CN109618620A - The integrated potato setter of benefit is broadcast in a kind of cooperation of double unidirectional clutch - Google Patents
The integrated potato setter of benefit is broadcast in a kind of cooperation of double unidirectional clutch Download PDFInfo
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- CN109618620A CN109618620A CN201910106116.6A CN201910106116A CN109618620A CN 109618620 A CN109618620 A CN 109618620A CN 201910106116 A CN201910106116 A CN 201910106116A CN 109618620 A CN109618620 A CN 109618620A
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- 244000061456 Solanum tuberosum Species 0.000 title claims abstract description 113
- 235000002595 Solanum tuberosum Nutrition 0.000 title claims abstract description 113
- 230000008901 benefit Effects 0.000 title claims abstract description 17
- 238000010899 nucleation Methods 0.000 claims abstract description 181
- 238000001514 detection method Methods 0.000 claims abstract description 96
- 238000009331 sowing Methods 0.000 claims abstract description 23
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 71
- 238000012360 testing method Methods 0.000 claims description 32
- 238000012546 transfer Methods 0.000 claims description 31
- 238000013459 approach Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 21
- 241000196324 Embryophyta Species 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 4
- JJLJMEJHUUYSSY-UHFFFAOYSA-L Copper hydroxide Chemical compound [OH-].[OH-].[Cu+2] JJLJMEJHUUYSSY-UHFFFAOYSA-L 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005553 drilling Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 244000068988 Glycine max Species 0.000 description 1
- 235000010469 Glycine max Nutrition 0.000 description 1
- 244000131316 Panax pseudoginseng Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 235000012015 potatoes Nutrition 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C9/00—Potato planters
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Sowing (AREA)
- Fertilizing (AREA)
Abstract
The integrated potato setter of benefit, the ground-driven under normal circumstances from single-row potato planting machine are broadcast in a kind of cooperation of double unidirectional clutch；Whether broadcast leakage detection system and system controller device cooperation monitoring single-row potato planting machine broadcast leakage event, which occur, start broadcast leakage compensation system based on one-way clutch by system controller device in the case where broadcast leakage event occurs works, and simultaneity factor control device carries out data statistics；Broadcast leakage compensation system based on one-way clutch, which works, will control motor accelerated service by system controller device when starting, to make the seeding sprocket wheel power source of single-row potato planting machine be detached from ground-driven, it is driven by a motor operating, make when mending the normal predetermined position that potato kind accelerates pursuit to previous vacancy potato seed, seeding sprocket wheel obtains power from land wheel again, and system reenters normal sowing state.The present invention realizes the accurately detection of potato setter broadcast leakage and timely compensates.
Description
Technical field
The invention belongs to agricultural machinery and its technical field of electric automation, and in particular to a kind of double unidirectional clutch cooperation
Broadcast the integrated potato setter of benefit.
Background technique
Currently, precision drilling has become the main feature of modern seeding technique, and for big seed crop, precision drilling
The even more direction of future development.The precision drilling of American-European countries originates in the 1940s, comparative maturity at present, but main
Concentrate on the staple crops such as corn and soybean cultivation aspect.Have the correlative study to potato broadcast leakage monitoring, example both at home and abroad at present
Such as, the electromechanical broadcast leakage detection compensation system based on Photoelectric Detection that Wang Guanping, Zhang Jiaodong etc. are respectively proposed, although respective scheme
Difference, but it all uses discharging tube to monitor, and installs a set of spare dispenser additional outside former feed mechanism for seed, when former dispenser occurs
When broadcast leakage, after-culture is carried out using stand-by provision.Although this feed mechanism for seed and broadcast leakage are reseeded, device is mutually independent to reseed mode original
Reason is simple, but tries out but that structure is complicated；In addition, existing since the normal seeding of seed is different from descent path when reseeding
The problems such as reseeding position lag, inaccuracy, it is also possible to there is the blockage problem of potato kind itself to be mended, because of plan, practicability is not high.
King, which closes equality, also proposed " integrated potato setter is reseeded in unidirectional clutch type sowing ", and the core of the conception is unidirectionally
The using normally to sow and reseed of clutch uses different power sources, and still, the program is only a kind of theoretical framework,
It is very coarse, for example, the installation of broadcast leakage detection sensor without sufficient structured data, system control without any theoretical formula be used as according to
According to, not control system basic hardware constitute, there is no critical system software flow block diagram more.
Summary of the invention
The technical problem to be solved by the present invention is in the prior art the shortcomings that and a kind of double unidirectional clutch is provided
The integrated potato setter of benefit is broadcast in cooperation.
Technical problem to solve of the invention adopts the following technical scheme that
The integrated potato setter of benefit, including single-row potato planting machine, leakage are broadcast in a kind of cooperation of double unidirectional clutch
Broadcast detection system, the broadcast leakage compensation system based on one-way clutch and system controller device；The single-row potato planting machine
Ground-driven of the seeding sprocket wheel power under normal circumstances from single-row potato planting machine；The broadcast leakage detection system and system control
Whether device device associated working processed, monitoring single-row potato planting machine broadcast leakage event occur, in the case where broadcast leakage event occurs
Broadcast leakage compensation system work based on one-way clutch is started by system controller device, simultaneity factor control device is counted
According to statistics；The broadcast leakage compensation system based on one-way clutch works will be added when starting by system controller device control motor
Speed operating so that the seeding sprocket wheel power source of single-row potato planting machine be made to be detached from ground-driven, then is driven by a motor operating,
Make single-row potato planting machine wait mend potato kind accelerate pursuit to previous vacancy potato seed normal predetermined position when, system controller
Device controls motor and rotary state is accelerated to terminate, and seeding sprocket wheel obtains power from land wheel again, and system reenters normal sowing
State.
The single-row potato planting machine includes plants case, rack vertical beam, seed distributing groove, compensation one-way clutch, seeding sprocket wheel
(II, I), seeding chain, land axle, rack bottom beam, active force transfer of unidirectional clutch, seeding sprocket shaft (II, I), take kind of a spoon,
Land wheel power transmission chain, active force transmit sprocket wheel, and the rack bottom beam is installed on land axle, and rack vertical beam is perpendicularly fixed at
On rack bottom beam, the seed distributing groove is parallelly mounted on rack vertical beam；Seeding chain is respectively set in upper and lower end in the seed distributing groove
Seeding sprocket wheel II, the row of suit on the seeding sprocket shaft I are set on wheel shaft II and seeding sprocket shaft I, the seeding sprocket shaft II
Kind sprocket wheel I is set with seeding chain, is uniformly arranged on the seeding chain several between the seeding sprocket wheel II and seeding sprocket wheel I
Take kind of a spoon；The active force transfer of unidirectional clutch sleeve is loaded on the side seeding sprocket shaft II, the compensation one-way clutch suit
In the other side seeding sprocket shaft II, the active force transfer of unidirectional clutch is transmitted by land wheel power transmission chain and active force
Sprocket wheel connection, the active force transmission sprocket wheel are installed on synchronous rotation on land axle, and the compensation one-way clutch passes through
Broadcast leakage compensation power transmission chain is connected with the motor power output chain gear of the broadcast leakage compensation system based on one-way clutch, is based on
The power of the motor of the broadcast leakage compensation system of one-way clutch is exported by being installed on the motor power output chain gear on its shaft；
The broadcast leakage compensation system based on one-way clutch and system controller device and broadcast leakage detection system cooperate.
