CN111034394A - Intelligent grape vine-pulling soil-clearing equipment - Google Patents
Intelligent grape vine-pulling soil-clearing equipment Download PDFInfo
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- CN111034394A CN111034394A CN201911337200.5A CN201911337200A CN111034394A CN 111034394 A CN111034394 A CN 111034394A CN 201911337200 A CN201911337200 A CN 201911337200A CN 111034394 A CN111034394 A CN 111034394A
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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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/06—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on vertical or steeply-inclined shaft
- A01B33/065—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with tools on vertical or steeply-inclined shaft comprising a plurality of rotors carried by an elongate, substantially closed transmission casing, transversely connectable to a tractor
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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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/082—Transmissions; Gearings; Power distribution
- A01B33/085—Transmissions; Gearings; Power distribution specially adapted for tools on a vertical shaft
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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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/10—Structural or functional features of the tools ; Theoretical aspects of the cutting action
- A01B33/106—Structural or functional features of the tools ; Theoretical aspects of the cutting action the rotating shaft being oriented vertically or steeply inclined
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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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
- A01B33/12—Arrangement of the tools; Screening of the tools
- A01B33/125—Arrangement of the tools; Screening of the tools screening of tools rotating about a vertical shaft
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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
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/16—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs with special additional arrangements
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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
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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
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
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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
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
- A01B71/02—Setting or adjusting mechanisms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Power Engineering (AREA)
- Soil Working Implements (AREA)
Abstract
The invention belongs to the field of agricultural equipment research, and particularly relates to soil clearing equipment for a grape vine raising process. The device comprises a rack, a controller, an information acquisition system, a guidance system, a power system, a soil rotating device, a wind power soil cleaning device and a spraying device. The soil loosening is carried out by matching with the rotary claw while partial inner side soil is cleared out by the rotary cutter of the soil rotating device. The rotating speed of a fan of the wind power soil cleaning device is adjustable, and then the air quantity and the air pressure are adjustable. The spraying system reduces the flying of the flying dust with smaller granularity after wind power soil cleaning. The invention can achieve automatic control, has relatively high intelligent level, can control the soil clearing amount in unit time through the feedback of soil conditions, fully utilizes energy, ensures the service life of equipment, greatly reduces the dependence degree on manpower, reduces the cost and improves the soil clearing efficiency.
Description
Technical Field
The invention belongs to the field of agricultural equipment research, and particularly relates to soil clearing equipment for a grape vine raising process.
Background
In northwest areas of China, due to climate and regional factors, the grapes are cold and dry in winter, if proper protection measures are not taken for the grapes, the grapes are prone to being frosted or air-dried, in order to ensure that the grapes can safely pass through winter, the grapes are laid down and then overwinter in a soil-buried mode, and the grapes are dug out of soil ridges after passing through winter, namely grape vines are started. At present, grape vines are mostly manually operated, the labor load is large, the working efficiency is low, and the mechanical development of the grape industry scale is seriously influenced. At present, scraper type, sweep disc type and air-suction type grape vine-lifting equipment exist in China, the damage of the scraper type and the sweep disc type to vines and buds is large, air-suction type pollution is relatively large, the service life of the equipment is short, and the task cannot be well completed. The device provided by the invention utilizes the soil suspension device, the air-blowing type soil cleaning device and the spraying device, and adopts the double soil cleaning procedures combined with the dustproof equipment, so that the damage to the grapevines is reduced, the soil cleaning efficiency is improved, and the pollution can be inhibited to a certain extent.
Disclosure of Invention
Aiming at the problems, the invention designs soil cleaning equipment in the grape vine raising process.
The invention provides a technical scheme of a grape vine-raising and soil-clearing engineering machine.
The device comprises a rack, a controller, an information acquisition system, a guidance system, a power system, a soil rotating device, a wind power soil cleaning device and a spraying device.
The frame, there is a vertical installation pole in front end middle part, and upside the place ahead is the backup pad, and the backup pad is three horizontal bracing pieces backward in proper order, has a longitudinal tie pole about the right between two preceding bracing pieces, and there is a mounting bracket below the frame middle part, and the frame is total four spinal branch vaulting poles in both ends below around, respectively two around.
