CN108307746B - Automatic gear shifting device of transplanting clutch handle of unmanned transplanter and control method of automatic gear shifting device - Google Patents
Automatic gear shifting device of transplanting clutch handle of unmanned transplanter and control method of automatic gear shifting device Download PDFInfo
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- CN108307746B CN108307746B CN201810310874.5A CN201810310874A CN108307746B CN 108307746 B CN108307746 B CN 108307746B CN 201810310874 A CN201810310874 A CN 201810310874A CN 108307746 B CN108307746 B CN 108307746B
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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
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- 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
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- 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)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transplanting Machines (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses an automatic gear shifting device of a transplanting clutch handle of an unmanned transplanting machine and a control method thereof, wherein the automatic gear shifting device of the transplanting clutch handle comprises a gear shifting driving device and a longitudinal traction device; before transplanting rice seedlings, the controller calculates the position of the handle according to the position of the servo motor detected by the encoder, judges whether the handle is in a neutral gear, if not, the controller sends a control instruction by the vehicle-mounted computer, and controls the servo motor and the electromagnet to move by the upper computer, the controller and the like so as to reset the handle; in the transplanting process, when the upper computer sends instructions such as ascending, descending, driving and the like of the transplanting part to the controller, the controller generates instructions and transmits the instructions to the driver and the traction type electromagnet to drive the servo motor to rotate, and the electromagnet performs longitudinal traction movement to drive the handle to finish gear shifting. The invention can realize automatic gear shifting of the transplanting clutch handle of the unmanned transplanting machine, can achieve the transmission purpose without damaging the original mechanical structure, and can be easily detached when the automatic control operation is not used or the transplanting machine fails.
Description
Technical field:
the invention relates to the technical field of agricultural machinery, in particular to an automatic gear shifting device of a transplanting clutch handle of an unmanned transplanting machine and a control method thereof.
The background technology is as follows:
at present, paddy field soil conditions are changeable, the operation environment is bad, the paddy rice transplanting machine is easy to sink and slide, the paddy rice transplanting machine is completely manually operated, the labor intensity is high, the operation efficiency is low, the operation quality is excessively dependent on the operation skill of an operator, a driver is long and tedious to track and drive, fatigue is extremely easy to generate, so that the accuracy of seedling transplanting operation is greatly influenced, the defects of heavy running, missing running, unstable transplanting operation quality and the like are easily generated, the accurate operation requirement is difficult to achieve, the yield is reduced, the manual driving operation cost is high, and the benefits of farmers are difficult to maximize. Realizing automation and intellectualization of the rice transplanter, freeing operators from the severe paddy field production environment, and being an important technical means for solving the existing problems of rice transplanting.
The unmanned rice transplanter is a comprehensive application of computer technology, navigation technology, electronic communication, automatic control and other technologies, and is used for solving the problems of changeable soil conditions, hard working environment, high labor intensity of manual driving and the like. The automatic gear shifting device of the planting clutch handle of the unmanned rice transplanter is an important component for improving the working efficiency and interpolation precision in the working process of the unmanned rice transplanter. The existing automatic gear shifting mechanisms are mostly of mechanical structures, and can not accurately control gear movement, so that larger deviation occurs when the unmanned rice transplanter works. Therefore, the automatic gear shifting device and the control method of the transplanting clutch handle of the unmanned transplanting machine are developed, so that more accurate transplanting operation of the transplanting machine is facilitated, uniform row spacing is ensured, the labor intensity is lightened, the automatic gear shifting device and the control method can continuously operate in various severe environments such as hot weather, rainy days, windy weather, night and the like, the operating efficiency is greatly improved, the disaster-resistant capability of rice production is also improved, the rice yield is further increased, the operating cost is saved, the operating quality is ensured, the energy consumption is reduced, the income of farmers is increased, and the popularization and the application of the rice transplanting machine are facilitated.
