A field automatic row alignment device for self-propelled agricultural machinery

Abstract

This invention belongs to the technical field of auxiliary devices for agricultural machinery, and particularly relates to an automatic row alignment device for self-propelled agricultural machinery in the field. It includes a main unit, a left automatic row alignment mechanism, and a right automatic row alignment mechanism. The left automatic row alignment mechanism is fixed to the lower left front part of the main unit by fasteners, and the right automatic row alignment mechanism is fixed to the lower right front part of the main unit by fasteners. The left and right automatic row alignment mechanisms have identical structures. This invention's automatic row alignment device has low maintenance costs, is applicable to various types of small and medium-sized agricultural machinery, and is easily promoted and used in row alignment agronomy. Furthermore, this invention ensures the accuracy of agronomic operations and effectively protects the safety of agronomic operations for grain crops.

Description

Technical Field

[0001] The invention belongs to the technical field of auxiliary devices for agricultural machinery, and in particular relates to an automatic field row-aligning device for self-propelled agricultural machinery. Background Art

[0002] With the continuous improvement of the automation level of agricultural machinery, assisted driving technology and automatic driving technology are gradually applied to agricultural machinery operations. When some agricultural operations are carried out, agricultural machinery is often required to move along the seedling belt, which requires the automatic driving unit to automatically identify the trend of the seedling belt and make real-time corrections to the driving direction. Due to the different trends of the seedling belt, the driving direction often needs to be constantly corrected to meet the operation requirements. If the correction of this direction deflection is made by human judgment, it will seriously affect the operation efficiency, and the operator's experience requirements are very high. Inaccurate judgment or operation errors will cause great damage to crops, thereby affecting the yield of grain crops. However, the existing precise positioning and automatic navigation driving systems (such as an agricultural machinery assisted automatic driving device using laser sensing with application number: CN202120698259.3 and an automatic row alignment mechanism for cotton pickers with application number: CN202021247140.6) are very expensive, with high repair and maintenance costs, complex structure, and cumbersome operation. They are not suitable for small and medium-sized agricultural machinery and are difficult to promote in row alignment agronomy. Summary of the invention

[0003] The purpose of the present invention is to provide a field automatic row-aligning device for a self-propelled agricultural machinery, which has a scientific overall structural design and a relatively simple structural composition. During use, the main machine can automatically align its rows in the field, and has the characteristics of simple operation, strong applicability, and saving manpower, time, and effort.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A field automatic row-aligning device for a self-propelled agricultural machinery comprises a main machine, a left automatic row-aligning mechanism and a right automatic row-aligning mechanism, wherein the left automatic row-aligning mechanism is fixed to the left position of the lower front part of the main machine by fasteners, and the right automatic row-aligning mechanism is fixed to the right position of the lower front part of the main machine by fasteners, and the left automatic row-aligning mechanism and the right automatic row-aligning mechanism have the same parts structure and are symmetrically installed, and the two comprise a mounting panel, an angle sensor assembly, a connecting plate welded assembly, an elevator servo, a threaded connection assembly, a fixing clamp and a rubber rod; the mounting panel is fixed to the lower front part of the main machine by fasteners, the angle sensor assembly is fixed to the mounting panel by fasteners, the connecting plate welded assembly is installed on the angle sensor assembly and is connected to the angle sensor assembly by fasteners, the elevator servo is fixed to the connecting plate welded assembly by fasteners, and the threaded connection assembly is fixed to the lifting rod of the elevator servo by fasteners; the fixing clamp is installed on the lower side of the threaded connection assembly and is in clamping contact with the threaded connection assembly, and one side end of the rubber rod is installed on the fixing clamp and is in clamping contact with the fixing clamp.

[0006] The left automatic alignment mechanism and the right automatic alignment mechanism are symmetrically installed at the front lower position of the main machine through fasteners.