The information acquisition system mainly comprises an inner side distance detection sensor, a chassis height detection sensor, a stress detection sensor and a laser diffuse reflection obstacle detection sensor. The inner side distance detection sensor is arranged on a vertical mounting rod in the middle of the front end of the rack, is positioned on the right side of the lower end of the vertical mounting rod and mainly acquires the relative distance between the soil rotating device and the soil ridge; the chassis height detection sensor is arranged at the bottom end of the vertical mounting rod and is responsible for collecting the distance between a chassis of the device and the ground; the stress detection sensor is arranged on the mounting rack at the lower side of the middle part of the rack, is positioned at the right end of the back of the mounting rack at the rear side and is responsible for collecting the radial stress of the soil rotating device; the laser diffuse reflection obstacle detection sensors are arranged at the front end of the frame and are symmetrically distributed on the left and the right, and are mainly used for solving a series of uncontrollable problems in the walking process, such as the situation that people and animals suddenly appear on a driving road, and obstacles exist in front of the soil cleaning device. The information acquisition system is responsible for gathering the state information of clear soil equipment, including inboard interval information, chassis height information, the obstacle information in the place ahead, the lead wire of all kinds of sensors and the corresponding serial ports on the controller are connected, then transmit the data after gathering for the controller as feedback control foundation through the lead wire, accomplish the regulation task by first converter of controller control, second converter, first solenoid valve, second solenoid valve, 4 drive arrangement and commutator.
The guidance system consists of a GPS guidance device and a controller. The GPS guidance device is arranged at the left position on the supporting plate above the frame. The GPS guidance device realizes positioning and path planning, transmits position information to the controller, and is comprehensively judged by the controller in cooperation with information acquired by the information acquisition system to perform double guidance so as to achieve a planned accurate driving path.
The power system consists of a generator, a motor, a hydraulic pump and a driving device. One end of the generator is fixedly arranged on the first supporting rod, and the other end of the generator is arranged on the supporting plate; the device is provided with three motors, wherein the first motor is arranged on the surface of the frame, the third motor is arranged on the left position above the rear two support rods on the frame, the driving device is arranged on the support rods and is arranged on the inner side of the power land wheel, and the second motor is arranged in a manner of matching with the soil rotating device; the hydraulic pump is mounted on the surface of the frame to the right of the first motor. The generator provides power for the motor and the spraying device, wherein the second motor and the third motor respectively drive the soil rotating device and the fan to work, and the first motor drives the hydraulic pump to provide hydraulic power for the electromagnetic valve, the hydraulic cylinder, the driving device and the commutator.
The soil rotating device comprises a controller, a second motor, a first frequency converter, a first electromagnetic valve, a hydraulic cylinder, an output shaft reversing device, a rotary cutter transmission shaft, a rotary cutter and a rotary claw. Guide rods of the soil rotating device are arranged in guide rails of the mounting rack below the middle part of the rack, the guide rods can slide relatively, and the left ends of the two guide rods are connected by a connecting rod after extending into the guide rails; the controller is installed on the right side of the front end of a support plate of a rack, a first electromagnetic valve is installed on the left side of the controller, a hydraulic cylinder is installed on the lower side of the middle of the rack, a cylinder body of the hydraulic cylinder is fixed on the rack, a push rod of the hydraulic cylinder is connected with a connecting rod of a soil rotating device, an output shaft reversing device is installed on the right side of a guide rod of the soil rotating device, a second motor is installed at the rear end of the output shaft reversing device, an output shaft of the motor is connected with the output shaft reversing device, a rotary knife transmission shaft is connected with the output shaft reversing device and faces downwards vertically, a rotary knife is welded below the rotary knife transmission shaft, a rotary claw is welded. The controller adjusts the state of the soil rotating device according to the inner side distance information and the stress information acquired by the information acquisition system, and controls the first electromagnetic valve by judging the inner side distance information so as to control the extension and retraction of the push rod of the hydraulic cylinder to drive the soil rotating device to slide left and right; and controlling the first frequency converter by judging the stress information so as to control the rotating speed of the second motor.
The wind power soil cleaning device is composed of a second frequency converter, a controller, a third motor, a fan, an air pipe, an air port, an angle adjusting rod and a length adjusting rod. The second frequency converter is arranged in front of the first frequency converter, the third motor is fixed on the left sides of the two transverse supporting rods behind the rack by bolts, a transmission shaft of the fan is connected with an output shaft of the third motor, and a cavity of the fan is positioned at the left end of a rectangular cavity in the middle of the rack; the air pipe and the air outlet of the fan are fixedly installed by bolts and are positioned at the lower side of the middle part of the middle rectangular cavity; the initial end of the air port is fixed at the tail end of the air pipe through a clamping ring, the middle part of the initial end of the air port is connected with the length adjusting rod, and the tail end of the air port is connected with the angle adjusting rod; the length adjustment pole welds on the vertical connecting rod of frame middle part rectangle die cavity, and the angle adjusting pole welds in the right-hand member of frame middle part bracing piece. The staff can be according to the overall dimension of native ridge, through angle modulation pole and length adjustment pole regulation wind gap and the relative position of native ridge, and the controller receives the stress information back that the information acquisition system gathered, through the judgement control converter to the information to change the rotational speed of third motor, then the amount of wind and the wind pressure of fan output obtain changing, adaptable different soil conditions.
