阅读说明：本技术 一种花生清棵机 (Peanut clearing machine ) 是由 宋玉秋 辛明金 邬立岩 孔爱菊 崔红光 刘翠红 徐燕 张本华 刘瀚 于 2019-12-04 设计创作，主要内容包括：一种花生清棵机,属于农业机械技术领域,包括动力车、控制系统、花生清棵装置、横向移动装置、纵向移动装置、机架和摄像显示装置,所述机架上连接横向移动装置,横向移动装置的横向滑杆上按照行距设置多个清棵装置架,清棵装置架沿横向滑杆移动,沿每个清棵装置架设置有纵向移动装置,在纵向移动装置的纵向滑杆上连接清棵装置,在机架行进前端设置摄像头,横向移动装置、纵向移动装置和花生清棵装置的电机分别连接控制系统,通过控制系统控制花生清棵装置的横向、纵向移动,并控制花生清棵装置进行清棵动作。本发明可以自动控制清棵作业,将埋在土中的两片子叶和子叶叶腋间长出的第一对侧枝露出地面,使地上部分枝叶增多,有效清除子叶下面土壤。(A peanut clearing machine belongs to the technical field of agricultural machinery and comprises a power vehicle, a control system, a peanut clearing device, a transverse moving device, a longitudinal moving device, a rack and a camera display device, wherein the transverse moving device is connected to the rack, a plurality of clearing device frames are arranged on a transverse sliding rod of the transverse moving device according to line spacing, the clearing device frames move along the transverse sliding rod, the longitudinal moving device is arranged along each clearing device frame, the clearing device is connected to the longitudinal sliding rod of the longitudinal moving device, a camera is arranged at the advancing front end of the rack, motors of the transverse moving device, the longitudinal moving device and the peanut clearing device are respectively connected with the control system, the transverse and longitudinal moving of the peanut clearing device are controlled through the control system, and the peanut clearing device is controlled to clear peanuts. The invention can automatically control the cleaning operation, and expose the first pair of lateral branches growing between two cotyledons buried in the soil and cotyledon leaf axils to the ground, so that branches and leaves on the ground are increased, and the soil below the cotyledons is effectively removed.)

1. A peanut clearing machine is characterized in that: the peanut cleaning and pruning machine comprises a power vehicle, a control system, a peanut cleaning device, a transverse moving device, a longitudinal moving device, a rack and a camera display device, wherein the transverse moving device is connected to the rack, a plurality of cleaning device frames are arranged on a transverse sliding rod of the transverse moving device according to line spacing, the cleaning device frames move along the transverse sliding rod, the longitudinal moving device is arranged along each cleaning device frame, the cleaning device is connected to a longitudinal sliding rod of the longitudinal moving device, a camera of the camera display device is arranged at the advancing front end of the rack, motors of the transverse moving device, the longitudinal moving device and the peanut cleaning device are respectively connected with the control system, the transverse and longitudinal movement of the peanut cleaning device is controlled through the control system, and the peanut cleaning device is controlled to perform cleaning action.

2. Peanut kernel removal machine according to claim 1, characterized in that: the transverse moving device comprises two transverse moving slide bars arranged in parallel, a plurality of peanut cleaning device frames are arranged between the two transverse moving slide bars corresponding to peanut rows, the peanut cleaning device frames are connected with a transverse adjusting screw rod, a transverse adjusting motor is arranged on a longitudinal beam of the frame, an output shaft of the transverse adjusting motor is connected with the transverse adjusting screw rod, a transverse adjusting nut matched with the transverse adjusting screw rod is fixed on the peanut cleaning device frames, and two ends of each peanut cleaning device frame are connected to the transverse adjusting slide bars through transverse adjusting sliding sleeves; each cleaning device frame is connected with a longitudinal moving device.

3. Peanut kernel removal machine according to claim 1, characterized in that: the longitudinal moving device comprises a longitudinal adjusting motor, a longitudinal adjusting screw rod, a longitudinal adjusting nut, a longitudinal adjusting slide rod and a hanging sliding sleeve, the longitudinal adjusting motor is installed at one end of the longitudinal adjusting slide rod through a longitudinal motor base of the longitudinal adjusting motor, the longitudinal adjusting screw rod and the longitudinal adjusting slide rod are arranged in parallel with the clearing device frame, two ends of the longitudinal adjusting screw rod are connected between the longitudinal adjusting slide rod and the clearing device frame through bearings, the longitudinal adjusting nut matched with the longitudinal adjusting screw rod is connected with the clearing device through the hanging sliding sleeve, and the longitudinal adjusting screw rod is driven to rotate through the longitudinal adjusting motor to drive the hanging sliding sleeve of the clearing device to move along the longitudinal adjusting slide rod.

