Electric corn detasseling machine and control method

Abstract

The present invention relates to the technical field of electric corn detasseling machines, and in particular, to an electric corn detasseling machine and a control method. The detasseling machine includes a detasseling machine body, which includes a vehicle body and a detasseling part, and the detasseling part is used to move with the vehicle body to detassel corn; the detasseling part includes a pair of symmetrically arranged detasseling components, and the detasseling components include a straw divider located on the outside and an electric rubber roller located on the inside; the detasseling machine body in the present invention adopts an electric rubber roller in an electric form, which is smaller in size, lighter in weight, and more flexible in adjustment, so as to achieve more accurate detasseling. A detasseling area for clamping and removing male ears is formed between the two electric rubber rollers; it can be understood that when the male ears of corn enter the detasseling area, other side leaves can be separated by the straw divider to reduce losses.

Description

Technical Field

[0001] The invention relates to the technical field of electric corn detasseling machines, and in particular to an electric corn detasseling machine and a control method thereof. Background Art

[0002] During the growth of corn, in order to improve corn yield and seed purity, it is usually necessary to perform a detasseling operation, that is, to remove the male tassels of corn. At present, the detasseling operation of corn mainly relies on manual or corn detasseling machinery.

[0003] Existing corn detasseling machines are prone to blockage when detasseling tassels through rollers. This is because during the detasseling process, the rollers need to pull the tassels out of the corn stalks and then send the tassels to the detasseling machine through the rotation of the rollers. However, in actual operation, due to the inconsistency of the size and shape of the tassels and the friction between the tassels and the corn stalks, the rollers often cannot smoothly send the tassels to the detasseling machine, which may cause the tassels to form a blockage between the rollers.

[0004] Once the blockage occurs, it will affect the working efficiency of the detasseling machine and the detasseling effect. Because the male ears are blocked between the rollers, the subsequent male ears cannot pass through the rollers smoothly, making it impossible to perform effective detasseling operations. In addition, if the blockage is serious, the rollers may get stuck and unable to rotate, and the rotary drive mechanism may be overloaded and damaged. Summary of the invention

[0005] The invention provides an electric corn detasseling machine, which can overcome certain defects of the prior art.

[0006] An electric corn detasseling machine according to the present invention includes a detasseling machine body, the detasseling machine body includes a vehicle body and a detasseling part, the detasseling part is used to move with the vehicle body to detassel corn; the detasseling part includes a pair of symmetrically arranged detasseling components, the detasseling components include a straw divider located on the outside and an electric rubber roller located on the inside; the detasseling machine body in the present invention adopts an electric rubber roller in an electric form, the electric rubber roller is smaller in size, lighter in weight, and more flexible in adjustment, so that more accurate detasseling can be achieved. A detasseling area for clamping and removing male ears is formed between the two electric rubber rollers; it can be understood that when the male ears of corn enter the detasseling area, other side leaves can be separated by the straw divider to reduce losses;

[0007] The electric rubber roller includes a main shaft, an electric drive unit and an elastic rubber sleeve which are coaxially arranged from the inside to the outside; the outer wall of the rubber sleeve is used as the extrusion surface of the demasculine area; the inside of the rubber sleeve is provided with an internal airbag and an external airbag which are independent of each other; the inner side of the internal airbag is used to control the installation or removal of the rubber sleeve; the outer side of the external airbag is used to adjust the extrusion pressure of the outer wall of the rubber sleeve.

[0008] Specifically, the electric rubber roller in the present invention is installed and fixed by a main shaft, driven to rotate by an electric drive unit, and clamped and pulled by a rubber sleeve.

[0009] Firstly, the electric drive unit can control and adjust the rotation speed of the rubber sleeves, and can control the two rubber sleeves to reverse; thereby forming a relative rotation in opposite directions between the two rubber sleeves, so as to clean the residual tassels between the rubber sleeves and the residual tassels adhering to the rubber sleeves.

