CN108432382A - A kind of adaptive profiling chassis of high ridge and its working method - Google Patents
A kind of adaptive profiling chassis of high ridge and its working method Download PDFInfo
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- CN108432382A CN108432382A CN201810126100.7A CN201810126100A CN108432382A CN 108432382 A CN108432382 A CN 108432382A CN 201810126100 A CN201810126100 A CN 201810126100A CN 108432382 A CN108432382 A CN 108432382A
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- high ridge
- ridge
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- roller
- chassis
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
- A01B51/026—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/002—Devices for adjusting or regulating the position of tools or wheels
- A01B63/006—Lateral adjustment of wheels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a kind of adaptive profiling chassis of high ridge and its working methods, are related to field of agricultural equipment.It is made of platform, adaptive profiling unit, height-regulating train unit, detection control unit, the roller that lower end is hinged on profiling unit rack, upper end is concatenated and slided in arc groove by direct acting element and spring is arranged in both sides, by the inclination angle of the spacing and high ridge side of detection device detection high ridge both sides furrow, the lateral double-end lead-screw of control cabinet control drives train to carry out wheelspan adjustment automatically, and by the inclination angle of two side roller cylinder of direct acting element adjust automatically and extension spring tensioning degree, to make roller keep reclining with ridge side and realizing that the automatic profiling under the body error of ridge is advanced.Elastics wing cross roll barrel structure and the wheelspan based on high ridge detection, roller inclination adjust automatically are combined by the present invention, it realizes and adaptively walks with the automatic profiling for having error ridge body to the ridge shape specification of high ridge, structure is simple with control, adaptable, meets across the ridge job requirements of all kinds of high ridges.
Description
Technical field
The present invention relates to agricultural equipment technology field, more particularly to the adaptive profiling chassis of a kind of high ridge and its work side
Method.
Background technology
High ridge cultivation is cultivation row to be made 20-30 centimeters of high ridges, Crop Species are on ridge on the basis of conventional cultivation
On, increase a planting type of ventilation and penetrating light.Since its soil heat preservation performance is good, ventilated yield is high, is managed convenient for field
Reason can improve the advantages that fruit quality, be widely used in agricultural production.
To the do mechanization operation of high ridge cultivation, it is necessary to be walked and across the chassis of ridge culture industry as base in furrow using that can realize
Plinth.Meanwhile the in short supply of agricultural workforce has made unmanned operation and the implement porter technology walked across ridge become a reality demand.
In existing chassis technology, since furrow spacing and furrow width are smaller, the general dynamics such as tractor chassis is difficult to reality
Walking between existing high ridge and supporting operation；And then spininess cultivates long-stalked crop rather than high ridge to the chassis with gap higher, and
It is based on the navigation such as GPS, the Big Dipper or machine vision and realizes automatically walk, air navigation aid and precision cannot be satisfied walks along high ridge
Demand.
Since Different Crop, the ridging of different geographical are diversified in specifications in production, and high ridge is mostly artificial renovation, ridge deformation
It is larger, there are errors for the ridge sides Mian Helong.Thus the automatically walk chassis of high ridge need to adapt to ridge deformationization and ridge body error, and can be good
Meet the operation needs of different ridge shapes, width specification well.Chinese patent (201110043267.5) discloses a kind of seedling replanting
Machine chassis uses the fixed left and right pulley type automatic guiding system of bolts at two ends, is only capable of adjusting manually between left and right roller
Away from, and can not achieve to the adaptive of ridge shape and the floating copying for having error ridge body.
Invention content
A kind of adaptive profiling chassis of high ridge of present invention offer and its working method, to realize the adaptive of all kinds of specification high ridges
Profiling is answered to walk, providing mobile platform for automatic high ridge operation supports.
