CN102648676A - Independent-power asynchronous transplanting mechanism and control method thereof - Google Patents
Independent-power asynchronous transplanting mechanism and control method thereof Download PDFInfo
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- CN102648676A CN102648676A CN2012101596198A CN201210159619A CN102648676A CN 102648676 A CN102648676 A CN 102648676A CN 2012101596198 A CN2012101596198 A CN 2012101596198A CN 201210159619 A CN201210159619 A CN 201210159619A CN 102648676 A CN102648676 A CN 102648676A
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Abstract
The invention relates to an independent-power asynchronous transplanting mechanism and a control method thereof. Each transplanting driving box is provided with a left revolving box and a right revolving box; two transplanting arms are arranged on each revolving box; the right revolving box is provided with an angle adjusting mechanism; a distance adjusting mechanism is arranged between seedling grooves; a baffle guide rail is arranged on a seedling platform bracket; baffles are arranged on the baffle guide rail; the adjacent baffles are in lap joint mutually; each baffle is provided with a seedling-taking port; each revolving box is provided with an axial adjusting mechanism; each transplanting driving box is provided with a biaxial stepping motor; two output shafts of the stepping motor are correspondingly connected with the two revolving boxes; and a control circuit of the stepping motor is connected with a travelling controller of a transplanter. The independent-power asynchronous transplanting mechanism has the characteristics of simple structure, low cost, convenience for maintenance, and capacity of performing three-dimensional enhanced transplantation at a high speed.
Description
Technical field
The present invention relates to a kind of rice transplanter, especially relate to a kind of rice transplanting mechanism of rice transplanter.
Background technology
Traditional rice cropping generally all adopts etc. line-spacing, etc. the transplanting method of spacing in the rows, still will inevitably occur the problem of sunshade between this transplanting method plant and the plant, and inhomogeneous, thereby cause very big waste utilizing of the nutrient in the earth.Afterwards, people had invented the capable rice cultivating method of a kind of width, a kind of high-yielding rice cultivation technique that to be the narrow row distance cultivate with wide line-spacing at interval.The cave number of this planting type on can guarantor unit's area is reasonable, and it is reasonable to have the plant population distribution again, and the ventilation and penetrating light performance is good, the photosynthetic rate advantages of higher, so unit yield is higher, is one of normal planting type of selecting of high yield tackling key problem.Simultaneously,, can alleviate the harm of disease worm to a certain extent, finally reach the purpose that high yield increases income because the enhancing of ventilation and penetrating light property makes humidity reduction between the rice strain.But the cultivation spacing of wide-and narrow-row rice culture technique is different, and it is more inhomogeneous to the nutrien utilization in the earth, and solar irradiation also has a big chunk to be blocked each other by plant.Therefore people have invented measurements of the chest, waist and hips intensified culturing technology on this basis again.In measurements of the chest, waist and hips intensified culturing technology, constitute triangle distribution (preferred isosceles triangle distributes) light between plant and come can not block mutually from which face, improved the intake of rice shoot greatly to sunlight, increased photosynthesis.One group of per two behavior of measurements of the chest, waist and hips intensified culturing technology, every component is furnished with several triangle plant, and the spacing of each plant in the triangle plant is identical, makes plant very even to nutrient absorbing in the earth, has farthest utilized soil fertility.This culture technique makes that under the cultivation condition of equal densities, the spacing of each plant has arrived maximization greatly simultaneously, helps ventilating, and has reduced damage by disease and insect.But therefore the rice transplanting machinery that also is not suitable for measurements of the chest, waist and hips intensified culturing technology at present, generally can only be accomplished through rice transplantation by hand, limited the popularization of measurements of the chest, waist and hips intensified culturing technology greatly.