The broadcast leakage detection system include metering detection photoelectric sensor group (II, I), take kind of a spoon position signal carrier,
Take kind of a spoon position sensor (II, I), it is described take kind of a spoon position signal carrier be mounted on it is each take kind of spoon on same position,
The seed distributing groove takes kind of spoon position signal carrier side two positions is respectively set and takes kind of a spoon from top to bottom in corresponding be equipped with
Position sensor II and kind of spoon position sensor I is taken, it is adjacent described the distance between kind of spoon position sensor to be taken to take kind with adjacent
The distance between spoon L1It is equal, it taking kind of a spoon position sensor II, taking the potato seed mean radius r on kind of spoon position sensor I
Metering detection photoelectric sensor group II and metering detection photoelectric sensor group I is respectively set in place, wherein taking kind of a spoon position sensor I
Starting line distance apart from potato seed freedom of entry falling takes the distance between kind of spoon L with adjacent1It is identical, wherein the row
Kind of detection photoelectric sensor group I is the test point that whether occurs of broadcast leakage event, the metering detection photoelectric sensor group II be to
Mend the test point whether potato kind has；The metering detection photoelectric sensor group, take kind of spoon position sensor respectively with system control
Device device connection processed, the system controller device are arranged on single-row potato planting machine.
The broadcast leakage compensation system based on one-way clutch includes driver, motor, motor power output chain gear, vehicle-mounted
Battery, broadcast leakage compensate power transmission chain, and the driver is connect with motor and system controller device, the motor
Connect Vehicular accumulator cell, the motor by motor power output chain gear, broadcast leakage compensate power transmission chain and compensation unidirectionally from
Clutch provides compensation power to seeding sprocket shaft, and seeding sprocket shaft passes through active force transfer of unidirectional clutch, land wheel power transmission
Chain and active force transmit sprocket wheel and obtain normal work power from land axle.
The system controller device includes core cpu arithmetic processor, reset key, keyboard, broadcast leakage alarm acousto-optic-electric
Road, parameter show that the core cpu arithmetic processor has timing and interrupt function, and the keyboard, parameter are shown and CPU core
Heart arithmetic processor joint provides human-computer interaction channel when parameter setting, and the performance deviation of system can be by constantly modifying ginseng
Number setting is corrected；The reset key is reset for system mode, emergency work condition is shut down and system in case of system halt restarts service；Institute
It states core cpu arithmetic processor (28-1) and obtains kind of spoon position sensor (II, an I), metering detection photoelectric sensor group comprehensive
It is made whether that the judgement of broadcast leakage occurs on the basis of (II, I), the code-disc signal that tests the speed, under the premise of determining that broadcast leakage event occurs
Control signal needed for output driver so that motor be made to reach required running speed, while carrying out self seed number, nature
Broadcast leakage number reseeds number, the statistics of final broadcast leakage numbers and result is shown real-time update in parameter, at the core cpu operation
Reason device connects the code-disc that tests the speed, and the rotation axis of the code-disc that tests the speed (29) is connect with seeding sprocket shaft I (22) one end, the code that tests the speed
The fuselage of disk is fixed on rack bottom beam, and the signal of the code-disc that tests the speed can be counted after passing to core cpu arithmetic processor
The angular speed for obtaining seeding sprocket wheel (II, I) is calculated, to obtain the real time kinematics speed of seeding chain (14).
When above-mentioned equipment works, if the core cpu arithmetic processor of system controller device judges metering detection photoelectricity
Broadcast leakage event has occurred at sensor group I, then in addition to carrying out self seed number, natural broadcast leakage number, reseeding several, final broadcast leakage numbers
It counts and by result outside parameter shows that real-time update is shown, also needs according to potato to be mended at metering detection photoelectric sensor group II
It plants the testing result whether having and issues corresponding control signal to driver by core cpu arithmetic processor: if seeding
Potato kind to be mended has at detection photoelectric sensor group II, then core cpu arithmetic processor is according to the real time kinematics speed for taking kind of spoon
v1It should make motor that target velocity of the seeding chain in the former direction of motion be driven to reach v ' to the control signal that driver issues1,
Due to v '1> v1, according to the working principle of one-way clutch, motor compensates power by motor power output chain gear, broadcast leakage at this time
Conveyor chain and compensation one-way clutch give seeding sprocket shaft offer power, and previous seeding sprocket shaft passes through active force transfer of unidirectional
Clutch, land wheel power transmission chain and active force are transmitted sprocket wheel and are automatically separated from the approach that land axle obtains power, thus
So that taking kind of spoon passing through time t at metering detection photoelectric sensor group II1After acceleration, it can reach and still use original at it
Speed v1And the same position reached, to complete the compensation of potato seed position zero deflection, then, core cpu arithmetic processor is again
Control signal is issued to driver, leaves the motor off rotation, i.e., can be considered that motor drives seeding chain to transport in original in this case
Target velocity on dynamic direction is v '1=0, it is clear that have v '1< v1, according to the working principle of one-way clutch, motor passes through at this time
Motor power output chain gear, broadcast leakage compensation power transmission chain and compensation one-way clutch provide the way of power to seeding sprocket shaft
Diameter is automatically separated, and seeding sprocket shaft passes through active force transfer of unidirectional clutch, land wheel power transmission chain and active force chain
It takes turns and restores from the approach that land axle obtains power, to exit the state of reseeding and operate normally；If metering detection photoelectric transfer
Potato kind to be mended does not have at sensor group II, then on the one hand core cpu arithmetic processor is alarmed acousto-optic with low-frequency start broadcast leakage at once
Circuit enters alarm I working condition, on the other hand then according to the real time kinematics speed v for taking kind of spoon1The control issued to driver
Signal makes motor that target velocity of the seeding chain in the former direction of motion be driven to reach v '1, due to v '1> v1, according to one-way clutch
The working principle of device, motor compensates power transmission chain and compensation one-way clutch by motor power output chain gear, broadcast leakage at this time
Device provides power to seeding sprocket shaft, and previous seeding sprocket shaft passes through active force transfer of unidirectional clutch, land wheel power transmission chain
Item and active force are transmitted sprocket wheel and are automatically separated from the approach that land axle obtains power, and motor is so that the speed of seeding chain reaches
v′1State operation, then, wait it is to be detected it is next at metering detection photoelectric sensor group II take kind of spoon behind whether
Has potato kind to be mended, if had, the case where having according to potato kind to be mended at metering detection photoelectric sensor group II execution is former
Final broadcast leakage event occurs behind for kind of the spoon that takes at metering detection photoelectric sensor group I 1 time, should update final broadcast leakage number and join
Digital display shows real-time display, and core cpu arithmetic processor issues control signal to driver again, leaves the motor off rotation, i.e., electric
It is v ' that machine drives target velocity of the seeding chain in the former direction of motion again1=0, it is clear that have v '1< v1, according to one-way clutch
The working principle of device, motor compensates power transmission chain and compensation one-way clutch by motor power output chain gear, broadcast leakage at this time
The approach that device provides power to seeding sprocket shaft is automatically separated, and seeding sprocket shaft passes through active force transfer of unidirectional clutch, land wheel
Power transmission chain and active force are transmitted sprocket wheel and are restored from the approach that land axle obtains power, and system exits broadcast leakage compensation work
State, broadcast leakage alarm acousto-optic circuit exit alarm I working condition, and system operates normally, otherwise, in this case, to be detected
Next kind of spoon of taking at metering detection photoelectric sensor group II a potato kind to be mended does not have still behind, then core cpu
Arithmetic processor enters alarm II working condition at once with high frequency starting broadcast leakage alarm acousto-optic circuit, meanwhile, at core cpu operation
It manages device and issues halt instruction to whole system control device, the target speed for making motor drive seeding chain in the former direction of motion
Degree is v '1=0, it is clear that have v '1< v1, according to the working principle of one-way clutch, motor exports chain by motor power at this time
The approach that wheel, broadcast leakage compensation power transmission chain and compensation one-way clutch provide power to seeding sprocket shaft is automatically separated, and is arranged
Kind sprocket shaft transmits sprocket wheel by active force transfer of unidirectional clutch, land wheel power transmission chain and active force and obtains from land axle
It takes the approach of power to restore, tractor should be made to halt at this time, operator manually checks.