[0010] Furthermore, the rubber sleeve in the present invention is in the form of an internal airbag and an external airbag. At the same time, the rubber sleeve itself is elastic, so that the pressure adjustment performed by the internal airbag and the external airbag can be transmitted to the inner wall or outer wall of the rubber sleeve, so as to manifest as deformation of the inner wall or outer wall of the rubber sleeve.

[0011] In the present invention, the internal airbag can be used to achieve connection with the electric drive unit, and the change in the internal pressure of the external airbag can further change the clamping force between the two electric rubber rollers, thereby cooperating with the normal rotation or reversal of the aforementioned electric drive unit to clear the male tassels remaining adhered between the two electric rubber rollers. The specific structure and use process of the internal airbag and the external airbag are as follows;

[0012] Preferably, the vehicle body is provided with an air source for controlling the internal airbag and the external airbag, and the inflation or deflation of the internal airbag and the external airbag are relatively independent; multiple internal airbags and external airbags are provided and distributed at intervals along the circumference of the colloid.

[0013] Preferably, the internal airbag has an inflated state and a deflated state; the inflated state of the internal airbag is used to fix the rubber sleeve, and the deflated state of the internal airbag is used to release the fixation of the rubber sleeve.

[0014] Preferably, the electric drive unit includes a transmission roller driven by electricity, and a groove is formed on the outer wall of the transmission roller; the inflated state of the internal airbag is used to embed the part of the rubber sleeve near the transmission roller into the groove, so as to position the rubber sleeve and the transmission roller and transmit the rotation connection; the deflated state of the internal airbag is used to withdraw the part of the rubber sleeve near the transmission roller from the groove, so as to separate the rubber sleeve from the transmission roller.

[0015] Preferably, an auxiliary plate is further provided at the rubber sleeve, and a mounting groove is formed in a depression at the outer wall of the rubber sleeve, and the depth direction of the mounting groove is from inside to outside along the circumference of the rubber sleeve; the auxiliary plate is installed in the mounting groove.

[0016] Preferably, the auxiliary plate extends from inside to outside along the circumference of the external airbag; the first end of the auxiliary plate is fixedly connected to the bottom wall of the mounting groove at the rubber sleeve, and the second end can extend out, be flush with or retract into the extrusion surface formed by the outer wall of the rubber sleeve.

[0017] Preferably, there are multiple detasseling parts that are independent of each other, each of which is used to correspond to each row of crops; each detasseling part includes a frame and a bracket, the frame is installed on the vehicle body, and the bracket is used to install the pair of detasseling components; a plurality of mounting holes for fixing and installing the frame are formed at intervals on the vehicle body;

[0018] A cross arm is provided between the frame and the bracket, one end of the cross arm is hinged to the frame, and the other end is fixedly connected to the bracket; a lifting electric cylinder is also provided at the bottom end of the frame, and the telescopic end of the lifting electric cylinder is hinged to the cross arm. The lifting electric cylinder is used to extend and retract and drive the cross arm to rotate so as to adjust the posture of the demasculine component.

[0019] Preferably, a camera is provided at the front end of the bracket, and the camera is used to collect front-end images; the camera is communicatively connected to a controller, and the controller is used to receive the front-end images and control the lifting and lowering of the lifting electric cylinder; the controller is also communicatively connected to the electric drive unit and controls the rotation speed of the rubber sleeve; a spiral rice-supporting device is also provided between the rice-divider and the electric rubber roller, and the spiral rice-supporting device is used to support and send the male ears of corn to the detasseling area;

[0020] Preferably, the vehicle body includes a cab, a generator set, an engine, a frame and multiple wheel parts; the wheel parts are independent of each other, and each wheel part includes a hydraulic motor, a wheel-side reducer, a steering motor and a tire, and the hydraulic motor and the wheel-side reducer are used to work together to drive the vehicle body; an encoder is also provided on the vehicle body, and the encoder is used to collect the vehicle's driving speed.

