CN-121970590-A - All-terrain self-adaptive precise root cutting device and root cutting method

CN121970590ACN 121970590 ACN121970590 ACN 121970590ACN-121970590-A

Abstract

The invention provides an all-terrain self-adaptive accurate root cutting device and method for transverse and longitudinal collaborative profiling and multi-degree-of-freedom standing posture regulation, comprising a frame, a driving mechanism, a transverse and longitudinal bi-directional profiling mechanism, a root cutting mechanism, a reciprocating mechanism, a left and right reciprocating mechanism, a height adjusting mechanism and a cutting mechanism, wherein the driving mechanism is arranged on the frame, the transverse and longitudinal bi-directional profiling mechanism is arranged on the frame, is positioned at the forefront end of the transverse and longitudinal tri-degree-of-freedom accurate root cutting device and is used for bi-directional profiling in the transverse direction of ridges, one end of the root cutting mechanism is connected with the transverse and longitudinal bi-directional profiling mechanism, the other end of the root cutting mechanism is connected with the reciprocating mechanism and is positioned behind the transverse and longitudinal bi-directional profiling mechanism, the left and right reciprocating mechanism is arranged in the frame and is driven by a motor to move, and is respectively arranged at the motor and the cutting mechanism and the height adjusting mechanism are respectively arranged at the profiling mechanism and the cutting mechanism. The scheme solves the problems that crop scattering damage is caused by uneven and excessive root cutting on both the transverse ridge surface and the longitudinal ridge surface when the root cutting crop on the soil cuts the root, labor intensity is increased due to manual secondary operation, and the like, and realizes accurate root cutting of the crop.

Inventors

ZHAO BO
ZHANG WEIPENG
Tong Wenyu
LI MENGZHU
YANG ZIAO
WANG WEIJING
BAI SHENGHE
YUAN YANWEI
AN RAN
ZHOU LIMING
NIU KANG
LV CHENGXU
ZHENG YUANKUN

Assignees

中国农业机械化科学研究院集团有限公司

Dates

Publication Date: 20260505
Application Date: 20251202

Claims (10)

