CN106717369A - A kind of main gear change hand lever automatic gear shift apparatus of unmanned rice transplanter and its control method - Google Patents
A kind of main gear change hand lever automatic gear shift apparatus of unmanned rice transplanter and its control method Download PDFInfo
- Publication number
- CN106717369A CN106717369A CN201710018186.7A CN201710018186A CN106717369A CN 106717369 A CN106717369 A CN 106717369A CN 201710018186 A CN201710018186 A CN 201710018186A CN 106717369 A CN106717369 A CN 106717369A
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- push
- support bar
- rice transplanter
- controller
- hand lever
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a kind of unmanned main gear change hand lever automatic gear shift apparatus of rice transplanter, including longitudinal driving device and lateral driver device, described longitudinal driving device includes controller, servomotor, driver, encoder, decelerator, spur gear, the controller is connected with encoder by cable, encoder is arranged on servomotor shaft rear end, servo motor shaft is connected with reducer input shaft by key, spur gear is installed on reducer output shaft, spur gear is meshed with the driven spur gear on rice transplanter main transformer speed arm pivot post, rotating shaft is connected to gear shift support bar；Described lateral driver device includes controller and push-pull electromagnet, and controller is connected by cable with two push-pull electromagnets.The present invention can realize the main gear change hand lever self shifter of unmanned rice transplanter, and its simple structure, high precision of shifting gears, low cost, transmission efficiency, the structure destruction to main gear change hand lever is small.
Description
Technical field：
The present invention relates to agricultural machinery main transformer speed handle gearshift device field, a kind of main gear change hand lever of unmanned rice transplanter is related generally to
Automatic gear shift apparatus and its control method.
Background technology：
Current paddy field soil condition is changeable, and operating environment is severe, easily falls into easily sliding, and rice transplanter is completely by manually grasping in production
Vertical, labour intensity is big, and operating efficiency is low, and operation quality too relies on the operative skill of operator, and driver is withered for a long time
Dry dull tracking drives and the accuracy of rice transplanting operation is produced a very large impact, and is also easy to produce overline, leakage row, rice transplanting operation quality not
The defects such as stabilization, it is difficult to reach accurate job requirements, cause the underproduction, and high cost.Realize automation, the intelligence of rice transplanter
Energyization, operating personnel are freed from severe paddy field production environment, are the important skills for solving rice transplanting existing issue
Art means.
Unmanned rice transplanter is the technologies such as integrated use computer, electronic communication, control, many for solving edaphic condition
Become, the problems such as operating environment is arduous, pilot steering labour intensity is big.The main gear change hand lever self shifter dress of unmanned rice transplanter
It is to improve unmanned rice transplanter operating efficiency in the course of the work to put, and improves the pith of traveling precision.And it is existing from
Move retaining device mostly mechanical structure, it is impossible to accurately control step movement, speed when moving unmanned rice transplanter goes out
Existing larger deviation.Therefore, the unmanned main gear change hand lever automatic gear shift apparatus of rice transplanter and control method are researched and developed, is conducive to water
The accurate rice transplanting operation of rice, it is ensured that line-spacing is uniform, and straight line is embarked on journey, and alleviates labour intensity, and can realize that night works continuously,
Operating efficiency and rice yield are improved, increases Rice Production anti-disaster ability, save operating cost, it is ensured that operation quality, reduce energy
Consumption, increases farmers' income, and is conducive to the popularization and application of rice transplanter.
The content of the invention：
The object of the invention is exactly to make up the defect of prior art, there is provided a kind of low cost, simple structure, can accurately be shifted gears
The main gear change hand lever automatic gear shift apparatus of unmanned rice transplanter and its control method, make the main gear change hand lever of unmanned rice transplanter
Structure be not destroyed, electromagnet need not be removed during dismounting, it is only necessary to remove other auxiliary accessories, with certain general
Property.