The spraying device comprises a machine body, a spraying pipe, a spray head, a flow adjusting knob of the spraying device, a pressure adjusting knob of the spraying device, an angle adjusting knob of the spraying pipe and a controller. The spraying device is characterized in that the spraying device body is arranged behind the fan and on the right sides of the two support rods behind the rack, the spray pipe is connected with the spraying device body and is arranged in the middle of the right side plane of the spraying device body, the spray head is arranged at the tail end of the spray pipe, the spraying direction is perpendicular to the horizontal plane, the spraying device flow adjusting knob and the spraying device pressure adjusting knob are located on the upper surface of the spraying device body, and the spray pipe angle adjusting knob is arranged at the root of the spray pipe. After the spraying device is started, the controller judges the dust flying condition by integrating the existing algorithm according to the stress information acquired by the information acquisition system, and controls the flow and the pressure of the spraying device. The spray pipe angle adjusting knob can change the direction of spraying, and workers can adjust according to the main diffusion direction of the flying dust.
The power land wheels are arranged at the tail ends of the four support rods on the lower side of the rack, the commutator is arranged above the power land wheels, and the driving device is arranged on the support rods and is arranged on the inner side of each power land wheel. The driving device provides motion power for the power land wheel without providing steering power, the second electromagnetic valve is used for controlling the flow of pressure oil of the driving device, and the controller controls the second electromagnetic valve to change the rotating speed of an output shaft of the driving device; the commutator can make the power land wheel turn. The controller controls the driving device and the commutator to realize commutation, acceleration, deceleration and emergency stop of the whole machine according to data fed back by the information acquisition system and the guidance system.
The overall design of the device of the invention leads to: wind energy generated by the fan is utilized to carry out non-contact soil cleaning, and the vine and soil removing task of the grapes is realized. Considering that the soil cleaning effect of single wind power is not good, the soil loosening must be realized in the first step, so that the subsequent wind power soil cleaning can well complete the soil cleaning task. Therefore, this grape plays clear native equipment of rattan and has designed not hard up device of soil, and the main purpose of the device of rotating soil is not in how much soil of clearing out, and lies in not hard up of soil, and the device of rotating soil has designed the claw of loosening soil soon, because of its primary motion is rotatory, in the work, the rotational speed can not too low, prevents that its radial force is great to lead to warping, and rotary device has the function of rotational speed regulation, and the automatic regulation rotational speed when the data that force transducer detected is greater than the setting value does not need manual regulation. The device is provided with a high-power fan, can provide enough wind energy to deal with different soils, can change the rotating speed of the motor through the frequency converter, and does not need to be provided with a new power source. This device is equipped with the generator, effectively prevents to cause clear soil unstability because of the energy supply is unstable, has solved the power supply problem of soil device and spraying system soon. The flow and the pressure of the spraying device are adjustable, and the spraying device can be adjusted manually or automatically to adapt to most soil conditions.
Compared with the existing soil cleaning equipment, the device has the following advantages:
the soil cleaning of the device comprises soil loosening and soil cleaning, the soil loosening is carried out before the soil cleaning, the cohesion, the granularity and the like of the soil are effectively reduced, the rotary cutter is matched with the rotary claw to loosen the soil while cleaning partial inner side soil, and the damage to the grape vines caused by the fact that the soil cleaning is completed at one time by the existing device is effectively avoided.
The wind power soil cleaning device comprehensively considers various soil conditions, the rotating speed of the fan is adjustable, and then the air quantity and the air pressure are adjustable; the wind power soil cleaning device adopts a flexible wind pipe, the length of the wind pipe is adjustable, the wind port can be close to the soil ridge in a short distance, the loss of wind energy is reduced, the angle adjusting rod can adjust the inclination angle of the wind port, and a relatively good soil cleaning wind direction is determined.
The invention comprehensively considers the pollution problem, the spraying system reduces the flying dust with smaller granularity after wind power soil cleaning, and the control system can achieve the condition of fully utilizing water resources and greatly reduce the using amount of the water resources on the premise of reducing the flying dust flying degree.
The invention can achieve automatic control, has relatively high intelligent level, can control the soil clearing amount in unit time through the feedback of soil conditions, fully utilizes energy, ensures the service life of equipment, greatly reduces the dependence degree on manpower, reduces the cost and improves the soil clearing efficiency.
