CN214178084U

CN214178084U - All-terrain remote control cluster multifunctional stubble leveling machine

Info

Publication number: CN214178084U
Application number: CN202022853798.8U
Authority: CN
Inventors: 岑海堂; 刘士毅; 陈玉宏; 秦建国; 刘建兰
Original assignee: Inner Mongolia University of Technology
Current assignee: Inner Mongolia University of Technology
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-09-14
Anticipated expiration: 2030-12-02

Abstract

The utility model relates to a full-terrain remote control cluster multifunctional stubble leveling machine, which comprises a main machine, a traveling mechanism, a cutting device, a branch collecting and bundling device and an intelligent control system; the traveling mechanism adopts a triangular crawler structure, and can walk in complex terrains such as desert and the like; the cutting device comprises a mechanical arm and a cutter head, the mechanical arm is arranged on the host, and the cutter head is arranged at the front end of the mechanical arm; the branch collecting and bundling device is arranged behind the cutting device and is connected with the lifting arms at the two sides of the main machine; the intelligent remote control part is controlled by a positioning system, an intelligent vision sensor, an infrared distance sensor, a touch sensor and a pressure sensor, and the trolley is remotely controlled by a remote control module to walk and cut. The all-terrain remote control multifunctional stubble leveling machine is simple in structure, suitable for moving in desert complicated terrains, small in size, good in stubble leveling effect, high in operation efficiency, simple to operate and control, capable of remarkably reducing labor consumption and reducing operation cost.

Description

All-terrain remote control cluster multifunctional stubble leveling machine

Technical Field

The utility model belongs to the field of agricultural machinery, concretely relates to multi-functional stumping machine of full topography remote control cluster.

Background

The caragana microphylla in the sandy shrubs is a main plant for preventing wind, fixing sand and treating desertification in northwest of China, and stumping and rejuvenating are important links for normal germination, withering prevention and comprehensive utilization of caragana microphylla. At present, caragana microphylla stumping machine mainly depends on manual or semi-manual harvesting, and an unmanned remote control stumping machine with high efficiency and low consumption is still blank. The labor intensity of manual stumping is high, the labor requirement is high, and the stumping requirement of the sandy caragana microphylla in a large area is difficult to meet; the existing stubble leveling machine has the disadvantages of large volume, poor desert trafficability, large power consumption and low stubble leveling benefit, and the stubble leveling machine becomes an important bottleneck for the sustainable development of desert control. The utility model relates to a multi-functional stumping machine of full topography remote control cluster, the desert trafficability characteristic is strong, can realize remote control stumping, has the branch of holding together simultaneously and beats a bundle function, makes things convenient for later stage caragana microphylla recycle, realizes alone controlling many stumping machines, and the labour demand that significantly reduces improves stumping efficiency, saves consumption of power, reduces the stumping cost.

SUMMERY OF THE UTILITY MODEL

The blank to present small-size intelligent remote control caragana microphylla stumping, the utility model provides a remote control, automatic cutout's multi-functional full topography remote control cluster stumping machine.

In order to solve the existing problems, the utility model adopts the following technical scheme:

an all-terrain remote control cluster multifunctional stubble leveling machine comprises a host, a traveling mechanism, a cutting device, a branch collecting and bundling device and an intelligent control system;

the host is provided with a storage battery, a large arm, a lifting arm, a small arm and a rotating arm; the storage battery is connected with each power utilization mechanism; the lifting arms are arranged on two sides of the host and are lifted through hydraulic control, the lower end of the large arm is hinged to the base, and the base and the guide rail on the host form a sliding pair; the big arm is also hinged with a first hydraulic cylinder, and the first hydraulic cylinder is used for controlling the lifting of the upper end of the big arm;

the small arm is hinged with the upper end of the large arm through a first revolute pair, and is also hinged with a second hydraulic cylinder which is used for controlling the small arm to drive the small arm to lift;

the rotating arm is hinged with the other end of the small arm through a second revolute pair and is also hinged with a third hydraulic cylinder, and the third hydraulic cylinder is used for controlling the angle adjustment of the rotating arm;

the laser ranging sensor is arranged at the front end of the host, the intelligent vision sensor is arranged on the host through a cylindrical frame, and the intelligent vision sensor rotates around the cylindrical frame; the remote control signal receiver is fixed on the surface of the host machine.

