CN109526445A - Cotton topping automatic aligning device, combine and control method - Google Patents
Cotton topping automatic aligning device, combine and control method Download PDFInfo
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- CN109526445A CN109526445A CN201811533863.XA CN201811533863A CN109526445A CN 109526445 A CN109526445 A CN 109526445A CN 201811533863 A CN201811533863 A CN 201811533863A CN 109526445 A CN109526445 A CN 109526445A
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- 229920000742 Cotton Polymers 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 238000006073 displacement reaction Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 238000005476 soldering Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 241000219146 Gossypium Species 0.000 description 64
- 239000003814 drug Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000007812 deficiency Effects 0.000 description 4
- 229940079593 drug Drugs 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 241000241602 Gossypianthus Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 240000002024 Gossypium herbaceum Species 0.000 description 1
- 235000004341 Gossypium herbaceum Nutrition 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000006907 apoptotic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000012010 growth Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 239000002373 plant growth inhibitor Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G7/00—Botany in general
- A01G7/06—Treatment of growing trees or plants, e.g. for preventing decay of wood, for tingeing flowers or wood, for prolonging the life of plants
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/08—Other tools for pruning, branching or delimbing standing trees
-
- 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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- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses cotton topping automatic aligning device, combine and control methods, it solves in the prior art that there are angular deviations for cotton decapitation machine tool, the problem of needing driver to adjust, with adjust automatically angular deviation, improve the beneficial effect of topping operating efficiency, its scheme is as follows: cotton topping automatic aligning device, including cotton topping mechanism；Moving frame, side can be connect with cotton topping mechanism, and the other side is connect by fixed frame with Work machine, and pushing mechanism is arranged in fixed frame and moving frame bracket；It to row mechanism, is connect with moving frame, and angular displacement sensor is equipped with to row mechanism；Angular displacement sensor is connect with controller, and controller is connect with pushing mechanism, and angular displacement sensor detection moving frame angle offset signal is simultaneously sent to controller, and controller controls pushing mechanism movement, realizes the return of moving frame.
Description
Technical field
The present invention relates to cotton topping fields, more particularly to cotton topping automatic aligning device, combine and control
Method processed.
Background technique
Cotton is the important industrial foundation in China and strategic materials, while being also the warp for occupying position higher in agricultural production
Ji crop, occupies very strong economic status.Cotton realizes mechanization during entire production plantation substantially, sows from subsoiling
To cotton harvesting link, only mechanical topping is still within the experimental study stage for being unable to large-scale popularization.Cotton topping is cotton
One of key link of increasing both production and income, topping can eliminate cotton apical dominance in due course, increase output of cotton.Foreign countries are generally to use
Drug topping, using some plant growth inhibitor etc. go control growth rate of cotton plant, make its top natural apoptosis.At home due to
Drug control technology is strong, and it is obvious that multifarious cotton variety benefits from capacity variance to drug, while polluting environment and influencing cotton
Flower quality, it is difficult to be widely applied；Manually pinch time-consuming, under the background of labor shortage, Mechanization Technique topping at
For certainty.
For cotton topping machinery existing for problem, numerous domestic colleges and universities, Research Center in one's power relevant enterprise to cotton topping
Machinery is studied, and has carried out corresponding exploration in multiple directions such as sensor, image recognition, remote sensing, and achieve one
Fixed effect.Monomer intelligent accurate topping machinery of following an example has become the research emphasis of existing machinery, and uniline profiling can be preferable
Realize precisely quantitative topping；In farm work, on the one hand driver is careful driving operation machinery, on the other hand close again
Notice that observation to market condition, once sideslip, which occurs, will seriously affect cotton topping precision, and then influences yield；It is mechanical for a long time
Operation will increase the fatigue strength of driver, reduce operating efficiency；And field needs the stroke of one-stop operation longer, and because of field
The setting in face, it is more to there is the case where deviation, it has been required to which driver is more to waste time if correcting, and manually grasps
Sometimes there is also biggish operating errors for work.
To sum up, it to cotton topping mechanism, needs to be arranged automatically to row equipment.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides cotton topping automatic aligning device, what the present invention designed
The combine of cotton topping spraying machine automatic aligning device and its composition is realized in cotton decapitation machine tool operation process
It is automatic to row, operation quality and operating efficiency can be effectively improved.
