CN115380649A - Electric-drive double-drive agricultural machinery opposite-row transverse moving device - Google Patents
Electric-drive double-drive agricultural machinery opposite-row transverse moving device Download PDFInfo
- Publication number
- CN115380649A CN115380649A CN202210025879.XA CN202210025879A CN115380649A CN 115380649 A CN115380649 A CN 115380649A CN 202210025879 A CN202210025879 A CN 202210025879A CN 115380649 A CN115380649 A CN 115380649A
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- lead screw
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- 230000005540 biological transmission Effects 0.000 claims abstract description 67
- 230000005611 electricity Effects 0.000 claims abstract description 5
- 230000009977 dual effect Effects 0.000 claims abstract description 3
- 239000000725 suspension Substances 0.000 claims description 27
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000011089 mechanical engineering Methods 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
Abstract
The invention relates to the field of agricultural mechanical engineering. The technical scheme is as follows: the utility model provides an electricity drives dual drive agricultural machinery and goes to line sideslip device which characterized in that: the device comprises a rack, a transverse moving frame which can be slidably positioned on the rack, two motors which are arranged in the rack and a transmission mechanism which is used for transmitting the power of the motors to drive the transverse moving frame to slide; the transmission mechanism comprises two first transmission shafts respectively driven by the motors, a sun gear fixed with the first transmission shafts, a first gear rotationally positioned on one first transmission shaft, a planet carrier fixed with the first gear, a planet gear rotationally positioned on the planet carrier and simultaneously meshed with the two sun gears, two lead screw sliding tables, a second transmission shaft, a second gear and a connecting plate, wherein the two second transmission shafts are respectively connected with two lead screw sliding table lead screws, the second gear is fixed with the second transmission shaft and meshed with the first gear, and the connecting plate is respectively fixed with the transverse moving frame and a sliding block of the lead screw sliding tables. The device has the characteristics of long service life, high control precision and good reliability.
Description
Technical Field
The invention relates to the field of agricultural mechanical engineering, in particular to an electric-drive double-drive agricultural machinery opposite-row transverse moving device.
Background
When crops are planted or transplanted, due to mechanical errors or manual errors, the crops are not arranged in a straight line and random deviation exists, so that the precision is not high when agricultural machinery such as weeding, pesticide application and the like carries out row alignment operation near the crops, the target effect cannot be achieved, even the crops are injured, manual assistance is usually needed for the row alignment operation, the cost of agricultural production is increased, and the requirement for an automatic row alignment transverse moving device is urgent.
Some automatic opposite-moving traversing devices are researched at home and abroad, but the devices mainly adopt hydraulic drive and need to be matched with power platforms for hydraulic output, and the power platforms are large agricultural machines which usually adopt fuel oil power sources. Simultaneously along with green agricultural production's development, it is more urgent to the agricultural machinery demand of driving of electricity, but the current electricity drives and need frequently open and stop to the motor in going sideslip device, has to strike big, fragile problem, and the practicality remains to improve.
Disclosure of Invention
The invention aims to overcome the defects in the background technology and provide an electric-drive double-drive agricultural machinery opposite-row transverse moving device which has the characteristics of long service life, high control precision and good reliability.
The technical scheme of the invention is as follows:
the utility model provides an electricity drives dual drive agricultural machinery and goes to line sideslip device which characterized in that: the device comprises a rack, a transverse moving frame which can be slidably positioned on the rack, two motors which are arranged in the rack and a transmission mechanism which is used for transmitting the power of the motors to drive the transverse moving frame to slide;
the transmission mechanism comprises two first transmission shafts respectively driven by the motors, a sun gear fixed with the first transmission shafts, a first gear rotationally positioned on one first transmission shaft, a planet carrier fixed with the first gear, a planet gear rotationally positioned on the planet carrier and simultaneously meshed with the two sun gears, two lead screw sliding tables, a second transmission shaft, a second gear and a connecting plate, wherein the two second transmission shafts are respectively connected with two lead screw sliding table lead screws, the second gear is fixed with the second transmission shaft and meshed with the first gear, and the connecting plate is respectively fixed with the transverse moving frame and a sliding block of the lead screw sliding tables.
