An intelligent stone-picking rotary tillage and sowing compound all-in-one machine for highland barley planting

Abstract

The invention discloses an intelligent stone picking, rotary tillage and sowing compound integrated machine for highland barley planting, comprising a mobile seat body, on which a stone picking mechanism, a rotary tillage mechanism and a sowing mechanism are installed; the stone picking mechanism comprises a centrally placed stone collecting trough and a plurality of stone picking assemblies arranged around the stone collecting trough; the stone collecting trough is fixedly arranged; all stone picking assemblies are installed on the same rotating frame, and the rotating frame can be driven to operate by a driving mechanism; the stone picking assembly comprises a cross bar, on which a plurality of stone picking knives arranged in a horizontally dispersed manner are installed; the stone picking knife comprises a fixed portion fixed relative to the cross bar, and also comprises a rotating portion capable of rotating relative to the fixed portion; the relative state of the rotating portion and the fixed portion is driven and switched by a state switching mechanism; a torque sensor is provided between the driving mechanism and the rotating frame; a camera located in front of the stone picking mechanism is also installed on the mobile seat body; the camera, the torque sensor and the driving mechanism are all connected to a control unit. The scheme of the invention enables the stone picking assembly to operate on demand, so that idling can be reduced and energy can be saved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural sowing machinery, and in particular to an intelligent stone-picking rotary tillage and sowing compound all-in-one machine for highland barley planting. Background Art

[0002] Highland barley is one of the main food crops in Tibet, and plays an important role in local food security, farmers' livelihoods, and cultural heritage. As a cold-resistant and drought-resistant plateau crop, highland barley adapts to the unique climatic conditions in Tibet, provides rich nutrition and energy, and has become a core component of the daily diet of the Tibetan people. In addition, highland barley also provides a source of feed for the local agricultural and animal husbandry production system, promoting the coordinated development of agriculture and animal husbandry. In the process of using a seeder to plant highland barley, picking up stones before rotary tillage is a key link to ensure sowing efficiency and equipment safety. Stones can easily cause mechanical jams or damage, affecting sowing efficiency. Therefore, picking up stones in advance not only helps to improve sowing efficiency, but also extends the service life of the equipment.

[0003] In the prior art, patent CN 117616919 A ​​discloses a pick-up machine. In the solution of the patent, the stone picking operation is performed by a stone picking device with a metal cage and a auger. This structure is not only easy to miss detection, but also can only pick up stones on the soil surface. Patent CN 115176538 A discloses a farmland preparation device. In the patent scheme, there is a filtering and collecting mechanism, which includes a centrally placed filtering part composed of an arc-shaped filtering grid, and also includes a plurality of digging buckets arranged around the filtering part. A baffle is provided between each digging bucket and the filtering part. In this structure, on the one hand, the structure of the filtering part is complicated, and each baffle needs to be frequently opened and closed, and the baffle is easy to get stuck and cause failure. In addition, soil and stones are dug into the filtering part for filtering together, and the screening pressure is large, making it difficult to achieve a high screening efficiency. Although it is disclosed in the preferred embodiment of the patent scheme that soil entry can be reduced by adding an intercepting rod, the structural design of the intercepting rod in the patent scheme is unreasonable, and stones are difficult to enter the filtering part, and the success rate of picking up stones is low. On the other hand, the mechanism is always running and cannot be operated on demand, with high energy consumption and too many unnecessary soil screening operations, resulting in low efficiency. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an intelligent stone picking and rotary tillage and sowing compound machine for highland barley planting, which can intelligently pick up stones, save energy and have high stone picking efficiency.

[0005] Technical solution: To achieve the above-mentioned purpose, the intelligent stone-picking rotary tillage and sowing compound machine for highland barley planting of the present invention comprises a mobile seat body, on which a stone-picking mechanism, a rotary tillage mechanism and a sowing mechanism are installed; the stone-picking mechanism comprises a centrally placed stone collecting trough and a plurality of groups of stone-picking components arranged around the stone collecting trough;

[0006] The stone collecting trough is fixedly arranged; all the stone picking components are installed on the same rotating frame, and the rotating frame can be driven by a driving mechanism to rotate around the stone collecting trough;

[0007] The stone picking assembly comprises a cross bar, on which a plurality of stone picking knives arranged in a laterally dispersed manner are mounted; the stone picking knife comprises a fixed portion fixed relative to the cross bar, and also comprises a rotating portion capable of rotating relative to the fixed portion; the relative state of the rotating portion and the fixed portion is switched by a state switching mechanism; the relative state between the fixed portion and the rotating portion can be switched between a straight state and an angled state, in which an angle is formed between the extension directions of the fixed portion and the rotating portion;

[0008] A torque sensor is provided between the driving mechanism and the rotating frame; a camera located in front of the stone picking mechanism is also installed on the moving seat; the camera, the torque sensor and the driving mechanism are all connected to a control unit.