The concrete scheme of cotton topping automatic aligning device is as follows:
Cotton topping automatic aligning device, comprising:
Cotton topping mechanism；
Moving frame, side can be connect with cotton topping mechanism, and the other side is connect by fixed frame with Work machine, and solid
Determine frame and pushing mechanism is arranged in moving frame bracket；
It to row mechanism, is connect with moving frame, and angular displacement sensor is equipped with to row mechanism；Angular displacement sensor and control
Device connection, controller are connect with pushing mechanism, and angular displacement sensor detection moving frame angle offset signal is simultaneously sent to control
Device, controller control pushing mechanism movement, realize the return of moving frame, to realize the return of cotton topping mechanism, avoid
Biggish deviation occurs for operation of pinching.
Pass through the setting of automatic aligning device, when the moving frame for being equipped with cotton Da Ding mechanism deviates, controller
Then detection in time adjusts pushing mechanism and adjusts, is automatically brought into operation, improves working efficiency.
Further, in order to which the cotton to two sides is pinched simultaneously, the moving frame is equipped with cotton top-cutting machine at two
Structure, described to be set between Liang Chu cotton topping mechanism to row mechanism, angle displacement sensor is equipped at two, detects two sides respectively
Deviation, the average value that can be measured according to the two, controller make corresponding judgement.
Further, the bottom end of described pair of row mechanism is equipped with range sensor, and range sensor and the controller connect
It connects, lifting part is equipped with to row mechanism, lifting part is connect by fixed beam with the moving frame, and range sensor is sharp
Optical sensor is measured to row mechanism bottom end at a distance from field by range sensor, guarantees that cotton topping mechanism is in always
The height of setting range guarantees that topping is accurate.
Further, the lifting part is the electric threaded shaft mechanism for including lead screw, and lead screw is set in outer sleeve, outer sleeve
It is connected to motor, and outer sleeve is connect with the fixed beam, the motor fixing plate of setting gate is at the top of outer sleeve with fixed electricity
Machine, towards horizontal direction, motor is connect by shaft joint with lead screw the opening of motor fixing plate, and fixing card is arranged in fixed beam end
Plate, fixing chuck plate engage with moving frame, and fixing chuck plate setting bolt is to be fastened and fixed snap-gauge and moving frame；
Lead screw is slidingly connected inner sleeve, and inner sleeve connect row mechanism with described, and outer sleeve can be slided relative to inner sleeve
Dynamic setting, motor drive lead screw rotation, lead screw rotation, and inner sleeve is moved up and down, moved up and down to drive to row mechanism, guarantees
To the profiling over the ground of row mechanism, guarantee to row high consistency.
Further, described pair of row mechanism includes connecting, row crossbeam to row vertical beam bottom end with to row vertical beam to row crossbeam
The angular displacement sensor is set；
Further, described pair of row vertical beam is slidably arranged relative to row crossbeam, and can lock setting, to row vertical beam top
Mobile snap-gauge is arranged in portion, and mobile snap-gauge is frame shape, passes through mobile snap-gauge setting to row crossbeam, is provided with groove profile through-hole to row crossbeam,
Mobile snap-gauge setting bolt is to fasten mobile snap-gauge by bolt and nut and to row crossbeam.
Further, described pair of row vertical beam bottom end soldering has sensor fixation plate, and the angular displacement sensor is installed on
Sensor fixation plate, and flexible swing rod is connect with angular displacement sensor, under normal straight operating status, flexible swing rod is set to adjacent
Between two ridge cottons；
Further, flexible swing rod is set to the inside of described pair of row vertical beam.
Further, described pair of row crossbeam be symmetrically arranged with two described in row vertical beam, corresponding angular displacement sensor, ranging
Sensor equally all there are two.
Further, the moving frame includes frame, and several guide rails are arranged in frame side, and the fixed frame side is set
There is the sliding block with guide rail cooperation, described pushing mechanism one end is connect with the fixed frame, and the other end is connect with the frame mid portion,
Pushing mechanism is the first electric pushrod.