The rotating axis of the output shaft of the motor, the rotating axis of the first transmission shaft, the rotating axis of the first gear and the rotating axis of the sun gear are coaxially arranged; the rotating axis of the second transmission shaft, the rotating axis of the second gear and the rotating axis of the lead screw sliding table are coaxially arranged; the sliding direction of the transverse moving frame, the rotating axis of the first transmission shaft, the rotating axis of the second transmission shaft and the sliding direction of the sliding block of the lead screw sliding table are parallel to each other; the rotation axis of the sun gear is perpendicular to the rotation axis of the planet gear.
The output shaft of the motor is connected with a first transmission shaft through a first coupler; and two ends of the second transmission shaft are connected with a lead screw of the lead screw sliding table through a second coupler.
A gear box is arranged in the frame; the first transmission shaft, the second transmission shaft, the sun gear, the planet carrier, the planet gear, the first gear and the second gear are all rotatably positioned in the gear box.
Still be equipped with the sharp potentiometre in the frame, the pull rod and the link of sharp potentiometre are fixed.
The frame comprises a shell consisting of a bottom plate and a plurality of suspension plates fixed with the shell.
Two guide rails are arranged on the rack, and rollers in sliding fit with the guide rails are arranged on the transverse moving frame.
The suspension plate comprises an end suspension plate, a lower suspension plate and an upper suspension plate; the lower suspension plate and the upper suspension plate are both provided with lifting lugs.
The two guide rails are arranged in parallel, the sliding surfaces of the two guide rails and the horizontal plane form an included angle of 45 degrees, and limiting plates are arranged at two ends of each guide rail.
The beneficial effects of the invention are:
1) The agricultural machine is carried on an advancing platform, is driven by double powers provided by two motors, ensures that machines and tools arranged on a transverse moving frame are accurately aligned with crop rows so as to realize accurate row alignment operation of agricultural machinery, and has the characteristics of strong power, stable operation, good controllability, high reliability and strong applicability;
2) The transverse moving frame is driven to move transversely by taking the rotating speed difference of the double motors as power through the transmission mechanism, so that the motors keep rotating continuously when the agricultural machinery works continuously, frequent starting and stopping of the motors are avoided, impact is reduced, the service life of the motors is prolonged, and reliability is improved;
3) The double-motor driving device uses double motors as driving sources to realize double driving, so that the driving force of the transverse movement is stronger, larger thrust can be output, the resistance of the machine tool during the soil entering operation can be effectively overcome, and the smooth transverse movement can be ensured;
4) The transmission mechanism of the invention consists of the motor, the gear and the lead screw sliding table, the transmission ratio is accurate, the transverse moving speed of the transverse moving frame can be regulated and controlled by the rotating speed difference of the double motors, the linear potentiometer detects the transverse offset of the transverse moving frame in real time, and the device has controllable transverse moving speed and accurate position information perception, so that an external control system can accurately and reliably control the device.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic perspective view of the second embodiment of the present invention.
FIG. 3 is a third perspective view of the present invention (without the cross sliding plate).
Fig. 4 is a schematic front view of the present invention.
Fig. 5 is a perspective view of the frame of the present invention.
Fig. 6 is a schematic perspective view of the cross frame of the present invention.
Fig. 7 is one of the schematic perspective views of the transmission mechanism of the present invention.
Fig. 8 is a schematic perspective view of the second transmission mechanism of the present invention.
Fig. 9 is a third perspective view of the transmission mechanism of the present invention.
Fig. 10 is a fourth perspective view of the transmission mechanism of the present invention.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following examples.
As shown in figure 1, the electric-drive double-drive agricultural machinery opposite-row transverse moving device comprises a machine frame 1, a transverse moving frame 2, a motor 3 and a transmission mechanism.
The transverse moving frame can be horizontally and slidably positioned on the rack, the motor and the transmission mechanism are arranged in the rack, and the transmission mechanism is used for transmitting the power of the motor to drive the transverse moving frame to slide.
The frame includes the cuboid shell of constituteing by a plurality of bottom plates 1.1 and with the fixed a plurality of boards that hang of shell. The suspension plates are square frame plates, the number of the suspension plates is eight, and the suspension plates comprise two end suspension plates 1.2, four lower suspension plates 1.3 arranged between the two end suspension plates, and two upper suspension plates 1.4 arranged between the two lower suspension plates in the middle. The upper suspension plate, the lower suspension plate and the end suspension plate are arranged in parallel, and the shell vertically penetrates through inner holes of the eight suspension plates.
