CN212050193U - Straw collector - Google Patents
Straw collector Download PDFInfo
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- CN212050193U CN212050193U CN202020328824.2U CN202020328824U CN212050193U CN 212050193 U CN212050193 U CN 212050193U CN 202020328824 U CN202020328824 U CN 202020328824U CN 212050193 U CN212050193 U CN 212050193U
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Abstract
The utility model discloses a straw collector, which comprises a chassis and a straw collecting device, wherein the straw collecting device comprises a first oil cylinder, a supporting arm, a second oil cylinder, an upper gripper, a lower gripper, a third oil cylinder and a lifting arm; one end of the first oil cylinder is hinged with the chassis, the other end of the first oil cylinder is hinged with the supporting arm, one end of the lifting arm is hinged with the chassis, and the other end of the lifting arm is hinged with the lower gripper; one end of the third oil cylinder is fixed on the chassis, and the other end of the third oil cylinder is fixedly connected below the lifting arm and used for realizing the lifting of the lifting arm; the lifting arm is hinged with the supporting arm, and one end of the supporting arm is hinged with the lower gripper; one end of the second oil cylinder is hinged to the outer side of the lower gripper, and the other end of the second oil cylinder is connected with the tail end of the upper gripper; the upper gripper is hinged with the lower gripper. The straw collecting machine has the advantages of improving the straw collecting operation efficiency, reducing the operation cost and facilitating the transportation of farmers, thereby promoting the comprehensive utilization rate of straws and improving the straw collecting enthusiasm of farmers.
Description
Technical Field
The utility model relates to the field of agricultural machinery, concretely relates to straw collecting machine and control method thereof.
Background
China is a big agricultural country, and crops with a large variety of planted grain plants and the largest planting area comprise rice, corn, wheat and soybean. Therefore, the crop straw resources are very rich and large in quantity, and the straw has very wide application. But the problems of large occupied space of scattered straw storage, inconvenient transportation and the like are caused by low agricultural mechanization degree; and the existing crop straw collection cost is higher, and the peasant straw collection enthusiasm is low. Most of straws are burnt or discarded, and the local burning can cause a large amount of smoke, cause pollution to the environment and even influence the traffic safety. The comprehensive utilization of straw has attracted the high attention of the relevant national departments.
Therefore, a straw collecting machine which can improve the straw collecting operation efficiency, reduce the operation cost and facilitate the transportation of farmers is urgently needed to promote the comprehensive utilization rate of the straws and improve the enthusiasm of the farmers for collecting the straws.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problems in the prior art and providing a straw collector, which has the advantages of high working efficiency, low working cost and convenient transportation for farmers.
In order to achieve the above object, the technical solution of the present invention is: a straw collecting machine comprises a chassis and a straw collecting device, wherein the straw collecting device comprises a first oil cylinder, a supporting arm, a second oil cylinder, an upper gripper, a lower gripper, a third oil cylinder and a lifting arm; one end of the first oil cylinder is hinged with the chassis, the other end of the first oil cylinder is hinged with the supporting arm, one end of the lifting arm is hinged with the chassis, and the other end of the lifting arm is hinged with the lower gripper; one end of the third oil cylinder is fixed on the chassis, and the other end of the third oil cylinder is fixedly connected below the lifting arm and used for realizing the lifting of the lifting arm; the lifting arm is hinged with the supporting arm, and one end of the supporting arm is hinged with the lower gripper; one end of the second oil cylinder is hinged to the outer side of the lower gripper, and the other end of the second oil cylinder is connected with the tail end of the upper gripper; the upper gripper is hinged with the lower gripper.
Preferably, the upper gripper and the lower gripper are both L-shaped, and are buckled to form a closed mouth-shaped structure to realize the collection of the straws.
Preferably, the straw collector is controlled by an intelligent control system, and the intelligent control system comprises a sensor, an electric control device and an execution part.
Preferably, the intelligent control system comprises two sub-control systems, namely a collection mass subsystem and a lifting height subsystem.
Preferably, the electric control device comprises a controller, an input signal acquisition card, an A/D conversion module, a display device and a keyboard.
A control method of a straw collector comprises the following steps:
(I) acquiring input parameters of a field environment through a sensor;
(II) the controller executes a control algorithm and sends out an instruction;
and (III) starting the execution equipment to collect the straws.
