CN213638794U

CN213638794U - Crop thinning machine

Info

Publication number: CN213638794U
Application number: CN202022333972.6U
Authority: CN
Inventors: 刘福聪; 张国鹏; 蔡玉俊
Original assignee: Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Current assignee: Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2021-07-09
Anticipated expiration: 2030-10-19

Abstract

The utility model relates to a crops thinning machine, include: the rack is used for supporting other mechanisms; the traveling mechanism is arranged below the horizontal rack and used for traveling of the thinning machine; the translation mechanism is arranged on the vertical rack and is used for translating the hoe blade device on the machine body; the lifting mechanism is arranged on the translation sliding plate of the translation mechanism and is used for lifting the hoe blade device on the machine body; the hoe blade device is arranged at the bottom of a lifting workbench of the lifting mechanism and is used for matching with the translation mechanism and the lifting mechanism to clamp and remove the inferior seedlings; and the visual recognition sensors are arranged on two sides of the upper part of the vertical rack and used for detecting inferior seedlings and sending detected signals to the upper computer so as to control respective motors of the translation mechanism, the lifting mechanism and the hoe device to work correspondingly. The utility model discloses a relative seedling of poor quality is distinguished automatically to visual identification, and the three-dimensional conversion of hoe sword device is realized in whole cooperation, and the operation is reliable, and it is convenient to maintain.

Description

Crop thinning machine

Technical Field

The utility model belongs to the technical field of agricultural equipment, especially, relate to a crops thinning machine.

Background

Agriculture provides a basic industry supporting national economic construction and development, and with the development of science and technology, planting modes are changed, the traditional artificial planting mode is gradually changed into mechanized and modern agriculture, and mechanized equipment can be applied to the aspects of seeding, fertilizing, nursing, harvesting and the like of crops. However, the planting problem is far more than the types, and the seeding rate and the growth rate of seeds are uneven when the seeds are sowed in open field, so that the seeding rate of most crops is far greater than the seedling remaining rate during sowing. This also causes the seedlings to grow crowded, and thinning must be performed in order for the seedlings to have good soil nutrients and sufficient sunlight. Thinning is also called thinning, and has the significance and the function of preferential retention and improvement of productivity.

At present, most of the thinning methods for crops at home and abroad are in the four aspects of manual thinning, precision sowing, mechanical thinning and chemical thinning.

First, artificial thinning. The manual thinning can cause great labor capacity, low labor efficiency, high intensity and high cost.

And secondly, precision seeding. Precision seeding is a way of planting single seeds at intervals to solve the thinning problem. However, this method has a disadvantage that if the adaptability of the seeds to the environment is poor, the seedlings need to be replenished at a later stage, so that the method is mainly suitable for crops which germinate at a large rate and has high requirements on the performance of the crop seeds.

Thirdly, mechanically thinning the seedlings. Compared with manual thinning, the mechanical thinning reduces the workload of farmers, improves the working efficiency and can reduce the chemical pollution to the land. The conventional mechanical thinning is mainly implemented by setting a certain distance and then regularly working a hoe cutter device of a thinning machine to regularly remove a certain amount of seedlings so that the rest seedlings normally grow. But the defect is that the machine can not identify the quality of the seedlings, only the seedlings are removed by the fixed plant spacing, the high-quality seedlings are possibly removed, the remained poor-quality seedlings can not grow normally, and then the seedlings must be replanted in the later period.

Fourth, chemical thinning. The principle of chemical thinning is that seeds of crops are chemically processed, and the processed seeds and the unprocessed seeds are matched and planted according to a certain proportion. Thus, a part of the seedlings which are grown can be resistant to the herbicide, and the seedlings which are not resistant to the herbicide are removed by the herbicide. The method can also realize thinning in the seedling period and has good effect. But chemical thinning brings the disadvantages of crop phytotoxicity, environmental pollution and the like.

Therefore, the crop thinning machine capable of automatically identifying relatively poor seedlings and mechanically thinning the poor seedlings is provided, and has great significance for large-scale and intelligent development of agriculture in China.

