operation controller 203 through a data line, the operation controller 203 is electrically connected with the single chip microcomputer control unit 204 through a data line, the image acquisition camera 201 acquires an image of the highland barley spikes in the swath in real time, the average height of the highland barley spikes is calculated through the operation controller 203, meanwhile, the position sensor 202 acquires the moving distance of the shearer, the position of the header assembly 10 at the moment is calculated through the operation controller 203, then a signal is transmitted to the single chip microcomputer control unit 204, and the single chip microcomputer control unit 204 drives the header assembly 10 to move up and down;
the first driving assembly 5 comprises a box body 501, a power shaft 502, a power pulley 503, a first transmission shaft 504, a driving bevel gear 505 and a driven bevel gear 506, the bottom end of the back of the mounting plate 4 is fixedly connected with a first fixing seat 507, the box body 501 is fixedly connected with the back of the mounting plate 4, one end of the power shaft 502 penetrates through the box body 501 and is fixedly connected with the driving bevel gear 505, the other end of the power shaft 502 is fixedly connected with the power pulley 503, the power shaft 502 is rotatably connected with the box body 501 through a bearing, the driving bevel gear 505 is meshed with the driven bevel gear 506, one end of the first transmission shaft 504 is fixedly connected with the driven bevel gear 506, the other end of the first transmission shaft 504 penetrates through the lower surface of the box body 501 and the first fixing seat 507 and is fixedly connected with a first pulley 508, the first transmission shaft 504 is rotatably connected with the box body 501 and the first fixing seat 507 through a bearing, a driving device on the walking device 1 drives the power pulley 503 to rotate, the power pulley 503 can drive the power shaft 502 and the driving bevel gear 505 to rotate in the rotating process, and the driven bevel gear 506 can cooperate with the first transmission shaft 504 to provide power;
the second driving assembly 6 comprises a second transmission shaft 601 and two second fixed seats 602, the two second fixed seats 602 are both fixedly connected with the back of the mounting plate 4, the upper end and the lower end of the second transmission shaft 601 are rotatably connected with the two second fixed seats 602 through bearings, the bottom end of the second transmission shaft 601 extends to the outside of the second fixed seats 602 and is fixedly connected with a second belt pulley 603, and the second transmission shaft 601 and the first transmission shaft 504 drive the first separating assembly 7 to separate highland barley in the rotating process;
further, the first separating assembly 7 includes a first horizontal plate 701, a first inclined plate 702, a rotating shaft 703 and a separating disc 704, one end of the first horizontal plate 701 is fixedly connected with the mounting plate 4, the other end of the first horizontal plate 701 is fixedly connected with the first inclined plate 702, a gap is left between one end of the first inclined plate 702, which is far away from the first horizontal plate 701, and the mounting plate 4, the upper end and the lower end of the rotating shaft 703 are respectively rotatably connected with the first inclined plate 701 and the first horizontal plate 702 through bearings, the separating disc 704 is fixedly connected with the outer surface of the rotating shaft 703, the outer surface of the separating disc 704 is fixedly connected with a plurality of first shifting teeth 705, the bottom end of the rotating shaft 703 extends to the lower surface of the first horizontal plate 701 and is fixedly connected with a third belt pulley 706, the left and right third belt pulleys 706 are respectively in transmission connection with the first belt pulley 508 and the second belt pulley 603 through two transmission belts 707, the rotating shaft 703 can drive the separating disc 704 and the first shifting teeth 705 to rotate, and highland barley is pushed to the header assembly 10 through the first shifting teeth 705 to be conveniently harvested;
further, the highland barley conveying component 9 comprises a first conveying belt wheel 901, a second conveying belt wheel 902 and a conveying belt 903, the first conveying belt wheel 901 is fixedly connected to the outer surface of the first transmission shaft 504, the second conveying belt wheel 902 is fixedly connected to the outer surface of the second transmission shaft 601, the conveying belt 903 is installed between the first conveying belt wheel 901 and the second conveying belt wheel 902, a plurality of second shifting teeth 904 are uniformly and fixedly connected to the outer surface of the conveying belt 903, a long hole corresponding to the highland barley conveying component 9 is formed in the mounting plate 4, the conveying belt 903 drives the second shifting teeth 904 and the second conveying belt wheel 902 to rotate in the rotating process of the first conveying belt wheel 901, and as a gap is reserved between the first inclined plate 702 and the mounting plate 4, at the moment, harvested highland barley is pushed to the highland barley bundling component 3 through the second shifting teeth 904 for convenient bundling;
