CN204462853U - Automatic travelling device on tobacco harvester ridge - Google Patents

Abstract

The utility model relates to an automatic walking device on the ridge of a tobacco harvester, comprising a frame, a walking system, a tobacco leaf collecting box, a seat, and a detection and control system; the walking system includes a hub motor and a motor drive system; the detection and control system includes an infrared measuring distance sensor, single-chip microcomputer and D/A conversion module; two infrared distance-finding sensors are respectively movable and fixed on both sides of the sensor bracket; the infrared distance-finding sensor is connected to the A/D acquisition port of the single-chip microcomputer, and the I/O port of the single-chip The /A conversion module is connected, and the output port of the D/A conversion module is connected to the signal control terminal of the motor drive system; the hub motor output shaft is fixed on the hub motor fixing seat under the frame. The utility model can accurately detect the distance from the wheels on both sides to the smoke ridge through the infrared ranging sensor, and the sensor transmits the acquired data to the single-chip microcomputer to realize automatic steering.

Description

Automatic walking device on the ridge of tobacco harvester

(1) Technical field

The invention provides an automatic walking device on a ridge of a tobacco harvester, which belongs to tobacco field management machinery.

(2) Background technology

Tobacco is one of the main economic crops in our country, and growing tobacco has become an important part of increasing farmers' income and fiscal taxation. During tobacco harvesting, the transportation of tobacco leaves in the field is a very heavy task because there is no special transportation route in the tobacco field. Most of the tobacco leaves harvested in our country are transported manually in the field. Even in some places with a high degree of automation, manually driven tobacco harvesters are used. Therefore, the development of the automatic walking device on the ridge of the tobacco harvester is an effective measure to reduce the work intensity of the tobacco farmers, and it is also a major problem to be solved urgently in the current tobacco production.

Although my country's tobacco field management machinery has made great progress in recent years, topping and harvesting machinery are all driven by large agricultural vehicles, and the automatic walking device on the ridge of the tobacco field has not yet come out, which makes it difficult for the tobacco to be harvested in the field. Transportation is time-consuming and labor-intensive. In most places, labor is still the main method, and the degree of mechanization is quite low. Even if developed countries such as the U.S., Japan adopt crawler-type universal frame more, there is no automatic walking device on the special tobacco ridge. Therefore, the study of the automatic walking device on the ridge of the tobacco harvester can greatly reduce the input of manpower, shorten the labor time, and reduce the labor intensity, which is of great significance to improve the operation efficiency.

(3) Contents of the invention

The invention provides an automatic walking device on the ridge of a tobacco harvester, which can not only solve the problem of high labor intensity in field transportation of tobacco leaves, but also avoid damage to tobacco plants by a large-scale agricultural vehicle-driven harvester.

An automatic walking device on a ridge of a tobacco harvester includes a frame, a walking system, a tobacco leaf collecting box, a seat and a detection and control system.

The frame includes two left and right chassis and an inverted U-shaped frame; the width of the opening end of the inverted U-shaped frame is set according to the tobacco ridge distance; the open ends of the inverted U-shaped frame are respectively fixed on the left and right two chassis; An inverted trapezoidal hub motor mounting plate is welded on both sides of each chassis, and there is a hub motor fixing hole at the lower part of the center of the inverted trapezoidal hub motor mounting plate, and the hub motor is fixed on the hub motor mounting plate through the hub motor fixing hole; A sensor mounting plate is welded in the middle, and a longitudinal sensor height adjustment groove is arranged on the sensor mounting plate. The seat is installed behind the chassis; the connection between the inverted U-shaped frame and the chassis is equipped with a control box and a battery, and the battery provides power for the whole set of equipment.

The walking system includes a hub motor and a motor drive system; the motor drive system includes a remote control switch circuit, a manual brake power-off circuit, a power drive circuit, a reversing control circuit and an indicator light circuit. The remote control switch circuit is connected to the single-chip microcomputer. The remote control switch circuit adopts a 315MHz frequency PT2262 wireless remote control module group to control the main power switch; the manual brake power-off circuit is connected to the motor drive control end of the driver circuit. At the same time, cut off the power supply of the hub motor; the power drive circuit is connected to the DA converter and the hub motor; the reversing control circuit is connected to the relay to control the direction of the motor power supply, and the indicator circuit is connected to the remote control switch circuit to indicate the power status of the system.

The tobacco leaf collection box is fixed on the tobacco leaf collection box fixing seat, and is formed by bending and welding a round tube; the bottom of the tobacco leaf collection box is a mesh structure, and its left and right sides are welded at the bottom in a wide-mouth inverted U-shaped structure, and its front and rear The sides are fully open.