Disclosure of Invention

Problem to prior art exists, the utility model provides a can distinguish relative inferior seedling through visual identification is automatic, and then driving motor makes the hoe blade device carry out actions such as translation, lift and approach inferior seedling, rethread motor drive hoe blade device press from both sides except that the function carries out the crops thinning machine of mechanical thinning.

The utility model discloses a realize like this, a crops thinning machine, include:

the rack comprises a horizontal rack and a vertical rack positioned on one side of the horizontal rack and used for supporting other mechanisms;

the traveling mechanism is arranged below the horizontal rack and used for traveling motion of the thinning machine, and the traveling mechanism is a wheel type traveling mechanism;

the translation mechanism is arranged on the vertical rack and is used for enabling the hoe blade device to perform translation motion on the body of the thinning machine, and the translation mechanism is a screw nut-guide rail type translation mechanism;

the lifting mechanism is arranged on a translation sliding plate of the translation mechanism and is used for lifting the hoe cutter device on the body of the thinning machine, and the lifting mechanism is a screw nut-guide rail type lifting mechanism;

the hoe blade device is arranged at the bottom of a lifting workbench of the lifting mechanism and is used for matching with the translation mechanism and the lifting mechanism to clamp and remove the inferior seedlings;

and the visual recognition sensors are arranged on two sides of the upper part of the vertical rack and used for detecting inferior seedlings and sending detected signals to the upper computer so as to control respective motors of the translation mechanism, the lifting mechanism and the hoe device to work correspondingly.

In the above technical scheme, preferably, the traveling mechanism includes a wheel, a wheel support, a third driving pulley, a third driven pulley, a third transmission belt and a traveling motor, the wheel is mounted below the horizontal rack through the wheel support, the traveling motor is mounted on the horizontal rack through a support plate, an output shaft of the traveling motor is connected with the third driving pulley, the third driving pulley is connected with the third driven pulley through the third transmission belt, and the third driven pulley is connected with one end of a wheel shaft of the wheel.

In the above technical solution, it is further preferable that the wheels are mecanum wheels, and mecanum wheels with different rotation directions are adopted for the mecanum wheels on the left and right sides along the traveling direction of the seedling thinning machine.

In the above technical solution, preferably, the screw nut-guide track type translation mechanism includes a translation workbench, a translation motor, a first driving pulley, a first driven pulley, a first transmission belt, a first screw, a first support seat, a second support seat, a first screw nut, a first nut fixing seat and a translation sliding plate, the translation workbench is installed at the front side of the vertical frame, the translation motor is installed at the rear side of the vertical frame, an output shaft of the translation motor is connected with the first driving pulley, the first driving pulley is connected with the first driven pulley through the first transmission belt, the first driven pulley is connected with one end of the first screw, two ends of the first screw are respectively supported in the first support seat and the second support seat through bearings, the first support seat and the second support seat are fixed on the translation workbench, the screw nut is sleeved on the first screw and is in threaded connection and matching with the first screw, the first screw rod nut is fixed on the first nut fixing seat, and a translation sliding plate is installed on the front side of the first nut fixing seat.

In the above technical scheme, it is further preferable that the screw nut-guide rail type translation mechanism further includes a first guide shaft arranged in parallel with the first screw, and a first sliding assembly in sliding fit with the first guide shaft, two ends of the first guide shaft are respectively fixed in a first guide shaft fixing seat, the first guide shaft fixing seat is fixed on the translation workbench, and a front side of the first sliding assembly is fixedly connected with the translation sliding plate.

In the above technical solution, preferably, the screw nut-guide rail type lifting mechanism includes a lifting motor, a driving pulley two, a driven pulley two, a transmission belt two, a screw rod two, a support base three, a support base four, a screw nut two, a nut fixing base two and a lifting workbench, a translation support plate is disposed at the top of a translation sliding plate of the screw nut-guide rail type translation mechanism, the lifting motor is mounted on the translation support plate and located at the rear side of the translation workbench, an output shaft of the lifting motor is connected with the driving pulley two, the driving pulley two is connected with the driven pulley two through the transmission belt two, the driven pulley two is connected with one end of the screw rod two, two ends of the screw rod two are respectively supported in the support base three and the support base four through bearings, the support base three and the support base four are fixed on the translation sliding plate, the screw nut is sleeved on the screw rod two and is in threaded connection, the second screw nut is fixed on the second nut fixing seat, and a lifting workbench is installed on the front side of the second nut fixing seat.

