An adjustment device and adjustment method for neat cutting of leeks

Abstract

The present invention discloses an adjustment device and an adjustment method for the neat cutting of leeks. The device includes a cutting knife, which is driven to rotate by a driving mechanism; a profiling mechanism, which includes a fixed frame, on which an arc-shaped swing arm is rotatably connected, and a profiling wheel is rotatably connected to the lower end of the arc-shaped swing arm. The profiling wheel is arranged on both sides of the front section of the cutting knife. A rotary encoder is installed on the fixed frame and is connected to the arc-shaped swing arm. The upper end of the arc-shaped swing arm is hinged to the lower end of a spring rod, and the upper end of the spring rod is hinged to the fixed frame; an adjustment mechanism, which includes a lead screw motor, the output shaft of the lead screw motor is fixedly connected to a lead screw, and the lead screw is used to drive the cutting knife to move. The lead screw motor is electrically connected to the rotary encoder. The present invention can not only provide a theoretical basis for the stability and accuracy of the cutting knife height adjustment of a leek harvester through a terrain matching system, but also provide a reference and idea for the method of the intelligent adjustment system of the cutting knife height of a leek harvester.

Description

Technical Field

[0001] The present invention relates to the field of agricultural technology, and particularly to an adjustment device and an adjustment method for neat cutting of leeks. Background Art

[0002] At present, the global agricultural machinery market is growing steadily, and the harvester market occupies an important position. The increasing demand for agricultural products and the increase in farmers' income have promoted the development of the agricultural machinery market. The market scale of harvesters is constantly expanding, and the market competition is becoming increasingly fierce. The research on the height adjustment of the cutter of harvesters based on terrain matching will attract the attention of many scholars. The specific reasons are as follows: At present, the harvesters on the market cannot adjust the height of the cutter according to the terrain fluctuations, resulting in a relatively high harvesting loss rate. For crops such as leeks that need to retain a certain range of rhizomes, it has always been a major pain point and one of the difficult points that need to be solved urgently. Summary of the Invention

[0003] The purpose of the present invention is to provide an adjustment device and an adjustment method for neat cutting of leeks, which can not only provide a theoretical basis for the stability and accuracy of the cutter height adjustment of leek harvesters through a terrain matching system, but also provide a reference and idea for the method of the intelligent adjustment system of the cutter height of leek harvesters.

[0004] In one aspect of the present invention, the present invention provides an adjustment device for neat cutting of leeks. According to an embodiment of the present invention, the device includes:

[0005] A cutting knife, which is driven to rotate by a driving mechanism;

[0006] A profiling mechanism, which includes a fixed frame. An arc-shaped swing arm is rotatably connected to the fixed frame. A profiling wheel is rotatably connected to the lower end of the arc-shaped swing arm. The profiling wheel is arranged on both sides of the front section of the cutting knife. A rotary encoder is installed on the fixed frame and is connected to the arc-shaped swing arm. The upper end of the arc-shaped swing arm is hinged to the lower end of a spring rod, and the upper end of the spring rod is hinged to the fixed frame;

[0007] An adjustment mechanism, which includes a lead screw motor. The output shaft of the lead screw motor is fixedly connected to a lead screw, and the lead screw is used to drive the cutting knife to move. The lead screw motor is electrically connected to the rotary encoder.

[0008] In addition, according to an adjustment device for neat cutting of leeks in the above embodiment of the present invention, it may also have the following additional technical features:

[0009] In some embodiments of the present invention, the driving mechanism includes a cutter working head, the cutting knife is connected to the cutter working head, the cutter working head is fixed to a cutter shaft tube, the cutter shaft tube is fixed to a cutter motor, and the cutter motor is hinged to the frame of the leek harvester.

[0010] In some embodiments of the present invention, the lead screw is threadedly connected to the shaft tube connection ring, the shaft tube connection ring is fixed to the cutter shaft tube, and the lead screw motor is hinged to the frame of the leek harvester.

[0011] In some embodiments of the present invention, the fixing bracket is fixed to the frame of the leek harvester.

[0012] In another aspect of the present invention, the present invention provides an adjustment method for neat cutting of leeks. According to the embodiments of the present invention, the adjustment device for neat cutting of leeks is used for cutting.