Cotton Da Ding mechanism is fixed on the downside of moving frame, and moving frame frame is equipped with backplate, for protecting cotton
Topping mechanism.
For overcome the deficiencies in the prior art, the present invention also provides a kind of cotton topping combines, comprising:
The cotton topping automatic aligning device；
The Work machine, the controller are set to Work machine chassis.
Further, Work machine includes steering mechanism, and steering mechanism connect with the controller；Steering mechanism is to set
Linear pushing component between Work machine deflecting roller and vehicle frame, linear pushing component are the second electric pushrod, and second is electronic
Push rod pushes deflecting roller deflection by flexible, realizes course changing control, the second electric pushrod and deflecting roller be in set angle connect with
Drive the movement of deflecting roller.
A kind of control method of cotton topping combine, the specific steps are as follows:
Angular displacement sensor detection angles shifted signal, and transmit signals to controller；
Controller judges the bias size of angle, if angle offset is less than setting numerical value, controller control pushing mechanism is pushed away
Dynamic moving frame movement, so as to adjust the offset distance of topping mechanism；
If controller judges that the bias size of angle is more than setting numerical value, controller controls steering mechanism's rotation.
Compared with prior art, the beneficial effects of the present invention are:
1) present invention, can be effectively according to the measurement of angular displacement sensor, to obtain the angle of deviation by the setting to row mechanism
Degree, so that the angle of cotton topping mechanism be driven to return just, effectively increases topping machine to adjust moving frame by controller
The operating efficiency of tool.
2) present invention can effectively adjust the height to row mechanism, to realize that cotton beats by the setting of distance measuring sensor
The adjustment of mechanism and ground distance is pushed up, guarantees the contour that swing rod is contacted with cotton bottom end, guarantees the operation of cotton topping mechanism
Accuracy improves precision.
3) present invention, can be according to the distance between cotton planting mode tuning flexibility swing rod by the setting of overall mechanism；
Meanwhile the device may be mounted at existing various forms of topping machinery above, realizes the automatic to row of operation process, improves inspection
It surveys and topping operation quality.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is a kind of cotton topping combine schematic diagram of the present invention；
Fig. 2 is a kind of top view of cotton topping combine of the present invention；
Fig. 3 is the present invention automatically to the schematic diagram of row mechanism；
Fig. 4 is the schematic diagram of moving frame of the present invention；
Fig. 5 is a kind of control method flow chart of cotton topping combine of the present invention.
Wherein: 1, to row mechanism, 2, cotton topping mechanism, 3, backplate, 4, moving frame, 5, controller, 6, touch screen, 7,
Driver's cabin, 8, variable medicine spraying machine structure, the 9, second electric pushrod, 10, speed encoder；101, to row crossbeam, 102, mobile snap-gauge,
103, outer tube, 104, motor fixing plate, 105, motor, 106, shaft coupling, 107, lead screw, 108, fixed beam, 109, fixing card
Plate, 110, inner sleeve, 111, to row vertical beam, 112, flexible swing rod, 113, angular displacement sensor, 114, sensor fixation plate,
115, laser sensor, 116, range sensor fixed plate；401, housiung separator, 402, rack vertical beam, 403, lower part connection side
Pipe, 404, guide rail, 405, sliding block, 406, ejector pin retaining plate, the 407, first electric pushrod, 408, soldering frame crossbeam, 409, pin
Axis, 410, soldering frame vertical beam.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, the deficiencies in the prior art, in order to solve technical problem as above, this Shen
It please propose cotton topping automatic aligning device.
In a kind of typical embodiment of the application, as depicted in figs. 1 and 2, cotton topping automatic aligning device, including
Cotton topping mechanism；Moving frame, side can be connect with cotton topping mechanism, and the other side is connected by fixed frame and Work machine
It connects, and pushing mechanism is arranged in fixed frame and 4 bracket of moving frame；It to row mechanism 1, is connect with moving frame 4, and to row mechanism 1
Equipped with angular displacement sensor；Angular displacement sensor 113 is connect with controller, and controller 5 is connect with pushing mechanism, angle displacement transducer
Device 113 detects moving frame angle offset signal and is sent to controller, and controller 5 controls pushing mechanism movement, realizes movement
The return of rack.Lifting part is equipped with to row mechanism 1, lifting part is connect by fixed beam with the moving frame, distance
Sensor is laser sensor 115, is measured to row mechanism bottom end at a distance from field by range sensor, guarantees cotton topping
Mechanism is in the height of setting range always, guarantees that topping is accurate.
