Separator conveyor device of a picker and control method

Abstract

The present invention relates to the technical field of agricultural machinery and equipment, and provides a separating and conveying device for a pick-up machine and a control method. The above-mentioned separating and conveying device for a pick-up machine includes: a frame, a separating conveyor belt mechanism, a seedling-pulling mechanism, a vibration mechanism, an inclination adjustment mechanism, and a control mechanism; the separating conveyor belt mechanism is used for conveying materials, soil, and seedlings, and when the vibration mechanism moves, it can drive the separating conveyor belt mechanism to vibrate; the seedling-pulling mechanism is used for separating materials and seedlings, and the inclination adjustment mechanism is used for adjusting the inclination angle of the frame; the control mechanism is used for controlling the rotation speed of the separating conveyor belt mechanism, the vibration frequency and amplitude of the vibration mechanism, and the inclination angle of the frame. The above-mentioned separating and conveying device for a pick-up machine can realize the automatic separation of materials and soil, the automatic separation of materials and seedlings, and the adaptive adjustment of the feeding amount of materials, prevent material accumulation, improve the intelligent level of material separation, and realize the efficient loss-reducing separation of materials and soil.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery and equipment, and in particular to a picking machine separation and conveying device and a control method. Background Art

[0002] Potato is one of the four major food crops in the world. It has high economic value and can be planted in a variety of regional environments. Since my country's terrain is mostly hilly and mountainous, potato planting is mainly in small and medium-sized areas. With the continuous growth of the potato industry and the gradual expansion of planting areas, low-intelligence potato pickers can no longer meet the requirements of potato harvesting. Based on this, providing a high-efficiency and low-loss picker separation and conveying device has become an urgent problem to be solved in the industry. Summary of the invention

[0003] The invention provides a picking machine separation and conveying device and a control method, which are used to solve the defect of low intelligence of the picking machine in the prior art and realize efficient separation of potato and soil.

[0004] The present invention provides a separation and conveying device of a picking machine, comprising: a frame, a separation conveyor belt mechanism, a seedling picking mechanism, a vibration mechanism, an inclination adjustment mechanism and a control mechanism; the separation conveyor belt mechanism, the seedling picking mechanism, the vibration mechanism, the inclination adjustment mechanism and the control mechanism are all arranged on the frame; the separation conveyor belt mechanism is used to convey materials, soil and seedlings, the vibration mechanism abuts against the separation conveyor belt mechanism, and when the vibration mechanism moves, it can drive the separation conveyor belt mechanism to vibrate, thereby separating the materials from the soil; the seedling picking mechanism is transmission-connected with the separation conveyor belt mechanism, the seedling picking mechanism is used to separate the materials from the seedlings, and the inclination adjustment mechanism is used to adjust the inclination angle of the frame; the control mechanism is used to control the rotation speed of the separation conveyor belt mechanism, the vibration frequency and vibration amplitude of the vibration mechanism and the inclination angle of the frame.

[0005] According to a picking machine separation conveying device provided by the present invention, the separation conveyor belt mechanism includes: a first driving component, a pair of conveyor belts and a plurality of rod bodies; the control mechanism is used to control the rotation speed of the first driving component, and the first driving component is used to drive the pair of conveyor belts to transmit; the conveyor belt is a flexible conveyor belt, and the rod body is a flexible rod body. A plurality of the rod bodies are arranged in parallel between a pair of the conveyor belts, and the two ends of each of the rod bodies are respectively connected to a pair of the conveyor belts.

[0006] A separating and conveying device for a pick-up machine according to the present invention, wherein the plurality of rod bodies include: a plurality of first rod bodies and a plurality of second rod bodies; one of the first rod bodies and two of the second rod bodies are arranged alternately, the first rod body is a wavy rod body, and at least a part of the surface of the second rod body in contact with the material is a plane; the distance between two adjacent curved shapes of the first rod body is less than the minimum size of the material.

[0007] A separating and conveying device for a pick-up machine according to the present invention, wherein the vibration mechanism includes: a second driving component and a first vibration component; the second driving component is arranged on the frame, and the second driving component is used to drive the first vibration component to move; the first vibration component includes: a connecting rod structure, a first adjusting component, a second adjusting component and a first oil cylinder, two ends of the connecting rod structure are respectively connected to the second driving component and the first adjusting component, the first adjusting component and the second adjusting component are arranged in parallel on the frame, and the second adjusting component is connected to the first oil cylinder; the first adjusting component and the second adjusting component are located inside the conveyor belt, and under the action of the second driving component and the first oil cylinder, the first adjusting component and the second adjusting component can move up and down to abut against the conveyor belt; the control mechanism is used to control the rotation of the second driving component to adjust the vibration frequency of the first adjusting component, and the control mechanism is used to control the telescopic movement of the first oil cylinder to adjust the vibration amplitude of the second adjusting component.

[0008] A separating and conveying device for a pick-up machine according to the present invention, wherein the vibration mechanism further includes a second vibration component, and the second vibration component is connected to the second driving component; the second vibration component includes: a first jitter structure, a transfer wheel and a second jitter structure, a first end of the first jitter structure is connected to the second driving component, a first end of the second jitter structure is connected to the frame, and the first jitter structure and the second jitter structure are located inside the conveyor belt; a first chute is provided at a second end of the first jitter structure, a second chute is provided at a second end of the second jitter structure, the opening directions of the first chute and the second chute are perpendicular, a first slider and a second slider are respectively provided on opposite sides of the transfer wheel, the first slider and the second slider are perpendicular to each other, the first slider can slide along the first chute, and the second slider can slide along the second chute.

[0009] A separating and conveying device for a pick-up machine according to the present invention, the seedling picking mechanism includes: a first rotating shaft, a plurality of seedling picking teeth, a second rotating shaft, a plurality of retaining rods and a plurality of elastic members; the first rotating shaft is in transmission connection with the separating conveyor belt mechanism, and the plurality of seedling picking teeth are sleeved outside the first rotating shaft; both ends of the second rotating shaft are connected to the frame, the plurality of retaining rods are evenly distributed along the length extension direction of the second rotating shaft, the first end of each retaining rod is rotatably connected to the second rotating shaft, and the second end of each retaining rod extends to the first rotating shaft and has a spacing from the first rotating shaft; the first end of each elastic member is connected to the second rotating shaft, and the second end of each elastic member is connected to one of the retaining rods.

