CN102511233A - Multi-motor driven rice transplanting machine and control method thereof - Google Patents
Multi-motor driven rice transplanting machine and control method thereof Download PDFInfo
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- CN102511233A CN102511233A CN2011104578958A CN201110457895A CN102511233A CN 102511233 A CN102511233 A CN 102511233A CN 2011104578958 A CN2011104578958 A CN 2011104578958A CN 201110457895 A CN201110457895 A CN 201110457895A CN 102511233 A CN102511233 A CN 102511233A
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Abstract
The invention discloses a multi-motor driven rice transplanting machine and a control method thereof and belongs to the technical field of new energy agricultural machinery. By adopting power of storage batteries, the invention solves the problems of large size and weight, complicated transmission mechanism, inflexibility in control, high maintenance and running cost, pollutions of noise and waste gas, and the like of a traditional rice transplanter driven by an oil-fired engine; and not only are the above problems solved, but also travelling waterwheel driving motors, a profiling mechanism driving motor and a rice transplanting mechanism driving motor are controlled independently by a controller, so that the functions that the machine turns at a small radius, a profiling mechanism is standby in an energy-saving manner, the distances between transplanted seedlings can be adjusted in a wide range, and the like can be realized. The invention is suitable for China with the practical characteristics of vast population and limited farmland, shortage of energy, large agricultural acreage in mountainous areas and hills, disperse land masses and the like and meets the requirements of the national modern agriculture for novel rice transplanting machines.
Description
Technical field
The present invention relates to the rice transplanter research field, particularly a kind of many motor-driven rice transplanter and control method thereof.
Background technology
Paddy rice is the cereal crops that China's cultivated area is maximum, per unit area yield is the highest, gross output is maximum; Its output is seniority among brothers and sisters first in the world; It is staple food with the rice that there is 60% population in China, and paddy rice has critical role in the grain-production of China, so Rice Production mechanization is significant.At present, it is power source that general rice transplanting machinery adopts single gasoline engine or diesel engine mostly, through gear and transmission mechanism with transmission of power to executing agency; And rice transplanter executing agency is more; Motion state is complicated, and speed change, transmission problem are one of difficult points in AGRICULTURAL MACHINE DESIGN and the manufacturing field always, and particularly middle low power fuel engines efficient is low; Mechanical speed change, transmission mechanism are difficult for simplifying, and make whole system be unfavorable for low-carbon energy-saving and reduce cost.
Fuel oil power agricultural machinery has more serious exhaust emission and oil pollution, and air and soil are had harmful effect, and in the green house environment, the noise pollution of fuel oil power agricultural machinery also has to consider that above factor is bigger to human body and environmental influence especially.Particularly low power two-stroke gasoline engine, exhaust emissions and noise pollution are even more serious.Along with world's primary energy is further exhausted, the amount of increase of international oil price is apparently higher than electricity price in recent years, and electric energy also can obtain from renewable energy resources.No matter see from present energy consumption cost, the still following energy orientation, replacing primary energy with electric energy as the new forms of energy that finally utilize form is future development trend, the particularly how motor-driven kind of drive is the effective way that promotes existing agricultural machinery.
In addition, because existing rice transplanter all is by an actuating unit power to be provided, therefore difficult the realization needs artificial help to the control respectively of different gearing mechanism under situation such as differential turning, and flexibility is not enough, has increased operator's labour intensity.
Therefore, need provide a kind of simple in structure, energy-saving and environmental protecting, can make rice transplanter realize that differential is turned and walking, reduce the rice transplanter of flexibility operations such as radius of turn.
Summary of the invention
The shortcoming that main purpose of the present invention is to overcome prior art is with not enough; A kind of many motor-driven rice transplanter is provided; It has advantages simple in structure, energy-saving and environmental protecting, and can realize that differential is turned and walking, reduce radius of turn, alleviates operator's labour intensity; Increase the flexibility of rice transplanter, rice transplanter left and right sides water wheels can be worked down at the dark environment of different sludge pin.The present invention also provides a kind of control method based on said apparatus.
