Agricultural machinery row control device with encoder

Abstract

The invention relates to the technical field of agricultural machinery, in particular to an agricultural machinery row control device with an encoder, which comprises a fixed connecting unit, a protective cover is mounted on the outer side of the fixed connecting unit, and a movable rotating unit is mounted at the bottom end of the fixed connecting unit. An elastic reset unit is installed between the fixed connecting unit and the movable rotating unit, the fixed connecting unit comprises an encoder fixing plate, the encoder fixing plate is fixedly connected with the protective cover, and an encoder body is fixedly installed on the upper end face of the encoder fixing plate; a fixed connection base is installed on the lower end face of the encoder fixing plate, and a lower baffle is installed at the bottom end of the fixed connection base. Angle or displacement data of a mechanical part are collected in real time through the encoder, mechanical motion is converted into quantifiable electric signals, accurate detection and automatic deviation correction control over row control deviation are achieved, row control precision is greatly improved, manual intervention is reduced, and the labor intensity of a driver is reduced.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, specifically to an agricultural machinery row pair with a built-in encoder. Background Technology

[0002] As modern agriculture develops towards precision and intelligence, the precision requirements for agricultural machinery operations are becoming increasingly stringent. In field operations, the accuracy of agricultural machinery alignment directly affects the quality of operations and crop yield. Traditional agricultural machinery alignment mainly relies on manual observation and operation. Drivers need to constantly monitor the position of crop rows and manually adjust the direction of the machinery, which is not only labor-intensive but also makes it difficult to guarantee alignment accuracy. Especially during long-term operations or in complex terrain conditions, problems such as missed rows, overlapping rows, or crushed seedlings are prone to occur. By using cameras to capture crop images, image processing algorithms can be used to identify crop rows, and then the machinery can be steered to achieve alignment. Alternatively, infrared sensors can be used to detect the position of crops.

[0003] Existing purely visual recognition systems suffer from significantly reduced recognition accuracy and slow response speed under varying lighting conditions, poor crop growth, or excessive weeds, making them unsuitable for high-speed operations. Sensors are also susceptible to environmental interference, have limited detection range, and poor adaptability to different crops, performing poorly in fields with uneven crop density or irregular growth. Traditional purely mechanical row alignment systems suffer from low alignment accuracy, limited adjustment range, and an inability to quantify detection deviations. Therefore, they do not meet current requirements. To address this, we propose an agricultural machinery row alignment system with an integrated encoder. Summary of the Invention

[0004] This application provides a row alignment device for agricultural machinery with a built-in encoder to solve the problems mentioned in the background art. Existing pure vision recognition systems have significantly reduced recognition accuracy and slow response speed under conditions of changing lighting, poor crop growth, or abundant weeds, making it difficult to meet the needs of high-speed operation. The sensors are easily affected by environmental factors, have limited detection distance, and poor adaptability to different crops. They also perform poorly in fields with uneven crop density or irregular growth. Traditional pure mechanical row alignment devices have low alignment accuracy, limited adjustment range, and inability to quantify detection deviations.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an agricultural machinery alignment device with a built-in encoder, comprising a fixed connection unit, a protective cover installed on the outside of the fixed connection unit, a movable rotating unit installed at the bottom of the fixed connection unit, and an elastic reset unit installed between the fixed connection unit and the movable rotating unit, characterized in that: the fixed connection unit includes an encoder fixing plate, the encoder fixing plate is fixedly connected to the protective cover, an encoder body is fixedly installed on the upper end face of the encoder fixing plate, a fixed connection base is installed on the lower end face of the encoder fixing plate, a lower baffle is installed at the bottom of the fixed connection base, and two locking bolts are installed between the encoder fixing plate, the fixed connection base and the lower baffle;

[0006] The movable rotating unit includes a movable connecting base, a rotary transmission angle plate is installed at the rear end of the movable connecting base, a connecting bushing is installed on the outer side of the front end of the rotary transmission angle plate, two cutting rods are rotatably connected to the front end of the upper surface of the movable connecting base, the two cutting rods are pivotally connected, an angle adjustment block is installed between the near ends of the two cutting rods, an adjustment knob is installed on the inner side of the angle adjustment block, and a limit angle plate is fixedly installed at the front end of the movable connecting base.