4. Peanut kernel removal machine according to claim 1, characterized in that: the peanut clearing device comprises a mounting frame, two clearing shovels, shovel arms, shovel arm opening and closing devices, shovel arm rotating devices and a depth adjusting device, the number of the clearing shovels is two, the two clearing shovels are arranged in a centrosymmetric mode in parallel, the shovel arms of the two clearing shovels are hinged to a main shaft of the shovel arm rotating devices, opening and closing execution ends of the shovel arm opening and closing devices are respectively connected with the main shaft of the shovel arm rotating devices and the shovel arms, opening and closing of the shovel arms are controlled, the driving ends of the shovel arm opening and closing devices are connected to supports of the shovel arm rotating devices, the shovel arm rotating devices are connected with the depth adjusting device through supports of the shovel arm rotating devices, and the depth adjusting device is arranged on the mounting frame.

5. The peanut kernel removing machine according to claim 4, wherein an included angle α between the lower edge of the kernel removing shovel and the ground is 15-25 degrees, a shovel width b is 15-25 mm, the front end of the kernel removing shovel is provided with an oblique angle, the horizontal length m with the oblique angle is 10-20 mm, and the width h of the shovel tip is 5-10 mm.

6. The peanut kernel removing machine according to claim 4, wherein the distance S between the two kernel removing shovels is 20-30 mm, and the length L from the kernel removing shovel point to the center of the vertical rod of the shovel arm ensures that the included angle β between the connecting line of the two shovel points and the shovel surface is 92-98 degrees.

7. Peanut kernel removal machine according to claim 4, characterized in that: the shovel arms of the two cleaning shovels are composed of vertical rods and inclined rods, the two shovel arms are arranged in parallel relatively, the connecting end with the cleaning shovels is a vertical rod, and the vertical rod is hinged with the inclined rods; the height H of the vertical rods of the two cleaning shovel arms is larger than the height of peanut plants in cleaning seasons, and the distance B between the inner sides of the two vertical rods when the shovel arms are combined is larger than the spreading of the peanut plants.

8. Peanut kernel removal machine according to claim 4, characterized in that: the shovel arm opening and closing device comprises a shovel arm opening and closing motor, an opening and closing coupler, an opening and closing screw rod, an opening and closing nut and an opening and closing execution assembly, wherein the shovel arm opening and closing motor is connected with the opening and closing screw rod through the opening and closing coupler, the opening and closing nut matched and connected with the opening and closing screw rod is fixed at one end of the opening and closing execution assembly sleeved on a main shaft of the shovel arm rotating device, the other end of the opening and closing execution assembly is respectively connected to two inclined rods of two cleaning shovel arms, and the shovel arm opening and closing motor is fixed on a support of the shovel arm rotating device through.

9. Peanut kernel removal machine according to claim 8, characterized in that: the opening and closing execution assembly comprises an opening and closing sliding sleeve, a sliding ring, a pull rod I and a pull rod II, the pull rod I and the pull rod II are identical in structure and are formed by hinging two connecting rods, one end of each of the pull rod I and the pull rod II is connected with a shovel arm I or a shovel arm II, the other end of each of the pull rod I and the pull rod II is connected with the lower end of the opening and closing sliding sleeve, an annular groove is formed in the upper portion of the opening and closing sliding sleeve, a sliding ring is arranged in the annular groove, an opening and closing nut is fixed on the sliding ring, an opening and closing screw rod is driven to rotate by an opening and closing motor of the shovel arm, the opening and closing nut matched with the opening and closing nut is driven to drive the opening and closing sliding; the stroke P of the opening and closing nut ensures that the opening distance of the two cleaning shovels is larger than the extension of the peanut plant when the shovel arms are opened and closed, so that the cleaning shovels are prevented from scraping the peanut plant.

10. Peanut kernel removal machine according to claim 4, characterized in that: the depth adjusting device comprises a depth adjusting motor, a depth adjusting coupler, a depth adjusting screw rod, a depth adjusting nut, a depth adjusting upright post and a depth adjusting sliding sleeve, wherein the depth adjusting upright post is fixed on the rack; and a distance measuring sensor is arranged below the rack and used for measuring the distance between the earth surface and the rack.