Existing rice transplanter generally all comprises the rice transplanting driving box; The both sides of rice transplanting driving box are respectively equipped with the revolution case, and the revolution case is provided with former and later two transplanting arms, and revolution case and transplanting arm are driven by the rice transplanting driving box; The power of rice transplanting driving box is provided through transmission mechanism by the rice transplanting locomotive; In general, be provided with sprocket wheel, chain in this rice transplanting driving box, and the output shaft that links to each other with described revolution case.Like publication number is the transplanting mechanism that the Chinese patent of CN102342205 discloses a kind of rice transplanter, comprises transplanting case, revolution case and transplanting pawl, and the moving axis output shaft of described transplanting case links to each other with the rotating shaft of a sun gear in being located at the revolution case; The end of transplanting pawl is provided with outer pawl head; Should comprise that two pawls referred to by outer pawl head, described pawl arm is provided with interior pawl, and interior pawl and pawl arm are slidingly connected; And be provided with one make in the elastic recovery mechanism that moves upward of pawl; The pawl head of interior pawl is that single pawl refers to, between two pawls that the root that interior pawl pawl refers to is located at outer pawl referred to, the upper end of interior pawl and a driving rod were rotationally connected; This driving rod and pawl arm are rotationally connected, and match with a cam on the wheel shaft of being located at second planetary gear.The power of the rice transplanter of this structure need be through the transmission of frame for movement; Obtain from the rice transplanting locomotive; And the motion of rice transplanting mechanism need keep certain comparison with the speed of a motor vehicle, and guaranteeing suitable seedling planting row pitch, so the structure more complicated, required precision is high, cost is high, the maintenance trouble.
Summary of the invention
The present invention solves existing in prior technology structure more complicated, required precision height, high, the maintenance trouble of cost; There is not corresponding mechanical energy to carry out the technical problems such as rice transplanting of measurements of the chest, waist and hips intensified culturing technology; Provide a kind of simple in structure, cost is low, easy to maintenance, can carry out asynchronous rice transplanting mechanism of independent power and control method thereof that measurements of the chest, waist and hips are strengthened rice transplanting at a high speed.
The asynchronous rice transplanting mechanism of above-mentioned independent power of the present invention mainly is able to solve through following technical proposals: the asynchronous rice transplanting mechanism of a kind of independent power; Comprise seedling platform support, confession seedling platform, some rice transplanting driving box, revolution case and transplanting arm; Supply the seedling platform to comprise some seedling grooves, supply Miao Tai and a seedling platform guide rail of being located on the seedling platform support suitable, it is characterized in that described each rice transplanting driving box be provided with about two turn round casees; The revolution case is provided with two transplanting arms; Wherein the revolution case on right side is provided with and is used for two revolution case differential seat angle angle-adjusting mechanisms about adjustment, is provided with the spacing guiding mechanism that is used to adjust spacing between seedling groove and the seedling groove between described seedling groove and the seedling groove, and described seedling platform support is provided with a baffle plate guide rail; This baffle plate guide rail is provided with adaptive with it; And with described seedling groove baffle plate one to one, overlap joint each other between the adjacent screen, each baffle plate is provided with seedling fetching hole; Described revolution case is provided with and makes transplanting arm and the corresponding mechanism for axial adjusting of described seedling fetching hole; Described rice transplanting driving box is provided with a twin shaft stepper motor, and two output shafts of this stepper motor are corresponding continuous with described two revolution casees respectively, and described Stepping Motor Control circuit links to each other with the driving controller of rice transplanting locomotive.The present invention is through twin shaft step motor drive revolution case and transplanting arm; The rotation of stepper motor is by the control of driving controller, and the driving controller is adjusted the rotating speed of stepper motor according to the variation of the speed of a motor vehicle; Even make the speed of a motor vehicle in the middle of changing, the line-spacing of rice transplanting also can be consistent.And this control accomplishes through the signal transmission fully, avoided accomplishing transmission of power through complex mechanical construction, satisfies the proportion requirement of road speed and rice transplanting speed.Have simple in structure, cost is low, advantage such as easy to maintenance.In the present technique scheme, when about the differential seat angle of two revolution casees when being zero, each turns round case and rotates synchronously; Form the plant of matrix form, and when about two differential seat angles that turn round casees when non-vanishing, the seedling taking of transplanting arm, transplanting process are all asynchronous; Adjust the axial location of seedling separation, seedling fetching hole spacing and revolution case simultaneously; Make and can insert out two row plant to two corresponding transplanting arms of rice transplanting driving box both sides revolution case, and can constitute triangle, the realization measurements of the chest, waist and hips are strengthened the purpose of rice transplanting.
As preferably, described stepper motor is provided with a current sensor, and the signal circuit of this current sensor links to each other with described driving controller.Current sensor sends to the driving controller with the current signal of stepper motor in real time, when transplanting arm is obstructed, will cause the electric current of stepper motor to strengthen; Resistance is big more, and then electric current is big more, after electric current arrives to a certain degree greatly; The driving controller promptly breaks off the power supply of stepper motor, and it is quit work, and stepper motor is protected; Remove resistance factor up to the operator, just can work on.
