CN102511233B - 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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- CN102511233B CN102511233B CN201110457895.8A CN201110457895A CN102511233B CN 102511233 B CN102511233 B CN 102511233B CN 201110457895 A CN201110457895 A CN 201110457895A CN 102511233 B CN102511233 B CN 102511233B
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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 rice transplanter research field, particularly a kind of many motor driven rice transplanting machines and control method thereof.
Background technology
Paddy rice is that China's cultivated area is maximum, the maximum cereal crops of the highest, the total product of per unit area yield, its output is in world's seniority among brothers and sisters first, China has 60% population to take rice as staple food, and paddy rice has very important status 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, by gear and transmission mechanism by 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 manufacture field always, and particularly middle low power fuel engines efficiency is low, mechanical speed change, transmission mechanism are difficult for simplifying, and make whole system be unfavorable for low-carbon energy-saving and reduce costs.
Fuel power agricultural machinery has more serious exhaust emission and oil pollution, and air and soil are had to harmful effect, and especially in green house environment, the noise pollution of fuel power agricultural machinery also has to consider, above Factors on Human body and environmental influence are larger.Low power two-stroke gasoline engine particularly, 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 from current energy consumption cost, or following energy orientation, it is future developing trend that the electric energy of usining replaces primary energy as the new forms of energy that finally utilize form, particularly the how motor-driven kind of drive, is the effective way of the existing agricultural machinery of lifting.
In addition, because existing rice transplanter is all to provide power by an actuating unit, the therefore respectively control of more difficult realization to different gearing mechanism needs artificial help in the situations such as differential turning, and flexibility is not enough, has increased operator's labour intensity.
Therefore, need to 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 the flexibility operations such as radius of turn.
Summary of the invention
Main purpose of the present invention is that the shortcoming that overcomes prior art is with not enough, a kind of many motor driven rice transplanting machines are provided, it has advantages of simple in structure, energy-saving and environmental protecting, and can realize differential and turn and walk, reduce radius of turn, alleviate operator's labour intensity, increase the flexibility of rice transplanter, can make rice transplanter left and right water wheels under the dark environment of different mud pin, work.The present invention also provides a kind of control method based on said apparatus.
One object of the present invention realizes by following technical scheme: a kind of many motor driven rice transplanting machines, 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, described walking water wheels, the side deck of boat are all arranged at the both sides on rice transplanter frame direction of travel, and the middle deck of boat is arranged at the centre on rice transplanter frame direction of travel; Described walking water wheels are all connected with walking water wheels transmission device, and walking water wheels drive motors is connected with walking water wheels transmission device, for controlling the rotation of walking water wheels; Described feeler mechanism comprises screw mandrel, feeler mechanism transmission arm, walking water wheels support arm, screw mandrel one end is connected with walking water wheels drive motors, the other end is connected with feeler mechanism transmission arm, feeler mechanism transmission arm is hinged with walking water wheels support arm one end, the walking water wheels support arm other end is connected with walking water wheels, and walking water wheels support arm is for regulating the movement in walking water wheels vertical direction; Described rice transplanting mechanism comprises rice transplanting mechanism transmission device, seedling pin, seedling board, rice transplanting mechanism transmission device one end is connected with rice transplanting mechanism drive motors, the other end is connected with seedling pin, seedling board is arranged on rice transplanter rear side near one end of handle, be fixedly connected with the side deck of boat, seedling board is connected with rice transplanting mechanism drive motors, during work, seedling pin takes off rice shoot and inserts in paddy field from seedling board under rice transplanting mechanism actuator drives, and seedling board swings under rice transplanting mechanism drive motors drives; Described handle is fixed on rice transplanter frame rear side.
As preferably, described rice transplanter also comprises controller, and controller is connected with each walking water wheels drive motors, feeler mechanism drive motors, rice transplanting mechanism drive motors respectively.Controller is controlled respectively each motor with passage independently, according to setting value, distributes each motor speed, controls rice transplanter duty, and each several part is worked alone.
As preferably, motor, controller in described rice transplanter are powered by 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.
On described handle, be provided with several gauge taps, gauge tap is connected with controller, is respectively used to control the speed of walking water wheels drive motors, feeler mechanism drive motors, rice transplanting mechanism drive motors and turn to.Operator just only need be operated at handle place and can control whole device, conveniently control.
