An all-terrain remote-controlled cluster multifunctional stubble machine

Abstract

The present invention is an all-terrain remote-controlled cluster multifunctional stubble machine, including a main machine, a traveling mechanism, a cutting device, a branch-gathering and baling device, and an intelligent control system; the traveling mechanism adopts a triangular crawler vehicle structure, which can meet the needs of walking in complex terrains such as deserts; the cutting device includes a mechanical arm and a cutter disc, the mechanical arm is installed on the main machine, and the cutter disc is installed at the front end of the mechanical arm; the branch-gathering and baling device is installed behind the cutting device and connected to the lifting arms on both sides of the main machine; the intelligent remote control part is controlled by a positioning system, an intelligent visual sensor, an infrared distance sensor, a tactile sensor, and a pressure sensor, and the remote control module remotely controls the trolley to walk and cut. The all-terrain remote-controlled multifunctional stubble machine has a simple structure, is suitable for moving in complex desert terrain, has a small size, good stubble-gathering effect, high operating efficiency, simple operation, and significantly reduces labor consumption and operating costs.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to an all-terrain remote-controlled cluster multifunctional pruning machine. Technical Background

[0002] Among the sand-dwelling shrubs, Caragana korshinskii is the main plant for windbreak and sand fixation and desertification control in northwest my country. Cutting and rejuvenation is an important link for the normal germination of Caragana korshinskii, preventing death and realizing comprehensive utilization. At present, the cutting of Caragana korshinskii in my country mainly relies on manual or semi-manual harvesting, and there is still a lack of efficient and low-consumption unmanned remote control cutting machinery. Manual cutting has high labor intensity and high labor demand, and it is difficult to meet the cutting demand of large areas of sand-dwelling Caragana korshinskii; and the existing cutting machines are large in size, poor in desert accessibility, high in power consumption, and low in cutting efficiency. Cutting machinery has become an important bottleneck for the sustainable development of desert control. The all-terrain remote control cluster multifunctional cutting machine involved in the present invention has strong desert accessibility, can realize remote control cutting, and has the function of gathering branches and bundling, which is convenient for the later recycling of Caragana korshinskii, and realizes one person to control multiple cutting machines, which greatly reduces labor demand, improves cutting efficiency, saves power consumption, and reduces cutting costs. Summary of the invention

[0003] Aiming at the current blank of small intelligent remote-controlled caragana stubble trimming, the present invention provides a multifunctional all-terrain remote-controlled cluster trimming machine with remote control and automatic cutting.

[0004] In order to solve the above-mentioned problems, the present invention adopts the following technical solutions:

[0005] An all-terrain remote-controlled cluster multifunctional stubble cutter, comprising a main machine, a walking mechanism, a cutting device, a branch gathering and bundling device, and an intelligent control system;

[0006] The main machine is provided with a battery, a boom, a lifting arm, a forearm, and a rotating arm; the battery is connected to each power-consuming mechanism; the lifting arm is installed on both sides of the main machine, and is lifted and lowered by hydraulic control; the lower end of the boom is hinged on the base, and the base and the guide rail on the main machine form a sliding pair; the boom is also hinged to the first hydraulic cylinder, and the first hydraulic cylinder is used to control the lifting and lowering of the upper end of the boom;

[0007] The forearm is hinged to the upper end of the boom through the first slewing pair, and the forearm is also hinged to the second hydraulic cylinder, which is used to control the forearm to drive the lifting;

[0008] The rotating arm is hinged to the other end of the forearm through the second slewing pair, and the rotating arm is also hinged to the third hydraulic cylinder, which is used to control the angle adjustment of the rotating arm;

[0009] The laser distance measuring sensor is installed at the front end of the host, the intelligent visual sensor is arranged on the host through a cylindrical frame, and the intelligent visual sensor rotates around the cylindrical frame; and the remote control signal receiver is fixed on the surface of the host.

[0010] The walking mechanism includes an engine, a hydraulic pump, a walking motor, a remote control module, and a triangular crawler. The walking motor, the hydraulic pump, and the engine are connected in sequence. The walking motor is connected to a large pulley at the upper end of the triangular crawler, and five small crawler wheels are arranged at the lower end of the triangular crawler. The hydraulic pump and the walking motor are controlled by an intelligent control system.