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a peanut kernel removing machine.

Background

Peanut cleaning is an effective yield-increasing technology for field management. The method specifically comprises the steps that after peanut seedlings are leveled, two fertile cotyledons buried in soil and the first pair of lateral branches with most fructification and grown between cotyledon leaf axils are exposed out of the ground in time to carry out photosynthesis; the branches and leaves on the ground are increased, the stem branches are thick and strong, and the internodes are shortened. Can also promote the root system to expand and deeply prick, and improve the capability of absorbing fertilizer water. The single plant of the clean peanut has early flower bud differentiation and a large number, and is positioned at the base part, so the yield increasing effect is obvious. However, no peanut cleaning machine is available at present, and the cleaning of peanuts in the past is mainly completed manually. With rural labor transfer and land circulation, rural labor is seriously in short supply, and a plurality of farmers are helpless and do not clean peanuts, so that the normal yield of peanuts is influenced.

Disclosure of Invention

In view of the above-mentioned problems, the present invention provides a peanut kernel removing machine which can perform multiple-ridge operations simultaneously and expose two cotyledons buried in the soil and the first pair of lateral branches grown between the axillary branches of the cotyledons to the ground to increase the number of branches above the ground.

The purpose of the invention is realized by the following technical scheme:

the invention relates to a peanut clearing machine which comprises a power vehicle, a control system, a peanut clearing device, a transverse moving device, a longitudinal moving device, a rack and a camera display device, wherein the transverse moving device is connected to the rack, a plurality of clearing device racks are arranged on a transverse sliding rod of the transverse moving device according to line spacing, the clearing device racks move along the transverse sliding rod, a longitudinal moving device is arranged along each clearing device rack, the longitudinal sliding rod of the longitudinal moving device is connected with the clearing device, a camera of the camera display device is arranged at the advancing front end of the rack, motors of the transverse moving device, the longitudinal moving device and the peanut clearing device are respectively connected with the control system, the transverse and longitudinal moving of the peanut clearing device are controlled by the control system, and the peanut clearing device is controlled to clear peanuts.

Preferably, the transverse moving device comprises two transverse moving slide bars arranged in parallel, a plurality of peanut cleaning device frames are arranged between the two transverse moving slide bars corresponding to peanut rows, the peanut cleaning device frames are connected with a transverse adjusting screw rod, wherein a transverse adjusting motor is arranged on a longitudinal beam of the frame, an output shaft of the transverse adjusting motor is connected with the transverse adjusting screw rod, a transverse adjusting nut matched with the transverse adjusting screw rod is fixed on the peanut cleaning device frames, and two ends of each peanut cleaning device frame are connected to the transverse adjusting slide bars through a transverse adjusting sliding sleeve; each cleaning device frame is connected with a longitudinal moving device.

Preferably, the longitudinal moving device comprises a longitudinal adjusting motor, a longitudinal adjusting screw rod, a longitudinal adjusting nut, a longitudinal adjusting slide rod and a suspension sliding sleeve, the longitudinal adjusting motor is mounted at one end of the longitudinal adjusting slide rod through a longitudinal motor base of the longitudinal adjusting motor, the longitudinal adjusting screw rod and the longitudinal adjusting slide rod are arranged in parallel with the clearing device frame, two ends of the longitudinal adjusting screw rod are connected between the longitudinal adjusting slide rod and the clearing device frame through bearings, the longitudinal adjusting nut matched with the longitudinal adjusting screw rod is connected with the clearing device through the suspension sliding sleeve, and the longitudinal adjusting motor drives the longitudinal adjusting screw rod to rotate to drive the suspension sliding sleeve of the clearing device to move along the longitudinal adjusting slide rod.

Preferably, the peanut clearing device comprises a mounting frame, two clearing shovels, two shovel arms, shovel arm opening and closing devices, a shovel arm rotating device and a depth adjusting device, the clearing shovels are arranged in a centrosymmetric manner and parallel to each other, the shovel arms of the two clearing shovels are hinged to a main shaft of the shovel arm rotating device, opening and closing execution ends of the shovel arm opening and closing devices are respectively connected with the main shaft of the shovel arm rotating device and the shovel arms, opening and closing of the shovel arms are controlled, a driving end of the shovel arm opening and closing devices is connected to a support of the shovel arm rotating device, the shovel arm rotating device is connected with the depth adjusting device through a support of the shovel arm rotating device, and the depth adjusting device is arranged on the mounting frame.