[0009] With the above structure, when the machine is operating, there is always a group of stone picking components with stone picking knives extending into the soil to break through the soil and move forward, and the control unit monitors in real time whether there are stones exposed in the soil through the images collected by the camera, and judges whether there is a sudden increase in torque through the data collected by the torque sensor. The sudden increase in torque indicates that there may be stones buried in the soil. When exposed stones are identified through the image, after the stone picking component reaches the corresponding position, the driving mechanism drives the rotating frame to operate, so that the rotating frame rotates by a preset angle, and while the stone is caught and thrown into the stone collecting trough, another group of stone picking components extends into the soil to break through the soil and move forward; if the torque detected by the torque sensor suddenly increases, the driving mechanism immediately drives the rotating frame to operate, so that the rotating frame rotates by a preset angle.

[0010] Furthermore, an auger is installed in the stone collecting trough, and a stone collecting box is installed on one side of the stone collecting trough.

[0011] Furthermore, the fixed part has a cavity part, and a connecting rod connected to the rotating part is installed in the cavity part; one end of the connecting rod is rotatably connected to the rotating part; the other end is fixed with a guide pin, and the fixed part has a strip hole for the guide pin to slide in. With this structure, by driving the guide pin to slide along the strip hole, the rotating part can be switched through the connecting rod; in this way, when part of the stone picking knife is located in the soil, both the fixed part and the rotating part are in a straight state, which can achieve a better deep loosening effect and stone detection effect; before the end of the fixed part is completely unearthed, the rotating part switches to an angle state relative to the fixed part, so that the rotating part is tilted upward relative to the fixed part, so that during the continued operation, the rotating part can prevent the stone from sliding out of the stone picking assembly and causing the stone picking to fail.

[0012] Furthermore, the switching mechanism includes left and right horizontal driving rods, the driving rods have ears connected to each of the guide pins; the ends of the driving rods are connected to rollers, a cam is fixed to the moving seat, the cam has a cam groove, and the roller can move in the cam groove. With the above structure, since the cam is fixed relative to the moving seat, and the driving rod moves with the rotating frame, when the driving rod moves to a specific angle, the stone picking knife can switch state at a specific position, and the switching position is accurate.

[0013] Furthermore, the front sides of the fixing portion and the rotating portion are provided with replaceable cutting edge pieces.

[0014] Beneficial effects: The intelligent stone-picking rotary tillage and sowing compound integrated machine for highland barley planting of the present invention has the following beneficial effects:

[0015] (1) The presence of stones on the soil surface and inside the soil can be monitored in real time through cameras and torque sensors, allowing the stone picking component to operate on demand, which can reduce idling and save energy. In addition, since there is no pressure to screen the soil, the travel speed of the machine can be increased, thereby improving work efficiency.

[0016] (2) During the stone picking process, after the stone picking assembly reaches a preset angle, the rotating part rotates upward relative to the fixed part, and the relative state of the two parts changes to an angle state. In this way, when the stone picking assembly is lifted, the rotating part can block the stone and prevent the stone from falling along the rotating part.

[0017] (3) While the stone picking knife is detecting stones, the soil can be loosened, which reduces the difficulty of subsequent soil crushing by the rotary tillage mechanism, improves the soil crushing efficiency, and makes the soil more broken.

[0018] (4) The stone collecting trough is fixedly installed relative to the movable seat, and the stone picking assembly can dump the picked-up stones into the stone collecting trough. The auger in the stone collecting trough rotates, causing the stones in the stone collecting trough to move laterally and be collected in the stone collecting box. This structure avoids the need to use a switch door mechanism when the stone collecting trough rotates with the rotating frame, which leads to a complex structure and reduces the failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a side view of the structure of the intelligent stone picking rotary tillage and sowing compound machine;

[0020] Figure 2 This is a three-dimensional structural diagram of the intelligent stone-picking rotary tillage and sowing compound machine;

[0021] Figure 3 This is the structural diagram of the stone picking mechanism;

[0022] Figure 4 This is the first state structure diagram for picking up a stone knife;

[0023] Figure 5 This is the second state structure diagram for picking up the stone knife;

[0024] Figure 6 for Figure 3 A magnified structural diagram of part A.

