CN210016985U - Front-mounted seedling dividing profiling acquisition control system of leaf vegetable harvester - Google Patents
Front-mounted seedling dividing profiling acquisition control system of leaf vegetable harvester Download PDFInfo
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- CN210016985U CN210016985U CN201920546804.XU CN201920546804U CN210016985U CN 210016985 U CN210016985 U CN 210016985U CN 201920546804 U CN201920546804 U CN 201920546804U CN 210016985 U CN210016985 U CN 210016985U
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- profiling
- seedling dividing
- angle sensor
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Abstract
The utility model provides a leaf class vegetable harvester forward type divides standing grain profile modeling collection control system. The front-mounted seedling dividing profiling acquisition control system of the leaf vegetable harvester comprises a mounting frame, a seedling dividing profiling device, a profiling wheel and a cutting table electric cylinder, wherein the seedling dividing profiling device is connected with the mounting frame and can float up and down; the profiling wheel is positioned behind the seedling dividing profiling device, is connected with the mounting frame and can float up and down; the mounting frame is also rotationally connected with a first angle sensor for measuring the floating amplitude of the profiling wheel and a second angle sensor for measuring the floating amplitude of the seedling dividing profiling device; the first angle sensor, the second angle sensor and the header electric cylinder are all electrically connected with the controller.
Description
Technical Field
The utility model relates to a leaf class vegetable harvester forward type divides standing grain profile modeling collection control system, the device are fit for planting intensive leaf class vegetable harvest operation and use, belong to the agricultural machine field.
Background
The vegetable industry is the strut industry of agricultural economy in China and is also the leading industry of farmer income, the money bag of farmers and the vegetable basket of urban residents are concerned, and the important components of the leaf vegetables as the vegetable industry account for about 40 percent of the vegetable production. Leaf vegetables represented by rape, spinach, leaf lettuce and the like have strong growth adaptability and large market demand, and are most suitable for large-scale and large-scale planting in leaf vegetables. However, the current domestic leaf vegetable mechanized production overall level is less than 20 percent due to the unsatisfactory operation quality of related equipment and the influence of the missing of key equipment. With the gradual scale, intensive and standardized development of vegetable production, the problems of mechanization and low intelligent level of leaf vegetable production are highlighted. At present, the automatic operation degree of leaf vegetable harvesting key equipment is low, the ground-attaching distance of a header is required to be about 1cm particularly when vegetables such as small rapes, spinach and leaf lettuce are harvested, the cutting position needs to be reduced to ensure the harvest phase, and the phenomenon that a cutting knife is excessively low and brought into soil to increase the difficulty of later-stage sorting treatment needs to be prevented. Because the soil of the vegetable field is soft, the traditional mechanical hard limiting device is easy to have unsatisfactory sinking effect. And the vegetable leaves depend on manual control of the height of the header to block the sight, so that the reaction speed is low, the control difficulty is high, and the efficiency and the quality of harvesting operation are low. Therefore, the front-mounted seedling dividing profiling acquisition control system is researched, the front terrain of the harvester is accurately detected on the premise of removing vegetable leaves and preventing vegetable damage, the header is controlled to act in advance, and the front-mounted seedling dividing profiling acquisition control system has very important significance for improving profiling control precision and operation efficiency.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a leaf class vegetable harvester forward type divides standing grain profile modeling collection control system.
The utility model discloses a realize above-mentioned purpose, realize through following technical scheme:
a front-mounted seedling dividing profiling acquisition control system of a leaf vegetable harvester comprises a mounting frame, a seedling dividing profiling device, a profiling wheel and a cutting table electric cylinder, wherein the seedling dividing profiling device is connected with the mounting frame and can float up and down; the profiling wheel is positioned behind the seedling dividing profiling device, is connected with the mounting frame and can float up and down; the mounting frame is also rotationally connected with a first angle sensor for measuring the floating amplitude of the profiling wheel and a second angle sensor for measuring the floating amplitude of the seedling dividing profiling device; the first angle sensor, the second angle sensor and the header electric cylinder are all electrically connected with the controller.
The front-mounted seedling dividing profiling acquisition control system of the leaf vegetable harvester is preferably characterized in that the upper part of the seedling dividing profiling device is connected with a mounting frame through a connecting arm, the lower part of the seedling dividing profiling device is connected with one end of a supporting arm, the middle end of the supporting arm is connected with the mounting frame, the other end of the supporting arm is connected with one end of a seedling dividing profiling device connecting rod, the other end of the seedling dividing profiling device connecting rod is connected with a lower rocker arm, the lower rocker arm is connected with a second angle sensor through a first rotating shaft to form the mounting frame, and a seedling dividing device adjusting spring is arranged on the.
The front-mounted seedling dividing profiling acquisition control system of the leaf vegetable harvester is optimized, and the section of the supporting arm is U-shaped.