Theory of the invention are as follows:
Relevant possibility parameter and its unit in system:
v1Seeding chain proper motion speed, unit: m/s；
v′1Seeding speed chain when being reseeded in the case of mending potato kind and having at metering detection photoelectric sensor group II,
Unit: m/s；
v2Running Speed of Tractor, unit: m/s；
ω1Seeding sprocket wheel (II, I) normal operation angular speed, the data can be received by core cpu arithmetic processor and be surveyed
Operation obtains after the signal that fast code-disc is sent, unit: rad/s；
ω′1The operating angular speed of seeding sprocket wheel (II, I), unit: rad/s when broadcast leakage compensates；
The operating angular speed of motor, unit: rad/s when ω '-- broadcast leakage compensates；
t1The runing time of motor, unit: s under broadcast leakage compensation work state；
N1The motor power output chain gear number of teeth；
N2Compensate the outer number of teeth of one-way clutch；
The radius of R-- seeding sprocket wheel (II, I), unit: m；
L1Take kind of a spoon spacing, unit: m；
L-- potato sowing spacing in the rows, unit: m.
The adjusting of potato sowing spacing in the rows L under normal sowing state has been completed by mechanical system before start, is not
The scope that the present invention is paid close attention to, and control system shows refreshing in addition to progress self seed number statistics and on parameter is shown at this time
Outside, and without additional control work.
(1) parameters relationship under normal sowing state
Under normal operating conditions, system occurs without broadcast leakage event, and the seeding sprocket shaft of single-row potato planting machine passes through master
Power transmission one-way clutch, land wheel power transmission chain and active force transmit sprocket wheel and therefore obtaining power from land axle has
v1=ω1R (1)
The operating angular velocity omega of motor needed in the case of (2) broadcast leakage compensates ' and runing time t1
In the case where being summarized by System Working Principle it is found that broadcast leakage event occurs, seeding chain must accelerate to rotate, seeding
The potato kind to be mended at photoelectric sensor group II is detected to need with original seeding speed chain v1Across taking kind of a spoon spacing L1Time
2*L is crossed in section1Displacement, therefore, angular velocity omega needed for seeding sprocket wheel (II, I) under broadcast leakage compensation work state '1For
ω′1=2 ω1 (2)
And under broadcast leakage compensation condition, the power of seeding sprocket wheel (II, I) is only from motor and transmission ratioBiography
Dynamic system, therefore, in the case of broadcast leakage compensation needed for motor operating angular velocity omega ' be
Therefore, the runing time t of motor required in the case of broadcast leakage compensation1For
(3) the parameters revision expression under broadcast leakage compensation work state
Compensate used time t1It is to seek seeding chain real time kinematics speed v1On the basis of, calculate seeding chain movement across
A more standard takes kind of a spoon spacing L1The required time, still, since objective expense software additional time makes actually institute
Take time the t understood than calculating according to formula (4)1Longer, this will necessarily make the position of compensation deviation occur.Therefore, of the invention
By the operating angular velocity omega under motor broadcast leakage compensation work state ' be modified to
Corresponding with formula (5), the present invention is by the runing time t of motor under broadcast leakage compensation work state1It is modified to
It is corresponding with ω ' amendment, the speed v ' of seeding chain under broadcast leakage compensation work state1Also it is modified to
v′1=2K1ω1R (7)
Wherein, K1For motion compensated coefficient, and there is K1> 1 is to accelerate to spin out shadow from 0 starting to software delay consumption, motor
The simple compensation of loud one kind.
The runing time t of motor under the broadcast leakage compensation work state1, seeding speed chain v '1Refer in particular to formula (6), public affairs
Formula (7) revised result.
Advantage of the present invention are as follows: normal sowing power comes from ground-driven, potato spoon from plants case take kind after uplink overturning enter row
Kind slot, is finally discharged into kind of a ditch by sowing port, then completes to sow via overlay film after subsequent landfill, the operation of ridging mechanism.It is logical in seeding
On road, system in addition to seeding chain, take kind of spoon and seed distributing groove other than, without any other broadcast leakage compensate seeding channel, this sowing
The design for reseeding channel unification simplifies system structure；When broadcast leakage, broadcast leakage signal is issued by broadcast leakage detection system, if seeding is examined
It surveys potato kind to be mended at photoelectric sensor group II to have, then the broadcast leakage compensation system movement based on one-way clutch, and takes kind of spoon attached
Seeding sprocket coaxiality installation compensation one-way clutch make power source be detached from land wheel transfer by through the battery-powered electricity of storage
Machine provides and accelerated service, accelerates pursuit to previous vacancy potato seed when being normally destined to position when latter potato spoon,
Electronic acceleration rotary state terminates, and kind of spoon sprocket wheel is taken to obtain power from land wheel again, and system enters normal sowing state, broadcast leakage again
According to the formula (5), (6) and (7) conclusion, Systems Theory is perfect for the control of compensation system, complete answer system how cloth
It sets, all critical issues how system controls；System is obtained according to the real-time angular speed of seeding sprocket wheel for code-disc acquisition of testing the speed
The time of required operation carries out broadcast leakage and accelerates the compensation of pursuit formula, and system control is easily achieved, and the performance deviation of system can pass through
Constantly modification parameter setting is corrected, and software enhancing hardware capability can be played the role of, and system suitability and intelligence are prominent
Out；If potato kind to be mended does not have at metering detection photoelectric sensor group II, the broadcast leakage compensation system based on one-way clutch
Also it acts, if next take whether kind of spoon has potato kind to be mended behind at metering detection photoelectric sensor group II, such as
The case where fruit has, then has according to potato kind to be mended at metering detection photoelectric sensor group II execution, otherwise system controller fills
Sending halt instruction is set, i.e., system is other than once position zero deflection compensation, and one more has the chance of deviation compensation, this is mentioned
The high reliability of system balance；System shows also there is a set of warning circuit different working condition in addition to quantity statistics signal
The design of different warning messages is provided, this is but also circuit system hardware is simplified.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is present system control device work block diagram；
Fig. 3 is present system control device main program block diagram；
Fig. 4 is the main interruption subroutine block diagram of present system control device；
Fig. 5 is present system control device timer interrupt sub routine block diagram；
In figure: 1: plants case；2: rack vertical beam；3: sprocket shaft bearing；4: seed distributing groove；5: land wheel；6: motor；7: compensation unidirectionally from
Clutch；8: motor power output chain gear；9: metering detection photoelectric sensor group (II, I)；10: seeding sprocket wheel (II, I)；11: taking
Kind spoon；12: taking kind of a spoon position signal carrier；13: taking kind of a spoon position sensor (II, I)；14: seeding chain；15: land axle；
16: seed distributing groove is charged seed mouth；17: potato seed；18: rack bottom beam；19: Vehicular accumulator cell；20: active force transfer of unidirectional clutch；21:
Position adjustable plough；22: seeding sprocket shaft (II, I)；23: motor installation bottom plate；24: driver；25: land wheel power passes
Defeated chain；26: broadcast leakage compensates power transmission chain；27: active force transmits sprocket wheel；28: system controller device；28-1:CPU core
Heart arithmetic processor；28-2: reset key；28-3: keyboard；28-4: broadcast leakage alarm acousto-optic circuit；28-5: parameter is shown；29:
Test the speed code-disc.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