Drawings
FIG. 1 is a schematic view of a main apparatus mounting structure;
FIG. 2 is a left side view of the apparatus of the present invention;
FIG. 3 is a schematic view of the traveling mechanism of the device of the present invention;
FIG. 4 is a schematic view of a soil turning device stand;
in the figure: 1-a fan, 2-a generator, 3-a hydraulic oil tank, 4-a hydraulic pump, 5-a first motor, 6-an inner side distance detection sensor, 7-a chassis height detection sensor, 8-a spraying device, 9-a spraying pipe angle adjusting knob, 10-a spraying pipe, 11-a first frequency converter, 12-a second frequency converter, 13-a controller, 14-a spray head, 15-a first electromagnetic valve, 16-a second electromagnetic valve, 17-a spraying device flow adjusting knob, 18-a spraying device pressure adjusting knob, 19-a length adjusting rod, 20-an angle adjusting rod, 21-an output shaft reversing device, 22-a second motor, 23-a rotary knife transmission shaft, 24-a rotary knife, 25-a rotary claw, 26-a third motor, 27-air pipe, 28-air port, 29-hydraulic cylinder, 30-driving device, 31-push rod, 32-power land wheel, 33-GPS guidance device, 34-laser diffuse reflection obstacle detection sensor, 35-guide rail, 36-commutator, 37-stress detection sensor, 38-frame, 39-guide rod and 40-connecting rod.
Detailed Description
The operating principle of the device is described in detail below. The device needs to develop control software so as to be convenient for operating the equipment from time to time, and the driving device mainly provides power for the power land wheel, such as a hydraulic motor; the inner side distance detection sensor and the chassis height transmitter are ultrasonic sensors, and the stress detection sensor adopts a 120-3AA lead wire strain detection sensor. When the data fed back by the chassis height sensor is small, the controller gives an alarm to the software control end, and the staff need to plan the path again.
Examples of the invention
The power land wheels 32 are arranged at the tail ends of four support rods at the lower side of the frame, the commutator 36 is arranged above the power land wheels 32, and the driving device 30 is arranged on the support rods and is arranged at the inner side of each power land wheel. The driving device 30 provides power for the power land wheel to move, and does not provide steering power, the second electromagnetic valve 16 is used for controlling the flow of hydraulic oil of the driving device, and the controller 13 controls the second electromagnetic valve 16 to change the rotating speed of the output shaft of the driving device, so as to realize the speed change of the whole machine; the diverter 36 may divert the powered ground wheel 32. The controller 13 controls the driving device 30 and the commutator 36 to realize the commutation, acceleration, deceleration and emergency stop of the whole machine according to the data fed back by the information acquisition system and the guidance system.
The information acquisition system mainly comprises an inner side distance detection sensor 6, a chassis height detection sensor 7, a stress detection sensor 37 and a laser diffuse reflection obstacle detection sensor 34. The inner side distance detection sensor 6 is arranged on a vertical mounting rod in the middle of the front end of the rack, is positioned on the right side of the lower end of the vertical mounting rod and mainly collects the relative distance between the soil rotating device and the soil ridge; the chassis height detection sensor 7 is arranged at the bottom end of the vertical mounting rod and is responsible for collecting the distance between the chassis of the device and the ground; the stress detection sensor 37 is arranged on the mounting rack below the middle part of the rack, is positioned at the right end of the back of the mounting rack at the rear side and is responsible for collecting the radial stress of the soil rotating device; the laser diffuse reflection obstacle detection sensors 34 are mounted at the front end of the frame, are symmetrically distributed on the left and right sides, and are mainly used for solving a series of uncontrollable problems in the walking process, such as the situations that people and animals suddenly appear on a driving road, and obstacles exist in front of the soil cleaning device. The information acquisition system is responsible for collecting state information of soil cleaning equipment, including inside spacing information, chassis height information, preceding obstacle information, the lead wire of all kinds of sensors is connected with the corresponding serial ports on the controller 13, then transmits the data after gathering to the controller through the lead wire and regards as feedback control basis, and the controller 13 control first converter 11, second converter 12, first solenoid valve 15, second solenoid valve 16, drive arrangement 30, commutator 36 accomplish the regulation task.
The guidance system is composed of a GPS guidance device 33 and a controller 13. The GPS guidance device 33 is mounted on the support plate above the frame at a position offset to the left. The GPS guidance device realizes positioning and path planning, transmits position information to the controller 13, and performs double guidance by being comprehensively judged by the controller 13 in cooperation with external information acquired by the information acquisition system to achieve a planned accurate driving path.