[0013] In addition, an adjustment method for neat cutting of leeks according to the above embodiments of the present invention may further have the following additional technical features:

[0014] In some embodiments of the present invention, the method includes the following steps:

[0015] (1) Receive the ground height change through a profiling wheel, and then feedback it to a rotary encoder through an arc swing arm;

[0016] (2) Conduct a communication experiment on the rotary encoder and the lead screw motor through a single-chip microcomputer. When the rotary encoder rotates quantitatively, the single-chip microcomputer generates corresponding PWM waveforms, so that the rotation of the lead screw motor is controlled by PWM waves of different waveforms, and finally the lead screw drives the cutter to move up and down to realize the adjustment of the cutter height of the leek harvester based on terrain matching.

[0017] In some embodiments of the present invention, in step (2), the communication experiment between the rotary encoder and the lead screw motor includes the following steps:

[0018] (201) Connect the rotary encoder and the lead screw motor to different IO ports of the same single-chip microcomputer, and drive the servo motor through a motor driver Delta;

[0019] (202) Simulate the road surface height change and calculate the angle change of the profiling wheel driving the rotary encoder to rotate under the road surface undulation;

[0020] (203) Output the change situation of the PWM waveform through the angle change of the rotary encoder;

[0021] (204) Study the rotation angle situation of the lead screw motor controlled by PWM waves of different waveforms;

[0022] (205) While the rotary encoder rotates the angle, the lead screw motor rotates different angles, and the lead screw drives the cutter to move up and down.

[0023] In some embodiments of the present invention, in the step (202), the relationship between the height change ΔH of the profiling wheel and the angle θ rotated by the rotary encoder satisfies the relational expression ΔH 2 = L 2 (cos 2 θ1 + cos 2 θ2 - 2cos(θ1)cos(θ2)).

[0024] In some embodiments of the present invention, the step (203) specifically includes the following steps:

[0025] a. Determine the relevant parameters of the PWM waveform output by the single-chip microcomputer, and the parameters include the values of the clock prescaler PSC and the automatic load register ARR of the single-chip microcomputer;

[0026] b. Configure the PWM output pin and the time base unit, and output PWM waves with different waveforms by changing the angle of the rotary encoder.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1) The present invention not only effectively solves the fundamental problem that the harvester cannot detect ground fluctuations, improves the harvesting efficiency of the harvester, greatly reduces the harvesting loss rate, but also extends the service life of the cutter head to a certain extent.

[0029] 2) The height of the cutting knife of the present invention can be intelligently adjusted according to the ground undulation, significantly reducing the labor intensity and having the advantages of excellent flexibility and maneuverability. Especially when facing geographical conditions with large terrain undulations, through the research on the intelligent height adjustment of the cutting knife of the leek harvester based on terrain matching, not only the harvesting efficiency of the leek harvester is improved, but also a theoretical basis can be provided for the stability and accuracy of the height adjustment of the cutter head of the leek harvester through the terrain matching system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is the installation structure schematic diagram of an adjustment device for neat cutting of leeks in Embodiment 1 of the present invention;

[0031] Figure 2 is the structure schematic diagram of an adjustment device for neat cutting of leeks in Embodiment 1 of the present invention;

[0032] Figure 3 is the structure schematic diagram of the profiling mechanism in Embodiment 1 of the present invention;

[0033] Figure 4It is the PWM waveform diagram output when the rotary encoder rotates 30° in Embodiment 2 of the present invention;

[0034] In the figure, 1 is a cutting knife, 2 is a cutter working head, 3 is a cutter motor, 4 is a cutter shaft tube, 5 is a fixing frame, 6 is an arc-shaped swing arm, 7 is a rotary encoder, 8 is a profiling wheel, 9 is a spring rod, 10 is a lead screw motor, 11 is a lead screw, 12 is a shaft tube connecting ring, and 13 is a leek harvester. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] Embodiment 1

[0037] As Figures 1-3 shown, an adjustment device for neatly cutting leeks includes a cutting knife 1, a profiling mechanism, and an adjustment mechanism.

[0038] The cutting knife 1 is driven to rotate by a driving mechanism. The driving mechanism includes a cutter working head 2 and a cutter motor 3. The cutter motor 3 is hinged on the frame of the leek harvester 13. The cutter motor 3 is fixed to the cutter shaft tube 4, the cutter working head 2 is fixed to the cutter shaft tube 4, and the cutting knife 1 is connected to the cutter working head 2. A cutter transmission shaft is arranged in the cutter shaft tube 4. One end of the cutter transmission shaft is circular and the other end is square. The circular end is connected to the output shaft of the cutter motor 3, and the square end is engaged with the gear in the gearbox inside the cutter working head 2.

