CN108307746A - A kind of unmanned rice transplanter plants clutch handle auto-shifting device and its control method - Google Patents
A kind of unmanned rice transplanter plants clutch handle auto-shifting device and its control method Download PDFInfo
- Publication number
- CN108307746A CN108307746A CN201810310874.5A CN201810310874A CN108307746A CN 108307746 A CN108307746 A CN 108307746A CN 201810310874 A CN201810310874 A CN 201810310874A CN 108307746 A CN108307746 A CN 108307746A
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- Prior art keywords
- gear
- controller
- handle
- clutch handle
- servo motor
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Classifications
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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
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
-
- 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
Abstract
The invention discloses a kind of unmanned rice transplanters to plant clutch handle auto-shifting device and its control method, including it includes gear-shifting driving device and longitudinal towing mechanism to plant clutch handle auto-shifting device；Before rice transplanting, the servo motor dead reckoning that controller is detected according to encoder goes out handle position, judge whether handle is in " neutrality " gear, if being not located at " neutrality " gear, control instruction is sent out by car-mounted computer, and moved by the control servomotors such as host computer, controller and electromagnet, so that handle is playbacked；During rice transplanting, when host computer sends the instructions such as transplanting portion up and down, driving to controller, instruction is generated by controller and passes to driver and towed electromagnet, driving servo motor rotation, and electromagnet makees longitudinal traction movement, band fixed handle completes gear shift.What the present invention can be achieved unmanned rice transplanter plants clutch handle fluid drive, just can reach transmission purpose that will not destroy original mechanical structure, and without using automatically controlling operation or when rice transplanter breaks down can be with easy removal.
Description
Technical field：
The present invention relates to agricultural machinery technical field, relates generally to a kind of unmanned rice transplanter and plant clutch handle fluid drive
Device and its control method.
Background technology：
Paddy field soil condition is changeable at present, and operating environment is severe, easily falls into and easily slides, rice transplanter is completely by manually grasping in production
Vertical, labor intensity is big, and operating efficiency is low, and operation quality excessively relies on the operative skill of operator, and driver is withered for a long time
Dry dull tracking drives, and easily generates fatigue, is produced a very large impact so as to cause the accuracy to rice transplanting operation, is also easy to produce weight
Row leaks the defects of capable, rice transplanting operation quality is unstable, it is difficult to reach accurate job requirements, cause the underproduction, and pilot steering is grasped
It is higher to make cost, it is difficult to by the benefit of peasant household.Realize the automating of rice transplanter, intelligent, by operating personnel from
It is freed in severe paddy field production environment, is the important technical for solving rice transplanting existing issue.
Unmanned rice transplanter is integrated use computer technology, airmanship, electronic communication, the technologies such as automatically controls,
For solving the problems such as edaphic condition is changeable, operating environment is arduous, pilot steering labor intensity is big.The cultivation of unmanned rice transplanter
It is the weight that working efficiency and interpolation precision are improved in the unmanned rice transplanter course of work to insert clutch handle auto-shifting device
Want component.And existing self-clanging gear-shift is mostly mechanical structure, cannot accurately control step movement, makes unmanned rice transplanting
There is larger deviation when machine works.Therefore, it researches and develops unmanned rice transplanter and plants clutch handle auto-shifting device and control
Method processed is conducive to rice transplanter more accurately rice transplanting operation, ensures that line-spacing is uniform, and straight line is embarked on journey, and labor intensity is alleviated, and
And can work continuously under the various adverse circumstances such as hot weather, rainy day, weather of blowing, night, substantially increase operation effect
Rice Production anti-disaster ability also can be improved in rate, and then increases in rice yield, saves operating cost, ensures operation quality, reduces energy
Consumption increases Household income, is more advantageous to the popularization and application of rice transplanter.
Invention content：
The object of the invention be exactly in order to make up the defect of prior art, provide it is a kind of it is at low cost, simple in structure, being capable of accurate gear shift
Unmanned rice transplanter plant clutch handle auto-shifting device and its control method, while unmanned rice transplanter being made to plant
Clutch handle structure is not easy to be destroyed, other accessories are quick detachable, it can be achieved that unmanned automatic driving and pilot steering and depositing, it is only necessary to
Other auxiliary accessories are removed, there is certain versatility.
