CN204759210U - Millet robot is received to small -size grain -sunning ground - Google Patents
Millet robot is received to small -size grain -sunning ground Download PDFInfo
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- CN204759210U CN204759210U CN201520365393.6U CN201520365393U CN204759210U CN 204759210 U CN204759210 U CN 204759210U CN 201520365393 U CN201520365393 U CN 201520365393U CN 204759210 U CN204759210 U CN 204759210U
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- millet
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- paddy
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Abstract
The utility model discloses a millet robot is received to small -size grain -sunning ground, including circuit part and mechanical part. Mechanical part is become by millet centralized arrangement, millet suction apparatus, discharge apparatus and walking chassis assembly. The circuit part comprises GSM module, electron compass, the unit that tests the speed, ultrasonic wave positioning system and control system, the input of GSM module, electron compass, the unit that tests the speed, ultrasonic wave positioning system connection control system, millet centralized arrangement, millet suction apparatus, discharge apparatus and walking chassis are connected to control system's output. The utility model discloses a principle simple reliable, safeguard simply, can provide the millet robot is received to small -size grain -sunning ground that a price is comparatively cheap for numerous friend peasants to realize that it is automatic, alleviate intensity of labour, improve the efficiency of grain -production.
Description
Technical field
The utility model relates to agricultural automation mechanical field, is specifically related to a kind of small-sized grain-sunning ground harvester device people.
Background technology
At present, the paddy rice of south China hilly and mountainous land is mainly based on smallholder's plantation, have to pass through after rice harvesting and the operation such as to dry and could be stored, existing dryer build is large, price is high, be not suitable for smallholder use, therefore rice harvesting return after peasant household be transported to grain-sunning ground airing, but the airing time is period in busy farming season, when people not time may rain and cause cereal to drench, be therefore badly in need of carrying out Long-distance Control and can the small-sized grain-sunning ground harvester device people of whole-process automatic operation.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of small-sized grain-sunning ground harvester device people, and it can carry out grain-sunning ground and receive paddy operation in prosthetic control situation.
For solving the problem, the utility model is achieved through the following technical solutions:
A kind of small-sized grain-sunning ground harvester device people, comprises circuit part and mechanical part, wherein:
Foregoing circuit part is made up of gsm module, electronic compass, the unit that tests the speed, ultrasonic positioning system and control system; The input end of gsm module, electronic compass, the unit that tests the speed, ultrasonic positioning system connection control system, the output terminal of control system connects millet centralised arrangement, millet suction apparatus, device for discharging and walking chassis;
Above-mentioned mechanical part is made up of millet centralised arrangement, millet suction apparatus, device for discharging and walking chassis;
Walking chassis is made up of sole and the universal follower under being arranged on sole, 2 driving wheels, 2 reducing motors and 2 shaft couplings; Universal follower and 2 driving wheels are arranged into triangle under sole, and 2 driving wheels are respectively driven by 1 shaft coupling by 1 reducing motor; Be 2 driving wheels during robot ambulation front and universal wheel does accompany movement; 2 reducing motors are all connected with control system;
Millet centralised arrangement is arranged on the top of sole, forms by sweeping valley head and sweeping valley head lifting unit; Sweep valley head to comprise paddy box, sweep paddy direct current generator and 4 drum brushes; 4 drum swabbing safeties are contained in the anterior porch of paddy box, and the axis of 4 drum brushes is arranged in a quadrilateral; 4 drum brushes with sweep paddy direct current generator and be connected, sweep paddy direct current generator and be connected with control system, sweep paddy DC motor Driver 4 drum brushes and rotate towards the center position of formed quadrilateral; Sweep valley head lifting unit and comprise stepper motor and screw rod, the lower end of screw rod connects the paddy box sweeping valley head, and the upper end of screw rod connects the output terminal of stepper motor, and stepper motor is connected with control system, and drive screw drives and sweeps valley head elevating movement;
Millet suction apparatus is arranged on the top of sole, is made up of the gathering barrel sealed, suction DC fan, screen pack and flexible pipe; The rear portion outlet of paddy box connects the anterior entrance of gathering barrel through flexible pipe; Suck the outside that DC fan is arranged on gathering barrel, and the suction air intake vent of DC fan communicates with the inner chamber of gathering barrel; Suck DC fan to be connected with control system; Screen pack covers the air intake vent place sucking DC fan;
Device for discharging is arranged on the top of sole, is made up of discharging stepper motor, traction rope and gland bonnet; The stiff end of gland bonnet is articulated in the edge of the rear portion outlet of gathering barrel, and the outlet of gathering barrel covers by gland bonnet completely; One end of traction rope is connected to the active segment of gland bonnet, and the other end is connected on stepper motor; Stepper motor is connected with control system, stepper motor rotarily drive tightening up and loosening of traction rope, thus complete the process of gland bonnet opening and closing.