In order to solve the above technical problems, the specific technical solution that the present invention uses is as follows：
A kind of adaptive profiling chassis of high ridge, including platform, adaptive profiling unit, height-regulating train unit, detection control
Unit；
The adaptive profiling unit includes longitudinal bicycle beam, roller, profiling unit rack, coulisse, extension spring, direct acting
The centerline parallel arrangement of element, motor, double-end lead-screw, traversing nut, sliding rail and sliding block, the longitudinal direction bicycle beam and platform, institute
It is square frame structure to state platform, two sliding rails is respectively fixed with along the front and back both sides of chassis direction of travel, being equipped in sliding rail can
Along the sliding block of its transverse horizontal sliding, sliding block fixes the both ends of longitudinal bicycle beam, two longitudinal symmetrical fixed profiling units in bicycle beams inside
Rack, the upper end fixed chute plate of profiling unit rack, the lower end of profiling unit rack are hinged the lower end of roller, the upper end of roller
It is slided in the arc groove opened up on coulisse by pin, extension spring, supporting rod, fixation is connected between the upper end of two rollers
The both ends of block and direct acting element, double-end lead-screw are installed on platform two sides, and the motor by being fixed on platform drives, rotation direction
Two opposite traversing nuts respectively with symmetrical two sections of oppositely oriented threaded connections on double-end lead-screw, consolidate by the lower end of traversing nut
Due to the middle part of longitudinal bicycle beam；
The height-regulating train unit includes that plate and inner electric machine wheel is turned up, and the height-regulating plate is 90 ° of bending structures, upper folding
Bight portion is connect with sliding block by bolt and nut, and lower dogleg section fixes inner electric machine wheel by Shock-absorbing fork；Supporting rod
One end is hinged on the lower dogleg section that plate is turned up, and the other end and fixed block of supporting rod are hinged, the water of fixed block and longitudinal bicycle beam
It is connected by bolt and nut between flat cannelure；Dogleg section is equipped with several equally spaced vias with sliding block on the height-regulating plate；
The detection control unit includes the detection device being connected and control cabinet, and detection device is mounted on platform front end,
Control cabinet is mounted on platform.
In said program, the arc groove is to be by the hinge joint of radius, roller and profiling unit rack of roller length
The circular arc in the center of circle.
In said program, the direct acting element can be electric pushrod, cylinder, fluid cylinder, and the detection device can be to take the photograph
As head, depth transducer, sonac.
A kind of working method on the adaptive profiling chassis of high ridge, which is characterized in that include the following steps：
Step 1, the adaptive profiling chassis of control high ridge move to before high ridge B and are aligned high ridge B, and detection device detects high ridge B
The inclination angle of the spacing and the sides high ridge B of both sides furrow；
Step 2, control cabinet control motor according to the spacing of the both sides high ridge B furrow and rotate, and motor drives double-end lead-screw to return
Turn so that the traversing nuts in left and right two drive it is longitudinal bicycle beam is lateral symmetry closes up and expand, adjust automatically both sides inner electric machine vehicle
The spacing of wheelspan and roller lower end between wheel, to the spacing of the both sides the high ridge B and high ridge B furrow of adaptive different in width；
Step 3, control cabinet change two side roller cylinder upper ends according to the flexible of the pitch angle control direct acting elements of the sides high ridge B
Spacing realizes the adjust automatically of roller inclination, to the ridge shape of adaptive different high ridge B；
Step 4, two side roller cylinders stick on two sides of high ridge B respectively, and control cabinet controls inner electric machine vehicle wheel rotation,
Adjustable high ridge automatic profiling chassis is driven to march forward across high ridge B and along the ridge of high ridge B, the flexible of extension spring makes both sides
The upper end of roller is slided in arc groove, and to make roller keep reclining with two sides of high ridge B, realization high ridge is adaptive
Automatic profiling of the profiling chassis under the ridge body error of high ridge B advances.
The beneficial effects of the invention are as follows：By elastics wing cross roll barrel structure and the wheelspan detected based on high ridge, roller inclination
Adjust automatically is combined, and is realized and is adaptively walked with the automatic profiling for having error ridge body to the ridge shape specification of high ridge, structure and control
System is simple, adaptable, meets across the ridge job requirements of all kinds of high ridges.