[0025] In the figure: 1-movable seat; 2-stone picking mechanism; 21-stone collecting groove; 22-stone picking assembly; 221-cross bar; 222-stone picking knife; 22a-fixed part; 22b-rotating part; 22c-strip hole; 23-auger; 24-rotating frame; 25-driving mechanism; 26-torque sensor; 27-stone collecting box; 28-connecting rod; 29-guide pin; 210-driving rod; 2a-ear; 211-roller; 212-cam; 2b-cam groove; 2b1-near groove; 2b2-far groove; 2b3-transition groove; 3-rotary tillage mechanism; 4-seeding mechanism. DETAILED DESCRIPTION

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] like Figure 1 and Figure 2 The intelligent stone picking, rotary tillage and sowing machine for highland barley planting shown in the figure comprises a mobile base 1, on which a stone picking mechanism 2, a rotary tillage mechanism 3 and a sowing mechanism 4 are installed. Figure 3As shown, the stone picking mechanism 2 includes a centrally placed stone collecting trough 21 and a plurality of groups of stone picking components 22 arranged around the stone collecting trough 21; the stone collecting trough 21 is fixedly arranged; all the stone picking components 22 are installed on the same rotating frame 24, and the rotating frame 24 can be driven by a driving mechanism 25 to rotate around the stone collecting trough 21; the stone picking component 22 includes a cross bar 221, and a plurality of stone picking knives 222 arranged in a laterally dispersed manner are installed on the cross bar 221; the stone picking knife 222 includes a fixed portion 22a fixed relative to the cross bar 221, and also includes a rotating portion 22b that can rotate relative to the fixed portion 22a; the front sides of the fixed portion 22a and the rotating portion 22b are both provided with replaceable cutting edge parts.

[0028] The relative state between the rotating portion 22b and the fixed portion 22a is switched by the state switching mechanism; the relative state between the fixed portion 22a and the rotating portion 22b can be in a straight state (such as Figure 4 as shown) and the angle state (as shown Figure 5 As shown), in the angled state, an angle is formed between the extension directions of the fixed portion 22a and the rotating portion 22b;

[0029] A torque sensor 26 is provided between the driving mechanism 25 and the rotating frame 24; a camera located in front of the stone picking mechanism 2 is also installed on the moving seat 1; the camera, the torque sensor 26 and the driving mechanism 25 are all connected to a control unit.

[0030] With the above structure, when the machine is operating, there is always a group of stone picking components 22 with stone picking knives 222 extending into the soil to break through the soil and move forward, and the control unit monitors in real time whether there are stones exposed in the soil through the images collected by the camera, and judges whether there is a sudden increase in torque through the data collected by the torque sensor 26. The sudden increase in torque indicates that there may be stones buried in the soil. When it is determined through the image that there are exposed stones, after the stone picking component 22 reaches the corresponding position, the driving mechanism 25 drives the rotating frame 24 to operate, so that the rotating frame 24 rotates by a preset angle, and while the stone is caught and thrown into the stone collecting trough 21, another group of stone picking components 22 extends into the soil to break through the soil and move forward; if the torque detected by the torque sensor 26 suddenly increases, the driving mechanism 25 immediately drives the rotating frame 24 to operate, so that the rotating frame 24 rotates by a preset angle.

[0031] The above-mentioned machine can monitor whether there are stones on the soil surface and in the soil in real time through cameras and torque sensors, so that the stone picking component 22 can operate on demand, which can reduce idling and save energy. Moreover, since there is no pressure to screen the soil, the travel speed of the machine can be increased, thereby improving work efficiency.

[0032] During the stone picking process, after the stone picking assembly 22 reaches the preset angle, the rotating part 22b rotates upward relative to the fixed part 22a, and the relative state of the two parts becomes an angle state. In this way, when the stone picking assembly 22 is lifted, the rotating part 22b can block the stone and prevent the stone from falling along the rotating part 22b.

[0033] The stone picking knife 222 can loosen the soil while detecting stones, thereby reducing the difficulty of subsequent soil crushing by the rotary tillage mechanism 3, improving the soil crushing efficiency, and making the soil more broken.

[0034] Preferably, an augers 23 is installed in the stone collecting trough 21 , and a stone collecting box 27 is installed on one side of the stone collecting trough 21 .

[0035] In the present invention, the stone collecting trough 21 is fixedly installed relative to the mobile seat 1, and the stone picking assembly 22 can dump the picked up stones into the stone collecting trough 21. The auger 23 in the stone collecting trough 21 operates to make the stones in the stone collecting trough 21 move laterally to the side and be collected in the stone collecting box 27. With this structure, the stone collecting trough 21 rotates with the rotating frame 24, which avoids the need to use a switch door mechanism to cause a complex structure, and can reduce the failure rate.

[0036] Preferably, the fixed portion 22a has a cavity portion, in which a connecting rod 28 connected to the rotating portion 22b is installed; one end of the connecting rod 28 is rotatably connected to the rotating portion 22b; a guide pin 29 is fixed to the other end, and the fixed portion 22a has a strip hole 22c for the guide pin 29 to slide therein. With this structure, by driving the guide pin 29 to slide along the strip hole 22c, the rotating part 22b can be switched via the connecting rod 28; in this way, when part of the stone picking knife 222 is located in the soil, both the fixed part 22a and the rotating part 22b are in a straight state, which can achieve a better deep loosening effect and stone detection effect; before the end of the fixed part 22a is completely unearthed, the rotating part 22b switches to an angled state relative to the fixed part 22a, so that the rotating part 22b is tilted upward relative to the fixed part 22a, so that during the continued operation, the rotating part 22b can prevent stones from slipping out of the stone picking assembly 22 and causing stone picking failure.

