CN104914885B - It is a kind of from gravity type body feed tank uniform flow control device and its control method - Google Patents
It is a kind of from gravity type body feed tank uniform flow control device and its control method Download PDFInfo
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- CN104914885B CN104914885B CN201510164752.6A CN201510164752A CN104914885B CN 104914885 B CN104914885 B CN 104914885B CN 201510164752 A CN201510164752 A CN 201510164752A CN 104914885 B CN104914885 B CN 104914885B
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- steering wheel
- flow control
- flow
- feed tank
- body feed
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- 230000005484 gravity Effects 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 8
- 239000000463 material Substances 0.000 claims description 40
- 238000007599 discharging Methods 0.000 claims description 6
- 238000010030 laminating Methods 0.000 claims description 6
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
- 230000004888 barrier function Effects 0.000 claims description 3
- 230000003111 delayed effect Effects 0.000 claims description 3
- 238000009331 sowing Methods 0.000 description 8
- 235000013339 cereals Nutrition 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000003566 sealing material Substances 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000010152 pollination Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000000576 supplementary effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Catching Or Destruction (AREA)
- Fertilizing (AREA)
Abstract
The invention discloses one kind from gravity type body feed tank uniform flow control device and its control method, its device includes first flow adjustable plate, second flow adjustable plate, 3rd flow control board, the first steering wheel with first mechanical arm, the second steering wheel with second mechanical arm, the 3rd steering wheel with three-mechanical arm, steering engine controller, fixed mount, first flow adjustable plate is connected by first mechanical arm with the first steering wheel, second flow adjustable plate is connected by second mechanical arm with the second steering wheel, 3rd flow control board is connected by three-mechanical arm with the 3rd steering wheel, this first, two, three flow control boards are presented, in, under be distributed in the bottom of body feed tank, first, two, three steering wheels are respectively loaded on fixed mount, and by being controlled loaded on the steering engine controller on fixed mount, pass through regulation first, two, the folding of three flow control boards make it that mass flow is uniformly discharged.The present invention solve the operation of current multi-rotor aerocraft low latitude scatter seeds region it is uneven the problem of.
Description
Technical field
The present invention relates to the technical field of agricultural unmanned vehicle low latitude operation, refer in particular to a kind of from gravity type body feed tank
Uniform flow control device and its control method.
Background technology
Agricultural unmanned vehicle low latitude field of operation mainly includes spray drug operation, supple-mentary pollination operation, broadcasts sowing operation and agriculture
In terms of feelings information monitoring operation.Current application of all kinds of unmanned planes in above-mentioned field not yet reaches just in mushroom development
The degree of maturation application.Influence unmanned plane agriculture field using the reason for have a lot, not good operation effectiveness is one of those
Key factor.The factor for for example currently influenceing agricultural unmanned plane to broadcast sowing operation effectiveness has vehicle flight speeds and height, flight
The course line of device, the flow uniformity of spreading gear, density and broadcast sowing breadth etc..It is to determine entirely to broadcast sowing work wherein to broadcast sowing the uniformity
The important parameter of industry effect.In view of unmanned vehicle load-carrying present situation less than normal, carry device needs to reduce volume as far as possible
With weight, it is light, simple working method to exclude material from body feed tank by material self gravitation；But generally existing
The problem of be, as material is gradually reduced in body feed tank, by the mode of material self gravitation to cause body feed tank base pressure non-
It is linear to reduce, make material discharge uneven, and then cause the spreading gear amount of broadcasting sowing uneven, so as to influence unmanned aerial vehicles sowing
Effect.If flow regulator simple and easy to apply can be designed so that body feed tank exit mass flow is uniform, is beneficial to
The uniformity is broadcasted sowing in raising, improves operation effectiveness.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of compact conformation is reliable, practical, weight
Gently, the easy adjustable material case uniform flux of control mode from gravity type body feed tank uniform flow control device and its controlling party
Method.