[0021] The present invention also provides a corn detasseling control method, which is based on the above-mentioned electric corn detasseling machine and specifically comprises the following steps:

[0022] Step S1, according to the actual planting row spacing, the rack is installed through different mounting holes to correspond to the planting row spacing;

[0023] Step S2, driving the vehicle body to move so as to detassel the corn to be detasseled by means of the detasseling assembly;

[0024] Step S3, obtaining the position and height of the corn tassel through the controller according to the front-end image collected by the camera;

[0025] Step S4, adjusting the position and height of the electric rubber roller accordingly according to the position and height of the corn tassel;

[0026] Step S5, adjusting the rotation speed of the electric drive unit accordingly according to the driving speed collected by the encoder;

[0027] Step S6, clamping the male tassel guided into the detasseling area and completing detasseling.

[0028] Compared with the prior art, the present invention has the following significant beneficial effects:

[0029] (1) In the present invention, the electric drive unit is used to control the rotation of two electric rubber rollers, and the area between the two electric rubber rollers is used to extract the male corn. Firstly, the rotation speed of the electric rubber rollers can be controlled more conveniently to adapt to different corn planting conditions. Secondly, the electric rubber rollers can also be controlled to reverse to clear blockages.

[0030] (2) The present invention uses an internal air bag to install or remove the rubber sleeve, which is simple and convenient to operate, and can facilitate the demaleation personnel to replace the worn rubber sleeve in time to prevent the rubber sleeve from wearing and slipping and affecting the normal demaleation work.

[0031] (3) The present invention adjusts the internal pressure of the external airbag and deforms the extrusion surface of the rubber sleeve to adjust and control the extrusion force. The extrusion force control method of the present invention is easy to operate and can better avoid the situation where the male tassel is not pulled out due to insufficient force, and the situation where the male tassel is too much compacted and adhered to the rubber sleeve due to high extrusion force.

[0032] (4) The present invention adopts an electric rubber roller, which is smaller in size and lighter in weight than the prior art; thus, it can be better used in conjunction with an independent lifting electric cylinder. The lifting electric cylinder can adjust the posture (angle, height) of the electric rubber roller more quickly and the position control is more precise.

[0033] (5) The present invention can accurately identify the position and height of the tassel based on the image captured by the camera through the controller analysis to obtain the best tassel removal position, thereby achieving accurate emasculation. Therefore, the accurate identification system in the present invention can better improve the emasculation success rate and ensure a higher emasculation coverage rate.

[0034] (6) The present invention adopts four-wheel hydraulic drive, each wheel has a hydraulic motor, and is driven by a wheel-side reducer; electric steering is adopted, each wheel can be driven by an independent steering motor, and can be independently steered and controlled. In conjunction with the controller, it can achieve on-the-spot steering and obtain the smallest turning radius, which is conducive to turning around in the field and reducing the loss of seedlings.

[0035] (7) In the present invention, each emasculating unit is independently controlled, so that in actual use, the adjustment flexibility is better. Each emasculating unit can be adaptively adjusted relatively independently according to the corn in the corresponding row. Therefore, in conjunction with the precise identification system, based on the flexibility of independent adjustment of each emasculating unit, the emasculating efficiency, success rate and coverage rate can be better improved.

[0036] (8) In the present invention, the installation of each detasseling part is also independent of each other. Combined with the position of the mounting holes on the vehicle body, by installing them in different mounting holes, the row spacing between adjacent detasseling parts can be adjusted, thereby being suitable for the detasseling needs of different planting row spacings, so as to improve the detasseling efficiency, coverage rate and detasseling success rate.

[0037] (9) In the present invention, the spiral straw-supporting device can quickly straighten and gather the inclined top to guide it into the emasculation area, thereby cooperating with the precise identification system to improve the success rate of emasculation. At the same time, the straw divider separates the top side leaves to reduce damage.