In the above technical solution, it is further preferable that two sets of rolling bearings are disposed between the second nut fixing seat and the translational sliding plate of the screw nut-guide rail type translational mechanism, the two sets of rolling bearings are respectively located at the left and right sides of the second nut fixing seat and are respectively mounted on the second nut fixing seat through shafts, and the translational sliding plate is correspondingly provided with sliding grooves respectively matched with the two sets of rolling bearings. In the above technical scheme, preferably, the hoe blade device comprises a hoe blade holder, a hoe blade motor, a straight bevel gear mechanism, a worm and gear mechanism and two sets of double-rocker mechanisms; the hoe blade motor is arranged on the hoe blade holder, the straight bevel gear mechanism comprises two meshed straight bevel gears, and the worm and gear mechanism comprises a worm and two worm gears; an output shaft of the hoe blade motor is connected with the first straight bevel gear, the second straight bevel gear is connected with one end of a worm, the worm is installed on the hoe blade holder through a bearing, and the two worm gears are respectively located on two sides of the other end of the worm and are respectively meshed with the worm; each double-rocker mechanism comprises a rocker I, a rocker II, a connecting rod and a chuck, one end of the rocker I is fixedly connected with the worm wheel at two points, one fixed point is located at the center of the worm wheel, the other end of the rocker I is rotatably connected with one end of the connecting rod, one end of the rocker II is rotatably connected with the hoe cutter seat, the other end of the rocker II is rotatably connected with the connecting rod, and the other end of the connecting rod is fixedly connected with the chuck.

In the above technical solution, it is further preferable that the two meshed straight bevel gears are a set of straight bevel gears that are vertically meshed relatively.

Compared with the prior art, the utility model has the advantages and positive effect be:

1. the utility model discloses an install translation mechanism and elevating system additional on the main frame of the thinning machine, realize lifting and translation in the horizontal and longitudinal direction specified stroke, through install the hoe sword device additional on translation, elevating system, make the hoe sword device can move to arbitrary any point in the scope along with translation, elevating system at will, and then through the running gear who installs additional, the three-dimensional conversion in the field of hoe sword device is realized in the whole cooperation; all the mechanisms are connected in parallel, and the functions of each mechanism are completed by the main mechanism without mutual interference with other mechanisms, so that the whole seedling thinning machine is reliable in operation and convenient to maintain; the full automation in the thinning process is realized by designing the visual identification sensor.

2. The translation mechanism and the lifting mechanism of the utility model both adopt a lead screw nut-guide rail type, which not only has self-locking property, but also can ensure the reliable operation within the translation and lifting travel range of the seedling thinning machine; the wheels of the travelling mechanism adopt Mecanum wheels, the Mecanum wheels can be matched with machinery to randomly steer in any direction, and when the seedling thinning machine runs to the bottom line of a field during working, the function of the Mecanum wheels can be directly utilized to automatically return without manual operation, so that the thinning efficiency is improved.

3. The utility model discloses can realize automatic identification seedling poor, and can improve the seedling precision in the intelligent thinning machine of walking at will in the field, productivity gain strengthens the development of intelligent machine in the aspect of the agricultural.

Drawings

Fig. 1 is a first perspective view of a crop thinning machine provided in an embodiment of the present invention;

fig. 2 is a second perspective view of a crop thinning machine provided by an embodiment of the present invention;

fig. 3 is a third perspective view of a crop thinning machine provided by an embodiment of the present invention;

fig. 4 is a front view of a crop thinner provided by an embodiment of the present invention;

fig. 5 is a left side view of a crop thinner provided by an embodiment of the present invention;

fig. 6 is a top view of a crop thinner provided by an embodiment of the present invention;

FIG. 7 is a sectional view A-A of FIG. 4;

fig. 8 is a sectional view B-B of fig. 4.

