CN115843676A - Male drawing actuating mechanism for corn male drawing operation and male drawing detection method - Google Patents
Male drawing actuating mechanism for corn male drawing operation and male drawing detection method Download PDFInfo
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Abstract
The invention discloses a castration actuating mechanism for castration operation of corn and a castration detection method, comprising a main bracket and an auxiliary bracket, wherein two castration components are correspondingly arranged on the front end surfaces of the bottom ends of the main bracket and the auxiliary bracket; the main support and the auxiliary support are respectively provided with a support plate with two ends hinged with the main support and the auxiliary support and a folded plate with one end hinged with the auxiliary support from top to bottom, the plate body is connected with the main support in a rotating mode, the other end of the folded plate extends to the main support, and a driving mechanism which is used for driving the folded plate to rotate relative to the main support and then drive the bottom end of the auxiliary support to be close to or far away from the bottom end of the main support is arranged on the main support. The male-drawing actuating mechanism can effectively replace manual male-drawing operation, improves the male-drawing operation efficiency of the corn, improves the male-drawing operation quality of the corn, and has excellent economic benefit; the method for detecting the castration can solve the problem that foreign matters possibly block under frequent operation, and prolongs the service life of the castration mechanism.
Description
Technical Field
The invention relates to a male-drawing actuating mechanism for male-drawing operation of corn and a male-drawing detection method, belonging to the technical field of agricultural instruments.
Background
China is a big agricultural country, corn is a main grain crop, and the development of seed production corn directly influences the yield and quality of corn. In recent years, the nation has great importance on the promotion of seed production, and compared with the traditional links of sowing, plant protection, harvesting and the like, the seed production has lower mechanization rate. Particularly during the castration operation of the corn for seed production, most areas still depend on traditional manual castration, the efficiency is low, and the cost of manual labor is high. The corn emasculation machine is used in some areas, but the emasculation machine has a low extraction rate like manual work, manual re-inspection is needed, and the purchasing and maintenance cost of the corn emasculation machine is high.
The existing male-taking mechanism is originally formed by locally modifying the male-taking mechanism of an imported corn castration machine introduced from abroad so as to adapt to the growth characteristics of domestic corn plants. For example, in patent "a corn castration device" (CN 211746039U), the main structure is: the castration mechanism consists of a castration roller and a hydraulic motor; the photoelectric sensing mechanism comprises a sensing bracket and a sensor; and the lifting oil cylinder is connected with the controller. The advantage of this patent lies in having used traditional hydraulic motor, photoelectric sensing part and hydro-cylinder subassembly, and the technology is mature, can adapt to the large-scale production processing of large-scale machinery, also can automatic operation. But the disadvantages are also obvious, such as higher cost; the castration roller gap can not be adjusted, and the upper position and the lower position can only be adjusted integrally along with the height detected by the sensor; the structure is not meticulous fast enough, and installs on large-scale machinery, hardly avoids the decline of the operation precision that automobile body vibrations rocked and bring to hydraulic cylinder is as traditional machinery, and the highest governing speed is limited, can not adjust the profile modeling adjustment of height in order to correspond maize altitude variation fast more accurately, injures the blade by mistake easily and leaks and take out maize stamen.
Therefore, the male extraction actuating mechanism which can achieve the operation precision of manual male extraction and is simpler and more practical than the traditional male extraction mechanism is needed to be designed.
Disclosure of Invention
The invention aims to provide a tasseling executing mechanism for corn tasseling operation and a tasseling detection method, which are used for replacing manual tasseling operation, solving the problem that the stamens of corn cannot be completely and thoroughly extracted by a traditional tasseling mechanism, improving the corn tasseling operation efficiency and the corn tasseling operation quality and having excellent economic benefits.
The technical scheme adopted by the invention is as follows:
a male-drawing actuating mechanism for corn male-drawing operation comprises a main bracket and an auxiliary bracket, wherein two male-removing components are correspondingly arranged on the front end surfaces of the bottom ends of the main bracket and the auxiliary bracket; the main support and the auxiliary support are respectively provided with a support plate with two ends hinged with the main support and the auxiliary support and a folded plate with one end hinged with the auxiliary support from top to bottom, the plate body is connected with the main support in a rotating mode, the other end of the folded plate extends to the main support, and a driving mechanism which is used for driving the folded plate to rotate relative to the main support and then drive the bottom end of the auxiliary support to be close to or far away from the bottom end of the main support is arranged on the main support.