[0038] (10) In the present invention, by extending or retracting the auxiliary plate to the outer wall of the rubber sleeve, the male spikes that are blocked can be scraped off to ensure the normal use of the electric detasseling machine and the normal detasseling work. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the emasculating machine body in Example 1;

[0040] Figure 2 for Figure 1 Schematic diagram of the structure of the middle emasculating part;

[0041] Figure 3 for Figure 2 A schematic diagram of the structure from another perspective;

[0042] Figure 4 for Figure 2 The structural diagram of the electric rubber roller;

[0043] Figure 5 It is a structural schematic diagram of the emasculating machine body in Example 2;

[0044] Figure 6 It is a structural schematic diagram of the emasculating part in Example 2;

[0045] Figure 7 for Figure 5 A schematic diagram of the structure from another perspective;

[0046] Figure 8 for Figure 5 A schematic diagram of the structure from another perspective;

[0047] Fig. 9 This is a schematic diagram of the structure of the main shaft, rubber sleeve and auxiliary plate in Example 3. DETAILED DESCRIPTION

[0048] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the embodiments. It should be understood that the embodiments are only for explaining the present invention and are not intended to limit it.

[0049] Example 1

[0050] The present embodiment provides an electric corn detasseling machine, which includes a detasseling machine body 100, the detasseling machine body 100 includes a vehicle body 110 and a detasseling part 120, the detasseling part 120 is used to move with the vehicle body 110 to detassel corn; the detasseling part 120 includes a pair of symmetrically arranged detasseling components 200, the detasseling components 200 include a straw divider 210 located on the outside and an electric rubber roller 220 located on the inside; the detasseling machine body 100 in the present embodiment adopts an electric rubber roller 220 in an electric form, the electric rubber roller 220 is smaller in size, lighter in weight, and more flexible in adjustment, so as to achieve more accurate detasseling. A detasseling area for clamping and removing the male ear is formed between the two electric rubber rollers 220; it can be understood that when the male ear of corn enters the detasseling area, the other side leaves can be separated by the straw divider 210 to reduce losses;

[0051] The electric rubber roller 220 includes a main shaft 151, an electric drive unit 152 and an elastic rubber sleeve 153 which are coaxially arranged from the inside to the outside; the outer wall of the rubber sleeve 153 is used as an extrusion surface of the emasculation area; the rubber sleeve 153 is provided with an internal airbag 410 and an external airbag 420 which are independent of each other; the inner side of the internal airbag 410 is used to control the installation or removal of the rubber sleeve 153; the outer side of the external airbag 420 is used to adjust the extrusion pressure of the outer wall of the rubber sleeve 153.

[0052] Specifically, the electric rubber roller 220 in this embodiment is installed and fixed by the main shaft 151, driven to rotate by the electric drive unit 152, and the rubber sleeve 153 is used to achieve clamping and pulling.

[0053] First, the electric drive unit 152 can control and adjust the rotation speed of the rubber sleeve 153, and can control the two rubber sleeves 153 to reverse; thereby forming a relative rotation in opposite directions between the two rubber sleeves 153, so as to clean the residual tassels between the rubber sleeves 153 and the residual tassels adhering to the rubber sleeves 153.

[0054] Furthermore, the rubber sleeve 153 in this embodiment is in the form of an internal airbag 410 and an external airbag 420. At the same time, the rubber sleeve 153 itself is elastic, so that the pressure adjustment performed by the internal airbag 410 and the external airbag 420 can be transmitted to the inner wall or outer wall of the rubber sleeve 153, so as to manifest as deformation of the inner wall or outer wall of the rubber sleeve 153.

[0055] In this embodiment, the internal airbag 410 can be used to achieve connection with the electric drive unit 152, and the internal pressure change of the external airbag 420 can further change the clamping force between the two electric rubber rollers 220, thereby cooperating with the normal rotation or reversal of the aforementioned electric drive unit 152 to clear the male tassels remaining adhered between the two electric rubber rollers 220.

[0056] In this embodiment, the internal airbag 410 has an inflated state and a deflated state; the inflated state of the internal airbag 410 is used to fix the rubber sleeve 153, and the deflated state of the internal airbag 410 is used to release the fixation of the rubber sleeve 153.