The invention comprises the following steps:
the invention aims to make up the defects of the prior art, and provides the automatic shifting device of the transplanting clutch handle of the unmanned transplanting machine, which has low cost and simple structure and can accurately shift gears, and the control method of the automatic shifting device of the transplanting clutch handle of the unmanned transplanting machine, so that the structure of the transplanting clutch handle of the unmanned transplanting machine is not easy to damage, other accessories are easy to detach, unmanned automatic driving and manual driving can be realized, and only other auxiliary accessories are required to be removed, so that the automatic shifting device has certain universality.
The invention is realized by the following technical scheme:
the utility model provides an unmanned transplanter plants and plants separation and reunion handle automatic gearshift, includes the support frame of installing on the transplanter, installs the bracing piece of shifting on the support frame, and the bracing piece outer end cover of shifting is equipped with the fixed plate, installs on the fixed plate and plants separation and reunion handle, its characterized in that: the support frame is provided with a rotating shaft which is controlled to rotate by a servo motor, the outer end of the rotating shaft is fixedly sleeved with a sleeve, the outer end of the sleeve is fixedly sleeved with a nut, and the inner end of the gear shifting support rod is screwed into the nut; the lower part of the fixed plate is provided with a plurality of gear positioning grooves which are matched with the gear positions of the transplanting clutch handle one by one, a gear shifting limiter is arranged below the fixed plate, a gear shifting limiting rod which is matched with the gear positioning grooves is arranged on the gear shifting limiter, and the gear shifting limiting rod is clamped into the corresponding gear positioning groove after the fixed plate rotates; the gear shifting limiter locating end is arranged on the support frame through a pin shaft and a torsion spring, a traction electromagnet arranged on the support frame is arranged below the movable end of the gear shifting limiter, and a rope is connected between the traction electromagnet and the movable end of the gear shifting limiter; the device comprises a controller and an encoder arranged at the tail end of a servo motor, wherein the output end of the encoder is electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the driver of the servo motor and the input end of a traction electromagnet respectively.
An automatic gear shifting device of a transplanting clutch handle of an unmanned transplanter is characterized in that: a reducer in transmission connection with the servo motor is arranged on the support frame, and an output shaft of the reducer is fixedly sleeved with a driving spur gear; the support frame is rotatably provided with a rotating shaft concentric with the gear shifting support rod, and the rotating shaft is fixedly sleeved with a driven spur gear which is meshed with the driving spur gear for transmission.
An automatic gear shifting device of a transplanting clutch handle of an unmanned transplanter is characterized in that: the right end of the rotating shaft is provided with a square boss, the sleeve is a hexagonal nut sleeve, the nut is a hexagonal nut, the boss is sleeved at the left end of the sleeve, and the nut is sleeved at the right end of the sleeve; the inner end of the gear shifting support rod is screwed into the nut and welded with the nut into a whole; the gear shifting support rod is rotatably installed on the support frame through a bearing.
An automatic gear shifting device of a transplanting clutch handle of an unmanned transplanter is characterized in that: the planting clutch handle is fixedly arranged on the outer surface of the fixing plate through a U-shaped double-lug boss.
An automatic gear shifting device of a transplanting clutch handle of an unmanned transplanter is characterized in that: the gear plate is arranged on the support frame, and the transplanting clutch handle penetrates through a gear hole on the gear plate.
A control method of an automatic gear shifting device of a transplanting clutch handle of an unmanned rice transplanter is characterized by comprising the following steps of: the method comprises the following steps:
the first step, before the rice transplanting machine starts to work, the rotation angle position of the current servo motor is detected through an encoder, a rotation angle position signal is transmitted to a controller through a cable, the position of a transplanting clutch handle is calculated, position information is transmitted to an upper computer and transmitted to a vehicle-mounted computer, if the handle is not in a neutral gear, the vehicle-mounted computer transmits an instruction to the upper computer, then the upper computer transmits an instruction to the controller, and further the servo motor is controlled to rotate and the electromagnet is controlled to pull, so that the handle is changed back to the neutral gear, and further detection is performed by the encoder, so that no error is ensured.