[0007] The threaded connection assembly includes a threaded connection rod, a threaded connection sleeve and a locking nut. The upper part of the threaded connection rod is installed on the lifting rod of the lifting servo through a fastener, an external thread is processed on the outer circle of the lower part of the threaded connection rod, and an internal threaded hole is processed on the threaded connection sleeve. The lower part of the threaded connection rod is installed in the internal threaded hole on the threaded connection sleeve through a threaded matching method, and the locking nut is screwed on the threaded connection rod through a threaded matching method.

[0008] The connecting plate welded part is an L-shaped structure as a whole.

[0009] Furthermore, a connecting arm is installed on the upper part of the angle sensor assembly, and the connecting plate welding assembly is fixed to the connecting arm on the angle sensor assembly by a fastener.

[0010] Furthermore, a host controller is installed on the host, and the host controller is connected to the angle sensor assembly and the elevator steering gear through a wiring harness and performs signal control on the angle sensor assembly and the elevator steering gear.

[0011] Furthermore, the host includes various self-propelled agricultural machinery, and the crawler tractor shown in the figure is only an example, and the host in the present invention is not limited to this host device.

[0012] The beneficial effects of the present invention are as follows: the overall structural design of the field automatic row alignment device for self-propelled agricultural machinery of the present invention is scientific, and compared with the existing precise positioning and automatic navigation driving system devices, it has the following technical characteristics and advantages:

[0013] 1. Simple structure: Compared with the existing precise positioning and automatic navigation devices, the present invention greatly reduces the number of components, and can realize the field automatic row driving operation function of the host with the minimum number of components in specific use;

[0014] 2. Simple and convenient operation. The field automatic row-aligning device for self-propelled agricultural machinery of the present invention can correct the direction of the host machine under the control of the host machine controller through the signal feedback of the angle sensor assembly during use, and the operation process is very simple and convenient.

[0015] 3. The field automatic row-aligning device of the present invention has low maintenance costs and can be applied to various types of small and medium-sized agricultural machinery. It is very easy to promote and use it in row-aligning agronomy. At the same time, the present invention can ensure the accuracy of agronomic operations and effectively protect the safety of agronomic operations of grain crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the installation assembly structure of the field automatic row-aligning device of the present invention;

[0017] Figure 2 It is a schematic diagram of the installation structure of the left automatic line-aligning mechanism in the present invention;

[0018] Figure 3 It is a schematic diagram of the installation structure of the right automatic line-aligning mechanism in the present invention;

[0019] Figure 4 This is a control flow chart of the automatic row alignment device in the field of the present invention;

[0020] The numbers in the figure are: 1, main engine; 2, left automatic travel mechanism; 3, right automatic travel mechanism; 21, installation panel; 22, angle sensor assembly; 23, connecting plate welding assembly; 24, elevator servo; 25, threaded connecting rod; 26, threaded connecting sleeve; 27, fixing clamp; 28, rubber rod; 29-locking nut. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments of the specification. It should be noted that when an element is referred to as "fixed to" or "set on" another element, it can be directly or indirectly connected to the other element. When an element is referred to as "connected to" another element, it can be directly or indirectly connected to the other element. The terms "left" and "right" used to indicate orientation in this application document are based on the specific structure shown in the accompanying drawings and do not constitute a limitation on the structure.

[0022] Specific embodiment 1: As shown in the specification of the present invention Figure 1 As shown, the present invention provides