[0007] Preferably, the elastic reset unit consists of a first torsion spring and a second torsion spring. The first torsion spring is located above the second torsion spring and is sleeved on the outside of the connecting bushing. The second torsion spring includes a common torsion arm. A first torsion spring body and a second torsion spring body are respectively fixedly installed at both ends of the common torsion arm. A first load torsion arm and a second load torsion arm are respectively fixedly installed at the ends of the first torsion spring body and the second torsion spring body away from the common torsion arm. The first torsion spring body and the second torsion spring body, as well as the first load torsion arm and the second load torsion arm, are all symmetrically installed relative to the common torsion arm.

[0008] Preferably, both sides of the fixed connection base and the rotary transmission angle plate are provided with positioning arc grooves, and both ends of the first torsion spring are inserted into the inner side of the positioning arc grooves. The two ends of the first torsion spring are symmetrically arranged relative to the connecting bushing.

[0009] Preferably, the first torsion spring and the second torsion spring are respectively fitted onto the outer side of the upper end of the two cutting rods, the upper ends of the two cutting rods respectively pass through the first torsion spring and the second torsion spring and are rotatably connected to the rotary transmission angle plate, the far ends of the first load torsion arm and the second load torsion arm respectively are in contact with the front end face of the two cutting rods, and the second torsion spring is in a pre-torsion state.

[0010] Preferably, the encoder fixing plate, the fixed connecting base and the lower baffle are fixedly connected by two locking bolts, and the connecting bushing is disposed between the middle of the encoder fixing plate and the fixed connecting base, and the connecting bushing is rotatably connected to the fixed connecting base.

[0011] Preferably, the bottom end of the encoder body is provided with a rotating shaft, the upper end of the rotating transmission angle plate passes through the fixed connection base and is inserted into the inner side of the bottom end of the connecting shaft sleeve, the bottom end of the rotating shaft passes through the encoder fixing plate and is fixedly connected to the front end of the rotating transmission angle plate through the connecting shaft sleeve, and the front end of the rotating transmission angle plate is inserted between the lower baffle and the fixed connection base and is rotatably connected to the fixed connection base and the lower baffle.

[0012] Preferably, the front end of the adjusting knob passes through the rear end of the movable connecting base and the rotary transmission angle plate in sequence and is rotatably connected to the angle adjustment block. The movable connecting base is fixedly connected to the rotary transmission angle plate. The adjusting knob is threadedly connected to the rear end of the movable connecting base. The angle adjustment block is slidably connected to the movable connecting base.

[0013] Preferably, the rear end faces of the two cutting rods are in contact with the two ends of the angle adjustment block, and the two cutting rods are installed symmetrically relative to the angle adjustment block.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. When the crop touches one of the two cutting rods at opposite ends, the cutting rod swings on the upper surface of the movable connecting base and drives the second torsion spring, which is in a pre-torsion state, to twist further. The movable connecting base is subjected to torsional torque and synchronously drives the rotating transmission angle plate to rotate in the same direction as the cutting rod between the fixed connecting base and the lower baffle. Then, the rotating transmission angle plate drives the rotating shaft to rotate relative to the encoder body through the connecting bushing. The encoder body generates a corresponding electrical signal through the rotation angle of the rotating shaft and transmits the electrical signal to the agricultural machinery, which helps the vehicle to judge the deviation of the driving trajectory. The two cutting rods are symmetrically installed relative to the connecting bushing. Thus, the encoder body can monitor the deviation in time and accurately correct the vehicle's forward direction when the agricultural machinery's driving trajectory deviates through the two cutting rods.