Pass through the setting of automatic aligning device, when the moving frame for being equipped with cotton Da Ding mechanism deviates, controller
Then detection in time adjusts pushing mechanism and adjusts, is automatically brought into operation, improves working efficiency.
In order to which the cotton to two sides is pinched simultaneously, moving frame 4 is equipped with Liang Chu cotton topping mechanism 2, pair
Row mechanism is set between Liang Chu cotton topping mechanism 2, and angle displacement sensor 113 is equipped at two, detects the deviation of two sides respectively,
The average value that can be measured according to the two, controller make corresponding judgement.
As shown in figure 3, lifting part is the electric threaded shaft mechanism for including lead screw, lead screw 107 is set in outer sleeve 103, outside
Sleeve 103 is connected to motor, and outer sleeve is connect with fixed beam 108 described in 103, and the electricity of gate is arranged at the top of outer sleeve 103
Machine fixed plate 104 is to fix motor 105, and especially by being bolted, the opening of motor fixing plate 104 is electric towards horizontal direction
Machine is connect by shaft joint 106 with lead screw 107, and fixing chuck plate 109, fixing chuck plate 109 and moving machine is arranged in 108 end of fixed beam
Frame 4 engages, and bolt is arranged to be fastened and fixed snap-gauge and moving frame 4 in fixing chuck plate 109；
Lead screw 107 is slidingly connected inner sleeve 110, cooperates with screw of the soldering on inner sleeve, inner sleeve 110 and institute
That states connects row mechanism 1, and outer sleeve 103 is slidably arranged relative to inner sleeve 110, and motor 105 drives lead screw 107 to rotate,
Lead screw 107 rotates, and inner sleeve 110 moves up and down, and moves up and down to drive to row mechanism 1, so as to adjust cotton topping mechanism
Height.
Include being welded to connect to row crossbeam 101 to row crossbeam 101 and inner sleeve 110 to row mechanism 1, to row crossbeam 101 with
Row vertical beam 111 is connected, the angular displacement sensor 113 described to the setting of 111 bottom end of row vertical beam；To row vertical beam 111 relative to right
Row crossbeam is slidably arranged, and can lock setting, and to mobile snap-gauge 102 is arranged at the top of row vertical beam 111, mobile snap-gauge 102 is frame
Shape passes through mobile snap-gauge 102 to row crossbeam 101 and is arranged, and is provided with groove profile through-hole to row crossbeam 101, bolt is arranged in mobile snap-gauge 102
To fasten mobile snap-gauge 102 by bolt and nut and to row crossbeam 101.
To 111 bottom end soldering sensor fixation plate 114 of row vertical beam, the angular displacement sensor 113 is installed on sensor
Fixed plate 114, and flexible swing rod 112 is connect with angular displacement sensor 113；Flexible swing rod 112 is set to described pair of row vertical beam 111
Inside, flexible swing rod 112 are connect with angular displacement sensor 113, and flexible swing rod, which is swung, drives angular displacement sensor to generate displacement letter
Number, flexible swing rod is made of rubber material, and the horizontal distance between two flexible swing rods can be across a line cotton.To row crossbeam 101
To row vertical beam 111 described in being symmetrically arranged with two, corresponding angular displacement sensor, distance measuring sensor equally all there are two.
Range sensor is equipped with to the bottom end of row mechanism 1, range sensor is connect with the controller, range sensor
It is set to by range sensor fixed plate 116 to row vertical beam bottom end, the specific side for being set to sensor fixation plate 114.