The power system consists of a generator 2, a motor, a hydraulic pump 4 and a driving device 30. One end of the generator 2 is fixedly arranged on a first supporting rod of the frame, and the other end of the generator is arranged on the supporting plate; the device comprises three motors, wherein a first motor 5 is arranged on the surface of a rack, a third motor 26 is arranged on the left position above two rear supporting rods on the rack, a second motor 22 is arranged by matching with a soil rotating device, and a driving device 30 is arranged on the supporting rods and is arranged on the inner side of a power land wheel 32; the hydraulic pump 4 is mounted on the surface of the frame to the right of the first electric motor 5. The generator 2 provides power for the motor and the spraying device, wherein the second motor 22 drives the soil rotating device, the third motor 26 drives the wind power soil cleaning device, and the first motor 5 drives the hydraulic pump 4 to provide hydraulic power for the first electromagnetic valve 15, the second electromagnetic valve 16, the hydraulic cylinder 29, the driving device 30 and the commutator 36.
The soil rotating device comprises a controller 13, a second motor 22, a first frequency converter 11, a first electromagnetic valve 15, a hydraulic cylinder 29, an output shaft reversing device 21, a rotary cutter transmission shaft 23, a rotary cutter 24, a rotary claw 25 and a push rod 31. The guide rods 39 of the soil rotating device are arranged in the guide rails 35 on the lower side of the middle part of the frame 38, the guide rods can slide relatively, and the left ends of the two guide rods are connected by a connecting rod 40; the controller 13 is installed on the right side of the front end of a support plate of the rack, the first electromagnetic valve 15 is installed on the left side of the controller 13, the hydraulic cylinder 29 is installed on the lower side of the middle of the rack, the cylinder body is fixed on the rack, a push rod 31 of the hydraulic cylinder is fixedly connected with the middle of a connecting rod 40 of the soil rotating device, the output shaft reversing device 21 is installed in the middle of the support plate of the soil rotating device, the second motor 22 is installed at the rear end of the support plate of the soil rotating device, an output shaft is connected with the output shaft reversing device 21 through a coupler, the rotary knife transmission shaft 23 is installed below the output shaft reversing device 21, the rotary knife 24 is welded at the tail end of the rotary knife transmission shaft 23, the rotary claw 25 is welded around. The power of the second motor 22 is transmitted to the rotary cutter transmission shaft 23 by the output shaft reversing device 21, and drives the rotary cutter 24 and the rotary claw 25 to rotate. The controller 13 adjusts the state of the soil-rotating device according to the inner side distance information and the stress information acquired by the information acquisition system, and controls the first electromagnetic valve 15 by judging the inner side distance information, so that the hydraulic cylinder 29 is controlled to drive the push rod 31 to move and drive the soil-rotating device to slide left and right; the first inverter 11 is controlled by determining the stress information, and the rotational speed of the second motor 22 is controlled. The height of the rotary cutter 24 is higher than the soil ridge by 3cm, and if the soil ridge is higher, the distance between the rotary cutter 24 and the ground is properly adjusted according to the situation of burying vines. The penetration degree of the rotary claw 25 is two thirds of the width of the soil ridge, and if the rotary claw 25 is too long deeply, the rotary knife 24 can hurt the grape vine. The middle part of the rotary claw 25 is lack of teeth, so that the vine burying area of the grape vine is avoided, and the rotary claw 25 can not damage the grape vine in the soil clearing process. The rotary cutter 24 cleans partial inner soil, so that the inward rebound degree of the soil is reduced when the soil is cleaned by wind power, the rotary claw 25 extends into the soil ridge to continuously shear the soil, the cohesion and the granularity of the soil are greatly reduced, and the effect of cleaning the soil by wind power is greatly improved. In the operation process of the equipment, if the stress data detected by the information acquisition system is overlarge, the controller 13 controls the first frequency converter 11 to increase the rotating speed of the second motor 22, controls the driving device 30 to reduce the advancing speed, reduces the soil clearing amount in unit time and reduces the bending force of soil to the soil rotating device as much as possible. If the information of the inside interval detected by the information acquisition system is small, the controller 13 controls the hydraulic cylinder 29 to retract and the earth ridge to be guided away by the guidance system. When the stress information acquired by the information acquisition system is small and the soil clearing amount of the rotary cutter 24 and the distance between the soil clearing device and the soil ridge are within a limited range, which indicates that the soil quality is loose and the power is remained, the controller 13 controls the driving device 30 to increase the advancing speed and increase the soil clearing amount in unit time.