further, the header assembly 10 includes a movable plate 1001, a fixed blade 1002 and a movable blade 1003, a through hole 1004 is formed on the mounting plate 4, two guide rods 1005 are fixedly connected to left and right sides of an inner top wall of the through hole 1004, bottom ends of the guide rods 1005 penetrate through the movable plate 1001 and are fixedly connected to an inner bottom wall of the through hole 1004, the guide rods 1005 are slidably connected to the movable plate 1001, the fixed blade 1002 is fixedly connected to an upper surface of the movable plate 1001, a support plate 1007 is disposed above the movable plate 1001 through a reset assembly 1006, the movable blade 1003 is mounted on a lower surface of the support plate 1007, the reset assembly 1006 includes a movable block 1061, a sliding rod 1062 and a spring 1063, both left and right sides of an upper surface of the movable plate 1001 are fixedly connected to a fixed column 1064, an upper surface of the fixed column 1065 starts to be provided with a groove 1065, the other end of the sliding rod 1062 penetrates through the movable block 1061 and is fixedly connected to a right inner wall of the groove 1065, the sliding rod 1062 is slidably connected to the movable block 1061, the sliding rod 1062 is slidably connected to a movable block 1063, and a rotating shaft 1114 is capable of driving the movable block 1063 to rotate along a rotating shaft 1061, and a rotating eccentric wheel 1063, the movable plate 1063, and a rotating shaft 1114 is capable of driving a rotating process, so as to harvest the highland barley by the matching of the movable blade 1003 and the fixed blade 1002;
further, the height adjusting assembly 11 includes a first connecting plate 1101 and a second connecting plate 1102, the first connecting plate 1101 is fixedly connected to the bottom end of the back side of the mounting plate 4, the second connecting plate 1102 is fixedly connected to the back side of the movable plate 1001, the back side of the supporting plate 1007 is fixedly connected to the movable frame 1103, the upper surface of the first connecting plate 1101 is fixedly connected to the motor 1104, the motor 1104 is electrically connected to the mcu 204 through a wire, the output end of the motor 1104 is fixedly connected to the lead screw 1105, the top end of the lead screw 1105 penetrates through the second connecting plate 1102 and is rotatably connected to the stopper 1106 through a bearing, the stopper 1106 is fixedly connected to the mounting plate 4, the lead screw 1105 is in threaded connection with the second connecting plate 1102, the first connecting plate 1101 is rotatably connected to the first driving shaft 1107 through a bearing, the top end of the first driving shaft 1107 is fixedly connected to the long gear 1108, the bottom end of the first driving shaft 1107 is fixedly connected to the fourth pulley 1109, the fourth belt pulley 1109 is in transmission connection with the second belt pulley 603 through a driving belt 1110, the second connecting plate 1102 is rotatably connected with a second driving shaft 1111 through a bearing, the bottom end of the second driving shaft 1111 is fixedly connected with a spur gear 1112, the spur gear 1112 is in meshing connection with a long gear 1108, the top end of the second driving shaft 1111 is fixedly connected with a disc 1113, the upper surface of the disc 1113 is fixedly connected with an eccentric shaft 1114, the top end of the eccentric shaft 1114 is positioned inside the movable frame 1103, the motor 1104 is driven to rotate by the single chip microcomputer control unit 204, the motor 1104 can drive the screw 1105 to rotate in the rotating process, because the screw 1105 is in threaded connection with the second connecting plate 1102, the screw 1105 can drive the second connecting plate 1102 and the movable plate 1001 to move upwards in the rotating process, the second connecting plate 1102 can drive the spur gear 1112 to move along the long gear 1108 in the moving process, and the movable plate 1001 can drive the header assembly 10 to move in the moving process, thereby enabling real-time adjustment of the height of the header assembly 10;
referring to fig. 1 and 2, in order to separate crops and prevent rolling of the crops, the second separating assembly 8 includes a second horizontal plate 801 and a second inclined plate 802, one end of the second horizontal plate 801 is fixedly connected to the mounting plate 4, the other end of the second horizontal plate 801 is fixedly connected to the second inclined plate 802, and one end of the second inclined plate 802 away from the second horizontal plate 801 is fixedly connected to the mounting plate 4.
