Cotton topping automatic row alignment device, combined operation machine and control method

Abstract

The invention discloses an automatic row-aligning device for cotton topping, a combined operation machine and a control method, which solves the problem in the prior art that cotton topping operation machinery has angle deviation and needs adjustment by a driver, and has the beneficial effect of automatically adjusting the angle deviation and improving the efficiency of topping operation. The scheme is as follows: an automatic row-aligning device for cotton topping comprises a cotton topping mechanism; a mobile frame, one side of which can be connected to the cotton topping mechanism, and the other side of which is connected to the operation machinery through a fixed frame, and a pushing component is arranged on the fixed frame and the mobile frame bracket; a row-aligning mechanism, which is connected to the mobile frame, and an angular displacement sensor is arranged on the row-aligning mechanism; the angular displacement sensor is connected to a controller, and the controller is connected to the pushing component, the angular displacement sensor detects an angle deviation signal of the mobile frame and transmits it to the controller, and the controller controls the action of the pushing component to realize the return of the mobile frame.

Description

Technical Field

[0001] The invention relates to the field of cotton topping, in particular to an automatic row-aligning device for cotton topping, a combined operation machine and a control method. Background Art

[0002] Cotton is an important industrial base and strategic material in my country. It is also an economic crop with a high status in agricultural production and has a strong economic status. Cotton has basically achieved mechanization in the entire production and planting process, from deep loosening and sowing to cotton harvesting. Only mechanical topping is still in the experimental research stage that cannot be promoted on a large scale. Cotton topping is one of the key links in increasing cotton production and income. Timely topping can eliminate the top advantage of cotton and increase cotton production. Drug topping is commonly used abroad, using some crop growth inhibitors to control the growth of cotton plants and cause their tops to naturally die. In China, due to the strong technicality of drug control and the obvious differences in the ability of diverse cotton varieties to tolerate drugs, it also pollutes the environment and affects the quality of cotton, making it difficult to promote on a large scale; manual topping is labor-intensive and time-consuming. In the context of labor shortage, mechanized topping technology has become inevitable.

[0003] In response to the problems of cotton topping machinery, many domestic universities, research institutes and related enterprises have conducted research on cotton topping machinery, and have conducted corresponding explorations in multiple directions such as sensors, image recognition, and remote sensing, and have achieved certain results. Single-row imitation intelligent precision topping machinery has become the research focus of existing machinery. Single-row imitation can better achieve accurate quantitative topping; when working in the field, the driver must drive the operating machinery carefully on the one hand, and pay close attention to the row situation on the other hand. Once deviation occurs, it will seriously affect the accuracy of cotton topping, and then affect the yield; long-term mechanical operation will increase the driver's fatigue and reduce the operating efficiency; and the field requires a long journey for one operation, and due to the setting of the field ground, there are many deviations. If the driver is required to correct it all the time, it will waste a lot of time, and manual operation sometimes also has large operating errors.

[0004] In summary, it is necessary to set up automatic row alignment equipment for the cotton topping mechanism. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides an automatic row alignment device for cotton topping. The automatic row alignment device for cotton topping spraying machine designed by the present invention and the combined operation machine constituted by the device can realize automatic row alignment during the operation of the cotton topping machine, which can effectively improve the operation quality and efficiency.

[0006] The specific scheme of the automatic row-aligning device for cotton topping is as follows:

[0007] Cotton topping automatic row alignment device, including:

[0008] Cotton topping mechanism;

[0009] The mobile frame can be connected to the cotton topping mechanism on one side and connected to the operating machine through the fixed frame on the other side, and the fixed frame and the mobile frame bracket are provided with a pushing component;

[0010] The row mechanism is connected to the mobile frame, and the row mechanism is provided with an angular displacement sensor; the angular displacement sensor is connected to the controller, the controller is connected to the pushing component, the angular displacement sensor detects the angle deviation signal of the mobile frame and transmits it to the controller, the controller controls the action of the pushing component to realize the return of the mobile frame, thereby realizing the return of the cotton topping mechanism and avoiding large deviations in the topping operation.