[0037] Preferably, the switching mechanism includes a left and right horizontal driving rod 210, the driving rod 210 has an ear 2a connected to each guide pin 29; the end of the driving rod 210 is connected to a roller 211, and a cam 212 is fixed on the moving seat 1, and the cam 212 has a cam groove 2b, and the roller 211 can move in the cam groove 2b. Figure 6As shown, the cam groove 2b has a near groove 2b1 and a far groove 2b2, and the near groove 2b1 and the far groove 2b2 are transitioned through a transition groove 2b3. When the roller 211 is located in the near groove 2b1, the fixed portion 22a and the rotating portion 22b are in a straight state, and when the roller 211 is located in the far groove 2b2, the fixed portion 22a and the rotating portion 22b are in an angled state. With the above structure, since the cam 212 is fixed relative to the movable seat 1, and the driving rod 210 moves with the rotating frame 24, when the driving rod 210 moves to a specific angle, the stone picking knife 222 can be switched at a specific position, and the switching position is accurate.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent stone-picking, rotary tillage and sowing compound machine for highland barley planting, comprising a mobile base (1), on which a stone-picking mechanism (2), a rotary tillage mechanism (3) and a sowing mechanism (4) are mounted; the stone-picking mechanism (2) comprises a centrally placed stone collecting trough (21) and a plurality of groups of stone-picking components (22) arranged around the stone collecting trough (21); the characteristics are: The stone collecting trough (21) is arranged in a fixed manner; all the stone picking components (22) are mounted on the same rotating frame (24), and the rotating frame (24) can be driven to operate by a driving mechanism (25); The stone picking assembly (22) comprises a crossbar (221), on which a plurality of stone picking knives (222) arranged in a transversely dispersed manner are mounted; the stone picking knives (222) comprise a fixed portion (22a) fixed relative to the crossbar (221), and also comprise a rotating portion (22b) rotatable relative to the fixed portion (22a); the relative state of the rotating portion (22b) and the fixed portion (22a) is switched by a state switching mechanism; A torque sensor (26) is provided between the driving mechanism (25) and the rotating frame (24); a camera located in front of the stone picking mechanism (2) is also installed on the moving seat (1); the camera, the torque sensor (26) and the driving mechanism (25) are all connected to a control unit; When the machine is in operation, a set of stone picking knives (222) of the stone picking assembly (22) are always extended into the soil to break through the soil and move forward, and the control unit monitors in real time whether there are stones exposed in the soil through images collected by the camera, and determines whether there is a sudden increase in torque through data collected by the torque sensor (26); When exposed stones are identified through the image and the stone picking assembly (22) reaches the corresponding position, the driving mechanism (25) drives the rotating frame (24) to operate, so that the rotating frame (24) rotates by a preset angle, and the stones are caught and thrown into the stone collecting trough (21), while another set of stone picking assemblies (22) are extended into the soil to break through the soil and move forward; if the torque detected by the torque sensor (26) suddenly increases, the driving mechanism (25) immediately drives the rotating frame (24) to operate, so that the rotating frame (24) rotates by a preset angle.

2. The intelligent stone-picking rotary tillage and sowing compound machine for highland barley planting according to claim 1 is characterized in that: A turret (23) is installed in the stone collecting trough (21), and a stone collecting box (27) is installed on one side of the stone collecting trough (21).

3. The intelligent stone-picking rotary tillage and sowing compound machine for highland barley planting according to claim 1 is characterized in that: The fixed portion (22a) has a cavity portion therein, and a connecting rod (28) connected to the rotating portion (22b) is installed in the cavity portion; one end of the connecting rod (28) is rotatably connected to the rotating portion (22b); a guide pin (29) is fixed to the other end, and the fixed portion (22a) has a strip hole (22c) in which the guide pin (29) slides.

4. The intelligent stone-picking rotary tillage and sowing compound machine for highland barley planting according to claim 3 is characterized in that: The switching mechanism comprises a left-right horizontally placed driving rod (210), the driving rod (210) having an ear portion (2a) connected to each of the guide pins (29); the end of the driving rod (210) is connected to a roller (211), a cam (212) is fixed to the movable seat (1), the cam (212) has a cam groove (2b), and the roller (211) can move in the cam groove (2b).

5. The intelligent stone-picking rotary tillage and sowing compound machine for highland barley planting according to claim 1 is characterized in that: The front sides of the fixed portion (22a) and the rotating portion (22b) are both provided with replaceable cutting edge parts.

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