As preferably; Described angle-adjusting mechanism is made up of following structure: the output shaft of rice transplanting driving box is provided with two convexities that differ 90 °; Be provided with two at the endoporus of the socket place of the output shaft of revolution case and rice transplanting driving box and distinguish adaptive grooves with described two convexities, described revolution case is fixed through the output shaft of nut and described rice transplanting driving box.This technical scheme makes that the differential seat angle of revolution case of both sides of same rice transplanting driving box can be 0 ° and 90 °; When this differential seat angle of needs adjustment, unclamp nut, convexity is separated with groove; Rotate 90 °; Then with after convexity and the groove fit, fastening nut, realize 90 ° of differential seat angle of the revolution case with 0 ° switching.When two differential seat angles that turn round casees are 90 °, promptly realize the transplanting method of the isosceles triangle of plant, this transplanting method is that the sunlight availability is the highest, performance of ventilating is best, the highest mode of availability of soil fertility.
As preferably; Described spacing guiding mechanism is made up of following structure: each seedling groove right side is equipped with chute vane; Chute vane is provided with the adjusting chute; Begin from second seedling groove of left, each seedling groove left side is equipped with and the suitable slide block of described adjusting chute, and described support is provided with the locking system that is used for fixing described seedling groove.When the differential seat angle of case is turned round in two of adjustment; Owing to the seedling taking time between two corresponding transplanting arms just has a time difference, and in the course of work of rice transplanting mechanism, each seedling groove is synchronized with the movement; So, need adjustment seedling separation to adapt to the seedling taking change of time of transplanting arm.Adjusting chute between seedling groove and the seedling groove and suitable with it slide block just in time play this effect.
As preferably; Described spacing guiding mechanism is made up of following structure: each seedling groove right side is equipped with chute vane; Chute vane is provided with the adjusting chute; Begin from second seedling groove of left, each seedling groove left side is equipped with and the suitable slide block of described adjusting chute, and described support is provided with the locking system that is used for fixing described seedling groove.When the differential seat angle of case is turned round in two of adjustment; Owing to the seedling taking time between two corresponding transplanting arms just has a time difference, and in the course of work of rice transplanting mechanism, each seedling groove is synchronized with the movement; So, need adjustment seedling separation to adapt to the seedling taking change of time of transplanting arm.Adjusting chute between seedling groove and the seedling groove and suitable with it slide block just in time play this effect.
As preferably, the effective length of described adjusting chute has following characteristic: if first effective length of regulating chute is b, n is an even number, and the horizontal amount of sending of seedling platform is a, and then n the effective length with n-1 adjusting chute is b (n/2), b=a/2.The effective length of regulating chute refers to the longest distance that slide block can move therein.The horizontal amount of sending of seedling platform referred in the time of 180 ° of revolution case rotations, the displacement of seedling platform.According to the present technique scheme, when the differential seat angle of two revolution casees was 0, slide block all moved to the high order end of regulating chute, and when the differential seat angle of two revolution casees was 90 °, slide block all moved to the low order end of regulating chute.This regulative mode is convenient, reliable.
As preferably; Described baffle plate guide rail is provided with several guide grooves, and this guide groove is corresponding one by one with the seedling groove that the 3rd beginning played on a left side, and the effective length of described guide groove has following characteristic: if the effective length of first guide groove is b; N is 3 figure place; The horizontal amount of sending of seedling platform is a, and then n is individual, n-1 is individual and effective length n-2 guide groove is b (n/3), b=a/2.The horizontal amount of sending of seedling platform referred in the time of 180 ° of revolution case rotations, the displacement of seedling platform.According to the present technique scheme, when the differential seat angle of two revolution casees was 0 °, baffle plate moved to the high order end of guide groove, and when the differential seat angle of two revolution casees was 90 °, baffle plate moved to the low order end of guide groove.
As preferably, the output shaft of described stepper motor is provided with angular transducer, and the signal circuit of this angular transducer links to each other with described driving controller.The driving controller is according to road speed and the velocity of rotation and the rotational angle of the proportion control stepper motor of the carry out ahead of schedule road speed set and rice transplanting mechanism movement velocity; And in real time the actual rotation angle of the stepper motor in the velocity of rotation of stepper motor and each transplanting cycle is fed back to the driving controller through the angular transducer device; The driving controller is adjusted the rotation of stepper motor according to this actual angle, to improve the rice transplanting precision of transplanting mechanism.
As preferably, described driving controller links to each other with a warning device.Excessive when the operating current of stepper motor, warning device is reported to the police, so that the operator in time searches reason, has effectively protected transplanting mechanism.