The traveling mechanism comprises an engine, a hydraulic pump, a traveling motor, a remote control module and a triangular crawler belt, wherein the traveling motor, the hydraulic pump and the engine are sequentially connected, the traveling motor is connected with a large belt pulley at the upper end of the triangular crawler belt, and five small crawler wheels are arranged at the lower end of the triangular crawler belt; the hydraulic pump and the walking motor are controlled by an intelligent control system;

the cutting device comprises a cutter head, a shaft sleeve, a hydraulic motor, a pressure sensor and a cutter head angle adjusting hydraulic cylinder, wherein the hydraulic motor is arranged at the bottom end of the rotating arm and is connected with the rotating arm through a pin shaft; the cutter head is installed on a hydraulic motor output shaft, a shaft sleeve is arranged in the middle of the cutter head, the cutter head is fixed on the chuck plate, a pressure sensor is arranged on a shell of the rotating arm, an angle adjusting hydraulic cylinder is installed on the side face of the rotating arm and connected with a motor seat, and the angle adjusting hydraulic cylinder adjusts the cutting angle of the cutter head to achieve terrain profiling.

The branch gathering and bundling device comprises a branch gathering frame, a U-shaped frame and a bundling device, wherein the branch gathering frame is of an annular structure with an opening at the front end, a sliding support is arranged at the opening at the front end, and the U-shaped frame is arranged in a gap in the middle of the branch gathering frame and slides in a telescopic manner between the branch gathering frames; the branch collecting frame is connected with the lifting arms at the two sides through a shaft, and the angle is changed through a fourth hydraulic cylinder; the branch collecting frame is provided with a guide wheel which is arranged on the slide rail; a bundling device is arranged under the sliding rail.

The principle of a branch gathering and bundling mechanism is as follows: during operation, gather a bundle and beat mechanism and stretch into the branch lower extreme, slidable support closes, and the U type frame is stretched forward and is pressed from both sides the branch tightly, and the slide rail is rotatory at support and guide pulley and drives binding apparatus rotatory, and binding apparatus rotatory in-process is emitted the rope and is knoed, lifts the mechanism suitable distance through the lifing arm, repeats the above-mentioned process, when binding apparatus promoted the branch upper end with the rope knot and cut off the rope.

The intelligent control system comprises a single-chip microcomputer control module, a power supply module, a wireless communication module, a driving module and a distance measuring module, the tracked vehicle is remotely controlled to move forwards and backwards through the wireless communication module, the surrounding environment is monitored through an intelligent vision sensor, the terrain change can be detected through a pressure sensor to adjust the movement, and the obstacle is automatically avoided through an infrared sensor. The target distance is fed back to the single chip microcomputer through the laser ranging sensor, and the electromagnetic valve is adjusted to be conducted to control the operation of the cutting device and the branch collecting and bundling device.

The intelligent control system can measure the distance between the saw disc and the ground through the laser ranging sensor and move the saw disc to the proper position of the root of the branch to cut. The terrain change can be detected by the pressure sensor to adjust the movement, and the obstacle can be automatically avoided by the infrared sensor.

The utility model has the advantages that:

(1) fills the blank of intelligent remote control stubble cutting machinery in China.

(2) The machine has small volume and flexible walking, and can adapt to the complex terrains in desert.

(3) Can remote intelligent control, realize alone operation many, show and save artifically.

(4) The branches can be gathered and bundled to be easily cut, and the caragana microphylla is convenient to recycle.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a top view of the present invention.

Fig. 4 is a front view of the cutting device of the present invention.

Fig. 5 is a front view of the branch-collecting bundling device of the present invention.

Fig. 6 is a top view of the branch-collecting bundling device of the present invention.

Detailed Description

The specific technical solution of the present invention is explained with reference to the drawings.

As shown in fig. 1 to 3, an all-terrain remote control cluster multifunctional stubble leveling machine comprises a main machine 1, a traveling mechanism 2, a cutting device 3, a branch collecting and bundling device 4 and an intelligent control system;

the main machine 1 is provided with a storage battery 13, a large arm 15, a lifting arm 16, a small arm 21 and a rotating arm 24; the storage battery 13 is connected with each control system of the equipment and is connected with various sensors arranged on the equipment through a bus; the lifting arms 16 are arranged on two sides of the main machine 1 and controlled to lift through hydraulic pressure, the lower end of the large arm 15 is hinged to the base 18, and the base 18 and the guide rail 19 on the main machine 1 form a sliding pair; the arm 15 can realize the work of extending and cutting and the walking of retracting on the guide rail 19, so that the structure is compact and the walking is convenient. The large arm 15 is further hinged with a first hydraulic cylinder 20, and the first hydraulic cylinder 20 is used for controlling the lifting of the upper end of the large arm 15;

the small arm 21 is hinged with the upper end of the large arm 15 through a first revolute pair 22, the small arm 21 is further hinged with a second hydraulic cylinder 23, and the second hydraulic cylinder 23 is used for controlling the small arm 21 to drive lifting;

the rotating arm 24 is hinged with the other end of the small arm 21 through a second revolute pair 25, the rotating arm 24 is further hinged with a third hydraulic cylinder 26, and the third hydraulic cylinder 26 is used for controlling the angle adjustment of the rotating arm 24;

the laser ranging sensor 17 is installed at the front end of the host 1, the intelligent vision sensor 11 is arranged on the host 1 through a cylindrical frame 27, and the intelligent vision sensor 11 rotates around the cylindrical frame; the remote control signal receiver 28 is fixed on the surface of the host 1.