As preferably, described walking water wheels drive motors is two, drives respectively the walking water wheels of the left and right sides.Adopt two motors to control respectively, can realize rotating and control, with the action such as control rice transplanter travel track, radius of turn and retreat, reduce the labour intensity of operator when turning simultaneously.For example, when 2 water wheels drive motors rotating speeds of advancing are contrary, can realize minor-circle turn, solve the excessive technical barrier of wheeled agricultural machinery radius of turn in the past.
Preferably, on described walking water wheels drive motors, be provided with decelerator, for lowering motor speed, increase torsion.
Preferably, described feeler mechanism drive motors is two, drives respectively the feeler mechanism of the left and right sides.Adopt two feeler mechanism drive motors can make two feeler mechanisms work alone, thus can each self-regulation height, can in the rugged situation in paddy field, keep rice transplanter vehicle frame parallel with mud face.
Preferably, the described side deck of boat or middle deck of boat front end are provided with for detecting in real time the displacement transducer that the deck of boat moves up and down distance, and this displacement transducer is connected with controller, and controller is controlled feeler mechanism drive motors according to displacement transducer signal.By Real-time Collection signal, what controller can be real-time controls feeler mechanism drive motors, and then controls the height of walking water wheels, and rice transplanting function is worked under the dark environment of different mud pin.
Preferably, the described middle deck of boat or side deck of boat front end place are provided with for detecting in real time the pressure sensor of deck of boat forefront pressure, and this pressure sensor is connected with controller, and controller is controlled feeler mechanism drive motors according to pressure sensor signal.
Another object of the present invention realizes by following technical scheme: a kind of control method based on above-mentioned many motor driven rice transplanting machines, switch on operator's joystick, switch passes the signal along to controller, and controller transmits control signal to corresponding feeler mechanism drive motors or walking water wheels drive motors or rice transplanting mechanism drive motors according to signal; Described feeler mechanism drive motors drives feeler mechanism to move according to control signal, thereby regulate the movement in walking water wheels vertical direction, described walking water wheels drive motors regulates the rotating speed of walking water wheels and turns to according to control signal, described rice transplanting mechanism drive motors drives rice transplanting mechanism transmission device according to control signal, and rice transplanting mechanism transmission device is controlled seedling pin and taken off rice shoot and rice shoot is inserted in paddy field from seedling board.
Two displacement threshold value of described controller inner setting and two pressure thresholds, if the data of displacement transducer and pressure sensor collection drop in its corresponding threshold interval respectively, controller does not move, if the data of several times collection all drop in its threshold interval, controller is controlled the shutdown of feeler mechanism drive motors; Otherwise the data of arbitrary sensor collection exceed its threshold interval, controller all sends adjustment displacement commands to feeler mechanism drive motors, controls feeler mechanism drive motors and carries out corresponding operating.For 200W direct current generator, when shutting down self-locking state, self-lock force is 2000N, is greater than walking water wheels and supports moment, energy saving.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, electromotor of the present invention has good speed governing and power control ability flexibly, can make system remain on efficient state, the particularly realization of distributing multi_motor control, electric energy can be delivered to power outlet terminal easily, greatly simplified speed change and gearing structure, reduced the weight and volume of agricultural machinery, rice transplanter is produced and maintenance cost reduction, work more reliable, and energy-saving and environmental protecting.
2, in the present invention rice transplanter walking water wheels by separately independently motor drive, this rice transplanter can realize that differential is turned and walking, reduce radius of turn, alleviates operator's labour intensity, increases the flexibility of rice transplanter.
3, the electric profiling mechanisms of the present invention's design utilizes the battery feed of electric rice transplanter to do power, adopt the motor of 2 platform independent to drive respectively the feeler mechanism of left and right water wheels, and according to the displacement transducer of the both sides deck of boat, adjust in real time the relative altitude of left and right water wheels, make seedling dish and paddy field mud face maintenance level, guarantee transplanting depth quality, rice transplanter left and right water wheels are worked under the dark environment of different mud pin.
4, the present invention is in more smooth paddy field, and when feeler mechanism is not under triggering situation, feeler mechanism drive motors, in shutting down self-locking state, can be saved energy consumption.
Accompanying drawing explanation
Fig. 1 is the Facad structure schematic diagram of apparatus of the present invention;
Fig. 2 is the plan structure schematic diagram of apparatus of the present invention embodiment mono-;
Fig. 3 is the plan structure schematic diagram of apparatus of the present invention embodiment bis-.