[0023] A field automatic row-aligning device for a self-propelled agricultural machinery mainly comprises a main machine 1, a left automatic row-aligning mechanism 2 and a right automatic row-aligning mechanism 3, wherein the left automatic row-aligning mechanism 2 and the right automatic row-aligning mechanism 3 are used to perform field automatic row-aligning operations, the left automatic row-aligning mechanism 2 is fixed to the left position of the front lower part of the main machine 1 by fasteners, and the right automatic row-aligning mechanism 3 is fixed to the right position of the front lower part of the main machine 1 by fasteners, and the left automatic row-aligning mechanism 2 and the right automatic row-aligning mechanism 3 have the same structure, and the two comprise an installation panel 21, an angle sensor assembly 22, a connecting plate welding assembly 23, an elevator servo 24, a threaded connection assembly, a fixing clamp 27 and a rubber rod 28; the installation panel 21 is used to install and bear the angle sensor assembly 22, and one side of the installation panel 21 is fixed to the front lower part of the main machine 1 by fasteners, and the angle sensor assembly 22 is used to collect left and right angle values, and align the collected left and right angle values For example, the angle sensor assembly 22 is fixed to the mounting panel 21 by fasteners, a connecting arm is installed on the upper part of the angle sensor assembly 22, a connecting plate welded assembly 23 is fixed to the connecting arm on the angle sensor assembly 22 by fasteners, and the connecting plate welded assembly 23 is an L-shaped structure as a whole; an elevator servo 24 used for driving the threaded connection assembly to lift up and down is fixed to the connecting plate welded assembly 23 by fasteners, and the threaded connection assembly is fixed to the lifting rod of the elevator servo 24 by fasteners; a fixing clamp 27 is used to stably clamp the rubber rod 28, the fixing clamp 27 is installed on the lower side of the threaded connection assembly and is in clamping contact with the threaded connection assembly, and one side end of the rubber rod 28 is installed on the fixing clamp 27 and is in clamping contact with the fixing clamp 27; a host 1 controller is installed on the host 1, and the host 1 controller is respectively connected to the angle sensor assembly 22 and the elevator servo 24 through a wiring harness and performs signal control on the angle sensor assembly 22 and the elevator servo 24.

[0024] As the specification of the present invention Figure 3 As shown, the threaded connection assembly for adjusting the angular position of the fixing clamp 27 and the rubber rod 28 includes a threaded connection rod 25, a threaded connection sleeve 26 and a locking nut 29, wherein the upper portion of the threaded connection rod 25 is mounted on the lifting rod of the lifting servo 24 through a fastener, an external thread is machined on the outer circle of the lower portion of the threaded connection rod 25, an internal threaded hole adapted for the installation of the threaded connection rod 25 is machined on the threaded connection sleeve 26, the lower portion of the threaded connection rod 25 is mounted in the internal threaded hole on the threaded connection sleeve 26 through a threaded matching manner, and the locking nut 29 is screwed on the threaded connection rod 25 through a threaded matching manner and locks the relative position between the threaded connection rod 25 and the threaded connection sleeve 26.

[0025] The installation process and control process of the field automatic row-aligning device for self-propelled agricultural machinery of the present invention during specific operations are as follows: It should be pointed out that the host 1 in the present invention includes various self-propelled agricultural machinery, and the crawler tractor shown in the figure is only an example. The host 1 in the present invention is not limited to the host 1 equipment. When installing the present invention, the operator can first install the left automatic row-aligning mechanism 2 and the right automatic row-aligning mechanism 3 at the front lower position of the host 1 through the installation panel 21 thereon under the installation action of the fastening bolt group, install the angle sensor assembly 22 on the installation panel 21 through the fastening bolt group, install the connecting arm on the angle sensor assembly 22, and weld the connecting plate. The assembly 23 is fixed to the connecting arm on the angle sensor assembly 22 by fasteners, and the elevator servo 24 is installed on the connecting plate welded assembly 23. The upper part of the threaded connecting rod 25 is installed on the lifting rod of the elevator servo 24 by fasteners. The elevator servo 24 can raise its lifting rod when it is not in the row alignment mode to prevent its parts from being damaged by collision with debris; finally, the operator can clamp the fixing clamp 27 on the lower side of the threaded connection sleeve 26, and one side end of the rubber rod 28 is clamped on the fixing clamp 27. The fixing clamp 27 can be adjusted 360 degrees on the threaded connection sleeve 26 to ensure that the rubber rod 28 can be close to the crop to make the angle sensor assembly 22 produce an angle when the automatic row alignment is working. At this point, the overall installation process of the present invention is completed. When the present invention is used and controlled, first, after the host 1 is started, the host 1 controller will automatically initialize the system, and after completion, it will accept the remote control command. After the operator sends the row mode command with the remote control, the sensor signal will be collected. If the remote control does not send the row mode command, the sensor signal will not be collected; the angle sensor assembly 22 will collect the left angle value and the right angle value at the same time, and compare the collected left and right angle values. The difference between the left and right angles is set with a dead zone value; when the left angle value is greater than the right angle value, and the angle offset interval is greater than the dead zone value, the host 1 automatically turns left; when the right angle value is greater than the left angle value, and the angle offset interval is greater than the dead zone value, the host 1 automatically turns right. During the turning process, the angle sensor assembly 22 is still collecting the left angle value and the right angle value and comparing the angle values, and so on. Through the implementation of the above method, the present invention can realize the automatic row driving of the host 1 in the field, which is simple to operate, highly applicable, and saves people, time and effort. Moreover, the field automatic row alignment device of the present invention has low maintenance costs, can be applied to various types of small and medium-sized agricultural machinery, and can be easily promoted and used in row-aligning agronomy. At the same time, the present invention can ensure the accuracy of agronomic operations and effectively protect the safety of agronomic operations of grain crops.

