CN216218642U

CN216218642U - Device capable of automatically calibrating direction to advance according to preset track and rice seedling raising machine

Info

Publication number: CN216218642U
Application number: CN202122795153.8U
Authority: CN
Inventors: 鲁云彬
Original assignee: Qingdao Weiying Electronic Technology Co ltd
Current assignee: Qingdao Weiying Electronic Technology Co ltd
Priority date: 2021-11-15
Filing date: 2021-11-15
Publication date: 2022-04-08
Anticipated expiration: 2031-11-15

Abstract

The utility model discloses a device capable of automatically calibrating the direction to advance according to a preset track and a rice seedling raising machine, wherein the device comprises a first sensor, a second sensor, a steerable machine body, a single chip microcomputer and a first deviation induction component; the first sensor is used for detecting the approach of the edge of the finished working area in real time, and the second sensor is used for detecting the distance of the edge of the finished working area in real time; the first deviation induction assembly comprises a rocker, a first detection switch and a second detection switch, the middle position of the rocker is hinged with the steerable machine body, and the bottom end of the rocker extends out of the side wall of the machine body and can be abutted against the edge of a finished working area when working; the utility model is a mechanical sensing structure, avoids the problem that the use of other sensors such as an infrared sensor and the like is easily influenced by the surrounding environment, can automatically calibrate the direction according to the finished path track by deviating from the arrangement of the sensing assembly, keeps consistent with the finished working area, does not need operators, and reduces the workload of the seedling raising machine.

Description

Device capable of automatically calibrating direction to advance according to preset track and rice seedling raising machine

Technical Field

The utility model relates to the technical field of rice seedling raising machines, in particular to a device capable of automatically calibrating the direction to advance according to a preset track and a rice seedling raising machine.

Background

The rice seedling raising machine is divided into a rail type and a self-propelled type, the self-propelled seedling raising machine is divided into a wheel type and a crawler type seedling raising machine, and the wheel type self-propelled rice seedling raising machine comprises all rice seedling raising machines within a wheel type self-propelled range, such as a soil covering machine, a plate placing machine, a fertilizer tracing machine and the like. After the self-propelled seedling raising machine works for a period of time due to terrain change, the advancing direction of the seedling raising machine needs to be manually operated, otherwise, the seedling raising machine is inclined, and the seedling raising quality is influenced due to the fact that gaps exist between the seedling raising machine and the finished seedling trays.

SUMMERY OF THE UTILITY MODEL

To solve the above problems, the present invention provides a device and a rice seedling raising machine capable of automatically calibrating the direction to advance according to a predetermined track.

The utility model adopts the following scheme:

a device capable of automatically calibrating the direction to advance according to a preset track comprises a first sensor, a second sensor, a steerable machine body, a single chip microcomputer and a first deviation induction component; the first sensor and the second sensor are both arranged on the steerable machine body, the first sensor is used for detecting the approach of the edge of the finished working area in real time, the second sensor is used for detecting the distance of the edge of the finished working area in real time, and the collected deviation information is respectively sent to the single chip microcomputer; the first deviation sensing assembly comprises a rocker, a first detection switch and a second detection switch, the middle position of the rocker is hinged with the steerable machine body, the hinged position is used as a boundary, the weight of the inclined upper end is greater than that of the inclined lower end, and the bottom end of the rocker extends out of the side wall of the machine body and can be abutted against the edge of a finished working area during working; the first detection switch is used for enabling the upper end of the rocker to approach when the rocker approaches the edge of the finished working area so as to enable the switch to be switched on and send a signal to the first sensor, and the second detection switch is used for enabling the upper end of the rocker to approach when the rocker is far away from the edge of the finished working area so as to enable the switch to be switched on and send the signal to the second sensor; the single chip microcomputer is used for receiving the deviation information and controlling the steerable body to steer and calibrate.

Preferably, the steerable body is a roller type body and comprises a first body, a front roller, a rear roller and a push-pull device, wherein two ends of the front roller are rotatably connected to two ends of a portal frame through bearings, the center of the top of the portal frame is rotatably connected with a front end chassis of the body through a middle shaft column, two sides of the middle shaft column are respectively provided with a limiting column, the bottom end of the limiting column is fixedly connected to the top of the portal frame, and the top end of the limiting column is respectively inserted into two arc-shaped grooves formed in the chassis; the output end of the push-pull device is connected with the door-shaped rack and used for pushing, pulling and steering the door-shaped rack, and the push-pull device is electrically connected with the single chip microcomputer.