In such scheme, ultrasonic positioning system is made up of the cell site be arranged in robot and the multiple guidance stations being arranged on grain-sunning ground periphery;
Cell site comprises transmitting terminal single-chip microcomputer and the ultrasonic transmitting element that is connected with transmitting terminal single-chip microcomputer and transmitting terminal wireless receiving and dispatching communicating circuit; Ultrasonic transmitting element is made up of pulse transformer, ultrasound wave emitting head and transmitting ball, the input end of pulse transformer is connected with transmitting terminal single-chip microcomputer, the output terminal of pulse transformer connects ultrasound wave emitting head, launching ball is positioned at directly over ultrasound wave emitting head, and the exit direction of ultrasound wave emitting head vertically upward; Transmitting terminal single-chip microcomputer and receiving end single-chip microcomputer connection control system;
Each guidance station includes receiving end single-chip microcomputer, with the serial communication circuit be connected with receiving end single-chip microcomputer, ultrasound wave receiving circuit and receiving end wireless receiving and dispatching communicating circuit; Receiving end wireless receiving and dispatching communicating circuit and the wireless connections of transmitting terminal wireless receiving and dispatching communicating circuit; Ultrasound wave receiving circuit is connected with ultrasonic transmit circuit; By serial communication circuit wired connection between each guidance station.
In such scheme, the unit that tests the speed comprises test the speed single-chip microcomputer and 2 unit that test the speed, these 22 the driving wheel places of cellular installation on walking chassis that test the speed; The output terminal of 2 unit that test the speed connects the single-chip microcomputer that tests the speed, and test single-chip microcomputer is connected with control system.
In such scheme, sweep valley head lifting unit and also comprise 2 polished rods further, these 2 polished rods divide the both sides being located at screw rod, and polished rod is parallel with screw rod, and polished rod runs through overscan valley head, and sweep valley head and move up and down along polished rod.
Compared with prior art, the principle that the utility model adopts is simple and reliable, safeguards simple, a kind of price small-sized grain-sunning ground harvester device people inexpensively can be provided for vast farmers friend, and realize its robotization, reduce labor intensity, improve the efficiency of grain-production.
Accompanying drawing explanation
Fig. 1 is the Machinery Ministry component of a kind of small-sized grain-sunning ground harvester device people.
Fig. 2 is circuit part's component of a kind of small-sized grain-sunning ground harvester device people.
Number in the figure: 1, millet centralised arrangement; 2, millet suction apparatus; 3, device for discharging; 4, walking chassis.
Embodiment
A kind of small-sized grain-sunning ground harvester device people, comprises mechanical part and circuit part in two sub-sections, wherein:
Mechanical part, as shown in Figure 1: be made up of millet centralised arrangement 1, millet suction apparatus 2, the several part of device for discharging 3 and walking chassis 4.