One object of the present invention realizes through following technical scheme: a kind of many motor-driven rice transplanter; Comprise rice transplanter frame, walking water wheels drive motors, walking water wheels transmission device, walking water wheels, feeler mechanism drive motors, feeler mechanism, rice transplanting mechanism drive motors, rice transplanting mechanism, handle, the side deck of boat and the middle deck of boat; Said walking water wheels, the side deck of boat all are arranged at the both sides on the rice transplanter frame direction of travel, and the middle deck of boat is arranged at the centre on the rice transplanter frame direction of travel; Said walking water wheels all link to each other with walking water wheels transmission device, and walking water wheels drive motors links to each other with walking water wheels transmission device, is used to control the rotation of walking water wheels; Said feeler mechanism comprises screw mandrel, feeler mechanism transmission arm, walking water wheels support arm; Screw mandrel one end links to each other with walking water wheels drive motors; The other end links to each other with the feeler mechanism transmission arm; The feeler mechanism transmission arm is hinged with walking water wheels support arm one end, and the walking water wheels support arm other end is connected with the walking water wheels, and walking water wheels support arm is used to regulate moving on the walking water wheels vertical direction; Said rice transplanting mechanism comprises rice transplanting mechanism transmission device, seedling pin, rice shoot plate, and rice transplanting mechanism transmission device one end links to each other with the rice transplanting mechanism drive motors, and the other end links to each other with the seedling pin; The rice shoot plate is arranged on the end of rice transplanter rear side near handle; Be fixedly connected with the side deck of boat, the rice shoot plate links to each other with the rice transplanting mechanism drive motors, during work; The seedling pin takes off rice shoot and inserts the paddy field from the rice shoot plate under the rice transplanting mechanism actuator drives, and the rice shoot plate swings under the rice transplanting mechanism drive motor drives; Said handle is fixed on rice transplanter frame rear side.
As preferably, said rice transplanter also comprises controller, and controller links to each other with each walking water wheels drive motors, feeler mechanism drive motors, rice transplanting mechanism drive motors respectively.Controller is controlled each motor respectively with passage independently, distributes each motor speed according to setting value, and control rice transplanter duty works alone each several part.
As preferably, motor, controller in the said rice transplanter are supplied power through control circuit by accumulator.Adopt this device not only can make rice transplanter simple in structure, energy-saving and environmental protecting, and also very safe when operation.
Said handle is provided with several gauge taps, and gauge tap links to each other with controller, is respectively applied for the speed of control walking water wheels drive motors, feeler mechanism drive motors, rice transplanting mechanism drive motors and turns to.The operator only need just be operated at the handle place can control whole device, conveniently control.
As preferably, said walking water wheels drive motors is two, drives the walking water wheels of the left and right sides respectively.Adopt two motors to control respectively, can realize rotating control, with control rice transplanter travel track, radius of turn with action such as retreat, reduce the labour intensity of operator when turning simultaneously.For example when 2 water wheels drive motors rotating speeds of advancing are opposite, can realize minor-circle turn, solve the excessive technical barrier of wheeled in the past agricultural machinery radius of turn.
Preferably, said walking water wheels drive motors is provided with decelerator, is used to lower motor speed, increases torsion.
Preferably, said feeler mechanism drive motors is two, drives the feeler mechanism of the left and right sides respectively.Adopt two feeler mechanism drive motors that two feeler mechanisms are worked alone, thus can each self-regulation height, can under the rugged situation in paddy field, keep the rice transplanter vehicle frame parallel with the mud face.
Preferably, the said side deck of boat or middle deck of boat front end are equipped with and are used for detecting in real time the displacement transducer that the deck of boat moves up and down distance, and this displacement transducer links to each other with controller, and controller is controlled the feeler mechanism drive motors according to displacement transducer signal.Through real-time collection signal, what controller can be real-time controls the feeler mechanism drive motors, and then the height of control walking water wheels, and the rice transplanting function is worked down at the dark environment of different sludge pin.
Preferably, the said middle deck of boat or side deck of boat front end place are provided with the pressure sensor that is used for detecting in real time deck of boat forefront pressure, and this pressure sensor links to each other with controller, and controller is controlled the feeler mechanism drive motors according to pressure sensor signal.