And secondly, before transplanting rice seedlings, the vehicle-mounted computer sends an instruction to the upper computer, the upper computer sends a transplanting part descending instruction to the controller, the controller calculates the movement direction and the movement angle corresponding to the servo motor, generates corresponding control instructions, transmits the corresponding control instructions to the driver and the traction electromagnet through the cable, drives the servo motor to rotate reversely, and pulls the gear shifting limiter through the electromagnet, so that the handle rotates to a lower gear, and the transplanting part slowly descends to a proper position to stop.
And thirdly, when transplanting rice seedlings, the vehicle-mounted computer sends a seedling transplanting start instruction to the upper computer, the upper computer sends a seedling transplanting part driving instruction to the controller, the controller sends a control instruction to the driver and the traction type electromagnet through a cable, the driver drives the servo motor to rotate reversely, the electromagnet pulls the gear shifting limiter to enable the handle to rotate to a 'driving' gear, and at the moment, the bifurcation mechanism starts rotating to start transplanting rice seedlings.
And fourthly, when the transplanting is finished, the vehicle-mounted computer sends a transplanting stopping instruction to the upper computer, the upper computer sends a transplanting part ascending instruction to the controller, the controller calculates the movement direction and the movement angle corresponding to the servo motor, generates corresponding control instructions, and then transmits the corresponding control instructions to the driver and the traction type electromagnet through the cable, the driver drives the servo motor to rotate positively, and the electromagnet pulls the gear shifting limiter, so that the handle rotates to an upper gear, and at the moment, the transplanting part ascends slowly to finish the instructions.
The gear shifting driving device comprises a controller, an encoder, a driver, a servo motor, a speed reducer, a pair of spur gears, a rotating shaft and a sleeve, wherein the controller, the encoder and the driver are connected through cables, the encoder is arranged at the tail end of the servo motor, a servo motor shaft is connected with the speed reducer through a flat key, an output shaft of the speed reducer is connected with the driving spur gear through a flat key, the driving spur gear is meshed with the driven spur gear, the driven spur gear is connected with the rotating shaft arranged at the lower part of a seat of the rice transplanter through a key, the rotating shaft is connected with the sleeve, and the sleeve is matched with a nut at one end of a gear shifting supporting rod of the transplanting clutch handle; the longitudinal traction device comprises a gear shifting limiter, a traction electromagnet and a rope, wherein the gear shifting limiter is arranged on a seat fixing frame, one end of the limiter is provided with a small hole, the rope penetrates through the small hole to be connected with the limiter, the other end of the rope is connected with the electromagnet, one side of the electromagnet is connected with the seat fixing frame, and the electromagnet is connected with the controller through a cable.
The gear shifting driving device comprises a fixing plate, a U-shaped double-lug boss, a gear shifting clutch handle and the like, wherein the fixing plate is connected with the end part of a gear shifting support rod, the U-shaped double-lug boss is welded in the middle of the fixing plate, one end of the gear shifting clutch handle penetrates through a mounting hole of the U-shaped double-lug boss and is fixed through a pin, the gear shifting support rod is matched with a sliding cylinder bearing, and the other end of the gear shifting support rod is fixed through a nut.
The gear shifting driving device comprises a rotating shaft and a sleeve, wherein the diameter of the rotating shaft is 18mm, the total length of the rotating shaft is 230mm, one end of the rotating shaft is a square boss with the side length of 12.5mm, the length of the rotating shaft is 15mm, the other end of the rotating shaft is a cylinder with a key slot, the diameter of the rotating shaft is 16mm, and the length of the rotating shaft is 40mm; the sleeve is a 14mm hexagonal nut sleeve and is matched with a nut at one end of the gear shift supporting rod.
The longitudinal traction device comprises a gear shifting limiter, a traction electromagnet and a rope, wherein the gear shifting limiter is arranged on a seat fixing frame, a cylindrical torsion spring is arranged on a rotating shaft of the gear shifting limiter, a gear shifting limiting rod is matched with a clamping groove of a fixing plate, the rope of the traction electromagnet is fixed at the right end of the gear shifting limiter through a small hole, and the electromagnet is connected with a controller through a cable.