In order to accomplish the transplanting process through technique scheme; The present invention also provides following control scheme: the control method of the asynchronous rice transplanting mechanism of a kind of independent power; The corresponding relation data that it is characterized in that built-in several road speeds of described driving controller and stepper motor rotary speed, the line-spacing of the data represented rice transplanting of corresponding relation of each road speed and stepper motor rotary speed is when the rice transplanting locomotive starts; And after starting transplanting mechanism; The driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed, and the control step rotating speed of motor is carried out the rice transplanting operation.The line-spacing of the data represented a kind of rice transplanting of corresponding relation of the rotary speed of each road speed and stepper motor is confirmed row in these data, and road speed is fast more, and the rotary speed of stepper motor is fast more, but keeps the line-spacing of rice transplanting constant.Because the power of transplanting mechanism is independently provided by stepper motor, make that in actual use the territory degree of its velocity variations is bigger, can effectively improve rice transplanting speed.When the current data of current inductor acquisition surpassed safety value, the driving controller was the outage of control step motor, quits work.The working environment of transplanting mechanism is comparatively severe, is easy to receive the obstruction of earth, when the earth of this obstruction too much; When resistance is excessive; The electric current of stepper motor can fast rise, and current inductor is monitored the electric current of stepper motor, if when electric current surpasses safety value; Just by the timely control step motor outage of driving controller, so that equipment is protected.The total actual angle of revolution of output shaft that angular transducer is accomplished several transplanting cycles with the interpolation arm sends to the driving controller in real time; The driving controller compares this angle of revolution value and theoretical angle of revolution value during this period; Obtain angular error, with of the compensation of the mean value of this angular error in above-mentioned several transplanting cycles as the stepper motor rotational angle in each transplanting cycle in the transplanting cycle of next round same number.The error in single transplanting cycle can be smaller, is not easy to detect, have only when this accumulation of error to a certain degree; Just be detected easily; And if will these detected data as the compensation of next cycle, can make that the fluctuation ratio of transplanting mechanism is bigger, the offset meeting of rice transplanting is apparent in view.And the present technique scheme is with the compensation as each cycle in the cycle of next round same number of the mean value of total actual angle of revolution in several transplanting cycles; Make that this error is progressively compensated; Avoided the obvious fluctuation of transplanting mechanism; Make that also the skew of rice transplanting position is not too obvious, effectively improved the rice transplanting quality.
The beneficial effect that brings of the present invention is; Solve existing in prior technology structure more complicated, technical problems such as required precision is high, cost is high, maintenance trouble, provide a kind of simple in structure, cost is low, the asynchronous rice transplanting mechanism of independent power easy to maintenance, that precision is high, fluctuation is little, safe and reliable and control method thereof.
Description of drawings
Accompanying drawing 1 is a kind of partial structurtes sketch map of the present invention;
Accompanying drawing 2 is structural representations of control of the present invention system;
Accompanying drawing 3 is a kind of structural representations of the present invention;
Accompanying drawing 4 is structural representations of angle-adjusting mechanism of the present invention.
Embodiment
Pass through embodiment below, and combine accompanying drawing, do further bright specifically technical scheme of the present invention.
Embodiment:
Like Fig. 1, Fig. 2, Fig. 3, shown in Figure 4; The present invention is asynchronous rice transplanting mechanism of a kind of independent power and control method thereof; Comprise seedling platform support, supply the seedling platform, the left and right sides of 4 rice transplanting driving box 1, each rice transplanting driving box 1 is respectively equipped with a revolution case 2; It is 180 ° transplanting arm 3 that each revolution case 2 is provided with two angle of revolution differences, supplies the seedling platform to comprise 9 seedling grooves 4, supplies Miao Tai and a seedling platform guide rail 51 of being located on the seedling platform support suitable.The revolution case 2 on right side is provided with and is used for two revolution case differential seat angle angle-adjusting mechanisms about adjustment on each rice transplanting driving box 1; Angle-adjusting mechanism is made up of following structure: the output shaft of rice transplanting driving box is provided with two convexities 8 that differ 90 °; The endoporus of revolution case 2 and the socket place of the output shaft 6 of rice transplanting driving box 1 be provided with two with the adaptive respectively groove of described two convexities 8, described revolution case is fixed through the output shaft of nut 7 and described rice transplanting driving box.Be provided with the spacing guiding mechanism that is used to adjust spacing between seedling groove and the seedling groove between described seedling groove and the seedling groove; The spacing guiding mechanism is made up of following structure: each