The wind power soil cleaning device consists of a second frequency converter 12, a controller 13, a third motor 26, a fan 1, an air pipe 27, an air port 28, an angle adjusting rod 20 and a length adjusting rod 19. The second frequency converter 12 is arranged in front of the first frequency converter 11, the third motor 26 is fixed on the left sides of the two support rods at the back of the rack by bolts, the transmission shaft of the fan 1 is connected with the output shaft of the third motor 26, and the cavity of the fan is positioned at the left end of the rectangular cavity in the middle of the rack; the air pipe 27 is connected with the air outlet of the fan 1 and is positioned at the lower side of the middle part of the middle rectangular cavity; the initial end of the tuyere 28 is fixed at the tail end of the air pipe by a snap ring, the middle part of the initial end of the tuyere is connected with the length adjusting rod 19, and the tail end of the tuyere is connected with the angle adjusting rod 20; 19 pole welds on the longitudinal tie pole of frame middle part rectangle die cavity of length adjustment, and angle adjusting rod 20 welds the right-hand member in frame middle part bracing piece. In the operation process, if the data fed back by the stress sensor 37 is greater than the limit value and the soil cleaning devices are in the normal operation state, the soil cohesion is judged to be large and the soil hardening is serious, the controller 13 controls the second frequency converter 12, the rotating speed of the motor 26 is increased, and the wind power and the wind pressure are increased; on the contrary, if the stress is smaller, the rotating speed of the motor 26 is reduced, the wind power and the wind pressure are reduced, and the pollution to the environment is reduced while the aim of soil cleaning is achieved. The length adjusting rod 19 can adjust the length of the air pipe 27 to enable the air port to be close to the earth ridge to the maximum extent; the angle adjusting rod 20 is used for adjusting the angle of the air port to enable the wind direction to be at a proper angle; before soil is cleaned, an operator can adjust the soil according to the actual conditions of the soil ridges.
The spraying device comprises a machine body, a spraying pipe 10, a spray head 14, a spraying device flow adjusting knob 17, a spraying device pressure adjusting knob 18, a spraying pipe angle adjusting knob 9 and a controller 13. The spraying machine body is arranged behind the fan 1 and is positioned on the right sides of the two support rods behind the rack, the spray pipe 10 is connected with the spraying device body and is positioned in the middle of the right end face of the spraying device body, the spray head 14 is arranged at the tail end of the spray pipe 10, the spraying direction is vertical to the horizontal plane, the spraying device flow adjusting knob 17 and the spraying device pressure adjusting knob 18 are positioned on the upper surface of the spraying device body, and the spray pipe angle adjusting knob 9 is arranged at the root of the spray pipe 10. In the operation process, when the stress data fed back by the information acquisition system is relatively large, but the soil cleaning equipment is in a normal soil cleaning state, the dust in the soil cleaning state is large, and the controller 13 controls the spraying device to reduce the flow and the pressure of the spraying device; on the contrary, if the stress data fed back by the information acquisition system is small, but the soil cleaning device is in a normal soil cleaning state, the dust is large in the soil cleaning state, the granularity of the soil is small, and the controller 13 controls the spraying device to improve the flow and the pressure. The worker can adjust the spray pipe angle adjusting knob 9 to change the spraying direction according to the different dust spreading directions.
The soil cleaning device provided by the invention comprises the following steps
When the soil cleaning equipment is ready to operate, the generator 2 is started to provide a power source for the whole equipment, the inner side distance detection sensor 6, the chassis height detection sensor 7 and the laser diffuse reflection obstacle detection sensor 34 carry out information detection, the controller carries out analysis and sends out a control instruction, and the soil cleaning equipment starts to move forwards. The second motor 22 drives the soil rotating device to start to clear partial inner soil, the rotating cutter 24 starts to rotate to clear the soil, the rotating claw 25 shears the soil, the inner space detection sensor 6 detects the space all the time, if the soil rotating device is not located within a normal limited distance, the controller 13 controls the first electromagnetic valve 15 to make adjustment according to feedback information, if the distance is greater than a set distance, the hydraulic cylinder 29 is responsible for retracting, and if the distance is less than the set distance, the hydraulic cylinder 29 is responsible for extending. After the soil is loosened, the wind power soil cleaning device starts to clean soil, the third motor 26 drives the fan 1 to rotate, wind is led out through the wind opening by the wind pipe 27 to carry out non-contact wind power soil cleaning, and the wind volume and the wind pressure of the fan 1 are adjusted by the controller 13 according to data detected by the stress sensor 37; the spraying device starts to spray and suppress dust and raise dust, and similarly, the flow and the pressure of the spraying are independently controlled by the controller 13 without manual adjustment. After the soil-clearing work of one ridge is completed, the controller 13 performs comprehensive analysis according to the information collected by the information collection system and the path planning in advance, controls the soil-clearing equipment to change ridges, and starts the soil-clearing task of the next ridge until all the soil-clearing tasks are completed.