The present invention is achieved by the following technical solutions：
A kind of unmanned rice transplanter plants clutch handle auto-shifting device, includes the supporting rack on rice transplanter,
Shift supporting rod is installed, shift supporting rod outer end is set with fixed plate, is equipped in fixed plate and plants clutch hand on supporting rack
Handle, it is characterised in that：The shaft rotated by Serve Motor Control is installed, shaft outer end fixing sleeve is equipped with set on supporting rack
Cylinder, sleeve outer end fixing sleeve are equipped with nut, and shift supporting rod inner end spinning enters in nut；The lower part of fixed plate is equipped with multiple
With plant clutch handle shift gear position gear locating slot matched one by one, the lower section of fixed plate is equipped with shift limiter, changes
Gear limiter is equipped with the shift gag lever post coordinated with gear locating slot, and shift gag lever post is caught in corresponding shelves after fixed plate rotation
In the locating slot of position；Limiter positioning end of shifting gears is mounted on by axis pin and torsional spring on supporting rack, below shift limiter movable end
Equipped with the towed electromagnet on supporting rack, rope is connected between towed electromagnet and the movable end for limiter of shifting gears
Rope；Include controller and the encoder mounted on servo motor tail end, the output end of encoder and the input terminal of controller
Electrical connection, the output end of controller are electrically connected with the input terminal of the driver of servo motor and towed electromagnet respectively.
A kind of unmanned rice transplanter plants clutch handle auto-shifting device, it is characterised in that：Pacify on support frame as described above
Equipped with the retarder being connect with servo motor transmission, fixing sleeve is equipped with active spur gear on the output shaft of retarder；On supporting rack
It is rotatablely equipped with the shaft concentric with shift supporting rod, fixing sleeve is equipped with passive straight with active spur gear engaged transmission in shaft
Gear.
A kind of unmanned rice transplanter plants clutch handle auto-shifting device, it is characterised in that：Shaft right end is pros
The boss of shape, the sleeve are hex nut sleeve, and nut is hex nut, and boss is sleeved on sleeve left end, and nut is sleeved on
Sleeve right end；Shift supporting rod inner end spinning enters in nut and is integrated with nut-welding；The shift supporting rod passes through
Bearing is rotatably installed on supporting rack.
A kind of unmanned rice transplanter plants clutch handle auto-shifting device, it is characterised in that：It is described to plant clutch hand
Handle is fixedly mounted on by U-shaped ears boss on the outer surface of fixed plate.
A kind of unmanned rice transplanter plants clutch handle auto-shifting device, it is characterised in that：Pacify on support frame as described above
Equipped with gear plate, the gear hole for planting clutch handle on gear plate.
A kind of unmanned rice transplanter plants the control method of clutch handle auto-shifting device, it is characterised in that：We
Method includes the following steps：
The first step detects the angular position of current servo motor by encoder, by angular position before rice transplanter starts work
Signal passes to controller by cable, and extrapolates and plant clutch handle position, location information is sent to host computer, concurrently
Give car-mounted computer, if handle not in " neutrality " gear, sends from car-mounted computer to host computer and instructs, then from host computer to
Controller sends instruction, and then control servomotor rotation and electromagnet pulling motion, and handle is made to gain " neutrality " gear, then by
Encoder further detects, it is ensured that errorless.
Second step, before carrying out rice transplanting, car-mounted computer sends out instruction to host computer, and host computer sends out rice transplanting to controller
Instruction drops in subordinate, calculates the corresponding direction of motion of servo motor and angle by controller, generates corresponding control instruction, then lead to
It crosses cable and sends driver and towed electromagnet to, by driver driving servo motor reversion, limited by electromagnetism railway traction gear shift
Position device so that handle goes to "lower" gear, and transplanting portion is slowly drop down to suitable position stopping at this time.
Third walks, and when carrying out rice transplanting, rice transplanting sign on is sent out from car-mounted computer to host computer, and host computer is to control
Device sends out transplanting portion driving instruction, and control instruction is sent out to driver and towed electromagnet by cable from controller, by
Driver drives servo motor reversion, by electromagnetism railway traction gearshift limit device so that handle goes to " driving " gear, at this time bifurcated
Mechanism starts to rotate, and starts rice transplanting.
4th step, at the end of rice transplanting, car-mounted computer sends rice transplanting halt instruction to host computer, and host computer is to controller
Transplanting portion climb command is sent out, the corresponding direction of motion of servo motor and angle are calculated by controller, generates corresponding control
Instruction, then driver and towed electromagnet are sent to by cable, it is rotated forward by driver driving servo motor, is led by electromagnet
Draw gearshift limit device so that handle goes to "upper" gear, and transplanting portion slowly rises at this time, completes instruction.