The front-mounted seedling dividing profiling acquisition control system of the leaf vegetable harvester is preferably characterized in that the profiling wheel is connected with one end of a profiling wheel connecting rod, the other end of the profiling wheel connecting rod is rotatably connected with one end of an upper rocker arm, the other end of the upper rocker arm is connected with a first angle sensor through a second rotating shaft to form a mounting frame, and a profiling wheel adjusting spring is arranged on the profiling wheel connecting rod.
The front-mounted seedling dividing profiling acquisition control system of the leaf vegetable harvester is optimized, the front end of the seedling dividing profiling device is in an acute angle shape, and the bottom of the seedling dividing profiling device is an arc surface.
The utility model has the advantages that:
through the real-time verification of feedback signals of the first angle sensor, the second angle sensor and the header electric cylinder, the controller controls the action speed and distance of the header electric cylinder, and the height between the cutting knife part and the ground is always in a set range value when the cutting knife part moves forward to the current seedling dividing profiling device detection position; the seedling dividing profiling device and the profiling wheel are independent relative to the cutting table, so that inaccurate detection caused by the influence of the cutting table action is avoided; the front terrain of the harvester is accurately detected on the premise of removing vegetable leaves and preventing vegetable damage, the header is controlled to act in advance, and the profiling control precision and the operation efficiency are improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic front view of a selected embodiment of the present invention.
Fig. 2 is a schematic top view of a selected embodiment of the invention.
Fig. 3 is a schematic front view of a mounting bracket according to selected embodiments of the present invention.
Figure 4 is a schematic side view of a mounting bracket according to selected embodiments of the present invention.
As shown in the figure:
1-a seedling dividing profiling device, 2-a profiling wheel, 3-a connecting arm, 4-a profiling wheel connecting rod, 5-an upper rocker arm, 6-a first angle sensor, 7-a second angle sensor, 8-a lower rocker arm, 9-a mounting rack, 10-a seedling dividing profiling device connecting rod, 11-a supporting arm, 12-a controller, 13-a cutting table electric cylinder, 14-a seedling dividing device adjusting spring, 15-a second rotating shaft, 16-a first rotating shaft, 17-a shaft body and 18-a profiling wheel adjusting spring.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.
A front-mounted seedling dividing profiling acquisition control system of a leaf vegetable harvester comprises a mounting frame 9, a seedling dividing profiling device 1, a profiling wheel 2 and a cutting table electric cylinder 13, wherein the seedling dividing profiling device 1 is connected with the mounting frame 9 and can float up and down; the profiling wheel 2 is positioned behind the seedling dividing profiling device 1, is connected with the mounting frame 9 and can float up and down; the mounting frame 9 is also rotationally connected with a first angle sensor 6 for measuring the floating amplitude of the profiling wheel 2 and a second angle sensor 7 for measuring the floating amplitude of the seedling dividing profiler 1; the first angle sensor 6, the second angle sensor 7 and the header electric cylinder 13 are all electrically connected with the controller 12.
Divide 1 upper portion of standing grain profiling device to connect 3 one ends of linking arm, the 3 other ends of linking arm pass through the axis body 17 and are connected with the rotation of mounting bracket 9, divide 1 lower part of standing grain profiling device to be connected with 11 one end of support arm, 11 middle-ends of support arm are connected with mounting bracket 9, 11 other ends of support arm are connected 10 one end of divider profiling device connecting rod, divide standing grain profiling device connecting rod 10 other end to connect down rocking arm 8, lower rocking arm 8 and second angle sensor 7 are connected mounting bracket 9 through first pivot 16, be equipped with divider regulating spring 14 on divider profiling device connecting rod 10. The support arm 11 is U-shaped in cross-section.
The contour wheel 2 is connected with one end of a contour wheel connecting rod 4, the other end of the contour wheel connecting rod 4 is rotatably connected with one end of an upper rocker arm 5, the other end of the upper rocker arm 5 is connected with a mounting frame 9 through a second rotating shaft 15 with a first angle sensor 6, and a contour wheel adjusting spring 18 is arranged on the contour wheel connecting rod 4.
The front end of the seedling dividing profiling device 1 is in an acute angle shape, so that the staggered and shielded vegetable leaves can be conveniently separated, and the bottom of the seedling dividing profiling device is an arc surface and can be smoothly contacted with the ground.