The corner of going up the hang board is equipped with the last lug 1.41 that stretches out to oblique top, and the corner position that hangs down the board is equipped with the lower lug 1.31 that stretches out to oblique below, and the lug is the triangle-shaped with the lower lug of both sides and arranges in the middle of going up. The frame is fixed on an external operation platform (not shown in the figure) through an upper hanging lug and a lower hanging lug, and the external operation platform drives the electric-drive double-drive agricultural machinery opposite-row transverse moving device to synchronously move forward when moving.
The side of frame still is fixed with two guide rails 15, and these two guide rails are horizontal arrangement from top to bottom and fixed with eight suspension plates simultaneously, are equipped with on the sideslip frame with two guide rail sliding fit's a plurality of gyro wheels 16, the gyro wheel adopts compound bearing, the both ends of guide rail are equipped with limiting plate 17. The angle between the sliding surface 15.1 of the two guide rails and the horizontal plane is 45 degrees, and the angle between the rotation axis of the roller arranged on the upper guide rail and the rotation axis of the roller arranged on the lower guide rail is 90 degrees. And the transverse moving frame is also provided with a plurality of mounting holes 2.1 for mounting the tail end of a machine tool. The frame is used as a stator of the whole device, and the transverse moving frame is used as a rotor of the whole device.
The transmission mechanism comprises a first transmission shaft 4, a sun gear 5, a first gear 6, a planet carrier 7, a planet gear 8, a screw rod sliding table 9, a second transmission shaft 10 and a second gear 11.
Wherein: the two motors and the two lead screw sliding tables are fixed with the bottom plate, the first transmission shaft, the sun gear, the first gear, the planet carrier and the planet gear are arranged between the two motors, the output shafts of the two motors are coaxially arranged, and the second transmission shaft and the second gear are arranged between the two lead screw sliding tables; first transmission shaft and second transmission shaft all rotationally fix a position on the bottom plate, and the motor passes through base 3.1 and is fixed with the bottom plate.
The output shaft of each motor is coaxially connected with one first transmission shaft through a first coupling 13.1, a sun gear is coaxially fixed on each first transmission shaft, the first gear is rotatably positioned on one of the first transmission shafts, the planet carrier is fixed with the first gear, the two planet gears are rotatably positioned on the planet carrier, and the two planet gears are simultaneously meshed with the two sun gears; the second gear is coaxially fixed with the second transmission shaft, the second gear is also meshed with the first gear, two ends of the second transmission shaft are coaxially connected with the lead screws 9.1 of the two lead screw sliding tables through second couplers 13.2, and sliding blocks (omitted in the figure) of the lead screw sliding tables are fixed with the transverse moving frame through connecting plates 12. The sun gear and the planet gears are bevel gears, and the two planet gears are symmetrically arranged around a rotating axis of the first transmission shaft.
A gear box 18 is fixed on the bottom plate, and the first transmission shaft, the second transmission shaft, the sun gear, the planet carrier, the planet gear, the first gear and the second gear are all rotatably positioned in the gear box. And a linear potentiometer 14 is further fixed on the bottom plate, a pull rod of the linear potentiometer is fixed with the connecting plate, and the linear potentiometer is used for detecting the transverse displacement distance of the transverse moving frame in real time.
The rotating axis of the output shaft of the motor, the rotating axis of the first transmission shaft, the rotating axis of the first gear and the rotating axis of the sun gear are coaxially arranged; the rotating axis of the second transmission shaft, the rotating axis of the second gear and the rotating axis of the lead screw of the linear sliding table are coaxially arranged; the sliding direction of the transverse moving frame, the rotating axis of the first transmission shaft, the rotating axis of the second transmission shaft and the sliding direction of the sliding block of the linear sliding table are parallel to each other; the rotation axis of the sun gear is perpendicular to the rotation axis of the planet gear.