The traveling mechanism 2 comprises an engine 5, a hydraulic pump 6, a traveling motor 7, a remote control module and a triangular crawler 9, wherein the traveling motor 7, the hydraulic pump 6 and the engine 5 are sequentially connected, the traveling motor 7 is connected with a large belt pulley 10 at the upper end of the triangular crawler 9, and five small crawler wheels 8 are arranged at the lower end of the triangular crawler 9; the hydraulic pump 6 and the walking motor 7 are controlled by an intelligent control system 12; the remote control system controls the pump 6 and the motor 7 to control the crawler to move forwards and backwards, the walking speed of the trolley is changed through flow, and the speed difference of the motors 7 on the two sides is controlled to realize turning;

as shown in fig. 4, the cutting device 3 includes a cutter head 29, a shaft sleeve 31, a hydraulic motor 32, a pressure sensor, and a cutter head angle adjusting hydraulic cylinder 30, wherein the hydraulic motor 32 is installed at the bottom end of the rotating arm 24 and connected with the rotating arm 24 through a pin; the cutter head 29 is arranged on an output shaft of a hydraulic motor 32, a shaft sleeve 31 is arranged in the middle of the cutter head 29, the cutter head 29 is fixed on a chuck plate 33, a pressure sensor is arranged on the shell of the rotating arm 24, an angle adjusting hydraulic cylinder 30 is arranged on the side surface of the rotating arm 24 and connected with a motor seat, and the angle adjusting hydraulic cylinder 30 adjusts the cutting angle of the cutter head 29 so as to realize terrain profiling.

As shown in fig. 5 and 6, the branch gathering and bundling device 4 comprises a branch gathering frame 34, a U-shaped frame 35 and a bundling device 36, wherein the branch gathering frame 34 is of an annular structure with an opening at the front end, a sliding support 38 is arranged at the opening at the front end, and the U-shaped frame 35 is installed in the middle gap of the branch gathering frame 34 and slides in a telescopic manner between the branch gathering frames 34; the branch collecting frame 34 is connected with the lifting arms 16 at the two sides through a shaft, and the angle is changed through a fourth hydraulic cylinder 37 so as to adapt to the caragana microphylla stumping growing in various terrains; the branch collecting frame 34 is provided with a guide wheel 40, and the guide wheel 40 is arranged on the slide rail 39; a bundling device 36 is connected under the slide rail 39.

The intelligent control system 12 comprises a single-chip microcomputer control module, a power supply module, a wireless communication module, a driving module and a distance measuring module, the crawler is remotely controlled to move forwards and backwards through the wireless communication module, the surrounding environment is monitored through the intelligent vision sensor 11, the terrain change can be detected through the pressure sensor to adjust the movement, and the obstacle is automatically avoided through the infrared sensor. The target distance is fed back to the single chip microcomputer through the laser ranging sensor 17, and the operation of the cutting device 3 and the branch collecting and bundling device 4 is controlled by adjusting the conduction of the electromagnetic valve.

When the hydraulic cutting machine is used, hydraulic pressure is divided into two paths, one path is used for controlling the crawler to travel through the hydraulic pump 6 and the traveling motor 7, and the other path is used for controlling the branch bundling device 4 and the cutting device 3 to work through communicating corresponding electromagnetic valves. Remove the tracked vehicle near the caragana korshinskii through remote control, observe through laser rangefinder sensor 17 and feed back to control system with the caragana korshinskii distance, start branch bundling device 4 through the singlechip, insert branch bundling device 4 in the caragana korshinskii bottom, close front end sliding bracket 38, U type frame 35 is stretched forward, press from both sides tight back through pressure sensor feedback, slide rail 39 is rotatory at support 34 and guide pulley 40 and is driven bundling device 36 rotatory, bundling device 36 is rotatory in-process is emitted the rope and is knoed, lift the mechanism through lifting arm 16 and rise suitable distance, repeat the above-mentioned process, when bundling device 36 promotes branch upper end, tie the rope and cut off the rope. When bundling is completed, the pressure sensor feeds back to the single chip microcomputer, the mechanical arm starting the cutting device 3 is pushed out through the guide rail 19, the distance between the saw disc and the ground is measured through the laser ranging sensor, the saw disc moves to a proper position of the root of a branch, the hydraulic motor 32 is controlled by the single chip microcomputer to start to drive the cutter disc 29 to rotate to complete cutting, automatic profiling is realized through the third hydraulic cylinder 26 for sensing terrain fine adjustment and the hydraulic cylinder 30 for cutter disc angle adjustment, and intelligent operation of bundling and stubble leveling is achieved.