[0011] By setting up the automatic row alignment device, when the mobile frame with the cotton beating mechanism deviates, the controller will detect it in time, and then adjust the pushing parts to make adjustments, automatically operate, and improve work efficiency.

[0012] Furthermore, in order to top the cotton on both sides at the same time, the movable frame is provided with two cotton topping mechanisms, the row mechanism is arranged between the two cotton topping mechanisms, and two angle displacement sensors are provided to respectively detect the deviations on both sides. The controller can make corresponding judgments based on the average value of the two measurements.

[0013] Furthermore, a distance sensor is provided at the bottom end of the row mechanism, and the distance sensor is connected to the controller. The row mechanism is provided with a lifting component, and the lifting component is connected to the mobile frame through a fixed beam. The distance sensor is a laser sensor, and the distance between the bottom end of the row mechanism and the field is measured by the distance sensor to ensure that the cotton topping mechanism is always at a height within a set range, thereby ensuring accurate topping.

[0014] Further, the lifting component is an electric screw mechanism including a screw, the screw is arranged in an outer sleeve, the outer sleeve is connected to the motor, and the outer sleeve is connected to the fixed beam, a door-shaped motor fixing plate is arranged on the top of the outer sleeve to fix the motor, the opening of the motor fixing plate faces the horizontal direction, the motor is connected to the screw through a coupling, a fixing card is arranged at the end of the fixed beam, the fixing card is engaged with the moving frame, and bolts are arranged on the fixing card to fasten the fixing card and the moving frame;

[0015] The lead screw is movably sleeved with an inner sleeve, the inner sleeve is connected to the alignment mechanism, the outer sleeve is slidably arranged relative to the inner sleeve, the motor drives the lead screw to rotate, the lead screw rotates, the inner sleeve moves up and down, thereby driving the alignment mechanism to move up and down, ensuring that the alignment mechanism conforms to the ground and the consistency of the alignment height.

[0016] Furthermore, the row alignment mechanism comprises a row alignment horizontal beam, the row alignment horizontal beam is connected to the row alignment vertical beam, and the angular displacement sensor is arranged at the bottom end of the row alignment vertical beam;

[0017] Furthermore, the vertical beams in the rows can be slidably arranged relative to the horizontal beams in the rows, and can be locked. A movable card plate is arranged on the top of the vertical beams in the rows. The movable card plate is frame-shaped. The horizontal beams in the rows pass through the movable card plate. The horizontal beams in the rows are provided with groove-shaped through holes. Bolts are arranged on the movable card plate to fasten the movable card plate and the horizontal beams in the rows through bolts and nuts.

[0018] Furthermore, a sensor fixing plate is welded to the bottom end of the pair of vertical beams, the angular displacement sensor is mounted on the sensor fixing plate, and the flexible swing arm is connected to the angular displacement sensor. In the normal linear operation state, the flexible swing arm is arranged between two adjacent ridges of cotton.

[0019] Furthermore, the flexible swing rod is arranged on the inner side of the pair of vertical beams.

[0020] Furthermore, the pair of horizontal beams are symmetrically provided with two pair of vertical beams, and there are also two corresponding angular displacement sensors and distance measuring sensors.

[0021] Furthermore, the mobile rack includes a frame, a plurality of guide rails are arranged on the side of the frame, a slider cooperating with the guide rails is arranged on the side of the fixed frame, one end of the pushing component is connected to the fixed frame, and the other end is connected to the middle of the frame, and the pushing component is a first electric push rod.

[0022] The cotton topping mechanism is fixed to the lower side of the mobile frame, and the mobile frame frame is provided with a guard plate for protecting the cotton topping mechanism.

[0023] In order to overcome the shortcomings of the prior art, the present invention also provides a cotton topping combined operation machine, comprising:

[0024] The automatic row-aligning device for cotton topping;

[0025] In the operating machine, the controller is arranged on the operating machine chassis.