Walking chassis 4 is made up of sole and the universal follower under being arranged on sole, 2 driving wheels, 2 reducing motors and 2 shaft couplings.Universal follower and 2 driving wheels are arranged into triangle under sole, and 2 driving wheels are respectively driven by 1 shaft coupling by 1 reducing motor.Be 2 driving wheels during robot ambulation front and universal wheel does accompany movement.Control system realizes the walking posture of robot by the rotating speed of control 2 driving wheels, and namely when the speed of both sides reducing motor is the same, robot realizes constant speed and keeps straight on; When the speed of both sides reducing motor is different, robot realizes differential and turns.
Millet centralised arrangement 1 is arranged on the top of sole, form by sweeping valley head and sweeping valley head lifting unit, millet on robot ambulation path can be put together a position by it, is conducive to the less power of millet suction apparatus 2 like this and is blotted only by the millet on robot ambulation path.Sweep valley head to comprise paddy box, sweep paddy direct current generator and 4 drum brushes.4 drum swabbing safeties are contained in the anterior porch of paddy box, and the axis of 4 drum brushes is arranged in a quadrilateral.4 drum brushes with sweep paddy direct current generator and be connected, sweep paddy direct current generator to be connected with control system, sweep paddy DC motor Driver 4 drum brushes to rotate towards the center position of formed quadrilateral, millet is swept to valley head inside, now millet can be concentrated in the middle part of paddy box, is easily sucked by negative pressure suction apparatus to make millet.Sweep valley head lifting unit and comprise stepper motor and screw rod, the lower end of screw rod connects the paddy box sweeping valley head, and the upper end of screw rod connects the output terminal of stepper motor, and stepper motor is connected with control system, and drive screw drives and sweeps valley head elevating movement.In order to prevent the swing of sweeping valley head, described in sweep valley head lifting unit and also comprise 2 polished rods further, these 2 polished rods divide the both sides being located at screw rod, and polished rod is parallel with screw rod, and polished rod runs through overscan valley head, and sweep valley head and move up and down along polished rod.Can also be elevated owing to sweeping valley head, so when millet is not received by robot kinetic friction force will reduce.
Millet suction apparatus 2 is arranged on the top of sole, by the gathering barrel sealed, sucks DC fan, screen pack and flexible pipe and forms, and its principle, from the principle of suction cleaner, can be drawn onto in gathering barrel sweeping the millet that valley head concentrates in together.The rear portion outlet of paddy box connects the anterior entrance of gathering barrel through flexible pipe.Suck the outside that DC fan is arranged on gathering barrel, and the suction air intake vent of DC fan communicates with the inner chamber of gathering barrel.Suck DC fan to be connected with control system; Sucking DC fan operationally can make gathering barrel produce huge negative pressure, and the millet in millet centralised arrangement 1 is entered in gathering barrel by flexible pipe.Cover screen pack at the air intake vent place sucking DC fan, enter into avoid millet and suck in DC fan, cause the damage sucking DC fan.
Device for discharging 3 is arranged on the top of sole, is made up of discharging stepper motor, traction rope and gland bonnet.The stiff end of gland bonnet is articulated in the edge of the rear portion outlet of gathering barrel, and the outlet of gathering barrel covers by gland bonnet completely.One end of traction rope is connected to the active segment of gland bonnet, and the other end is connected on stepper motor.Control system rotarily drives tightening up and loosening of traction rope by stepper motor, thus completes the process of gland bonnet opening and closing.When letting out paddy, gland bonnet is opened; When receiving paddy, gland bonnet closes.And in order to coordinate device for discharging 3 to allow millet oneself inside gathering barrel unload, the bottom of gathering barrel is dip plane, namely the outlet of gathering barrel rear portion is lower than anterior entrance, and like this when opening device for discharging 3, millet just can go because of outside oneself gravity just outflow bucket.
Circuit part, as shown in Figure 2: be made up of gsm module, electronic compass, the unit that tests the speed, ultrasonic positioning system and control system.The input end of gsm module, electronic compass, the unit that tests the speed, ultrasonic positioning system connection control system, the output terminal of control system connects millet centralised arrangement 1, millet suction apparatus 2, device for discharging 3 and walking chassis 4.