Another object of the present invention realizes through following technical scheme: a kind of control method based on above-mentioned many motor-driven rice transplanter; Switch on operator's joystick; Switch passes the signal along to controller, and controller transmits control signal to the feeler mechanism drive motors of correspondence or walking water wheels drive motors or rice transplanting mechanism drive motors according to signal; Said feeler mechanism drive motors drives feeler mechanism according to control signal and moves; Thereby regulate moving on the walking water wheels vertical direction; Said walking water wheels drive motors is regulated the rotating speed of walking water wheels according to control signal and is turned to; Said rice transplanting mechanism drive motors drives the rice transplanting mechanism transmission device according to control signal, and rice transplanting mechanism transmission device control seedling pin takes off rice shoot and rice shoot is inserted the paddy field from the rice shoot plate.
Two displacement threshold value of said controller inner setting and two pressure thresholds; If the data of displacement transducer and pressure sensor collection drop in its corresponding threshold interval respectively; Then controller does not move; If the data of several times collection all drop in its threshold interval, then controller control feeler mechanism drive motors is shut down; Otherwise the data of arbitrary sensor acquisition exceed its threshold interval, and controller all sends the adjustment displacement commands to the feeler mechanism drive motors, and control feeler mechanism drive motors carries out corresponding operating.For the 200W direct current generator, when being in the shutdown self-locking state, self-lock force is 2000N, supports moment, energy saving greater than the walking water wheels.
The present invention compared with prior art has following advantage and beneficial effect:
1, electromotor of the present invention has good speed governing and power control ability flexibly, can make system remain on efficient state, particularly the realization of the many Electric Machine Control of distributing; Can electric energy be delivered to the power outlet terminal easily; Simplified speed change and gearing structure greatly, reduced the weight and volume of agricultural machinery, rice transplanter production and maintenance cost are reduced; It is more reliable to work, and energy-saving and environmental protecting.
2, rice transplanter walking water wheels are by independent motor driving separately among the present invention, and this rice transplanter can be realized differential turning and walking, reduce radius of turn, alleviates operator's labour intensity, increases the flexibility of rice transplanter.
3, the electronic feeler mechanism of the present invention's design utilizes the battery feed of electronic rice transplanter to do power; Adopt the motor of 2 platform independent to drive the feeler mechanism of left and right sides water wheels respectively; And adjust the relative altitude of left and right sides water wheels in real time according to the displacement transducer of the both sides deck of boat; Make seedling dish and paddy field mud face maintenance level, guarantee the transplanting depth quality, rice transplanter left and right sides water wheels are worked down at the dark environment of different sludge pin.
4, the present invention is in more smooth paddy field, and when feeler mechanism not under the triggering situation, the feeler mechanism drive motors is in the shutdown self-locking state, can energy efficient.
Description of drawings
Fig. 1 is the Facad structure sketch map of apparatus of the present invention;
Fig. 2 is the plan structure sketch map of apparatus of the present invention embodiment one;
Fig. 3 is the plan structure sketch map of apparatus of the present invention embodiment two.
Among Fig. 1-3: the 1-controller; 2-feeler mechanism drive motors; 3-feeler mechanism transmission arm; The 4-water wheels of walking; 5-rice transplanting mechanism transmission case; 6-rice shoot plate; The 7-handle; The 8-side deck of boat; 9-rice transplanting mechanism driving chain; 10-rice transplanting mechanism drive motors; 11-walking water wheels support arm; The deck of boat among the 12-; 13-walking water wheels drive motors; 14-seedling pin; The 15-screw mandrel.
Embodiment
Below in conjunction with embodiment and accompanying drawing the present invention is described in further detail, but embodiment of the present invention is not limited thereto.