Description of the drawings
Fig. 1 is the hole tray Strawberry Seedlings transplant robot structural schematic diagram of high ridge cultivation；
Fig. 2 is hole tray sideway feed cellular construction schematic diagram；
Fig. 3 is the vertical view relation schematic diagram of the hole tray Strawberry Seedlings transplant robot operation of high ridge cultivation；
Fig. 4 is the adaptive profiling chassis structure schematic diagram of high ridge of the present invention；
Fig. 5 is the structural schematic diagram of the adaptive profiling unit of the present invention.
In figure, 1. high ridge A, 2. hole tray sideway feed units, 3. seedling claws, 4. vertical straight line mobile mechanisms, 5. is horizontal straight
Line mobile mechanism, 6. frames, 7. tray racks, 8. vertical perforation units, 9. distance measuring sensors, 10. universal chassis, 11. guiding are recessed
Slot, 12. pressing plates, 13. hole trays, 14. lateral linear moving mechanisms, 15. guide rails, 16. electronic bullet mandrils, 17. elastic spacings switch,
18. electronic mandril, 19. cavities, 20. plant holes, 101. platforms, 102. high ridge B, 103. detection devices, 104. longitudinal bicycle beams,
105. roller, 106. profiling unit racks, 107. coulisses, 108. extension springs, 109. direct acting elements, 1010. control cabinets,
1011. motors, 1012. double-end lead-screws, 1013. traversing nuts, 1014. sliding rails, 1015. sliding blocks, 1016. supporting rods, 1017. adjust
High plate, 1018. Shock-absorbing forks, 1019. inner electric machine wheels, 1020. fixed blocks, 1021. arc grooves.
Specific implementation mode
In the following with reference to the drawings and specific embodiments, technical scheme of the present invention is described in further details.
The Strawberry Seedlings cultivated in the hole tray 13 that the hole tray Strawberry Seedlings transplant robot of high ridge cultivation is arranged with 2n (n=1,2 ...)
For object, wherein the hunchbacked direction of the 1~n row and (n+1)th~2n row Strawberry Seedlings cultivated is symmetrically outside.
As shown in Figure 1, high ridge cultivation hole tray Strawberry Seedlings transplant robot by universal chassis 10, tray rack 7, fetch and deliver seedling list
Member, hole tray sideway feed unit 2, vertical perforation unit 8, controller (PLC, model：) and distance measuring sensor XDM-60T10-E
9 are constituted, 10 upper edge direction of travel v of universal chassis1Distance measuring sensor 9, tray rack 7 and hole tray side is fixedly mounted successively from front to back
To feed unit 2, distance measuring sensor 9 is fixed on the front of universal chassis 10, and distance measuring sensor 9 is visited into row distance straight down
It surveys；Tray rack 7 is horizontal multilayered structure, and tray rack 7 is fixed on universal chassis 10,2 lateral arrangement of hole tray sideway feed unit
In the rear portion of universal chassis 10, the top that seedling unit is located at hole tray sideway feed unit 2 is fetched and delivered.Vertical perforation unit 8 has two
A vertical perforating head, two perforating heads are symmetrical with respect to the longitudinal centre line of universal chassis 10, and the center line of two perforating heads
Distance is equal to n times of the row of cavities 19 of hole tray 13 away from e.
As shown in Fig. 2, it includes frame 6, vertical straight line mobile mechanism 4, horizontal linear mobile mechanism 5 and two to fetch and deliver seedling unit
A seedling claw 3, frame 6 are square frame structure, and the bottom of frame 6 is fixed on universal chassis 10, horizontal linear mobile mechanism 5
Pedestal be fixed on the top of frame 6, the dynamic platform direction of motion v of horizontal linear mobile mechanism 52With across the ridge row of universal chassis 10
Into direction v1Parallel, the pedestal of vertical straight line mobile mechanism 4 is fixed on the dynamic platform of horizontal linear mobile mechanism 5, vertical straight line
The dynamic platform of mobile mechanism 4 is vertically moving, and two seedling claws 3 are fixed on vertically on the dynamic platform of vertical straight line mobile mechanism 4,
Two seedling claws 3 are symmetrical with respect to the longitudinal centre line of universal chassis 10, and the center line distance of two seedling claws 3 is equal to hole tray 13
Cavities 19 arrange n times away from e.