1. The all-terrain self-adaptive precise root cutting device is characterized by comprising: A frame; the driving mechanism is arranged on the frame; The transverse and longitudinal bidirectional profiling mechanisms are arranged on the frame and positioned at the forefront end of the whole root cutting device, and comprise a plurality of groups of profiling devices, wherein the plurality of groups of profiling devices are arranged on the frame through U-shaped shafts and are used for profiling the ridge direction and the surface unevenness of the ridge cross section at the same time; One end of the left-right reciprocating mechanism is connected with the driving mechanism, and the other end of the left-right reciprocating mechanism is connected with the rack and is positioned on the inner wall of the rack and used for driving the cutter to reciprocate left and right; And one end of the root cutting mechanism is connected with the transverse and longitudinal bidirectional profiling mechanism, and the other end of the root cutting mechanism is connected with the left and right reciprocating mechanism and is positioned behind the transverse and longitudinal bidirectional profiling mechanism and used for cutting roots of crops.
2. The all-terrain adaptive precise root cutting device according to claim 1, wherein each group of profiling devices comprises: The U-shaped shaft is fixed on the frame; the fixed plate and the profiling rod are connected with each other, and one end of the fixed plate is fixed on the U-shaped shaft while the other end is connected with the profiling rod; the profiling wheel is fixedly connected with the profiling rod; The frame connecting plate is fixed at one end of the U-shaped shaft; the height adjusting mechanism is connected with the fixed plate.
3. The all-terrain adaptive precise root cutting device of claim 2, wherein the height adjusting mechanism comprises: one end of the pressure spring is connected with the fixed plate, and the other end of the pressure spring is connected with the connecting rod through the connecting plate; One end of the constant curvature handle is connected with the pressure spring, and the other end of the constant curvature handle is connected with the connecting rod and is positioned at the uppermost part; The distance auxiliary regulation and control system comprises a distance detection sensor, a ridge surface profiling height calculation model and a controller, wherein a distance detection value of a cutting knife center point and a ridge surface is obtained through the distance detection sensor.
4. The all-terrain self-adaptive precise root cutting device of claim 3, wherein the curvature of the equal curvature handle is the same as the radius of the profiling rod rotating around the fixed plate, so as to counteract the trend of the forward and backward movement of the profiling shaft, which leads to the forward and backward movement of the cutter, and ensure that the cutter moves only up and down along with the profiling shaft, and the calculation formula is as follows: (1) (2) Wherein H 1 、H 2 、H 3 is vertical displacement from circular motion to linear motion, L 1 、L 2 、L 3 is horizontal displacement from circular motion to linear motion, and R is radius of rotation of the profiling rod around the fixed plate, and mm.
5. The all-terrain self-adaptive precise root cutting device of claim 4, wherein the distance detection value between the center point of the cutter and the ridge surface is compared with the preset height between the cutter and the profiling wheel, and the angle corresponding to the height difference between the preset height and the distance detection value is the angle of the equal curvature handle to rotate clockwise/anticlockwise; controlling the equal curvature handle to rotate clockwise/anticlockwise at the current moment by the height difference; The header height calculation model is as follows: h=h 2 -H 1 (3) (4) Wherein h is the mechanical adjustment height of the equal curvature handle mechanism, and mm; The height value is preset between the cutter and the profiling wheel, and is mm; the angle change after the ith adjustment is in degree, and n is the number of times of adjustment of the constant curvature handle; The angle of the equal curvature handle corresponding to the height value is regulated when the ridge surface is raised, and the angle is also the angle which is regulated for the (i+1) th time from the equal curvature handle to the auxiliary regulation and control system; (5) Wherein, the In order to meet the angle of the equal curvature handle corresponding to the height value of the machine adjustment when the ridge surface is sunken, the angle is also the angle which is adjusted for the (i+1) th time from the equal curvature handle to the auxiliary adjustment and control system.
6. The all-terrain self-adaptive precise root cutting device of claim 5, wherein the left-right reciprocating mechanism comprises: A reciprocating cross bar connected with the U-shaped handles at the two sides by bolts, and One end of the reciprocating vertical rod is fixedly connected with the reciprocating cross rod, and the other end of the reciprocating vertical rod is movably connected with the reciprocating connecting shaft; One end of the U-shaped handle is connected with the driving mechanism, and the other end of the U-shaped handle is connected with the reciprocating transverse shaft.
7. The all-terrain adaptive precise root cutting device of claim 6, wherein the root cutting mechanism comprises: A cutter shaft and a cutter, the cutter shaft is fixed on the connecting rod, and One end of the sleeve shaft is movably connected with the cutter shaft, the other end of the sleeve shaft is fixedly connected with the cutter, And one end of the movable cutting shaft is fixedly connected with the reciprocating connecting shaft, and the other end of the movable cutting shaft is movably connected with the reciprocating connecting shaft, so that the movable cutting shaft has three degrees of freedom of rotary motion and left-right translation.
8. The all-terrain self-adaptive precise root cutting device of claim 7, wherein two ends of the reciprocating connecting shaft are connected with the reciprocating vertical rod, and the middle is movably connected with the movable cutting shaft.
9. The all-terrain self-adaptive precise root cutting device of claim 1, wherein the driving mechanism comprises a motor and a short-handle rocker.
10. An all-terrain self-adaptive accurate root cutting method is characterized in that the all-terrain self-adaptive accurate root cutting device as claimed in any one of claims 1 to 9 is adopted, and the method comprises the following steps: the motor rotates to drive the rocker to rotate, and the up-and-down movement displacement of the rocker is negligible because of the short rocker, and the U-shaped handle reciprocates left and right under the action of the rocker; step two, the U-shaped handle drives the reciprocating cross rod to move left and right, and the reciprocating cross rod drives the reciprocating vertical rod to move, so as to drive the reciprocating connecting shaft to move; step three, the reciprocating connecting shaft drives the movable cutting shaft to move, and the movable cutting shaft drives the cutting knife to do reciprocating motion through the sleeve shaft; Step four, along with the advancing of the machine tool, the profiling wheel contacts the surface of the ridge and the cross section direction of the ridge, and the profiling rod is driven to move downwards/upwards according to the degree of the concave/convex of the surface of the ridge; Step five, the up-and-down motion of the profiling rod drives the equal curvature handle to move up and down; When the constant curvature handle moves upwards, the pressure spring is in a compressed state, and the pressure spring continuously compresses due to the supporting effect of the earth surface on the profiling wheel; step seven, the connecting rod is driven by the equal curvature handle to move up and down, and the cutter shaft is driven by the connecting rod to move up and down; Step eight, the profiling wheel, the pressure spring, the equal curvature handle, the connecting rod, the fixed plate, the U-shaped shaft and the profiling rod of each profiling group act independently, and the profiling related parts of each profiling group move respectively to finish the bidirectional mechanical adjustment of the ridge direction and the ridge cross section; Step nine, obtaining a distance detection value between a cutting knife center point and a ridge surface through a distance detection sensor, comparing the distance detection value between the cutting knife center point and the ridge surface with a preset height between the cutting knife and a profiling wheel, wherein the angle corresponding to the height difference between the preset height and the distance detection value is an angle at which an equal curvature handle needs to rotate clockwise/anticlockwise; The header height calculation model is as follows: h=h 2 -H 1 (3) (4) Wherein h is the mechanical adjustment height of the equal curvature handle mechanism, and mm; The height value is preset between the cutter and the profiling wheel, and is mm; the angle change after the ith adjustment is in degree, and n is the number of times of adjustment of the constant curvature handle; The angle of the equal curvature handle corresponding to the height value is regulated when the ridge surface is raised, and the angle is also the angle which is regulated for the (i+1) th time from the equal curvature handle to the auxiliary regulation and control system; (5) Wherein, the In order to meet the angle of the equal curvature handle corresponding to the height value of the machine adjustment when the ridge surface is sunken, the angle is also the angle which is adjusted for the (i+1) th time from the equal curvature handle to the auxiliary adjustment and control system.