The invention has the advantages that:
1. the invention uses the servo motor as driving force, reduces the rotating speed through the speed reducer, can increase the torque, and is connected between the rotating shaft and the speed reducer shaft through a pair of speed reducing spur gears, so that the rotating speed is further reduced, the torque is increased.
2. The invention adopts the rotating shaft and the nut sleeve which are designed by self, and the rotating shaft is connected with the gear shift support rod by skillfully using the matching mode of the sleeve and the nut under the condition of not changing the original mechanical structure.
3. The invention adopts the traction electromagnet as an actuating mechanism for the longitudinal traction movement of the planting clutch handle, the traction electromagnet can provide larger traction force, and the traction gear shifting limiter moves longitudinally, so that the torque required during gear shifting can be effectively reduced, the device is simple and efficient, and the original mechanical structure is not damaged.
4. The intelligent novel control method is adopted, the gear shifting is accurate, quick and timely, safe and reliable, the efficiency of transplanting rice seedlings and the quality of transplanting rice seedlings can be greatly improved, the judgment can be timely made in the face of complex and changeable field environments, corresponding control instructions are generated, and corresponding operations are completed.
Description of the drawings:
fig. 1 is a front view of an automatic shifting device of the present invention.
Fig. 2 is a left side view of the automatic shifting device of the present invention.
FIG. 3 is a schematic view of a spindle according to the present invention.
Fig. 4 is a schematic view of the spindle-sleeve-nut fit of the present invention.
Fig. 5 is a schematic view of a gear plate according to the present invention.
FIG. 6a is a schematic view of the handle centering method of the present invention.
FIG. 6b is a schematic view showing a method for lowering a transplanting portion according to the present invention.
FIG. 6c is a schematic view of a driving method of a transplanting portion according to the present invention.
FIG. 6d is a schematic view showing a method for raising a transplanting portion according to the present invention.
Numbering in the figures: 1. the gear comprises a support frame, a straight gear, a servo motor, a rotary shaft, a sleeve, a hexagonal nut, a gear shifting support rod, a cylindrical sliding bearing, a clutch handle, a 10U-shaped double-lug boss, a controller, a servo motor, a coder and a coder cable, wherein the coder and the servo motor are arranged in sequence, the servo motor is arranged in sequence, the rotary shaft is arranged in sequence, the sleeve is arranged in sequence, the hexagonal nut is arranged in sequence, the gear shifting support rod is arranged in sequence, the cylindrical sliding bearing is arranged in sequence, the clutch handle is arranged in sequence, the double-lug boss is arranged in sequence, the controller is arranged in sequence, the servo motor is arranged in sequence, the coder and the coder cable is arranged in sequence, the servo motor driver is arranged in sequence, the traction electromagnet is arranged in sequence, the coder and the gear shifting support rod is arranged in sequence, the rope and the gear shifting support rod is arranged in sequence, the gear shifting position, the fixing plate is arranged in sequence, and the gear drive and the gear is arranged in sequence, the mode.
The specific embodiment is as follows:
see the drawings.
The automatic gear shifting device comprises a longitudinal driving device and a supporting frame, wherein the gear shifting driving device comprises a controller 11, an encoder 13, a driver 15, a servo motor 12, a speed reducer 3, a pair of spur gears 2, a rotating shaft 4 and a sleeve 5, the controller 11, the encoder 13 and the driver 15 are connected through a cable 14, the encoder 15 is arranged at the tail end of the servo motor, a servo motor shaft is connected with the speed reducer 3 through a flat key, an output shaft of the speed reducer is connected with a driving spur gear 2 through a flat key, the driving spur gear is meshed with a driven spur gear, the driven spur gear is connected with the rotating shaft 4 arranged at the lower part of a seat of the rice transplanter through a key, the rotating shaft is connected with the sleeve 5, the sleeve is matched with a nut 6 at one end of a gear shifting supporting rod 7 of the gear shifting clutch handle, the longitudinal traction device comprises a gear shifting limiter 19, a traction electromagnet 16 and a rope 17, the gear shifting limiter 19 is arranged on a seat fixing frame 1, one end of the limiter 19 is provided with a small hole, the rope 17 penetrates through the small hole to be connected with the limiter 19, the other end of the rope 17 is connected with the electromagnet 16, one end of the electromagnet 16 is connected with the seat fixing frame 1 through the cable 16, and the electromagnet 16 is connected with the seat 11.