As shown in Fig. 2, hole tray sideway feed unit 2 includes being oriented to groove 11, two pressing plates 12, lateral linear moving mechanisms
14, guide rail 15, electronic bullet mandril 16, elastic spacing switch 17 and electronic mandril 18 are oriented to groove 11 and lateral linear movement machine
The dynamic platform of structure 14 is fixedly connected, and is oriented between groove 11 and universal chassis 10 and is connected by guide rail 15, the ontology of electronic mandril 18
It is fixed on the lateral surface for being oriented to groove 11, the dynamic head erect of electronic mandril 18 is upward, and pressing plate 12 and the dynamic head of electronic mandril 18 are solid
It is fixed, and stretching by the electronic mandril of the folding control of elastic spacing switch 17 18.Electronic bullet mandril 16 is fixed on general bottom vertically
On disk 10, electronic bullet mandril 16, which is located at, is oriented to 11 direction of feed v of groove3Front, electronic bullet mandril 16 be oriented to groove 11
Distance is less than the 1/2 of 13 length of hole tray.
As shown in figure 3, the hole tray Strawberry Seedlings transplant robot using high ridge cultivation carries out strawberry potted tray rice shoot certainly to high ridge
The control of dynamic transplanting and work flow are as follows：
(1) make universal chassis 10 across on a high ridge A1 and with speed v by remote control1Automatically advance along high ridge A1；
(2) distance measuring sensor 9 measures the ridge face height of high ridge A1 in real time；
(3) ridge face height of the vertical perforation unit 8 measured by distance measuring sensor 9 determines the distance being vertically lowered, from
And the symmetrical depth of longitudinal center that opposite universal chassis 10 is got when different ridge faces height or ridge face height have fluctuation one
The plant hole 20 of cause；In 10 traveling process of universal chassis, vertical perforation unit 8 is on the ridge face of high ridge A1 constantly with cycle T1It beats
It goes on a journey and is equal to n times, plant hole 20 that spacing in the rows be D of the row of cavities 19 of hole tray 13 away from e away from H, i.e.,
H=n × e (1)
D=T1×v1 (2)
(4) universal chassis 10 is with speed v1Automatically while punching along high ridge A1 advances, vertical perforation unit 8, seedling is fetched and delivered
Unit is with cycle T1It completes the seedling taking of the 1st 2 plants of Strawberry Seedlings of row of the 1st row and the (n+1)th row in hole tray 13, send seedling and plant, and make
Transplant the hunchbacked towards the outside of high ridge A1 of two row Strawberry Seedlings；To ensure that Strawberry Seedlings are accurately planted into the plant hole 20 accomplished fluently
Interior, punching each time and the corresponding seedling that picks and places are completed to be divided between the moment：
T2=L/v1 (3)
Wherein L be high ridge cultivation hole tray Strawberry Seedlings transplant robot punch position A and operation position B along direction of travel away from
From.
(5) the hole tray Strawberry Seedlings transplant robot of high ridge cultivation continues on punching and sequence completes the 1st row in hole tray 13
With the seedling takings of the (n+1)th row Strawberry Seedlings, send seedling and plant, lateral linear moving mechanism 14 drive i-th of hole tray 13 feed 1 row away from
E continues the seedling taking of the 2nd row and the n-th+2 row Strawberry Seedlings, send seedling and plant, successively up to the Strawberry Seedlings in i-th of hole tray 13
It takes；
(6) lateral linear moving mechanism 14 returns to initial position with action-oriented groove 11, while control system order is electronic
The stretching of mandril 18 makes pressing plate 12 open；
(7) hole tray 13 of next dribbling seedling is pushed by operator along groove 11 is oriented to, upper one empty i-th of hole tray, 13 quilt
Hole tray 13 with seedling, which pushes and skips elastic spacing switch 17, leaves guiding groove 11；
(8) hole tray 13 of next dribbling seedling is pulled to position triggering elastic spacing switch 17, so that electronic mandril 18 is shunk and drives
The lip of the hole tray 13 with seedling is pushed down under pressing plate 12, realizes the hole tray 13 with seedling in the positioning being oriented in groove 11；
(9) hole tray 13 of next dribbling seedling is pulled to position triggering elastic spacing switch 17, while keeping electronic bullet mandril 16 fast
Speed pop-up ejects upper one empty hole tray 13 between falling into high ridge A1 in channel；
(10) the hole tray Strawberry Seedlings transplant robot of high ridge cultivation repeats above-mentioned flow continuation operation.