Preferably, the castration assembly comprises a motor and a castration wheel fixedly arranged on the surface of a rotor of the motor.
In a preferred embodiment of the present invention, the castoring wheel has a wheel structure having heat dissipating fins inside and a tread rubber surface on the surface.
Preferably, the bending angle of the flap is set downward, and the driving mechanism is located below the flap.
Preferably, the driving mechanism comprises a steering engine, the steering engine is fixedly connected with the main support, a rotating arm is fixed at the tail end of an execution shaft of the steering engine, and a shock absorber is arranged at the tail end of the rotating arm and the tail end of a folded plate positioned on the outer side of the main support; the steering engine drives the rotating arm to drive, and then the folded plate is pulled to move through the shock absorber, so that the bottom end of the auxiliary support is close to or far away from the main support.
Preferably, the tassel drawing actuating mechanism further comprises a fixing rod, the main bracket is connected to the lower end of the fixing rod, and the top end of the rod body of the fixing rod is arranged in a backward inclining mode.
Preferably, the castration actuating mechanism further comprises two shells, and the shells are covered outside the castration wheel and fixedly connected with the corresponding main bracket and the corresponding auxiliary bracket.
As a preferable aspect of the present invention, a connecting arm is provided between each of the housings and the corresponding main bracket and sub-bracket.
A castration detection method for a castration actuating mechanism comprises the following steps:
1. collecting real-time voltage and current of a emasculation mechanism motor in the process of emasculation, calculating real-time power and constructing a power time variation curve;
2. detecting the real-time power of the motor, and judging whether the male drawing is successful or not according to whether the real-time power exceeds a power threshold of successful drawing;
3. when the male drawing is judged to be successful, detecting the real-time power of the motor and the duration time exceeding the no-load high-power threshold power;
s1, if the real-time power of a motor exceeds a no-load high-power threshold and the duration time of the real-time power exceeds a high-power overtime threshold, judging that a castration mechanism is blocked;
then the steering engine is controlled to act to adjust the space between the male pulling wheels to enable the stamens to fall off or the motor to rotate reversely to push out the stamens reversely, and then the real-time power of the motor is detected;
if the real-time power of the motor is not reduced or is not restored to the no-load average power interval, an error is reported and the motor is stopped to wait for processing;
and if the real-time power of the motor is restored to the no-load average power interval, the tasseling is finished.
S2, if the real-time power of the motor does not exceed the no-load high-power threshold or the power duration time exceeding the no-load high-power threshold does not exceed the high-power overtime threshold, judging that the male drawing mechanism is not blocked, and finishing male drawing.
The invention has the beneficial effects that:
1. the cost is low: compared with a transmission tasseling mechanism, the tasseling executing mechanism simplifies the driving form of a hydraulic motor, a speed reducer and a transmission shaft of the traditional tasseling machine through a direct drive structure of the motor, thereby reducing the cost.
2. The structure is simple: the male actuating mechanism is simple in composition and clear in structure, and the driving form of a hydraulic motor, a speed reducer and a transmission shaft of the traditional male drawing machine is simplified, so that the occupied space is lower, and the structure is simpler. The motor, the steering engine and the shock absorber can be replaced by the existing products, the driving mode of the castration wheel is directly driven by the motor, and the precise and complex structures such as gears, chains and the like are not needed, so that the structure is simple and the manufacture is easy; the male wheel of taking out that adopts inside to have radiator vane, radiator vane directly becomes whole as a part of taking out the male wheel, need not to install the blade alone, has both strengthened the structural stability who takes out the male wheel, has reduced the complexity of design again.
3. Firm and durable: the motor vibration and the atress condition that produce in the in-service use of fully considering during this patent design make structural design rationalize. Waterproof and dustproof types are selected for the motor and the steering engine, so that the abnormal work caused by water and soil inflow in the farmland environment is avoided. And the male drawing wheel is provided with the radiating blades, and the radiating blades start to rotate for radiating when the male drawing wheel rotates, so that a cooling part does not need to be additionally designed independently, and the loss of the rotation heating of the motor is delayed.