Preferably, the included angle α between the lower edge of the cleaning shovel and the ground is 15-25 degrees, the shovel width b is 15-25 mm, the front end of the cleaning shovel is provided with an oblique angle, the horizontal length m with the oblique angle is 10-20 mm, and the shovel tip width h is 5-10 mm.

Preferably, the distance S between the two cleaning shovels is 20-30 mm, and the length L from the cleaning shovel tip to the center of the vertical rod of the shovel arm ensures that the included angle β between the connecting line of the two shovel tips and the shovel surface is 92-98 °.

Preferably, the shovel arms of the two cleaning shovels are composed of a vertical rod and an inclined rod, the two shovel arms are arranged in parallel relatively, the connecting end with the cleaning shovel is a vertical rod, and the connecting end is hinged through the inclined rod; the height H of the vertical rods of the two cleaning shovel arms is larger than the height of peanut plants in cleaning seasons, and the distance B between the inner sides of the two vertical rods when the shovel arms are combined is larger than the spreading of the peanut plants.

Preferably, the shovel arm opening and closing device comprises a shovel arm opening and closing motor, an opening and closing coupler, an opening and closing screw rod, an opening and closing nut and an opening and closing execution assembly, the shovel arm opening and closing motor is connected with the opening and closing screw rod through the opening and closing coupler, the opening and closing nut matched and connected with the opening and closing screw rod is fixed at one end of the opening and closing execution assembly sleeved on a main shaft of the shovel arm rotating device, the other end of the opening and closing execution assembly is respectively connected to inclined rods of two cleaning shovel arms, and the shovel arm opening and closing motor is fixed on a support of the shovel arm rotating device through an opening and.

Preferably, the opening and closing execution assembly comprises an opening and closing sliding sleeve, a sliding ring, a pull rod I and a pull rod II, the pull rod I and the pull rod II are identical in structure and are formed by hinging two connecting rods, one end of each of the pull rod I and the pull rod II is connected with a shovel arm I or a shovel arm II, the other end of each of the pull rod I and the pull rod II is connected with the lower end of the opening and closing sliding sleeve, an annular groove is formed in the upper portion of the opening and closing sliding sleeve, a sliding ring is arranged in the annular groove, an opening and closing nut is fixed on the sliding ring, an opening and closing screw rod is driven by an opening and closing motor of the shovel arm to rotate, the opening and closing nut matched with the opening and closing nut is driven to drive the opening and closing sliding sleeve; the stroke P of the opening and closing nut ensures that the opening distance of the two cleaning shovels is larger than the extension of the peanut plant when the shovel arms are opened and closed, so that the cleaning shovels are prevented from scraping the peanut plant.

Preferably, the depth adjusting device comprises a depth adjusting motor, a depth adjusting coupler, a depth adjusting lead screw, a depth adjusting nut, a depth adjusting upright post and a depth adjusting sliding sleeve, wherein the depth adjusting upright post is fixed on the rack; and a distance measuring sensor is arranged below the rack and used for measuring the distance between the earth surface and the rack.

The invention has the beneficial effects that:

1. according to the peanut plant positioning device, the transverse moving device and the longitudinal moving device are arranged at the advancing front end of the power vehicle, so that the transverse adjustment and the longitudinal movement of the peanut cleaning device are automatically controlled, the camera is arranged at the front end of the rack to collect peanut images, and the accurate peanut plant position is determined through the control system.

2. The invention adopts the longitudinal moving device to move along the transverse moving slide bar of the transverse moving device to realize transverse adjustment, each longitudinal moving device drives the suspension sliding sleeve to move along the longitudinal slide bar through the lead screw and the nut to realize longitudinal adjustment, and the adjustment is convenient and stable.

3. According to the invention, two parallel centrosymmetric cleaning shovels are arranged, the shovel arm rotating device drives the cleaning shovels to rotate around seedlings, the shovel arm opening and closing device controls the opening and closing angle of the shovel arms of the cleaning shovels, the depth of the cleaning shovels deep into soil is controlled by the depth adjusting device, the cleaning shovels are enabled to bulldoze outwards, meanwhile, cotyledons are prevented from being scraped during rotation, two cotyledons buried in the soil and a first pair of lateral branches grown between axillary branches of the cotyledons can be exposed out of the ground, branches and leaves on the ground are increased, and the soil below the cotyledons is effectively cleaned.