Description

All-terrain self-adaptive precise root cutting device and root cutting method Technical Field The invention relates to the technical field of agricultural machinery, in particular to an all-terrain self-adaptive precise root cutting device and a root cutting method, and specifically relates to an all-terrain self-adaptive precise root cutting device and a root cutting method with transverse and longitudinal bidirectional collaborative profiling and multi-degree-of-freedom standing posture regulation. Background The transverse and longitudinal three-degree-of-freedom precise root cutting device is characterized in that the height and the levelness of a cutting knife are simultaneously adjusted along the ridge direction and the surface evenness of the ridge cross section through a mechanism, the root leaving height is ensured to be 10-30mm, the cutting knife is provided with three degrees of freedom of left and right reciprocation, rotation of a winding cutting shaft and forward movement of a random tool, and the technology is suitable for cutting root crops on soil suitable for mechanized planting. In the harvesting link of the root crop under the earth, the link presents the typical characteristic of high labor intensity-low mechanical substitution due to the operation characteristic of the harvesting link, and becomes the key node with the greatest labor intensity and the greatest time consumption in the whole production process. Specifically, the manual harvest method accounts for up to about 40% of the harvesting of the root crops under soil and accounts for more than 50% of the total production cost. Although the whole-process mechanized harvesting proportion reaches about 20%, the improvement of agricultural production efficiency and economic benefit is severely restricted due to the limitation of technology. At present, the harvesting method of the soil root crops at home and abroad mainly adopts a root cutting mode of stubble-remaining cutting. However, the technical route has the obvious problems that the root cutting depth of ① is unstable, and under the existing stubble cutting mode, the root cutting depth is difficult to precisely control due to the inclination of the transverse interface of the ridge, and the condition of insufficient or over-deep cutting easily occurs, so that the root integrity is affected. ② High stem leaf residue and loss, namely, the stubble-remaining cutting is easy to cause a large amount of stem leaf residue, so that the difficulty of subsequent treatment is increased, the loss of crops is possibly excessive, and even the crop is affected by the infection of the next stubble crops by the disease residue. ③ The petioles are scattered randomly, namely, the petioles are scattered easily and are unordered in the cutting process, so that the demands of the market on the tidy petioles and convenience in sales cannot be met, and the petiole cutting machine is especially not suitable for intensive and standardized domestic sales modes. ④ The existing leaf vegetable harvesting profiling root cutting mechanism is high in profiling error due to softer ridge surfaces, and high damage rate and leakage cutting rate are often present. The method not only reduces the economic benefits of crops, but also limits the popularization and application of mechanized harvesting. Disclosure of Invention Aiming at the defects in the prior art, the invention provides the all-terrain self-adaptive precise root cutting device so as to realize precise root cutting of crops under uneven ground surface, reduce the damage rate of the crops and the labor cost, improve the yield and benefit of the crops, and greatly improve the practicability of machines. The invention provides an all-terrain self-adaptive accurate root cutting device which comprises: A frame; the driving mechanism is arranged on the frame; The transverse and longitudinal bidirectional profiling mechanisms are arranged on the frame and positioned at the forefront end of the whole root cutting device, and comprise a plurality of groups of profiling devices, wherein the plurality of groups of profiling devices are arranged on the frame through U-shaped shafts and are used for profiling the ridge direction and the surface unevenness of the ridge cross section at the same time; One end of the left-right reciprocating mechanism is connected with the driving mechanism, and the other end of the left-right reciprocating mechanism is connected with the rack and is positioned on the inner wall of the rack and used for driving the cutter to reciprocate left and right; And one end of the root cutting mechanism is connected with the transverse and longitudinal bidirectional profiling mechanism, and the other end of the root cutting mechanism is connected with the left and right reciprocating mechanism and is positioned behind the transverse and longitudinal bidirectional profiling mechanism and used for cutting roots of crops. In some of these embodime