The gear-shifting driving device includes controller, encoder, driver, servo motor, retarder, a pair of of straight-tooth
Wheel, shaft, sleeve, the controller, encoder, driver are connected by cable, and encoder is mounted on servo motor tail end, watches
It takes motor shaft by flat key to be connected with retarder, reducer output shaft is connected by flat key with active spur gear, active spur gear
It is intermeshed with driven spur gear, with the shaft mounted on rice transplanter seat lower part by key connection, shaft connects driven spur gear
Then sleeve, sleeve are matched with the nut for planting clutch handle gear shift supporting rod one end；The longitudinal towing mechanism includes changing
Shelves limiter, towed electromagnet, rope, the gearshift limit device are mounted on seat fixed frame, and limiter one end is provided with
One aperture, rope are connect across aperture with limiter, and the rope other end is connect with electromagnet, electromagnet side and seat fixed frame
It is connected, electromagnet is connected by cable with controller.
The gear-shifting driving device includes fixed plate, U-shaped ears boss, plants clutch handle etc., fixed plate and gear shift
It supports boom end to be connected, U-shaped ears boss is welded in the middle part of fixed plate, the one end for planting clutch handle passes through U-shaped ears boss
Mounting hole, fixed by pin, gear shift supporting rod and sliding cylinder bearing fit, the other end is fixed by nut.
The gear-shifting driving device includes shaft and sleeve, and shaft diameter 18mm, total length 230mm, one end is
The length of side is the square protrusions of 12.5mm, and length 15mm, the other end is the cylinder with keyway, and a diameter of 16mm, length is
40mm；Sleeve is 14mm hex nut sleeves, is matched with the nut of gear shift supporting rod one end.
The longitudinal towing mechanism includes gearshift limit device, towed electromagnet, rope, and the installation of gearshift limit device is present
On the fixed frame of position, rotation axis installs a cylindrical torsionspring, and gearshift limit bar is matched with the card slot of fixed plate, drawn
Formula electromagnet rope is fixed on the right end of gearshift limit device across aperture, and electromagnet is connected by cable with controller.
It is an advantage of the invention that：
1, the present invention reduces rotating speed through retarder using servo motor as driving force, it is possible to increase torque, in shaft and reducer shaft
Between connected with a pair of of speed-reduction spur gear, further decrease rotating speed, increase torque, this design structure is simple, transmits and stablizes, and
And it is capable of providing larger torque and more accurate rotating angle movement.
2, the present invention uses the shaft and ut socket of designed, designed, ingenious in the case where not changing former mechanical structure
Shaft is connected with gear shift supporting rod with by way of the cooperation of nut sleeve, this design structure is reliable and stable, pass
Flowing mode is simple, has reached transmission purpose in the case where that will not destroy original mechanical structure, and without using automatically controlling
Operation or rice transplanter break down when can with easy removal, convenient disassembly, and control speed and execute speed it is fast.
3, the present invention uses towed electromagnet as the executing agency for planting the movement of clutch handle longitudinal traction, towed
Electromagnet can provide larger tractive force, and traction gearshift limit device travels longitudinally, can effectively reduce required when gear shift
Torque, simple and effective, and original mechanical structure will not be destroyed.
4, for the present invention using the novel control method of intelligence, gear shift is precisely accurate, quickly in time, securely and reliably, Ke Yi great
The quality of the big efficiency and rice transplanting for improving rice transplanting, faces field conditions complicated and changeable, can judge in time, generate
Corresponding control instruction completes corresponding operation.
Description of the drawings：
Fig. 1 is auto-shifting device front view of the present invention.
Fig. 2 is auto-shifting device left view of the present invention.
Fig. 3 is shaft schematic diagram of the present invention.
Fig. 4 is shaft-sleeve-nut cooperation schematic diagram of the present invention.
Fig. 5 is gear plate schematic diagram of the present invention.
Fig. 6 a are that handle of the present invention returns middle position method schematic diagram.
Fig. 6 b are transplanting portion descending method schematic diagram of the present invention.
Fig. 6 c are transplanting portion driving method schematic diagram of the present invention.
Fig. 6 d are transplanting portion climb procedure schematic diagram of the present invention.
It is numbered in figure：1. supporting rack, 2. spur gears, 3. servo motors, 4. shafts, 5. sleeves, 6. hex nuts, 7. gear shift
Supporting rod, 8. cylinder sliding bearings, 9. plant clutch handle, 10.U type ears boss, 11. controllers, 12. servo motors, and 13.