[0026] Furthermore, the working machine includes a steering mechanism, which is connected to the controller; the steering mechanism is a linear pushing component arranged between the steering wheel and the frame of the working machine, and the linear pushing component is a second electric push rod. The second electric push rod pushes the steering wheel to deflect by telescoping to achieve steering control. The second electric push rod is connected to the steering wheel at a set angle to drive the movement of the steering wheel.

[0027] A control method for a cotton topping combined operation machine, the specific steps are as follows:

[0028] The angular displacement sensor detects an angle deviation signal and transmits the signal to a controller;

[0029] The controller determines the offset of the angle. If the angle offset is less than the set value, the controller controls the pushing component to push the moving frame to move, thereby adjusting the offset distance of the topping mechanism.

[0030] If the controller determines that the angle deviation exceeds the set value, the controller controls the steering mechanism to rotate.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1) The present invention can effectively obtain the deviation angle according to the measurement of the angular displacement sensor by setting the travel mechanism, so as to adjust the mobile frame through the controller, thereby driving the angle of the cotton topping mechanism to return to the correct position, thereby effectively improving the operating efficiency of the topping machinery.

[0033] 2) The present invention can effectively adjust the height of the row mechanism by setting a distance measuring sensor, thereby adjusting the distance between the cotton topping mechanism and the ground, ensuring the equal height of the contact between the swing rod and the bottom end of the cotton, ensuring the accuracy of the operation of the cotton topping mechanism, and improving the precision.

[0034] 3) The present invention can adjust the distance between the flexible rocker arms according to the cotton planting pattern through the setting of the overall mechanism; at the same time, the device can be installed on various existing topping machines to achieve automatic row alignment during the operation process and improve the quality of detection and topping operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0036] Figure 1 It is a schematic diagram of a cotton topping combined operation machine of the present invention;

[0037] Figure 2 It is a top view of a cotton topping combined operation machine of the present invention;

[0038] Figure 3 It is a schematic diagram of the automatic alignment mechanism of the present invention;

[0039] Figure 4 is a schematic diagram of a mobile rack of the present invention;

[0040] Figure 5 The present invention is a flow chart of a control method of a cotton topping combined operation machine.

[0041] Among them: 1. Rowing mechanism, 2. Cotton topping mechanism, 3. Guard plate, 4. Mobile frame, 5. Controller, 6. Touch screen, 7. Cab, 8. Variable spraying mechanism, 9. Second electric push rod, 10. Speed ​​encoder; 101. Rowing beam, 102. Mobile card plate, 103. Outer sleeve, 104. Motor fixing plate, 105. Motor, 106. Coupling, 107. Screw, 108. Fixed beam, 109. Fixed card plate, 110. Inner Casing, 111, opposite vertical beams, 112, flexible rocker, 113, angular displacement sensor, 114, sensor fixing plate, 115, laser sensor, 116, distance sensor fixing plate; 401, frame cross beam, 402, frame vertical beam, 403, lower connecting square tube, 404, guide rail, 405, slider, 406, push rod fixing plate, 407, first electric push rod, 408, welded frame cross beam, 409, pin shaft, 410, welded frame vertical beam. DETAILED DESCRIPTION

[0042] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0043] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0044] As introduced in the background technology, in order to solve the deficiencies existing in the prior art and the above technical problems, the present application proposes an automatic row-aligning device for topping cotton.

[0045] In a typical implementation of the present application, Figure 1 and Figure 2As shown, the automatic row-aligning device for cotton topping includes a cotton topping mechanism; a mobile frame, one side of which can be connected to the cotton topping mechanism, and the other side of which is connected to the operating machine through a fixed frame, and a pushing component is set between the fixed frame and the mobile frame 4 bracket; a row-aligning mechanism 1, which is connected to the mobile frame 4, and the row-aligning mechanism 1 is provided with an angular displacement sensor; the angular displacement sensor 113 is connected to the controller, and the controller 5 is connected to the pushing component, the angular displacement sensor 113 detects the angular displacement signal of the mobile frame and transmits it to the controller, and the controller 5 controls the action of the pushing component to realize the return of the mobile frame. The row-aligning mechanism 1 is provided with a lifting component, which is connected to the mobile frame through a fixed beam, and the distance sensor is a laser sensor 115, which measures the distance between the bottom end of the row-aligning mechanism and the field through the distance sensor to ensure that the cotton topping mechanism is always at a height within a set range, and to ensure accurate topping.

