CN108934406A - Ridging formula orchard automatic obstacle avoiding omnidirectional grass trimmer - Google Patents
Ridging formula orchard automatic obstacle avoiding omnidirectional grass trimmer Download PDFInfo
- Publication number
- CN108934406A CN108934406A CN201710426570.0A CN201710426570A CN108934406A CN 108934406 A CN108934406 A CN 108934406A CN 201710426570 A CN201710426570 A CN 201710426570A CN 108934406 A CN108934406 A CN 108934406A
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- Prior art keywords
- cutter
- ridge
- top surface
- grass trimmer
- slope surface
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/73—Cutting apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
- A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
- A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
- A01D34/74—Cutting-height adjustment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Harvester Elements (AREA)
Abstract
The present invention discloses a kind of grass trimmer for ridging formula plantation orchard, including 1 furrow face cutter, 2 ridge slope surface cutters, 2 ridges top surface cutter, walking mechanism, hydraulic device.There is furrow face cutter in walking mechanism front end, there are 2 ridge slope surface cutters and 2 ridges top surface cutter in two sides respectively, furrow face cutter is hinged by four-bar mechanism and walking mechanism, 2 ridge slope surface cutters and 2 ridges top surface cutter are connect with hydraulic device, ridge slope surface cutter and ridge top surface cutter are using ultrasonic sensor progress landform profiling, to adapt to the cutting operation of different terrain landforms, while ridge top surface cutter realizes the automatic obstacle avoidance to fruit tree using angular displacement sensor.Grass trimmer of the invention can realize the furrow bottom surface to ridging formula orchard, 2 ridge slope surfaces and 2 ridges top surface while carry out cutting operation, can effectively reduce labour, improve operating efficiency.
Description
Technical field
The present invention relates to a kind of scythe, specifically a kind of grass trimmer for ridging formula plantation orchard belongs to
Agriculture, forestry mowing field of mechanical technique.
Background technique
Orchard ground cover can effectively improve the physical characteristic of orchard soil, increase the water storage capacity of soil, adjust orchard
Miniclimate, but if careless growing way is too quickly, it is insufficient that it will cause fruit tree nutrients, influences nutrient quality, it is therefore necessary to carry out to orchard
Periodically mow.Orchard Root growth technology is the new technology and trend of Modern orchard development, is arid area orchard drought-relief
The effective measure of synergy.But ridging formula orchard, due to environment complexity, mowing difficulty is big, especially mows between the fruit tree of ridge top surface.
Ridging formula orchard is mowed mainly based on artificial hand-push type mower tool at present, the mowing machinery large labor intensity and low efficiency.
Therefore, the present invention devises a kind of automatic obstacle avoiding omnidirectional scythe, can be simultaneously to furrow bottom surface, 2 ridges slope
Face and 2 ridges top surface carry out 5 face cutting operations, while also having the characteristics that independently to avoid ridge top surface fruit tree, reduce ridging formula
The labor intensity that orchard is mowed, improves mowing efficiency.
Summary of the invention
The purpose of the present invention is to provide a kind of automatic obstacle avoiding omnidirectional grass trimmer in suitable ridging formula cropping pattern orchard,
5 face cutting operations are carried out to furrow bottom surface, 2 ridge slope surfaces and 2 ridges top surface simultaneously, and be able to achieve to ridge top surface fruit tree from
Main avoidance.
Itself the specific technical proposal is:
A kind of grass trimmer for ridging formula orchard, including 1 ridge slope surface cutter 3,2 of furrow face cutter 6,2
There are furrow face cutter 6, two sides difference in ridge top surface cutter 2, walking mechanism 1, hydraulic device 4,1 front end of walking mechanism
There are 2 ridge slope surface cutters 3 and 2 ridges top surface cutter 2, furrow face cutter 6 passes through four-bar mechanism 5 and vehicle with walking machine
Structure 1 is hinged, and the ridge slope surface cutter 3 and ridge top surface cutter 2 are connect by hydraulic device 4 with walking mechanism 1 respectively.
The furrow face cutter 6, it is characterised in that two sides are respectively arranged with contour wheel 8.It can be to ridging formula orchard
Furrow bottom surface carry out profiling, keep cutting height almost the same.
Furrow face cutter 6, ridge slope surface cutter 3 and the 2 lower section left and right sides of ridge top surface cutter are respectively provided with
The present invention has the prominent advantages that:
1, compared with traditional grass trimmer, two sides increase 2 ridge slope surface cutters 3 and 2 ridges top surface cutter 2, are 5
Face is mowed simultaneously, therefore referred to as omnidirectional mows, and substantially increases mowing efficiency.