[0057] Specifically, in this embodiment, the installation or removal of the rubber sleeve 153 can be achieved by inflating or deflating the internal airbag 410; since in this embodiment, it is necessary to change the clamping force by adjusting the internal pressure of the external airbag 420, and to clear the blockage by reversing the two rubber sleeves 153, when the extrusion force is large, the contact pressure between the two rubber sleeves 153 is large, and there is a tendency for relative movement, the rubber sleeves 153 are prone to wear.

[0058] In this embodiment, the rubber sleeve 153 can be replaced more conveniently by inflating and deflating the internal airbag 410, so as to avoid adverse effects on the emasculation process due to the difficulty in replacing the rubber sleeve 153 due to wear.

[0059] The electric drive unit 152 includes a transmission roller 430 driven by electricity, and a groove 431 is formed on the outer wall of the transmission roller 430; the inflated state of the internal airbag 410 is used to embed the part of the rubber sleeve 153 near the transmission roller 430 into the groove 431, so as to position the rubber sleeve 153 and the transmission roller 430 and transmit the rotation connection; the deflated state of the internal airbag 410 is used to withdraw the part of the rubber sleeve 153 near the transmission roller 430 from the groove 431, so as to separate the rubber sleeve 153 from the transmission roller 430.

[0060] Specifically, in this embodiment, the pressing force of the internal airbag 410 after inflation cooperates with the groove 431 to position and connect the rubber sleeve 153 and the driving roller 430; the connection is stable and easy to operate.

[0061] Example 2

[0062] The same as Example 1, but different from Example 1 is that: in this embodiment, a plurality of demasculinizing units 120 are provided and are independent of each other, and each demasculinizing unit 120 is used to correspond to each row of crops; each demasculinizing unit 120 includes a frame 610 and a bracket 620, the frame 610 is installed on the vehicle body 110, and the bracket 620 is used to install the pair of demasculinizing components 200; a plurality of mounting holes for fixing and installing the frame 610 are formed at intervals on the vehicle body 110; the installer can adjust the spacing between adjacent demasculinizing components 200 by installing the frame 610 in different mounting holes, thereby meeting the requirements of different planting row spacings.

[0063] A cross arm 630 is provided between the frame 610 and the bracket 620, one end of the cross arm 630 is hinged to the frame 610, and the other end is fixedly connected to the bracket 620; a lifting electric cylinder 640 is also provided at the bottom end of the frame 610, and the telescopic end of the lifting electric cylinder 640 is hinged to the cross arm 630. The lifting electric cylinder 640 is used to extend and retract and drive the cross arm 630 to rotate so as to adjust the posture of the demasculine assembly 200.

[0064] Specifically, in this embodiment, the lifting electric cylinder 640 is used to control the demasculinization assembly 200, which has a faster response speed and more accurate position control. In addition, since most of the prior art uses hydraulic drive to adjust the posture of the demasculinization assembly 200, the roller size is relatively large, and two sets of rollers are often used to share a lifting device, while in this embodiment, the lifting electric cylinder 640 is used in conjunction with the electric rubber roller 220, and the size of the electric rubber roller 220 is relatively small, which can also provide a prerequisite for the independent control of each demasculinization assembly 200.

[0065] In this embodiment, a camera 650 is further provided at the front end of the bracket 620, and the camera 650 is used to collect front-end images; the camera 650 is communicatively connected to a controller 660, and the controller 660 is used to receive the front-end images and control the lifting and lowering of the lifting cylinder 640; the controller 660 is also communicatively connected to the electric drive unit 152 and controls the rotation speed of the rubber sleeve 153; a spiral rice-supporting device 670 is further provided between the rice divider 210 and the electric rubber roller 220, and the spiral rice-supporting device 670 is used to support and send the corn tassels to the detasseling area;

[0066] It can be understood that this embodiment can better form an accurate recognition system by real-time image acquisition, flexible electric rubber roller 220 and faster corresponding lifting electric cylinder 640, so as to accurately identify the position and height of the male spike, thereby achieving accurate emasculation with a better tassel removal position. At the same time, the spiral stalk-supporting device 670 can better quickly straighten and gather the inclined top to further achieve accurate emasculation.