As shown in Figure 1 and Figure 2, a kind of integrated potato setter of benefit of broadcasting of double unidirectional clutch cooperation includes uniline horse
4 bell planting potato machine, broadcast leakage detection system, the broadcast leakage compensation system based on one-way clutch and system controller device subsystems
System, specifically by plants case 1, rack vertical beam 2, sprocket shaft bearing 3, seed distributing groove 4, land wheel 5, motor 6, compensation one-way clutch 7, motor
Power output chain gear 8, seeding sprocket wheel (II, I) 10, takes kind of spoon 11, takes kind of a spoon position metering detection photoelectric sensor group (II, I) 9
Signal carrier 12 takes kind of a spoon position sensor (II, I) 13, seeding chain 14, land axle 15, seed distributing groove to charge seed mouth 16, potato seed
17, rack bottom beam 18, Vehicular accumulator cell 19, active force transfer of unidirectional clutch 20, position adjustable plough 21, seeding sprocket wheel
Axis (II, I) 22, motor installation bottom plate 23, driver 24, land wheel power transmission chain 25, broadcast leakage compensation power transmission chain 26,
Active force transmits sprocket wheel 27, system controller device 28, core cpu arithmetic processor 28-1, reset key 28-2, keyboard 28-
3, broadcast leakage alarm acousto-optic circuit 28-4, parameter show 28-5 and the code-disc 29 that tests the speed composition；The power normal condition of seeding sprocket wheel 10
It is driven from land wheel 5 down；Broadcast leakage detection system and system controller device 28 work together, monitoring single-row potato planting machine leakage
Broadcast event whether occur, broadcast leakage event occur in the case where by system controller device 28 start the leakage based on one-way clutch
It broadcasts compensation system work, carry out data statistics；Broadcast leakage compensation system work starting based on one-way clutch will make system control
Device device 28 controls 6 accelerated service of motor, so that a kind of broadcasting for double unidirectional clutch cooperation be caused to mend integrated potato planting
10 power source of machine seeding sprocket wheel is detached from ground-driven, then is driven and operated by motor 6, makes a kind of broadcasting for double unidirectional clutch cooperation
That mends integrated potato setter accelerates pursuit to previous vacancy potato seed 17 when being normally destined to position wait mend potato kind, electricity
Machine 6 accelerates rotary state to terminate, and seeding sprocket wheel 10 obtains power from land wheel 5 again, and system reenters normal sowing state.It is single
Row potato setter includes plants case 1, rack vertical beam 2, sprocket shaft bearing 3, seed distributing groove 4, land wheel 5, seeding chain 14, land axle
15, seed distributing groove is charged seed mouth 16 and position adjustable plough 21；Drive of the system that land wheel 5 and land axle 15 form in tractor
Under field walk, provide platform for equipment；Rack bottom beam 18 is installed on land axle 15, and rack vertical beam 2 is vertically fixed
On rack bottom beam 18, position adjustable plough 21 is installed on 18 middle part of rack bottom beam, and plants case 1 is arranged in rack bottom beam 18
Above, far from the side of tractor after rack vertical beam 2, seed distributing groove 4 is parallelly mounted to rack vertical beam 2 close to tractor side；Row
Seeding sprocket shaft II22 and seeding sprocket shaft I22 is respectively set in upper and lower end in kind slot 4, is set with seeding on seeding sprocket shaft II22
It is set with seeding sprocket wheel I10 on sprocket wheel II10, seeding sprocket shaft I22, is set with seeding between seeding sprocket wheel II0 and seeding sprocket wheel I10
Chain 14 is uniformly arranged on seeding chain 14 and several takes kind of spoon 11；Active force transfer of unidirectional clutch 20 is set in seeding sprocket wheel
The side axis II22, active force transfer of unidirectional clutch 20 transmit sprocket wheel 27 by land wheel power transmission chain 25 and active force and connect
It connects, active force transmission sprocket wheel 27 is installed on synchronous rotation on land axle 15, and the active force of metering system derives from and land wheel 5
Synchronous land axle 15 is through active force transmission sprocket wheel 27, land wheel power transmission chain 25 and active force transfer of unidirectional clutch 20
And it is transferred to the torque of seeding sprocket shaft II 22.Broadcast leakage detection system includes each kind of spoon 11 being taken to install on same position to take
Kind of spoon position signal carrier 12, seed distributing groove 4 take kind of 12 side of spoon position signal carrier from top to bottom two in corresponding be equipped with
A position, which is respectively set, to be taken kind of spoon position sensor II13 and takes kind of spoon position sensor I13, adjacent described kind of spoon position to be taken to pass
The distance between sensor 13 takes the distance between kind of spoon 11 L with adjacent1It is equal, it taking kind of a spoon position sensor II13, taking kind of a spoon
Metering detection photoelectric sensor group II9 and metering detection is respectively set at 17 mean radius r of potato seed on position sensor I13
Photoelectric sensor group I9, wherein taking kind of spoon position sensor I13 apart from the starting line distance of 17 freedom of entry falling of potato seed
The distance between kind of spoon 11 L is taken with adjacent1It is identical, wherein metering detection photoelectric sensor group I 9 is whether broadcast leakage event occurs
Test point, metering detection photoelectric sensor group II 9 is the test point that whether has of potato kind to be mended；Metering detection photoelectric sensing
Device group 9 takes kind of a spoon position sensor 13 to connect respectively with system controller device 28.Broadcast leakage based on one-way clutch compensates system
It unites by motor 6, compensation one-way clutch 7, motor power output chain gear 8, broadcast leakage compensation power transmission chain 26, test the speed code-disc 29
Composition；It compensates one-way clutch 7 and power transmission chain 26 and the connection of motor power output chain gear 8 is compensated by broadcast leakage, motor 6
Power is exported by being installed on the motor power output chain gear 8 on its shaft, and power needed for broadcast leakage compensation is directly passed through by motor 6
Motor power output chain gear 8, broadcast leakage compensation power transmission chain 26 are sent to compensation one-way clutch 7 and further reach seeding
Sprocket shaft II 22 is obtained；The rotation axis of code-disc 29 of testing the speed is connect with the one end seeding sprocket shaft I22, and the fuselage for the code-disc 29 that tests the speed is solid
On rack bottom beam 18, the signal for the code-disc 29 that tests the speed can calculate acquisition after passing to core cpu arithmetic processor 28-1
The angular speed of seeding sprocket wheel (II, I) 10 can also further seek the real time kinematics speed of seeding chain 14.System controller dress
28 settings are set on single-row potato planting machine, including core cpu arithmetic processor 28-1, reset key 28-2, keyboard 28-3,
Broadcast leakage alarms acousto-optic circuit 28-4, parameter display 28-5, core cpu arithmetic processor 28-1 with timing and interrupt function, key
Disk 28-3, parameter show human-computer interaction channel when 28-5 and core cpu arithmetic processor 28-1 joint provides parameter setting, are
The performance deviation of system can be corrected by constantly modifying parameter setting；Reset key 28-2 resets for system mode, is urgent
Operating condition is shut down and system in case of system halt restarts service；Core cpu arithmetic processor 28-1 obtains kind of a spoon position sensor comprehensive
It is made whether that broadcast leakage occurs on the basis of (II, I) 13, metering detection photoelectric sensor group (II, I) 9,29 signal of code-disc that tests the speed
Judgement, the control signal needed for output driver 24 under the premise of determining that broadcast leakage event occurs, thus needed for reaching motor 6
Running speed, while carrying out self seed number N1, natural broadcast leakage number N2, reseed several N3, final broadcast leakage number N4Statistics and will knot
Fruit shows real-time update on 28-5 in parameter.System controller device 28 is connect by driver 24 with motor 6, motor 6 and is
System control device 28 is separately connected Vehicular accumulator cell 19, and system controller device, driver and Vehicular accumulator cell are installed in
On Sowing machine for potatoes body.