Shown in Fig. 1-2; Present embodiment is based on two-wheel 4 row step-by-step movement rice transplanters; By many motor-driven; Comprise rice transplanter frame, two walking water wheels drive motors 13, walking water wheels transmission device, walking water wheels 4, feeler mechanism drive motors 2, feeler mechanism, rice transplanting mechanism drive motors 10, rice transplanting mechanism, handle 7, the side deck of boat 8 and a middle deck of boat 12; Said walking water wheels 4, the side deck of boat 8 all are arranged at the both sides of rice transplanter frame direction of travel, and the middle deck of boat 12 is arranged at the centre of rice transplanter frame direction of travel; Said walking water wheels 4 all link to each other with walking water wheels transmission device, and two walking water wheels drive motors 13 link to each other with the walking water wheels transmission device of both sides respectively, are used to control the rotation of walking water wheels 4; Said feeler mechanism comprises screw mandrel 15, feeler mechanism transmission arm 3, walking water wheels support arm 11; Screw mandrel 15 1 ends link to each other with walking water wheels drive motors 13; The other end links to each other with feeler mechanism transmission arm 3; Feeler mechanism transmission arm 3 is hinged with walking water wheels support arm 11 1 ends, and walking water wheels support arm 11 other ends are connected with walking water wheels 4, and walking water wheels support arm 11 is used to regulate moving on walking water wheels 4 vertical direction; Said rice transplanting mechanism comprises rice transplanting mechanism transmission device, seedling pin 14, rice shoot plate 6; Rice transplanting mechanism transmission device one end links to each other with rice transplanting mechanism drive motors 10; The other end links to each other with seedling pin 14, and rice shoot plate 6 is arranged on the end of rice transplanter rear side near handle 7, is fixedly connected with the side deck of boat 8; Rice shoot plate 6 links to each other with rice transplanting mechanism drive motors 10; During work, seedling pin 14 takes off rice shoot and inserts the paddy field from rice shoot plate 6 under the rice transplanting mechanism actuator drives, and rice shoot plate 6 swings under rice transplanting mechanism drive motors 10 drives; Said handle 7 is fixed on rice transplanter frame rear side.
Said rice transplanter also comprises controller 1, and controller 1 is arranged on the head of rice transplanter, and controller 1 links to each other with each walking water wheels drive motors 13, feeler mechanism drive motors 2, rice transplanting mechanism drive motors 10 respectively.Controller is controlled each motor respectively with passage independently, distributes each motor speed according to setting value, and control rice transplanter duty works alone each several part.
Walking water wheels drive motors 13 in the said rice transplanter, feeler mechanism drive motors 2, rice transplanting mechanism drive motors 10, controller 1 are supplied power through control circuit by accumulator.Adopt this device not only can make rice transplanter simple in structure, energy-saving and environmental protecting, and also very safe when operation.
Said handle 7 is provided with several gauge taps, and gauge tap links to each other with controller 1, is respectively applied for the speed of control walking water wheels drive motors 13, feeler mechanism drive motors 2, rice transplanting mechanism drive motors 10 and turns to.The operator only need just be operated at the handle place can control whole device, conveniently control.
Said walking water wheels drive motors 13 is two, drives the walking water wheels 4 of the left and right sides respectively.Adopt two motors to control respectively, can realize rotating control, with control rice transplanter travel track, radius of turn with action such as retreat, reduce the labour intensity of operator when turning simultaneously.For example when 2 water wheels drive motors rotating speeds of advancing are opposite, can realize minor-circle turn, solve the excessive technical barrier of wheeled in the past agricultural machinery radius of turn.
Said walking water wheels drive motors 13 is provided with decelerator, is used to lower motor speed, increases torsion.In the present embodiment, the middle deck of boat 12 front ends are equipped with and are used for detecting in real time the displacement transducer that the deck of boat moves up and down distance, and this displacement transducer links to each other with controller 1, and controller is controlled feeler mechanism drive motors 2 according to displacement transducer signal.Through real-time collection signal, what controller can be real-time controls feeler mechanism drive motors 2, and then the height of control walking water wheels, and the rice transplanting function is worked down at the dark environment of different sludge pin.The middle deck of boat 12 front end places also are provided with the pressure sensor that is used for detecting in real time deck of boat forefront pressure, and this pressure sensor links to each other with controller 1, and controller is controlled feeler mechanism drive motors 2 according to pressure sensor signal.In like manner, displacement transducer and pressure sensor also can be arranged on the side deck of boat 8.