In the figure: 10. a frame; 101. a horizontal frame; 102. a vertical frame;

20. a translation mechanism; 201. a translation stage; 202. a translation motor; 203. a first driving belt wheel; 204. a first transmission belt; 205. a driven belt wheel I; 206. a first lead screw; 2071. a first supporting seat; 2072. a second supporting seat; 208. a first lead screw nut; 209. a first nut fixing seat; 210. a translation slide plate; 211. a first guide shaft; 212 guide shaft fixing seats; 213. a first linear bearing; 214. a first bearing seat;

30. a lifting mechanism; 301. a lifting motor; 302. a second driving belt wheel; 303. a second transmission belt; 304. a driven belt wheel II; 305. a second screw rod; 3061. a third supporting seat; 3062. a fourth supporting seat; 307. a second lead screw nut; 308. a second nut fixing seat; 309. lifting the working table; 310. a rolling bearing; 311. a chute; 312. a translation support plate; 313. a second guide shaft; 314. a second linear bearing; 315. a second bearing seat;

40. a hoe device; 401. a hoe cutter seat; 402. a hoe blade motor; 4031. a first straight bevel gear; 4032. a second straight bevel gear; 404. a worm; 405. a worm gear; 406. a first rocker; 407. a rocker II; 408. a connecting rod; 409. a chuck;

50. a traveling mechanism; 501. a wheel; 502. a wheel carrier; 503. a driving belt wheel III; 504. a third transmission belt; 505. a driven belt wheel III; 506. a traveling motor; 507. a support plate;

60. a visual recognition sensor;

70. and charging the battery pack.

Detailed Description

For further understanding of the contents, features and effects of the present invention, the following embodiments are exemplified and will be described in detail with reference to the accompanying drawings:

in the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "a", "an", "two", "three", "four" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected," "connected," and "mounted" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

Referring to fig. 1 to 8, an embodiment of the present invention provides a crop thinning machine, including:

the rack 10 comprises a horizontal rack 101 and a vertical rack 102 positioned on one side of the horizontal rack 101 and used for supporting other parts of mechanisms; the machine frame 10 in the embodiment is made of aluminum profiles;

the travelling mechanism 50 is arranged below the horizontal rack 101 and used for travelling motion of the thinning machine, and the travelling mechanism 50 is a wheel type travelling mechanism;

the translation mechanism 20 is arranged on the vertical rack 102, and is used for the hoe blade device 40 to perform translation motion on the body of the seedling thinning machine, and the translation mechanism 20 is a screw nut-guide rail type translation mechanism;

the lifting mechanism 30 is arranged on the translation sliding plate 210 of the translation mechanism 20 and is used for lifting the hoe blade device 40 on the body of the thinning machine, and the lifting mechanism 30 is a screw nut-guide rail type lifting mechanism;

the hoe device 40 is mounted at the bottom of the lifting workbench 309 of the lifting mechanism 30, and is used for matching with the translation mechanism 20 and the lifting mechanism 30 to clamp and remove inferior seedlings;

and the visual recognition sensors 60 are arranged on two sides of the upper part of the vertical rack 102 and used for detecting inferior seedlings and sending detected signals to the upper computer so as to control respective motors of the translation mechanism 20, the lifting mechanism 30 and the hoe blade device 40 to work correspondingly. Two sets of visual identification sensors 60 are installed in this embodiment, realize two mesh discernments, can detect the quality of seedling more effectively.