Wherein, the step (III) specifically comprises the following processes:
1) the lifting arm is lowered, the gripper is placed at the lowest limit above the ground, the lower gripper is parallel to the ground, the upper gripper is in a completely opened state, the chassis is started, and the gripper is inserted into the material pile;
2) the second oil cylinder prompts the gripper to perform an action of gripping the material, and then the first oil cylinder prompts the gripper to turn backwards by 30-45 degrees;
3) lifting the lifting arm to a transportation position, and driving the chassis to drive the chassis to an unloading place;
4) operating a third oil cylinder, lifting the lifting arm to an upper limit position, and preparing for unloading;
5) lifting the straws to an unloading point, operating a first oil cylinder to turn over the gripper, simultaneously driving an upper gripper to open by a second oil cylinder for unloading, and then lifting the arm to restore the arm gripper to a transportation position;
6) after unloading, the chassis returns to the loading place from the unloading place in an idle way.
Preferably, an alarm system is arranged in the process of collecting the straws by the execution equipment to prevent the straw collector from planting in front.
As is well known by the technicians in the field, the most common accidents in the use of the straw collector are forward tilting accidents caused by tilting of the rear wheel and falling of the straw collector towards the direction of goods due to the fact that a grabbed object exceeds the rated quality in the grabbing process, so that economic losses and casualties are caused. This phenomenon is commonly referred to as pre-planting.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model provides a pair of improve straw and collect work efficiency, reduce the operating cost, make things convenient for the straw gathering machine of peasant transportation, promote the comprehensive utilization ratio of straw and improve the peasant and collect straw enthusiasm. The utility model discloses realize setting up alarm system in the collection process of straw and be used for preventing planting before the straw gathering machine at the executive equipment. The intelligent control system in the straw collector has a real-time display function and can display the quality and height of currently grabbed straws; the system has a history query function, and can query the record content of the past snatching parameters (height and quality); the straw grabbing device has a printing function, and the weight, the height, the total mass and the total height of the grabbed straws every time can be printed according to a working number; the system has an early warning function, and when overload is grabbed, the system can sound an alarm ring.
The intelligent control system comprises two sub-control systems, namely a collection quality subsystem and a lifting height subsystem. The collecting quality recording system can automatically display the quality of grabbing straws every time and the total quality of grabbing straws in the same day, so that the workload of the straw collecting machine is measured, and the quality of grabbing straws every time and the quality of all grabbed straws in the past are accumulated and counted. When the grabbed straws exceed the rated grabbing amount, the oil cylinder for lifting automatically stops lifting, and meanwhile, the alarm bell rings to remind an operator to put down the straws and reselect the grabbing object. The system can effectively prevent overload or underload, reduce the number of invalid roadster, save the operation time and improve the production efficiency. The lifting height subsystem can automatically display the height of grabbing straws every time and the total height of grabbing straws in the same day, so that the workload of the straw collecting arm claw is measured, and the average working rate (the mass of goods grabbed by the arm claw in unit height and unit time) of the straw collecting arm claw and the working rate (the mass of straws grabbed by the arm claw in unit height in the same day) of the straw collecting arm claw in the same day can be displayed.
Drawings
FIG. 1 is a schematic view of the straw collecting device of the present invention;
FIG. 2 is a schematic view of the straw collector under stress during operation.
Wherein: the device comprises a first oil cylinder 1, a support arm 2, a second oil cylinder 3, an upper gripper 4, a lower gripper 5, a third oil cylinder 6 and a lifting arm 7.
Detailed Description
The following detailed description of specific embodiments of the present disclosure will be described in conjunction with the accompanying drawings to assist those skilled in the art to more fully understand the present disclosure.
Example one
A straw collecting machine comprises a chassis and a straw collecting device, wherein the straw collecting device comprises a first oil cylinder 1, a supporting arm 2, a second oil cylinder 3, an upper gripper 4, a lower gripper 5, a third oil cylinder 6 and a lifting arm 7; one end of the first oil cylinder 1 is hinged with the chassis, the other end of the first oil cylinder is hinged with the support arm 2, one end of the lifting arm 7 is hinged with the chassis, and the other end of the lifting arm is hinged with the lower gripper 5; one end of the third oil cylinder 6 is fixed on the chassis, and the other end of the third oil cylinder is fixedly connected below the lifting arm 7 and used for realizing the lifting of the lifting arm 7; the lifting arm 7 is hinged with the supporting arm 2, and one end of the supporting arm 2 is hinged with the lower gripper 5; one end of the second oil cylinder 3 is hinged to the outer side of the lower hand grip 5, and the other end of the second oil cylinder is connected with the tail end of the upper hand grip 4; the upper hand grip 4 is hinged with the lower hand grip 5.