In Fig. 1-3: 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-seedling board; 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 in 12-; 13-walking water wheels drive motors; 14-seedling pin; 15-screw mandrel.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited to this.
Embodiment 1
As shown in Figure 1-2, the present embodiment is based on two-wheel 4 row step-by-step movement rice transplanters, by many motors, 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, described walking water wheels 4, the side deck of boat 8 are all 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; Described walking water wheels 4 are all connected with walking water wheels transmission device, and two walking water wheels drive motors 13 are connected with the walking water wheels transmission device of both sides respectively, for controlling the rotation of walking water wheels 4; Described feeler mechanism comprises screw mandrel 15, feeler mechanism transmission arm 3, walking water wheels support arm 11, screw mandrel 15 one end are connected with walking water wheels drive motors 13, the other end is connected with feeler mechanism transmission arm 3, feeler mechanism transmission arm 3 is hinged with walking water wheels support arm 11 one end, walking water wheels support arm 11 other ends are connected with walking water wheels 4, and walking water wheels support arm 11 is for regulating the movement in walking water wheels 4 vertical direction; Described rice transplanting mechanism comprises rice transplanting mechanism transmission device, seedling pin 14, seedling board 6, rice transplanting mechanism transmission device one end is connected with rice transplanting mechanism drive motors 10, the other end is connected with seedling pin 14, seedling board 6 is arranged on rice transplanter rear side near one end of handle 7, be fixedly connected with the side deck of boat 8, seedling board 6 is connected with rice transplanting mechanism drive motors 10, during work, seedling pin 14 takes off rice shoot and inserts in paddy field from seedling board 6 under rice transplanting mechanism actuator drives, and seedling board 6 swings under rice transplanting mechanism drive motors 10 drives; Described handle 7 is fixed on rice transplanter frame rear side.
Described rice transplanter also comprises controller 1, and controller 1 is arranged on the head of rice transplanter, and controller 1 is connected with each walking water wheels drive motors 13, feeler mechanism drive motors 2, rice transplanting mechanism drive motors 10 respectively.Controller is controlled respectively each motor with passage independently, according to setting value, distributes each motor speed, controls rice transplanter duty, and each several part is worked alone.
Walking water wheels drive motors 13 in described rice transplanter, feeler mechanism drive motors 2, rice transplanting mechanism drive motors 10, controller 1 are powered by 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.
On described handle 7, be provided with several gauge taps, gauge tap is connected with controller 1, is respectively used to control the speed of walking water wheels drive motors 13, feeler mechanism drive motors 2, rice transplanting mechanism drive motors 10 and turn to.Operator just only need be operated at handle place and can control whole device, conveniently control.
Described walking water wheels drive motors 13 is two, drives respectively the walking water wheels 4 of the left and right sides.Adopt two motors to control respectively, can realize rotating and control, with the action such as control rice transplanter travel track, radius of turn and retreat, reduce the labour intensity of operator when turning simultaneously.For example, when 2 water wheels drive motors rotating speeds of advancing are contrary, can realize minor-circle turn, solve the excessive technical barrier of wheeled agricultural machinery radius of turn in the past.
On described walking water wheels drive motors 13, be provided with decelerator, for lowering motor speed, increase torsion.In the present embodiment, the middle deck of boat 12 front ends are provided with for detecting in real time the displacement transducer that the deck of boat moves up and down distance, and this displacement transducer is connected with controller 1, and controller is controlled feeler mechanism drive motors 2 according to displacement transducer signal.By Real-time Collection signal, what controller can be real-time controls feeler mechanism drive motors 2, and then controls the height of walking water wheels, and rice transplanting function is worked under the dark environment of different mud pin.The middle deck of boat 12 front end places are also provided with for detecting in real time the pressure sensor of deck of boat forefront pressure, and this pressure sensor is connected 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 transplanting machines, switch on operator's joystick 7, switch passes the signal along to controller 1, and controller 1 transmits control signal to corresponding feeler mechanism drive motors 2 or walking water wheels drive motors 13 or rice transplanting mechanism drive motors 10 according to signal; Described feeler mechanism drive motors 2 drives feeler mechanism to move according to control signal, thereby regulate the movement in walking water wheels 4 vertical direction, described walking water wheels drive motors 13 regulates the rotating speed of walking water wheels and turns to according to control signal, described rice transplanting mechanism drive motors 10 drives rice transplanting mechanism transmission device according to control signal, and rice transplanting mechanism transmission device is controlled seedling pin 14 and taken off rice shoot and insert in paddy field from seedling board 6.