[0011] The cutting device includes a cutter disc, a sleeve, a hydraulic motor, a pressure sensor, and a hydraulic cylinder for adjusting the angle of the cutter disc. The hydraulic motor is installed at the bottom end of the rotating arm and is connected to the rotating arm through a pin shaft; the cutter disc is installed on the output shaft of the hydraulic motor, with a sleeve in the middle. The cutter disc is fixed on the chuck, and a pressure sensor is provided on the outer shell of the rotating arm. The angle adjustment hydraulic cylinder is installed on the side of the rotating arm and connected to the motor seat. The angle adjustment hydraulic cylinder adjusts the cutting angle of the cutter disc to achieve terrain profiling.

[0012] The branch gathering and baling device comprises a branch gathering frame, a U-shaped frame and a baling device. The branch gathering frame is a ring structure with an opening at the front end, and a sliding bracket is arranged at the opening at the front end. The U-shaped frame is installed in the middle gap of the branch gathering frame and telescopically slides between the branch gathering frames. The branch gathering frame is connected to the lifting arms on both sides through an axis, and the angle is changed by a fourth hydraulic cylinder. The branch gathering frame is provided with a guide wheel, and the guide wheel is arranged on a slide rail. The baling device is connected under the slide rail.

[0013] Principle of the branch gathering and baling mechanism: When working, the branch gathering and baling mechanism extends into the lower end of the branch, the sliding bracket is closed, the U-shaped frame extends forward to clamp the branch, and the slide rail drives the baling device to rotate when the bracket and the guide wheel rotate. During the rotation of the baling device, the rope is released and knotted, and the mechanism is lifted to an appropriate distance through the lifting arm. The above process is repeated. When the baling device is lifted to the upper end of the branch, the rope is knotted and cut.

[0014] The intelligent control system includes a single-chip control module, a power module, a wireless communication module, a drive module, and a distance measurement module. The wireless communication module remotely controls the crawler vehicle to move forward and backward, and the intelligent visual sensor monitors the surrounding environment. The pressure sensor can detect terrain changes and adjust the movement, and the infrared sensor can automatically avoid obstacles. The laser distance measurement sensor feeds back the target distance to the single-chip computer, and the solenoid valve conduction is adjusted to control the operation of the cutting device and the branch bundling device.

[0015] The intelligent control system can measure the distance between the saw disc and the ground through a laser rangefinder sensor and move to the appropriate position at the root of the branch for cutting. It can detect terrain changes through a pressure sensor to adjust movement and automatically avoid obstacles through an infrared sensor.

[0016] The advantages of the present invention are:

[0017] (1) Fill the gap in my country's intelligent remote-controlled pruning machinery.

[0018] (2) The machine is small in size, flexible in movement, and can adapt to the complex terrain of the desert.

[0019] (3) It can be remotely controlled intelligently, allowing one person to operate multiple units, significantly saving manpower.

[0020] (4) The branches can be gathered into bundles for easy cutting and convenient recycling of caragana. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is the front view of the present invention.

[0023] Figure 3 It is a top view of the present invention.

[0024] Figure 4 This is a front view of the cutting device of the present invention.

[0025] Figure 5 It is a front view of the branch gathering and bundling device of the present invention.

[0026] Figure 6 It is a top view of the branch gathering and bundling device of the present invention. DETAILED DESCRIPTION

[0027] The specific technical solution of the present invention is described in conjunction with the accompanying drawings.

[0028] like Figures 1 to 3 As shown, an all-terrain remote-controlled cluster multifunctional stubble cutter includes a main machine 1, a walking mechanism 2, a cutting device 3, a branch-gathering and bundling device 4, and an intelligent control system;

[0029] The main machine 1 is provided with a battery 13, a boom 15, a lifting arm 16, a small arm 21, and a rotating arm 24; the battery 13 is connected to each control system of the equipment, and is connected to various sensors installed on the equipment through a bus; the lifting arm 16 is installed on both sides of the main machine 1, and is lifted and lowered by hydraulic control, the lower end of the boom 15 is hinged on the base 18, and the base 18 forms a sliding pair with the guide rail 19 on the main machine 1; the arm 15 can be extended for cutting when working and retracted for walking on the guide rail 19, making the structure compact and convenient for walking. The boom 15 is also hinged to the first hydraulic cylinder 20, and the first hydraulic cylinder 20 is used to control the lifting and lowering of the upper end of the boom 15;

[0030] The small arm 21 is hinged to the upper end of the big arm 15 through the first slewing pair 22. The small arm 21 is also hinged to the second hydraulic cylinder 23. The second hydraulic cylinder 23 is used to control the small arm 21 to drive the lifting;

[0031] The rotating arm 24 is hinged to the other end of the small arm 21 through the second slewing pair 25. The rotating arm 24 is also hinged to the third hydraulic cylinder 26. The third hydraulic cylinder 26 is used to control the angle adjustment of the rotating arm 24.

