RU2807037C1 - Robotic cassette loading device for selection seeder - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: robotic cassette loading device (RCLD) of a selection seeder includes an encoder on driven wheels, a cone sowing device with an output shaft and driven by a stepper motor, a metering solenoid mounted on the sowing device, cassettes with cells, a device for moving cassettes with cells, including an electric motor, and cassette position sensor. In this case, the encoder, the stepper motor of the sowing device, the electric motor of the cell cassette moving device, the dispenser solenoid and the cell cassette position sensor are connected to the control unit. The device for moving cassettes has a manipulator containing a frame along which two symmetrically located, multidirectional and synchronously rotating vertical conveyors are installed driven by an additional stepper motor connected to a control unit, with tension and drive sprockets on which chain drives with blades are stretched. The conveyor blades are located symmetrically relative to each other, forming pairs in the area between the conveyors. Each pair of symmetrically located blades in the specified area forms a horizontal level for placing a block of cassettes strung on a guide plate. The manipulator also has an actuator with a pusher driven by the electric motor of the device to move the cassettes to the sowing unit. The actuator is installed on the frame, on the side opposite to the sowing unit, in the area of the lower level of the conveyors.

EFFECT: use of RCLD will increase productivity, reduce manual labor, and reduce seeder downtime for reloading cassettes with seed material.

1 cl, 2 dwg

Description

The invention relates to agricultural engineering, in particular, to the sowing apparatus of a seeder for sowing agricultural crops. crops and can be used for robotic supply of seed material to the seeder of the seeder.

The SKS-6A selection seeder is known for row sowing of seeds of grain, leguminous and cereal crops on plots of the II stage of selection work with a cone sowing device driven from the power take-off shaft of a self-propelled chassis, equipped with a cassette loading device (KZU), which allows sowing plots automatically according to a given program, The reloading of the cassette block is carried out by the operator. (V.I. Aniskin, Yu.F. Nekipelov. Mechanization of experimental work in selection, variety testing and primary seed production of grain and leguminous crops. Moscow. - 2004. P. 39-41).

The closest technical solution to the proposed device is the device chosen as a prototype for automating the seed sowing process (RF patent for invention patent RU 2789549, IPC A01C 7/00, A01C 7/08), including an encoder on the driven wheels, a cone sowing device with an output shaft and driven by a stepper motor, a metering solenoid installed on the sowing unit, a cassette with cells, an electric motor for moving it and a position sensor connected to the control unit. It is designed to control the dosing system for sowing seeds of a cassette selection seeder intended for stages II and III of breeding work. The device includes an encoder on driven wheels, cone seeding units with an output shaft, a stepper motor, and a distribution table with a set of cells in a cassette. A central control unit with software connected to the stepper motor of the seeding unit and the DC motor of the distribution table drive via commutator motor control drivers. The cassettes are fed to the sowing device automatically using the distribution table drive, and during the operation of the seeder, the operator replaces the cassettes.

The advantages of the known devices are that the cassette loading device of the sowing devices for moving the cassettes was automated.

The disadvantages of the known devices are that cassette loading devices of sowing devices require reloading of cassette blocks by the operator.

The technical goal is to increase productivity, reduce manual labor, and reduce seeder downtime for reloading cassettes with seed material.

The technological result of the invention is the robotization of the process of loading cassettes and does not require the presence of an operator, which eliminates manual labor, reduces downtime of the seeder for reloading cassettes with seed material, thereby increasing productivity during sowing work and reducing sowing costs.

The technical result is achieved by the fact that in a robotic cassette loading device, including an encoder on the driven wheels, a cone sowing device with an output shaft and driven by a stepper motor, a dispenser solenoid mounted on the sowing device, a cassette with cells, an electric motor for moving it and its position sensor , connected to the control unit, according to the invention , the device for moving the cassettes is made in the form of a manipulator associated with the control unit, containing a frame along which two symmetrically located multidirectional rotating vertical conveyors driven by an additional stepper motor and blades forming horizontal levels for placing blocks are installed from cassettes strung on a guide plate, and an actuator with a pusher, driven by an electric motor, is installed on the frame on the side opposite the sowing unit in the area of the lower level of the conveyors.

The invention is illustrated by drawings.

In fig. 1 shows a robotic cassette loading device, side view; in fig. 2 - the same, rear view.

The robotic cassette loading device (RKZU) contains a program-controlled mechanism (manipulator) for moving cassettes 1 with cells for the seeded material to the sowing device 2. Cassettes 1 are made with grooves and are sequentially threaded onto a guide plate 3, forming a block of cassettes 4.