2, the ridge slope surface cutter 3 of the grass trimmer can carry out automatic profiling adjustment according to ridge slope surface landform.Specifically
Are as follows: grass trimmer can cause between ridge slope surface cutter 3 and ridge slope surface in operation process when ridge, slope surface landform changes
Distance changes, and the ultrasonic sensor 15 on ridge slope surface cutter 3 just converts electric signal, then benefit for the variation of distance
The electric signal is amplified with amplifier, then by the way that A/D converter will treated that analog signal is converted by amplifier
Central processing unit is transferred to after digital signal, central processing unit controls hydraulic device 4 according to digital signal information to ridge slope surface
Cutter 3 carries out pose adjustment, to adapt to new ridge slope surface landform.
3, the ridge top surface cutter 2 of the grass trimmer can not only realize the adjust automatically posture such as ridge slope surface cutter 3 with
The function of new landform is adapted to, also has the function of independently avoiding ridge top surface trunks of fruit trees.Specifically: when ridge top surface cutter 2 touches
After encountering fruit tree, the angle of lever will change on ridge top surface cutter 2, and angular displacement sensor 20 thereon can be by this
Kind angle change is converted into electric signal, amplifies using the electric signal of amplifier diagonal displacement sensor 20, then pass through A/
D converter will treated is transferred to central processing unit, central processing after analog signal is converted into digital signal by amplifier
Device controls the controller of rotation motor 21 on ridge top surface cutter 2 by interface circuit again after receiving the digital signal come real
The operating of existing rotation motor 21, the rotation of rotation motor 21 can make to be driven motor cover 18 and ridge top surface cutter bottom plate 17 together into
The rotation of row different angle, to realize the independently evacuation fruit tree of ridge top surface cutter 2.
Detailed description of the invention
Fig. 1 furrow face cutter drive mechanism figure；
Fig. 2 furrow face cutter bottom view；
Fig. 3 furrow face cutter and walking mechanism connection type figure；
The ridge Fig. 4 slope surface cutter structure chart；
The ridge Fig. 5 slope surface cutter and hydraulic device connection figure；
The ridge Fig. 6 top surface cutter main view；
The ridge Fig. 7 top surface cutter main view；
The ridge Fig. 8 top surface cutter faces upward oblique view；
Detailed description of the invention: 1, walking mechanism；2, ridge top surface cutter；3, ridge slope surface cutter；4, hydraulic device；5, four bar
Mechanism；6, furrow face cutter；7, furrow face cutter shell；8, contour wheel；9, cutter；10, furrow face cutter bottom plate；
11, transmission shaft；12, belt；13, it is driven motor；14 ridge slope surface cutter front covers；15, ultrasonic sensor；16, ridge slope surface is cut
Cutter rear cover；17, ridge top surface cutter bottom plate；18, it is driven motor cover；19, rotation motor cover；20, angular displacement sensor；21,
Rotation motor.
Specific embodiment
Specific embodiment is described further below by way of 2 one attached drawing 8 of attached drawing.
Scythe of the invention, comprising: 6,2 ridge slope surface cutters 3 of furrow face cutter and 2 ridges top surface are cut
Cutter 2.
Furrow face cutter 6 includes: four-bar mechanism 5, furrow face cutter shell 7, contour wheel 8, cutter 9, furrow
Face cutter bottom plate 10, transmission shaft 11, belt 12, transmission motor 13, transmission shaft 14, specific embodiment is by 2 one attached drawing of attached drawing
Shown in 4.
As shown in Fig. 2, it is characterised in that transmission motor 13 is bolted on furrow face cutter bottom plate 10,
The transmission shaft 11 is connect by bearing with furrow face cutter bottom plate 10, and the transmission motor 13 passes through belt 12 for power
It is transferred to transmission shaft 11.
As shown in Fig. 3, the furrow face cutter bottom plate 10 is bolted with furrow face cutter shell 7, institute
It states contour wheel 8 to connect with furrow face cutter shell 7 by bearing, the cutter 9 is distributed in 10 lower section of furrow face cutter bottom plate
It is fixedly connected with transmission shaft 11 by pin.
As shown in Fig. 4, the furrow face cutter shell 7 is hinged by four-bar mechanism 5 and walking mechanism 1, the ridge
Groove face cutter shell 7 and four-bar mechanism 5 are hinged, and the four-bar mechanism 5 and walking mechanism 1 are hinged, the contour wheel 8 and four
This connection type of linkage 5 makes furrow face cutter 3 have ability of following an example well, so that weeds cutting height base
This is consistent.
The ridge slope surface cutter 3 includes: belt 12, transmission shaft 11, ridge slope surface cutter front cover 14, cutter 9, transmission
Motor 13, ultrasonic sensor 15, ridge slope surface cutter rear cover 16, specific embodiment is as shown in attached drawing 5 and attached drawing 6.