Claims (6)
1. An intelligent grape vine-raising and soil-clearing device is characterized by comprising a rack, a controller, an information acquisition system, a guidance system, a power system, a soil-rotating device, a wind-power soil-clearing device and a spraying device;
the middle part of the front end of the rack is provided with a vertical mounting rod, the front part of the upper side of the rack is provided with a support plate, the support plate is sequentially provided with three transverse support rods backwards, a right longitudinal connecting rod is arranged between the front two support rods, a mounting frame is arranged below the middle part of the rack, and the four support rods are arranged below the front end and the rear end of the rack respectively;
the tail ends of the four support rods are provided with power land wheels, the commutator is arranged above the power land wheels, and the driving device is arranged on the support rods and positioned on the inner side of each power land wheel;
the information acquisition system mainly comprises an inner side distance detection sensor, a chassis height detection sensor, a stress detection sensor and a laser diffuse reflection obstacle detection sensor; the inner side distance detection sensor is arranged on a vertical mounting rod in the middle of the front end of the rack, is positioned on the right side of the lower end of the vertical mounting rod and mainly acquires the relative distance between the soil rotating device and the soil ridge; the chassis height detection sensor is arranged at the bottom end of the vertical mounting rod and is responsible for collecting the distance between a chassis of the device and the ground; the stress detection sensor is arranged on the mounting rack at the lower side of the middle part of the rack, is positioned at the right end of the back of the mounting rack at the rear side and is responsible for collecting the radial stress of the soil rotating device; the laser diffuse reflection obstacle detection sensors are arranged at the front end of the frame and are symmetrically distributed on the left and the right; the information acquisition system is responsible for acquiring state information of soil cleaning equipment, lead wires of various sensors are connected with corresponding serial ports on the controller, the acquired data are transmitted to the controller through the lead wires to serve as a feedback control basis, and the controller controls the first frequency converter, the second frequency converter, the first electromagnetic valve, the second electromagnetic valve, 4 driving devices and the commutator to complete an adjusting task;
the guidance system consists of a GPS guidance device and a controller; the GPS guidance device is arranged at the left position on the supporting plate above the rack;
the soil rotating device comprises a controller, a second motor, a first frequency converter, a first electromagnetic valve, a hydraulic cylinder, an output shaft reversing device, a rotary cutter transmission shaft, a rotary cutter and a rotary claw; guide rods of the soil rotating device are arranged in guide rails of the mounting rack below the middle part of the rack, the guide rods can slide relatively, and the left ends of the two guide rods are connected by a connecting rod after extending into the guide rails; the controller is arranged on the right side of the front end of a support plate of the rack, the first electromagnetic valve is arranged on the left side of the controller, the hydraulic cylinder is arranged on the lower side of the middle part of the rack, the cylinder body of the hydraulic cylinder is fixed on the rack, a push rod of the hydraulic cylinder is connected with a connecting rod of the soil rotating device, the output shaft reversing device is arranged on the right side of a guide rod of the soil rotating device, the second motor is arranged at the rear end of the output shaft reversing device, the output shaft of the motor is connected with the output shaft reversing device, a rotary knife transmission shaft is connected with the output shaft reversing device and faces downwards vertically, a rotary knife is welded below the rotary knife transmission shaft, a rotary claw is; the controller adjusts the state of the soil rotating device according to the inner side distance information and the stress information acquired by the information acquisition system, and controls the first electromagnetic valve by judging the inner side distance information so as to control the extension and retraction of the push rod of the hydraulic cylinder to drive the soil rotating device to slide left and right; controlling the first frequency converter by judging the stress information so as to control the rotating speed of the second motor;
the wind power soil cleaning device consists of a second frequency converter, a controller, a third motor, a fan, an air pipe, an air port, an angle adjusting rod and a length adjusting rod; the second frequency converter is arranged in front of the first frequency converter, the third motor is fixed on the left sides of the two transverse supporting rods behind the rack by bolts, a transmission shaft of the fan is connected with an output shaft of the third motor, and a cavity of the fan is positioned at the left end of a rectangular cavity in the middle of the rack; the air pipe and the air outlet of the fan are fixedly installed by bolts and are positioned at the lower side of the middle part of the middle rectangular cavity; the initial end of the air port is fixed at the tail end of the air pipe through a clamping ring, the middle part of the initial end of the air port is connected with the length adjusting rod, and the tail end of the air port is connected with the angle adjusting rod; the length adjusting rod is welded on a longitudinal connecting rod of a rectangular cavity in the middle of the rack, and the angle adjusting rod is welded at the right end of a supporting rod in the middle of the rack; according to the shape and size of the soil ridge, the relative position of the air opening and the soil ridge is adjusted through an angle adjusting rod and a length adjusting rod; after the controller receives the stress information acquired by the information acquisition system, the frequency converter is controlled through the judgment of the information, so that the rotating speed of the third motor is changed, and then the air volume and the air pressure output by the fan are changed to adapt to different soil conditions;
the spraying device is arranged on the rack, is positioned behind the fan of the wind power soil cleaning device and is used for reducing the flying of raised dust after wind power soil cleaning;
the power system is arranged on the rack and provides power for the spraying device, the soil rotating device, the fan of the wind power soil cleaning device, the electromagnetic valve, the driving device and the commutator.