Preferably, the screw nut-guide rail type translation mechanism comprises a translation workbench 201, a translation motor 202, a first driving pulley 203, a first driven pulley 205, a first transmission belt 204, a first lead screw 206, a first support base 2071, a second support base 2072, a first lead screw nut 208, a first nut fixing base 209 and a translation sliding plate 210, wherein the translation workbench 201 is installed on the front side of the vertical rack 102, the translation motor 202 is installed on the rear side of the vertical rack 102, an output shaft of the translation motor 202 is connected with the first driving pulley 203, the first driving pulley 203 is connected with the first driven pulley 205 through the first transmission belt 204, the first driven pulley 205 is connected with one end of the first lead screw 206, two ends of the first lead screw 206 are respectively supported in the first support base 2071 and the second support base 2072 through bearings, the first support base 2071 and the second support base 2072 are fixed on the translation workbench 201, the first lead screw nut 208 is sleeved on the first lead screw 206 and is in threaded connection and matching with the first, the first screw nut 208 is fixed on a first nut fixing seat 209, and a translational sliding plate 210 is arranged on the front side of the first nut fixing seat 209. The screw nut-guide rail type translation mechanism drives a screw rod I206 to rotate through a driving belt wheel I203, a transmission belt I204 and a driven belt wheel I205 by means of forward and reverse rotation of a translation motor 202, and further drives a nut fixing seat I209 on the screw rod I206 to move left and right. It should be noted here that the utility model discloses a translation mechanism 20 also can adopt translation mechanisms 20 such as electric/pneumatic/hydraulic telescopic rod formula, slider-crank formula or sprocket chain formula for the thinning hoe sword can carry out the position of translation transform hoe sword.

Further preferably, the screw nut-guide type translation mechanism further includes a first guide shaft 211 arranged in parallel with the first screw 206, and a first sliding assembly in sliding fit with the first guide shaft 211, in this embodiment, two first guide shafts 211 are arranged and symmetrically arranged on two sides of the first screw 206, two ends of each first guide shaft 211 are respectively fixed in the first guide shaft fixing seat 212, the first guide shaft fixing seat 212 is fixed on the translation workbench 201, and the front side of the first sliding assembly is fixedly connected with the translation sliding plate 210. The sliding component in this embodiment includes a first linear bearing 213 and a first bearing seat 214 for fixing the first linear bearing 213, and the front side of the first bearing seat 214 is fixedly connected to the translational sliding plate 210.

Preferably, the screw nut-guide type lifting mechanism comprises a lifting motor 301, a driving pulley II 302, a driven pulley II 304, a transmission belt II 303, a screw rod II 305, a support seat III 3061, a support seat IV 3062, a screw nut II 307, a nut fixing seat II 308 and a lifting workbench 309, a translation support plate 312 is arranged at the top of a translation sliding plate 210 of the screw nut-guide type translation mechanism, the lifting motor 301 is installed on the translation support plate 312 and is installed at the rear side of the translation workbench 201, an output shaft of the lifting motor 301 is connected with the driving pulley II 302, the driving pulley II 302 is connected with the driven pulley II 304 through the transmission belt II 303, the driven pulley II 304 is connected with one end of the screw rod II 305, two ends of the screw rod II 305 are respectively supported in the support seats III 3061 and IV 3062 through bearings, the support seats III 3061 and IV 3062 are fixed on the translation sliding plate 210 through the support seats, the second lead screw nut 307 is sleeved on the second lead screw 305 and is in threaded connection and matching with the second lead screw 305, the second lead screw nut 307 is fixed on the second nut fixing seat 308, and a lifting workbench 309 is installed on the front side of the second nut fixing seat 308. The screw nut-guide rail type lifting mechanism drives the second screw 305 to rotate through the second driving belt wheel 302, the second driving belt 303 and the second driven belt wheel 304 by means of forward and reverse rotation of the lifting motor 301, and further drives the second nut fixing seat 308 on the second screw 305 and the lifting workbench 309 to move up and down. In this embodiment, in order to ensure the stability of the lifting mechanism 30 during translation, a second guide shaft 313 and a second sliding assembly in sliding fit with the second guide shaft 313 are installed between the vertical frames 102, two ends of the second guide shaft 313 are fixed on the vertical frames 102, the second sliding assembly here adopts a second linear bearing 314 and a second bearing seat 315 for fixing the second linear bearing 314, and the second bearing seat 315 is fixedly connected with the translation support plate 312, so that the lifting motor 301 can stably operate.