Example 2
Referring to fig. 14, the same parts of this embodiment as those of embodiment 1 are not repeated, and the difference between this embodiment and embodiment 1 lies in: the image acquisition device 2 is installed on the installation plate 4 through the disassembling component 12, the disassembling component 12 comprises a U-shaped installation frame 1201, an installation block 1202 and a limiting block 1203, the installation block 1202 is fixedly connected on the image acquisition camera 201, the installation block 1202 is matched with the U-shaped installation frame 1201, the image acquisition camera 201 is slidably installed on the U-shaped installation frame 1201 through the installation block 1202, the installation plate 4 is provided with a lifting mechanism 13 used for driving the limiting block 1203 to lift, the lifting mechanism 13 comprises a fixed block 1301, a threaded rod 1302, a limiting rod 1303 and a limiting hole, the fixed block 1301 is fixedly connected on the installation plate 4, one end of the threaded rod 1302 is rotatably connected with the limiting block 1203 through a bearing, the other end of the threaded rod 1203 is fixedly connected with a hand wheel 1304, the middle part of the fixed block 1301 is provided with a threaded groove, the threaded groove is matched with the threaded rod 1302, and the threaded rod 1302 is in threaded connection with the fixed block 1301 through the threaded groove, the two limiting rods 1303 and the two limiting holes are arranged, the two limiting rods 1303 are matched with the limiting holes, the two limiting holes are symmetrically formed in the fixing block 1301, the bottom ends of the two limiting rods 1303 are symmetrically and fixedly connected to the limiting block 1203, the top ends of the two limiting rods 1303 penetrate through the two limiting holes respectively and extend to the upper portion of the fixing block 1301, the height of the limiting rod 1303 above the fixing block 1301 is larger than the maximum downward moving distance of the limiting rod 1303, the limiting rod 1301 can be prevented from separating from the limiting holes in the downward moving process, the limiting rod 1303 and the limiting holes can be prevented from limiting the limiting block 1203 in the ascending or descending movement track, gaps are reserved among the hand wheel 1304, the limiting rods 1303 and the mounting plate 4, when the image acquisition device 2 is damaged and maintained or replaced, the image acquisition device needs to be detached, and a user holds the hand wheel 1304 to rotate the threaded rod 1302 clockwise, the threaded rod 1302 can move upwards through a threaded groove formed in the fixed block 1301 during clockwise rotation, the threaded rod 1302 can drive the limiting block 1203 to move upwards during the upward movement, the limiting block 1203 can drive the two limiting rods 1303 fixedly connected with the limiting block 1203 to respectively penetrate through corresponding limiting holes during the upward movement, under the cooperation of the limiting rods 1303 and the limiting holes, a limiting effect is performed on the movement track of the limiting block 1203 during the rising process, the limiting block 1203 rises more stably until the upper surface of the limiting block 1203 contacts with the lower surface of the fixed block 1301, the threaded rod 1302 stops rotating, at the moment, the image acquisition equipment 2 moves upwards, the image acquisition equipment 2 can drive the mounting block 1202 fixedly connected with the image acquisition equipment 1202 to move out of the U-shaped mounting frame 1201 from the inside of the U-shaped mounting frame 1201, the image acquisition equipment 2 is dismounted, when the maintained or new image acquisition equipment 2 is mounted on the mounting plate 4, the mounting block 1202 aligns with the U-shaped mounting frame and slides downwards, the mounting block 1202 slides into the U-shaped mounting frame 1202, in order to fix the mounted image acquisition equipment 2, a user can drive the limiting rod 1302 to move downwards through the limiting rods 1304 during the downward movement process, the limiting rods 1304 of the limiting rod 1203, the limiting rods 1304, the limiting rods 1303 corresponding to move downwards, the limiting rods 1304 during the downward movement process, the limiting rods 1304 of the limiting rods are driven by the limiting rods, the limiting rods 1303 in the limiting rods, the limiting rods 1304, the limiting rods when the mounting block 1203, the threaded rod 1302 stops rotating until the lower surface of the limiting block 1203 contacts the upper surfaces of the U-shaped mounting frame 1201 and the mounting block 1202, and at this time, the mounting block 1202 can be fixed inside the U-shaped mounting frame 1201 under the action of the limiting block 1203, so that the fixing of the image acquisition device 2 is completed.