4. The extraction quality is high: compared with the traditional tasseling mechanism in the form of a motor, a hydraulic push rod and a speed reducer, the tasseling mode of the tasseling mechanism adopts the form of direct drive of a motor and adjustment of a steering engine, the response speed is high, the traditional tasseling mechanism senses the height trend of corn plants in the slicing range by adopting infrared sensing and then transmits the height trend to the tasseling mechanism, and the tasseling mechanism is not fine enough in height adjustment; the accurate diameter and the position of every a plant maize stamen of arriving of the adjustment mode of this patent carry out accurate extraction according to every a plant stamen, hold best extraction dynamics and suitable motor speed interval, make it also can too hard with the stamen pinch-off when taking out the stamen, also can not too loose lead to can't taking out. The steering wheel can infinitely variable control to make the clearance of taking out the stamen wheel realize infinitely variable control in certain extent, to the stamen of different thickness degrees, dynamics that can furthest adaptation extraction, thereby prevent that too big or the undersize of dynamics from leading to the stamen can't take out or partial fracture remains inside the maize plant. Compared with the traditional hydraulic motor male pumping mechanism, the male pumping mechanism has higher and more accurate male pumping quality. Generally speaking, the scheme can extract the corn stamens from roots to roots, and solves the problems of stamen breakage, mistaken extraction and missing extraction caused by slow response and insufficient fineness of the traditional stamen extraction mechanism scheme. Greatly improves the extraction rate of the corn for seed production and reduces the manual reinspection rate.
5. The inclination angle of the variable castration direction has the practicality: the dead lever adopts detachable fixed with the main support, through changing the dead lever that has different angles of inclination, can change the inclination of taking out male actuating mechanism's the wheel of taking out stamen, possesses optional operating space on taking out the clean rate to can promote to take out the clean rate through adjusting.
6. The reliability is high: this patent can avoid single motor or tradition to take out male structure motor or the stalling of driving motor or unable operation that leads to when out of work must be shut down the maintenance, and even a stall of bi-motor structure, also can normally take out male operation in another normal work, forms the relation of action wheel and follow driving wheel, under the circumstances that a motor broke down, still can normally work, has guaranteed the continuity of operation.
7. Possess abnormal conditions throughput, increase of service life: when the male mechanism is stuck by foreign matters, the male mechanism can detect the change of real-time power, make corresponding adjustment, control the motor to rotate reversely or loosen the steering engine, solve the problem of the possibility of the dead sticking of the foreign matters under frequent operation, and prolong the service life of the male mechanism.
8. Good expansibility: the power change judging method and the operation logic according to which the male drawing execution mechanism is based can be also suitable for different tail end execution mechanisms, namely, the male drawing execution mechanism is also suitable for mechanisms such as mechanical claws and suckers, and the original indexes such as rotating speed and steering are modified into corresponding types. The power interval is correspondingly adapted, so that execution of different operation types can be realized, and the logic control method has certain expansibility.
Drawings
FIG. 1 is a perspective view of a detasseling actuator;
FIG. 2 is a front view of the detasseling actuator;
FIG. 3 is a rear view of the detasseling actuator;
FIG. 4 is a side view of the detasseling actuator;
FIG. 5 is a schematic structural view of the main support;
FIG. 6 is a schematic structural view of the motor and the main and sub-brackets;
FIG. 7 is a schematic view of the male extraction actuator in an installed state;
FIG. 8 is a view showing the status of the castration operation in the case of a narrow gap between the castration wheels;
FIG. 9 is a view showing the status of the castration operation in the wide clearance state of the castration wheel;
FIG. 10 is a logic block diagram of a detasseling detection method;
FIG. 11 is a graph of normal operation real-time power variation;
FIG. 12 is a graph showing the variation of the locking power of the emasculation mechanism;
FIG. 13 is a graph showing variation of the power of the emasculation mechanism without locking;
the main reference numerals in the figures have the following meanings:
1. the device comprises a fixed rod, 2, a main support, 3, an auxiliary support, 4, a motor, 5, a castration wheel, 6, a radiating blade, 7, a shell, 8, a connecting arm, 9, a supporting plate, 10, a folded plate, 11, a steering engine, 12, a rotating arm, 13 and a shock absorber.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 1-7, the present embodiment is a male-drawing actuating mechanism for male-drawing operation of corn, which comprises a fixing rod 1, a main bracket 2 and an auxiliary bracket 3, wherein the main bracket 2 is connected to the lower end of the fixing rod 1; the upper end of the fixing rod 1 can be connected to different agricultural machines as an interface for an end effector, the mounted state being shown in fig. 7. The angle of the fixed rod 1 can be changed, different angles can be changed, so that the rolling inclination angle when the tassel drawing wheel 5 clamps stamens can be changed, and according to the research of wheel type tassel drawing parts design and test of a seed production corn castration machine (Wang Jinjiang, chen Zhi, dong Xiang, and the like, agricultural machinery academy 2016 (3): 75-81), the influence of the center distance and the inclination angle of the roller on the castration rate is obvious. Therefore, the upper end part of the fixing piece is made into different versions with variable angles, and the fixing rod 1 with different inclination angles is replaced according to actual conditions so as to meet the requirements.