Two displacement threshold value of described 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, controller does not move, if the data of several times collection all drop in its threshold interval, controller is controlled 2 shutdown of feeler mechanism drive motors; Otherwise the data of arbitrary sensor collection exceed its threshold interval, controller all sends adjustment displacement commands to feeler mechanism drive motors 2, controls feeler mechanism drive motors 2 and carries out corresponding operating.For 200W direct current generator, when shutting down self-locking state, self-lock force is 2000N, is greater than walking water wheels and supports moment, energy saving.
In the present embodiment, with the walking water wheels drive motors of decelerator by walking water wheels transmission device by transmission of power to walking water wheels 4, rotating speed and turning to by controller is controlled.By the walk rotating speed of water wheels drive motors of control, accurate control that can be to rice transplanter course, when 2 water wheels drive motors rotating speeds of advancing are contrary, can realize minor-circle turn, has solved the excessive technical barrier of wheeled agricultural machinery radius of turn in the past.
2 rotatings of feeler mechanism drive motors can pull or promote 3 motions of feeler mechanism transmission arm by screw mandrel 15, and the walking water wheels transmission arm being connected with its fixed angle drives walking water wheels to move up and down, thereby adjusts the height of rice transplanting fuselage, reaches profiling effect.In not startup of feeler mechanism situation, feeler mechanism drive motors 2, in self-locking state, is saved energy consumption.
In the present embodiment, rice transplanting mechanism transmission device specifically refers to rice transplanting mechanism driving chain 9 and rice transplanting mechanism transmission case 5, rice transplanting mechanism drive motors 10 by rice transplanting mechanism driving chain 9 by transmission of power to rice transplanting mechanism transmission case 5, this device completes the horizontal reciprocating of controlling seedling board 6 and moves the rice transplanting campaign with 4 seedling pins 14.In 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, by the walk rotating speed of water wheels drive motors 13 and rice transplanting mechanism drive motors 10 of control, coordinate, 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 arranged in rice transplanter head accumulator and control circuit case, adopt waterproof insulation to process.Power switch and speed-regulating switch are arranged on handle 7 by holding wire, facilitate driver to control.According to speed on handle 7 and pole changer instruction, control circuit drives signal to 2 of left and right walking water wheels drive motors, 13 output PWM respectively, to control the rotating speed of walking water wheels 4 and to turn to.According to density of transplants driving switch on the rotating speed of walking water wheels drive motors 13 and handle 7, control circuit determines rice transplanting mechanism drive motors 10 rotating speeds, to realize the adjustment of rice transplanting spacing in the rows.
The middle deck of boat 12 front ends are equipped with pressure switch, when reaching capping value, pressure starts feeler mechanism drive motors 2, this motor forward, by screw mandrel 15, promote rearward motion of feeler mechanism transmission arm 3, the walking water wheels support arm 11 being connected with its fixed angle drives walking water wheels 4 to move downward, thereby raise rice transplanting fuselage, to guarantee rice transplanter walking and the rice shoot degree of depth smoothly; When reaching preset lower limit, pressure starts feeler mechanism drive motors 2, this motor reversal, and feeler mechanism action is contrary to the above.Between pressure limit, feeler mechanism drive motors 2, 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
The present embodiment except following characteristics other structures with embodiment 1: as shown in Figure 3, described feeler mechanism drive motors 2 is two, drives respectively the feeler mechanism of the left and right sides.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 can make two feeler mechanisms work alone, thus can each self-regulation height, can in the rugged situation in paddy field, keep rice transplanter vehicle frame parallel with mud face.