Encoders are installed on the driven wheels of the seeder or tractor, the metering solenoid is placed on the sowing unit 2 driven by a stepper motor, and the cassette position sensor is on the RKZU (not shown in the figure). The encoder, solenoid and cassette position sensor are connected to control unit 17, synchronized with the speed of the seeder and affect the accuracy of seed sowing.

The manipulator is a mechanism with two degrees of freedom (mobility) that moves the cassettes 1 in a given direction.

On the frame 5 there are tension 6 and drive 7 sprockets on which two left 8 and two right 9 chain drives are tensioned, connected in pairs by blades 10, forming left 11 and right 12 vertical conveyors located symmetrically along the frame 5 of the manipulator. Conveyors 11 and 12 are connected to drive 13 and are driven synchronously by an additional stepper motor 14. In this case, conveyors 11 and 12 rotate in different directions: left conveyor 11 clockwise, and right conveyor 12 counterclockwise.

When located in the area between two conveyors 11 and 12, each pair of symmetrically located blades 10 forms a horizontal level on which a block of 4 cassettes is placed.

The actuator 15 with a pusher, driven by an electric motor 16, is installed on the frame 5 on the side opposite from the sowing unit 2 in the area of the lower level of the conveyors 11 and 12.

Electric motors 14 and 16 are controlled by a control unit 17 and are activated according to a given program in accordance with the sowing plan of the selection plot. The collection container 18, placed on the frame 5 and located behind the sowing device 2, is designed to collect empty (empty of seeds) cassettes 1. The container 19 is located under the conveyors 11 and 12 and is intended to collect the guide plates 3.

The robotic cassette loading device operates as follows.

Before starting work, the operator loads the levels of conveyors 11 and 12 with blocks of 4 cassettes with seeded material sufficient for sowing the selection plot. The seeder is brought to the line of the beginning of the plot, the operator turns on the control unit 17 and begins to move. In accordance with the speed of movement of the seeder, according to the program specified by the control unit 17, the rotation speed of the cone sowing apparatus and the speed of movement of the cassettes along the guide plate are synchronized.

The actuator 15 is driven by an electric motor 16. The actuator pusher 15 extends and sequentially moves the cassettes 1 with the seeded material to the sowing device 2. The seeded material is fed into the sowing device 2 through the unloading holes 20. The empty cassette 1 goes down the inclined tray 21 and enters the collection container 18 After all cassettes 1 leave the guide plate 3, upon command from the control unit 17, the cassette position sensor is activated and the actuator pushers 15 return to their original position.

At the command of the control unit 17, the stepper motor 14 with the drive 13 synchronously moves the blades 10 of the left 11 and right 12 conveyors and moves the cassette blocks 4 one level down. At the same time, the blades 10, located at the lower level, diverge and leave the area between the conveyors 11 and 12, and the guide plate 3 moves under the influence of gravity into the container 19.

Next, the process of feeding cassettes 1 to the sowing device 2 is repeated. After all the blocks of cassettes 4 are freed from the seed material, the operator is given a signal about the need to load the device with new blocks of cassettes 4 and the operation of the RKZU stops.

If the cassettes get stuck, the blocks 4 or the guide plates 3 are skewed, the cassette position sensor transmits a signal to the control unit 17, which stops the seeder. The operator eliminates the cause of the malfunction and the seeder continues to operate.

The use of RKZU will increase productivity, reduce manual labor, and reduce seeder downtime for reloading cassettes with seed materials.

Claims (1)

Robotic cassette loading device of a selection seeder, including an encoder on the driven wheels, a cone sowing device with an output shaft and driven by a stepper motor, a metering solenoid mounted on the sowing device, cassettes with cells, a device for moving cassettes with cells, including an electric motor, and a position sensor cassettes, and the encoder, the stepper motor of the sowing apparatus, the electric motor of the device for moving cassettes with cells, the dispenser solenoid and the position sensor of the cassettes with cells are connected to the control unit, characterized in that the device for moving the cassettes is equipped with a manipulator containing a frame along which two symmetrically located , multidirectional and synchronously rotating vertical conveyors driven by an additional stepper motor connected to a control unit with tension and drive sprockets on which chain drives with blades are tensioned, while the conveyor blades are located symmetrically relative to each other to form pairs in the area between the conveyors, and each pair of symmetrically located blades in the specified area forms a horizontal level for placing a block of cassettes strung on a guide plate, and an actuator with a pusher, driven by an electric motor of a device for moving the cassettes to the sowing apparatus, mounted on the frame, on the side opposite to the sowing apparatus, in area of the lower level of conveyors.