The present invention is achieved by the following technical solutions：
A kind of main gear change hand lever automatic gear shift apparatus of unmanned rice transplanter, including longitudinal driving device and lateral driver device,
Described longitudinal driving device includes controller, servomotor, driver, encoder, decelerator, spur gear, the controller
It is connected by cable with encoder, encoder is arranged on servomotor shaft rear end, servo motor shaft passes through with reducer input shaft
Key is connected, and is provided with spur gear on reducer output shaft, spur gear be arranged on driven on the fast arm pivot post of rice transplanter main transformer
Spur gear is meshed, and rotating shaft is connected to gear shift support bar；Described lateral driver device includes controller and push-pull electromagnet,
Controller is connected by cable with two push-pull electromagnets.
Described lengthwise movement drive device includes the fixed plate being connected with gearshift post upper portion, and fixed plate is installed
In one end of rice transplanter main transformer speed arm pivot post, rotating shaft is connected by the hole on fixed support, its one end with gearshift support bar, separately
Driven spur gear is installed, driven spur gear is engaged with the spur gear on reducer output shaft on one end, the fixed support peace
On the bracing strut of direction.
Zigzag guide plate is set with the gearshift support bar, zigzag guide plate is provided with zigzag gathering sill, zigzag
Guiding iron plate is hinged with guide plate, zigzag motion, the both sides of zigzag gathering sill are done in gear shift support bar bottom in guide plate
Lower section is respectively symmetrically installation push-pull electromagnet, the bottom surface of support bar is provided with cochlear groove, and push-pull electromagnet is pushed away
Pull head faces cochlear groove.
The control method of the main gear change hand lever automatic gear shift apparatus of described unmanned rice transplanter, is detected by encoder and worked as
The angle position of preceding servomotor, and by encoder cable by signal transmission to controller, extrapolate main transformer speed handle gearshift
The position of support bar；When controller obtain speed change instruction when, controller calculate the corresponding movement angle of servomotor and
Direction, and send instruction, the angle and direction that control servomotor is rotated to servomotor controller；When the motion of gear shift support bar
To zigzag guide plate midpoint when, controller send instruction control push-pull electromagnet in a push-and-pull head do extending action,
Push-and-pull head promotes gearshift support bar transverse movement, makes gearshift support bar promote guiding iron plate to move, and servomotor continues to turn
Dynamic, push-pull electromagnet makes its push-and-pull head be return by cochlear groove by spring effect, completes zigzag gearshift.
It is an advantage of the invention that：
1st, with servomotor as power, after slowing down through decelerator, rotating speed reduces the present invention, and moment of torsion increases, in rotation post and
Connected with spur gear between decelerator, it is ensured that the simplicity of structure and the stability of transmission, using the teaching of the invention it is possible to provide more accurate to turn
Angular movement and larger torque.
2nd, the present invention is pushed away using symmetrical push-pull electromagnet as the executing agency of main gear change hand lever transverse movement
Pull-type electromagnet can provide larger thrust, the gearshift support bar transverse movement of main gear change hand lever be promoted, to main gear change hand lever
Mechanism changes less, and control speed and execution speed are fast.
3rd, the present invention has two symmetrical cochlear grooves on the gearshift support bar of main gear change hand lever, makes plug-type electricity
The push-and-pull head of magnet has sufficiently large contact area when being contacted with gearshift support bar, and push-and-pull head is withdrawn in push-pull electromagnet
When, can be exited by cochlear hole, it is ensured that main gear change hand lever transverse movement is not interfered lengthwise movement.
Brief description of the drawings：
Fig. 1 is gearshift structure chart of the present invention.
Fig. 2 is electromagnet installation site structure chart of the present invention.
Fig. 3 is zigzag guide board structure figure of the present invention.
Fig. 4 is the structure chart of cochlear groove on gear shift support bar of the present invention.
Fig. 5 is self shifter flow chart of the present invention.
Numbered in figure：1. main gear change hand lever, support bar of 2. shifting gears, 3. cochlear groove, 4. zigzag guide plate, 5. electromagnetism
Iron connecting line, 6. controller, 7. direction bracing strut, 8. fixed support, 9. rotating shaft is 10. oriented to iron plate, 11. push-pull electromagnets,
12. spur gears, 13. decelerators, 14. servomotors, 15. encoders, 16. encoder cables, 17. motor servo drivers, 18.