The working principle of the invention is as follows: the driving device on the walking device 1 drives the power pulley 503 to rotate, the power pulley 503 can drive the power shaft 502 fixedly connected with the power pulley 503 to rotate in the rotating process, the power shaft 502 can drive the driving bevel gear 505 fixedly connected with the power shaft 502 to rotate in the rotating process, because the driving bevel gear 505 is meshed with the driven bevel gear 506, the driving bevel gear 505 can drive the first transmission shaft 504 to rotate under the matching of the driven bevel gear 506 meshed with the driving bevel gear 505 in the rotating process, the first transmission shaft 504 can drive the first transmission pulley 901 fixedly connected with the outer surface of the first transmission shaft to rotate in the rotating process, the first transmission pulley 901 drives the second poking tooth 904 and the second transmission pulley 902 to rotate through the transmission belt 903 in the rotating process, and because a gap is left between the first inclined plate 702 and the mounting plate 4, the harvested highland barley is pushed to the highland barley bundling assembly 3 through the second poking tooth 904 at this time to be bundled conveniently, meanwhile, the second conveying belt wheel 902 can drive a second transmission shaft 601 fixedly connected to the outer surface of the second conveying belt wheel 902 to rotate in the rotating process, the second transmission shaft 601 and the first transmission shaft 504 drive a third belt wheel 706 and a rotating shaft 703 to rotate through a transmission belt 707 in the rotating process, the rotating shaft 703 can drive a separating disc 704 and a first shifting tooth 705 to rotate in the rotating process, highland barley is pushed to the header assembly 10 through the first shifting tooth 705 to be conveniently harvested, meanwhile, the first transmission shaft 504 drives a fourth belt wheel 1109 to rotate through a driving belt 1110 in the rotating process, the fourth belt wheel 1109 can drive a first driving shaft 1107 and a long gear 1108 to rotate in the rotating process, the long gear 1108 can drive a spur gear 1112 and a second driving shaft 1111 to rotate in the rotating process, the second driving shaft 1111 can drive a circular disc 1113 and an eccentric shaft 1114 to rotate in the rotating process, the eccentric shaft 1114 can drive the supporting plate 1007 and the movable blade 1003 to move left and right in the rotating process of the movable frame 1103, the supporting plate 1007 can drive the movable block 1061 to slide along the sliding rod 1062 in the moving process, the movable block 1061 is matched with the spring 1063 in the sliding process to enable the movable block 1061 to move more stably, so that highland barley is harvested by matching the movable blade 1003 with the fixed blade 1002, because the image acquisition equipment 2 is arranged at the top end of the front surface of the mounting plate 4, when the walking equipment 1 drives the reaping machine to move, the image acquisition camera 201 acquires an image of the highland barley ear head in a swath in real time, the average height of the highland barley ear head is calculated by the operation controller 203, and meanwhile, the position sensor 202 acquires the moving distance of the reaping machine, the position of the header assembly 10 at the moment is calculated through the operation controller 203, then a signal is transmitted to the singlechip control unit 204, the singlechip control unit 204 drives the motor 1104 to rotate, the motor 1104 can drive the lead screw 1105 to rotate in the rotating process, because the lead screw 1105 is in threaded connection with the second connecting plate 1102, the lead screw 1105 can drive the second connecting plate 1102 and the movable plate 1001 to move upwards in the rotating process, the second connecting plate 1102 can drive the spur gear 1112 to move along the long gear 1108 in the moving process, meanwhile, the movable plate can drive the header assembly 10 to move in the moving process, so that the height of the header assembly 10 can be adjusted in real time, the problem of low bundling rate caused by inconsistent growth of highland barley can be avoided, and the adaptability of the machine is improved.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides a highland barley reaper-binder based on machine vision, includes walking equipment (1), image acquisition equipment (2) and highland barley and ties subassembly (3), its characterized in that: mounting panel (4) are installed in the front of walking equipment (1), the positive top in mounting panel (4) is installed in image acquisition equipment (2), the right side in mounting panel (4) is installed in bundle subassembly (3) to the highland barley, the left side at the mounting panel (4) back is provided with first drive assembly (5), the right side at the mounting panel (4) back is provided with second drive assembly (6), the positive right side of mounting panel (4) and left side are provided with first determine subassembly (7) and second determine subassembly (8) respectively, be provided with highland barley conveying assembly (9) between first drive assembly (5) and second drive assembly (6), the downside of highland barley conveying assembly (9) is provided with header subassembly (10), header subassembly (10) are through altitude mixture control subassembly (11) and first drive assembly (5) swing joint.