[0010] A separating and conveying device for a pick-up machine according to the present invention, the inclination angle adjusting mechanism includes: a first support rod and a second oil cylinder, both ends of the first support rod are connected to the frame, one end of the second oil cylinder is connected to the first support rod, and the control mechanism is used to control the telescopic movement of the second oil cylinder to adjust the inclination angle of the frame.

[0011] A separating and conveying device for a pick-up machine according to the present invention, the control mechanism includes: a controller, a torque sensor, a pair of hollow shaft encoders, a vibration sensor and a cable displacement sensor; the torque sensor, the hollow shaft encoders, the vibration sensor and the cable displacement sensor are all electrically connected to the controller; the torque sensor is used to detect the torque value of the separating conveyor belt mechanism, the two hollow shaft encoders are respectively used to detect the rotation speeds of the separating conveyor belt mechanism and the vibration mechanism, the vibration sensor is used to detect the vibration frequency of the vibration mechanism, and the cable displacement sensor is used to detect the inclination angle of the inclination angle adjusting mechanism.

[0012] The present invention also provides a control method based on the above-mentioned separating and conveying device of the pick-up machine, including: obtaining the actual torque value of the separating conveyor belt mechanism; controlling the rotation speed of the separating conveyor belt mechanism, the vibration frequency and vibration amplitude of the vibration mechanism, and the inclination angle of the inclination angle adjusting mechanism based on the difference between the actual torque value and the preset torque value; wherein, the rotation speed and the inclination angle are optimized based on the grey wolf algorithm.

[0013] A control method for a separation and conveying device of a pick-up machine according to the present invention, the step of obtaining the actual torque value of the separation conveyor belt mechanism and controlling the rotation speed of the separation conveyor belt mechanism, the vibration frequency and amplitude of the vibration mechanism, and the tilt angle of the tilt adjustment mechanism based on the difference between the actual torque value and the preset torque value further includes: setting initial values of the rotation speed, the vibration frequency, the vibration amplitude, and the tilt angle; when the difference between the actual torque value and the preset torque value is greater than a preset value, controlling the rotation speed of the separation conveyor belt mechanism to be greater than the initial value, the vibration frequency of the vibration mechanism to be greater than the initial value, the vibration amplitude to be equal to the initial value, and the tilt angle of the tilt adjustment mechanism to be greater than the initial value; when the difference between the actual torque value and the preset torque value is equal to the preset value, controlling the rotation speed of the separation conveyor belt mechanism to be the initial value, the vibration frequency of the vibration mechanism to be equal to the initial value, the vibration amplitude to be less than the initial value, and the tilt angle of the tilt adjustment mechanism to be equal to the initial value; when the difference between the actual torque value and the preset torque value is less than the preset value, controlling the rotation speed of the separation conveyor belt mechanism to be less than the initial value, the vibration frequency of the vibration mechanism to be less than the initial value, the vibration amplitude to be less than the initial value, and the tilt angle of the tilt adjustment mechanism to be less than the initial value.

[0014] The separation and conveying device of the pick-up machine provided by the present invention can realize the automatic separation of materials and soil, the automatic separation of materials and seedlings, and the adaptive adjustment of the material feeding amount by setting a separation conveyor belt mechanism, a vibration mechanism, a seedling picking mechanism, an adjustment mechanism, and a control mechanism, prevent material accumulation, improve the mechanization degree of material separation, and realize the high-efficiency and low-loss separation of materials and soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 is a schematic structural diagram of the separation and conveying device of the pick-up machine provided by the present invention.

[0017] Figure 2 is Figure 1 a side view of the separation conveyor belt mechanism shown in

[0018] Figure 3 is Figure 1 a schematic structural diagram of the separation conveyor belt mechanism shown in

[0019] Figure 4 isFigure 3 Schematic structural diagram of the first rod shown in

[0020] Figure 5 is Figure 1 Schematic structural diagram of the vibration mechanism shown in

[0021] Figure 6 is Figure 1 Schematic structural diagram of the seedling pulling mechanism shown in

[0022] Figure 7 is Figure 6 front view of

[0023] Figure 8 is Figure 1 Schematic structural diagram of the adjustment mechanism shown in

[0024] Figure 9 Flowchart of the control method for the separation and conveying device of the pick-up machine provided by the present invention.

[0025] Figure 10 Control schematic diagram of the control method for the separation and conveying device of the pick-up machine provided by the present invention.

[0026] Reference numerals:

[0027] 1, frame; 2, separation conveyor belt mechanism; 3, vibration mechanism; 4, seedling pulling mechanism; 5, inclination adjustment mechanism; 7, host computer; 8, controller;

[0028] 101, side plate; 102, bottom plate;

[0029] 201, first driver; 202, first gear; 203, second gear; 204, first chain; 211, driving wheel; 212, first transmission shaft; 221, conveyor belt; 222, first rod; 223, second rod; 231, driven wheel; 232, second transmission shaft;

[0030] 301, second driver; 302, third gear; 303, second chain; 304, fourth gear; 311, connecting rod structure; 312, first slide rail; 313, first adjusting rod; 314, second slide rail; 315, second adjusting rod; 321, third rod; 322, first vibration wheel; 323, second vibration wheel; 324, fourth rod; 325, transfer wheel; 326, first oil cylinder;

[0031] 401, fifth gear; 402, sixth gear; 403, third chain; 411, first rotating shaft; 412, seedling pulling teeth; 421, second rotating shaft; 422, blocking rod; 423, elastic member;

[0032] 501, first support rod; 502, second oil cylinder; 503, second support rod; 504, bearing seat;

[0033] 601, electromagnetic reversing valve; 602, electromagnetic proportional valve; 603, torque sensor; 604, hollow shaft encoder; 605, vibration sensor; 606, rope displacement sensor. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Combine the following Figures 1 - 10 The present invention describes a pick-up separation and conveying device and a control method.