The working principle of the invention is as follows:
the electric-driven double-drive agricultural machine opposite-row transverse moving device moves forward under the driving of an external operation platform, the two motors rotate at the same speed in opposite directions (shown by arrows in figure 8), at the moment, the planetary gear only rotates and does not revolve, namely, the first gear does not rotate, and the transverse moving frame keeps still; if the two motors run at different speeds in opposite directions, the planetary gear rotates and revolves simultaneously, namely the first gear rotates (the rotation direction of the first gear is the same as that of the motor with higher rotation speed), and the transverse moving frame transversely moves.
When the electric-drive double-drive agricultural machinery line-aligning traversing device works in line alignment, two motors and a linear potentiometer are both electrically connected with an external controller, an external offset distance detection sensor (taking a camera as an example) and the tail end of a machine tool are fixedly connected to a traversing frame, the camera shoots images in real time and inputs the images into the controller to detect the transverse offset distance between the current seedlings and the tail end of the machine tool, a double-motor drive speed difference is calculated according to the traversing motion principle of the traversing device, then double motors are driven to rotate, the transverse displacement of the center of the traversing frame detected by the linear potentiometer and the transverse displacement of the center of a machine frame are compared in real time, and the closed-loop control in the traversing is established; when the seedlings and the tail end of the machine tool have transverse offset, the controller adjusts the rotating speeds of the two motors to drive the transverse moving frame to move so as to eliminate the offset, and finally, automatic alignment operation is realized.
All the components of the invention are available in the prior art and can be purchased.
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by the person skilled in the art from the present disclosure are to be considered within the scope of the present invention.
Claims (9)
1. The utility model provides an electricity drives dual drive agricultural machinery and moves sideslip device to going which characterized in that: the device comprises a rack (1), a transverse moving frame (2) which can be slidably positioned on the rack, two motors (3) which are arranged in the rack and a transmission mechanism which is used for transmitting the power of the motors to drive the transverse moving frame to slide;
drive mechanism includes by two first transmission shafts (4) of each motor difference driven, sun gear (5) fixed with first transmission shaft, rotationally fix a position at epaxial first gear (6) of a first transmission, with planet carrier (7) that first gear is fixed, rotationally fix a position on the planet carrier and simultaneously with two sun gear engaged planetary gear (8), two lead screw slip tables (9), both ends are connected second transmission shaft (10) of two lead screw slip table lead screws respectively, fixed and with first gear engaged second gear (11) with the second transmission shaft, respectively with sideslip frame and with lead screw slip table's slider fixed connecting plate (12).
2. The electric-drive double-drive agricultural machinery opposite-row transverse moving device as claimed in claim 1, characterized in that: the rotating axis of the output shaft of the motor, the rotating axis of the first transmission shaft, the rotating axis of the first gear and the rotating axis of the sun gear are coaxially arranged; the rotating axis of the second transmission shaft, the rotating axis of the second gear and the rotating axis of the lead screw sliding table are coaxially arranged; the sliding direction of the transverse moving frame, the rotating axis of the first transmission shaft, the rotating axis of the second transmission shaft and the sliding direction of the sliding block of the lead screw sliding table are parallel to each other; the rotation axis of the sun gear is perpendicular to the rotation axis of the planet gear.
3. The electric-drive double-drive agricultural machine opposite-row transverse moving device as claimed in claim 2, wherein: the output shaft of the motor is connected with a first transmission shaft through a first coupling (13.1); and two ends of the second transmission shaft are connected with a lead screw of the lead screw sliding table through a second coupling (13.2).
4. The electric-drive double-drive agricultural machine opposite-row transverse moving device as claimed in claim 3, wherein: a gear box is arranged in the rack; the first transmission shaft, the second transmission shaft, the sun gear, the planet carrier, the planet gear, the first gear and the second gear are all rotatably positioned in the gear box.
5. The electric-drive double-drive agricultural machinery opposite-row transverse moving device as claimed in claim 4, wherein: a linear potentiometer (14) is further arranged in the rack, and a pull rod of the linear potentiometer is fixed with the connecting frame.
6. The electric-drive double-drive agricultural machinery opposite-row transverse moving device as claimed in claim 5, wherein: the frame comprises a shell consisting of a bottom plate (1.1) and a plurality of suspension plates fixed with the shell.