[0067] In this embodiment, the vehicle body 110 includes a cab 710, a generator set 720, an engine 730, a frame 740 and a plurality of wheel parts 750; each wheel part 750 is independent of each other, and each wheel part 750 includes a hydraulic motor 810, a wheel-side reducer 820, a steering motor 760 and a tire 830, and the hydraulic motor 810 and the wheel-side reducer 820 are used to cooperate with each other to drive the vehicle body 110; an encoder 670 is also provided on the vehicle body 110, and the encoder 670 is used to collect the vehicle's driving speed.

[0068] Furthermore, the present embodiment adopts four-wheel hydraulic drive, and each wheel has a hydraulic motor 810 and a wheel-side reducer 820 for driving; the present embodiment adopts electric steering, and each wheel can be driven by an independent steering motor 760, and can be independently steered and controlled. In conjunction with the controller 660, it can achieve on-the-spot steering and obtain the smallest turning radius, thereby better reducing the loss of seedlings when turning in the field.

[0069] This embodiment also provides a corn detasseling control method, which is based on an electric corn detasseling machine in this embodiment and specifically includes the following steps:

[0070] Step S1, according to the actual planting row spacing, the frame 610 is installed through different mounting holes to correspond to the planting row spacing;

[0071] Step S2, driving the vehicle body 110 to move, so as to detassel the corn to be detasseled by the detasseling assembly 200;

[0072] Step S3, obtaining the position and height of the corn tassel through the controller 660 according to the front-end image collected by the camera 650;

[0073] Step S4, adjusting the position and height of the electric rubber roller 220 according to the position and height of the corn tassel;

[0074] Step S5, adjusting the rotation speed of the electric drive unit accordingly according to the driving speed collected by the encoder 670;

[0075] Step S6, clamping the male tassel guided into the detasseling area and completing detasseling.

[0076] Example 3

[0077] The same as Example 1, but different from Example 1 is that: in this embodiment, an air source for controlling the internal airbag 410 and the external airbag 420 is also provided at the vehicle body 110, and the inflation or deflation of the internal airbag 410 and the external airbag 420 are relatively independent; multiple internal airbags 410 and external airbags 420 are provided and distributed at intervals along the circumference of the rubber sleeve 153.

[0078] It can be understood that the internal airbag 410 and the external airbag 420 are independent of each other to avoid cross-influence of their functions; and the inflation or deflation direction of the internal airbag 410 and the external airbag 420 is mainly outward or inward along the circumference of the rubber sleeve 153; the outer wall of the outer wall airbag and the inner wall of the internal airbag 410. For example, when the external airbag 420 is deflated to reduce the clamping force, the internal airbag 410 will not be deflated to cause the rubber sleeve 153 to be unstable; the internal airbag 410 can be kept taut at all times in a fixed state.

[0079] In this embodiment, an auxiliary plate 920 is further provided at the rubber sleeve 153 , and a mounting groove 910 is formed in a depression at the outer wall of the rubber sleeve 153 , and the depth direction of the mounting groove 910 is from inside to outside along the circumference of the rubber sleeve 153 ; the auxiliary plate 920 is installed in the mounting groove 910 .

[0080] Furthermore, the auxiliary plate 920 provided at the external airbag 420 in this embodiment can further assist in adjusting the extrusion surface of the outer wall of the rubber sleeve 153 of the external airbag 420 to achieve a change in the contact form between the two rubber sleeves 153, thereby further clearing the blockage; specifically as follows:

[0081] In this embodiment, the auxiliary plate 920 extends from the inside to the outside along the circumference of the rubber sleeve 153; the first end of the auxiliary plate 920 is fixedly connected to the bottom wall of the mounting groove 910 at the rubber sleeve 153, and the second end can extend out, be flush with or retract into the extrusion surface formed by the outer wall of the rubber sleeve 153.