The upper hand grip 4 and the lower hand grip 5 are L-shaped and are buckled to form a closed mouth-shaped structure to collect straws.
The straw collector is controlled by an intelligent control system, and the intelligent control system comprises a sensor, an electric control device and an execution part.
The intelligent control system comprises two sub-control systems, namely a collection quality subsystem and a lifting height subsystem.
The electric control device comprises a controller, an input signal acquisition card, an A/D conversion module, a display device and a keyboard.
A control method of a straw collector comprises the following steps:
(I) acquiring input parameters of a field environment through a sensor;
(II) the controller executes a control algorithm and sends out an instruction;
(III) starting the execution equipment to collect the straws
The step (III) specifically includes the following processes:
1) the lifting arm 7 is lowered, the gripper is placed at the lowest limit above the ground, the lower gripper 5 is parallel to the ground, the upper gripper 4 is in a completely opened state, the chassis is started, and the gripper is inserted into the material pile;
2) the second oil cylinder 3 prompts the gripper to do the action of gripping the material, and then the first oil cylinder 1 prompts the gripper to turn backwards by 30-45 degrees;
3) the lifting arm 7 is lifted to a transportation position, and the driving chassis drives to an unloading place;
4) operating the third oil cylinder 6, lifting the lifting arm 7 to the upper limit position, and preparing for unloading;
5) lifting the straws to an unloading point, operating the first oil cylinder 1 to turn over the gripper, simultaneously driving the upper gripper 4 to open by the second oil cylinder 3 for unloading, and then lifting the lower lifting arm 7 after unloading the materials to restore the arm gripper to a transportation position;
6) after unloading, the chassis returns to the loading place from the unloading place in an idle way.
Example two
A straw collecting machine comprises a chassis and a straw collecting device, wherein the straw collecting device comprises a first oil cylinder 1, a supporting arm 2, a second oil cylinder 3, an upper gripper 4, a lower gripper 5, a third oil cylinder 6 and a lifting arm 7; one end of the first oil cylinder 1 is hinged with the chassis, the other end of the first oil cylinder is hinged with the support arm 2, one end of the lifting arm 7 is hinged with the chassis, and the other end of the lifting arm is hinged with the lower gripper 5; one end of the third oil cylinder 6 is fixed on the chassis, and the other end of the third oil cylinder is fixedly connected below the lifting arm 7 and used for realizing the lifting of the lifting arm 7; the lifting arm 7 is hinged with the supporting arm 2, and one end of the supporting arm 2 is hinged with the lower gripper 5; one end of the second oil cylinder 3 is hinged to the outer side of the lower hand grip 5, and the other end of the second oil cylinder is connected with the tail end of the upper hand grip 4; the upper hand grip 4 is hinged with the lower hand grip 5.
The upper hand grip 4 and the lower hand grip 5 are L-shaped and are buckled to form a closed mouth-shaped structure so as to collect the straws.
The straw collector is controlled by an intelligent control system, and the intelligent control system comprises a sensor, an electric control device and an execution part.
The intelligent control system comprises two sub-control systems, namely a collection quality subsystem and a lifting height subsystem.
The electric control device comprises a controller, an input signal acquisition card, an A/D conversion module, a display device and a keyboard.