[0046] By setting up the automatic row alignment device, when the mobile frame with the cotton beating mechanism deviates, the controller will detect it in time, and then adjust the pushing parts to make adjustments, automatically operate, and improve work efficiency.

[0047] In order to top the cotton on both sides at the same time, the mobile frame 4 is provided with two cotton topping mechanisms 2, and the row mechanism is arranged between the two cotton topping mechanisms 2. Two angle displacement sensors 113 are provided to respectively detect the deviation on both sides. The controller can make corresponding judgments based on the average value of the two measurements.

[0048] like Figure 3 As shown, the lifting component is an electric screw mechanism including a screw, the screw 107 is arranged in the outer sleeve 103, the outer sleeve 103 is connected to the motor, and the outer sleeve is connected to the fixed beam 108 described in 103, and a door-shaped motor fixing plate 104 is arranged on the top of the outer sleeve 103 to fix the motor 105, which is specifically connected by bolts, and the opening of the motor fixing plate 104 faces the horizontal direction, and the motor is connected to the screw 107 through a coupling 106. A fixed card plate 109 is arranged at the end of the fixed beam 108, and the fixed card plate 109 is engaged with the mobile frame 4, and the fixed card plate 109 is provided with bolts to fasten the fixed card plate and the mobile frame 4;

[0049] The lead screw 107 is movably sleeved with an inner sleeve 110, which cooperates with a nut welded on the inner sleeve. The inner sleeve 110 is connected to the row mechanism 1, and the outer sleeve 103 is slidably arranged relative to the inner sleeve 110. The motor 105 drives the lead screw 107 to rotate. When the lead screw 107 rotates, the inner sleeve 110 moves up and down, thereby driving the row mechanism 1 to move up and down, thereby adjusting the height of the cotton topping mechanism.

[0050] The row mechanism 1 includes a row cross beam 101, which is welded to the inner sleeve 110, and is connected to the row vertical beam 111. The angular displacement sensor 113 is arranged at the bottom end of the row vertical beam 111; the row vertical beam 111 can be slidably arranged relative to the row cross beam and can be locked. A movable card plate 102 is arranged on the top of the row vertical beam 111. The movable card plate 102 is frame-shaped, and the row cross beam 101 is arranged through the movable card plate 102. The row cross beam 101 has a slot-shaped through hole, and the movable card plate 102 is provided with bolts to fasten the movable card plate 102 and the row cross beam 101 through bolts and nuts.

[0051] The bottom end of the vertical beam 111 is welded with a sensor fixing plate 114, the angular displacement sensor 113 is installed on the sensor fixing plate 114, and the flexible swing rod 112 is connected to the angular displacement sensor 113; the flexible swing rod 112 is arranged on the inner side of the vertical beam 111, the flexible swing rod 112 is connected to the angular displacement sensor 113, the swing of the flexible swing rod drives the angular displacement sensor to generate a displacement signal, the flexible swing rod is made of rubber material, and the horizontal distance between the two flexible swing rods can span a row of cotton. The horizontal beam 101 is symmetrically provided with two vertical beams 111, and there are also two corresponding angular displacement sensors and distance sensors.

[0052] A distance sensor is provided at the bottom end of the parallel mechanism 1 , and the distance sensor is connected to the controller. The distance sensor is provided at the bottom end of the parallel vertical beam through a distance sensor fixing plate 116 , specifically at one side of the sensor fixing plate 114 .