As shown in figure 4, moving frame includes frame, frame passes through housiung separator 401, rack vertical beam 402, lower part connection side
The mutual soldering of 403 three of pipe forms rectangular frame structure, and housiung separator and rack vertical beam are in same level；The two sides of frame are each
Two guide rails 404 are set, and fixed frame side is equipped with the sliding block 405 cooperated with guide rail, and described pushing mechanism one end is solid by push rod
Fixed board 406 is connect with the fixed frame, and the other end is connect with the frame mid portion, and pushing mechanism is the first electric pushrod 407, Gu
It is assembled rectangular by fixed frame crossbeam 408 and fixed frame vertical beam 410 to determine frame, and fixed frame and the solderable connection of Work machine.
Cotton Da Ding mechanism 2 is fixed on the downside of moving frame 4, and moving frame frame is equipped with backplate 3, is used for protection cotton
Flower topping mechanism.
For overcome the deficiencies in the prior art, the present invention also provides a kind of cotton topping combines, comprising: described
Cotton topping automatic aligning device；The Work machine, controller 5 are set to Work machine chassis, and controller 5 is that PLC can
Touch screen 6 is arranged in programmable controller or other central processing units, controller, and touch screen is set in driver's cabin 7, completes man-machine
Interaction；In addition, Work machine chassis surface setting variable medicine spraying machine structure 8 (realizing variable spray), after which is set to driver's cabin
Side completes variable spray drug operation.
Work machine includes steering mechanism, and steering mechanism connect with the controller；Steering mechanism is set on working rig
Linear pushing component between tool deflecting roller and vehicle frame, linear pushing component is the second electric pushrod, in addition, the row of Work machine
It walks wheel and is equipped with speed encoder connected to the controller, detected for complete machine forward speed, according to the speed of feedback, adjusted in real time
Topping response time and spray value control, realize complete machine speeds match.
In addition, the invention also discloses a kind of control methods of cotton topping combine, the specific steps are as follows:
Angular displacement sensor detection angles shifted signal, and transmit signals to controller；
Controller judges the bias size of angle, if angle offset is less than setting numerical value, controller control pushing mechanism is pushed away
Dynamic moving frame movement, so as to adjust the deviation angle of topping mechanism；
If controller judges that the bias size of angle is more than setting numerical value, controller controls steering mechanism's rotation.
Operation process and principle:
Before operation, Work machine power supply is passed through into cable connection to controller and two electric pushrods；Touch screen is opened, is
After system initialization, initial parameter has been set as needed；In operation process, to row mechanism with (machine pick cotton) cotton of a ridge duplicate rows
On the basis of row, in the case that operation is quasi- to rower, flexible swing rod will not touch cotton stalk, not have signal feedback at this time to control
Device processed, controller and execution unit are failure to actuate；When Work machine deflects during operation, flexible swing rod touches cotton
Stalk, swing rod drive angular displacement sensor trigger signal, signal feedback to controller, and controller judges the deviation side of running gear
To adjusting the first electric pushrod first.
Moving frame automatically adjusts offset distance, if offset distance is more than 15cm, the second electric pushrod starts to move
Make, deflecting roller is pushed to start to turn to, according to the flexible swing rod Real-time Feedback in front two to the signal of control, adjusts deflecting roller, currently
Face no signal feeds back rear push-rod and is pushing steering circulation just.In entire operation process, to guarantee to guarantee flexible pendulum to capable accuracy
The contour with cotton stalk contact position of bar sets the height apart from ground to luggage by laser sensor real-time detection,
Luggage is set by the positive and negative rotation drive of stepper motor, is realized to the real-time profiling of relief height.
Work machine of the present invention, by with the setting automatically to row mechanism, realize operation process in automatically to row, cotton beats
Precision and effect of spraying pesticide are pushed up, operating efficiency and quality are improved, has many advantages, such as that simple structure, low manufacture cost, intelligence are high.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. cotton topping automatic aligning device characterized by comprising
Cotton topping mechanism；
Moving frame, side can be connect with cotton topping mechanism, and the other side is connect by fixed frame with Work machine, and fixed frame
Pushing mechanism is set with moving frame bracket；
It to row mechanism, is connect with moving frame, and angular displacement sensor is equipped with to row mechanism；Angular displacement sensor and controller connect
It connects, controller is connect with pushing mechanism, and angular displacement sensor detection moving frame angle offset signal is simultaneously sent to controller, is controlled
Device control pushing mechanism movement processed, realizes the return of moving frame.