Encoder, 14. encoder cables, 15. motor servo drivers, 16. towed electromagnet, 17. ropes, 18. gearshift limit bars,
19. gearshift limit device, 20. fixed plates, 21. gear plates.
Specific implementation mode：
Referring to attached drawing.
A kind of unmanned rice transplanter plants clutch handle auto-shifting device, including longitudinal driving device and supporting rack,
The gear-shifting driving device includes controller 11, encoder 13, driver 15, servo motor 12, retarder 3, a pair of of straight-tooth
Wheel 2, shaft 4, sleeve 5, the controller 11, encoder 13, driver 15 are connected by cable 14, and encoder 15 is mounted on and watches
Motor tail end is taken, servo motor shaft is connected by flat key with retarder 3, and reducer output shaft passes through flat key and active spur gear 2
It is connected, active spur gear is meshed with driven spur gear, and driven spur gear passes through with the shaft 4 mounted on rice transplanter seat lower part
Key connection, shaft are connected to sleeve 5, and sleeve is matched with the nut 6 for planting 7 one end of clutch handle gear shift supporting rod, described vertical
Include gearshift limit device 19, towed electromagnet 16, rope 17 to draft gear, the gearshift limit device 19 is mounted on seat
On fixed frame 1,19 one end of limiter is provided with an aperture, and rope 17 is connect across aperture with limiter 19,17 other end of rope with
Electromagnet 16 connects, and 16 one end of electromagnet is connected with seat fixed frame 1, and electromagnet 16 is connected by cable with controller 11.
The gear-shifting driving device includes fixed plate 20, U-shaped ears boss 10, plants clutch handle 9 etc., fixed plate 20
It is connected with 7 end of gear shift supporting rod, U-shaped ears boss 10 is welded in the middle part of fixed plate, the one end for planting clutch handle 9 passes through U
The mounting hole of type ears boss, is fixed by pin, and gear shift supporting rod coordinates with cylinder sliding bearing 8, and the other end passes through nut 6
It is fixed.
The gear-shifting driving device includes shaft 4 and sleeve 5, show that the diameter of axle is 18mm by strength check, always
Length is 230mm, and one end is the square protrusions that the length of side is 12.5mm, and length 15mm, the other end is the cylinder with keyway,
A diameter of 16mm, length 40mm, sleeve are 14mm hex nut sleeves, are matched with the nut 6 of gear shift supporting rod one end.
The longitudinal towing mechanism includes gearshift limit device 19, towed electromagnet 16, rope 17, gearshift limit device 19
On seat fixed frame, rotation axis installs a cylindrical torsionspring, the card slot of gearshift limit bar 18 and fixed plate
Match, towed electromagnet rope 17 passes through aperture to be fixed on the right end of gearshift limit device 19, electromagnet 16 by cable with
Controller 11 is connected.
Referring to attached drawing 1,2, the present invention using servo motor 12 as the driving device for planting clutch handle, with reduce rotating speed,
Increase torque retarder 3 be used as deceleration device, using a pair of of spur gear 2 as transmission device, with detect servo motor corner and
The encoder 13 of position is used as detection device, using motor servo driver 15 as the driving device of servo motor, with shaft 4,
Telecontrol equipment of the sleeve 5 as gear shift supporting rod 7.When planting clutch handle and needing gear shift, controller 11 sends out instruction, passes through
Driver 15 sends instruction to servo motor 12 and towed electromagnet 16, and servo motor 12 makes handle rotate, electromagnetism
Iron 16 draws gearshift limit device 19 and travels longitudinally, and then completes gear shift action.
Referring to attached drawing 3,4, shaft 4 of the invention is designed, designed, processing and assembly, is that telecontrol equipment of the present invention is important
One of component part, 4 one end of shaft is connected with by flat key with driven spur gear, the square boss of the other end, with sleeve 5
It cooperates, sends rotary motion to sleeve 5；The sleeve 5 of the present invention is 14mm hex nut sleeves, and one end is matched with shaft 4
It closes, the other end and the hex nut 6 of gear shift supporting rod one end coordinate, and send rotary motion to gear shift supporting rod 7, are allowed to drive
Handle 9 moves, and completes gear shift action.