[0032] The laser distance sensor 17 is installed at the front end of the host 1 , and the intelligent visual sensor 11 is set on the host 1 through a cylindrical frame 27 , and the intelligent visual sensor 11 rotates around the cylindrical frame; the remote control signal receiver 28 is fixed on the surface of the host 1 .

[0033] The walking mechanism 2 includes an engine 5, a hydraulic pump 6, a walking motor 7, a remote control module, and a triangular crawler 9. The walking motor 7, the hydraulic pump 6, and the engine 5 are connected in sequence. The walking motor 7 is connected to a large 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 pump 6 and the motor 7 are controlled by the remote control system to control the crawler vehicle to move forward and backward, and the travel speed of the vehicle is changed by the flow rate, and the speed difference of the motors 7 on both sides is controlled to realize turning.

[0034] like Figure 4 The cutting device 3 includes a cutter disc 29, a sleeve 31, a hydraulic motor 32, a pressure sensor, and a cutter disc angle adjustment hydraulic cylinder 30. The hydraulic motor 32 is installed at the bottom end of the rotating arm 24 and is connected to the rotating arm 24 through a pin shaft; the cutter disc 29 is installed on the output shaft of the hydraulic motor 32, with a sleeve 31 in the middle, the cutter disc 29 is fixed on the chuck 33, and the outer shell of the rotating arm 24 is provided with a pressure sensor. The angle adjustment hydraulic cylinder 30 is installed on the side of the rotating arm 24 and is connected to the motor seat. The angle adjustment hydraulic cylinder 30 adjusts the cutting angle of the cutter disc 29 to achieve terrain profiling.

[0035] like Figure 5 and Figure 6 The branch gathering and baling device 4 includes a branch gathering frame 34, a U-shaped frame 35, and a baling device 36. The branch gathering frame 34 is a ring structure with an opening at the front end, and a sliding bracket 38 is provided at the front end opening. The U-shaped frame 35 is installed in the middle gap of the branch gathering frame 34 and telescopically slides between the branch gathering frames 34; the branch gathering frame 34 is connected to the lifting arms 16 on both sides through an axis, and the angle is changed by the fourth hydraulic cylinder 37 to adapt to the stubble of caragana growing in various terrains; the branch gathering frame 34 is provided with a guide wheel 40, and the guide wheel 40 is set on a slide rail 39; the baling device 36 is connected to the slide rail 39.

[0036] The intelligent control system 12 includes a single-chip control module, a power module, a wireless communication module, a drive module, and a distance measurement module. The wireless communication module remotely controls the crawler vehicle to move forward and backward, monitors the surrounding environment through the intelligent visual sensor 11, detects terrain changes through the pressure sensor to adjust the movement, and automatically avoids obstacles through the infrared sensor. The laser distance measurement sensor 17 feeds back the target distance to the single-chip computer, and adjusts the conduction of the solenoid valve to control the operation of the cutting device 3 and the branch bundling device 4.

[0037] When in use, the hydraulic pressure is divided into two paths, one is to control the crawler vehicle to move through the hydraulic pump 6 and the travel motor 7, and the other is to control the branch-gathering and baling device 4 and the cutting device 3 by connecting the corresponding electromagnetic valves. The crawler vehicle is moved to the vicinity of the caragana by remote control, and the distance to the caragana is observed by the laser rangefinder 17 and fed back to the control system. The branch-gathering and baling device 4 is started by the single-chip microcomputer, and the branch-gathering and baling device 4 is inserted into the bottom of the caragana, and the front sliding bracket 38 is closed, and the U-shaped frame 35 extends forward. After clamping through the pressure sensor feedback, the slide rail 39 rotates on the bracket 34 and the guide wheel 40 to drive the baling device 36 to rotate. During the rotation of the baling device 36, the rope is released and knotted, and the mechanism is lifted up by the lifting arm 16 to an appropriate distance. The above process is repeated, and when the baling device 36 is lifted to the upper end of the branch, the rope is knotted and cut. When baling is completed, the pressure sensor feeds back to the single-chip microcomputer, which starts the mechanical arm of the cutting component 3 and pushes it out through the guide rail 19. The distance between the saw disc and the ground is measured by the laser distance sensor, and the robot moves to the appropriate position at the root of the branch. The single-chip microcomputer controls the hydraulic motor 32 to start and drive the cutter disc 29 to rotate to complete the cutting. By sensing the terrain, the third hydraulic cylinder 26 and the cutter disc angle adjustment hydraulic cylinder 30 are fine-tuned to achieve automatic profiling, so as to achieve intelligent operation of baling first and then cutting.