[0036] like Figure 1 As shown, in an embodiment of the present invention, the picking machine separation and conveying device includes: a frame 1, a separation conveyor belt mechanism 2, a vibration mechanism 3, a seedling picking mechanism 4, an inclination adjustment mechanism 5 and a control mechanism. The separation conveyor belt mechanism 2, the vibration mechanism 3, the seedling picking mechanism 4, the inclination adjustment mechanism 5 and the control mechanism are all arranged on the frame 1. The separation conveyor belt mechanism 2 is used to convey materials, soil and seedlings. The vibration mechanism 3 is in contact with the separation conveyor belt mechanism 2. When the vibration mechanism 3 moves, it can drive the separation conveyor belt mechanism 2 to vibrate, thereby separating the materials and soil. The seedling picking mechanism 4 is transmission-connected to the separation conveyor belt mechanism 2. The seedling picking mechanism 4 is used to separate the materials and seedlings. The inclination adjustment mechanism 5 is used to adjust the inclination angle of the frame 1. The control mechanism is used to control the rotation speed of the separation conveyor belt mechanism 2, the vibration frequency and vibration amplitude of the vibration mechanism 3 and the inclination angle of the frame 1.

[0037] Specifically, the frame 1 includes a pair of side panels 101 and a bottom plate 102. The pair of side panels 101 are arranged parallel to the bottom plate 102, and one end of the pair of side panels 101 is hinged to the bottom plate 102. The separation conveyor belt mechanism 2, the vibration mechanism 3 and the rice seedling picking mechanism 4 are all arranged between the pair of side panels 101. The inclination adjustment mechanism 5 is arranged on the bottom plate 102. One end of the inclination adjustment mechanism 5 is connected to the pair of side panels 101. When the inclination adjustment mechanism 5 is extended, the pair of side panels 101 can be driven to tilt at a certain angle relative to the bottom plate 102.

[0038] The picking shovel dumps the picked materials, soil, seedlings, and other sundries onto the separation conveyor belt mechanism 2. The vibration mechanism 3 moves to drive the separation conveyor belt mechanism 2 to vibrate, thereby shaking off the soil. The materials, seedlings, and sundries move to the seedling-picking mechanism 4 under the drive of the separation conveyor belt mechanism 2, and the seedling-picking mechanism 4 separates the materials from the seedlings. By adjusting the telescopic amount of the inclination adjustment mechanism 5, the separation conveyor belt mechanism 2 can be inclined, thereby preventing the materials, seedlings, and soil on the separation conveyor belt mechanism 2 from accumulating and blocking.

[0039] The control mechanism is used to control the rotation speed of the separation conveyor belt mechanism 2, the vibration frequency and amplitude of the vibration mechanism 3, and the inclination angle of the frame 1 according to the difference between the actual torque value and the preset torque value of the separation conveyor belt mechanism 2, so as to realize the adaptive adjustment of each parameter.

[0040] In this embodiment, the materials can be potatoes, sweet potatoes, or sweet potatoes and other materials that need to separate soil and fruits.

[0041] The picking and separating conveyor device provided by the embodiment of the present invention can realize the automatic separation of materials and soil, the automatic separation of materials and seedlings, and the adaptive adjustment of the material feeding amount by setting the separation conveyor belt mechanism, the vibration mechanism, the seedling-picking mechanism, the adjustment mechanism, and the control mechanism, prevent material accumulation, improve the intelligent level of material separation, and realize the efficient and low-loss separation of materials and soil.

[0042] As Figure 2 shown, in the embodiment of the present invention, the separation conveyor belt mechanism 2 includes a first drive assembly, a pair of conveyor belts 221, and a plurality of rod bodies. The first drive assembly includes: a first driver 201, a first gear 202, a second gear 203, a first chain 204, a first transmission shaft 212, a pair of driving wheels 211, a pair of driven wheels 231, and a second transmission shaft 232.

[0043] The first driver 201 is arranged on a side plate 101 of the frame 1. The first driver 201 is connected to the first gear 202, and the first gear 202 is connected to the second gear 203 through the first chain 204. As Figure 3 shown, the first transmission shaft 212 is arranged between a pair of side plates 101. A pair of driving wheels 211 are connected to the first transmission shaft 212. The two ends of the first transmission shaft 212 respectively penetrate a pair of side plates 101, and one end of the first transmission shaft 212 is connected to the second gear 203. When the second gear 203 rotates, it can drive the first transmission shaft 212 and a pair of driving wheels 211 to rotate. A pair of driven wheels 231 are connected to the second transmission shaft 232, and the two ends of the second transmission shaft 232 respectively penetrate a pair of side plates 101.

[0044] The conveyor belt 221 and the rod body are both made of flexible materials to reduce the rigid collision between the material and the rod body and the conveyor belt 221 during the conveying process, thereby avoiding damage to the surface of the material. A pair of conveyor belts 221 are arranged in parallel, and a driving wheel 211 and a driven wheel 231 are connected by a conveyor belt 221. In this embodiment, the conveyor belt 221 has a certain elasticity. When the first driver 201 rotates, it can drive the driving wheel 211 and the driven wheel 231 to rotate synchronously, thereby driving the conveyor belt 221 to transmit.

[0045] A plurality of rods are arranged in parallel between a pair of conveyor belts 221 , and both ends of each rod are respectively connected to a pair of conveyor belts 221 , and there is a gap between two adjacent rods, through which soil can fall.

[0046] like Figure 3 and Figure 4 As shown, the plurality of rods include: a plurality of first rods 222 and a plurality of second rods 223. One first rod 222 and two second rods 223 are arranged alternately, the first rod 222 is a wavy rod, and at least part of the surface of the second rod 223 in contact with the material is a plane. The distance between two adjacent curved shapes of the first rod 222 is less than the minimum size of the material.