A control method of a straw collector comprises the following steps:
(I) acquiring input parameters of a field environment through a sensor;
(II) the controller executes a control algorithm and sends out an instruction;
(III) starting the execution equipment to collect the straws
The step (III) specifically includes the following processes:
1) the lifting arm 7 is lowered, the gripper is placed at the lowest limit above the ground, the lower gripper 5 is parallel to the ground, the upper gripper 4 is in a completely opened state, the chassis is started, and the gripper is inserted into the material pile;
2) the second oil cylinder 3 prompts the gripper to do the action of gripping the material, and then the first oil cylinder 1 prompts the gripper to turn backwards by 30-45 degrees;
3) the lifting arm 7 is lifted to a transportation position, and the driving chassis drives to an unloading place;
4) operating the third oil cylinder 6, lifting the lifting arm 7 to the upper limit position, and preparing for unloading;
5) lifting the straws to an unloading point, operating the first oil cylinder 1 to turn over the gripper, simultaneously driving the upper gripper 4 to open by the second oil cylinder 3 for unloading, and then lifting the lower lifting arm 7 after unloading the materials to restore the arm gripper to a transportation position;
6) after unloading, the chassis returns to the loading place from the unloading place in an idle way.
An alarm system is arranged in the straw collecting process of the execution equipment for preventing the straw collecting machine from being planted in front.
FIG. 2 is a schematic view of the straw collector under stress during operation, wherein Mg is the total gravity of the straw collector during operation, and Mg is the total gravity of the gripper and the grabbed goods. As can be seen from the figure, in the process of picking up the overloaded goods and planting the goods in the working process of the straw collector, the pressure of the rear wheels to the ground is continuously reduced, and when the pressure of the rear wheels to the ground is reduced to 0, the rear wheels are about to leave the ground. Before the moment, if the lifting is not stopped, the rear wheels of the straw collector can be tilted by the goods and leave the ground, and the straw collector can be planted forwards around the center of the front wheel shaft. If the straw collector reminds a driver to stop grabbing through the alarm device or locks the hydraulic oil cylinder for lifting through the automatic control device, the straw collector cannot be lifted continuously, and then the occurrence of a forward planting accident can be prevented and avoided.
While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the general inventive concept, and it is intended to cover all such changes and modifications as fall within the true spirit and scope of the invention.
Claims (5)
1. The utility model provides a straw collecting machine, includes chassis and straw collection device, its characterized in that: the straw collecting device comprises a first oil cylinder (1), a supporting arm (2), a second oil cylinder (3), an upper gripper (4), a lower gripper (5), a third oil cylinder (6) and a lifting arm (7); one end of the first oil cylinder (1) is hinged with the chassis, the other end of the first oil cylinder is hinged with the supporting arm (2), one end of the lifting arm (7) is hinged with the chassis, and the other end of the lifting arm is hinged with the lower gripper (5); one end of a third oil cylinder (6) is fixed on the chassis, and the other end of the third oil cylinder is fixedly connected below the lifting arm (7) and used for lifting the lifting arm (7); the lifting arm (7) is hinged with the supporting arm (2), and one end of the supporting arm (2) is hinged with the lower gripper (5); one end of the second oil cylinder (3) is hinged to the outer side of the lower gripper (5), and the other end of the second oil cylinder is connected with the tail end of the upper gripper (4); the upper gripper (4) is hinged with the lower gripper (5).
2. The straw harvester of claim 1, wherein: the upper gripper (4) and the lower gripper (5) are L-shaped, and are buckled to form a closed mouth-shaped structure to collect straws.
3. The straw harvester of claim 1, wherein: the straw collector is controlled by an intelligent control system, and the intelligent control system comprises a sensor, an electric control device and an execution part.
4. The straw harvester of claim 3, wherein: the intelligent control system comprises two sub-control systems, namely a collection quality subsystem and a lifting height subsystem.
5. The straw harvester of claim 3, wherein: the electric control device comprises a controller, an input signal acquisition card, an A/D conversion module, a display device and a keyboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020328824.2U CN212050193U (en) | 2020-03-17 | 2020-03-17 | Straw collector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020328824.2U CN212050193U (en) | 2020-03-17 | 2020-03-17 | Straw collector |
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| CN212050193U true CN212050193U (en) | 2020-12-01 |
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| CN202020328824.2U Active CN212050193U (en) | 2020-03-17 | 2020-03-17 | Straw collector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111285246A (en) * | 2020-03-17 | 2020-06-16 | 黑龙江省农业科学院畜牧研究所 | Straw collector and control method thereof |
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- 2020-03-17 CN CN202020328824.2U patent/CN212050193U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111285246A (en) * | 2020-03-17 | 2020-06-16 | 黑龙江省农业科学院畜牧研究所 | Straw collector and control method thereof |
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