[0038] The invention has a small size and can move flexibly on complex terrain. The repeated branch gathering and cutting movements can be programmed to realize automatic cutting, and one person can operate multiple devices, thus greatly saving labor.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An all-terrain remote-controlled cluster multifunctional stubble machine, characterized in that: It comprises a main machine (1), a walking mechanism (2), a cutting device (3), and a branch gathering and bundling device (4); The main machine (1) comprises a boom (15), a lifting arm (16), a forearm (21), and a rotating arm (24); the lifting arm (16) is mounted on both sides of the main machine (1) and is raised and lowered by hydraulic control; the lower end of the boom (15) is hinged on a base (18), and the base (18) and a guide rail (19) on the main machine (1) form a sliding pair; the forearm (21) is hinged to the upper end of the boom (15) through a first rotating pair (22); the rotating arm (24) is hinged to the other end of the forearm (21) through a second rotating pair (25); the boom (15), the lifting arm (16), the forearm (21), and the rotating arm (24) are respectively connected to hydraulic cylinders; The walking mechanism (2) comprises an engine (5), a hydraulic pump (6), a walking motor (7), and a triangular crawler (9); the walking motor (7), the hydraulic pump (6), and the engine (5) are connected in sequence; the walking motor (7) is connected to a large 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 cutting device (3) comprises a cutter disc (29), a hydraulic motor (32), and a cutter disc angle adjustment hydraulic cylinder (30); the hydraulic motor (32) is mounted at the bottom end of a rotating arm (24) and connected to the rotating arm (24) via a pin shaft; the cutter disc (29) is mounted on an output shaft of the hydraulic motor (32), with a shaft sleeve (31) provided in the middle; the cutter disc (29) is fixed on a chuck (33); a pressure sensor is provided on the outer shell of the rotating arm (24); the angle adjustment hydraulic cylinder (30) is mounted on the side of the rotating arm (24) and connected to the motor seat; the angle adjustment hydraulic cylinder (30) adjusts the cutting angle of the cutter disc (29) to achieve 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). The branch gathering frame (34) is an annular structure with an opening at the front end. The opening at the front end is provided with a slidable bracket (38). The U-shaped frame (35) is installed in the middle gap of the branch gathering frame (34) and can be telescopically slid between the branch gathering frames (34). The branch gathering frame (34) is connected to the lifting arms (16) on both sides via a shaft, and the angle is changed by a fourth hydraulic cylinder (37). The branch gathering frame (34) is provided with a guide wheel (40), and the guide wheel (40) is arranged on a slide rail (39). The bundling device (36) is connected below the slide rail (39).

2. The all-terrain remote-controlled cluster multifunctional trimming machine according to claim 1, characterized in that: The upper arm (15) is hinged to a first hydraulic cylinder (20), and the first hydraulic cylinder (20) is used to control the lifting and lowering of the upper end of the upper arm (15); the lower arm (21) is hinged to a second hydraulic cylinder (23), and the second hydraulic cylinder (23) is used to control the lifting and lowering of the lower arm (21); the rotating arm (24) is hinged to a third hydraulic cylinder (26), and the third hydraulic cylinder (26) is used to control the angle adjustment of the rotating arm (24).

3. The all-terrain remote-controlled cluster multifunctional trimming machine according to claim 1, characterized in that: It also includes an intelligent control system (12), wherein the intelligent control system (12) includes a single-chip control module, a power module, a wireless communication module, a drive module, and a distance measurement module; The laser distance measuring sensor (17) is mounted on the front end of the host (1); the intelligent visual sensor (11) is arranged on the host (1) via a cylindrical frame (27); the intelligent visual sensor (11) rotates around the cylindrical frame; the remote control signal receiver (28) is fixed on the surface of the host (1); the intelligent visual sensor (11) monitors the surrounding environment and feeds back the target distance to the single-chip control module via the laser distance measuring sensor (17); The walking mechanism (2) further comprises a remote control module, and the hydraulic pump (6) and the walking motor (7) are controlled by an intelligent control system (12) via the remote control module; The intelligent control system (12) adjusts the conduction of the electromagnetic valve to control the operation of the cutting device (3) and the branch gathering and bundling device (4).

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