To achieve the above object, technical scheme provided by the present invention its from gravity type body feed tank uniform flow control fill
Put, include first flow adjustable plate, second flow adjustable plate, the 3rd flow control board, the first steering wheel with first mechanical arm,
The second steering wheel, the 3rd steering wheel of band three-mechanical arm, steering engine controller with second mechanical arm and loaded on the fixation on body feed tank
Frame, wherein, the body feed tank is the casing of upper and lower opening, and its upper shed is charging aperture, and under shed is discharging opening；Described first
Flow control board is connected by first mechanical arm with the first steering wheel, and the second flow adjustable plate passes through second mechanical arm and second
Steering wheel is connected, and the 3rd flow control board is connected by three-mechanical arm with the 3rd steering wheel, first flow adjustable plate, second
Flow control board, the 3rd flow control board are distributed in the bottom of body feed tank, its shape size and material lower box part in upper, middle and lower
Inner chamber matches, and realization can be driven to insert the body feed tank inner barrier material or the material is pulled out by respective steering wheel
After case, and insertion, the first compartment is formed between the first flow adjustable plate, second flow adjustable plate and body feed tank, this
The second compartment is formed between two flow control boards, the 3rd flow control board and body feed tank；First steering wheel, the second rudder
Machine, the 3rd steering wheel, steering engine controller are respectively loaded on fixed mount, and first steering wheel, the second steering wheel, the 3rd steering wheel are by servos control
Device is controlled, by adjusting the folding of first flow adjustable plate, second flow adjustable plate, the 3rd flow control board come so that material stream
The uniform discharge of amount.
First steering wheel, the second steering wheel, the 3rd steering wheel are controlled by steering engine controller output pwm signal, with PWM1,
PWM2, PWM3 represent the pwm control signal of first, second and third steering wheel respectively；When PWM is 0, the respective flow of servos control is adjusted
Section plate is the state for sealing material lower box part completely；When PWM is 100%, represent that the respective flow control board of servos control is
The state of material lower box part is opened completely；When PWM is in 0-100%, represent the aperture of flow control board in corresponding percentage
Change.
Offer and be horizontally inserted for first flow adjustable plate and second flow adjustable plate on the lower sides of the body feed tank
Or the interspersed mouth extracted out；The 3rd flow control board laminating closure or laminating detach the discharging opening of material lower box part.
The top of the body feed tank is cylindrical in shape, and its middle part is in funnel-form, and its underpart is in pipe-like.
The first flow adjustable plate, second flow adjustable plate, the rectangle that is shaped as of the 3rd flow control board splice
One semicircle；The interspersed mouth is annular opening.
Control method of the present invention from gravity type body feed tank uniform flow control device, comprises the following steps：
1) after body feed tank loaded material, initialization, the first steering wheel, the second steering wheel, the PWM of the 3rd steering wheel are 0, represent three
The individual respective flow control board of servos control is fully closed condition；
2) it is delayed a seconds, PWM1 is 100%, PWM2, PWM3 are 0, and interval is after b seconds, and PWM1 is that 0, PWM2 is 100%, PWM3
For 0；Wherein, a is common delay, and b is the time that material fills the first compartment under natural gravity；
3) after being spaced c seconds, PWM2 is that 0, PWM3 is n%, while PWM1 is 100%；Wherein, c is material in natural gravity
Under from the first compartment flow into the second compartment time；N is the percent travel of flow control board, and freedom is needed according to flow
Regulation, to ensure that material uniformly flows out；
4) judge material whether emptying, if without emptying, circulating above-mentioned steps 2) and 3), if emptying, reset
PWM1, PWM2, PWM3 are 0, close flow control board.
The present invention compared with prior art, has the following advantages that and beneficial effect：
1st, the present invention can make material outflow evenly, and uninterrupted can be adjusted with the aperture of the 3rd flow control board
It is whole, and then make it that the mass flow in body feed tank exit is uniform, solve the operation of current multi-rotor aerocraft low latitude and scatter seeds
The problem of region is uneven.
2nd, apparatus of the present invention principle is simple, structure is dexterous, operation and maintenance is easy, is suitable for drying, mobility is strong, particle
The material operation of small volume, it is better.
Brief description of the drawings
Fig. 1 is the front view of the present invention from gravity type body feed tank uniform flow control device.