[0082] Specifically, since the two elastic rubber sleeves 153 are both used as the extrusion surface through the outer wall and cooperate to form a clamp. However, the clamping between the two rubber sleeves 153 also belongs to elastic contact; when the tassels are densely packed, the number of residual tassels in the two rubber sleeves 153 is large, and they may be compacted on the outer wall of the rubber sleeve 153 due to accumulation, so it may still be difficult to perform a better clearing by simply relying on the reversal controlled by the electric drive unit 152 or the internal pressure adjustment of the external airbag 420.

[0083] The auxiliary plate 920 in this embodiment can reduce the pressure on the outer wall of the rubber sleeve 153 when the external airbag 420 is deflated; the outer wall of the rubber sleeve 153 is deformed and slightly retracted inward; at this time, the second end of the auxiliary plate 920 can extend out of the outer wall of the rubber sleeve 153, thereby contacting the outer wall of the other rubber sleeve 153, thereby playing an effect similar to that of a scraper, so as to perform a more powerful cleaning of the male spike residue on the outer wall of the airbag of the other rubber sleeve 153.

[0084] Therefore, the auxiliary plate 920 in this embodiment can effectively prevent the tassel residue from continuing to accumulate and adhering too much to the outer wall of the rubber sleeve 153; it may even cause the electric rubber roller 220 to get stuck and difficult to rotate, and cause the electric drive unit 152 to be overloaded and damaged, thereby ensuring the safety and stability of the entire emasculation process. After cleaning, the outer wall airbag is inflated to increase the internal pressure, and the outer wall of the rubber sleeve 153 is deformed to expand and bulge, and the auxiliary plate 920 is flush with the extrusion surface or retracted. After that, the outer wall airbag at another rubber sleeve 153 is deflated, and the above process can be repeated to achieve clearing.

[0085] That is, only one of the auxiliary plates 920 at the two rubber sleeves 153 needs to be exposed. In a normal state, both are retracted, and in a blockage clearing state, only one is exposed for cleaning.

[0086] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on one or several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0087] The present invention and its implementation methods are described schematically above, and the description is not restrictive. The embodiments shown in the embodiments are only part of the implementation methods of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the embodiments and designs a structure and an implementation method similar to the technical solution without creativity without departing from the purpose of the invention, they should all fall within the protection scope of the present invention.