2. The machine vision based highland barley reaper-binder as claimed in claim 1, wherein: the image acquisition equipment (2) comprises an image acquisition camera (201), a position sensor (202), an operation controller (203) and a single chip microcomputer control unit (204), the image acquisition camera (201) is electrically connected with the operation controller (203) through a data line, the position sensor (202) is electrically connected with the operation controller (203) through a data line, the operation controller (203) is electrically connected with the single chip microcomputer control unit (204) through a data line, the image acquisition equipment (2) is installed on a mounting plate (4) through a dismounting assembly (12), the dismounting assembly (12) comprises a U-shaped mounting frame (1201), a mounting block (1202) and a limiting block (1203), the mounting block (1202) is fixedly connected on the image acquisition camera (201), the mounting block (1202) is matched with the U-shaped mounting frame (1201), the image acquisition camera (201) is installed on the U-shaped mounting frame (1202) in a sliding mode through the mounting block (1202), a lifting mechanism (13) for driving the mounting plate (1203) to lift is installed on the limiting block (1301), a lifting mechanism (13) is connected on a fixing rod (1303) and a fixing rod (1302), the one end of threaded rod (1302) is passed through the bearing and is rotated with stopper (1203) and be connected, the other end fixedly connected with hand wheel (1304) of threaded rod (1203), the thread groove has been seted up at the middle part of fixed block (1301), the thread groove cooperatees with threaded rod (1302), and threaded rod (1302) passes through thread groove and fixed block (1301) threaded connection, gag lever post (1303) and spacing hole all are provided with two, and gag lever post (1303) and spacing hole cooperate, two spacing hole symmetry is seted up on fixed block (1301), two the bottom symmetry fixed connection of gag lever post (1303) is on stopper (1203), two the top of gag lever post (1303) runs through two spacing holes respectively and extends to the top of fixed block (1301), all leave the clearance between hand wheel (1304) and gag lever post (1303) and mounting panel (4).
3. The machine vision based highland barley reaper-binder as claimed in claim 2, wherein: the first driving assembly (5) comprises a box body (501), a power shaft (502), a power belt pulley (503), a first transmission shaft (504), a driving bevel gear (505) and a driven bevel gear (506), the bottom end of the back face of the mounting plate (4) is fixedly connected with a first fixing seat (507), the box body (501) is fixedly connected with the back face of the mounting plate (4), one end of the power shaft (502) penetrates through the inside of the box body (501) and is fixedly connected with the driving bevel gear (505), the other end of the power shaft (502) is fixedly connected with the power belt pulley (503), the power shaft (502) is rotatably connected with the box body (501) through a bearing, the driving bevel gear (505) is meshed with the driven bevel gear (506), one end of the first transmission shaft (504) is fixedly connected with the driven bevel gear (506), the other end of the first transmission shaft (504) penetrates through the lower surface of the box body (501) and the first fixing seat (507) and is fixedly connected with a first wheel (508), and the first transmission shaft (504) is rotatably connected with the first fixing seat (507) through a bearing.
4. The machine vision based highland barley reaper-binder as claimed in claim 3, wherein: second drive assembly (6) include second transmission shaft (601) and two second fixing base (602), two second fixing base (602) all with the back fixed connection of mounting panel (4), the upper and lower both ends of second transmission shaft (601) are passed through the bearing and are rotated with two second fixing base (602) and be connected, the bottom of second transmission shaft (601) extends to the outside and the fixedly connected with second band pulley (603) of second fixing base (602).
5. The machine vision based highland barley reaper-binder as claimed in claim 4, wherein: the first separating assembly (7) comprises a first transverse plate (701), a first inclined plate (702), a rotating shaft (703) and a separating disc (704), one end of the first transverse plate (701) is fixedly connected with the mounting plate (4), the other end of the first transverse plate (701) is fixedly connected with the first inclined plate (702), a gap is reserved between one end, far away from the first transverse plate (701), of the first inclined plate (702) and the mounting plate (4), the upper end and the lower end of the rotating shaft (703) are respectively rotatably connected with the first inclined plate (701) and the first transverse plate (702) through bearings, the separating disc (704) is fixedly connected to the outer surface of the rotating shaft (704), the outer surface of the separating disc (704) is fixedly connected with a plurality of first shifting teeth (705), the bottom end of the rotating shaft (703) extends to the lower surface of the first transverse plate (701) and is fixedly connected with a third belt wheel (706), and the left and right third belt wheels (706) are respectively in transmission connection with a first belt wheel (508) and a second belt wheel (603) through two belt transmission belts (707).
6. The machine vision based highland barley baler of claim 5, wherein: second separator components (8) include second diaphragm (801) and second hang plate (802), the one end and mounting panel (4) fixed connection of second diaphragm (801), the other end and the second hang plate (802) fixed connection of second diaphragm (801), the one end and mounting panel (4) fixed connection of second diaphragm (801) are kept away from to second hang plate (802).