The primary and secondary supports 2 and 3 are located on the same horizontal plane, and the length of the secondary support 3 is shorter than that of the primary support 2. Two castration components are correspondingly arranged on the front end faces of the bottom ends of the main bracket 2 and the auxiliary bracket 3, and each castration component comprises a motor 4 and a castration wheel 5 fixedly arranged on the surface of a rotor of the motor 4. The motor 4 is respectively fixedly connected with the corresponding supports, the castration wheel 5 is installed on the rotating part of the motor 4, the castration wheel 5 is driven to act, the castration process of the corn is completed, a power source is provided for the drawing action, the stamens are drawn out in a clamping mode compared with a static clamping mode, the 'coiling' action under the rotating condition is more coherent than the direct 'drawing' action, the breaking of the stamens caused by suddenly drawing the stamens can be greatly reduced, and therefore the whole stamens can be drawn out smoothly without breaking and remaining.
The male drawing wheel 5 is a wheel structure with radiating blades 6 inside and a tire grain rubber surface on the surface; the heat dissipation blades 6 are arranged in the male drawing wheel 5 and are used for generating air flow along with the rotation of the male drawing wheel 5, so that the heat dissipation effect is achieved, the heating condition of the motor 4 during operation is reduced, and the service life of the motor is prolonged; the surface of the tyre skin is provided with patterns, so that the friction force can be increased, and the extraction of stamens is facilitated.
And the two castors 5 are respectively provided with a shell 7, and each shell 7 is fixedly connected with the corresponding main bracket 2 and the corresponding auxiliary bracket 3 and respectively covers the corresponding castors 5 and the exposed surface. The function is to prevent the surrounding leaves or other plants from being wrongly drawn into the male drawing wheel 5 due to the rotation of the male drawing wheel 5 during the male drawing period to influence the operation effect; in order to improve stability, a connecting arm 8 is further provided between each housing 7 and the corresponding primary and secondary brackets 2, 3.
A supporting plate 9 with two ends hinged with the main support 2 and the auxiliary support 3 and a folded plate 10 with one end hinged with the auxiliary support 3, a plate body rotatably connected with the main support 2 and the other end extending to the outer side of the main support 2 are respectively arranged on the inner sides of the main support 2 and the auxiliary support 3 from top to bottom, the structural diagram of the main support 2 is shown in figure 5, and a plurality of internal grooves or through holes meeting the connection mode are formed in the main support 2; the structure enables the end part of the auxiliary bracket 3 to be close to or far away from the main bracket 2, and the possibility of adjusting the distance between the two castration wheels 5 is provided.
Therefore, the main bracket 2 is provided with a driving mechanism which can drive the folded plate 10 to rotate relative to the main bracket 2 and then drive the bottom end of the auxiliary bracket 3 to be close to or far away from the bottom end of the main bracket 2, wherein the bending angle of the folded plate 10 is arranged downwards, and the driving mechanism is arranged on the main bracket 2 below the folded plate 10. Actuating mechanism includes a steering wheel 11, steering wheel 11 and main support 2 fixed connection, is fixed with a rocking arm 12 at steering wheel 11's executive shaft end, is provided with a bumper shock absorber 13 at the end of rocking arm 12 and the folded plate 10 end that is located the main support 2 outside, and bumper shock absorber 13 is the ripe device among the prior art, and the concrete structure of bumper shock absorber 13 is no longer repeated herein.