seedling groove right side is equipped with chute vane; Chute vane is provided with the adjusting chute; Begin from second seedling groove of left, each seedling groove left side is equipped with and the suitable slide block of described adjusting chute, and described support is provided with the locking system that is used for fixing described seedling groove.The effective length of regulating chute has following characteristic: if first effective length of regulating chute is b, n is an even number, and the horizontal amount of sending of seedling platform is a, and then n is individual is b (n/2), b=a/2 with n-1 effective length of regulating chute.Described seedling platform support is provided with a baffle plate guide rail 52, and baffle plate guide rail and seedling platform guide rail are integral structure, constitutes composite guideway 5.Baffle plate guide rail 52 is provided with adaptive with it, and with described seedling groove baffle plate 9 one to one, overlap joint each other between the adjacent screen 9, each baffle plate is provided with seedling fetching hole 10.The baffle plate guide rail is provided with 6 guide grooves; This guide groove is corresponding one by one with the seedling groove that the 3rd beginning played on a left side; The effective length of described guide groove has following characteristic: if the effective length of first guide groove is b, n is 3 figure place, and the horizontal amount of sending of seedling platform is a; Then n is individual, n-1 is individual and effective length n-2 guide groove is b (n/3), b=a/2.Described revolution case is provided with and makes transplanting arm and the corresponding mechanism for axial adjusting of described seedling fetching hole; This mechanism for axial adjusting is by on the axle shaft of being located at the rice transplanting driving box; And several pads 11 between the revolution case constitute, and can adjust the axial location of revolution case through the number of adjusting this pad.Described rice transplanting driving box 1 is provided with a twin shaft stepper motor 12; Two output shafts 6 of this stepper motor 12 turn round 2 corresponding linking to each other of casees with described two respectively; The output shaft 6 of stepper motor 12 is provided with angular transducer; The signal circuit of this angular transducer and Stepping Motor Control circuit all link to each other with the driving controller of rice transplanting locomotive, and stepper motor is provided with a current sensor, and the signal circuit of this current sensor links to each other with the driving controller.The driving controller links to each other with a warning device.
Control method as the above-mentioned asynchronous rice transplanting mechanism of independent power; The corresponding relation data of driving built-in several road speeds of controller and stepper motor rotary speed, the line-spacing of the data represented rice transplanting of corresponding relation of each road speed and stepper motor rotary speed is when the rice transplanting locomotive starts; And after starting transplanting mechanism; The driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed, and the control step rotating speed of motor is carried out the rice transplanting operation.When the current data of current inductor acquisition surpassed safety value, the driving controller was promptly controlled the stepper motor outage, quits work.Angular transducer sends to the driving controller in real time with the total actual angle of revolution of output shaft in every 6 transplanting cycles of completion of interpolation arm; The driving controller compares the sum of this angle of revolution value and the theoretical angle of revolution value in 6 transplanting cycles; Obtain angular error, with of the compensation of the mean value of this angular error in above-mentioned 6 transplanting cycles as the stepper motor rotational angle in each transplanting cycle in the transplanting cycle of 6 of next rounds.
That so the present invention has is simple in structure, cost is low, easy to maintenance, precision is high, fluctuation is little, characteristic such as safe and reliable.
Claims (10)
1. the asynchronous rice transplanting mechanism of independent power comprises seedling platform support, confession seedling platform, some rice transplanting driving box, revolution case and transplanting arm, supplies the seedling platform to comprise some seedling grooves; Supply Miao Tai and a seedling platform guide rail of being located on the seedling platform support suitable; It is characterized in that described each rice transplanting driving box be provided with about two revolution casees, the revolution case is provided with two transplanting arms, wherein the revolution case on right side is provided with and is used for two revolution case differential seat angle angle-adjusting mechanisms about adjustment; Be provided with the spacing guiding mechanism that is used to adjust spacing between seedling groove and the seedling groove between described seedling groove and the seedling groove; Described seedling platform support is provided with a baffle plate guide rail, and this baffle plate guide rail is provided with adaptive with it, and with described seedling groove baffle plate one to one; Overlap each other between the adjacent screen; Each baffle plate is provided with seedling fetching hole, and described revolution case is provided with and makes transplanting arm and the corresponding mechanism for axial adjusting of described seedling fetching hole, and described rice transplanting driving box is provided with a twin shaft stepper motor; Two output shafts of this stepper motor are corresponding continuous with described two revolution casees respectively, and described Stepping Motor Control circuit links to each other with the driving controller of rice transplanting locomotive.