During the operation and walking of the seedling thinning machine, if the hoe blade device 40 is always positioned at the lowest end of the seedling thinning machine, the hoe blade device can touch fine crops, so that the crops can be damaged; the lifting mechanism 30 is arranged, when the seedling thinning machine does not determine poor-quality seedlings, the hoe blade device 40 is always positioned at the highest position until descending movement is performed after determination, the root of each seedling is clamped by the hoe blade device 40, and meanwhile, the hoe blade device and the lifting mechanism 30 are matched to perform lifting movement to pull up the seedlings with roots. It should be noted here that the lifting mechanism 30 of the present invention can also adopt an electric/pneumatic/hydraulic telescopic rod type, slider crank type or chain wheel and chain type lifting mechanism 30, so that the thinning hoe can be lifted to change the position of the hoe.

Preferably, two sets of rolling bearings 310 are arranged between the second nut fixing seat 308 and the translational sliding plate 210 of the screw nut-guide rail type translational mechanism, the two sets of rolling bearings 310 are respectively located at the left side and the right side of the second nut fixing seat 308 and are respectively mounted on the second nut fixing seat 308 through shafts, and sliding grooves 311 respectively matched with the two sets of rolling bearings 310 are correspondingly arranged on the translational sliding plate 210. The outer edge of the rolling bearing 310 contacts with the translational sliding plate 210 and rolls in the sliding groove 311 on the translational sliding plate 210, and the rolling bearing 310 functions to prevent the second nut fixing seat 308 from moving on the second lead screw 305 relative to the rotational movement of the translational sliding plate 210, so that the second nut fixing seat 308 is kept in a state of being parallel to the translational sliding plate 210.

The screws of the translation mechanism 20 and the lifting mechanism 30 in this embodiment may be trapezoidal screws or ball screws.

Hoe blade assembly 40 is an implement for a thinning machine. It acts to grip the roots of the seedlings and move in parallel with the lifting mechanism 30 to pull the seedlings out. Preferably, the hoe blade device 40 comprises a hoe blade holder 401, a hoe blade motor 402, a straight bevel gear mechanism, a worm and gear mechanism, and two sets of double-rocker mechanisms; the hoe blade motor 402 is installed on the hoe blade holder 401, the straight bevel gear mechanism comprises two meshed straight bevel gears, and the worm and gear mechanism comprises a worm 404 and two worm gears 405; an output shaft of the hoe motor 402 is connected with a first straight bevel gear 4031, a second straight bevel gear 4032 is connected with one end of a worm 404, the worm 404 is installed on the hoe holder 401 through a bearing, and two worm gears 405 are respectively located on two sides of the other end of the worm 404 and are respectively meshed with the worm 404; each double-rocker mechanism comprises a rocker I406, a rocker II 407, a connecting rod 408 and a chuck 409, one end of the rocker I406 is fixedly connected with the worm wheel 405 by two points, one fixed point is positioned at the center of the worm wheel 405, the other end of the rocker I406 is rotatably connected with one end of the connecting rod 408, one end of the rocker II 407 is rotatably connected with the hoe blade holder 401, the other end of the rocker II 407 is rotatably connected with the connecting rod 408, and the other end of the connecting rod 408 is fixedly connected with the chuck 409.

Further preferably, the two meshed straight bevel gears are a group of straight bevel gears which are vertically meshed relatively, so that the functions of changing the transmission angle of the driving mechanism in the device and reversing the feeding direction of the chuck 409 are realized.

Preferably, the traveling mechanism 50 includes wheels 501, a wheel bracket 502, a driving pulley three 503, a driven pulley three 505, a driving belt three 504 and a traveling motor 506, the wheels 501 are mounted below the horizontal frame 101 through the wheel bracket 502, the traveling motor 506 is mounted on the horizontal frame 101 through a support plate 507, an output shaft of the traveling motor 506 is connected with the driving pulley three 503, the driving pulley three 503 is connected with the driven pulley three 505 through the driving belt three 504, and the driven pulley three 505 is connected with one end of a shaft of the wheels 501. In the present embodiment, four sets of traveling mechanisms 50 are provided on the left and right sides and in the front and rear positions of the horizontal frame 101.