Actuating mechanism's effect is the wheel 5 of taking out the stamen on the control assistant support 3, change and the main support 2 on take out the clearance of stamen 5, realize and the adaptation of the stamen thickness that will extract, thereby be fit for different growth vigour, the male operation is taken out to the seed production maize of different cultivars, the realization is that steering wheel 11 drives rocking arm 12 and drives in order to stimulate folded plate 10 action through bumper shock absorber 13, make 3 bottoms of assistant support be close to or keep away from main support 2, then can make the wheel 5 of taking out the stamen on the assistant support 3 be close to or keep away from the wheel 5 of taking out the stamen on the main support 2. The shock absorber 13 is used for converting the rotation of the steering engine 11 into a tensioning state or a loosening state and transmitting the tensioning state or the loosening state to the auxiliary bracket 3 through the folded plate 10, so that the gap adjustment of the two castration wheels 5 is realized. The design has the function of adapting to the corn stamens with different thicknesses, and when the corn stamens are thinner, the gap of the tassel wheel 5 is controlled to be reduced; when the stamens are thick, the gap of the stamens drawing wheel 5 is controlled to be enlarged, and the problem that the stamens are clamped too tightly to be broken or cannot be clamped is avoided. The shock absorber 13 can reduce the shock generated when the active tassel drawing wheel 5 rotates, and can also reduce the shock of the whole tassel drawing actuating mechanism, so that the accuracy of tassel drawing operation is improved.
This take out male actuating mechanism mainly drives two through two motors 4 and takes out male wheel 5 and rotate, curls maize stamen through opposite direction's rotation, takes out it from the maize plant even root, realizes the automatic operation that the maize was taken out male.
The male drawing execution mechanism comprises the following specific steps:
1. two motors 4 are started to drive the corresponding castration wheels to respectively rotate in opposite directions at the same rotating speed. In this embodiment, for the best male-drawing effect, the rotation direction of the motor 4 on the main frame 2 is clockwise from the front view angle, and the rotation direction of the motor 4 on the auxiliary frame 3 is counterclockwise from the front view angle.
2. This take out male mechanism and remove directly over the maize stamen, steering wheel 11 is according to the stamen thickness degree that will extract, adjusts and takes out 5 clearances of male wheel, reaches the clearance and just a little shorter distance than maize stamen diameter (because there is the space maize stamen inside, can attenuate after receiving the extrusion, so take out the clearance of male wheel 5 and need be narrower than the initial thickness degree of stamen a little).
3. After the steering engine 11 acts and adjusts the gap between the male drawing wheels 5, the male drawing actuating mechanism is pushed downwards (which can be realized by the agricultural machinery connected with the fixed rod 1), so that the corn stamen enters the middle of the male drawing wheels 5 from the top end.
4. The diameter of the corn stamen is gradually increased along with downward detection of the male drawing actuating mechanism. As the downward distance increases, the diameter of the stamen is larger than the gap between the two castellations 5, and when the gap between the castellations 5 is enough to extrude the stamen, the corn stamen is subjected to the friction force of the extrusion and the tread patterns on the surface of the castration 5, and then the stamen is coiled and drawn out. Finishing the process of one-time emasculation.
The two states of the castration operation are shown in fig. 8 and 9, which are a castration operation state diagram in the situation of the narrow gap of the castration wheel and a castration operation state diagram in the situation of the wide gap of the castration wheel.
In conclusion, the tasseling executing mechanism for the tasseling operation of the corn can replace manual tasseling operation, solves the problem that the stamens of the corn cannot be completely and thoroughly extracted by the traditional tasseling mechanism, improves the tasseling operation efficiency of the corn, improves the tasseling operation quality of the corn, and has excellent economic benefit.