Referring to attached drawing, the present invention is the controlling party that a kind of unmanned rice transplanter plants clutch handle auto-shifting device
Method controls entire driving task system, this method includes following when rice transplanter uses unmanned pattern by car-mounted computer
Step：
The first step, as Fig. 6 a detect the corner position of current servo motor 12 by encoder 13 before rice transplanter starts work
It sets, angular position signal is passed into controller 11 by cable 14, and extrapolate and plant 9 position of clutch handle, position is believed
Breath is sent to host computer, and is sent to car-mounted computer, if handle is sent out not in " neutrality " gear from car-mounted computer to host computer
Instruction is sent, then sends and instructs from host computer to controller 11, and then the rotation of control servomotor 12 and 16 pulling motion of electromagnet,
So that handle 9 is gained " neutrality " gear, then further detected by encoder 13, it is ensured that is errorless；
Second step, such as Fig. 6 b, before carrying out rice transplanting, car-mounted computer sends out instruction to host computer, and host computer is sent out to controller 11
Go out transplanting portion and decline instruction, the 12 corresponding direction of motion of servo motor and angle are calculated by controller 11, generates corresponding control
System instruction, then driver 15 and towed electromagnet 16 are sent to by cable 14, it is inverted by driver driving servo motor, by
Electromagnet 16 draws gearshift limit device 19 so that handle 9 goes to "lower" gear, and transplanting portion is slowly drop down to suitable position and stops at this time
Only；
Third walks, and such as Fig. 6 c, when carrying out rice transplanting, rice transplanting sign on is sent out from car-mounted computer to host computer, host computer to
Controller 11 sends out transplanting portion driving instruction, is sent out from controller 11 to driver 15 and towed electromagnet 16 by cable 14
Go out control instruction, by driver driving servo motor reversion, by electromagnetism railway traction gearshift limit device 19 so that handle 9, which is gone to, " to be driven
It is dynamic " gear, at this time bifurcation mechanism start to rotate, start rice transplanting；
4th step, such as Fig. 6 d, at the end of rice transplanting, car-mounted computer sends rice transplanting halt instruction to host computer, and host computer is to control
Device 11 processed sends out transplanting portion climb command, calculates the 12 corresponding direction of motion of servo motor and angle by controller, generates phase
The control instruction answered, then driver 15 and towed electromagnet 16 are sent to by cable 14, servo motor is driven by driver
It rotates forward, by electromagnetism railway traction gearshift limit device 19 so that handle 9 goes to "upper" gear, and transplanting portion slowly rises at this time, completes to refer to
It enables.
By appealing the description of four steps, the entire rice transplanting operation process in unmanned rice transplanter is realized.
Claims (6)
- Include the support on rice transplanter 1. a kind of unmanned rice transplanter plants clutch handle auto-shifting device Frame, shift supporting rod is equipped on supporting rack, and shift supporting rod outer end is set with fixed plate, is equipped in fixed plate and plants clutch Handle, it is characterised in that：The shaft rotated by Serve Motor Control is installed, shaft outer end fixing sleeve is equipped with set on supporting rack Cylinder, sleeve outer end fixing sleeve are equipped with nut, and shift supporting rod inner end spinning enters in nut；The lower part of fixed plate is equipped with multiple With plant clutch handle shift gear position gear locating slot matched one by one, the lower section of fixed plate is equipped with shift limiter, changes Gear limiter is equipped with the shift gag lever post coordinated with gear locating slot, and shift gag lever post is caught in corresponding shelves after fixed plate rotation In the locating slot of position；Limiter positioning end of shifting gears is mounted on by axis pin and torsional spring on supporting rack, below shift limiter movable end Equipped with the towed electromagnet on supporting rack, rope is connected between towed electromagnet and the movable end for limiter of shifting gears Rope；Include controller and the encoder mounted on servo motor tail end, the output end of encoder and the input terminal of controller Electrical connection, the output end of controller are electrically connected with the input terminal of the driver of servo motor and towed electromagnet respectively.
- 2. a kind of unmanned rice transplanter according to claim 1 plants clutch handle auto-shifting device, feature exists In：The retarder being connect with servo motor transmission is installed, fixing sleeve is equipped with master on the output shaft of retarder on support frame as described above Dynamic spur gear；The shaft concentric with shift supporting rod is rotatablely equipped on supporting rack, fixing sleeve is equipped with and active straight-tooth in shaft Take turns the passive spur gear of engaged transmission.
- 3. a kind of unmanned rice transplanter according to claim 1 plants clutch handle auto-shifting device, feature exists In：The boss that shaft right end is square, the sleeve are hex nut sleeve, and nut is hex nut, and boss is sleeved on Cylinder left end, nut are sleeved on sleeve right end；Shift supporting rod inner end spinning enters in nut and is integrated with nut-welding；Institute Shift supporting rod is stated to be rotatably installed on supporting rack by bearing.