[0053] like Figure 4 As shown, the mobile frame includes a frame, which is welded together by a frame crossbeam 401, a frame vertical beam 402, and a lower connecting square tube 403 to form a rectangular frame structure, and the frame crossbeam and the frame vertical beam are in the same horizontal plane; two guide rails 404 are arranged on each side of the frame, and a slider 405 cooperating with the guide rail is arranged on the side of the fixed frame. One end of the pushing component is connected to the fixed frame through a push rod fixing plate 406, and the other end is connected to the middle of the frame. The pushing component is a first electric push rod 407. The fixed frame is assembled into a rectangle by a fixed frame crossbeam 408 and a fixed frame vertical beam 410, and the fixed frame can be welded to the operating machinery.

[0054] The cotton topping mechanism 2 is fixed to the lower side of the mobile frame 4, and the mobile frame frame is provided with a guard plate 3 for protecting the cotton topping mechanism.

[0055] In order to overcome the shortcomings of the prior art, the present invention also provides a cotton topping combined operation machine, including: the automatic row alignment device for cotton topping; the operation machine, the controller 5 is arranged on the chassis of the operation machine, the controller 5 is a PLC programmable controller, or other central processing unit, the controller is provided with a touch screen 6, the touch screen is arranged in the cab 7, to complete human-computer interaction; in addition, a variable spraying mechanism 8 (to realize variable spraying) is arranged on the surface of the chassis of the operation machine, and the mechanism is arranged behind the cab to complete the variable spraying operation.

[0056] The operating machine includes a steering mechanism, which is connected to the controller; the steering mechanism is a linear propulsion component arranged between the steering wheel of the operating machine and the frame, and the linear propulsion component is a second electric push rod. In addition, the walking wheel of the operating machine is provided with a speed encoder connected to the controller for detecting the forward speed of the whole machine. According to the feedback speed, the topping response time and the spraying amount control are adjusted in real time to achieve speed matching of the whole machine.

[0057] In addition, the present invention also discloses a control method for a cotton topping combined operation machine, and the specific steps are as follows:

[0058] The angular displacement sensor detects an angle deviation signal and transmits the signal to a controller;

[0059] The controller determines the offset of the angle. If the offset of the angle is less than the set value, the controller controls the pushing component to push the moving frame to move, thereby adjusting the offset angle of the topping mechanism.

[0060] If the controller determines that the angle deviation exceeds the set value, the controller controls the steering mechanism to rotate.

[0061] Operation process and principle:

[0062] Before operation, connect the power supply of the operating machine to the controller and two electric push rods through a cable; turn on the touch screen, and after the system is initialized, set the initial parameters as needed; during operation, the row mechanism uses one ridge and two rows of (machine-picked cotton) cotton as the reference row. When the operation is standard, the flexible swing arm will not touch the cotton stalks. At this time, no signal will be fed back to the controller, and the controller and the actuator will not operate; when the operating machine deflects during operation, the flexible swing arm touches the cotton stalks, and the swing arm drives the angular displacement sensor to trigger a signal, which is fed back to the controller. The controller determines the deviation direction of the walking system and first adjusts the first electric push rod.

[0063] The mobile frame automatically adjusts the offset distance. If the offset distance exceeds 15cm, the second electric push rod starts to move, pushing the steering wheel to start turning. According to the real-time feedback signal from the two flexible swing rods in front, the steering wheel is adjusted. When there is no signal feedback from the front, the push rod pushes the steering wheel back to the positive position. During the entire operation, in order to ensure the accuracy of the row and the equal height of the contact position of the flexible swing rod with the cotton stalk, the height of the row device from the ground is detected in real time by a laser sensor, and the row device is driven by the forward and reverse rotation of the stepper motor to achieve real-time profiling of the ground undulation height.

[0064] The operating machine of the present invention realizes automatic row alignment, cotton topping accuracy and spraying effect during operation by setting an automatic row alignment mechanism, thereby improving operation efficiency and quality, and has the advantages of simple structure, low manufacturing cost, high intelligence, etc.