The gear shift driving device comprises a fixing plate 20, a U-shaped double-lug boss 10, a gear shift clutch handle 9 and the like, wherein the fixing plate 20 is connected with the end part of a gear shift support rod 7, the U-shaped double-lug boss 10 is welded in the middle of the fixing plate, one end of the gear shift clutch handle 9 penetrates through a mounting hole of the U-shaped double-lug boss and is fixed through a pin, the gear shift support rod is matched with a cylinder sliding bearing 8, and the other end of the gear shift support rod is fixed through a nut 6.
The gear shifting driving device comprises a rotating shaft 4 and a sleeve 5, wherein the shaft diameter is 18mm, the total length is 230mm, one end is a square boss with the side length of 12.5mm, the length is 15mm, the other end is a cylinder with a key slot, the diameter is 16mm, the length is 40mm, the sleeve is a 14mm hexagonal nut sleeve, and the sleeve is matched with a nut 6 at one end of a gear shifting supporting rod.
The longitudinal traction device comprises a gear shifting limiter 19, a traction electromagnet 16 and a rope 17, wherein the gear shifting limiter 19 is arranged on a seat fixing frame, a cylindrical torsion spring is arranged on a rotating shaft of the gear shifting limiter, a gear shifting limiting rod 18 is matched with a clamping groove of a fixing plate, the rope 17 of the traction electromagnet passes through a small hole to be fixed at the right end of the gear shifting limiter 19, and the electromagnet 16 is connected with the controller 11 through a cable.
Referring to fig. 1 and 2, the invention uses a servo motor 12 as a driving device for inserting a clutch handle, a speed reducer 3 for reducing rotation speed and increasing torque as a speed reducing device, a pair of spur gears 2 as a transmission device, an encoder 13 for detecting the rotation angle and the position of the servo motor as a detection device, a servo motor driver 15 as a driving device of the servo motor, and a rotating shaft 4 and a sleeve 5 as a movement device of a gear shifting support rod 7. When the clutch handle is inserted and needs to be shifted, the controller 11 sends out a command, the command is sent to the servo motor 12 and the traction electromagnet 16 through the driver 15, the servo motor 12 enables the handle to rotate, the electromagnet 16 pulls the shift limiter 19 to longitudinally move, and then shifting is completed.
Referring to fig. 3 and 4, the rotating shaft 4 of the invention is self-designed, processed and assembled, and is one of important components of the motion device of the invention, one end of the rotating shaft 4 is connected with the driven straight gear through a flat key, and the other end is a square boss which is matched with the sleeve 5 to transmit the rotation motion to the sleeve 5; the sleeve 5 is a 14mm hexagonal nut sleeve, one end of the sleeve is matched with the rotating shaft 4, the other end of the sleeve is matched with the hexagonal nut 6 at one end of the gear shifting support rod, and rotary motion is transmitted to the gear shifting support rod 7, so that the sleeve drives the handle 9 to move, and gear shifting action is completed.