The adaptive profiling chassis structure schematic diagram of high ridge of the present invention is as shown in Figure 4,5, by platform 101, adaptive profiling
Train unit and detection control unit composition is turned up in unit, and adaptive profiling unit is by longitudinal bicycle beam 104, roller 105, profiling
Unit rack 106, coulisse 107, extension spring 108, direct acting element 109 (can be electric pushrod, cylinder, fluid cylinder), motor
1011, double-end lead-screw 1012, traversing nut 1013, sliding rail 1014 and sliding block 1015 are constituted；Longitudinal bicycle beam 104 and platform 101
Centerline parallel arranges that profiling unit rack 106 is fixed on the interior front of longitudinal bicycle beam 4, the two profiling units in left and right vertically
One end of 106 lateral symmetry arrangement of rack, two coulisses 107 in left and right is individually fixed in the two profiling unit racks 106 in left and right
Inside front, left and right two rollers 105 lower end be hingedly connected to left and right two profiling unit racks 106 interior side-lower,
It is slided in the arc groove 1021 that the upper end of two rollers 105 is opened up by pin on two coulisses 107 respectively, the roller on the right
105 upper ends connect one end of extension spring 108, and the other end of extension spring 108 is connected with one end of direct acting element 109, direct acting
The other end of element 109 is connected with 105 upper end of roller on the left side；Transverse horizontal fixes two to the forward and backward side of 101 bottom of platform respectively
Sliding rail 1014, sliding rail 1014 is interior to be equipped with the sliding block 1015 that can be slided along its transverse horizontal, and sliding block 1015 fix 104 liang of longitudinal bicycle beam
End；1012 transverse horizontal of double-end lead-screw arranges that the both ends of double-end lead-screw 1012 are symmetrically arranged on horizontal platform 101 by bearing
On, double-end lead-screw 1012 is driven by the motor 1011 being fixed on platform 101；The oppositely oriented traversing nut 1013 of left and right two
Respectively longitudinal vehicle is fixed on symmetrical two sections of oppositely oriented threaded connections, the lower end of traversing nut 1013 on double-end lead-screw 1012
The middle part of beam 4.4~6 equally spaced vias on sliding block 1015 are provided with horizontal cannelure in longitudinal bicycle beam 104.Arc groove 1021 is
It is the circular arc in the center of circle by the hinge joint of radius, roller 105 and profiling unit rack 106 of 105 length of roller.
Train unit is turned up by supporting rod 1016, height-regulating plate 1017, Shock-absorbing fork 1018, inner electric machine wheel 1019 and consolidates
Determine the composition of block 1020, height-regulating plate 1017 is 90 ° of bending structures, and upper dogleg section is provided with 4 consistent with 1015 through-hole spacing of sliding block
~6 equally spaced vias, the upper dogleg section that plate 1017 is turned up are connected with sliding block 15 by bolt and nut, are turned up under plate 1017
Dogleg section fixes the upper end of Shock-absorbing fork 1018, and the wheel shaft of inner electric machine wheel 1019 is fixed in the lower end of Shock-absorbing fork 1018
One end of the lower dogleg section also hinged support bar 1016 of plate 1017, the other end and fixed block of supporting rod 1016 is turned up in both ends
1020 is hinged, is connected by bolt and nut between fixed block 1020 and the horizontal cannelure of longitudinal bicycle beam 104.
Detection control unit includes detection device 103 (can be camera, depth transducer, sonac) and control
(core component is PLC, model to case 1010：XDM-60T10-E), detection device 103 is mounted on the anteriomedial position of platform 101
It sets, control cabinet 1010 is fixed on platform 1, and detection device 103 is connected with control cabinet 1010, realizes the transmission of signal.