A kind of control method based on above-mentioned many motor-driven rice transplanter; Switch on operator's joystick 7; Switch passes the signal along to controller 1, and controller 1 transmits control signal to the feeler mechanism drive motors 2 of correspondence or walking water wheels drive motors 13 or rice transplanting mechanism drive motors 10 according to signal; Said feeler mechanism drive motors 2 drives feeler mechanism according to control signal and moves; Thereby regulate moving on walking water wheels 4 vertical direction; Said walking water wheels drive motors 13 is regulated the rotating speed of walking water wheels according to control signal and is turned to; Said rice transplanting mechanism drive motors 10 drives the rice transplanting mechanism transmission device according to control signal, and rice transplanting mechanism transmission device control seedling pin 14 takes off rice shoot and inserts the paddy field from rice shoot plate 6.
Said two displacement threshold value of controller 1 inner setting and two pressure thresholds; If the data of displacement transducer and pressure sensor collection drop in its corresponding threshold interval respectively; Then controller does not move; If the data of several times collection all drop in its threshold interval, then controller control feeler mechanism drive motors 2 is shut down; Otherwise the data of arbitrary sensor acquisition exceed its threshold interval, and controller all sends the adjustment displacement commands to feeler mechanism drive motors 2, and control feeler mechanism drive motors 2 carries out corresponding operating.For the 200W direct current generator, when being in the shutdown self-locking state, self-lock force is 2000N, supports moment, energy saving greater than the walking water wheels.
In the present embodiment, the walking water wheels drive motors of band decelerator arrives walking water wheels 4 through walking water wheels transmission device with transmission of power, and rotating speed is controlled with turning to by controller.Through the rotating speed of control walking water wheels drive motors, can when 2 water wheels drive motors rotating speeds of advancing are opposite, can realize minor-circle turn to the accurate control of rice transplanter course, solved the excessive technical barrier of wheeled in the past agricultural machinery radius of turn.
2 rotatings of feeler mechanism drive motors can or promote 3 motions of feeler mechanism transmission arm through screw mandrel 15 pullings, and the walking water wheels transmission arm that is connected with its fixed angle drives the walking water wheels and moves up and down, thereby the height of adjustment rice transplanting fuselage reaches the profiling effect.Under not startup of feeler mechanism situation, feeler mechanism drive motors 2 is in self-locking state, saves energy consumption.
In the present embodiment; The rice transplanting mechanism transmission device specifically is meant rice transplanting mechanism driving chain 9 and rice transplanting mechanism transmission case 5; Rice transplanting mechanism drive motors 10 arrives rice transplanting mechanism transmission case 5 through rice transplanting mechanism driving chain 9 with transmission of power, and the level of this device completion control rice shoot plate 6 moves back and forth the rice transplanting campaign with 4 seedling pins 14.Under the certain situation of the rice transplanter speed of travel; The rotating speed of rice transplanting mechanism drive motors 10 has determined the spacing in the rows of rice shoot; Rotating speed through control walking water wheels drive motors 13 and rice transplanting mechanism drive motors 10 cooperates, and can realize the wide cut adjustment of rice shoot spacing in the rows, to adapt to the rice seedling of different cultivars.
Accumulator and controller 1 are installed in rice transplanter head accumulator and the control circuit case, adopt waterproof insulation to handle.Power switch and speed-regulating switch are installed in handle 7 through holding wire, make things convenient for the driver to control.According to speed and pole changer instruction on the handle 7, control circuit respectively to about 2 walking water wheels drive motors, 13 output PWM drive signals, with the rotating speed of control walking water wheels 4 with turn to.According to density of transplants driving switch on the rotating speed of walking water wheels drive motors 13 and the handle 7, control circuit decision rice transplanting mechanism drive motors 10 rotating speeds are with the adjustment of realization rice transplanting spacing in the rows.