As shown in Figure 1, Figure 2, Figure 3 shows, in the case of normal operation, due to having utilized keyboard 28-3 and parameter to show before operation
The cooperation of 28-5 and running parameter needed for having input equipment, thus, under the traction of tractor, the land axle 15 of rotation will be moved
Power is transferred to seeding through active force transmission sprocket wheel 27, land wheel power transmission chain 25 and active force transfer of unidirectional clutch 20
Sprocket shaft II 22, to drive entire seeding sprocket wheel (II, I) 10, seeding chain 14, all take kind of spoon 11 and potato seed 17 complete
At sowing, system controller device 28, which utilizes, to be obtained metering detection photoelectric sensor group (II, I) 9, takes kind of a spoon position sensor
The information of (II, I) 13 carries out real-time broadcast leakage judgement, while carrying out self seed number N1It counts and result is shown into 28-5 in parameter
Upper display.
In order to ensure the accuracy and reliability of broadcast leakage detection, broadcast leakage detection system of the present invention is not using vulnerable to extraneous natural
The photoelectric sensor of light interference, and broadcast leakage detection is not all carrying out all the time, only carries out in the specific period, this was both
The intensity of system work is alleviated, but also the probability that system is judged by accident by external interference significantly reduces.
The broadcast leakage of system judges to take 11 side of kind of spoon is subsidiary to take kind of a spoon position signal carrier 12, take kind of a spoon by each
Position sensor 13, metering detection photoelectric sensor group (II, I) 9 and core cpu arithmetic processor 28-1, which combine, to be obtained.Whenever
One take 11 side of kind of spoon it is subsidiary take the arrival of kind of spoon position signal carrier 12 to take kind of the position spoon position sensor I13
When, signal is provided to the transmitting terminal of seeding detection light electric transducer group I9 by core cpu arithmetic processor 28-1, then detection row
The signal intensity of kind detection 9 receiving end photoelectric sensor group I, if metering detection photoelectric sensor group I9 at least one of which
The variation that the state of receiving end is expected in predetermined time period, then explanation has the presence of potato seed 17, does not have broadcast leakage event
Occur, on the contrary, if the state of the none of receiving end metering detection photoelectric sensor group I9 is in predetermined time period
Estimated variation occurs, then illustrate to be passed through takes the back side of kind of spoon 11 that broadcast leakage event has occurred；Metering detection photoelectric sensor
It is executed at where detection process and metering detection photoelectric sensor group I9 that whether the potato kind to be mended executed at group II 9 has
The detection process whether broadcast leakage event occurs is similar, the judgment criterion of core cpu arithmetic processor 28-1 is identical, only most
Usage mode, the target at end are different.
As shown in Figure 1, Figure 2 and shown in Fig. 4, if the core cpu arithmetic processor 28-1 of system controller device 28 judges row
Broadcast leakage event has occurred at kind detection photoelectric sensor group I9, then in addition to carrying out self seed number (N1), natural broadcast leakage number (N2)、
Reseed number (N3), final broadcast leakage number (N4) statistics and by result parameter show 28-5 on real-time update show outside, also need basis
Whether potato kind to be mended has at metering detection photoelectric sensor group II9 testing result and by core cpu arithmetic processor 28-1
Corresponding control signal is issued to driver 24: if potato kind to be mended has at metering detection photoelectric sensor group II9, CPU
Main operational processor 28-1 is according to the real time kinematics speed v for taking kind of spoon 111The control signal issued to driver 24 should make
Motor 6 drives target velocity of the seeding chain 14 in the former direction of motion to reach v '1, due to v '1> v1, according to one-way clutch
Working principle, at this time motor 6 by motor power output chain gear 8, broadcast leakage compensate power transmission chain 26 and compensation unidirectionally from
Clutch 7 to seeding sprocket shaft 22 provide power, previous seeding sprocket shaft 22 by active force transfer of unidirectional clutch 20, move in turn
Power conveyor chain 25 and active force are transmitted sprocket wheel 27 and are automatically separated from the approach that land axle 15 obtains power, so that seeding
Kind of spoon 11 is taken to pass through time t at detection photoelectric sensor group II91Acceleration after, can reach and still use former speed at it
Spend v1And the same position reached, so that the compensation of 17 position zero deflection of potato seed is completed, and then, core cpu arithmetic processor 28-1
Again control signal is issued to driver 24, motor 6 is made to stop operating, i.e., can be considered that motor 6 drives seeding chain in this case
Target velocity of the item 14 in the former direction of motion is v '1=0, it is clear that have v '1< v1, according to the working principle of one-way clutch, this
When motor 6 by motor power output chain gear 8, broadcast leakage compensate power transmission chain 26 and compensation one-way clutch 7 give seeding chain
The approach that wheel shaft 22 provides power is automatically separated, and seeding sprocket shaft 22 passes through active force transfer of unidirectional clutch 20, land wheel power
Conveyor chain 25 and active force transmission sprocket wheel 27 and from land axle 15 obtain power approach restore, thus exit the state of reseeding and
It operates normally；If potato kind to be mended does not have at metering detection photoelectric sensor group II9, core cpu arithmetic processor 28-1
One side enters alarm I working condition at once with low-frequency start broadcast leakage alarm acousto-optic circuit 28-4, and on the other hand then basis takes kind
The real time kinematics speed v of spoon 111Motor 6 is set to drive seeding chain 14 in the former direction of motion to the control signal that driver 24 issues
On target velocity reach v '1, due to v '1> v1, according to the working principle of one-way clutch, motor 6 passes through motor power at this time
Output chain gear 8, broadcast leakage compensation power transmission chain 26 and compensation one-way clutch 7 provide power to seeding sprocket shaft 22, previously
Seeding sprocket shaft 22 transmits sprocket wheel 27 by active force transfer of unidirectional clutch 20, land wheel power transmission chain 25 and active force
The approach for obtaining power from land axle 15 is automatically separated, and motor 6 is so that the speed of seeding chain 14 reaches v '1State operation,
Then, it waits and to be detected next takes whether kind of spoon 11 has potato to be mended behind at metering detection photoelectric sensor group II9
Kind, if had, the case where having according to potato kind to be mended at metering detection photoelectric sensor group II9 execution, former metering detection
Final broadcast leakage event occurs behind for kind of the spoon 11 that takes at photoelectric sensor group I9 1 time, should update final broadcast leakage number (N4) and joining
Digital display shows 28-5 real-time display, and core cpu arithmetic processor 28-1 gives driver 24 to issue control signal again, stops motor 6
Rotation stop is dynamic, i.e., it is v ' that motor 6 drives target velocity of the seeding chain 14 in the former direction of motion again1=0, it is clear that have v '1<
v1, according to the working principle of one-way clutch, motor 6 compensates power transmission chain by motor power output chain gear 8, broadcast leakage at this time
The approach that item 26 and compensation one-way clutch 7 provide power to seeding sprocket shaft 22 is automatically separated, and seeding sprocket shaft 22 passes through master
Power transmission one-way clutch 20, land wheel power transmission chain 25 and active force transmit sprocket wheel 27 and obtain power from land axle 15
Approach restore, system exits broadcast leakage compensation work state, and broadcast leakage alarm acousto-optic circuit 28-4 exits alarm I working condition, is
System operates normally, otherwise, in this case, to be detected next into taking at metering detection photoelectric sensor group II9
Kind 11 behind of spoon potato kind to be mended does not have still, then core cpu arithmetic processor 28-1 starts broadcast leakage alarm at once with high frequency
Optical circuit 28-4 enters alarm II working condition, meanwhile, core cpu arithmetic processor 28-1 is to whole system control device 28
Halt instruction is issued, motor 6 is made to drive target velocity v ' of the seeding chain 14 in the former direction of motion1=0, it is clear that have v '1<
v1, according to the working principle of one-way clutch, motor 6 compensates power transmission chain by motor power output chain gear 8, broadcast leakage at this time
The approach that item 26 and compensation one-way clutch 7 provide power to seeding sprocket shaft 22 is automatically separated, and seeding sprocket shaft 22 passes through master
Power transmission one-way clutch 20, land wheel power transmission chain 25 and active force transmit sprocket wheel 27 and obtain power from land axle 15
Approach restore, tractor should be made to halt at this time, operator manually checks.