Example 2:
referring to fig. 10 to 13, the present embodiment is a method for detecting male extraction of the male extraction actuator, which includes the following steps:
1. collecting real-time voltage and current of a emasculation mechanism motor in the process of emasculation, calculating real-time power and constructing a power time variation curve;
2. detecting the real-time power of the motor, and judging whether the emasculation is successful or not according to whether the real-time power exceeds the power threshold of successful extraction or not;
3. when the male drawing is judged to be successful, detecting the real-time power of the motor and the duration time exceeding the no-load high-power threshold power;
s1, if the real-time power of a motor exceeds a no-load high-power threshold and the duration time of the real-time power exceeds a high-power overtime threshold, judging that a castration mechanism is blocked;
then the steering engine is controlled to act to adjust the distance between the castration wheels to enable the stamens to fall or the stamens to be pushed out reversely by the reverse rotation of the motor, and then the real-time power of the motor is detected;
if the real-time power of the motor is not reduced or recovered to the no-load average power interval, reporting an error and stopping the motor to wait for processing;
and if the real-time power of the motor is restored to the no-load average power interval, finishing the castration.
S2, if the real-time power of the motor does not exceed the no-load high-power threshold or the power duration time exceeding the no-load high-power threshold does not exceed the high-power overtime threshold, judging that the stamina pumping mechanism is not blocked, and ending the stamina pumping.
Specifically, after the fact that the tasseling mechanism reaches the operation position is confirmed, the motor rotates, the steering engine is tensioned, the gap between the two tasseling wheels is reduced, the operation target is that the corn stamen is clamped, and meanwhile the two tasseling wheels rotate, so that the corn stamen can be taken out. When the motor drives the castration wheel to rotate, the real-time power of the motor is collected, and a power change curve along with time is constructed.
Then, in the process of extracting the male part, whether the real-time power of the motor exceeds the power threshold for successful extraction is judged, the power threshold for successful extraction is the power value corresponding to the detasseling mechanism which is selected after statistics and accords with the successful extraction, and the power threshold for successful extraction is taken as the calculation basis for the successful extraction, and the power threshold for successful extraction is taken as the boundary, as shown in fig. 11, the following two situations are divided:
(1) And (4) successfully extracting, and increasing one by the male extraction statistical counter:
if the detected real-time power of the motor exceeds the threshold, counting that the extraction is successful, and increasing one by a detasseling statistical counter;
(2) When the extraction fails, the missed extraction counter is increased by one:
and if the detected real-time power of the motor exceeds the threshold, counting that the extraction is failed, and increasing one by the extraction missing counter.
And after the extraction is judged to be successful, further detecting the real-time power of the motor and the duration time exceeding the no-load high-power threshold power.
Determining a no-load high-power threshold between the no-load average power and the successful power extraction threshold, judging according to whether the real-time power of the motor exceeds the no-load high-power threshold and whether the duration time of the power exceeding the no-load high-power threshold exceeds the high-power overtime threshold, and taking the following measures:
(1) As shown in fig. 12, the real-time power of the motor exceeds the no-load high-power threshold and the duration exceeds the high-power overtime threshold, the steering engine opens at a larger angle or the motor rotates reversely: if the real-time power continuously exceeds the no-load high-power threshold within a certain time range, the castration mechanism is considered to be blocked, namely, the corn stamen or other foreign matters are blocked between the castration wheels, so that the normal castration operation is influenced, the steering engine of the castration mechanism is controlled to open at a large angle at the moment to enlarge the distance between the two castration wheels, or the motor is controlled to rotate reversely, and the corn stamen or other foreign matters clamped between the castration wheels are 'spitted out'.
Then judging whether the power is reduced:
if a power reduction is confirmed. At the moment, the real-time power is reduced to be lower than the no-load high-power threshold and reduced to the no-load average power value, and the jamming is considered to be solved at the moment. The operation of the male extraction is finished.
If the power is not reduced, the male drawing mechanism reports errors, the machine is automatically stopped, and manual processing is waited until the power is reduced and recovered to a no-load average power interval.
(2) As shown in fig. 13, if the duration of exceeding the no-load high power threshold power does not exceed the high power timeout threshold or the real-time power drops below the no-load high power threshold, it is determined that the stamina pumping mechanism is not locked, and the stamina pumping operation is ended.
In conclusion, the male-drawing detection method provided by the embodiment can detect the real-time power change when the male-drawing mechanism is stuck by a foreign object and the like, makes corresponding adjustment, controls the motor to rotate reversely or loosens the steering engine, can solve the problem of the foreign object sticking condition possibly occurring under frequent operation, and prolongs the service life of the male-drawing mechanism.