More preferably, the wheels 501 are mecanum wheels, and mecanum wheels with different rotation directions are adopted on the left and right sides of the travel direction of the seedling thinning machine. The thinning machine can move in all directions by matching two sets of Mecanum wheels with different rotation directions.

The utility model discloses a seedling thinning machine installs rechargeable battery group 70 on horizontal rack 101, and rechargeable battery group 70 arranges the charging box in for the motor and the vision recognition sensor 60 of each mechanism provide the power.

The seedling thinning machine walks in a field through the walking mechanism 50, after a vision identification sensor 60 arranged on the frame 10 detects seedlings needing thinning, the vision identification sensor 60 sends a signal to an upper computer, the upper computer sends a signal after judging, the translation mechanism 20 and the lifting mechanism 30 of the seedling thinning machine can translate and lift the hoe blade device 40 to a specified position, then the signal is sent to enable a motor used by the hoe blade device 40 to work, an output shaft of the hoe blade motor 402 drives a gear set, power is transmitted to a worm 404 through a bevel gear, the worm 404 drives two worm gears 405 simultaneously when moving, the worm gears 405 and the worm 404 play a role of reducing speed in the device and have self-locking property, the two worm gears 405 drive two sets of double-rocker mechanisms to move, the rocker and a connecting rod 408 connected with the two rockers are driven by the rotation motion of the worm gears 405 to move to clamp the roots of the seedlings, and simultaneously performs a seedling clipping action in cooperation with the lifting mechanism 30.

When the seedling thinning machine does not determine poor seedlings, the hoe blade device 40 is always at the highest position. And (3) descending the hoe blade device 40 by descending movement until the poor seedling is determined, conveying the hoe blade device 40 to a position 5-20mm away from the ground by the lifting mechanism 30, clamping the root of the seedling by the hoe blade device 40, and simultaneously lifting the seedling together with the lifting mechanism 30 to pull up the seedling. When the device is not in the working position, the lifting mechanism 30 should lift the hoe blade device 40 to a position over 300mm to prevent the hoe blade device 40 from damaging and clamping the high-quality seedlings during the operation process.

Furthermore, will the utility model provides a hoe blade device 40 replacement is for installing the seedling additional, fertilizes, reaps the device such as, and this single attribute's thinning machine will become the crops intelligent machinery of a comprehensiveness, and so this multiple attribute "thinning machine" just can realize multiple functions such as ploughing, seedling, fertilization, thinning, weeding, reaping of crops. The purchasing strength of farmers of the multifunctional machinery is greatly increased, and the development of the intelligent machinery in agriculture can be enhanced.

Although the preferred embodiments of the present invention have been described with reference to the accompanying drawings, the present invention is not limited to the above-mentioned embodiments, which are only illustrative and not restrictive, and those skilled in the art can make many forms without departing from the spirit and scope of the present invention, which is within the protection scope of the present invention.

Claims

1. A crop thinning machine is characterized in that: the method comprises the following steps:

the rack comprises a horizontal rack and a vertical rack positioned on one side of the horizontal rack and used for supporting each part mechanism;

2. The crop thinner as set forth in claim 1, wherein: the traveling mechanism comprises wheels, a wheel support, a driving pulley III, a driven pulley III, a transmission belt III and a traveling motor, the wheels are mounted below the horizontal rack through the wheel support, the traveling motor is mounted on the horizontal rack through a support plate, an output shaft of the traveling motor is connected with the driving pulley III, the driving pulley III is connected with the driven pulley III through the transmission belt III, and the driven pulley III is connected with one end of a wheel shaft of the wheels.

3. The crop thinner as set forth in claim 2, wherein: the wheels are Mecanum wheels, and the Mecanum wheels on the left side and the right side of the travel direction of the thinning machine adopt Mecanum wheels with different rotation directions.