2. the asynchronous rice transplanting mechanism of a kind of independent power according to claim 1 is characterized in that described stepper motor is provided with a current sensor, and the signal circuit of this current sensor links to each other with described driving controller.
3. the asynchronous rice transplanting mechanism of a kind of independent power according to claim 1; It is characterized in that described angle-adjusting mechanism is made up of following structure: the output shaft of rice transplanting driving box is provided with two convexities that differ 90 °; Be provided with two at the endoporus of the socket place of the output shaft of revolution case and rice transplanting driving box and distinguish adaptive grooves with described two convexities, described revolution case is fixed through the output shaft of nut and described rice transplanting driving box.
4. the asynchronous rice transplanting mechanism of a kind of independent power according to claim 1; It is characterized in that described spacing guiding mechanism is made up of following structure: each seedling groove right side is equipped with chute vane; Chute vane is provided with the adjusting chute; Begin from second seedling groove of left, each seedling groove left side is equipped with and the suitable slide block of described adjusting chute, and described support is provided with the locking system that is used for fixing described seedling groove.
5. the asynchronous rice transplanting mechanism of a kind of independent power according to claim 4; The effective length that it is characterized in that described adjusting chute has following characteristic: if first effective length of regulating chute is b; N is an even number; The horizontal amount of sending of seedling platform is a, and then n the effective length with n-1 adjusting chute is b (n/2), b=a/2.
6. according to claim 1 or the asynchronous rice transplanting mechanism of 2 or 3 or 4 described a kind of independent powers; It is characterized in that described baffle plate guide rail is provided with several guide grooves, this guide groove is corresponding one by one with the seedling groove that the 3rd beginning played on a left side, and the effective length of described guide groove has following characteristic: if the effective length of first guide groove is b; N is 3 figure place; The horizontal amount of sending of seedling platform is a, and then n is individual, n-1 is individual and effective length n-2 guide groove is b (n/3), b=a/2.
7. the asynchronous rice transplanting mechanism of a kind of independent power according to claim 1 is characterized in that the output shaft of described stepper motor is provided with angular transducer, and the signal circuit of this angular transducer links to each other with described driving controller.
8. the asynchronous rice transplanting mechanism of a kind of independent power according to claim 2 is characterized in that described driving controller links to each other with a warning device.
9. the control method of the asynchronous rice transplanting mechanism of independent power as claimed in claim 1 is characterized in that the corresponding relation data of built-in several road speeds of described driving controller and stepper motor rotary speed, the line-spacing of the data represented rice transplanting of corresponding relation of each road speed and stepper motor rotary speed; When the rice transplanting locomotive starts; And after starting transplanting mechanism, the driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed, control step rotating speed of motor; Carry out the rice transplanting operation; When the current data of current inductor acquisition surpassed safety value, the driving controller was the outage of control step motor, quits work; When the current data of current inductor acquisition surpassed safety value, the emergency power off switch promptly carried out power operation to stepper motor.
10. the control method of independent power transplanting according to claim 9 mechanism; The total actual angle of revolution of output shaft that its characteristic is accomplished several transplanting cycles at angular transducer with the interpolation arm sends to the driving controller in real time; The driving controller compares this angle of revolution value and theoretical angle of revolution value during this period; Obtain angular error, with of the compensation of the mean value of this angular error in above-mentioned several transplanting cycles as the stepper motor rotational angle in each transplanting cycle in the transplanting cycle of next round same number.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013170689A1 (en) * | 2012-05-14 | 2013-11-21 | 莱恩农业装备有限公司 | Three-dimensionally reinforced transplanting mechanism with wide and narrow rows |
| CN105892309A (en) * | 2014-05-13 | 2016-08-24 | 安徽省锦禾农业装备有限责任公司 | Control method of wide-narrow row spacing rice transplanter |
| CN107947649A (en) * | 2017-12-11 | 2018-04-20 | 中兴通讯股份有限公司 | Motor rotor position modification method, device and equipment, storage medium |
| CN114532016A (en) * | 2022-03-17 | 2022-05-27 | 江苏玖顺农业机械有限公司 | Intelligent seedling separating mechanism of high-speed rice transplanter |
| CN114938731A (en) * | 2022-07-04 | 2022-08-26 | 苏州诺思特微电子有限公司 | Transplanting structure of high-speed rice transplanter and control system thereof |
| CN115380650A (en) * | 2022-01-11 | 2022-11-25 | 浙江理工大学 | Electric-drive multi-drive agricultural machinery opposite-row transverse-moving deflection device |
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