System main theory and parameter Estimation (providing reference for hardware selection)
Relevant possibility parameter and its unit in system:
v114 proper motion speed of seeding chain, unit: m/s；
v′114 speed of seeding chain when being reseeded in the case of mending potato kind and having at metering detection photoelectric sensor group II9
Degree, unit: m/s；
v2Running Speed of Tractor, unit: m/s；
ω110 normal operation angular speed of seeding sprocket wheel (II, I), the data can be by core cpu arithmetic processor 28-1
Operation obtains after receiving the signal for the transmission of code-disc 29 of testing the speed, unit: rad/s；
ω′1The operating angular speed of seeding sprocket wheel (II, I) 10, unit: rad/s when broadcast leakage compensates；
The operating angular speed of motor 6, unit: rad/s when ω '-- broadcast leakage compensates；
t1The runing time of motor 6, unit: s under broadcast leakage compensation work state；
N18 number of teeth of motor power output chain gear；
N2Compensate the outer number of teeth of one-way clutch 7；
The radius of R-- seeding sprocket wheel (II, I) 10, unit: m；
L1Take 11 spacing of kind of spoon, unit: m；
L-- potato sowing spacing in the rows, unit: m.
The adjusting of potato sowing spacing in the rows L under normal sowing state has been completed by mechanical system before start, is not
The scope that the present invention is paid close attention to, and at this time control system in addition to carry out self seed number (N1) count and shown in parameter aobvious on 28-5
It is outer to show refreshing, and without additional control work.
(1) parameters relationship under normal sowing state
Under normal operating conditions, system occurs without broadcast leakage event, and the integrated horse of benefit is broadcast in a kind of cooperation of double unidirectional clutch
Bell planting potato machine seeding sprocket shaft 22 is passed by active force transfer of unidirectional clutch 20, land wheel power transmission chain 25 and active force
Defeated sprocket wheel 27 and from land axle 15 obtain power therefore have
v1=ω1R (1)
The operating angular velocity omega of motor 6 needed in the case of (2) broadcast leakage compensates ' and runing time t1
In the case where being summarized by System Working Principle it is found that broadcast leakage event occurs, seeding chain 14 must accelerate to rotate, row
Potato kind to be mended at kind detection photoelectric sensor group II9 is needed with original 14 speed v of seeding chain1Across taking 11 spacing of kind of spoon
L1Period in cross over 2*L1Displacement, therefore, angular speed needed for seeding sprocket wheel (II, I) 10 under broadcast leakage compensation work state
ω′1For
ω′1=2 ω1 (2)
And under broadcast leakage compensation condition, the power of seeding sprocket wheel (II, I) 10 is only from motor 6 and transmission ratio's
Transmission system, therefore, broadcast leakage compensation in the case of needed for motor 6 operating angular velocity omega ' be
Therefore, the runing time t of motor 6 required in the case of broadcast leakage compensation1For
(3) the parameters revision expression under broadcast leakage compensation work state
Compensate used time t1It is to seek 14 real time kinematics speed v of seeding chain1On the basis of, calculate the fortune of seeding chain 14
It is dynamic to take 11 spacing L of kind of spoon across a standard1The required time, still, since objective expense software additional time makes reality
It can be than the t that is calculated according to formula (4) the time required on border1Longer, this will necessarily make the position of compensation deviation occur.Therefore,
The present invention by the operating angular velocity omega under 6 broadcast leakage compensation work state of motor ' be modified to
Corresponding with formula (5), the present invention is by the runing time t of motor 6 under broadcast leakage compensation work state1It is modified to
It is corresponding with ω ' amendment, the speed v ' of seeding chain 14 under broadcast leakage compensation work state1Also it is modified to
v′1=2K1ω1R (7)
Wherein, K1For motion compensated coefficient, and there is K1> 1 is to accelerate to spin out from 0 starting to software delay consumption, motor 6
The simple compensation of one kind of influence.
The runing time t of motor under broadcast leakage compensation work state described in present embodiment1, seeding speed chain v '1?
It refers in particular to respectively according to the formula (6), formula (7) revised result.
System broadcast leakage judgement and compensation interruption subroutine:
Since broadcast leakage judgement needs quickly and reliably to draw a conclusion, interrupt facility need to be used.As shown in figure 4, every
Taken when one 11 side of kind of spoon it is subsidiary take the arrival of kind of spoon position signal carrier 12 to take kind of 13 institute of spoon position sensor (II, I)
At position, relevant interruption of work can be all induced, and it is interrelated between these interruptions, it then becomes necessary to provide them
Between priority orders, interrupt priority level from high to low sequence successively are as follows: metering detection photoelectric sensor group II9, seeding
The interruption that detection photoelectric sensor group I9 is induced, corresponding interruption of work subprogram testing result mark are respectively
FLAGII,FLAGI.The interruption testing result FLAGII=0 induced at metering detection photoelectric sensor group II9 represents potato to be mended
Kind has (default conditions), and FLAGII=1 then represents the main potato kind to be mended of representative and do not have；Metering detection photoelectric sensor group I9
The interruption broadcast leakage testing result FLAGI=0 representative that place induces has kind of (default conditions), and FLAGI=1 is then without kind (arranging
The kind detection place photoelectric sensor group I9 has occurred and that in place's broadcast leakage event), before which finally exits, FLAGI, FLAGII are equal
(interruption induced at metering detection photoelectric sensor group I9 is the minimum interruption of priority, to call seeding wherein for clearing
The result mark for interrupting detection at photoelectric sensor group II 9 is detected, is bolter in the two interruptions the latest)；Metering detection
The interruption that photoelectric sensor group I9 is induced will carry out the real-time speed v of seeding chain 141It obtains, v1Acquisition is the code-disc that tests the speed
29 signal is passed to calculate through processing after core cpu arithmetic processor 28-1 and be obtained.