Driven spur gear, 19. driver connecting lines, 20. hinges, 21. fixed plates.
Specific embodiment：
Referring to accompanying drawing.
A kind of main gear change hand lever automatic gear shift apparatus of unmanned rice transplanter, including longitudinal driving device and laterally driven dress
Put, described longitudinal driving device includes controller 6, servomotor 14, motor servo driver 17, encoder 15, decelerator
13rd, spur gear 18, the controller 6 is connected with encoder 15 by encoder cable 16, and encoder 15 is arranged on servomotor
Shaft rear end, servo motor shaft is connected with the input shaft of decelerator 13 by key, is provided with spur gear 12 on the output shaft of decelerator 13, directly
Gear 12 is meshed with the driven spur gear 18 in rice transplanter main gear change hand lever 1 rotating shaft, and rotating shaft is connected to gear shift support
Bar 2；Described lateral driver device include controller 6 and push-pull electromagnet 11, controller 6 by electromagnet connecting line 5 with
Two push-pull electromagnets 11 are connected.
Described lengthwise movement drive device includes the fixed plate 21 being connected with gearshift support bar 2 upper end, fixed plate
21 one end for being arranged on rice transplanter main transformer speed arm pivot post 9, rotating shaft 9 is supported by the hole on fixed support 8, its one end with gearshift
Bar 2 is connected, and driven spur gear 18 is provided with the other end, and driven spur gear 18 is nibbled with the spur gear 18 on reducer output shaft
Close, the fixed support 8 is arranged on direction bracing strut 7.
Zigzag guide plate 4 is set with the gearshift support bar, zigzag guide plate 4 is provided with zigzag gathering sill, Z-shaped
Guiding iron plate 10 is hinged with shape guide plate, iron plate 10 is oriented to and is arranged on zigzag guide plate 4 by hinge 20, gear shift support
Zigzag motion is done in bar bottom in guide plate, and the down either side of zigzag gathering sill is respectively symmetrically installation push-pull electromagnet 11,
The bottom surface of support bar is provided with cochlear groove 3, and the push-and-pull head of push-pull electromagnet 11 faces cochlear groove.
The control method of the main gear change hand lever automatic gear shift apparatus of described unmanned rice transplanter, is detected by encoder 15
The angle position of current servo motor 14, and by encoder cable 16 by signal transmission to controller, extrapolate main transformer speed hand
The position of handle gearshift support bar 2；When controller 6 obtains speed changes instruction, controller calculates the corresponding fortune of servomotor
Dynamic angle and direction, and send instruction, the angle and direction that control servomotor is rotated to servomotor controller；When gear shift branch
When strut 2 moves to the midpoint of zigzag guide plate 4, controller sends a push-and-pull in instruction control push-pull electromagnet 11
Head does extending action, and push-and-pull head promotes gearshift support bar transverse movement, the promotion of gearshift support bar 2 is oriented to iron plate 10 and moves, and
And servomotor is rotated further, push-pull electromagnet 11 makes its push-and-pull head be return by cochlear groove by spring effect, completes Z
Font is shifted gears.
Referring to accompanying drawing 1, the present invention, for main gear change hand lever lengthwise movement drive mechanism, is with decelerator 13 with servomotor 14
Reduce rotating speed, increase torque mechanism, be detection motor rotation angle mechanism with encoder 15 with spur gear 13,18 as transmission mechanism, with
Motor servo driver 17 as servomotor drive device, using push-pull electromagnet 11 as the sportswear of gear shift support bar
Put, be that the effect of electromagnet push-and-pull head and push-and-pull head exit region with the cochlear groove 3 on support bar of shifting gears.When main gear change hand lever is needed
When shifting gears, controller sends instruction, and servomotor makes main gear change hand lever lengthwise movement, and push-pull electromagnet promotes gearshift support
Bar transverse movement, to drive guiding iron plate, completes the gear shifting action of Z fonts.