The detection and control system includes an infrared ranging sensor, a single-chip microcomputer and a D/A conversion module; two infrared ranging sensors are respectively movably fixed on both sides of the sensor bracket, and the sensor bracket is movably installed on the sensor angle regulator, and the infrared The up and down position and inclination angle of the ranging sensor are adjustable. The sensor bracket is in the shape of a long back; the detection control system is packaged in a control box, and the control box is fixed at the joint between the inverted U-shaped frame and the chassis. The infrared ranging sensor is connected to the A/D acquisition port of the single-chip microcomputer, the I/O port of the single-chip microcomputer is connected to the D/A conversion module, and the output port of the D/A conversion module is connected to the signal control terminal of the motor drive system; after two 24V batteries are connected in series , Convert the 48V voltage to 5V through the power conversion module to supply power to the single-chip microcomputer and the infrared distance measuring sensor.

The sensor angle adjuster is arc-shaped; one end of the sensor angle adjuster is installed in the fastening screw hole of the sensor bracket for installing the sensor, and the other end is movably installed in the sensor height adjustment groove for the sensor Overall height adjustment.

The hub motors are installed on the four drive wheels to provide direct forward power for the machine. The hub motor input terminal is connected to the reversing control circuit of the motor drive system, and then connected to the power drive circuit. The hub motor output shaft is fixed on the hub motor fixing seat under the frame.

The invention can accurately detect the distance from the wheels on both sides to the smoke ridge through the infrared ranging sensor, and the sensor transmits the acquired data to the single chip microcomputer. When the machine reaches the end of the smoke ridge, the single-chip microcomputer will start the automatic steering program, respectively control the speed and steering of the inner and outer wheels, and turn to the next smoke ridge.

The automatic walking device on the ridge of the tobacco harvester provided by the present invention can also realize manual control, and the user can separately control the speed and steering of the inner and outer wheels through the remote control, and manually complete the straight line walking on the ridge and the steering at the end of the tobacco ridge.

(4) Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is the right view of the whole machine structure of the present invention.

Fig. 3 is a schematic diagram of the installation of the infrared distance measuring sensor of the present invention.

Fig. 4 is the automatic steering track figure of the present invention

Fig. 5 is a working flowchart of the present invention.

In the figure: 1. Seat 2. Tobacco leaf collection box 3. Battery pack 4. Battery pack fixing plate 5. Control box 6. Motor drive system box 7. Control box fixing plate 8. Walking system 9. Hub motor 10. Infrared measurement Distance sensor 11. Fastening screw 12. Height adjustment slot 13. Tobacco leaf collecting box fixing seat 14. Manual brake system 15. Wheel hub motor fixing seat 16. Wheel hub motor output shaft 17. Infrared ranging sensor angle regulator mounting hole 18. Infrared Range sensor fixing plate 19. Infrared range sensor angle regulator 20. Smoke ridge 21. Fixed rubber ring

(5) Specific implementation methods

The following specific embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

The wheel hub motor is 1.5KW; the remote control switch circuit adopts the PT2262 wireless remote control module group with a frequency of 315MHz.

In this embodiment, the width of the open end of the inverted U-shaped frame is set to be 1.2 meters, and its open end is respectively fixed on the left and right chassis; Trapezoidal hub motor mounting plate, the center of the inverted trapezoidal hub motor mounting plate has a hub motor fixing hole, the hub motor is installed in the hub motor fixing hole, and fixed on the hub motor mounting plate; the middle part of the chassis is welded for sensor installation A plate with a longitudinal sensor height adjustment slot with a length of 15 cm and a width of 3 cm. The sensor bracket is 35 centimeters long and 10 centimeters wide;

Fix the infrared ranging sensor (10) on the infrared ranging sensor angle regulator (19), and then install the infrared ranging sensor angle regulator (19) on the infrared ranging sensor fixing plate ( 18), fix the infrared ranging sensor fixing plate (18) on the height adjustment slot (12) in the middle of the bottom of the frame by fastening the screws (11), and the infrared ranging sensor (10) is connected to the detection control system box ( 5) On the I/O port of the single-chip microcomputer.

The detection control system is encapsulated in the control box (5), and the control box (5) is fixed on the control box fixing plate (7) on the frame, and the control box (5) is equipped with a single chip microcomputer, a D/A conversion module and a power conversion module. The 48V voltage of the battery pack (3) is converted into a 5V voltage to supply power to the detection and control system.

The motor drive system is encapsulated in the motor drive system box (6), the surface of the motor drive system box (6) is equipped with heat sinks, the input of the motor drive system is connected to the output of the D/A conversion module in the control box (5), and the output is connected to the power switch To the relay, while the left side of the motor drive system box (6) is equipped with a charging socket, a hand brake power-off control line and an indicator light, and the motor drive system box (6) right side is equipped with a key switch.