[0016] 2. In this invention, when the cutting rod and the rotating transmission angle plate deflect, the first and second torsion springs in the elastic reset unit can automatically elastically reset the rotating transmission angle plate and the cutting rod, maintaining the stability of the contact amount of the two cutting rods. By rotating the adjustment knob in both directions, the adjustment knob can drive the angle adjustment block to slide back and forth on the upper surface of the movable connecting base. In this way, the angle adjustment block can adjust the included angle between the two cutting rods, which facilitates the control of the deviation sensitivity of the agricultural machinery's travel trajectory. The encoder collects the angle or displacement data of the mechanical components in real time, converting the mechanical motion into quantifiable electrical signals, realizing accurate detection and automatic correction control of the travel deviation, greatly improving the accuracy of the travel, reducing manual intervention, and reducing the labor intensity of the driver. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of the fixed connection unit and the movable rotation unit of the present invention;

[0019] Figure 3 This is a rear view of the entire invention;

[0020] Figure 4 This is a bottom view of the entire invention;

[0021] Figure 5 This is a front view of the entire invention;

[0022] Figure 6 This is a schematic cross-sectional view of the overall structure of the present invention;

[0023] Figure 7 This is a cross-sectional structural diagram of the movable rotating unit of the present invention;

[0024] Figure 8 This is a schematic diagram of the structure of the second torsion spring of the present invention.

[0025] In the diagram: 1. Fixed connection unit; 101. Encoder body; 102. Encoder fixing plate; 103. Locking bolt; 104. Fixed connection base; 105. Lower baffle; 2. Movable rotation unit; 201. Movable connection base; 202. Rotary transmission angle plate; 203. Cutting rod; 204. Adjustment knob; 205. Angle adjustment block; 206. Limiting angle plate; 207. Connecting bushing; 3. Elastic reset unit; 301. First torsion spring; 302. Second torsion spring; 3021. Common torsion arm; 3022. First torsion spring body; 3023. Second torsion spring body; 3024. First load torsion arm; 3025. Second load torsion arm; 4. Protective cover.

[0026] The accompanying drawings, which form part of this application, are used to provide further explanation of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. Detailed Implementation

[0027] The technical solutions in this application are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Please see Figures 1 to 8 The present invention provides an embodiment of an agricultural machinery alignment device with a built-in encoder, comprising a fixed connection unit 1, a movable rotating unit 2 installed at the bottom end of the fixed connection unit 1, an elastic reset unit 3 installed between the fixed connection unit 1 and the movable rotating unit 2, the fixed connection unit 1 including an encoder fixing plate 102, a protective cover 4 installed on the outside of the fixed connection unit 1, the encoder fixing plate 102 and the protective cover 4 being fixedly connected, an encoder body 101 being fixedly installed on the upper end surface of the encoder fixing plate 102, a fixed connection base 104 being installed on the lower end surface of the encoder fixing plate 102, a lower baffle 105 being installed at the bottom end of the fixed connection base 104, two locking bolts 103 being installed between the encoder fixing plate 102, the fixed connection base 104 and the lower baffle 105, the encoder fixing plate 102, the fixed connection base 104 and the lower baffle 105 being fixedly connected by the two locking bolts 103, and the rear end of the fixed connection base 104 being fixedly connected to the agricultural machinery to facilitate the stable installation of the encoder body 101.

[0029] Please see Figures 1 to 7The movable rotating unit 2 includes a movable connecting base 201. A rotary transmission angle plate 202 is installed at the rear end of the movable connecting base 201. The front end of the rotary transmission angle plate 202 is inserted between the lower baffle 105 and the fixed connecting base 104 and is rotatably connected to the fixed connecting base 104 and the lower baffle 105. A connecting bushing 207 is installed on the outer side of the front end of the rotary transmission angle plate 202. The connecting bushing 207 is located between the encoder fixing plate 102 and the middle of the fixed connecting base 104. The connecting bushing 207 rotates with the fixed connecting base 104. The encoder body 101 has a rotating shaft at its bottom. The upper end of the rotating transmission angle plate 202 passes through the fixed connection base 104 and is inserted into the inner side of the bottom end of the connecting bushing 207. The bottom end of the rotating shaft passes through the encoder fixing plate 102 and is fixedly connected to the front end of the rotating transmission angle plate 202 through the connecting bushing 207. The rotating transmission angle plate 202 drives the rotating shaft to rotate relative to the encoder body 101 through the connecting bushing 207. The encoder body 101 generates a corresponding electrical signal through the rotation angle of the rotating shaft and transmits the electrical signal to the agricultural machinery.