7. The machine vision based highland barley baler of claim 6, wherein: the highland barley conveying assembly (9) comprises a first conveying belt wheel (901), a second conveying belt wheel (902) and a conveying belt (903), the first conveying belt wheel (901) is fixedly connected to the outer surface of the first transmission shaft (504), the second conveying belt wheel (902) is fixedly connected to the outer surface of the second transmission shaft (601), the conveying belt (903) is installed between the first conveying belt wheel (901) and the second conveying belt wheel (902), a plurality of second shifting teeth (904) are uniformly and fixedly connected to the outer surface of the conveying belt (903), and long holes corresponding to the highland barley conveying assembly (9) are formed in the mounting plate (4).
8. The machine vision based highland barley baler of claim 7, wherein: header subassembly (10) include fly leaf (1001), fixed blade (1002) and movable blade (1003), through-hole (1004) have been seted up on mounting panel (4), two guide bars (1005) of the left and right sides fixedly connected with of roof in through-hole (1004), the bottom of guide bar (1005) run through fly leaf (1001) and with the interior diapire fixed connection of through-hole (1004), guide bar (1005) and fly leaf (1001) sliding connection, fixed blade (1002) fixed connection is at the upper surface of fly leaf (1001), the top of fly leaf (1001) is provided with backup pad (1007) through reset subassembly (1006), the lower surface at backup pad (1007) is installed in movable blade (1003).
9. The machine vision based highland barley reaper-binder of claim 8, wherein: the reset assembly (1006) comprises a movable block (1061), a sliding rod (1062) and a spring (1063), wherein the left side and the right side of the upper surface of the movable plate (1001) are fixedly connected with a fixed column (1064), the upper surface of the fixed column (1064) is provided with a groove (1065), one end of the sliding rod (1062) is fixedly connected with the left inner wall of the groove (1065), the other end of the sliding rod (1062) penetrates through the movable block (1061) and is fixedly connected with the right inner wall of the groove (1065), the sliding rod (1062) is slidably connected with the movable block (1061), the spring (1063) is sleeved on the outer surface of the sliding rod (1062), one end of the spring (1063) is fixedly connected with the inner wall of the groove (1065), the other end of the spring (1063) is fixedly connected with the movable block (1061), and the support plate (1007) is in threaded connection with the movable block (1061) through a screw (1066).
10. The machine vision based barley bundler of claim 9, wherein: the height adjusting assembly (11) comprises a first connecting plate (1101) and a second connecting plate (1102), the first connecting plate (1101) is fixedly connected to the bottom end of the back face of the mounting plate (4), the second connecting plate (1102) is fixedly connected to the back face of the movable plate (1001), the back face of the supporting plate (1007) is fixedly connected with a movable frame (1103), the upper surface of the first connecting plate (1101) is fixedly connected with a motor (1104), the motor (1104) is electrically connected with the single chip microcomputer control unit (204) through a wire, the output end of the motor (1104) is fixedly connected with a lead screw (1105), the top end of the lead screw (1105) penetrates through the second connecting plate (1102) and is rotatably connected with a limit block (1106) through a bearing, the limit block (1106) is fixedly connected with the mounting plate (4), the lead screw (1105) is in threaded connection with the second connecting plate (1102), the first connecting plate (1101) is rotatably connected with a first driving shaft (1107) through a bearing, the top end of the first driving shaft (1107) is fixedly connected with a long gear (1107), the bottom end of the first driving shaft (1107) is fixedly connected with a fourth belt pulley (1109), and the fourth driving shaft (1109) is rotatably connected with a second belt pulley (603), and the second pulley (1111) through a second pulley (603), the bottom fixedly connected with spur gear (1112) of second drive shaft (1111), spur gear (1112) and long gear (1108) meshing are connected, the top fixedly connected with disc (1113) of second drive shaft (1111), the last fixed surface of disc (1113) is connected with eccentric shaft (1114), the top of eccentric shaft (1114) is located the inside of activity frame (1103).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210873510.4A CN115152408A (en) | 2022-07-22 | 2022-07-22 | Highland barley reaper-binder based on machine vision |
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| CN202210873510.4A CN115152408A (en) | 2022-07-22 | 2022-07-22 | Highland barley reaper-binder based on machine vision |
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| CN201591016U (en) * | 2009-12-17 | 2010-09-29 | 凤城市富森机械制造有限公司 | Binder |
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