7. The electric-drive double-drive agricultural machinery opposite-row transverse moving device as claimed in claim 6, characterized in that: two guide rails (15) are arranged on the rack, and rollers (16) which are in sliding fit with the guide rails are arranged on the transverse moving frame.
8. The electric-drive double-drive agricultural machinery opposite-row transverse moving device as claimed in claim 7, characterized in that: the suspension plates comprise end suspension plates (1.2), lower suspension plates (1.3) and upper suspension plates (1.4); the lower suspension plate and the upper suspension plate are both provided with lifting lugs.
9. The electric-drive double-drive agricultural machine opposite-row transverse moving device according to claim 8, characterized in that: the two guide rails are arranged in parallel, the sliding surfaces of the two guide rails and the horizontal plane form an included angle of 45 degrees, and limiting plates (17) are arranged at two ends of each guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210025879.XA CN115380649B (en) | 2022-01-11 | 2022-01-11 | Electric drive double-drive agricultural machinery opposite-row transverse moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210025879.XA CN115380649B (en) | 2022-01-11 | 2022-01-11 | Electric drive double-drive agricultural machinery opposite-row transverse moving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115380649A true CN115380649A (en) | 2022-11-25 |
| CN115380649B CN115380649B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210025879.XA Active CN115380649B (en) | 2022-01-11 | 2022-01-11 | Electric drive double-drive agricultural machinery opposite-row transverse moving device |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3269464A (en) * | 1963-07-24 | 1966-08-30 | Int Harvester Co | Implement control means for tractor operated agricultural implements |
| US4579038A (en) * | 1984-05-04 | 1986-04-01 | Deere & Company | Depth control valve and system for agricultural implements |
| CN208387303U (en) * | 2018-04-26 | 2019-01-18 | 郑宇虎 | A kind of multi-functional shrub cropper |
| CN109544596A (en) * | 2018-10-30 | 2019-03-29 | 浙江理工大学 | A kind of artificial intelligence binocular vision tracking mechanism of view-based access control model feedback |
| CN110789634A (en) * | 2019-09-30 | 2020-02-14 | 浙江理工大学 | Spiral propelling type operation platform suitable for complex terrain |
| CN112154749A (en) * | 2020-10-09 | 2021-01-01 | 中国农业大学 | Forward and backward synchronous steering active row alignment and posture adjustment device of no-tillage seeder |
| CN112840762A (en) * | 2021-03-01 | 2021-05-28 | 东北农业大学 | Automatic weeding mechanism between crop plants |
| CN113008549A (en) * | 2021-04-12 | 2021-06-22 | 宁波大学 | Variable-size RV reducer planetary gear stress measuring device and method |
| CN115380650A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive multi-drive agricultural machinery opposite-row transverse-moving deflection device |
-
2022
- 2022-01-11 CN CN202210025879.XA patent/CN115380649B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3269464A (en) * | 1963-07-24 | 1966-08-30 | Int Harvester Co | Implement control means for tractor operated agricultural implements |
| US4579038A (en) * | 1984-05-04 | 1986-04-01 | Deere & Company | Depth control valve and system for agricultural implements |
| CN208387303U (en) * | 2018-04-26 | 2019-01-18 | 郑宇虎 | A kind of multi-functional shrub cropper |
| CN109544596A (en) * | 2018-10-30 | 2019-03-29 | 浙江理工大学 | A kind of artificial intelligence binocular vision tracking mechanism of view-based access control model feedback |
| CN110789634A (en) * | 2019-09-30 | 2020-02-14 | 浙江理工大学 | Spiral propelling type operation platform suitable for complex terrain |
| CN112154749A (en) * | 2020-10-09 | 2021-01-01 | 中国农业大学 | Forward and backward synchronous steering active row alignment and posture adjustment device of no-tillage seeder |
| CN112840762A (en) * | 2021-03-01 | 2021-05-28 | 东北农业大学 | Automatic weeding mechanism between crop plants |
| CN113008549A (en) * | 2021-04-12 | 2021-06-22 | 宁波大学 | Variable-size RV reducer planetary gear stress measuring device and method |
| CN115380650A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive multi-drive agricultural machinery opposite-row transverse-moving deflection device |
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| CN115380649B (en) | 2024-03-22 |
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