Embodiment of the present invention is operating angular speed by accurately controlling motor 6 and runing time to realize potato kind to be mended
The compensation of position zero deflection, the timer interruption that therefore, it is necessary to be related in core cpu arithmetic processor 28-1.As shown in figure 5,
The priority that timer T2 is interrupted is higher than the interrupt priority level that metering detection photoelectric sensor group (II, I) 9 is induced.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. the integrated potato setter of benefit is broadcast in a kind of double unidirectional clutch cooperation, it is characterised in that: including single-row potato
Planting machine, broadcast leakage detection system, the broadcast leakage compensation system based on one-way clutch and system controller device；The uniline Ma Ling
Ground-driven of the planting potato machine seeding sprocket wheel power under normal circumstances from single-row potato planting machine；The broadcast leakage detection system
It works together with system controller device, whether monitoring single-row potato planting machine broadcast leakage event occurs, occurs in broadcast leakage event
In the case where broadcast leakage compensation system based on one-way clutch started by system controller device work, simultaneity factor controller dress
Set carry out data statistics；The broadcast leakage compensation system based on one-way clutch works will be by system controller device control when starting
Motor accelerated service processed, so that the seeding sprocket wheel power source of single-row potato planting machine is made to be detached from ground-driven, then by motor
Drive operating, make single-row potato planting machine wait mend potato kind accelerate pursuit to previous vacancy potato seed normal predetermined position when,
System controller device control motor accelerate rotary state terminate, seeding sprocket wheel again from land wheel obtain power, system again into
Enter normal sowing state.
2. the integrated potato setter of benefit, feature are broadcast in a kind of double unidirectional clutch cooperation according to claim 1
Be: the single-row potato planting machine include plants case (1), rack vertical beam (2), seed distributing groove (4), compensation one-way clutch (7),
Seeding sprocket wheel (II, I) (10), seeding chain (14), land axle (15), rack bottom beam (18), active force transfer of unidirectional clutch
(20), seeding sprocket shaft (II, I) (22), take kind of a spoon (10), land wheel power transmission chain (25), active force transmission sprocket wheel (27),
The rack bottom beam (18) is installed on land axle (15), and rack vertical beam (2) is perpendicularly fixed on rack bottom beam (18), described
Seed distributing groove (4) is parallelly mounted on rack vertical beam (2)；Seeding sprocket shaft II is respectively set in the interior upper and lower end of the seed distributing groove (4)
(22) and seeding sprocket shaft I (22) seeding sprocket wheel II (10), are set on the seeding sprocket shaft II (22), the seeding sprocket shaft
Seeding sprocket wheel I (10) are set on I (22), seeding chain is set between the seeding sprocket wheel II (10) and seeding sprocket wheel I (10)
(14), it is uniformly arranged on the seeding chain (14) and several takes kind of a spoon (11)；Active force transfer of unidirectional clutch (20) set
Loaded on seeding sprocket shaft II (22) side, the compensation one-way clutch (7) is set in seeding sprocket shaft II (22) other side, institute
It states active force transfer of unidirectional clutch (20) and is connect by land wheel power transmission chain (25) with active force transmission sprocket wheel (27), institute
It states active force transmission sprocket wheel (27) and is installed on synchronous rotation on land axle (15), the compensation one-way clutch (7) passes through
Broadcast leakage compensates power transmission chain (26) and the motor power output chain gear (8) of the broadcast leakage compensation system based on one-way clutch connects
It connects, the power of the motor (6) of the broadcast leakage compensation system based on one-way clutch is defeated by being installed on motor power on its shaft
Sprocket wheel (8) exports out；The broadcast leakage compensation system based on one-way clutch and system controller device and broadcast leakage detection system
Cooperation.
3. the integrated potato setter of benefit, spy are broadcast in a kind of double unidirectional clutch cooperation according to claim 1 or 2
Sign is: the broadcast leakage detection system includes metering detection photoelectric sensor group (II, I) (9), takes kind of a spoon position signal carrier
(12), kind of a spoon position sensor (II, I) (13) is taken, it is described to take kind of a spoon position signal carrier (12) to be mounted on each to take kind of a spoon
(11) on same position, the seed distributing groove (4) it is corresponding be equipped with take kind of spoon position signal carrier (12) side on to
Lower two positions, which are respectively set, to be taken kind of spoon position sensor II (13) and takes kind of a spoon position sensor I (13), adjacent described to take kind
The distance between spoon position sensor (13) takes the distance between kind of a spoon (11) L with adjacent1It is equal, taking kind of a spoon position sensor
II (13), it takes metering detection photoelectric sensing is respectively set at potato seed (17) mean radius r on kind of spoon position sensor I (13)
Device group II (9) and metering detection photoelectric sensor group I (9), wherein kind of spoon position sensor I (13) is taken to enter apart from potato seed (17)
The starting line distance of the movement of falling object takes the distance between kind of a spoon (11) L with adjacent1It is identical, wherein the metering detection light
Electric transducer group I (9) is the test point whether broadcast leakage event occurs, and the metering detection photoelectric sensor group II (9) is wait mend
The test point whether potato kind has；The metering detection photoelectric sensor group (9), take kind of spoon position sensor (13) respectively be
System control device (28) connection, the system controller device (28) are arranged on single-row potato planting machine.
4. the integrated potato setter of benefit, feature are broadcast in a kind of double unidirectional clutch cooperation according to claim 3
Be: the broadcast leakage compensation system based on one-way clutch includes driver (24), motor (6), motor power output chain gear
(8), Vehicular accumulator cell (19), broadcast leakage compensation power transmission chain (26), the driver (24) and motor (6) and system control
Device device (28) connection, the motor (6) connect Vehicular accumulator cell (19), and the motor (6) is exported by motor power
Sprocket wheel (8), broadcast leakage compensation power transmission chain (26) and compensation one-way clutch (7) are dynamic to seeding sprocket shaft (22) offer compensation
Power, seeding sprocket shaft (22) are passed by active force transfer of unidirectional clutch (20), land wheel power transmission chain (25) and active force
Defeated sprocket wheel (27) and from land axle (15) obtain work normally power.
5. the integrated potato setter of benefit, spy are broadcast in a kind of double unidirectional clutch cooperation according to claim 1 or 4
Sign is: the system controller device (28) includes core cpu arithmetic processor (28-1), reset key (28-2), keyboard
(28-3), broadcast leakage alarm acousto-optic circuit (28-4), parameter show (28-5) that the core cpu arithmetic processor (28-1) has
Timing and interrupt function, the keyboard (28-3), parameter show that (28-5) and core cpu arithmetic processor (28-1) joint are provided
The performance deviation of human-computer interaction channel when parameter setting, system can be corrected by constantly modifying parameter setting；It is described
Reset key (28-2) is reset for system mode, emergency work condition is shut down and system in case of system halt restarts service；The system controller
The core cpu arithmetic processor (28-1) of device (28) obtains kind of spoon position sensor (II, I) (13), metering detection comprehensive
It is made whether that the judgement of broadcast leakage occurs on the basis of photoelectric sensor group (II, I) (9), the code-disc that tests the speed (29) signal, is determining to leak
Control signal needed for output driver (24) under the premise of event occurs is broadcast, so that motor (6) be made to reach required operating speed
Degree, while carrying out self seed number (N1), natural broadcast leakage number (N2), reseed number (N3), final broadcast leakage number (N4) statistics and will knot
Fruit shows real-time update on (28-5) in parameter, and core cpu arithmetic processor (28-1) connection is tested the speed code-disc (29), described
The rotation axis of code-disc (29) of testing the speed is connect with seeding sprocket shaft I (22) one end, and the fuselage of the code-disc that tests the speed (29) is fixed on machine
On frame bottom beam (18), the signal of the code-disc that tests the speed (29) can calculate after passing to core cpu arithmetic processor (28-1)
The angular speed for obtaining seeding sprocket wheel (II, I) (10), to obtain the real time kinematics speed of seeding chain (14).