Referring to the attached drawings, the invention relates to a control method of an automatic gear shifting device of a transplanting clutch handle of an unmanned rice transplanter, when the unmanned rice transplanter adopts an unmanned mode, a vehicle-mounted computer controls the whole driving working system, and the method comprises the following steps:
firstly, as shown in fig. 6a, before the rice transplanter starts to work, detecting the rotation angle position of the current servo motor 12 through an encoder 13, transmitting a rotation angle position signal to a controller 11 through a cable 14, calculating the position of a planting clutch handle 9, transmitting position information to an upper computer, transmitting the position information to a vehicle-mounted computer, transmitting an instruction to the upper computer through the vehicle-mounted computer if the handle is not in a neutral gear, transmitting the instruction to the controller 11 through the upper computer, further controlling the rotation of the servo motor 12 and the traction movement of an electromagnet 16, enabling the handle 9 to be changed back to the neutral gear, and further detecting by the encoder 13, so as to ensure no error;
step two, as shown in fig. 6b, before transplanting, the vehicle-mounted computer sends an instruction to the upper computer, the upper computer sends a transplanting part descending instruction to the controller 11, the controller 11 calculates the corresponding movement direction and angle of the servo motor 12 to generate a corresponding control instruction, the corresponding control instruction is transmitted to the driver 15 and the traction electromagnet 16 through the cable 14, the driver drives the servo motor to rotate reversely, and the electromagnet 16 pulls the gear shifting limiter 19 to enable the handle 9 to rotate to a 'lower' gear, and at the moment, the transplanting part slowly descends to a proper position to stop;
in the third step, as shown in fig. 6c, when transplanting, the vehicle-mounted computer sends a transplanting start command to the upper computer, the upper computer sends a transplanting part driving command to the controller 11, the controller 11 sends a control command to the driver 15 and the traction type electromagnet 16 through the cable 14, the driver drives the servo motor to rotate reversely, the electromagnet pulls the gear shifting limiter 19 to enable the handle 9 to rotate to a 'driving' gear, and at the moment, the bifurcation mechanism starts to rotate to start transplanting;
fourth, as shown in fig. 6d, when the transplanting is finished, the vehicle-mounted computer sends a transplanting stop instruction to the upper computer, the upper computer sends a transplanting part lifting instruction to the controller 11, the controller calculates the movement direction and angle corresponding to the servo motor 12, generates a corresponding control instruction, and then sends the corresponding control instruction to the driver 15 and the traction electromagnet 16 through the cable 14, the driver drives the servo motor to rotate positively, and the electromagnet pulls the gear shifting limiter 19 to enable the handle 9 to rotate to an 'up' gear, and at the moment, the transplanting part slowly lifts to finish the instruction.
Through the description of the four steps, the whole transplanting operation process of the transplanting machine under the unmanned condition is realized.
Claims (6)
1. The utility model provides an unmanned transplanter plants and plants separation and reunion handle automatic gearshift, includes the support frame of installing on the transplanter, installs the bracing piece of shifting on the support frame, and the bracing piece outer end cover of shifting is equipped with the fixed plate, installs on the fixed plate and plants separation and reunion handle, its characterized in that: the support frame is provided with a rotating shaft which is controlled to rotate by a servo motor, the outer end of the rotating shaft is fixedly sleeved with a sleeve, the outer end of the sleeve is fixedly sleeved with a nut, and the inner end of the gear shifting support rod is screwed into the nut; the lower part of the fixed plate is provided with a plurality of gear positioning grooves which are matched with the gear positions of the transplanting clutch handle one by one, a gear shifting limiter is arranged below the fixed plate, a gear shifting limiting rod which is matched with the gear positioning grooves is arranged on the gear shifting limiter, and the gear shifting limiting rod is clamped into the corresponding gear positioning groove after the fixed plate rotates; the gear shifting limiter locating end is arranged on the support frame through a pin shaft and a torsion spring, a traction electromagnet arranged on the support frame is arranged below the movable end of the gear shifting limiter, and a rope is connected between the traction electromagnet and the movable end of the gear shifting limiter;
the device comprises a controller and an encoder arranged at the tail end of a servo motor, wherein the output end of the encoder is electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the driver of the servo motor and the input end of a traction electromagnet respectively.
2. The automatic shifting device of a transplanting clutch handle of an unmanned transplanting machine according to claim 1, wherein: a reducer in transmission connection with the servo motor is arranged on the support frame, and an output shaft of the reducer is fixedly sleeved with a driving spur gear; the support frame is rotatably provided with a rotating shaft concentric with the gear shifting support rod, and the rotating shaft is fixedly sleeved with a driven spur gear which is meshed with the driving spur gear for transmission.