Realize that the method for across high ridge self-navigation walking is as follows using the adaptive profiling chassis of high ridge of the present invention：
(1) according to the ridge face height of high ridge B102 and operation needs, dogleg section on plate 1017 is turned up by manually adjusting
The corresponding bolt and nut erection sequence of through-hole and through-hole on sliding block 1015, the ridge face of 101 distance from bottom high ridge B102 of adjustment platform
Between height, to adapt to the ridge face height of different high ridge B102；
(2) manually or automatically the adaptive profiling chassis of control high ridge moves to before high ridge B102 and is directed at high ridge B102, platform
The detection device 103 in 101 fronts detects the spacing of the both sides high ridge B102 furrow and the inclination angle of the sides high ridge B102；
(3) control cabinet 1010 controls motor 1011 according to the spacing of the both sides high ridge B102 furrow and rotates, and motor 1011 drives
Double-end lead-screw 1012 turns round so that the two traversing nuts 1013 in left and right drive longitudinal bicycle beam 4 is lateral symmetry to close up and expand, automatically
The spacing for adjusting 105 lower end of wheelspan and roller between both sides inner electric machine wheel 1019, to the high ridge of adaptive different in width
The spacing of B102 and the both sides high ridge B102 furrow；
(4) simultaneously, control cabinet 1010 changes two according to the flexible of the pitch angle control direct acting elements 109 of the sides high ridge B102
The spacing of 105 upper end of side roller cylinder realizes the adjust automatically at 105 inclination angle of roller, to the ridge shape of adaptive different high ridge B102；
(5) two side roller cylinders 105 stick on two sides of high ridge B102 respectively, and control cabinet 1010 controls inner electric machine wheel
1019 rotations, drive adjustable high ridge automatic profiling chassis to march forward across high ridge B102 and along the ridge of high ridge B102, stretch bullet
The flexible upper end sliding in arc groove 1021 for making two side roller cylinders 105 of spring 108, to make roller 105 keep and high ridge
Two sides of B102 recline, before realizing automatic profiling of the adaptive profiling chassis of high ridge under the ridge body error of high ridge B102
Into.
The embodiment is the preferred embodiments of the present invention, but present invention is not limited to the embodiments described above, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification all belongs to the scope of protection of the present invention.
Claims (9)
1. a kind of adaptive profiling chassis of high ridge, which is characterized in that including platform (101), adaptive profiling unit, train is turned up
Unit, detection control unit；
The adaptive profiling unit includes longitudinal bicycle beam (104), roller (105), profiling unit rack (106), coulisse
(107), extension spring (108), direct acting element (109), motor (1011), double-end lead-screw (1012), traversing nut (1013), cunning
Rail (1014) and sliding block (1015), the platform (101) are square frame structure, are divided along the front and back both sides of chassis direction of travel
It is not fixed with two sliding rails (1014), the sliding block (1015) that can be slided along its transverse horizontal, sliding block are equipped in sliding rail (1014)
(1015) both ends of fixed longitudinal bicycle beam (104), two longitudinal symmetrical fixed profiling unit racks (106) in bicycle beams (104) inside, are imitated
The lower end of the upper end fixed chute plate (107) of shape unit rack (106), profiling unit rack (106) is hinged under roller (105)
End, sliding in the arc groove (1021) that the upper end of roller (105) is opened up on coulisse (107) by pin, two rollers (105)
Extension spring (108) and direct acting element (109) are connected between upper end, the both ends of double-end lead-screw (1012) are installed on platform
(101) on two sides, and the motor (1011) by being fixed on platform (101) drives, oppositely oriented two traversing nuts
(1013) respectively with symmetrical two sections of oppositely oriented threaded connections on double-end lead-screw (1012), the lower end of traversing nut (1013) is consolidated
Due to the middle part of longitudinal bicycle beam (104)；
The height-regulating train unit includes that plate (1017) and inner electric machine wheel (1019) is turned up, and the height-regulating plate (1017) is folding
Kinking structure, upper dogleg section are connect with sliding block (1015) by bolt and nut, and lower dogleg section is solid by Shock-absorbing fork (1018)
Determine inner electric machine wheel (1019)；
The detection control unit includes the detection device (103) being connected and control cabinet (1010), detection device (103) installation
In platform (101) front end, control cabinet (1010) is mounted on platform (101).