2. cotton topping automatic aligning device according to claim 1, which is characterized in that the moving frame is equipped at two
Cotton topping mechanism, it is described that row mechanism is set between Liang Chu cotton topping mechanism.
3. cotton topping automatic aligning device according to claim 1, which is characterized in that the bottom end of described pair of row mechanism is set
There is range sensor, range sensor is connect with the controller, is equipped with lifting part to row mechanism, lifting part passes through solid
Determine beam to connect with the moving frame.
4. cotton topping automatic aligning device according to claim 3, which is characterized in that the lifting part be include silk
The electric threaded shaft mechanism of thick stick, lead screw are set in outer sleeve, and outer sleeve is connected to motor, and outer sleeve and the fixed beam connect
It connects；
Lead screw is slidingly connected inner sleeve, and inner sleeve connect row mechanism with described, and outer sleeve is slidably set relative to inner sleeve
It sets.
5. cotton topping automatic aligning device according to claim 1, which is characterized in that described pair of row mechanism includes to row
Crossbeam connect row crossbeam with to row vertical beam, the angular displacement sensor described to the setting of row vertical beam bottom end；
Further, described pair of row vertical beam is slidably arranged relative to row crossbeam, and can lock setting；
Further, described pair of row crossbeam be symmetrically arranged with two described in row vertical beam.
6. cotton topping automatic aligning device according to claim 5, which is characterized in that described pair of row vertical beam bottom end soldering
There is sensor fixation plate, the angular displacement sensor is installed on sensor fixation plate, and flexible swing rod and angular displacement sensor
Connection；
Further, flexible swing rod is set to the inside of described pair of row vertical beam.
7. cotton topping automatic aligning device according to claim 1, which is characterized in that the moving frame includes frame
Several guide rails are arranged in frame, frame side, and the fixed frame side is equipped with the sliding block cooperated with guide rail, described pushing mechanism one end
It is connect with the fixed frame, the other end is connect with the frame mid portion.
8. a kind of cotton topping combine characterized by comprising
Cotton topping automatic aligning device of any of claims 1-7；
The Work machine, the controller are set to Work machine chassis.
9. a kind of cotton topping combine according to claim 8, which is characterized in that the Work machine includes turning
To mechanism, steering mechanism connect with the controller；
Steering mechanism is the linear pushing component between Work machine deflecting roller and vehicle frame.
10. a kind of control method of cotton topping combine according to claim 8 or claim 9, which is characterized in that specific
Steps are as follows:
Angular displacement sensor detection angles shifted signal, and transmit signals to controller；
Controller judges the bias size of angle, if angle offset is less than setting numerical value, controller controls pushing mechanism and pushes shifting
Motivation frame movement, so as to adjust the deviation angle of topping mechanism；
If controller judges that the bias size of angle is more than setting numerical value, controller controls steering mechanism's rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811533863.XA CN109526445A (en) | 2018-12-14 | 2018-12-14 | Cotton topping automatic aligning device, combine and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811533863.XA CN109526445A (en) | 2018-12-14 | 2018-12-14 | Cotton topping automatic aligning device, combine and control method |
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| CN109526445A true CN109526445A (en) | 2019-03-29 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110366978A (en) * | 2019-09-06 | 2019-10-25 | 河北农业大学 | Automatic cotton topping machine of row to row |
| CN111194636A (en) * | 2020-02-21 | 2020-05-26 | 桂林市思奇通信设备有限公司 | Intelligent cotton bud topping system |
| CN112586220A (en) * | 2021-01-20 | 2021-04-02 | 福州大学 | Cotton topping robot system and working method thereof |
| CN114946286A (en) * | 2022-05-11 | 2022-08-30 | 农业农村部南京农业机械化研究所 | Self-adaptive profiling regulation and control device and method for sweet potato ridge body weeding machine |
| CN115119644A (en) * | 2022-07-29 | 2022-09-30 | 江苏大学 | Bionical running gear-based field management device |
| CN115373397A (en) * | 2022-08-29 | 2022-11-22 | 北京博创联动科技有限公司 | Automatic right-to-go control method and device, working vehicle and storage medium |
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