[0030] Two cutting rods 203 are rotatably connected to the front end of the upper surface of the movable connecting base 201. The two cutting rods 203 are pivotally connected. An angle adjustment block 205 is installed between the near ends of the two cutting rods 203. The rear ends of the two cutting rods 203 are in contact with the two ends of the angle adjustment block 205. The two cutting rods 203 are symmetrically installed with respect to the angle adjustment block 205. The encoder body 101 can promptly monitor the deviation when the agricultural machinery travels on the wrong track and accurately correct the vehicle's forward direction through the two cutting rods 203.

[0031] An adjustment knob 204 is installed on the inner side of the angle adjustment block 205. A limiting angle plate 206 is fixedly installed at the front end of the movable connecting base 201. The front end of the adjustment knob 204 passes through the rear end of the movable connecting base 201 and the rotary transmission angle plate 202 in sequence and is rotatably connected to the angle adjustment block 205. The movable connecting base 201 is fixedly connected to the rotary transmission angle plate 202. The adjustment knob 204 is connected to the rear end of the movable connecting base 201 by a thread. The angle adjustment block 205 is slidably connected to the movable connecting base 201. The adjustment knob 204 rotates forward and backward, so that the adjustment knob 204 can drive the angle adjustment block 205 to slide back and forth on the upper surface of the movable connecting base 201. Thus, the angle adjustment block 205 can adjust the included angle between the two cutting rods 203.

[0032] Please see Figure 3 , Figure 5 and Figure 8The elastic reset unit 3 is composed of a first torsion spring 301 and a second torsion spring 302. The first torsion spring 301 is located above the second torsion spring 302 and is sleeved on the outside of the connecting bushing 207. The fixed connecting base 104 and the rotating transmission angle plate 202 are provided with positioning arc grooves on both sides. Both ends of the first torsion spring 301 are inserted into the inner side of the positioning arc groove. The two ends of the first torsion spring 301 are symmetrically arranged with respect to the connecting bushing 207. The first torsion spring 301 can automatically perform elastic reset of the rotating transmission angle plate 202.

[0033] The second torsion spring 302 includes a common torsion arm 3021. A first torsion spring body 3022 and a second torsion spring body 3023 are fixedly mounted at both ends of the common torsion arm 3021, respectively. A first load torsion arm 3024 and a second load torsion arm 3025 are fixedly mounted at the ends of the first torsion spring body 3022 and the second torsion spring body 3023, respectively, away from the common torsion arm 3021. The first torsion spring body 3022 and the second torsion spring body 3023, as well as the first load torsion arm 3024 and the second load torsion arm 3025, are symmetrically mounted relative to the common torsion arm 3021. The first torsion spring body 3022 and... The second torsion spring 3023 is respectively fitted onto the outer side of the upper end of the two cutting rods 203. The upper ends of the two cutting rods 203 pass through the first torsion spring 3022 and the second torsion spring 3023 respectively and are rotatably connected to the rotary transmission angle plate 202. The ends of the first load torsion arm 3024 and the second load torsion arm 3025 that are far apart are respectively in contact with the front end face of the two cutting rods 203. The second torsion spring 302 is in a pre-torsion state. The second torsion spring 302 can automatically elastically reset the two cutting rods 203 and keep the amount of contact deviation of the two cutting rods 203 stable.