4. The crop thinner as set forth in claim 1, wherein: the screw nut-guide rail type translation mechanism comprises a translation workbench, a translation motor, a first driving belt wheel, a first driven belt wheel, a first transmission belt, a first screw rod, a first supporting seat, a second supporting seat, a first screw nut, a first nut fixing seat and a translation sliding plate, wherein the translation workbench is arranged on the front side of a vertical rack, the translation motor is arranged on the rear side of the vertical rack, an output shaft of the translation motor is connected with the first driving belt wheel, the first driving belt wheel is connected with the first driven belt wheel through the first transmission belt, the first driven belt wheel is connected with one end of the first screw rod, two ends of the first screw rod are respectively supported in the first supporting seat and the second supporting seat through bearings, the first supporting seat and the second supporting seat are fixed on the translation workbench, the screw nut is sleeved on the first screw rod and is in threaded connection and matching with the first screw rod, and, and a translational sliding plate is arranged on the front side of the first nut fixing seat.

5. The crop thinner as set forth in claim 4, wherein: the screw nut-guide rail type translation mechanism further comprises a first guide shaft and a first sliding assembly, wherein the first guide shaft is arranged in parallel with the first screw, the first sliding assembly is in sliding fit with the first guide shaft, two ends of the first guide shaft are fixed in a first guide shaft fixing seat respectively, the first guide shaft fixing seat is fixed on the translation workbench, and the front side of the first sliding assembly is fixedly connected with the translation sliding plate.

6. The crop thinner as set forth in claim 1, wherein: the screw nut-guide rail type lifting mechanism comprises a lifting motor, a driving belt wheel II, a driven belt wheel II, a transmission belt II, a screw rod II, a supporting seat III, a supporting seat IV, a screw nut II, a nut fixing seat II and a lifting workbench, wherein a translation supporting plate is arranged at the top of a translation sliding plate of the screw nut-guide rail type translation mechanism, the lifting motor is arranged on the translation supporting plate and is positioned at the rear side of the translation workbench, an output shaft of the lifting motor is connected with the driving belt wheel II, the driving belt wheel II is connected with the driven belt wheel II through the transmission belt II, the driven belt wheel II is connected with one end of the screw rod II, two ends of the screw rod II are respectively supported in the supporting seat III and the supporting seat IV through bearings, the supporting seat III and the supporting seat IV are fixed on the translation sliding plate, the screw nut sleeve is arranged, the second screw nut is fixed on the second nut fixing seat, and a lifting workbench is installed on the front side of the second nut fixing seat.

7. The crop thinner as set forth in claim 6, wherein: two groups of rolling bearings are arranged between the second nut fixing seat and the translation sliding plate of the screw nut-guide rail type translation mechanism, the two groups of rolling bearings are respectively positioned on the left side and the right side of the second nut fixing seat and are respectively installed on the second nut fixing seat through shafts, and sliding chutes respectively matched with the two groups of rolling bearings are correspondingly arranged on the translation sliding plate.

8. The crop thinner as set forth in claim 1, wherein: the hoe blade device comprises a hoe blade seat, a hoe blade motor, a straight-tooth bevel gear mechanism, a worm and gear mechanism and two groups of double-rocker mechanisms; the hoe blade motor is arranged on the hoe blade holder, the straight bevel gear mechanism comprises two meshed straight bevel gears, and the worm and gear mechanism comprises a worm and two worm gears; an output shaft of the hoe blade motor is connected with the first straight bevel gear, the second straight bevel gear is connected with one end of a worm, the worm is installed on the hoe blade holder through a bearing, and the two worm gears are respectively located on two sides of the other end of the worm and are respectively meshed with the worm; each double-rocker mechanism comprises a rocker I, a rocker II, a connecting rod and a chuck, one end of the rocker I is fixedly connected with the worm wheel at two points, one fixed point is located at the center of the worm wheel, the other end of the rocker I is rotatably connected with one end of the connecting rod, one end of the rocker II is rotatably connected with the hoe cutter seat, the other end of the rocker II is rotatably connected with the connecting rod, and the other end of the connecting rod is fixedly connected with the chuck.

9. The crop thinner as recited in claim 8, wherein: the two meshed straight bevel gears are a group of straight bevel gears which are vertically meshed relatively.