Fig. 2 is the side view of the present invention from gravity type body feed tank uniform flow control device.
Fig. 3 is Fig. 2 A-A sectional views.
Fig. 4 is Fig. 2 B-B sectional views.
Fig. 5 is the control flow chart of the present invention from gravity type body feed tank uniform flow control device.
Embodiment
With reference to specific embodiment, the invention will be further described.
As shown in Figures 1 to 4, described in the present embodiment from gravity type body feed tank uniform flow control device, be exclusively used in many
The operation of rotor craft low latitude from the airborne body feed tank of gravity type, it includes first flow adjustable plate 1, second flow adjustable plate
2nd, the 3rd flow control board 3, the first steering wheel 5 with first mechanical arm 4, the second steering wheel 7 with second mechanical arm 6, the machine of band the 3rd
The 3rd steering wheel 9, steering engine controller 10 and the fixed mount 12 loaded on the outside of body feed tank 11 of tool arm 8.
The body feed tank 11 is the casing of upper and lower opening, and its upper shed is charging aperture, and its under shed is discharging opening；The thing
Material used by hopper 11 is plastics, and its top is cylindrical in shape, and its middle part is in funnel-form, and its underpart is in pipe-like；The body feed tank 11
Cylindrical upper part radius is 20-30cm, and length is 10-25cm；Length is 10-30cm in the middle part of the funnel-form of the body feed tank 11；The thing
The pipe-like lower radius of hopper 11 is 1-5cm, and length is 10-30cm.
The first flow adjustable plate 1 is connected by first mechanical arm 4 with the first steering wheel 5, the second flow adjustable plate 2
It is connected by second mechanical arm 6 with the second steering wheel 7, the 3rd flow control board 3 passes through the steering wheel 9 of three-mechanical arm 8 and the 3rd
Connection, the first flow adjustable plate 1, second flow adjustable plate 2, the 3rd flow control board 3 are distributed in body feed tank in upper, middle and lower
11 pipe-like bottom, its shape size matches with body feed tank lower lumen；The first flow adjustable plate 1, second flow
Adjustable plate 2, the rectangle that is shaped as of the 3rd flow control board 3 splice a semicircle, and material used is plastics or plank；Material
Offered on the lower sides of case 11 for interting that first flow adjustable plate 1 and second flow adjustable plate 2 are horizontally inserted or extracted out
Mouthful, it is annular opening to intert mouth, and the 3rd flow control board 3 laminating closure or laminating detach the discharging opening of material lower box part；
The first flow adjustable plate 1, second flow adjustable plate 2, the 3rd flow control board 3 are driven by respective steering wheel and realize water
Plug flat enters the inner barrier material of body feed tank 11 or pulls out the body feed tank 11 (steering wheel makes mechanical arm by rotating a certain angle
Move forward and backward, and then pull flow control board insertion or extract out), and after insertion, first flow adjustable plate 1, the second flow
The first compartment is formed between adjustable plate 2 and body feed tank 11, the second flow adjustable plate 2, the 3rd flow control board 3 and material
The second compartment is formed between case 11；First steering wheel 5, the second steering wheel 7, the 3rd steering wheel 9, steering engine controller 10 pass through solid
Screw is determined respectively loaded on fixed mount 12, and the steering engine controller 10 connects the first steering wheel 5, the second steering wheel the 7, the 3rd by lead
Steering wheel 9, first steering wheel 5, the second steering wheel 7, the 3rd steering wheel 9 by the output pwm signal of steering engine controller 10 control, with PWM1,
PWM2, PWM3 represent the pwm control signal of first, second and third steering wheel respectively；When PWM is 0, the respective flow of servos control is adjusted
Section plate is the state for sealing material lower box part completely；When PWM is 100%, represent that the respective flow control board of servos control is
The state of material lower box part is opened completely；When PWM is in 0-100%, represent the aperture of flow control board in corresponding percentage
Change.By adjusting the folding of first flow adjustable plate 1, second flow adjustable plate 2, the 3rd flow control board 3 come so that material
Uniform flow is discharged.