Gsm module can receive SMS, and when owner stays out time, When the Rain Comes, and gsm module reaches control system after the owner received is received paddy note, and control system control startup immediately goes to receive millet.
Ultrasonic positioning system is made up of the cell site be arranged in robot and the multiple guidance stations being arranged on grain-sunning ground periphery.Cell site comprises transmitting terminal single-chip microcomputer and the ultrasonic transmitting element that is connected with transmitting terminal single-chip microcomputer and transmitting terminal wireless receiving and dispatching communicating circuit.Transmitting terminal single-chip microcomputer and receiving end single-chip microcomputer connection control system.Launch due to ultrasound wave and cannot cover 360 degree, therefore transmit to surrounding 360 degree transmitting to realize ultrasound wave, ultrasonic transmitting element of the present utility model is made up of pulse transformer, ultrasound wave emitting head and transmitting ball.The input end of pulse transformer is connected with transmitting terminal single-chip microcomputer, and the output terminal of pulse transformer connects ultrasound wave emitting head.Wherein launching ball is positioned at directly over ultrasound wave emitting head, and vertically upward, launching ball can, to four sides reflection supersonic wave, make ultrasonic directional become theaomni-directional transmission to the exit direction of ultrasound wave emitting head.In the utility model preferred embodiment, 8 pulses being produced 40khz by transmitting terminal single-chip microcomputer make to make ultrasound wave emitting head launch ultrasound wave by pulse transformer boosting, and pulse transformer adopts no-load voltage ratio 1:10, strengthens the power that ultrasound wave is launched.Serial communication circuit, ultrasound wave receiving circuit and receiving end wireless receiving and dispatching communicating circuit that each guidance station includes receiving end single-chip microcomputer and is connected with receiving end single-chip microcomputer.Ultrasound wave receiving circuit wireless connections ultrasonic transmit circuit, for detecting ultrasonic signal.Receiving end wireless receiving and dispatching communicating circuit wireless connections transmitting terminal wireless receiving and dispatching communicating circuit.By serial communication circuit wired connection between each guidance station.The number of guidance station sets according to the place size of grain-sunning ground, at least needs the diagonal angle place being set in grain-sunning ground.For rectangular grain-sunning ground, can adopt 6 guidance stations, wherein 4 guidance station distributing installations are at 4 diagonal angles place of rectangle grain-sunning ground, and other 2 ultrasonic sensors are arranged on the midpoint on the long limit of rectangle grain-sunning ground.Signal is sent by transmitting terminal wireless receiving and dispatching communicating circuit ready by guidance station when small-sized grain-sunning ground harvester device people will position, after each navigation response is ready, ultrasonic transmitting element launches ultrasound wave, the distance that ultrasound wave due to ultrasonic transmitting element transmitting arrives each guidance station and each ultrasound wave receiving circuit is different, therefore time of arrival is different, and each guidance station makes the clock of the receiving end single-chip microcomputer of each guidance station consistent by serial communication circuit, then ultrasound wave arrival two mistimings of at least 3 guidance stations and the coordinate of guidance station itself are obtained the coordinate of small-sized grain-sunning ground harvester device people, small-sized grain-sunning ground harvester device people is sent back to through transmitting terminal wireless receiving and dispatching communicating circuit by receiving end wireless receiving and dispatching communicating circuit.
The unit that tests the speed comprises test the speed single-chip microcomputer and 2 unit that test the speed, these 22 the driving wheel places of cellular installation on walking chassis 4 that test the speed; The output terminal of 2 unit that test the speed connects the single-chip microcomputer that tests the speed, and test single-chip microcomputer is connected with control system.The unit that tests the speed adopts cheap Hall element, coordinates with it, fills the small magnet of some inside driving wheel, when Hall element can uprise close to level during magnet, step-down when not tapping into, so just has the change of level, can obtain the speed of driving wheel according to m/t method.Test the speed unit by anti-muddled for speed to control system, control system is by comparing its direction of travel of velocity estimated of 2 driving wheels, and make the speed rotation on request of two driving wheels according to setting by PID adjustment, control straight line moving or turning, control with the run trace realizing robot.