[0047] Specifically, in this embodiment, the first rod body 222 and the second rod body 223 may be made of flexible materials, or the flexible materials may be sprayed on the surfaces of the first rod body 222 and the second rod body 223 to reduce the rigid collision between the material and the first rod body 222 and the second rod body 223 during transportation. The first rod body 222 is wavy, and the height difference between the highest point and the lowest point of two adjacent curves is less than the minimum size of the material, so that an uneven screen surface can be formed to prevent the material from flowing back during transportation and reduce the number of collisions.

[0048] In this embodiment, at least part of the surface of the second rod 223 in contact with the material is a plane to increase the contact area between the material and the second rod 223, prevent the material from rolling randomly, and reduce the collision of the material. In this embodiment, the second rod 223 can be a flat structure or an elliptical rod.

[0049] The control mechanism is used to adjust the rotation speed of the first driver 201 according to the difference between the actual torque value of the conveyor belt 221 and the preset torque value, so that the conveyor belt 221 can adaptively adjust the rotation speed of the conveyor belt 221 according to the weight of the material etc. thereon.

[0050] The picking machine separation and conveying device provided in the embodiment of the present invention can effectively prevent the backflow of materials during transportation by arranging multiple rod bodies as wavy rod bodies and rod bodies with at least partial planes, thereby reducing the number of collisions of materials, avoiding damage to the surface of materials, and ensuring the quality of materials.

[0051] As Figure 5 shown, in the embodiment of the present invention, the vibration mechanism 3 includes: a second drive assembly and a first vibration assembly. The second drive assembly is disposed on the frame 1, and the second drive assembly is used to drive the first vibration assembly to move.

[0052] Specifically, the second drive assembly includes: a second driver 301, a third gear 302, a second chain 303, and a fourth gear 304. The second driver 301 is disposed on a side plate 101, the second driver 301 is connected to the third gear 302, and the third gear 302 is drivingly connected to the fourth gear 304 through the second chain 303.

[0053] The first vibration assembly includes: a link structure 311, a first adjustment assembly, a second adjustment assembly, and a first oil cylinder 326. The first adjustment assembly includes: a pair of first slide rails 312 and a first adjustment rod 313, and the second adjustment assembly includes: a pair of second slide rails 314 and a second adjustment rod 315.

[0054] A pair of first slide rails 312 are oppositely disposed on a pair of side plates 101. Two ends of the link structure 311 are respectively connected to the second driver 301 and the first adjustment rod 313. Two ends of the first adjustment rod 313 are inserted into the pair of first slide rails 312, and the first adjustment rod 313 is located inside the conveyor belt 221. When the second driver 301 rotates, it can drive the link structure 311 to rotate, and then drive the first adjustment rod 313 to slide up and down along the pair of first slide rails 312. When the first adjustment rod 313 slides upward, it can abut against the conveyor belt 221, so as to lift the conveyor belt 221. When the first adjustment rod 313 slides downward, it separates from the conveyor belt 221, so that the conveyor belt 221 vibrates periodically to separate the material from the soil.

[0055] The control mechanism is used to adjust the rotation speed of the second driver 301 to adjust the vibration frequency of the first adjustment rod 313.

[0056] A pair of second slide rails 314 are oppositely disposed on a pair of side plates 101. Two ends of the second adjustment rod 315 are inserted into the pair of second slide rails 314, and the second adjustment rod 315 is located inside the conveyor belt 221. The second adjustment rod 315 is disposed parallel to the first adjustment rod 313. When the first oil cylinder 326 extends, it can drive the second adjustment rod 315 to move upward along the second slide rail 314, so as to lift the conveyor belt 221. When the second adjustment rod 315 slides downward, it separates from the conveyor belt 221, so that the conveyor belt 221 vibrates periodically to separate the material from the soil.

[0057] The control mechanism is also used to adjust the elongation of the first oil cylinder 326. By adjusting the elongation of the first oil cylinder 326, the vibration amplitude of the conveyor belt 221 can be adjusted. The amplitude of the conveyor belt 221 should not be too large to avoid the material being thrown up too high and causing drop damage; the amplitude of the conveyor belt 221 should not be too low to avoid too small a vibration amplitude and poor separation effect of the material from the soil. In this embodiment, the adjustment range of the amplitude is 0 mm - 30 mm.

[0058] Further, the first slide rail 312 is provided with a through groove, and the length of the through groove is the maximum stroke when the first adjusting rod 313 reciprocates. Correspondingly, the second slide rail 314 is also provided with a through groove, and the length of the through groove is the maximum stroke when the second adjusting rod 315 reciprocates.

[0059] As Figure 5 shown, the vibration mechanism 3 further includes a second vibration assembly, and the second vibration assembly is connected to the fourth gear 304. The second vibration assembly includes: a first jitter structure, a transfer wheel 325, and a second jitter structure, and both the first jitter structure and the second jitter structure are located inside the conveyor belt 221.

[0060] Specifically, in this embodiment, the first jitter structure and the second jitter structure form a Cartesian jitter structure. The first jitter structure includes: a third rod body 321 and a pair of first vibration wheels 322, and the second jitter structure includes: a pair of second vibration wheels 323 and a fourth rod body 324. Both ends of the third rod body 321 are respectively connected to a pair of first vibration wheels 322, and one first vibration wheel 322 is connected to the fourth gear 304. Both ends of the fourth rod body 324 are respectively connected to a pair of second vibration wheels 323, and one second vibration wheel 323 is connected to the side plate 101. The remaining one first vibration wheel 322 and one second vibration wheel 323 are slidably connected through the transfer wheel 325.

[0061] Specifically, the first vibration wheel 322 and the second vibration wheel 323 connected to the transfer wheel 325 are respectively provided with a first chute and a second chute, and the opening directions of the first chute and the second chute are perpendicular. The opposite sides of the transfer wheel 325 are respectively provided with a first slider and a second slider, and the first slider and the second slider are vertically arranged. When the second driver 301 rotates, it drives the fourth gear 304 to rotate, and then drives the third rod body 321 to rotate. When the third rod body 321 rotates, the first vibration wheel 322 slides upward relative to the transfer wheel 325, and then lifts the conveyor belt 221. In this embodiment, the maximum amplitude of the first vibration wheel 322 is 30 mm.