A harvesting control method utilizing a front-mounted seedling dividing profiling acquisition control system of a leaf vegetable harvester comprises the following steps:
(1) before operation, a driver can set the distance between the cutting knife and the ground through the controller, the seedling dividing profiling device moves up and down, the second angle sensor 7 generates time-varying voltage signals according to different swing amplitudes and transmits the time-varying voltage signals to the controller, and the terrain change of the fixed position of the front end of the cutting knife is detected;
(2) when the harvester moves forwards, the contour wheel 2 moves up and down under the influence of the fluctuation of the ground, the contour wheel 2 moves, and the first angle sensor 6 generates a time-varying voltage signal according to different swing amplitudes and transmits the voltage signal to the controller;
Ɵ -included angle between vertical ground edge and L edge of header rotary connection point
Distance from a-cutting table rotary connecting point to cutting table and cutting table electric cylinder connecting point
b-distance from rotary connecting point of cutting table to rotary connecting point of electric cylinder of cutting table
c1 initial distance from header and header electric cylinder connection point to header electric cylinder rotation connection point
c 2-pre-action rear distance from header and header electric cylinder connecting point to header electric cylinder rotating connecting point
And calculating the time required for the cutter to move to the position of the seedling dividing profiling device according to the advancing speed v acquired from the harvester(d-installation distance from the seedling dividing profiling device to the cutter);
(4) through prediction calculation, real-time verification of a first angle sensor signal and a header electric cylinder (13) feedback signal, the controller controls the speed and the distance of the header electric cylinder (13) to act, and the distance between the cutting knife part and the ground is always within a set range value when the cutting knife part moves forward to the current seedling dividing profiling device detection position.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The utility model provides a leaf class vegetable harvester forward type divides standing grain profile modeling collection control system, includes mounting bracket (9), divides standing grain profiling mechanism (1), profile wheel (2) and header electric cylinder (13), its characterized in that: the seedling dividing profiling device (1) is connected with the mounting rack (9) and can float up and down; the profiling wheel (2) is positioned behind the seedling dividing profiling device (1), is connected with the mounting rack (9) and can float up and down; the mounting rack (9) is also rotatably connected with a first angle sensor (6) for measuring the floating amplitude of the profiling wheel (2) and a second angle sensor (7) for measuring the floating amplitude of the seedling dividing profiling device (1); the first angle sensor (6), the second angle sensor (7) and the header electric cylinder (13) are electrically connected with the controller (12).
2. The front-mounted seedling dividing profiling collection control system of the leaf vegetable harvester according to claim 1, characterized in that: divide standing grain profiling ware (1) upper portion to be connected with mounting bracket (9) through linking arm (3), divide standing grain profiling ware (1) lower part to be connected with support arm (11) one end, support arm (11) middle-end is connected with mounting bracket (9), branch standing grain profiling ware connecting rod (10) one end is connected to support arm (11) other end, branch standing grain profiling ware connecting rod (10) other end is connected down rocking arm (8), lower rocking arm (8) and second angle sensor (7) are through first pivot connection mounting bracket (9), be equipped with divider regulating spring (14) on branch standing grain profiling ware connecting rod (10).
3. The front-mounted seedling dividing profiling collection control system of the leaf vegetable harvester according to claim 1, characterized in that: the section of the supporting arm (11) is U-shaped.
4. The front-mounted seedling dividing profiling collection control system of the leaf vegetable harvester according to claim 1, characterized in that:
one end of a profiling wheel connecting rod (4) is connected with the profiling wheel (2), the other end of the profiling wheel connecting rod (4) is rotatably connected with one end of an upper rocker arm (5), the other end of the upper rocker arm (5) is connected with a first angle sensor (6) through a second rotating shaft to form a mounting frame (9), and a profiling wheel adjusting spring (18) is arranged on the profiling wheel connecting rod (4).
5. The front-mounted seedling dividing profiling collection control system of the leaf vegetable harvester according to claim 1, characterized in that: the front end of the seedling dividing profiling device (1) is in an acute angle shape, and the bottom is an arc surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920546804.XU CN210016985U (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system of leaf vegetable harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920546804.XU CN210016985U (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system of leaf vegetable harvester |
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| Publication Number | Publication Date |
|---|---|
| CN210016985U true CN210016985U (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920546804.XU Expired - Fee Related CN210016985U (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system of leaf vegetable harvester |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110036759A (en) * | 2019-04-22 | 2019-07-23 | 山东省农业机械科学研究院 | Leafy vegetable cropper forward type divides standing grain profiling acquisition control system and harvest control method |
-
2019
- 2019-04-22 CN CN201920546804.XU patent/CN210016985U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110036759A (en) * | 2019-04-22 | 2019-07-23 | 山东省农业机械科学研究院 | Leafy vegetable cropper forward type divides standing grain profiling acquisition control system and harvest control method |
| WO2020216036A1 (en) * | 2019-04-22 | 2020-10-29 | 山东省农业机械科学研究院 | Front-mounted crop dividing and profiling collection control system for leaf vegetable harvester and harvest control method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200207 Termination date: 20210422 |
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| CF01 | Termination of patent right due to non-payment of annual fee |