As shown in figure 5, being the above-mentioned control flow from gravity type body feed tank uniform flow control device of the present embodiment, it has
Body situation is as follows：
1) body feed tank is loaded onto after appropriate cereal seed, initialization, the first steering wheel 5, second steering wheel 7, the 3rd steering wheel 9
PWM is 0, represent three respective flow control boards of servos control be fully closed condition, i.e. first flow adjustable plate 1,
Second flow adjustable plate 2, the 3rd flow control board 3 are in completely closing the state of body feed tank pipe-like bottom.
2) it is delayed a seconds, PWM1 is 100%, PWM2, PWM3 are 0, and interval is after b seconds, and PWM1 is that 0, PWM2 is 100%, PWM3
For 0；Wherein, a is common delay, and b is the time that material fills the first compartment under natural gravity.
3) after being spaced c seconds, PWM2 is that 0, PWM3 is n%, while PWM1 is 100%；Wherein, c is material in natural gravity
Under from the first compartment flow into the second compartment time；N is the percent travel of flow control board, and freedom is needed according to flow
Regulation, it is appropriate to open the 3rd flow control board 3, to ensure that material uniformly flows out, due in small distance between flow control board, institute
With uneven, the generally uniform stream of cereal seed amount of outflow that can ignore the flow velocity that the weight of cereal seed between flow control board causes
Go out.
4) judge material whether emptying, if without emptying, circulating above-mentioned steps 2) and 3), if emptying, reset
PWM1, PWM2, PWM3 are 0, close flow control board.
The examples of implementation of the above are only the preferred embodiments of the invention, and the implementation model of the present invention is not limited with this
Enclose, therefore the change that all shapes according to the present invention, principle are made, it all should cover within the scope of the present invention.
Claims (6)
1. it is a kind of from gravity type body feed tank uniform flow control device, it is characterised in that：Include first flow adjustable plate (1),
Second flow adjustable plate (2), the 3rd flow control board (3), the first steering wheel (5) with first mechanical arm (4), band second mechanical arm
(6) the second steering wheel (7), the 3rd steering wheel (9) of band three-mechanical arm (8), steering engine controller (10) and loaded on body feed tank (11)
On fixed mount (12), wherein, the body feed tank (11) is the casing of upper and lower opening, and its upper shed is charging aperture, and under shed is
Discharging opening；The first flow adjustable plate (1) is connected by first mechanical arm (4) with the first steering wheel (5), and the second flow is adjusted
Section plate (2) is connected by second mechanical arm (6) with the second steering wheel (7), and the 3rd flow control board (3) passes through three-mechanical arm
(8) it is connected with the 3rd steering wheel (9), the first flow adjustable plate (1), second flow adjustable plate (2), the 3rd flow control board (3)
The bottom of body feed tank (11) is distributed in upper, middle and lower, its shape size matches with body feed tank lower lumen, and can be by respective
Corresponding steering wheel, which drives, to be realized insertion body feed tank (11) the inner barrier material or pulls out after the body feed tank (11), and insertion, should
The first compartment is formed between first flow adjustable plate (1), second flow adjustable plate (2) and body feed tank (11), the second
The second compartment is formed between amount adjustable plate (2), the 3rd flow control board (3) and body feed tank (11)；First steering wheel
(5), the second steering wheel (7), the 3rd steering wheel (9), steering engine controller (10) are loaded on fixed mount (12) respectively, first steering wheel (5),
Second steering wheel (7), the 3rd steering wheel (9) are controlled by steering engine controller (10), by adjusting first flow adjustable plate (1), second
Amount adjustable plate (2), the folding of the 3rd flow control board (3) make it that mass flow is uniformly discharged.
2. it is according to claim 1 a kind of from gravity type body feed tank uniform flow control device, it is characterised in that：Described
One steering wheel (5), the second steering wheel (7), the 3rd steering wheel (9) by steering engine controller (10) output pwm signal control, with PWM1, PWM2,
PWM3 represents the pwm control signal of first, second and third steering wheel respectively；When PWM is 0, the respective flow control board of servos control is
The state of material lower box part is sealed completely；When PWM is 100%, represent the respective flow control board of servos control to beat completely
Open the state of material lower box part；When PWM is in 0-100%, represent that the aperture of flow control board changes in corresponding percentage.