[0062] Further, the control mechanism is used to control the rotation speed of the second driver 301, and thus the amplitude of the first vibration wheel 322 can be adjusted. In this embodiment, the installation positions of the first vibration assembly and the second vibration assembly should not be too close.

[0063] The picking machine separation and conveying device provided in the embodiment of the present invention forms periodic vibration of the conveyor belt by setting a first vibration component and a second vibration component, thereby enhancing the separation effect of materials and soil. At the same time, the vibration amplitude is adjustable, which reduces the probability of material surface damage and material accumulation.

[0064] like Figure 6 As shown, in the embodiment of the present invention, the seedling picking mechanism 4 includes: a first rotating shaft 411 and a plurality of seedling picking teeth 412. The first rotating shaft 411 is transmission-connected to the separation conveyor belt mechanism 2, and the plurality of seedling picking teeth 412 are sleeved on the outside of the first rotating shaft 411.

[0065] Specifically, the first rotating shaft 411 is connected to the separation conveyor belt mechanism 2 through a transmission assembly. The transmission assembly includes: a fifth gear 401, a sixth gear 402 and a third chain 403. The fifth gear 401 and the sixth gear 402 are connected through the third chain 403. The fifth gear 401 is connected to the first transmission shaft 212. When the first driver 201 rotates, it can drive the first transmission shaft 212 to rotate, and then drive the first rotating shaft 411 to rotate.

[0066] A plurality of seedling picking teeth 412 are evenly distributed on the first rotating shaft 411. When the first rotating shaft 411 rotates, the plurality of seedling picking teeth 412 are driven to rotate. The seedling picking teeth 412 are made of rubber material to reduce the weight of the seedling picking mechanism 4. The seedling picking teeth 412 have a plurality of tooth shapes to separate the material transported to the seedling picking teeth 412 from the seedlings. The seedling picking teeth 412 rely on the first rotating shaft 411 to provide power. The first rotating shaft 411 is transmitted to the first driver 201 through a transmission assembly. In this embodiment, the transmission ratio of the transmission assembly should not be too large. An excessive transmission ratio will result in a poor seedling picking effect and uneven stress distribution on the first rotating shaft 411, thereby failing to separate most of the seedlings.

[0067] like Figure 6 and Figure 7 As shown, in an embodiment of the present invention, the rice seedling picking mechanism 4 further includes: a second rotating shaft 421, a plurality of gear rods 422 and a plurality of elastic members 423. The two ends of the second rotating shaft 421 are respectively connected to a pair of side plates 101, and the plurality of gear rods 422 are evenly distributed along the extension direction of the length of the second rotating shaft 421. The first end of each gear rod 422 is rotatably connected to the second rotating shaft 421, and the second end of each gear rod 422 extends to the first rotating shaft 411, and there is a gap between the first rotating shaft 411. The plurality of rice seedling picking teeth 412 and the plurality of gear rods 422 are alternately arranged, the first end of each elastic member 423 is connected to the second rotating shaft 421, and the second end of each elastic member 423 is connected to a gear rod 422.

[0068] Specifically, after the material and the seedlings are separated by the seedling-pulling teeth 412, if the particle size of the material is large, the material will push the second end of the retaining rod 422 to move away from the first rotating shaft 411, so that the material will fall through the gap between the first rotating shaft 411 and the retaining rod 422. After the material falls, the retaining rod 422 returns to its initial position under the action of the elastic member 423, thus preventing the material from accumulating between the first rotating shaft 411 and the retaining rod 422 and avoiding damage caused by mutual extrusion between the materials.

[0069] The picking and separating and conveying device provided by the embodiment of the present invention realizes the automatic separation of the material and the seedlings by setting the seedling-pulling mechanism, and at the same time enables the material with a large particle size to fall automatically, avoiding the accumulation of the material, and further avoiding the mutual extrusion damage caused by the accumulation of the material; after the material falls, the retaining rod will reset itself, improving the automation degree of the picking and separating and conveying device of the picker.

[0070] As Figure 8 shown, in the embodiment of the present invention, the inclination angle adjusting mechanism 5 includes: a first support rod 501 and a second oil cylinder 502. Both ends of the first support rod 501 are respectively connected to a pair of side plates 101, and one end of the second oil cylinder 502 is connected to the first support rod 501. When the second oil cylinder 502 expands and contracts, it can drive the frame 1 to tilt.

[0071] Specifically, the control mechanism is used to adjust the elongation of the second oil cylinder 502 to adjust the inclination angle of the conveyor belt 221. When the second oil cylinder 502 elongates, it can drive a pair of side plates 101 to move upward, so that there is a certain angle between the pair of side plates 101 and the bottom plate 102. At this time, the conveyor belt 221 also has a certain angle with the bottom plate 102 to dump the sundries on the conveyor belt 221. Optionally, in the embodiment of the present invention, the inclination angle between the side plate 101 and the bottom plate 102 is 18° - 30°.

[0072] As Figure 8 shown, in the embodiment of the present invention, the number of the second oil cylinders 502 is two. One ends of the two second oil cylinders 502 are connected to the first support rod 501, and the other ends are connected to the second support rod 503. The second support rod 503 is connected to the bottom plate 102 through a pair of bearing seats 504.

[0073] In the above-mentioned embodiment, both the first driver 201 and the second driver 301 are hydraulic motors. The control mechanism changes the flow rate of the hydraulic oil delivered by the hydraulic pump to both sides of the hydraulic motor by controlling the opening degree of each valve block in the hydraulic system, so that the rotation speed of the hydraulic motor reaches the ideal value.