Above-described embodiment is preferably embodiment of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (10)
1. motor driven rice transplanting machine more than a kind, comprise rice transplanter frame, walking water wheels transmission device, walking water wheels, feeler mechanism, rice transplanting mechanism, handle, the side deck of boat and the middle deck of boat, described walking water wheels, the side deck of boat are all arranged at the both sides on rice transplanter frame direction of travel, and the middle deck of boat is arranged at the centre on rice transplanter frame direction of travel; Described walking water wheels are all connected with walking water wheels transmission device, described rice transplanting mechanism comprises rice transplanting mechanism transmission device, seedling pin, seedling board, rice transplanting mechanism transmission device one end is connected with seedling pin, seedling board is arranged on rice transplanter rear side near one end of handle, during work, seedling pin takes off rice shoot and inserts in paddy field from seedling board under rice transplanting mechanism actuator drives, and described handle is fixed on rice transplanter frame rear side; It is characterized in that, also comprise walking water wheels drive motors, feeler mechanism drive motors and rice transplanting mechanism drive motors, walking water wheels drive motors is connected with walking water wheels transmission device, for controlling the rotation of walking water wheels; Described feeler mechanism comprises screw mandrel, feeler mechanism transmission arm, walking water wheels support arm, screw mandrel one end is connected with walking water wheels drive motors, the other end is connected with feeler mechanism transmission arm, feeler mechanism transmission arm is hinged with walking water wheels support arm one end, the walking water wheels support arm other end is connected with walking water wheels, and walking water wheels support arm is for regulating the movement in walking water wheels vertical direction; Rice transplanting mechanism transmission device one end is connected with rice transplanting mechanism drive motors; Seedling board is fixedly connected with the side deck of boat, and seedling board is connected with rice transplanting mechanism drive motors, and seedling board swings under rice transplanting mechanism drive motors drives.
2. many motor driven rice transplanting machines according to claim 1, is characterized in that, described rice transplanter also comprises controller, and controller is connected with each walking water wheels drive motors, feeler mechanism drive motors, rice transplanting mechanism drive motors respectively.
3. many motor driven rice transplanting machines according to claim 2, is characterized in that, motor, controller in described rice transplanter are powered by control circuit by accumulator.
4. many motor driven rice transplanting machines according to claim 1, it is characterized in that, on described handle, be provided with several gauge taps, gauge tap is connected with controller, is respectively used to control the speed of walking water wheels drive motors, feeler mechanism drive motors, rice transplanting mechanism drive motors and turn to.
5. many motor driven rice transplanting machines according to claim 4, is characterized in that, described walking water wheels drive motors is two, drives respectively the walking water wheels of the left and right sides; On described walking water wheels drive motors, be provided with decelerator.
6. many motor driven rice transplanting machines according to claim 4, is characterized in that, described feeler mechanism drive motors is two, drive respectively the feeler mechanism of the left and right sides.
7. many motor driven rice transplanting machines according to claim 6, it is characterized in that, the described side deck of boat or middle deck of boat front end are provided with for detecting in real time the displacement transducer that the deck of boat moves up and down distance, this displacement transducer is connected with controller, and controller is controlled feeler mechanism drive motors according to displacement transducer signal.
8. many motor driven rice transplanting machines according to claim 6, it is characterized in that, the described middle deck of boat or side deck of boat front end place are provided with for detecting in real time the pressure sensor of deck of boat forefront pressure, this pressure sensor is connected with controller, and controller is controlled feeler mechanism drive motors according to pressure sensor signal.
9. the control method of the many motor driven rice transplanting machines based on installing described in claim 1-8 any one, it is characterized in that, switch on operator's joystick, switch passes the signal along to controller, and controller transmits control signal to corresponding feeler mechanism drive motors or walking water wheels drive motors or rice transplanting mechanism drive motors according to signal; Described feeler mechanism drive motors drives feeler mechanism to move according to control signal, thereby regulate the movement in walking water wheels vertical direction, described walking water wheels drive motors regulates the rotating speed of walking water wheels and turns to according to control signal, described rice transplanting mechanism drive motors drives rice transplanting mechanism transmission device according to control signal, and rice transplanting mechanism transmission device is controlled seedling pin and taken off rice shoot and insert in paddy field from seedling board.
10. the control method of many motor driven rice transplanting machines according to claim 9, it is characterized in that, two displacement threshold value of described controller inner setting and two pressure thresholds, if the data of displacement transducer and pressure sensor collection drop in its corresponding threshold interval respectively, controller does not move, if the data of several times collection all drop in its threshold interval, controller is controlled the shutdown of feeler mechanism drive motors; Otherwise the data of arbitrary sensor collection exceed its threshold interval, controller all sends adjustment displacement commands to feeler mechanism drive motors, controls feeler mechanism drive motors and carries out corresponding operating.
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| 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 |
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| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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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|---|---|
| CN102511233A (en) | 2012-06-27 |
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