[0039] As Figure 3 shown, there are two groups of profiling mechanisms, which are respectively arranged on both sides above the cutting knife 1. The profiling mechanism includes a fixing frame 5. The fixing frame 5 is connected to the leek guiding plate on the leek harvester 13 by four bolts. An arc-shaped swing arm 6 is rotatably connected to the fixing frame 5 through a swing arm rotating shaft. A keyway is opened on the swing arm rotating shaft so that it is connected to the upper end of the arc-shaped swing arm 6 through the keyway. When the arc-shaped swing arm 6 rotates, it drives the swing arm rotating shaft to rotate. A rotary encoder 7 is installed on the fixing frame 5. The rotating shaft of the rotary encoder 7 is connected to the swing arm rotating shaft. The rotary encoder 7 rotates synchronously with the swing arm rotating shaft. Therefore, finally, when the arc-shaped swing arm 6 rotates, it drives the rotary encoder 7 to rotate, and the rotation angles of the two are the same.

[0040] The lower end of the arc swing arm 6 is rotationally connected with a profiling wheel 8 through a rotating shaft. The profiling wheel 8 is arranged on both sides of the front section of the cutting knife 1. The upper end of the arc swing arm 6 is hinged with the lower end of the spring rod 9, and the upper end of the spring rod 9 is hinged with the fixed frame 5. The spring rod 9 always gives a downward acting force to the arc swing arm 6, so that the profiling wheel 8 at the lower end of the arc swing arm 6 can always be in close contact with the ground, reducing bouncing and vibration. The profiling wheel 8 and the arc swing arm 6 are made of nylon material, making them have good resilience and toughness, capable of resisting repeated impacts and having good wear resistance.

[0041] The adjustment mechanism includes a lead screw motor 10. The output shaft of the lead screw motor 10 is fixedly connected with a lead screw 11. The lead screw 11 is a ball screw, and the lead screw 11 is used to drive the cutting knife 1 to move. The lead screw motor 10 is electrically connected with the rotary encoder 7. The lead screw 11 is threadedly connected with a shaft tube connecting ring 12, and the shaft tube connecting ring 12 is fixed on the cutter shaft tube 4. The lead screw motor 10 is hinged on the frame of the leek harvester 13. Among them, the shaft tube connecting ring 12 is composed of two collar rings forming an angle of 70° to 80°. One of the collar rings is sleeved on the cutter shaft tube, and the other collar ring has a thread matching the ball screw of the lead screw motor 10. The collar ring is connected to the ball screw of the lead screw motor 10 through the thread.

[0042] Working principle: The leek harvester 13 operates in the field. The profiling wheel 8 collects the change of the ground height and feeds it back to the rotary encoder 7. According to the change amount of the angle of the rotary encoder 7, the STM32 single-chip microcomputer outputs a PWM waveform with a corresponding duty cycle, thereby controlling the rotation direction and speed of the lead screw motor 10, so that the distance between the cutting point at the lower end of the cutter head of the leek harvester 13 and the ground remains dynamically balanced, realizing the neat and efficient harvesting of leeks based on terrain matching.

[0043] Embodiment 2

[0044] An adjustment method for neat cutting of leeks includes the following steps:

[0045] 1. Research and design of the profiling mechanism

[0046] (1.1) The profiling wheel 8 made of nylon material is used to reduce the frictional resistance and improve its resilience and toughness.

[0047] (1.2) The fixed frame 5 and the leek guiding plate on the leek harvester 13 are connected together by four bolts.

[0048] (1.3) The upper end of the spring rod 9 is installed on the fixed frame 5 through a support hinge, and the spring rod 9 can rotate through the support hinge; the lower end of the spring rod 9 is always in contact with the swing arm through the support hinge, and always gives a downward acting force to the swing arm, so that the profiling wheel 8 at the lower end of the swing arm can always be in close contact with the ground, reducing bouncing and vibration.