2. the adaptive profiling chassis of a kind of high ridge according to claim 1, which is characterized in that the height-regulating train unit is also
Including supporting rod (1016), fixed block (1020), one end of supporting rod (1016) is hinged on the lower bending part that plate (1017) is turned up
Point, the other end and fixed block (1020) of supporting rod (1016) are hinged, and the level of fixed block (1020) and longitudinal bicycle beam (104) is vertical
It is connected between slot by bolt and nut.
3. the adaptive profiling chassis of a kind of high ridge according to claim 1, which is characterized in that the height-regulating plate (1017) is
90 ° of bending structures.
4. the adaptive profiling chassis of a kind of high ridge according to claim 1, which is characterized in that the arc groove (1021) is
Using roller (105) length as the circular arc that the hinge joint of radius, roller (105) and profiling unit rack (106) is the center of circle.
5. the adaptive profiling chassis of a kind of high ridge according to claim 1, which is characterized in that the longitudinal direction bicycle beam (104)
It is arranged with the centerline parallel of platform (101).
6. the adaptive profiling chassis of a kind of high ridge according to claim 1, which is characterized in that on the height-regulating plate (1017)
Dogleg section is equipped with several equally spaced vias with sliding block (1015).
7. the adaptive profiling chassis of a kind of high ridge according to claim 1, which is characterized in that the direct acting element (109)
Can be electric pushrod, cylinder, fluid cylinder.
8. the adaptive profiling chassis of a kind of high ridge according to claim 1, which is characterized in that the detection device (103)
Can be camera, depth transducer, sonac.
9. a kind of working method on the adaptive profiling chassis of high ridge, which is characterized in that include the following steps：
Step 1, the adaptive profiling chassis of control high ridge move to before high ridge B (102) and are directed at high ridge B (102), detection device
(103) inclination angle of the spacing and high ridge B (102) side of detection high ridge B (102) both sides furrow；
Step 2, control cabinet (1010) control motor (1011) according to the spacing of high ridge B (102) both sides furrow and rotate, motor
(1011) double-end lead-screw (1012) is driven to turn round so that the traversing nut (1013) in left and right two drives longitudinal bicycle beam (104) laterally
Symmetrically closes up and expand, the spacing of wheelspan and roller (105) lower end between adjust automatically both sides inner electric machine wheel (1019), from
And the spacing of the high ridge B (102) and high ridge B (102) both sides furrow of adaptive different in width；
Step 3, control cabinet (1010) change two according to the flexible of the pitch angle control direct acting element (109) of high ridge B (102) side
The spacing of side roller cylinder (105) upper end realizes the adjust automatically at roller (105) inclination angle, to adaptive different high ridge B (102)
Ridge shape；
Step 4, two side roller cylinders (105) stick on two sides of high ridge B (102) respectively, and control cabinet (1010) controls built-in electricity
Locomotive wheel (1019) rotate, drive adjustable high ridge automatic profiling chassis across high ridge B (102) and along the ridge of high ridge B (102) to
Advance, the flexible upper end sliding in arc groove (1021) for making two side roller cylinders (105) of extension spring (108), to make roller
Cylinder (105) holding reclines with two sides of high ridge B (102), realizes the adaptive profiling chassis of high ridge high ridge B's (102)