3. it is according to claim 1 a kind of from gravity type body feed tank uniform flow control device, it is characterised in that：The thing
Offered on the lower sides of hopper (11) and be horizontally inserted or take out for first flow adjustable plate (1) and second flow adjustable plate (2)
The interspersed mouth gone out；3rd flow control board (3) the laminating closure or laminating detach the discharging opening of material lower box part.
4. it is according to claim 1 a kind of from gravity type body feed tank uniform flow control device, it is characterised in that：The thing
The top of hopper (11) is cylindrical in shape, and its middle part is in funnel-form, and its underpart is in pipe-like.
5. it is according to claim 3 a kind of from gravity type body feed tank uniform flow control device, it is characterised in that：Described
One flow control board (1), second flow adjustable plate (2), the rectangle that is shaped as of the 3rd flow control board (3) splice one and half
Circle；The interspersed mouth is annular opening.
6. a kind of control method from gravity type body feed tank uniform flow control device described in claim 1 or 2, its feature exists
In comprising the following steps：
1) after body feed tank loaded material, initialization, the first steering wheel, the second steering wheel, the PWM of the 3rd steering wheel are 0, represent three rudders
Machine controls respective flow control board to be fully closed condition；
2) it is delayed a seconds, PWM1 is 100%, PWM2, PWM3 are 0, and interval is after b seconds, and PWM1 is that 0, PWM2 is that 100%, PWM3 is 0；
Wherein, a is common delay, and b is the time that material fills the first compartment under natural gravity；
3) after being spaced c seconds, PWM2 is that 0, PWM3 is n%, while PWM1 is 100%；Wherein, c be material under natural gravity from
First compartment flows into the time of the second compartment；N is the percent travel of flow control board, is needed freely to adjust according to flow
Section, to ensure that material uniformly flows out；
4) judge material whether emptying, if without emptying, circulating above-mentioned steps 2) and 3), if emptying, replacement PWM1,
PWM2, PWM3 are 0, close flow control board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164752.6A CN104914885B (en) | 2015-04-07 | 2015-04-07 | It is a kind of from gravity type body feed tank uniform flow control device and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510164752.6A CN104914885B (en) | 2015-04-07 | 2015-04-07 | It is a kind of from gravity type body feed tank uniform flow control device and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104914885A CN104914885A (en) | 2015-09-16 |
| CN104914885B true CN104914885B (en) | 2017-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510164752.6A Expired - Fee Related CN104914885B (en) | 2015-04-07 | 2015-04-07 | It is a kind of from gravity type body feed tank uniform flow control device and its control method |
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| Country | Link |
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| CN (1) | CN104914885B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112715508B (en) * | 2020-12-15 | 2022-09-13 | 广州极飞科技股份有限公司 | Method and device for determining position of feed opening |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011240961A (en) * | 2010-05-18 | 2011-12-01 | Hinode Shiki Kogyo Kk | Box body and box material |
| CN202232091U (en) * | 2011-10-15 | 2012-05-30 | 金华职业技术学院 | Seeding fertilizer |
| CN104176254A (en) * | 2014-08-06 | 2014-12-03 | 华南农业大学 | Onboard device suitable for sowing job of unmanned aerial vehicle and sowing method |
-
2015
- 2015-04-07 CN CN201510164752.6A patent/CN104914885B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011240961A (en) * | 2010-05-18 | 2011-12-01 | Hinode Shiki Kogyo Kk | Box body and box material |
| CN202232091U (en) * | 2011-10-15 | 2012-05-30 | 金华职业技术学院 | Seeding fertilizer |
| CN104176254A (en) * | 2014-08-06 | 2014-12-03 | 华南农业大学 | Onboard device suitable for sowing job of unmanned aerial vehicle and sowing method |
Non-Patent Citations (1)
| Title |
|---|
| 四旋翼飞行器农田位置信息采集平台设计与实验;李继宇，等;《农业机械学报》;20130531;第44卷(第5期);第202-206页 * |
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| CN104914885A (en) | 2015-09-16 |
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