Preferably, the system further comprises a neutral position sensor, wherein a probe of the neutral position sensor is aligned with an output end of the push-pull device and used for detecting whether the push-pull device is in a position when the push-pull device normally runs in a straight line or not and sending acquired information to the single chip microcomputer.

Preferably, the steerable body is a crawler-type vehicle body and comprises a second vehicle body, a first crawler, a second crawler, a first motor, a second motor, a first rotating speed sensor and a second rotating speed sensor; the first motor is electrically connected with the single chip microcomputer and is used for driving and controlling the first crawler belt; the second motor is electrically connected with the single chip microcomputer and is used for driving and controlling the second crawler belt; the first rotating speed sensor is used for detecting the rotating speed of the first motor, the second rotating speed sensor is used for detecting the rotating speed of the second motor, and collected rotating speed information is respectively sent to the single chip microcomputer.

Preferably, the steering device further comprises a third sensor, a fourth sensor and a second offset sensing assembly, and the third sensor, the fourth sensor and the second offset sensing assembly are all mounted on the other side of the steerable body.

Preferably, the rocking device further comprises a heavy hammer, and the heavy hammer is hung at the inclined upper end of the rocking rod.

Preferably, the device further comprises a rolling wheel used for reducing friction between the rocker and the edge of the finished work area, and the rolling wheel is mounted at the bottom end of the rocker.

Preferably, the first detection switch and the second detection switch are inductive proximity switches.

A rice seedling raising machine capable of automatically calibrating the direction to advance according to a preset track comprises the device capable of automatically calibrating the direction to advance according to the preset track.

Compared with the prior art, the utility model has the following beneficial effects: the utility model is a mechanical sensing structure, avoids the problem that other sensors such as an infrared sensor are easily influenced by the surrounding environment, is convenient to popularize, can automatically calibrate the direction according to the finished path track by deviating from the arrangement of a sensing assembly, keeps consistent with the finished working area, does not need operators, reduces the workload of the seedling raising machine, and can flexibly work aiming at the working areas at different positions by arranging a third sensor and a fourth sensor.

Drawings

FIG. 1 is a schematic structural diagram of a deviation sensing assembly;

FIG. 2 is a top plan view of the whole device working along the predetermined track of the edge of the seedling raising tray;

FIG. 3 is a schematic view of the entire structure of the roller type vehicle body;

FIG. 4 is an elevation view of a front wheel portion of the roller car body;

FIG. 5 is a partial side view of the roller car body;

FIG. 6 is a schematic diagram of the overall structure of the tracked vehicle body.

Detailed Description

The first embodiment is as follows:

as shown in fig. 1 and 2, the present invention provides a device capable of automatically calibrating a direction to advance according to a predetermined track, which includes a first sensor 1, a second sensor 2, a steerable body 3, a single chip 4 and a first deviation sensing assembly; the first sensor 1 and the second sensor 2 are both arranged on the steerable machine body 3, the first sensor 1 is used for detecting the approach of the edge of a finished working area, such as the side wall of a seedling tray 28, in real time, and the second sensor 2 is used for detecting the distance of the edge of the finished working area in real time and respectively sending the collected deviation information to the single chip microcomputer 4; the first deviation sensing assembly comprises a rocker 5, a first detection switch 6 and a second detection switch 7, the middle position of the rocker 5 is hinged with the steerable machine body 3, the hinged position is used as a boundary, the weight of the inclined upper end is greater than that of the inclined lower end, the rocker 5 can also comprise a heavy hammer 26, the heavy hammer 26 is suspended at the inclined upper end of the rocker 5 to increase the total amount, and the bottom end of the rocker 5 extends out of the side wall of the machine body and can be abutted against the edge of a finished working area during working; the first detection switch 6 is used for enabling the upper end of the rocker 5 to approach to enable the switch to be switched on and send signals to the first sensor 1 when the rocker is close to the edge of the finished work area, and the second detection switch 7 is used for enabling the upper end of the rocker 5 to approach to enable the switch to be switched on and send signals to the second sensor 2 when the rocker is far from the edge of the finished work area; the single chip microcomputer 4 is used for receiving the deviation information and controlling the steerable body 3 to perform steering calibration, and the first detection switch 6 and the second detection switch 7 may be inductive proximity switches or other types of contact switches.

The device can also comprise a third sensor 24, a fourth sensor 25 and a second deviation induction component, wherein the third sensor 24, the fourth sensor 25 and the second deviation induction component are all arranged on the other side of the steerable machine body 3, so that the device can conveniently work in different directions; the device may further comprise a rolling wheel 27 for reducing friction between the rocking bar 5 and the edge of the finished work area, the rolling wheel 27 being mounted at the bottom end of the rocking bar 5.