- 4. a kind of unmanned rice transplanter according to claim 2 plants clutch handle auto-shifting device, feature exists In：The clutch handle of planting is fixedly mounted on by U-shaped ears boss on the outer surface of fixed plate.
- 5. a kind of unmanned rice transplanter according to claim 1 plants clutch handle auto-shifting device, feature exists In：Gear plate, the gear hole for planting clutch handle on gear plate are installed on support frame as described above.
- 6. a kind of unmanned rice transplanter according to claim 1 plants the controlling party of clutch handle auto-shifting device Method, it is characterised in that：This method includes the following steps：The first step detects the angular position of current servo motor by encoder, by angular position before rice transplanter starts work Signal passes to controller by cable, and extrapolates and plant clutch handle position, location information is sent to host computer, concurrently Give car-mounted computer, if handle not in " neutrality " gear, sends from car-mounted computer to host computer and instructs, then from host computer to Controller sends instruction, and then control servomotor rotation and electromagnet pulling motion, and handle is made to gain " neutrality " gear, then by Encoder further detects, it is ensured that errorless；Second step, before carrying out rice transplanting, car-mounted computer sends out instruction to host computer, and host computer is sent out to controller under transplanting portion Drop instruction, calculates the corresponding direction of motion of servo motor and angle by controller, generates corresponding control instruction, then pass through cable Line sends driver and towed electromagnet to, by driver driving servo motor reversion, by electromagnetism railway traction gearshift limit device, So that handle goes to "lower" gear, transplanting portion is slowly drop down to suitable position stopping at this time；Third walks, and when carrying out rice transplanting, sends out rice transplanting sign on from car-mounted computer to host computer, host computer is sent out to controller Go out transplanting portion driving instruction, control instruction is sent out to driver and towed electromagnet by cable from controller, by driving Device drives servo motor reversion, by electromagnetism railway traction gearshift limit device so that handle goes to " driving " gear, at this time bifurcation mechanism Start to rotate, starts rice transplanting；4th step, at the end of rice transplanting, car-mounted computer sends rice transplanting halt instruction to host computer, and host computer is sent out to controller Transplanting portion climb command calculates the corresponding direction of motion of servo motor and angle by controller, generates corresponding control instruction, Driver and towed electromagnet are sent to by cable again, is rotated forward by driver driving servo motor, is changed by electromagnetism railway traction Shelves limiter so that handle goes to "upper" gear, and transplanting portion slowly rises at this time, completes instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810310874.5A CN108307746B (en) | 2018-04-09 | 2018-04-09 | Automatic gear shifting device of transplanting clutch handle of unmanned transplanter and control method of automatic gear shifting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810310874.5A CN108307746B (en) | 2018-04-09 | 2018-04-09 | Automatic gear shifting device of transplanting clutch handle of unmanned transplanter and control method of automatic gear shifting device |
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| CN108307746A true CN108307746A (en) | 2018-07-24 |
| CN108307746B CN108307746B (en) | 2023-09-29 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819739A (en) * | 2018-12-26 | 2019-05-31 | 丰疆智慧农业股份有限公司 | In brake, automatic transmission returns neutral intelligent high-speed rice transplanter and its application |
| CN111149490A (en) * | 2020-02-25 | 2020-05-15 | 安徽农业大学 | Automatic control system and control method of unmanned rice transplanter |
| CN112840813A (en) * | 2020-08-28 | 2021-05-28 | 丰疆智能(深圳)有限公司 | Rice transplanter and rice transplanter control system and control method thereof |
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| CN109819739A (en) * | 2018-12-26 | 2019-05-31 | 丰疆智慧农业股份有限公司 | In brake, automatic transmission returns neutral intelligent high-speed rice transplanter and its application |
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| CN111149490A (en) * | 2020-02-25 | 2020-05-15 | 安徽农业大学 | Automatic control system and control method of unmanned rice transplanter |
| CN111149490B (en) * | 2020-02-25 | 2024-04-16 | 安徽农业大学 | Automatic control system and control method for unmanned rice transplanter |
| CN112840813A (en) * | 2020-08-28 | 2021-05-28 | 丰疆智能(深圳)有限公司 | Rice transplanter and rice transplanter control system and control method thereof |
| CN112840813B (en) * | 2020-08-28 | 2023-10-03 | 丰疆智能(深圳)有限公司 | Transplanter, transplanter control system and transplanter control method |
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