[0034] In summary, the rear end of the fixed connection base 104 is fixedly connected to the agricultural machinery. With the power supply on, the ends of the first load torsion arm 3024 and the second load torsion arm 3025 of the second torsion spring 302, which are far apart, are respectively in contact with the front ends of the two cutting rods 203. The first torsion spring body 3022 and the second torsion spring body 3023 are fitted onto the outer sides of the upper ends of the two cutting rods 203. During the movement of the agricultural machinery, when crops touch the far ends of the two cutting rods 203, the cutting rods 203... The upper surface of the movable connecting base 201 swings and the first load torsion arm 3024 and the second load torsion arm 3025 drive the first torsion spring body 3022 and the second torsion spring body 3023 to twist relative to the common torsion arm 3021, so that the second torsion spring 302, which is in a pre-twisted state, is further twisted. At this time, the movable connecting base 201 is subjected to torsional torque and synchronously drives the rotating transmission angle plate 202 to rotate in the same direction as the cutting rod 203 between the fixed connecting base 104 and the lower baffle 105.

[0035] Furthermore, the rotating shaft at the bottom of the encoder body 101 is fixedly connected to the upper end of the rotating transmission angle plate 202 through the connecting bushing 207. The rotating transmission angle plate 202 drives the rotating shaft to rotate relative to the encoder body 101 through the connecting bushing 207. The encoder body 101 generates a corresponding electrical signal through the rotation angle of the rotating shaft and transmits the electrical signal to the agricultural machinery, thereby facilitating the vehicle to judge the deviation of the driving trajectory. The two cutting rods 203 are symmetrically installed relative to the connecting bushing 207. Thus, the encoder body 101 can promptly monitor the deviation and accurately correct the vehicle's forward direction when the agricultural machinery's driving trajectory deviates through the two cutting rods 203.

[0036] Positioning arc grooves are provided on both sides of the fixed connection base 104 and the rotary transmission angle plate 202. Both ends of the first torsion spring 301 are inserted into the inner side of the positioning arc groove. When the cutting rod 203 and the rotary transmission angle plate 202 deflect, the first torsion spring 301 and the second torsion spring 302 in the elastic reset unit 3 can automatically perform elastic reset on the rotary transmission angle plate 202 and the cutting rod 203, so as to keep the deviation of the two cutting rods 203 from contacting each other stable.

[0037] The front end of the adjusting knob 204 passes through the movable connecting base 201 and the rotary transmission angle plate 202 and is rotatably connected to the tension angle adjusting block 205. The adjusting knob 204 is connected to the movable connecting base 201 by a thread. By rotating the adjusting knob 204 in both directions, the adjusting knob 204 can drive the tension angle adjusting block 205 to slide back and forth on the upper surface of the movable connecting base 201. Thus, the tension angle adjusting block 205 can adjust the included angle between the two cutting rods 203, thereby facilitating the control of the deviation sensitivity of the agricultural machinery's travel trajectory.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A row alignment device for agricultural machinery with a built-in encoder, comprising a fixed connecting unit (1), a protective cover (4) installed on the outside of the fixed connecting unit (1), a movable rotating unit (2) installed at the bottom end of the fixed connecting unit (1), and an elastic reset unit (3) installed between the fixed connecting unit (1) and the movable rotating unit (2), characterized in that: The fixed connection unit (1) includes an encoder fixing plate (102), which is fixedly connected to the protective cover (4). An encoder body (101) is fixedly installed on the upper end face of the encoder fixing plate (102), and a fixed connection base (104) is installed on the lower end face of the encoder fixing plate (102). A lower baffle (105) is installed at the bottom end of the fixed connection base (104). Two locking bolts (103) are installed between the encoder fixing plate (102), the fixed connection base (104), and the lower baffle (105). The movable rotating unit (2) includes a movable connecting base (201), a rotary transmission angle plate (202) is installed at the rear end of the movable connecting base (201), a connecting bushing (207) is installed on the outer side of the front end of the rotary transmission angle plate (202), two cutting rods (203) are rotatably connected to the front end of the upper surface of the movable connecting base (201), the two cutting rods (203) are pivotally connected, an angle adjustment block (205) is installed between the two cutting rods (203) at their closest ends, an adjustment knob (204) is installed on the inner side of the angle adjustment block (205), and a limiting angle plate (206) is fixedly installed at the front end of the movable connecting base (201).