The device can be applied to a rice seedling raising machine, keeps the track consistent with the track of the finished seedling tray 28 according to the preset track of the finished seedling tray 28, and avoids generating gaps.

The specific working principle is as follows: when the device is close to the outer side wall of the seedling tray, the bottom end of the rocker is contracted inwards, the upper end of the rocker is tilted upwards, the contact arms are communicated with the first detection switch, the first sensor detects a communication signal and then sends the communication signal to the single chip microcomputer, and the single chip microcomputer sends a steering command to enable the machine body to restore the equal distance with the outer side wall of the seedling tray and continue to walk forwards; when the device is far away from the seedling tray, the lower end of the rocker sinks downwards under the action of gravity at the inclined upper end, the contact arm is communicated with the second detection switch, the second sensor detects a communication signal and then sends the communication signal to the single chip microcomputer, and the single chip microcomputer sends a steering command to enable the machine body to recover the equal distance with the outer side wall of the seedling tray and continue to walk forwards; the device can work forwards according to the track of the completed seedling tray.

Example two:

as a preferred embodiment of the first embodiment, please refer to fig. 3 to 5, other structures are the same as the first embodiment, and the difference therebetween is in the apparatus of the first embodiment, wherein the steerable body 3 may be a roller-type body, and includes a first body 8, a front roller 9, a rear roller 10, and a push-pull device 15, two ends of the front roller 9 are rotatably connected to two ends of a gantry 11 through bearings, a central position of a top of the gantry 11 is rotatably connected to a front end chassis of the steerable body 3 through a middle shaft post 12, two sides of the middle shaft post 12 are respectively provided with a limit post 13, a bottom end of the limit post 13 is fixedly connected to the top of the gantry 11, and top ends of the limit posts 13 are respectively inserted into two arc-shaped slots 14 formed in the chassis; the output end of the push-pull device 15 is connected with the door-shaped frame 11 and is used for carrying out push-pull steering on the door-shaped frame 11, and the push-pull device 15 is electrically connected with the single chip microcomputer 4; the device also comprises a neutral position sensor 16, wherein a probe of the neutral position sensor 16 is aligned with the output end of the push-pull device 15 and used for detecting whether the push-pull device 15 is in a position when the push-pull device is in normal straight line driving or not and sending acquired information to the single chip microcomputer 4.

The working principle is that when the roller type vehicle body of the embodiment receives a steering command of the single chip microcomputer, the roller type vehicle body sends a push-pull command to the push-pull device, under the action of the push-pull device, the door-shaped frame is driven to steer so as to drive the front roller to steer, the limiting column is inserted into the arc-shaped groove, the front roller can complete steering within a set small range, and the middle position sensor is used for detecting whether the push-pull device is in a normal driving non-steering state and sending a detection signal to the single chip microcomputer.

Example three:

as a preferred embodiment of the first embodiment, please refer to fig. 6, the other structure is the same as the first embodiment, and in this embodiment, the difference is the apparatus as described in the first embodiment, wherein the steerable body 3 may be a crawler-type vehicle body, and includes a second vehicle body 17, a first crawler 18, a second crawler 19, a first motor 20, a second motor 21, a first rotation speed sensor 22, and a second rotation speed sensor 23; the first motor 20 is electrically connected with the singlechip 4 and is used for driving and controlling the first crawler belt 18; the second motor 21 is electrically connected with the singlechip 4 and is used for driving and controlling the second crawler belt 19; the first rotation speed sensor 22 is used for detecting the rotation speed of the first motor 20, and the second rotation speed sensor 23 is used for detecting the rotation speed of the second motor 21, and respectively sends the acquired rotation speed information to the single chip microcomputer 4.

The working principle is as follows: when the roller type vehicle body receives a steering command of the single chip microcomputer, a deceleration command is sent to the first motor and the second motor according to the situation, so that steering operation is completed through the speed difference of the first crawler belt and the second crawler belt, the first motor sensor and the second motor sensor are used for detecting whether the rotating speeds of the first motor and the second motor are the same or not, and therefore whether the device is in a normal driving non-steering state or not is judged, and a detection signal is sent to the single chip microcomputer.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

While the above-described embodiments have been described in further detail to solve the problems, technical solutions and advantages of the present invention, it should be noted that those skilled in the art should understand that the present invention is not limited by the above-described embodiments, and that various changes and modifications can be made in the present invention without departing from the spirit and scope of the present invention, which falls within the scope of the claimed invention.