The middle deck of boat 12 front ends are equipped with pressure switch;, pressure starts feeler mechanism drive motors 2 when reaching the capping value; This motor just changes, and promotes feeler mechanism transmission arm 3 motion rearward through screw mandrel 15, and the walking water wheels support arm 11 that is connected with its fixed angle drives walking water wheels 4 and moves downward; Thereby raise the rice transplanting fuselage, to guarantee the rice transplanter walking and the rice shoot degree of depth smoothly; , pressure starts feeler mechanism drive motors 2 when reaching preset lower limit, this motor counter-rotating, and the feeler mechanism action is with above-mentioned opposite.Between pressure limit, feeler mechanism drive motors 2 is in self-locking state, keeps the relative altitude of walking water wheels 4 and fuselage.
The switch of all motors and speed governing all have manual control function, to adapt to special circumstances.
Embodiment 2
Present embodiment except that following characteristics other structures with embodiment 1: as shown in Figure 3, said feeler mechanism drive motors 2 is two, drives the feeler mechanism of the left and right sides respectively.On the side deck of boat 8 of both sides, displacement transducer or pressure sensor are set respectively, thus current displacement or the pressure of the detection side deck of boat in real time.Adopt two feeler mechanism drive motors that two feeler mechanisms are worked alone, thus can each self-regulation height, can under the rugged situation in paddy field, keep the rice transplanter vehicle frame parallel with the mud face.
The foregoing description is a preferred implementation of the present invention; But embodiment of the present invention is not restricted to the described embodiments; Other any do not deviate from change, the modification done under spirit of the present invention and the principle, substitutes, combination, simplify; All should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. motor-driven rice transplanter more than a kind; It is characterized in that; Comprise rice transplanter frame, walking water wheels drive motors, walking water wheels transmission device, walking water wheels, feeler mechanism drive motors, feeler mechanism, rice transplanting mechanism drive motors, rice transplanting mechanism, handle, the side deck of boat and the middle deck of boat; Said walking water wheels, the side deck of boat all are arranged at the both sides on the rice transplanter frame direction of travel, and the middle deck of boat is arranged at the centre on the rice transplanter frame direction of travel; Said walking water wheels all link to each other with walking water wheels transmission device, and walking water wheels drive motors links to each other with walking water wheels transmission device, is used to control the rotation of walking water wheels; Said feeler mechanism comprises screw mandrel, feeler mechanism transmission arm, walking water wheels support arm; Screw mandrel one end links to each other with walking water wheels drive motors; The other end links to each other with the feeler mechanism transmission arm; The feeler mechanism transmission arm is hinged with walking water wheels support arm one end, and the walking water wheels support arm other end is connected with the walking water wheels, and walking water wheels support arm is used to regulate moving on the walking water wheels vertical direction; Said rice transplanting mechanism comprises rice transplanting mechanism transmission device, seedling pin, rice shoot plate, and rice transplanting mechanism transmission device one end links to each other with the rice transplanting mechanism drive motors, and the other end links to each other with the seedling pin; The rice shoot plate is arranged on the end of rice transplanter rear side near handle; Be fixedly connected with the side deck of boat, the rice shoot plate links to each other with the rice transplanting mechanism drive motors, during work; The seedling pin takes off rice shoot and inserts the paddy field from the rice shoot plate under the rice transplanting mechanism actuator drives, and the rice shoot plate swings under the rice transplanting mechanism drive motor drives; Said handle is fixed on rice transplanter frame rear side.
2. many motor-driven rice transplanter according to claim 1 is characterized in that said rice transplanter also comprises controller, and controller links to each other with each walking water wheels drive motors, feeler mechanism drive motors, rice transplanting mechanism drive motors respectively.
3. many motor-driven rice transplanter according to claim 2 is characterized in that, motor, controller in the said rice transplanter are supplied power through control circuit by accumulator.
4. many motor-driven rice transplanter according to claim 1; It is characterized in that; Said handle is provided with several gauge taps; Gauge tap links to each other with controller, is respectively applied for the speed of control walking water wheels drive motors, feeler mechanism drive motors, rice transplanting mechanism drive motors and turns to.
5. many motor-driven rice transplanter according to claim 4 is characterized in that, said walking water wheels drive motors is two, drives the walking water wheels of the left and right sides respectively; Said walking water wheels drive motors is provided with decelerator.
6. many motor-driven rice transplanter according to claim 4 is characterized in that, said feeler mechanism drive motors is two, drives the feeler mechanism of the left and right sides respectively.