3. The automatic shifting device of a transplanting clutch handle of an unmanned transplanting machine according to claim 1, wherein: the right end of the rotating shaft is provided with a square boss, the sleeve is a hexagonal nut sleeve, the nut is a hexagonal nut, the boss is sleeved at the left end of the sleeve, and the nut is sleeved at the right end of the sleeve; the inner end of the gear shifting support rod is screwed into the nut and welded with the nut into a whole; the gear shifting support rod is rotatably installed on the support frame through a bearing.
4. The automatic shifting device of a transplanting clutch handle of an unmanned transplanting machine according to claim 2, wherein: the planting clutch handle is fixedly arranged on the outer surface of the fixing plate through a U-shaped double-lug boss.
5. The automatic shifting device of a transplanting clutch handle of an unmanned transplanting machine according to claim 1, wherein: the gear plate is arranged on the support frame, and the transplanting clutch handle penetrates through a gear hole on the gear plate.
6. The control method of the automatic shifting device of the transplanting clutch handle of the unmanned transplanting machine according to claim 1, wherein the method comprises the following steps: the method comprises the following steps:
the method comprises the steps that firstly, before the rice transplanting machine starts to work, the rotation angle position of a current servo motor is detected through an encoder, a rotation angle position signal is transmitted to a controller through a cable, the position of a transplanting clutch handle is calculated, position information is transmitted to an upper computer and is transmitted to a vehicle-mounted computer, if the handle is not in a neutral gear, the vehicle-mounted computer transmits an instruction to the upper computer, then the upper computer transmits the instruction to the controller, further the servo motor is controlled to rotate and an electromagnet is controlled to pull, the handle is changed back to the neutral gear, and further detection is carried out through the encoder, so that no error is ensured;
step two, before transplanting rice seedlings, the vehicle-mounted computer sends an instruction to the upper computer, the upper computer sends a transplanting part descending instruction to the controller, the controller calculates the corresponding movement direction and angle of the servo motor, generates a corresponding control instruction, then sends the corresponding control instruction to the driver and the traction electromagnet through a cable, the driver drives the servo motor to rotate reversely, and the electromagnet pulls the gear shifting limiter, so that the handle rotates to a 'lower' gear, and the transplanting part slowly descends to a proper position to stop;
thirdly, when transplanting rice seedlings, the vehicle-mounted computer sends a seedling transplanting start instruction to the upper computer, the upper computer sends a seedling transplanting part driving instruction to the controller, the controller sends a control instruction to the driver and the traction type electromagnet through a cable, the driver drives the servo motor to rotate reversely, the electromagnet pulls the gear shifting limiter to enable the handle to rotate to a 'driving' gear, and at the moment, the bifurcation mechanism starts rotating to start transplanting rice seedlings;
and fourthly, when the transplanting is finished, the vehicle-mounted computer sends a transplanting stopping instruction to the upper computer, the upper computer sends a transplanting part ascending instruction to the controller, the controller calculates the movement direction and the movement angle corresponding to the servo motor, generates corresponding control instructions, and then transmits the corresponding control instructions to the driver and the traction type electromagnet through the cable, the driver drives the servo motor to rotate positively, and the electromagnet pulls the gear shifting limiter, so that the handle rotates to an upper gear, and at the moment, the transplanting part ascends slowly to finish the instructions.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109819739B (en) * | 2018-12-26 | 2023-12-08 | 丰疆智能科技股份有限公司 | Intelligent high-speed rice transplanter capable of automatically returning transmission to neutral during braking and application of intelligent high-speed 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 |
| 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 |
| CN114802684A (en) * | 2021-01-19 | 2022-07-29 | 大鹏高科（武汉）智能装备有限公司 | Accelerator gear centralized control device |
| CN116267109B (en) * | 2023-03-14 | 2024-06-28 | 华南农业大学 | Manual-automatic integrated design method of direct seeding machine of rice, direct seeding machine of rice and operation method |
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| CN108307746A (en) | 2018-07-24 |
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