[0049] (1.4) Connect the rotary encoder 7 to the arc-shaped swing arm 6 through the swing arm rotating shaft. A keyway is provided on the swing arm rotating shaft, so that it is connected to the upper end of the arc-shaped swing arm 6 through the keyway. When the arc-shaped swing arm 6 rotates, it drives the swing arm rotating shaft to rotate. The rotating shaft of the rotary encoder 7 is connected to the swing arm rotating shaft, and the rotary encoder 7 rotates synchronously with the rotating shaft. Therefore, finally, when the arc-shaped swing arm 6 rotates, it drives the rotary encoder 7 to rotate, and the rotation angles of the two are the same.

[0050] (1.5) Connect the other end of the arc-shaped swing arm 6 to the profiling wheel 8 through a rotating shaft. Denote the vertical distance from the rotating shaft connecting the arc-shaped swing arm 6 and the profiling wheel 8 to the leek guiding plate as H, and the radius of the profiling wheel 8 as R. Then the height of the leek guiding plate from the ground is H + R.

[0051] 2. Research on the cutter head height adjustment system

[0052] (2.1) Initially, place the cutting point at the lower end of the cutting knife 1 and the leek guiding plate on the same horizontal plane. From step (1.5), it can be known that initially, the vertical distance from the cutting point at the lower end of the cutting knife to the ground is H + R. When the ground height changes, if the height of the profiling wheel 8 changes by ΔH, then the vertical distance from the cutting point at the lower end of the cutting knife 1 to the ground will become H + ΔH + R.

[0053] (2.2) The cutting knife 1 is connected to the lower end of the cutter shaft tube 4 through the cutter working head 2, and the cutter shaft tube 4 is connected to the lead screw 11 of the lead screw motor 10 through the cutter shaft tube connection ring 12.

[0054] (2.3) The upper end of the cutter shaft tube 4 is connected to the cutter motor 3 through the motor flange. The cutter motor 3 is fixed on the leek harvester 13 through a support hinge. When the lead screw motor 10 rotates, the lead screw 11 moves in the vertical direction. The lead screw 11 drives the cutter shaft tube 4 and the cutting knife 1 to move up and down through the cutter shaft tube connection ring 12. At this time, the upper end of the cutter shaft tube 4 can rotate around the support hinge, realizing the movement of the cutting point at the lower end of the cutting knife 1 following the movement of the lead screw 11. When the lead screw 11 moves ΔH in the vertical direction, the working point at the lower end of the cutting knife 1 also moves ΔH in the vertical direction. From step (2.1), it can be known that if the working point at the lower end of the cutting knife 1 also moves ΔH in the vertical direction, its height from the ground always remains H + R.

[0055] 3. Research on the combination of the profiling mechanism and the cutter head height adjustment device

[0056] (3.1) Connect the rotary encoder 7 and the lead screw motor 10 to different IO ports of the same STM32 single-chip microcomputer, and perform servo motor drive through the motor driver Delta ASD-B2-0421-B.

[0057] (3.2) Simulate the change of road surface height and calculate the angular change of the profiling wheel driving the rotary encoder 7 when the road surface undulates. The specific implementation method is as follows:

[0058] Connect the cutter shaft tube 4 to the lead screw motor 10 through the cutter shaft tube connection ring 12, so that the cutting point at the lower end of the cutting knife 1 is on the same horizontal plane as the leek guiding plate. From (1.5), it can be known that the height of the cutting point at the lower end of the cutting knife from the ground is H + R. From (2.1), it can be known that when the height of the profiling wheel 8 changes by ΔH, the height change of the cutting point at the lower end of the cutting knife from the ground is also ΔH. Assume that the distance between the two ends of the arc-shaped swing arm 6 under the initial condition is L = 400 mm, and the angle with the vertical line is θ1. When the height of the profiling wheel 8 changes by ΔH, the angle between the line connecting the two ends of the arc-shaped swing arm 6 and the vertical line is θ2. Define the change amount of the angle between the line connecting the two ends of the arc-shaped swing arm 6 and the vertical line as Δθ, then there is a relational expression θ2 = θ1 + Δθ.