[0074] In an embodiment of the present invention, the hydraulic system is composed of components such as an electromagnetic directional valve 601, an electro-hydraulic proportional valve 602, a shuttle valve, a pressure reducing valve, a hydraulic logic valve, an oil cylinder, and a hydraulic motor. The power source of the separation and conveying device of the picker is to transport the hydraulic oil in the fuel tank to the hydraulic pipeline through the operation of the hydraulic pump to drive the hydraulic valve block to act, and then connect to the actuator through the hydraulic valve block. The hydraulic pump outputs sufficient pressure and flow rate to drive the hydraulic motor to operate. By controlling the electromagnetic directional valve 601, the electro-hydraulic proportional valve 602, the shuttle valve, the pressure reducing valve and other hydraulic valve blocks through the control mechanism, the flow rate of the hydraulic oil delivered by the hydraulic pump to both sides of the low-speed cycloidal hydraulic motor is changed, so as to achieve the ideal output speed. As the output power of the hydraulic motor increases, when the load is stable, the output torque of the hydraulic motor is a fixed value, and the speed of the hydraulic motor increases proportionally with the increase of the displacement. To achieve the target output speed, only the displacement of the hydraulic pump needs to be adjusted to control the speed of the separation conveyor belt mechanism 2 and the vibration frequency of the vibration mechanism 3.

[0075] As Figure 9 shown, the control mechanism includes: a controller 8, a hollow shaft encoder 604, a pull rope displacement sensor 606, a vibration sensor 605, and a torque sensor 603. The controller 8 serves as the data processing center during the material separation and conveying process, and can receive sensor signals and send pulse signals to the electro-hydraulic valve block. The two hollow shaft encoders 604 respectively detect the speeds of the separation conveyor belt mechanism 2 and the vibration mechanism 3. The pull rope displacement sensor 606 is used to detect the tilt angle of the tilt adjustment mechanism 5, and the vibration sensor 605 is used to detect the vibration frequency of the vibration mechanism 3. When the detected load value has a large difference from the expected load value, the controller 8 gives a strong command signal to the electro-hydraulic valve block, making the valve opening larger, so the flow rate passing through the oil cylinder and the hydraulic motor increases, and the movement speed of the hydraulic rod and the speed of the hydraulic motor increase, making the actual load quickly approach the expected load. When the detected load value has a small difference from the expected load value, a weak command signal is given to the electro-hydraulic valve block, making the valve opening smaller, the flow rate passing through the oil cylinder and the hydraulic motor smaller, and the movement speed of the hydraulic rod and the speed of the hydraulic motor smaller, so that the actual load value is maintained near the expected load value and slowly approaches the expected load value, realizing the automatic adjustment of the feeding amount to avoid the damage and skin breakage problems caused by multiple collisions due to the over-concentration of materials during the separation and conveying process.

[0076] Furthermore, the control mechanism further includes a host computer 7, and the host computer 7 is used to display the basic information and operation information of the machine.

[0077] The embodiment of the present invention also provides a control method based on the separation and conveying device of a pick-up machine, which specifically includes the following steps: Step 01: Obtain the actual torque value of the separation conveyor belt mechanism 2; Step 02: Based on the difference between the actual torque value and the preset torque value, control the rotation speed of the separation conveyor belt mechanism 2, the vibration frequency, vibration amplitude of the vibration mechanism 3, and the tilt angle of the tilt adjustment mechanism 5, wherein the rotation speed and tilt angle are optimized based on the grey wolf algorithm.

[0078] Specifically, the torque sensor 603 detects the actual torque value of the separation conveyor belt mechanism 2 in real time and sends the detection data to the controller 8. The controller 8 compares the actual torque value with the preset torque value, takes the difference between the two as the input signal of the controller 8, the controller 8 calculates the optimal control quantity, and based on this control quantity, controls the opening size and the flow direction of the hydraulic oil of the pressure reducing valve and the electro-hydraulic proportional valve 602, so as to control the rotation speed of the first driver 201 and the second driver 301, so as to adaptively adjust the rotation speed of the conveyor belt 221, the vibration frequency of the first adjusting rod 313, and the vibration amplitude of the first vibration wheel 322; at the same time, control the telescopic amount of the first oil cylinder 326 and the second oil cylinder 502, so as to adaptively adjust the vibration amplitude of the second adjusting rod 315 and the tilt angle of the conveyor belt 221.

[0079] As Figure 10 shown, in order to improve the control accuracy and robustness of the separation and conveying device of the pick-up machine, the algorithm used in the embodiment of the present invention is to optimize the control parameters of the controller 8, namely the three parameters of proportional, integral, and differential, based on the grey wolf algorithm. Optimize the control parameters of the controller 8, continuously substitute the found parameters into the control algorithm, judge the quality of the current parameters through the performance index, and through continuous iteration, find the optimal parameters. When the performance index reaches the maximum number of iterations set for the required accuracy, the algorithm stops and outputs the found optimal solution. By adjusting the control parameters of the controller, observing the dynamic response characteristics of the system, as well as the overshoot and response time of the system, etc., finally a group of relatively satisfactory control parameters of the controller are obtained. The general steps for optimizing the control parameters of the controller using the grey wolf algorithm are as follows:

[0080] 1) Set the population size of the algorithm parameters to [20, 80], and the maximum number of iterations to t max = 60;

[0081] 2) Set the upper and lower limits of the controller parameters K p1 、K i1 、K d1 and K p2 、K i2 、K d2 , and initialize the grey wolf population within this range;

[0082] 3) Calculate the fitness values of all grey wolf individuals according to the performance index fitness function ITAE and sort them as wolves α, β, δ, and the remaining are set as wolf ω;

[0083] 4) Update the positions of all wolves ω according to the deviation value;

[0084] 5) Determine whether the maximum number of iterations t max is reached. If it is reached, continue to execute; otherwise, jump to step 3);

[0085] 6) Output the position vectors of the final three wolves α, and the optimal rotational speed parameters and tilt angle parameters can be obtained.

[0086] The control method for the separation and conveying device of the pick-up machine provided by the embodiment of the present invention enables the separation and conveying device of the pick-up machine to achieve efficient and low-loss separation, separates the materials from the potato impurities, realizes the adaptive adjustment of the conveyor belt, speed, vibration frequency and amplitude of the separation and conveying device of the pick-up machine, and can reduce the skin-breaking damage of the materials while ensuring the operation efficiency.