4. The structural design of the cleaning shovel meets the requirements of cleaning depth and soil pit angle, and is convenient to clean soil below cotyledons without damaging the cotyledons. And the leaf cleaning shovel can be guaranteed to doze outwards, and meanwhile, the leaf cleaning shovel is prevented from being scraped off when the shovel rotates to work, and the leaf cleaning shovel is prevented from dozing inwards

5. The height of the vertical rods of the two cleaning shovel arms exceeds the height of peanut plants in cleaning seasons, and the inner side distance B when the shovel arms are combined is larger than the extension of the peanut plants, so that the peanut plants are prevented from being scratched when the shovel arms rotate. The shovel arm is guaranteed to be opened and closed by the stroke size P of the shovel arm opening and closing nut, the opening distance of the two cleaning shovels is larger than the spreading width of the peanut plant, and the cleaning shovels are prevented from scraping the peanut plant.

6. The shovel arm opening and closing device drives the opening and closing screw rod to rotate through the shovel arm opening and closing motor, drives the opening and closing nut matched with the shovel arm opening and closing screw rod to drive the opening and closing sliding sleeve to move up and down along the main shaft of the shovel arm rotating device, so that the pull rod I and the pull rod II connected with the shovel arm opening and closing device are driven to simultaneously drive the cleaning shovel arm I and the cleaning shovel arm II to open or close, the two cleaning shovel arms are parallel and rotate around seedlings, soil below cotyledons is cleaned, and peanut plants are not scratched.

7. The depth adjusting device drives the depth adjusting screw rod to rotate through the depth adjusting motor, and drives the depth adjusting nut which is fixed on the depth adjusting sliding sleeve and is in fit connection with the depth adjusting screw rod to generate displacement, so that the depth adjusting sliding sleeve sleeved on the depth adjusting upright post slides along the depth adjusting upright post, and the adjustment of the soil penetration depth of the cleaning shovel is realized.

8. The invention adopts an ultrasonic distance measuring sensor to measure the distance between the earth surface and the frame, and utilizes the depth adjusting motor to drive the depth adjusting screw rod and the nut to move according to the change of the measured distance, so that the soil cleaning shovel can move up and down to control the soil cleaning depth, thereby adapting to the uneven earth surface and preventing the over-deep or insufficient soil cleaning depth.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic top view of the front end of the powered vehicle of FIG. 1 shown extended.

Fig. 3 is a schematic structural diagram of the clearing device in fig. 1.

Fig. 4 is a schematic diagram of the position relationship of the two cleaning shovels in fig. 3.

In the figure: 1. a power vehicle, 2, a frame, 3, a longitudinal driving motor seat, 4, a longitudinal driving motor, 5, a longitudinal driving screw rod,

6. the device comprises a cleaning device 601, a cleaning shovel I, 602, a cleaning shovel arm I vertical rod 603, a cleaning shovel arm I, 604, a pull rod I, 605, an opening-closing sliding sleeve 606, an opening-closing nut 607, an opening-closing lead screw 608, an opening-closing coupling 609, an opening-closing motor base 610, a shovel arm opening-closing motor 611, a support 611, 612, a bearing 613, a cleaning shovel coupling 614, a cleaning shovel motor base 615, a cleaning shovel motor 616, a depth adjusting upright post 617, a cleaning shovel II, 618, a depth adjusting motor 619, a depth adjusting motor base 620, a depth adjusting coupling 621, a depth adjusting lead screw 621, a depth adjusting sliding sleeve 622, a depth adjusting nut 623, a cover 624, a mounting frame 625, a 626, a distance measuring sensor 627, a main shaft, a 628 sliding ring, a 629, an annular groove, 630, a pull rod II, 631, a cleaning shovel arm II, 632 and a cleaning shovel arm vertical rod;

7. the device comprises a longitudinal moving sliding rod, 8 suspension sliding sleeves, 9 longitudinal driving nuts, 10 longitudinal driving screw rod bearings, 11 camera supports, 12 cameras, 13 fixed shaft sleeves, 14 transverse moving sliding sleeves, 15 transverse moving sliding rods, 16 frame longitudinal beams, 17 cleaning device frames, 18 transverse adjusting motors, 19 transverse adjusting driving nuts, 20 control systems and 21 transverse adjusting screw rods.

Detailed Description

The invention is described in detail below with reference to the figures and examples.