7. many motor-driven rice transplanter according to claim 6; It is characterized in that; The said side deck of boat or middle deck of boat front end are equipped with and are used for detecting in real time the displacement transducer that the deck of boat moves up and down distance; This displacement transducer links to each other with controller, and controller is controlled the feeler mechanism drive motors according to displacement transducer signal.
8. many motor-driven rice transplanter according to claim 6; It is characterized in that; The deck of boat or side deck of boat front end place are provided with the pressure sensor that is used for detecting in real time deck of boat forefront pressure in said; This pressure sensor links to each other with controller, and controller is controlled the feeler mechanism drive motors according to pressure sensor signal.
9. control method based on many motor-driven rice transplanter of each said device of claim 1-8; It is characterized in that; Switch on operator's joystick; Switch passes the signal along to controller, and controller transmits control signal to the feeler mechanism drive motors of correspondence or walking water wheels drive motors or rice transplanting mechanism drive motors according to signal; Said feeler mechanism drive motors drives feeler mechanism according to control signal and moves; Thereby regulate moving on the walking water wheels vertical direction; Said walking water wheels drive motors is regulated the rotating speed of walking water wheels according to control signal and is turned to; Said rice transplanting mechanism drive motors drives the rice transplanting mechanism transmission device according to control signal, and rice transplanting mechanism transmission device control seedling pin takes off rice shoot and inserts the paddy field from the rice shoot plate.
10. the control method of many motor-driven rice transplanter according to claim 9; It is characterized in that; Two displacement threshold value of said controller inner setting and two pressure thresholds, if the data of displacement transducer and pressure sensor collection drop in its corresponding threshold interval respectively, then controller does not move; If the data of several times collection all drop in its threshold interval, then controller control feeler mechanism drive motors is shut down; Otherwise the data of arbitrary sensor acquisition exceed its threshold interval, and controller all sends the adjustment displacement commands to the feeler mechanism drive motors, and control feeler mechanism drive motors carries out corresponding operating.
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Cited By (12)
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| CN102907202A (en) * | 2012-10-15 | 2013-02-06 | 华南农业大学 | Light electric rice planter |
| CN103728902A (en) * | 2013-12-24 | 2014-04-16 | 华南农业大学 | Man-machine interaction device suitable for paddy field power-driven operation machine and application of man-machine interaction device |
| CN103733787A (en) * | 2014-01-13 | 2014-04-23 | 华南农业大学 | Small type electric power rice transplanter and using method thereof |
| CN104335745A (en) * | 2014-11-04 | 2015-02-11 | 遵义师范学院 | Rice transplanter with remote control system |
| CN106982580A (en) * | 2017-03-15 | 2017-07-28 | 山东双菱内燃机制造有限公司 | A kind of programmable, intelligent remote-controlled walking rice transplanter |
| CN107231869A (en) * | 2017-07-03 | 2017-10-10 | 张长清 | Rice transplanter drives the deck of boat |
| CN107344506A (en) * | 2016-05-05 | 2017-11-14 | 东风农业装备（襄阳）有限公司 | The power supply method of agricultural machinery dynamical system and agricultural machinery |
| CN109729793A (en) * | 2019-01-25 | 2019-05-10 | 丰疆智慧农业股份有限公司 | Hybrid power high-speed transplanter and its fitting method |
| CN110001778A (en) * | 2019-04-04 | 2019-07-12 | 丰疆智能科技研究院(常州)有限公司 | Hybrid power high-speed transplanter and its forward method |
| CN109997471A (en) * | 2019-02-12 | 2019-07-12 | 丰疆智慧农业股份有限公司 | Unmanned rice seedlings transplanting system and its assemble method and rice transplanting method based on hybrid power |
| CN112567939A (en) * | 2020-12-06 | 2021-03-30 | 西安交通大学 | Carrot seeder based on disperse multi-power and servo electric direct drive |
| CN114223360A (en) * | 2021-12-31 | 2022-03-25 | 重庆文理学院 | Automatic lifting control device of seedling separating and transplanting mechanism of rice transplanter |
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