Claims

1. An apparatus for automatically aligning a direction advance according to a predetermined trajectory, comprising: the steering mechanism comprises a first sensor (1), a second sensor (2), a steerable machine body (3), a single chip microcomputer (4) and a first deviation induction component; the first sensor (1) and the second sensor (2) are both mounted on the steerable machine body (3), the first sensor (1) is used for detecting the approach of the edge of a finished working area in real time, the second sensor (2) is used for detecting the distance of the edge of the finished working area in real time, and the collected deviation information is respectively sent to the single chip microcomputer (4); the first deviation induction assembly comprises a rocker (5), a first detection switch (6) and a second detection switch (7), the middle position of the rocker (5) is hinged with the steerable machine body (3), the hinged position is used as a boundary, the weight of the inclined upper end is greater than that of the inclined lower end, and the bottom end of the rocker (5) extends out of the side wall of the machine body and can be abutted against the edge of a finished working area during working; the first detection switch (6) is used for enabling the upper end of the rocker (5) to approach to enable the switch to be switched on and sending a signal to the first sensor (1) when the rocker approaches to the edge of the finished work area, and the second detection switch (7) is used for enabling the upper end of the rocker (5) to approach to enable the switch to be switched on and sending a signal to the second sensor (2) when the rocker moves away from the edge of the finished work area; the single chip microcomputer (4) is used for receiving deviation information and controlling the steerable machine body (3) to perform steering calibration.

2. The apparatus for automatically aligning the direction advance according to the predetermined track as claimed in claim 1, wherein: the steerable body (3) is a roller type body and comprises a first body (8), a front roller (9), a rear roller (10) and a push-pull device (15), wherein two ends of the front roller (9) are rotatably connected to two ends of a portal frame (11) through bearings, the center of the top of the portal frame (11) is rotatably connected with a front end chassis of the steerable body (3) through a middle shaft column (12), two sides of the middle shaft column (12) are respectively provided with a limit column (13), the bottom end of the limit column (13) is fixedly connected to the top of the portal frame (11), and the top end of the limit column (13) is respectively inserted into two arc-shaped grooves (14) formed in the chassis; the output end of the push-pull device (15) is connected with the door-shaped rack (11) and used for pushing, pulling and steering the door-shaped rack (11), and the push-pull device (15) is electrically connected with the single chip microcomputer (4).

3. The apparatus for automatically aligning the direction advance according to the predetermined track as claimed in claim 2, wherein: the system is characterized by further comprising a middle position sensor (16), wherein a probe of the middle position sensor (16) is aligned with the output end of the push-pull device (15) and used for detecting whether the push-pull device (15) is located at a position when the push-pull device is in normal straight line running or not and sending acquired information to the single chip microcomputer (4).

4. The apparatus for automatically aligning the direction advance according to the predetermined track as claimed in claim 1, wherein: the steerable body (3) is a crawler-type vehicle body and comprises a second vehicle body (17), a first crawler (18), a second crawler (19), a first motor (20), a second motor (21), a first rotating speed sensor (22) and a second rotating speed sensor (23); the first motor (20) is electrically connected with the single chip microcomputer (4) and is used for driving and controlling the first crawler belt (18); the second motor (21) is electrically connected with the singlechip (4) and is used for driving and controlling the second crawler belt (19); the first rotating speed sensor (22) is used for detecting the rotating speed of the first motor (20), and the second rotating speed sensor (23) is used for detecting the rotating speed of the second motor (21) and respectively sending acquired rotating speed information to the single chip microcomputer (4).

5. The apparatus for automatically aligning the direction advance according to the predetermined track as claimed in claim 1, wherein: the steering mechanism further comprises a third sensor (24), a fourth sensor (25) and a second deviation induction assembly, wherein the third sensor (24), the fourth sensor (25) and the second deviation induction assembly are all installed on the other side of the steerable machine body (3).

6. The apparatus for automatically aligning the direction advance according to the predetermined track as claimed in claim 1, wherein: the rocking device further comprises a heavy hammer (26), wherein the heavy hammer (26) is hung at the inclined upper end of the rocking rod (5).

7. The apparatus for automatically aligning the direction advance according to the predetermined track as claimed in claim 1, wherein: the device also comprises a rolling wheel (27) used for reducing friction between the rocker (5) and the edge of the finished work area, wherein the rolling wheel (27) is arranged at the bottom end of the rocker (5).

8. The apparatus for automatically aligning the direction advance according to the predetermined track as claimed in claim 1, wherein: the first detection switch (6) and the second detection switch (7) are inductive proximity switches.

9. A rice seedling raising machine capable of automatically calibrating direction to advance according to a preset track is characterized in that: the rice seedling raising machine comprises a device which can automatically calibrate the direction to advance according to a preset track as claimed in any one of claims 1 to 8.