[0059] And then through geometric calculation, it can be obtained that the relationship between the height change ΔH of the profiling wheel 8 and the rotation angle θ of the rotary encoder 7 satisfies the relational expression ΔH 2 = L 2 (cos 2 θ1 + cos 2 θ2 - 2cos(θ1)cos(θ2)). In this embodiment, θ1 is set to 60°. By setting different θ2, simulate the angle change amount of the rotary encoder 7 when the profiling wheel 8 rolls on the undulating ground, so as to calculate the ground height change. Assume that the ground changes, and the rotation angle of the rotary encoder 7 with the profiling wheel 8 is 30°. That is, θ2 is 90°. Then through step (3.3), it can be known that at this time, the height change ΔH of the cutting point at the lower end of the cutting knife satisfies the relational expression ΔH 2 = L 2 (cos 2 θ1 + cos 2 θ2 - 2cos(θ1)cos(θ2)). It can be calculated that when the rotation angle of the rotary encoder 7 is 30°, the height change ΔH of the cutting point at the lower end of the cutting knife is about 20 mm.

[0060] (3.3) Through the angular change of the rotary encoder, output the change situation of the PWM waveform. In the Keil uVision5 software, use the program to control the rotation of the lead screw motor by the rotary encoder. This program can be directly implemented by calling the encapsulated functions of the STM32 single-chip microcomputer. It is an existing program and only needs to be modified to be used. The modification includes the following steps:

[0061] (3.3.1) Determine the relevant parameters of the PWM waveform output by the single-chip microcomputer; that is, the values of the clock prescaler PSC and the automatic reload register ARR of the STM32.

[0062] It should be noted that since the timer clock CK_PSC of the used STM32F103C8T6 single-chip microcomputer is 72 MHz, the PWM frequency calculation formula is (Freq) = CK_PSC / (PSC + 1) / (ARR + 1), and the PWM wave duty cycle formula is (Duty) = CCR / (ARR + 1). Therefore, the value of the clock prescaler PSC is set to 72 - 1, and the value of the auto-reload register ARR is set to 20000 - 1. Then, according to the PWM frequency formula and duty cycle, the output PWM frequency (Freq) = CK_PSC / (PSC + 1) / (ARR + 1) = 50 Hz can be calculated; the duty cycle of the PWM wave is related to the value of the capture / compare register CCR.

[0063] (3.3.2) Configure the PWM output pin and the time base unit, and output PWM waves with different waveforms by changing the angle of the rotary encoder; the configuration of the PWM output pin and the time base unit can be directly referred to the user manual of the STM32 single-chip microcomputer; set the corresponding value of CCR by changing the angle of the rotary encoder 7, so as to output PWM waves with different waveforms and control the displacement of the lead screw 11. The lead screw motor 10 selected in this embodiment rotates 180° under the PWM drive with a duty cycle of 0.5 ms to 2.5 ms. From the PWM wave duty cycle formula (Duty) = CCR / (ARR + 1), it can be known that if you want to output a PWM wave with a duty cycle of 0.5 ms to 2.5 ms, the value of CCR needs to be set between 500 and 2500. Let the rotation angle of the lead screw motor 10 be ω, then CCR and ω are in a linear function relationship, satisfying CCR = 2000 * ω / 180 + 500. The rotation angle of the lead screw motor 10 can be adjusted by inputting different values of CCR.

[0064] (3.3.3) Let the running speed of the leek harvester 13 be v m / s, and the horizontal distance between the profiling wheel 8 and the working point at the lower end of the cutting knife 1 be x m. Then, when the angle of the rotary encoder 7 changes, a delay function needs to be added to the main program written in Keil uVision5. The delay function refers to initializing a Delay() function, which can be directly called from the user manual of the single-chip microcomputer. After the angle of the rotary encoder changes, execute this function without redefining it. Use this function to output the corresponding PWM wave after delaying x / v s after the angle of the rotary encoder 7 changes. It can ensure that the height of the cutting point of the cutting knife 1 from the ground remains dynamically balanced.

[0065] (3.3.4) After completing the above steps, in this embodiment, rotate the rotary encoder 7 by 30 degrees, then output a PWM wave with a duty cycle of 0.125 as shown in Figure 4 shown.

[0066] (3.4) The situation of the rotation angle of the lead screw motor controlled by PWM waves with different waveforms;

[0067] When the rotary encoder 7 in this embodiment rotates 30°, the STM32 single-chip microcomputer outputs a PWM wave with a duty cycle of 0.125 as shown in Figure 4 Figure, and at this time, the lead screw motor 10 rotates 180°.