As shown in Fig. 5, the ridge slope surface cutter rear cover 16 is bolted with ridge slope surface cutter front cover 14,
The transmission motor 13 is bolted with ridge slope surface cutter rear cover 16 and ridge slope surface cutter front cover 14, the transmission
Axis 11 is connect with ridge slope surface cutter rear cover 16 and ridge slope surface cutter front cover 14 by bearing, and the transmission motor 19 passes through
Belt 12 transmits power on transmission shaft 11, and the cutter 9 is fixedly connected with transmission shaft 11 by pin.
As shown in Fig. 6, the ridge slope surface cutter rear cover 16 is connect with hydraulic device 4, the ultrasonic sensor 15
It is fixed on ridge slope surface cutter rear cover 16, grass trimmer can cause ridge when slope surface landform changes when ridge in operation process
Slope surface cutter 3 between the slope surface of ridge at a distance from change, the ultrasonic sensor 15 on ridge slope surface cutter 3 is just by distance
Variation be converted into electric signal, recycle amplifier to amplify the electric signal, then will be by amplification by A/D converter
Treated is transferred to central processing unit after analog signal is converted into digital signal for device, and central processing unit is believed according to digital signal
Breath carries out pose adjustment to control hydraulic device 4 to ridge slope surface cutter 3, to adapt to new ridge slope surface landform.
Ridge top surface cutter 2 includes: belt 12, transmission shaft 11, ridge top surface cutter bottom plate 17, transmission motor cover
18, transmission shaft 11, rotation motor cover 19, cutter 9, ultrasonic sensor 15, angular displacement sensor 20, transmission motor 13, rotation
Motor 21, specific embodiment is as shown in attached drawing 7 and attached drawing 8.
As shown in Fig. 7, the rotation motor cover 19 is fixedly connected with hydraulic device 4 by bolt, the transmission motor cover
18 carry out axial restraint by bearing with rotation motor cover 19, and the transmission motor cover 18 and ridge top surface cutter bottom plate 17 are fixed
Connection, the transmission shaft 11 are connect with ridge top surface cutter bottom plate 17 by bearing.
As shown in Fig. 8, the rotation motor 21 is fixed on inside rotation motor cover 19, and the transmission motor cover 18 is leaned on
It is bolted and fixes the transmission portion disposed within of motor 13, the angular displacement sensor 20 and ridge top surface cutter bottom plate 17 are solid
Fixed connection, the transmission motor 13 are driven with transmission shaft 11 by belt 12, and the cutter 9 is fixed with transmission shaft 11 by pin.
As shown in Fig. 8,2 side of ridge top surface cutter of the grass trimmer is fixed with ultrasonic sensor 15, can not only
The adjust automatically posture such as ridge slope surface cutter 3 is realized to adapt to the function of new landform, and when ridge top surface cutter 2 is touched
To after fruit tree, the angle of lever will change on ridge top surface cutter 2, and the meeting of angular displacement sensor 20 thereon will be this
Angle change is converted into electric signal, amplifies using the electric signal of amplifier diagonal displacement sensor 20, then pass through A/D
Converter will treated is transferred to central processing unit, central processing after analog signal is converted into digital signal by amplifier
Device controls the controller of rotation motor 21 on ridge top surface cutter 2 by interface circuit again after receiving the digital signal come real
The operating of existing rotation motor 21, the rotation of rotation motor 21 can make to be driven motor cover 18 and ridge top surface cutter bottom plate 17 together into
The rotation of row different angle substantially increases mowing efficiency to realize the independently evacuation fruit tree of ridge top surface cutter 2.
Claims (4)
1. a kind of grass trimmer for ridging formula plantation orchard, including 1 furrow face cutter (6), 2 ridge slope surface cutters
(3), 2 ridges top surface cutter (2), walking mechanism (1), hydraulic device (4), walking mechanism (1) front end have furrow face to cut
There are 2 ridge slope surface cutters (3) and 2 ridges top surface cutter (2), furrow face cutter (6) in cutter (6), two sides respectively
Hingedly by four-bar mechanism (5) and walking mechanism (1), the ridge slope surface cutter (3) and ridge top surface cutter (2) pass through respectively
Hydraulic device (4) is connect with walking mechanism (1), and the furrow face cutter (6) two sides are respectively arranged with contour wheel (8), described
The left and right sides is provided with cutter (9) below furrow face cutter (6), ridge slope surface cutter (3) and ridge top surface cutter (2),
The cutter (9) and transmission motor (13) are driven by belt (12).