2. The intelligent grape vine raising and soil clearing equipment as claimed in claim 1, wherein the soil clearing state information comprises inside spacing information, chassis height information and front obstacle information.
3. The intelligent grape vine-raising and soil-clearing equipment as claimed in claim 1, wherein a GPS guidance device realizes positioning and path planning, transmits position information to the controller, and is comprehensively judged by the controller in cooperation with information collected by the information collection system to perform double guidance to achieve a planned accurate driving path.
4. The intelligent grape vine-raising and soil-clearing equipment as claimed in claim 1, wherein the power system is composed of a generator, a motor, a hydraulic pump and a driving device; one end of the generator is fixedly arranged on the first supporting rod, and the other end of the generator is arranged on the supporting plate; the first motor is arranged on the surface of the frame, the third motor is arranged on the left position above the rear two support rods on the frame, the driving device is arranged on the support rods and is arranged on the inner side of the power land wheel, and the second motor is arranged in a manner of matching with the soil rotating device; the hydraulic pump is arranged on the right side of the first motor on the surface of the frame; the generator provides power for the motor and the spraying device, wherein the second motor and the third motor respectively drive the soil rotating device and the fan to work, and the first motor drives the hydraulic pump to provide hydraulic power for the electromagnetic valve, the hydraulic cylinder, the driving device and the commutator.
5. The intelligent grape vine-raising and soil-clearing equipment as claimed in claim 1, wherein the spraying device comprises a machine body, a spraying pipe, a spray head, a spraying device flow adjusting knob, a spraying device pressure adjusting knob, a spraying pipe angle adjusting knob and a controller; the machine body of the spraying device is arranged behind the fan and is positioned on the right sides of the two support rods behind the rack, the spray pipe is connected with the machine body of the spraying device and is positioned in the middle of the right plane of the machine body, the spray head is arranged at the tail end of the spray pipe, the spraying direction is vertical to the horizontal plane, the flow adjusting knob and the pressure adjusting knob of the spraying device are positioned on the upper surface of the machine body of the spraying device, and the angle adjusting knob of the spray pipe is arranged at the root part of; after the spraying device is started, the controller judges the dust raising condition according to the stress information acquired by the information acquisition system and controls the flow and the pressure of the spraying device; the spray pipe angle adjusting knob can change the direction of spraying and adjust according to the main diffusion direction of the raised dust.
6. The intelligent grape vine-lifting soil-clearing equipment as claimed in claim 1, wherein the second electromagnetic valve is used for controlling the flow of the pressure oil of the driving device, and the controller controls the second electromagnetic valve to change the rotating speed of the output shaft of the driving device; the commutator can make the power land wheel turn; the controller controls the driving device and the commutator to realize commutation, acceleration, deceleration and emergency stop of the whole machine according to data fed back by the information acquisition system and the guidance system.
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Cited By (3)
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| CN113287376A (en) * | 2021-04-25 | 2021-08-24 | 江苏大学 | Air-blowing and rotary-throwing combined grape vine soil-clearing and vine-lifting device and soil-clearing machine |
| CN113853842A (en) * | 2021-09-01 | 2021-12-31 | 江苏叁拾叁信息技术有限公司 | Intelligent grape vine-pulling soil-clearing equipment |
| CN114342584A (en) * | 2021-12-27 | 2022-04-15 | 潘凤翔 | Intelligent grape plays rattan and uses clear soil device |
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| CN113287376A (en) * | 2021-04-25 | 2021-08-24 | 江苏大学 | Air-blowing and rotary-throwing combined grape vine soil-clearing and vine-lifting device and soil-clearing machine |
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| CN113853842A (en) * | 2021-09-01 | 2021-12-31 | 江苏叁拾叁信息技术有限公司 | Intelligent grape vine-pulling soil-clearing equipment |
| CN114342584A (en) * | 2021-12-27 | 2022-04-15 | 潘凤翔 | Intelligent grape plays rattan and uses clear soil device |
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