[0087] Further, the steps of obtaining the actual torque value of the separation conveyor belt mechanism 2 and controlling the rotational speed of the separation conveyor belt mechanism 2, the vibration frequency and amplitude of the vibration mechanism 3, and the tilt angle of the tilt angle adjustment mechanism 5 based on the difference between the actual torque value and the preset torque value further include:

[0088] Set the initial values of the rotational speed, vibration frequency, vibration amplitude and tilt angle; when the difference between the actual torque value and the preset torque value is greater than the preset value, control the rotational speed of the separation conveyor belt mechanism 2 to be greater than the initial value, the vibration frequency of the vibration mechanism 3 to be greater than the initial value, the vibration amplitude to be equal to the initial value, and the tilt angle of the tilt angle adjustment mechanism 5 to be greater than the initial value;

[0089] When the difference between the actual torque value and the preset torque value is equal to the preset value, control the rotational speed of the separation conveyor belt mechanism 2 to be the initial value, the vibration frequency of the vibration mechanism 3 to be equal to the initial value, the vibration amplitude to be less than the initial value, and the tilt angle of the tilt angle adjustment mechanism 5 to be equal to the initial value;

[0090] When the difference between the actual torque value and the preset torque value is less than the preset value, control the rotational speed of the separation conveyor belt mechanism 2 to be less than the initial value, the vibration frequency of the vibration mechanism 3 to be less than the initial value, the vibration amplitude to be less than the initial value, and the tilt angle of the tilt angle adjustment mechanism 5 to be less than the initial value.

[0091] Specifically, start the separation and conveying device of the pick-up machine, and set the rotational speed in the initial state of the separation conveyor belt mechanism 2 to medium speed, that is, n 初 is 150 r / min; the vibration amplitude A 高 in the initial state is high amplitude, and the first oil cylinder 326 is in the unextended state, that is, A 初is 30 mm; the vibration frequency in the initial state is medium frequency, i.e., f 初 is 5 Hz, and the angle of the inclination adjustment mechanism 5 is θ 初 is 22°.

[0092] When the torque sensor 603 detects that the weight of the materials to be separated, such as materials and soil, is large, the controller 8 controls the current at the port of the electromagnetic proportional valve 602 to increase, so as to control the flow rate and increase the torque of the first driver 201. The size of the flow rate can control the rotation speed of the first driver 201 and the movement of the hydraulic rod of the first oil cylinder 326. The controllable current value range of the electromagnetic proportional valve 602 is 4 mA to 20 mA, and the rotation speed of the separation conveyor belt mechanism 2 is high speed, i.e., n 高 is 170 r / min, and the rotation speed of the first driver 201 increases. The vibration amplitude of the vibration mechanism 3 is high amplitude, i.e., A 高 is 30 mm, the vibration mechanism 3 does not move, that is, the first oil cylinder 326 is the same as in the initial state. The rotation speed of the second driver 301 increases, and the vibration frequency is high frequency, i.e., f 高 is 6.5 Hz. The angle of the inclination adjustment mechanism 5 rises to θ 升 , and the rising angle is 1° - 3°. This method can effectively separate the materials from the soil without damaging the materials.

[0093] When the torque sensor 603 detects that the weight of the materials to be separated, such as materials and soil, drops to the expected value, that is, a large number of soil blocks fall off, the rotation speed of the separation conveyor belt mechanism 2 is controlled to be medium speed, i.e., n 初 . The rotation speed of the second driver 301 decreases, and the vibration frequency of the vibration mechanism 3 is medium frequency, i.e., f 初 is 5 Hz; the hydraulic rod of the first oil cylinder 326 of the vibration mechanism 3 extends about 10 mm, and the vibration amplitude is medium amplitude, i.e., A 中 is about 20 mm. The angle of the inclination adjustment mechanism 5 drops to θ 初 , and this adjustment method can quickly separate the materials from the soil, reduce the collision damage of the materials, and prevent blockage.

[0094] When the torque sensor 603 detects that the weight of the materials to be separated, such as materials and soil, is low, the rotation speed of the separation conveyor belt mechanism 2 is controlled to be low speed, i.e., n 低 is 130 r / min. The rotation speed of the second driver 301 is controlled to decrease, and the vibration frequency is low frequency, i.e., f 低 is 3.5 Hz. The extension length of the hydraulic rod of the first oil cylinder 326 of the vibration mechanism 3 is 20 mm, and the vibration amplitude is low amplitude, i.e., A 低 is 10 mm. The angle of the inclination adjustment mechanism 5 is reduced to θ 降 , and the reduced angle is 1° - 3°. This adjustment method can reduce the collision damage of the materials and ensure effective separation and transportation of the materials.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A picking machine separation and conveying device, characterized in that: include: Frame, separation conveyor belt mechanism, rice seedling picking mechanism, vibration mechanism, inclination adjustment mechanism and control mechanism; The separation conveyor belt mechanism, the rice seedling picking mechanism, the vibration mechanism, the inclination adjustment mechanism and the control mechanism are all arranged on the frame; The separation conveyor belt mechanism is used to convey materials, soil and seedlings, and the vibration mechanism is in contact with the separation conveyor belt mechanism. When the vibration mechanism moves, it can drive the separation conveyor belt mechanism to vibrate, thereby separating the materials and soil; The rice seedling picking mechanism is in transmission connection with the separation conveyor belt mechanism, the rice seedling picking mechanism is used to separate the materials from the rice seedlings, and the inclination angle adjustment mechanism is used to adjust the inclination angle of the frame; The control mechanism is used to control the rotation speed of the separation conveyor belt mechanism, the vibration frequency and vibration amplitude of the vibration mechanism, and the tilt angle of the frame; The separation conveyor belt mechanism comprises: a first driving assembly, a pair of conveyor belts and a plurality of rods; The control mechanism is used to control the rotation speed of the first drive assembly, and the first drive assembly is used to drive the pair of conveyor belts; The conveyor belt is a flexible conveyor belt, the rod body is a flexible rod body, a plurality of the rod bodies are arranged in parallel between a pair of the conveyor belts, and the two ends of each of the rod bodies are respectively connected to a pair of the conveyor belts; The vibration mechanism comprises: a second driving assembly and a first vibration assembly; The second driving assembly is disposed on the frame, and the second driving assembly is used to drive the first vibration assembly to move; The first vibration assembly comprises: a connecting rod structure, a first adjustment assembly, a second adjustment assembly and a first oil cylinder, the two ends of the connecting rod structure are respectively connected to the second driving assembly and the first adjustment assembly, the first adjustment assembly and the second adjustment assembly are arranged in parallel on the frame, and the second adjustment assembly is connected to the first oil cylinder; The first adjustment component and the second adjustment component are located inside the conveyor belt. Under the action of the second driving component and the first oil cylinder, the first adjustment component and the second adjustment component can move up and down to abut against the conveyor belt. The control mechanism is used to control the transfer of the second driving assembly to adjust the vibration frequency of the first adjusting assembly, and the control mechanism is used to control the extension and retraction of the first oil cylinder to adjust the vibration amplitude of the second adjusting assembly; The vibration mechanism further includes a second vibration component, wherein the second vibration component is connected to the second driving component; The second vibration assembly comprises: a first shaking structure, a transfer wheel and a second shaking structure, wherein a first end of the first shaking structure is connected to the second driving assembly, a first end of the second shaking structure is connected to the frame, and the first shaking structure and the second shaking structure are located inside the conveyor belt; A first slide groove is provided at the second end of the first shaking structure, and a second slide groove is provided at the second end of the second shaking structure. The opening directions of the first slide groove and the second slide groove are perpendicular. A first slider and a second slider are respectively provided on opposite sides of the transfer wheel. The first slider is perpendicular to the second slider. The first slider can slide along the first slide groove, and the second slider can slide along the second slide groove.