Electronic compass passes the angle of the direction faced by current for the robot detected and deflection angle back control system, and control system is used for determining on the map set oneself traffic direction to robot.
Claims (4)
1. a small-sized grain-sunning ground harvester device people, is characterized in that: comprise circuit part and mechanical part, wherein:
Foregoing circuit part is made up of gsm module, electronic compass, the unit that tests the speed, ultrasonic positioning system and control system; The input end of gsm module, electronic compass, the unit that tests the speed, ultrasonic positioning system connection control system, the output terminal of control system connects millet centralised arrangement (1), millet suction apparatus (2), device for discharging (3) and walking chassis (4);
Above-mentioned mechanical part is made up of millet centralised arrangement (1), millet suction apparatus (2), device for discharging (3) and walking chassis (4);
Walking chassis (4) is made up of sole and the universal follower under being arranged on sole, 2 driving wheels, 2 reducing motors and 2 shaft couplings; Universal follower and 2 driving wheels are arranged into triangle under sole, and 2 driving wheels are respectively driven by 1 shaft coupling by 1 reducing motor; Be 2 driving wheels during robot ambulation front and universal wheel does accompany movement; 2 reducing motors are all connected with control system;
Millet centralised arrangement (1) is arranged on the top of sole, forms by sweeping valley head and sweeping valley head lifting unit; Sweep valley head to comprise paddy box, sweep paddy direct current generator and 4 drum brushes; 4 drum swabbing safeties are contained in the anterior porch of paddy box, and the axis of 4 drum brushes is arranged in a quadrilateral; 4 drum brushes with sweep paddy direct current generator and be connected, sweep paddy direct current generator and be connected with control system, sweep paddy DC motor Driver 4 drum brushes and rotate towards the center position of formed quadrilateral; Sweep valley head lifting unit and comprise stepper motor and screw rod, the lower end of screw rod connects the paddy box sweeping valley head, and the upper end of screw rod connects the output terminal of stepper motor, and stepper motor is connected with control system, and drive screw drives and sweeps valley head elevating movement;
Millet suction apparatus (2) is arranged on the top of sole, is made up of the gathering barrel sealed, suction DC fan, screen pack and flexible pipe; The rear portion outlet of paddy box connects the anterior entrance of gathering barrel through flexible pipe; Suck the outside that DC fan is arranged on gathering barrel, and the suction air intake vent of DC fan communicates with the inner chamber of gathering barrel; Suck DC fan to be connected with control system; Screen pack covers the air intake vent place sucking DC fan;
Device for discharging (3) is arranged on the top of sole, is made up of discharging stepper motor, traction rope and gland bonnet; The stiff end of gland bonnet is articulated in the edge of the rear portion outlet of gathering barrel, and the outlet of gathering barrel covers by gland bonnet completely; One end of traction rope is connected to the active segment of gland bonnet, and the other end is connected on stepper motor; Stepper motor is connected with control system, stepper motor rotarily drive tightening up and loosening of traction rope, thus complete the process of gland bonnet opening and closing.