Referring to accompanying drawing 2,3,4, cochlear groove of the invention be electromagnet push-and-pull head on gear shift support bar the zone of action and
Push-and-pull head exits region, and when gear shift support bar is moved upwards, electromagnet push-and-pull head is contacted with gearshift support bar cochlear groove
Afterwards, exited from the lower partial rectangular region of groove, when gear shift support bar is moved downward, electromagnet push-and-pull head is supported with gear shift
After the contact of bar cochlear, exited from the upper partial rectangular region of groove.
Referring to accompanying drawing 5, the present invention realizes that the process of main gear change hand lever self shifter is, in unpiloted pattern, to pass through
The position of the detection current servo of encoder 15 motor 14 simultaneously passes through cable 16 by signal transmission to controller 6, extrapolates main transformer speed
The position of handle 1 and gearshift support bar 3；When controller 6 obtains host computer sends speed increase instruction, controller 6 is calculated
The angle and direction that servomotor should be rotated, sends instruction and passes to motor servo driver 17 by cable 19, and control is watched
Motor 14 is taken to rotate forward；When servomotor moves to the zigzag midpoint of Z-shaped guide plate 4, controller 6 sends instruction control electromagnetism
A in iron 11 is operated, and its push-and-pull head is had an effect with gearshift support bar 2, promotes gearshift support bar 2 to electromagnet push-and-pull
Cephalomotor direction motion, gearshift support bar is promoted and is oriented to iron plate motion, and servomotor is rotated further, and electromagnet 11 passes through
Spring effect makes its push-and-pull head be return by cochlear groove；When controller 6 obtains host computer sends speed reduction instruction, control
Device 6 calculates direction and the angle that servomotor should be rotated, and sends instruction and passes to motor servo driver by cable 19
17, control servomotor 14 is inverted；When servomotor moves to the zigzag transverse movement point of zigzag guide plate 4, controller 6
The B sent in instruction control electromagnet 11 is operated, and its push-and-pull head is had an effect with gearshift support bar 2, promotes gearshift branch
Strut 2 is moved to the cephalomotor direction of electromagnet push-and-pull, and gearshift support bar is promoted and is oriented to iron plate motion, and servomotor continues
Rotate, electromagnet 11 makes its push-and-pull head be return by cochlear groove by spring effect, completes gearshift.
Claims (4)
1. main gear change hand lever automatic gear shift apparatus of a kind of unmanned rice transplanter, it is characterised in that：Including longitudinal driving device and
Lateral driver device, described longitudinal driving device includes controller, servomotor, driver, encoder, decelerator, straight-tooth
Wheel, the controller is connected with encoder by cable, encoder on the axle of servomotor rear end, servo motor shaft with subtract
Fast device input shaft by key be connected, spur gear is installed on reducer output shaft, with installed in rice transplanter main transformer speed arm pivot post
On driven spur gear be meshed, rotating shaft is connected to gear shift support bar；Described lateral driver device includes controller and push-and-pull
Formula electromagnet, controller is connected by cable with two push-pull electromagnets.
2. main gear change hand lever automatic gear shift apparatus of unmanned rice transplanter according to claim 1, it is characterised in that：It is described
Lengthwise movement drive device include fixed plate be connected with gearshift post upper portion, fixed plate is installed in rice transplanter main transformer
One end of fast arm pivot post, rotating shaft is connected with gearshift support bar, is provided with the other end by the hole on fixed support, its one end
Driven spur gear, driven spur gear is engaged with the spur gear on reducer output shaft, and the fixed support is installed in axis of orientation branch
On frame.
3. main gear change hand lever automatic gear shift apparatus of unmanned rice transplanter according to claim 1, it is characterised in that：It is described
Zigzag guide plate is set with gearshift support bar, zigzag guide plate is provided with zigzag gathering sill, is hinged on zigzag guide plate
There is guiding iron plate, zigzag motion is done in gear shift support bar bottom in guide plate, and the down either side of zigzag gathering sill is respectively symmetrically
Push-pull electromagnet is installed, the bottom surface of support bar is provided with cochlear groove, and the push-and-pull head of push-pull electromagnet faces spoon
Connected in star.