Claims

1. An electric corn detasseling machine, characterized in that: The invention comprises a detasseling machine body (100), wherein the detasseling machine body (100) comprises a vehicle body (110) and a detasseling part (120), wherein the detasseling part (120) is used to move with the vehicle body (110) to detassel corn; the detasseling part (120) comprises a pair of symmetrically arranged detasseling components (200), wherein the detasseling components (200) comprise a crop divider (210) located on the outside and an electric rubber roller (220) located on the inside; and a detasseling area for clamping and removing male ears is formed between the two electric rubber rollers (220); The electric rubber roller (220) comprises a main shaft (151), an electric drive unit (152) and an elastic rubber sleeve (153) which are coaxially arranged from the inside to the outside; the outer wall of the rubber sleeve (153) is used as an extrusion surface of the emasculation area; the rubber sleeve (153) is provided with an internal air bag (410) and an external air bag (420) which are independent of each other; the inner side of the internal air bag (410) is used to control the installation or removal of the rubber sleeve (153); the outer side of the external air bag (420) is used to adjust the extrusion pressure of the outer wall of the rubber sleeve (153); The vehicle body (110) is also provided with an air source for controlling the internal airbag (410) and the external airbag (420), and the inflation or deflation of the internal airbag (410) and the external airbag (420) are relatively independent; a plurality of the internal airbag (410) and the external airbag (420) are provided and are spaced apart along the circumference of the rubber sleeve (153); The internal airbag (410) has an inflated state and a deflated state; the inflated state of the internal airbag (410) is used to fix the rubber sleeve (153), and the deflated state of the internal airbag (410) is used to release the fixation of the rubber sleeve (153); The electric drive unit (152) comprises a transmission roller (430) driven by electricity, and a groove (431) is formed on the outer wall of the transmission roller (430); the inflated state of the internal airbag (410) is used to embed the part of the rubber sleeve (153) near the transmission roller (430) into the groove (431), so as to position the rubber sleeve (153) and the transmission roller (430) and transmit and rotate them; the deflated state of the internal airbag (410) is used to withdraw the part of the rubber sleeve (153) near the transmission roller (430) from the groove (431), so as to separate the rubber sleeve (153) from the transmission roller (430); An auxiliary plate (920) is also provided at the rubber sleeve (153); a mounting groove (910) is formed by a depression at the outer wall of the rubber sleeve (153); the depth direction of the mounting groove (910) is from inside to outside along the circumference of the rubber sleeve (153); the auxiliary plate (920) is installed in the mounting groove (910); The auxiliary plate (920) extends from the inside to the outside along the circumference of the rubber sleeve (153); the first end of the auxiliary plate (920) is fixedly connected to the bottom wall of the mounting groove (910) at the rubber sleeve (153), and the second end can extend out, be flush with or retract into the extrusion surface formed by the outer wall of the rubber sleeve (153); A plurality of demasculinating parts (120) are provided and are independent of each other, and each demasculinating part (120) is used to correspond to each row of crops; each demasculinating part (120) comprises a frame (610) and a bracket (620), the frame (610) is installed on the vehicle body (110), and the bracket (620) is used to install the pair of demasculinating components (200); a plurality of mounting holes for fixing and installing the frame (610) are formed at intervals on the vehicle body (110); A cross arm (630) is provided between the frame (610) and the bracket (620), one end of the cross arm (630) is hinged to the frame (610), and the other end is fixedly connected to the bracket (620); a lifting electric cylinder (640) is also provided at the bottom end of the frame (610), the telescopic end of the lifting electric cylinder (640) is hinged to the cross arm (630), and the lifting electric cylinder (640) is used to extend and retract and drive the cross arm (630) to rotate, so as to adjust the posture of the demasculine assembly (200); A camera (650) is also provided at the front end of the bracket (620), and the camera (650) is used to collect front-end images; the camera (650) is communicatively connected to a controller (660), and the controller (660) is used to receive the front-end images and control the lifting and lowering of the lifting electric cylinder (640); the controller (660) is also communicatively connected to the electric drive unit (152) and controls the rotation speed of the rubber sleeve (153); a spiral grain-supporting device (670) is also provided between the grain divider (210) and the electric rubber roller (220), and the spiral grain-supporting device (670) is used to support and send corn tassels to the detasseling area.

2. The electric corn detasseling machine according to claim 1, characterized in that: The vehicle body (110) comprises a cab (710), a generator set (720), an engine (730), a frame (740) and a plurality of wheel parts (750); each wheel part (750) is independent of each other, and each wheel part (750) comprises a hydraulic motor (810), a wheel-side reducer (820), a steering motor (760) and a tire (830); the hydraulic motor (810) and the wheel-side reducer (820) are used to cooperate with each other to drive the vehicle body (110); an encoder (670) is also provided at the vehicle body (110), and the encoder (670) is used to collect the driving speed of the vehicle.

3. A method for controlling corn emasculation, characterized in that: Based on the electric corn detasseling machine described in any one of claims 1-2, it specifically includes the following steps: Step S1, according to the actual planting row spacing, the frame (610) is installed through different mounting holes to correspond to the planting row spacing; Step S2, driving the vehicle body (110) to move so as to detassel the corn to be detasseled through the detasseling assembly (200); Step S3, obtaining the position and height of the corn tassel through the controller (660) according to the front-end image collected by the camera (650); Step S4, adjusting the position and height of the electric rubber roller (220) accordingly according to the position and height of the corn tassel; Step S5, adjusting the rotation speed of the electric drive unit accordingly according to the driving speed collected by the encoder (670); Step S6, clamping the male tassel guided into the detasseling area and completing detasseling.

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