[0068] (3.5) While the rotary encoder rotates an angle, the lead screw motor rotates a different angle, and the lead screw drives the cutter to move up and down. If the height of the working point at the lower end of the cutter is to remain unchanged, that is, the height change of the working point at the lower end of the cutter is to be consistent with the displacement of the lead screw 11, when the rotary encoder 7 rotates 30°, the STM32 single-chip microcomputer outputs a PWM wave with a duty cycle of 0.125 as shown in Figure 4 Figure, and at this time, the lead screw motor 10 rotates 180°. The lead screw motor 10 used in this embodiment has a lead of 40 mm. Therefore, when the rotary encoder 7 rotates 30°, the lead screw 11 of the lead screw motor 10 moves approximately 20 mm. It can be seen from (3.2) that the height change of the working point at the lower end of the cutter is consistent with the displacement of the lead screw 11, realizing that the height of the working point at the lower end of the cutter remains unchanged with the ground. It should be noted that the error generated in the calculation process is small and does not affect the actual operation of the leek harvester 13, so the error can be ignored.

[0069] 4. Establish a three-dimensional static simulation model in SolidWorks software

[0070] (4.1) The high-efficiency and neat leek harvester device based on terrain matching includes a cutter motor 3, a cutter shaft tube 4, a cutter shaft tube connecting ring 12, a cutter working head 2, a cutting knife 1, a lead screw motor 10, a fixing frame 5, a spring rod 9, a rotary encoder 7, an arc swing arm 6, and a profiling wheel 8.

[0071] (4.2) The rotary encoder 7 is connected to the arc swing arm 6 through a keyway. The upper end of the arc swing arm 6 is connected to the fixing frame 5, and the lower end is connected to the profiling wheel 8 through a rotating shaft. The fixing frame 5 then fixes the rotary encoder 7, the arc swing arm 6, and the profiling wheel 8 to the leek harvester 13 through four bolts;

[0072] (4.3) The cutter motor 3 is connected to the cutter working head 2 through a cutter transmission shaft; it is connected to the cutter shaft tube 4 through a motor flange, and the cutter shaft tube 4 is then connected to the ball screw of the lead screw motor 10 through a cutter shaft tube connecting ring 12. At the same time, the cutter shaft tube 4 is fixed to the leek harvester 13 through a support hinge, enabling the cutter shaft tube 4 to rotate around the support hinge to realize the up and down movement of the cutting point at the lower end of the cutter.

[0073] (4.4) The working principle of the leek harvester 13 is as follows: First, the profiling wheel 8 collects the ground height changes and feeds them back to the rotary encoder 7. Based on the change in the angle of the rotary encoder 7, the STM32 single-chip microcomputer outputs a PWM waveform with a corresponding duty cycle, thereby controlling the rotation direction and speed of the lead screw motor 10, so that the distance between the cutting point at the lower end of the cutter head of the leek harvester 13 and the ground remains dynamically balanced, realizing the design of a leek neat and efficient harvester system based on terrain matching.

[0074] In this embodiment, the parameter settings, calculations, and analyses of a leek efficient and neat harvester based on terrain matching are shown in Tables 1 to 3.

[0075] Table 1 Model and parameters of the rotary encoder used in this embodiment.

[0076] Name Breit RS485 High-Precision Encoder Resolution 1024 Interface RS485 Overall Dimensions 8mm Shaft - 50mm in Diameter

[0077] Table 2 Model and parameters of the lead screw motor used in this embodiment.

[0078] Name ECMA-C206SRSS Mounting Dimensions 57×56mm Lead Screw Pitch 40mm Lead Screw Length 200mm Servo Motor Driver Delta ASD-B2-0421-B Torque 3.1N·m Motor Speed 60r / min

[0079] Table 3 Model and parameters of the single-chip microcomputer used in this embodiment.

[0080]

[0081]

[0082] The above content is only an example and explanation of the present invention. Those skilled in the art of this technology can make various modifications, supplements, or use similar methods to replace the specific embodiments described, as long as they do not deviate from the structure of the present invention or exceed the scope defined by this claim book, they should fall within the protection scope of the present invention.