2. The agricultural machinery alignment device with integrated encoder according to claim 1, characterized in that: The elastic reset unit (3) is composed of a first torsion spring (301) and a second torsion spring (302). The first torsion spring (301) is located above the second torsion spring (302) and is sleeved on the outside of the connecting bushing (207). The second torsion spring (302) includes a common torsion arm (3021). The two ends of the common torsion arm (3021) are respectively fixedly installed with a first torsion spring body (3022) and a second torsion spring body (3023). The ends of the first torsion spring body (3022) and the second torsion spring body (3023) away from the common torsion arm (3021) are respectively fixedly installed with a first load torsion arm (3024) and a second load torsion arm (3025). The first torsion spring body (3022) and the second torsion spring body (3023) and the first load torsion arm (3024) and the second load torsion arm (3025) are symmetrically installed relative to the common torsion arm (3021).

3. The agricultural machinery row alignment device with built-in encoder according to claim 2, characterized in that: The fixed connection base (104) and the rotary transmission angle plate (202) are provided with positioning arc grooves on both sides. Both ends of the first torsion spring (301) are inserted into the inner side of the positioning arc groove. The two ends of the first torsion spring (301) are symmetrically arranged relative to the connecting bushing (207).

4. The agricultural machinery row alignment device with built-in encoder according to claim 3, characterized in that: The first torsion spring (3022) and the second torsion spring (3023) are respectively fitted onto the outer side of the upper end of the two cutting rods (203). The upper ends of the two cutting rods (203) pass through the first torsion spring (3022) and the second torsion spring (3023) respectively and are rotatably connected to the rotary transmission angle plate (202). The far ends of the first load torsion arm (3024) and the second load torsion arm (3025) are respectively in contact with the front end face of the two cutting rods (203). The second torsion spring (302) is in a pre-torsion state.

5. The agricultural machinery alignment device with integrated encoder according to claim 4, characterized in that: The encoder fixing plate (102), the fixed connection base (104) and the lower baffle (105) are fixedly connected by two locking bolts (103). The connecting bushing (207) is located between the middle of the encoder fixing plate (102) and the fixed connection base (104), and the connecting bushing (207) is rotatably connected to the fixed connection base (104).

6. The agricultural machinery row alignment device with built-in encoder according to claim 5, characterized in that: The encoder body (101) has a rotating shaft at its bottom end. The upper end of the rotating transmission angle plate (202) passes through the fixed connection base (104) and is inserted into the inner side of the bottom end of the connecting bushing (207). The bottom end of the rotating shaft passes through the encoder fixing plate (102) and is fixedly connected to the front end of the rotating transmission angle plate (202) through the connecting bushing (207). The front end of the rotating transmission angle plate (202) is inserted between the lower baffle (105) and the fixed connection base (104) and is rotatably connected to the fixed connection base (104) and the lower baffle (105).

7. A farm machinery row alignment device with a built-in encoder according to claim 6, characterized in that: The front end of the adjustment knob (204) passes through the rear end of the movable connecting base (201) and the rotary transmission angle plate (202) in sequence and is rotatably connected to the angle adjustment block (205). The movable connecting base (201) is fixedly connected to the rotary transmission angle plate (202). The adjustment knob (204) is connected to the rear end of the movable connecting base (201) by a thread. The angle adjustment block (205) is slidably connected to the movable connecting base (201).

8. The agricultural machinery alignment device with integrated encoder according to claim 7, characterized in that: The rear ends of the two cutting rods (203) are in contact with the two ends of the angle adjustment block (205), and the two cutting rods (203) are installed symmetrically relative to the angle adjustment block (205).

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