4. the control method of the main gear change hand lever automatic gear shift apparatus of unmanned rice transplanter according to claim 1, it is special
Levy is that specific method is：The angle position of current servo motor is detected by encoder, and by encoder cable by signal
Controller is passed to, the position of main transformer speed handle gearshift support bar is extrapolated；When controller obtains speed changes instruction, control
Device calculates the corresponding movement angle of servomotor and direction, and sends instruction to servomotor controller, controls servomotor
The angle and direction of rotation；When gear shift support bar moves to the midpoint of zigzag guide plate, controller sends instruction control push-and-pull
Push-and-pull head in formula electromagnet does extending action, and push-and-pull head promotes gearshift support bar transverse movement, pushes away gearshift support bar
Action-oriented iron plate is moved, and servomotor is rotated further, and push-pull electromagnet makes its push-and-pull head pass through spoon by spring effect
Connected in star is return, and completes zigzag gearshift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018186.7A CN106717369B (en) | 2017-01-10 | 2017-01-10 | Automatic gear shifting device of main gear shifting handle of unmanned rice transplanter and control method of automatic gear shifting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710018186.7A CN106717369B (en) | 2017-01-10 | 2017-01-10 | Automatic gear shifting device of main gear shifting handle of unmanned rice transplanter and control method of automatic gear shifting device |
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| Publication Number | Publication Date |
|---|---|
| CN106717369A true CN106717369A (en) | 2017-05-31 |
| CN106717369B CN106717369B (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710018186.7A Active CN106717369B (en) | 2017-01-10 | 2017-01-10 | Automatic gear shifting device of main gear shifting handle of unmanned rice transplanter and control method of automatic gear shifting device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108005030A (en) * | 2018-01-11 | 2018-05-08 | 天津大学 | A kind of unmanned longitudinally controlled device of roller applied to construction of hydro project |
| CN108307746A (en) * | 2018-04-09 | 2018-07-24 | 安徽农业大学 | A kind of unmanned rice transplanter plants clutch handle auto-shifting device and its control method |
| CN108895157A (en) * | 2018-06-12 | 2018-11-27 | 东南大学 | A kind of driverless tractor self shifter fexible unit |
| CN108999966A (en) * | 2018-07-24 | 2018-12-14 | 东南大学 | A kind of driverless tractor self shifter fexible unit accurately controlled |
| CN110593348A (en) * | 2019-10-11 | 2019-12-20 | 中国人民解放军陆军工程大学 | Automatic operating device for operating handle of excavator |
| US11431231B2 (en) | 2019-02-15 | 2022-08-30 | Shaun William FETHERSTON | Cable-actuated position sensors and gear motors |
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| CN106224527A (en) * | 2016-08-22 | 2016-12-14 | 上海交通大学 | The tractor shifting mechanism that self shifter is combined with manual shift |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108005030A (en) * | 2018-01-11 | 2018-05-08 | 天津大学 | A kind of unmanned longitudinally controlled device of roller applied to construction of hydro project |
| CN108307746A (en) * | 2018-04-09 | 2018-07-24 | 安徽农业大学 | A kind of unmanned rice transplanter plants clutch handle auto-shifting device and its control method |
| CN108307746B (en) * | 2018-04-09 | 2023-09-29 | 安徽农业大学 | Automatic gear shifting device of transplanting clutch handle of unmanned transplanter and control method of automatic gear shifting device |
| CN108895157A (en) * | 2018-06-12 | 2018-11-27 | 东南大学 | A kind of driverless tractor self shifter fexible unit |
| CN108999966A (en) * | 2018-07-24 | 2018-12-14 | 东南大学 | A kind of driverless tractor self shifter fexible unit accurately controlled |
| CN108999966B (en) * | 2018-07-24 | 2020-06-30 | 东南大学 | But unmanned tractor automatic gear shift universal device of accurate control |
| US11431231B2 (en) | 2019-02-15 | 2022-08-30 | Shaun William FETHERSTON | Cable-actuated position sensors and gear motors |
| CN110593348A (en) * | 2019-10-11 | 2019-12-20 | 中国人民解放军陆军工程大学 | Automatic operating device for operating handle of excavator |
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|---|---|
| CN106717369B (en) | 2023-09-05 |
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