2. one according to claim 1 small-sized grain-sunning ground harvester device people, is characterized in that: ultrasonic positioning system is made up of the cell site be arranged in robot and the multiple guidance stations being arranged on grain-sunning ground periphery;
Cell site comprises transmitting terminal single-chip microcomputer and the ultrasonic transmitting element that is connected with transmitting terminal single-chip microcomputer and transmitting terminal wireless receiving and dispatching communicating circuit; Ultrasonic transmitting element is made up of pulse transformer, ultrasound wave emitting head and transmitting ball, the input end of pulse transformer is connected with transmitting terminal single-chip microcomputer, the output terminal of pulse transformer connects ultrasound wave emitting head, launching ball is positioned at directly over ultrasound wave emitting head, and the exit direction of ultrasound wave emitting head vertically upward; Transmitting terminal single-chip microcomputer and receiving end single-chip microcomputer connection control system;
Each guidance station includes receiving end single-chip microcomputer, with the serial communication circuit be connected with receiving end single-chip microcomputer, ultrasound wave receiving circuit and receiving end wireless receiving and dispatching communicating circuit; Receiving end wireless receiving and dispatching communicating circuit and the wireless connections of transmitting terminal wireless receiving and dispatching communicating circuit; Ultrasound wave receiving circuit is connected with ultrasonic transmit circuit; By serial communication circuit wired connection between each guidance station.
3. one according to claim 1 small-sized grain-sunning ground harvester device people, is characterized in that: the unit that tests the speed comprises test the speed single-chip microcomputer and 2 unit that test the speed, these 22 the driving wheel places of cellular installation in walking chassis (4) that test the speed; The output terminal of 2 unit that test the speed connects the single-chip microcomputer that tests the speed, and test single-chip microcomputer is connected with control system.
4. one according to claim 1 small-sized grain-sunning ground harvester device people, it is characterized in that: sweep valley head lifting unit and also comprise 2 polished rods further, these 2 polished rods divide the both sides being located at screw rod, and polished rod is parallel with screw rod, polished rod runs through overscan valley head, and sweeps valley head and move up and down along polished rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520365393.6U CN204759210U (en) | 2015-05-29 | 2015-05-29 | Millet robot is received to small -size grain -sunning ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520365393.6U CN204759210U (en) | 2015-05-29 | 2015-05-29 | Millet robot is received to small -size grain -sunning ground |
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| Publication Number | Publication Date |
|---|---|
| CN204759210U true CN204759210U (en) | 2015-11-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520365393.6U Withdrawn - After Issue CN204759210U (en) | 2015-05-29 | 2015-05-29 | Millet robot is received to small -size grain -sunning ground |
Country Status (1)
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| CN (1) | CN204759210U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104834315A (en) * | 2015-05-29 | 2015-08-12 | 桂林电子科技大学 | Small grain reaping robot of grain sunning ground and control method of robot |
| CN105583154A (en) * | 2016-01-10 | 2016-05-18 | 黄庆梅 | Low-cost harvester |
| CN105807822A (en) * | 2016-03-16 | 2016-07-27 | 河南工业大学 | Intelligent detection and monitoring system for grain condition of grain depot |
| CN109533492A (en) * | 2019-01-07 | 2019-03-29 | 桂林电子科技大学 | A kind of intelligent cereal bagging device and method based on binocular vision |
-
2015
- 2015-05-29 CN CN201520365393.6U patent/CN204759210U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104834315A (en) * | 2015-05-29 | 2015-08-12 | 桂林电子科技大学 | Small grain reaping robot of grain sunning ground and control method of robot |
| CN104834315B (en) * | 2015-05-29 | 2017-09-08 | 桂林电子科技大学 | Small-sized grain-sunning ground harvester device people and its control method |
| CN105583154A (en) * | 2016-01-10 | 2016-05-18 | 黄庆梅 | Low-cost harvester |
| CN105807822A (en) * | 2016-03-16 | 2016-07-27 | 河南工业大学 | Intelligent detection and monitoring system for grain condition of grain depot |
| CN109533492A (en) * | 2019-01-07 | 2019-03-29 | 桂林电子科技大学 | A kind of intelligent cereal bagging device and method based on binocular vision |
| CN109533492B (en) * | 2019-01-07 | 2024-01-12 | 桂林电子科技大学 | Intelligent grain bagging device and method based on binocular vision |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151111 Effective date of abandoning: 20170908 |
|
| AV01 | Patent right actively abandoned |