[0065] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A cotton topping combined operation machine, characterized in that: include: Automatic row-aligning device for cotton topping, operating machinery, and controller installed on the chassis of the operating machinery; The working machine comprises a steering mechanism, which is connected to the controller; the steering mechanism is a linear propulsion component provided between the steering wheel and the frame of the working machine; the linear propulsion component is a second electric push rod; The automatic row-aligning device for cotton topping comprises: Cotton topping mechanism; A mobile frame, one side of which can be connected to the cotton topping mechanism, and the other side of which is connected to the operating machine through a fixed frame, and a pushing component is arranged between the fixed frame and the mobile frame; The travel mechanism is connected to the mobile frame, and the travel mechanism is provided with an angular displacement sensor; the angular displacement sensor is connected to the controller, the controller is connected to the pushing component, the angular displacement sensor detects the angular displacement signal of the mobile frame and transmits it to the controller, the controller controls the action of the pushing component to realize the return of the mobile frame; the pushing component is a first electric push rod; The mobile frame is provided with two cotton topping mechanisms, and the row-matching mechanism is provided between the two cotton topping mechanisms; The mobile frame includes a frame, a plurality of guide rails are arranged on the side of the frame, a slider matched with the guide rails is arranged on the side of the fixed frame, one end of the pushing component is connected to the fixed frame, and the other end is connected to the middle of the frame; the frame is welded together by a frame cross beam, a frame vertical beam, and a lower connecting square tube to form a rectangular frame structure, and the frame cross beam and the frame vertical beam are on the same horizontal plane; The cotton topping mechanism is fixed to the lower side of the mobile frame, and the mobile frame is provided with a guard plate for protecting the cotton topping mechanism; The bottom end of the said parallel mechanism is provided with a distance sensor, the distance sensor is connected with the said controller, the said parallel mechanism is provided with a lifting component, the lifting component is connected with the said mobile frame through a fixed beam; There are two angular displacement sensors, one for detecting the deviation on both sides. The controller can make corresponding judgments based on the average value of the two measurements. When the flexible swing arm touches the cotton stalk, the swing arm drives the angular displacement sensor to trigger a signal, which is fed back to the controller, and the controller determines the deviation direction of the walking system; The controller determines the deviation direction of the walking system, and first adjusts the first electric push rod of the mobile frame to automatically adjust the offset distance. If the offset distance exceeds the set value, the second electric push rod starts to move; During the process of adjusting the offset distance, the height of the line-steering device from the ground is detected in real time by the laser sensor, and the line-steering device is driven by the forward and reverse rotation of the stepper motor to achieve real-time profiling of the ground's undulating height.

2. The cotton topping combined operation machine according to claim 1, characterized in that: The lifting component is an electric screw mechanism including a screw, the screw is arranged in an outer sleeve, the outer sleeve is connected to the motor, and the outer sleeve is connected to the fixed beam; The lead screw is movably sleeved with an inner sleeve, the inner sleeve is connected with the alignment mechanism, and the outer sleeve is slidably arranged relative to the inner sleeve.

3. The cotton topping combined operation machine according to claim 1, characterized in that: The row alignment mechanism comprises a row alignment horizontal beam, the row alignment horizontal beam is connected to the row alignment vertical beam, and the angular displacement sensor is arranged at the bottom end of the row alignment vertical beam; Furthermore, the vertical beams in the rows can be slidably arranged relative to the horizontal beams in the rows, and can be locked; Furthermore, the pair of horizontal beams are symmetrically provided with two pair of vertical beams.

4. The cotton topping combined operation machine according to claim 3, characterized in that: A sensor fixing plate is welded to the bottom end of the pair of vertical beams, the angular displacement sensor is mounted on the sensor fixing plate, and the flexible swing arm is connected to the angular displacement sensor; Furthermore, the flexible swing rod is arranged on the inner side of the pair of vertical beams.

5. A control method for a cotton topping combined operation machine according to any one of claims 1 to 4, characterized in that: The specific steps are as follows: The angular displacement sensor detects an angle deviation signal and transmits the signal to a controller; The controller determines the offset of the angle. If the offset of the angle is less than the set value, the controller controls the pushing component to push the moving frame to move, thereby adjusting the offset angle of the topping mechanism. If the controller determines that the angle deviation exceeds the set value, the controller controls the steering mechanism to rotate.

Images