The above description is only a preferred embodiment of the present patent, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the inventive concept, and these modifications and decorations should also be regarded as the protection scope of the present patent.
Claims (9)
1. The male drawing actuating mechanism for the male drawing operation of the corns is characterized by comprising a main bracket and an auxiliary bracket, wherein two male removing assemblies are correspondingly arranged on the front end surfaces of the bottom ends of the main bracket and the auxiliary bracket; the main support and the auxiliary support are respectively provided with a support plate with two ends hinged with the main support and the auxiliary support and a folded plate with one end hinged with the auxiliary support from top to bottom, the plate body is connected with the main support in a rotating mode, the other end of the folded plate extends to the main support, and a driving mechanism which is used for driving the folded plate to rotate relative to the main support and then drive the bottom end of the auxiliary support to be close to or far away from the bottom end of the main support is arranged on the main support.
2. The detasseling actuator according to claim 1, wherein the detasseling assembly comprises a motor and a detasseling wheel fixedly disposed on a surface of a rotor of the motor.
3. The castration actuator of claim 2, wherein the castration wheel is a wheel structure having heat dissipating blades therein and a tread rubber surface on a surface thereof.
4. The male-drawing actuating mechanism according to claim 1, wherein the bending angle of the flap is downward, and the driving mechanism is located below the flap.
5. The detasseling actuating mechanism according to claim 4, wherein the driving mechanism comprises a steering engine, the steering engine is fixedly connected with the main bracket, a rotating arm is fixed at the tail end of an actuating shaft of the steering engine, and a shock absorber is arranged at the tail end of the rotating arm and the tail end of a folded plate positioned on the outer side of the main bracket; the steering engine drives the rotating arm to drive, and then the folded plate is pulled to move through the shock absorber, so that the bottom end of the auxiliary support is close to or far away from the main support.
6. The stamina-extracting actuating mechanism as claimed in claim 1, further comprising a fixing rod, wherein the main bracket is connected to a lower end of the fixing rod, and a top end of a rod body of the fixing rod is inclined backward.
7. The detasseling actuator according to claim 1, further comprising two housings covering the castration wheel and fixedly connected to the corresponding primary and secondary supports.
8. The detasseling actuator of claim 7, wherein a connecting arm is disposed between each housing and the corresponding primary and secondary frame.
9. A castration detection method based on the castration actuator of claim 4, characterized in that the method comprises the following steps:
1. collecting real-time voltage and current of a emasculation mechanism motor in the process of emasculation, calculating real-time power and constructing a power time variation curve;
2. detecting the real-time power of the motor, and judging whether the emasculation is successful or not according to whether the real-time power exceeds the power threshold of successful extraction or not;
3. when the success of the male extraction is judged, the real-time power of the motor and the duration time exceeding the no-load high-power threshold power are detected;
s1, if the real-time power of a motor exceeds a no-load high-power threshold and the duration time of the real-time power exceeds a high-power overtime threshold, judging that a castration mechanism is blocked;
then the steering engine is controlled to act to adjust the space between the male pulling wheels to enable the stamens to fall off or the motor to rotate reversely to push out the stamens reversely, and then the real-time power of the motor is detected;
if the real-time power of the motor is not reduced or is not restored to the no-load average power interval, an error is reported and the motor is stopped to wait for processing;
and if the real-time power of the motor is restored to the no-load average power interval, the tasseling is finished.
S2, if the real-time power of the motor does not exceed the no-load high-power threshold or the power duration time exceeding the no-load high-power threshold does not exceed the high-power overtime threshold, judging that the male drawing mechanism is not blocked, and finishing male drawing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211509038.2A CN115843676A (en) | 2022-11-29 | 2022-11-29 | Male drawing actuating mechanism for corn male drawing operation and male drawing detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211509038.2A CN115843676A (en) | 2022-11-29 | 2022-11-29 | Male drawing actuating mechanism for corn male drawing operation and male drawing detection method |
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| CN115843676A true CN115843676A (en) | 2023-03-28 |
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| CN202211509038.2A Pending CN115843676A (en) | 2022-11-29 | 2022-11-29 | Male drawing actuating mechanism for corn male drawing operation and male drawing detection method |
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