Claims

1. A method for adjusting the neat cutting of leeks, characterized in that: The adjustment is performed by using an adjustment device for neatly cutting the leeks, the device comprising: A cutting knife, wherein the cutting knife is driven to rotate by a driving mechanism; The profiling mechanism comprises a fixed frame, the fixed frame is rotatably connected with an arc-shaped swing arm, the lower end of the arc-shaped swing arm is rotatably connected with a profiling wheel, the profiling wheel is arranged on both sides of the front section of the cutting knife, a rotary encoder is installed on the fixed frame, the rotary encoder is connected with the arc-shaped swing arm, the upper end of the arc-shaped swing arm is hinged with the lower end of the spring rod, and the upper end of the spring rod is hinged with the fixed frame; An adjustment mechanism, wherein the adjustment mechanism comprises a screw motor, wherein an output shaft of the screw motor is fixedly connected to a screw, the screw is used to drive the cutting knife to move, and the screw motor is electrically connected to a rotary encoder; Specifically, the method comprises the following steps: (1) Receive the ground height change through the contour wheel, and then feed it back to the rotary encoder through the arc swing arm; (2) The rotary encoder and the lead screw motor are communicated through a single-chip microcomputer. When the rotary encoder rotates quantitatively, the single-chip microcomputer generates a corresponding PWM waveform, thereby controlling the rotation of the lead screw motor with PWM waves of different waveforms. Finally, the lead screw drives the cutter to move up and down, realizing the adjustment of the cutter height of the leek harvester based on terrain matching. Among them, the communication experiment of the rotary encoder and the lead screw motor includes the following steps: (201) Connect the rotary encoder and the lead screw motor to different IO ports of the same single chip microcomputer, and drive the servo motor through the motor driver Delta; (202) simulating the change in road height, and calculating the change in the angle of rotation of the rotary encoder driven by the profiling wheel when the road surface is undulating; (203) Outputting the change of PWM waveform by changing the angle of the rotary encoder; In the Keil uVision5 software, a rotary encoder is used to control the rotation of the lead screw motor. This program is implemented by calling the package function of the microcontroller. The modification of the program includes the following steps: a. Determine the relevant parameters of the PWM waveform output by the microcontroller, the parameters including the value of the microcontroller clock prescaler PSC and the automatic load register ARR; b. Configure the PWM output pin and time base unit, and change the output PWM wave of different waveforms by rotating the encoder angle; c. Assuming the running speed of the leek harvester is vm / s, and the horizontal distance between the profiling wheel and the lower working point of the cutting knife is xm, when the angle of the rotary encoder changes, a delay function needs to be added to the main program written by Keil uVision5. The delay function refers to initializing a Delay() function, which is used to output the corresponding PWM wave after a delay of x / vs after the angle of the rotary encoder changes, so as to ensure that the cutting point of the cutting knife maintains a dynamic balance with the ground height; (204) Study the rotation angle of the screw motor controlled by PWM waves of different waveforms; (205) The rotary encoder rotates the angle while the lead screw motor rotates at different angles, and the lead screw drives the cutting knife to move up and down.

2. The adjustment method for neatly cutting leeks according to claim 1, characterized in that: The driving mechanism comprises a cutter working head, the cutting knife is connected to the cutter working head, the cutter working head is fixed to a cutter shaft tube, the cutter shaft tube is fixed to a cutter motor, and the cutter motor is hinged on a frame of the leek harvester.

3. The adjustment method for neatly cutting leeks according to claim 1, characterized in that: The screw rod is connected to the shaft tube connecting ring through threads, the shaft tube connecting ring is fixed on the cutter shaft tube, and the screw rod motor is hinged on the frame of the leek harvester.

4. The adjustment method for neatly cutting leeks according to claim 1, characterized in that: The fixing frame is fixed on the frame of the leek harvester.

5. The adjustment method for neatly cutting leeks according to claim 1, characterized in that: In the step (202), the height change ΔH of the profiling wheel and the angle θ of the rotary encoder satisfy the relationship ΔH 2 =L 2 (cos2θ1+cos 2 θ2-2cos(θ1)cos(θ2)).

6. The adjustment method for neatly cutting leeks according to claim 1, characterized in that: The step (203) specifically includes the following steps: a. Determine the relevant parameters of the PWM waveform output by the microcontroller, the parameters including the value of the microcontroller clock prescaler PSC and the automatic load register ARR; b. Configure the PWM output pins and time base unit, and change the output PWM wave with different waveforms by rotating the encoder angle.

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