2. The pick-up separation and conveying device according to claim 1, characterized in that: The plurality of rod bodies include: a plurality of first rod bodies and a plurality of second rod bodies; One first rod body and two second rod bodies are arranged alternately, the first rod body is a wave-shaped rod body, and at least a part of the surface of the second rod body in contact with the material is a plane; The distance between two adjacent curved shapes of the first rod body is smaller than the minimum size of the material.

3. The pick-up separation and conveying device according to claim 1, characterized in that: The rice seedling picking mechanism comprises: a first rotating shaft, a plurality of rice seedling picking teeth, a second rotating shaft, a plurality of gear levers and a plurality of elastic members; The first rotating shaft is in driving connection with the separation conveyor belt mechanism, and the plurality of seedling picking teeth are sleeved on the outside of the first rotating shaft; Both ends of the second rotating shaft are connected to the frame respectively, a plurality of the gear rods are evenly distributed along the extension direction of the length of the second rotating shaft, a first end of each of the gear rods is rotatably connected to the second rotating shaft, and a second end of each of the gear rods extends to the first rotating shaft and has a spacing therebetween; The first end of each elastic member is connected to the second rotating shaft, and the second end of each elastic member is connected to one of the shift rods.

4. The pick-up separation and conveying device according to claim 1, characterized in that: The inclination angle adjustment mechanism includes: a first support rod and a second cylinder, the two ends of the first support rod are respectively connected to the frame, one end of the second cylinder is connected to the first support rod, and the control mechanism is used to control the extension and retraction of the second cylinder to adjust the inclination angle of the frame.

5. The picking machine separation and conveying device according to claim 1, characterized in that: The control mechanism includes: a controller, a torque sensor, a pair of hollow shaft encoders, a vibration sensor and a pull-wire displacement sensor; The torque sensor, the hollow shaft encoder, the vibration sensor and the rope displacement sensor are all electrically connected to the controller; The torque sensor is used to detect the torque value of the separation conveyor belt mechanism, the two hollow shaft encoders are used to detect the rotational speeds of the separation conveyor belt mechanism and the vibration mechanism respectively, the vibration sensor is used to detect the vibration frequency of the vibration mechanism, and the pull rope displacement sensor is used to detect the inclination angle of the inclination adjustment mechanism.

6. A control method for a pick-up separation and conveying device according to any one of claims 1 to 5, characterized in that: include: Obtaining an actual torque value of the separation conveyor belt mechanism; Based on the difference between the actual torque value and the preset torque value, controlling the rotation speed of the separation conveyor belt mechanism, the vibration frequency and vibration amplitude of the vibration mechanism, and the inclination angle of the inclination adjustment mechanism; Wherein, the rotation speed and the tilt angle are optimized based on the Grey Wolf algorithm.

7. The control method of the separation and conveying device of the pick-up machine according to claim 6, characterized in that: The step of obtaining the actual torque value of the separation conveyor belt mechanism and controlling the rotation speed of the separation conveyor belt mechanism, the vibration frequency and vibration amplitude of the vibration mechanism, and the inclination angle of the inclination adjustment mechanism based on the difference between the actual torque value and the preset torque value further includes: Setting initial values ​​of the rotation speed, the vibration frequency, the vibration amplitude and the tilt angle; When the difference between the actual torque value and the preset torque value is greater than the preset value, the rotation speed of the separation conveyor belt mechanism is controlled to be greater than the initial value, the vibration frequency of the vibration mechanism is greater than the initial value, the vibration amplitude is equal to the initial value, and the inclination angle of the inclination adjustment mechanism is greater than the initial value; When the difference between the actual torque value and the preset torque value is equal to the preset value, the rotation speed of the separation conveyor belt mechanism is controlled to be the initial value, the vibration frequency of the vibration mechanism is equal to the initial value, the vibration amplitude is less than the initial value, and the inclination angle of the inclination adjustment mechanism is equal to the initial value; When the difference between the actual torque value and the preset torque value is less than the preset value, the rotation speed of the separation conveyor belt mechanism is controlled to be less than the initial value, the vibration frequency of the vibration mechanism is less than the initial value, the vibration amplitude is less than the initial value, and the inclination angle of the inclination adjustment mechanism is less than the initial value.

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