Automatic profiling under the body error of ridge advances.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810126100.7A CN108432382A (en) | 2018-02-08 | 2018-02-08 | A kind of adaptive profiling chassis of high ridge and its working method |
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| CN201810126100.7A CN108432382A (en) | 2018-02-08 | 2018-02-08 | A kind of adaptive profiling chassis of high ridge and its working method |
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| CN201810126100.7A Pending CN108432382A (en) | 2018-02-08 | 2018-02-08 | A kind of adaptive profiling chassis of high ridge and its working method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109247105A (en) * | 2018-10-08 | 2019-01-22 | 东北农业大学 | Rice seedling interpolater |
| CN109257963A (en) * | 2018-10-09 | 2019-01-25 | 盐城亿恒机械制造有限公司 | It is a kind of to go up and down and tilt adjustment formula tractor grading supporting plate |
| CN110014788A (en) * | 2019-05-17 | 2019-07-16 | 湖南农业大学 | A kind of electronic fog machine |
| CN110506475A (en) * | 2019-09-09 | 2019-11-29 | 江苏大学 | A kind of automatic transplanter for plug seedling chassis |
| CN110843957A (en) * | 2019-12-03 | 2020-02-28 | 山东农业工程学院 | Agricultural robot platform with lifting hand and working method thereof |
| CN111842632A (en) * | 2020-07-20 | 2020-10-30 | 滁州精峰机电科技有限公司 | Tapering die mould device of tea bar machine |
| CN112292949A (en) * | 2020-11-13 | 2021-02-02 | 杨科 | Ground following frame of agricultural cultivation and sowing machine |
| CN112314069A (en) * | 2020-12-08 | 2021-02-05 | 秦皇岛小马物联网科技开发有限公司 | Big-arch shelter device of digging |
| CN113228900A (en) * | 2021-05-11 | 2021-08-10 | 中国农业大学 | Seedling supplementing device and method |
| CN114158326A (en) * | 2021-12-13 | 2022-03-11 | 山东省农业机械技术推广站 | Corn seeding row number adjusting device and using method thereof |
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| CN109168489B (en) * | 2018-09-04 | 2020-06-02 | 万神草生物科技(普洱)有限公司 | Yunnan paris polyphylla is planted with device of transplanting seedlings |
| CN109168489A (en) * | 2018-09-04 | 2019-01-11 | 普洱福春生物科技有限公司 | Transplanting device is used in a kind of plantation of paris polyphylla |
| CN109247105A (en) * | 2018-10-08 | 2019-01-22 | 东北农业大学 | Rice seedling interpolater |
| CN109257963A (en) * | 2018-10-09 | 2019-01-25 | 盐城亿恒机械制造有限公司 | It is a kind of to go up and down and tilt adjustment formula tractor grading supporting plate |
| CN110014788A (en) * | 2019-05-17 | 2019-07-16 | 湖南农业大学 | A kind of electronic fog machine |
| CN110506475A (en) * | 2019-09-09 | 2019-11-29 | 江苏大学 | A kind of automatic transplanter for plug seedling chassis |
| CN110843957A (en) * | 2019-12-03 | 2020-02-28 | 山东农业工程学院 | Agricultural robot platform with lifting hand and working method thereof |
| CN111842632A (en) * | 2020-07-20 | 2020-10-30 | 滁州精峰机电科技有限公司 | Tapering die mould device of tea bar machine |
| CN112292949A (en) * | 2020-11-13 | 2021-02-02 | 杨科 | Ground following frame of agricultural cultivation and sowing machine |
| CN112314069A (en) * | 2020-12-08 | 2021-02-05 | 秦皇岛小马物联网科技开发有限公司 | Big-arch shelter device of digging |
| CN112314069B (en) * | 2020-12-08 | 2022-04-15 | 秦皇岛小马物联网科技开发有限公司 | Big-arch shelter device of digging |
| CN113228900A (en) * | 2021-05-11 | 2021-08-10 | 中国农业大学 | Seedling supplementing device and method |
| CN113228900B (en) * | 2021-05-11 | 2022-02-11 | 中国农业大学 | Seedling supplementing device and method |
| CN114158326A (en) * | 2021-12-13 | 2022-03-11 | 山东省农业机械技术推广站 | Corn seeding row number adjusting device and using method thereof |
| CN114158326B (en) * | 2021-12-13 | 2022-09-06 | 山东省农业机械技术推广站 | Corn seeding row number adjusting device and using method thereof |
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Application publication date: 20180824 |