The utility model discloses small can be in the nimble motion of complicated topography, can hold together the branch with the repetition and cut the motion programming, realize automatic cutout, realize alone operation multiple equipment, save the manual work greatly.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An all-terrain remote control cluster multifunctional stubble leveling machine is characterized by comprising a main machine (1), a traveling mechanism (2), a cutting device (3) and a branch collecting and bundling device (4);

the main machine (1) comprises a large arm (15), a lifting arm (16), a small arm (21) and a rotating arm (24); the lifting arms (16) are arranged on two sides of the main machine (1) and are controlled to lift through hydraulic pressure, the lower end of the large arm (15) is hinged to the base (18), and the base (18) and a guide rail (19) on the main machine (1) form a sliding pair; the small arm (21) is hinged with the upper end of the large arm (15) through a first revolute pair (22); the rotating arm (24) is hinged with the other end of the small arm (21) through a second revolute pair (25); the large arm (15), the lifting arm (16), the small arm (21) and the rotating arm (24) are respectively connected with the hydraulic cylinder;

the traveling mechanism (2) comprises an engine (5), a hydraulic pump (6), a traveling motor (7) and a triangular crawler belt (9), wherein the traveling motor (7), the hydraulic pump (6) and the engine (5) are sequentially connected, the traveling motor (7) is connected with a large belt pulley (10) at the upper end of the triangular crawler belt (9), and five small crawler wheels (8) are arranged at the lower end of the triangular crawler belt (9);

the cutting device (3) comprises a cutter head (29), a hydraulic motor (32) and a cutter head angle adjusting hydraulic cylinder (30), wherein the hydraulic motor (32) is arranged at the bottom end of the rotating arm (24) and is connected with the rotating arm (24) through a pin shaft; the cutter head (29) is arranged on an output shaft of a hydraulic motor (32), a shaft sleeve (31) is arranged in the middle of the output shaft, the cutter head (29) is fixed on a chuck (33), a pressure sensor is arranged on the shell of the rotating arm (24), an angle adjusting hydraulic cylinder (30) is arranged on the side surface of the rotating arm (24) and connected with a motor base, and the angle adjusting hydraulic cylinder (30) adjusts the cutting angle of the cutter head (29) to realize terrain profiling;

the branch gathering and bundling device (4) comprises a branch gathering frame (34), a U-shaped frame (35) and a bundling device (36), wherein the branch gathering frame (34) is of an annular structure with an opening at the front end, a slidable support (38) is arranged at the opening at the front end, and the U-shaped frame (35) is arranged in the middle gap of the branch gathering frame (34) and slides in a telescopic manner between the branch gathering frames (34); the branch collecting frame (34) is connected with the lifting arms (16) at the two sides through a shaft, and the angle is changed through a fourth hydraulic cylinder (37); the branch collecting frame (34) is provided with a guide wheel (40), and the guide wheel (40) is arranged on the sliding rail (39); a bundling device (36) is connected under the slide rail (39).

2. The all-terrain remote control cluster multifunctional stubble ploughing machine as claimed in claim 1, characterized in that the large arm (15) is hinged with a first hydraulic cylinder (20), and the first hydraulic cylinder (20) is used for controlling the lifting of the upper end of the large arm (15); the small arm (21) is hinged with a second hydraulic cylinder (23), and the second hydraulic cylinder (23) is used for controlling the small arm (21) to drive to lift; the rotating arm (24) is hinged with a third hydraulic cylinder (26), and the third hydraulic cylinder (26) is used for controlling the angle adjustment of the rotating arm (24).

3. The all-terrain remote control cluster multifunctional stubble ploughing machine as claimed in claim 1, further comprising an intelligent control system (12), wherein the intelligent control system (12) comprises a single-chip microcomputer control module, a power supply module, a wireless communication module, a driving module and a distance measuring module;

the laser ranging sensor (17) is installed on the front end of the host (1), the intelligent vision sensor (11) is arranged on the host (1) through a cylindrical frame (27), and the intelligent vision sensor (11) rotates around the cylindrical frame; the remote control signal receiver (28) is fixed on the surface of the host (1); the intelligent vision sensor (11) monitors the surrounding environment, and feeds the target distance back to the singlechip control module through the laser ranging sensor (17);

the travelling mechanism (2) further comprises a remote control module, and the hydraulic pump (6) and the travelling motor (7) are controlled by an intelligent control system (12) through the remote control module;

the intelligent control system (12) adjusts the conduction of the electromagnetic valve to realize the control of the operation of the cutting device (3) and the branch gathering and bundling device (4).