2. the grass trimmer in ridging formula plantation according to claim 1 orchard, which is characterized in that the grass trimmer is to furrow bottom
Face, 2 ridge slope surfaces and 2 ridges top surface carry out 5 face cutting operations simultaneously.
3. the grass trimmer in ridging formula plantation according to claim 1 orchard, which is characterized in that the ridge slope surface cutter
(3) and ridge top surface cutter (2) is using ultrasonic sensor (15) progress landform profiling.
4. the grass trimmer in ridging formula plantation according to claim 1 orchard, which is characterized in that ridge top surface cutter
(2) the active evacuation to fruit tree is realized using angular displacement sensor (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710426570.0A CN108934406A (en) | 2017-05-24 | 2017-05-24 | Ridging formula orchard automatic obstacle avoiding omnidirectional grass trimmer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710426570.0A CN108934406A (en) | 2017-05-24 | 2017-05-24 | Ridging formula orchard automatic obstacle avoiding omnidirectional grass trimmer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108934406A true CN108934406A (en) | 2018-12-07 |
Family
ID=64495296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710426570.0A Pending CN108934406A (en) | 2017-05-24 | 2017-05-24 | Ridging formula orchard automatic obstacle avoiding omnidirectional grass trimmer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108934406A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964637A (en) * | 2019-03-20 | 2019-07-05 | 中国农业大学 | Cane harvesting machine furrow bilateral ground contour control system |
| CN110199686A (en) * | 2019-07-04 | 2019-09-06 | 中南林业科技大学 | A kind of automatic obstacle-avoiding weeder work head and terrain self-adaptive herbicidal methods |
| CN110651591A (en) * | 2019-10-29 | 2020-01-07 | 华南农业大学 | Orchard mowing device capable of automatically mending leakage and implementation method |
| CN111183785A (en) * | 2020-03-13 | 2020-05-22 | 山东新坐标智能装备有限公司 | Crawler-type postposition obstacle-avoiding mower |
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| JPH0923731A (en) * | 1995-07-14 | 1997-01-28 | Iseki & Co Ltd | Mower |
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| CN101785379A (en) * | 2009-12-30 | 2010-07-28 | 东北农业大学 | Uniset for mechanical soil-loosening and weeding of crop seedling belt |
| CN103444347A (en) * | 2013-08-08 | 2013-12-18 | 农业部南京农业机械化研究所 | Automatic depth limiter of peanut combine harvester |
| CN204598650U (en) * | 2015-05-08 | 2015-09-02 | 盐城市申克赛斯机械有限公司 | Remote control rice transplanter autosteerer |
| CN205510698U (en) * | 2016-01-22 | 2016-08-31 | 农业部南京农业机械化研究所 | Bedder is supporting with clear ditch device of intelligent profile modeling |
| CN207284231U (en) * | 2017-05-24 | 2018-05-01 | 西北农林科技大学 | A kind of U-shaped omnidirectional's grass trimmer in orchard |
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2017
- 2017-05-24 CN CN201710426570.0A patent/CN108934406A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0923731A (en) * | 1995-07-14 | 1997-01-28 | Iseki & Co Ltd | Mower |
| JPH09294442A (en) * | 1996-05-07 | 1997-11-18 | Iseki & Co Ltd | Tractor mower |
| CN101785379A (en) * | 2009-12-30 | 2010-07-28 | 东北农业大学 | Uniset for mechanical soil-loosening and weeding of crop seedling belt |
| CN103444347A (en) * | 2013-08-08 | 2013-12-18 | 农业部南京农业机械化研究所 | Automatic depth limiter of peanut combine harvester |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109964637A (en) * | 2019-03-20 | 2019-07-05 | 中国农业大学 | Cane harvesting machine furrow bilateral ground contour control system |
| CN109964637B (en) * | 2019-03-20 | 2023-10-27 | 中国农业大学 | Furrow double-side ground profiling control system of sugarcane harvester |
| CN110199686A (en) * | 2019-07-04 | 2019-09-06 | 中南林业科技大学 | A kind of automatic obstacle-avoiding weeder work head and terrain self-adaptive herbicidal methods |
| CN110199686B (en) * | 2019-07-04 | 2022-06-14 | 中南林业科技大学 | Working head of automatic obstacle-avoiding weeding machine and terrain adaptive weeding method |
| CN110651591A (en) * | 2019-10-29 | 2020-01-07 | 华南农业大学 | Orchard mowing device capable of automatically mending leakage and implementation method |
| CN111183785A (en) * | 2020-03-13 | 2020-05-22 | 山东新坐标智能装备有限公司 | Crawler-type postposition obstacle-avoiding mower |
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| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181207 |
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| WD01 | Invention patent application deemed withdrawn after publication |