Wheel hub motors (9) are installed on the four drive wheels to provide direct forward power for the machine. The hub motor (9) input terminal is connected on the reversing control circuit of the motor drive system, and then the power drive circuit is connected, and the hub motor output shaft (16) is fixed on the motor mounting plate below the frame.

The battery pack (3) is installed on the battery pack fixing plate (4) of the rack partition, provides 5V power for the detection control system and the motor drive system through the power conversion module, and directly provides 48V power for the hub motor (9).

The automatic working process of the above-mentioned automatic walking device on the ridge of a tobacco harvester is as follows: when working, first adjust the height of the infrared distance measuring sensor fixed plate (18) according to the height of the smoke ridge (20), and then adjust the height of the fixed plate (18) through the angle regulator (17). The infrared ranging sensor makes the emitter aim at the side of the smoke ridge (20), so that data can be collected more accurately. Turn on the key switch, release the manual brake, and turn on the detection control system. At this time, if the system judges the high and low levels of the manual control detection port, the high level is the manual remote control mode, and the low level is the automatic control; The data collected by the distance sensor (10) is controlled by the motor drive system to control the rotation speed of the wheel hub motors (9) on both sides to complete the walking along the ridge. When the machine reaches the end of the smoke ridge, the single-chip microcomputer will start the automatic steering program to make the machine turn to the next smoke ridge.

The manual control process of the above-mentioned automatic walking device on the ridge of the tobacco harvester is as follows: if the manual control port is detected to be at a high level when the machine is turned on, the forward direction and steering process of the machine can be manually observed, and the machine can be remotely controlled along the ridge through the remote control. Go straight and turn at the end of the smoke ridge.

The above are only specific implementations of the present invention, and various changes and modifications made without departing from the concept and scope of the present invention, and all equivalent technical solutions also belong to the scope of the present invention.

Claims (1)

1. one to grow tobacco automatic travelling device on harvester ridge, it is characterized in that comprising frame, running gear, tobacco leaf collecting box, seat and detecting and controlling system;

Described frame comprises two chassis, left and right and inverted U frame; The openend of described inverted U frame is separately fixed on two chassis, left and right; Respectively be welded with an inverted trapezoidal wheel hub motor installing plate in the both sides on each chassis, inverted trapezoidal wheel hub motor installing plate center deviation upper/lower positions has wheel hub motor fixed orifice, and wheel hub motor is fixed on wheel hub motor installing plate by wheel hub motor fixed orifice; Positive middle part, chassis is welded with sensor installing plate, and sensor installing plate is provided with longitudinal sensor height-regulating slot; Described chair mounted is at rear, chassis; Described inverted U frame and junction, chassis are provided with control enclosure and storage battery, and storage battery provides power supply for equipment set;

Described running gear comprises wheel hub motor and motor driven systems; Described motor driven systems comprises remote control switching circuit, hand-operated brake power-down circuit, power driving circuit, reversing control circuit and indicator light circuit; Remote control switching circuit connects single-chip microcomputer; Hand-operated brake power-down circuit connects wheel hub motor driver control end; Power driving circuit connects D/A conversion module and wheel hub motor; Reversing control circuit connects relay; Indicator light circuit connects remote control switching circuit;

Described tobacco leaf collecting box is fixed on tobacco leaf collecting box holder; Be reticulate texture bottom tobacco leaf collecting box, its left and right sides be wide mouth inverted U structure welding in bottom, and before and after it, both sides are designed for open;

Described detecting and controlling system comprises infrared distance sensor, single-chip microcomputer and D/A modular converter; Two infrared distance sensors are mobilizable is respectively fixed on sensor stand both sides, and sensor stand is mobilizable to be arranged on sensor angles regulator, infrared distance sensor upper-lower position, tilt adjustable; Described sensor stand is for long three-back-shaped; Detecting and controlling system is encapsulated in control enclosure; The A/D that infrared distance sensor is connected to single-chip microcomputer gathers port, and the I/O mouth of single-chip microcomputer is connected with D/A modular converter, and the delivery outlet of D/A modular converter connects motor driven systems signal control end; After two 24V storage battery series connection, 5V is become to power 48V voltage transitions to single-chip microcomputer and infrared distance sensor by power transfer module;

Described sensor angles regulator is curved; Sensor angles regulator one end is arranged on sensor stand, and for sensor installation, its other end is mobilizable to be arranged in sensor height regulating tank;

Described wheel hub motor is arranged on four driving wheels, for machine provides direct onward impulse; Wheel hub motor input end connects the reversing control circuit of motor driven systems, and then connects power driving circuit; Wheel hub motor output shaft is fixed on the wheel hub motor holder below frame.