[0026] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A field automatic row alignment device for a self-propelled agricultural machinery, characterized in that: The invention comprises a main machine (1), a left automatic alignment mechanism (2) and a right automatic alignment mechanism (3), wherein the left automatic alignment mechanism (2) is fixed to the left side of the lower front part of the main machine (1) by means of fasteners, and the right automatic alignment mechanism (3) is fixed to the right side of the lower front part of the main machine (1) by means of fasteners, and the left automatic alignment mechanism (2) and the right automatic alignment mechanism (3) have the same structure, and both of them comprise a mounting panel (21), an angle sensor assembly (22), a connecting plate welding assembly (23), an elevator servo (24), a threaded connection assembly, a fixing clamp (27) and a rubber rod (28); the mounting panel (21) is fixed to the main machine (1) by means of fasteners. At the front lower position of the main engine (1), the angle sensor assembly (22) is fixed to the installation panel (21) by means of fasteners, the connecting plate welding assembly (23) is installed on the angle sensor assembly (22) and connected to the angle sensor assembly (22) by means of fasteners, the elevator servo (24) is fixed to the connecting plate welding assembly (23) by means of fasteners, and the threaded connection assembly is fixed to the elevator rod of the elevator servo (24) by means of fasteners; the fixing clamp (27) is installed on the lower side of the threaded connection assembly and is in clamping contact with the threaded connection assembly, and one side end of the rubber rod (28) is installed on the fixing clamp (27) and is in clamping contact with the fixing clamp (27); The left automatic alignment mechanism (2) and the right automatic alignment mechanism (3) are symmetrically mounted at the front lower position of the main machine (1) via fasteners; The threaded connection assembly comprises a threaded connection rod (25), a threaded connection sleeve (26) and a locking nut (29); the upper portion of the threaded connection rod (25) is mounted on the lifting rod of the lifting servo (24) through a fastener; an external thread is processed on the outer circle of the lower portion of the threaded connection rod (25); an internal thread hole is processed on the threaded connection sleeve (26); the lower portion of the threaded connection rod (25) is mounted in the internal thread hole on the threaded connection sleeve (26) through a threaded matching method; and the locking nut (29) is screwed onto the threaded connection rod (25) through a threaded matching method.

2. The field automatic row alignment device for a self-propelled agricultural machinery according to claim 1, characterized in that: The connecting plate welded part (23) is an L-shaped structure as a whole.

3. The field automatic row alignment device for a self-propelled agricultural machinery according to claim 1, characterized in that: A connecting arm is installed on the upper part of the angle sensor assembly (22), and the connecting plate welding assembly (23) is fixed to the connecting arm on the angle sensor assembly (22) by means of a fastener.

4. The field automatic row alignment device for a self-propelled agricultural machine according to claim 1, characterized in that: A host controller is installed on the host (1), and the host controller is connected to the angle sensor assembly (22) and the elevator servo (24) respectively through a wiring harness and performs signal control on the angle sensor assembly (22) and the elevator servo (24).

5. The field automatic row alignment device for a self-propelled agricultural machine according to claim 1, characterized in that: The host machine (1) includes various self-propelled agricultural machines.

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