6. the integrated potato setter of benefit is broadcast in a kind of cooperation of the double unidirectional clutch according to any of the above-described claim,
It is characterized by: if the core cpu arithmetic processor (28-1) of system controller device (28) judges metering detection photoelectric transfer
Broadcast leakage event has occurred at sensor group I (9), then in addition to carrying out self seed number (N1), natural broadcast leakage number (N2), reseed number (N3)、
Final broadcast leakage number (N4) statistics and that result in parameter is shown on (28-5) that real-time update is shown is outer, also need according to metering detection
Whether potato kind to be mended has at photoelectric sensor group II (9) testing result and by core cpu arithmetic processor (28-1) to driving
Dynamic device (24) issue corresponding control signal: if potato kind to be mended has at metering detection photoelectric sensor group II (9), CPU
Main operational processor (28-1) is according to the real time kinematics speed v for taking kind of a spoon (11)1The control signal issued to driver (24)
It should make motor (6) that the target velocity of seeding chain (14) in the former direction of motion is driven to reach v '1, due to v '1> v1, according to
The working principle of one-way clutch, motor (6) compensates power transmission chain by motor power output chain gear (8), broadcast leakage at this time
(26) and seeding sprocket shaft (22) offer power is given in compensation one-way clutch (7), and previous seeding sprocket shaft (22) passes through active force
Transfer of unidirectional clutch (20), land wheel power transmission chain (25) and active force are transmitted sprocket wheel (27) and are obtained from land axle (15)
The approach of power is automatically separated, so that taking kind of a spoon (11) by the time at metering detection photoelectric sensor group II (9)
t1After acceleration, it can reach and still use former speed v at it1And the same position reached, so that it is unbiased to complete potato seed (17) position
Difference compensation, then, core cpu arithmetic processor (28-1) issue control signal to driver (24) again, stop motor (6)
Rotation, i.e., can be considered that motor (6) drive the target velocity of seeding chain (14) in the former direction of motion in this case is v '1=
0, it is clear that have v '1< v1, according to the working principle of one-way clutch, motor (6) passes through motor power output chain gear (8), leakage at this time
It broadcasts compensation power transmission chain (26) and compensates the approach that one-way clutch (7) provide power to seeding sprocket shaft (22) and divide automatically
From seeding sprocket shaft (22) is passed by active force transfer of unidirectional clutch (20), land wheel power transmission chain (25) and active force
Defeated sprocket wheel (27) and from land axle (15) obtain power approach restore, to exit the state of reseeding and operate normally；If row
Potato kind to be mended does not have at kind of detection photoelectric sensor group II (9), then core cpu arithmetic processor (28-1) on the one hand horse back with
Low-frequency start broadcast leakage alarms acousto-optic circuit (28-4) into alarm I working condition, on the other hand then according to the reality for taking kind of a spoon (11)
When movement velocity v1Motor (6) are made to drive seeding chain (14) in the former direction of motion to the control signal that driver (24) issue
Target velocity reach v '1, due to v '1> v1, according to the working principle of one-way clutch, motor (6) passes through motor power at this time
Output chain gear (8), broadcast leakage compensation power transmission chain (26) and compensation one-way clutch (7) provide dynamic to seeding sprocket shaft (22)
Power, previous seeding sprocket shaft (22) pass through active force transfer of unidirectional clutch (20), land wheel power transmission chain (25) and active
Power transmission sprocket wheel (27) and be automatically separated from the approach that land axle (15) obtain power, motor (6) is so that seeding chain (14)
Speed reaches v '1State operation, then, wait it is to be detected it is next enter metering detection photoelectric sensor group II (9) at taking
Whether kind spoon (11) has potato kind to be mended behind, if had, according to potato to be mended at metering detection photoelectric sensor group II (9)
The case where having execution is planted, takes kind of a spoon (11) that final broadcast leakage event occurs behind at former metering detection photoelectric sensor group I (9)
1 time, final broadcast leakage number (N should be updated4) and show (28-5) real-time display, core cpu arithmetic processor (28-1) weight in parameter
Control signal newly is issued to driver (24), motor (6) is made to stop operating, i.e., motor (6) drives seeding chain (14) to transport in original
Target velocity on dynamic direction is v ' again1=0, it is clear that have v '1< v1, according to the working principle of one-way clutch, motor at this time
(6) seeding is given by motor power output chain gear (8), broadcast leakage compensation power transmission chain (26) and compensation one-way clutch (7)
Sprocket shaft (22) provide power approach be automatically separated, seeding sprocket shaft (22) by active force transfer of unidirectional clutch (20),
Land wheel power transmission chain (25) and active force are transmitted sprocket wheel (27) and are restored from the approach that land axle (15) obtain power, system
Broadcast leakage compensation work state is exited, alarm I working condition is exited in broadcast leakage alarm acousto-optic circuit (28-4), and system operates normally, no
Then, in this case, kind of a spoon (11) is taken behind at next entrance metering detection photoelectric sensor group II (9) to be detected
Potato kind to be mended does not have still, then core cpu arithmetic processor (28-1) is at once with high frequency starting broadcast leakage alarm acousto-optic circuit
(28-4) enters alarm II working condition, meanwhile, core cpu arithmetic processor (28-1) gives whole system control device (28)
Halt instruction is issued, motor (6) is made to drive the target velocity v ' of seeding chain (14) in the former direction of motion1=0, it is clear that have
v′1< v1, according to the working principle of one-way clutch, motor (6) is dynamic by motor power output chain gear (8), broadcast leakage compensation at this time
The approach that power conveyor chain (26) and compensation one-way clutch (7) provide power to seeding sprocket shaft (22) is automatically separated, seeding
Sprocket shaft (22) transmits sprocket wheel by active force transfer of unidirectional clutch (20), land wheel power transmission chain (25) and active force
(27) and from the approach that land axle (15) obtain power restore, tractor should be made to halt at this time, operator carries out artificial
It checks.
7. the integrated potato setter of benefit, feature are broadcast in a kind of double unidirectional clutch cooperation according to claim 6
It is: theory of the invention are as follows:
Relevant possibility parameter and its unit in system:
v1Seeding chain (14) proper motion speed, unit: m/s；
v′1Seeding chain (14) speed when being reseeded in the case of mending potato kind and having at metering detection photoelectric sensor group II (9)
Degree, unit: m/s；
v2Running Speed of Tractor, unit: m/s；
ω1Seeding sprocket wheel (II, I) (10) normal operation angular speed, the data can be by core cpu arithmetic processor (28-1)
Reception test the speed code-disc (29) transmission signal after operation obtain, unit: rad/s；
ω′1The operating angular speed of seeding sprocket wheel (II, I) (10), unit: rad/s when broadcast leakage compensates；
The operating angular speed of motor (6), unit: rad/s when ω '-- broadcast leakage compensates；
t1The runing time of motor (6), unit: s under broadcast leakage compensation work state；
N1Motor power output chain gear (8) number of teeth；
N2Compensate one-way clutch (7) outer number of teeth；
The radius of R-- seeding sprocket wheel (II, I) (10), unit: m；
L1Take kind of a spoon (11) spacing, unit: m；
L-- potato sowing spacing in the rows, unit: m.
The adjusting of potato sowing spacing in the rows L under normal sowing state has been completed by mechanical system before start.
(1) parameters relationship under normal sowing state
Under normal operating conditions, system occurs without broadcast leakage event, and the seeding sprocket shaft (22) of single-row potato planting machine passes through master
Power transmission one-way clutch (20), land wheel power transmission chain (25) and active force transmission sprocket wheel (27) and from land axle (15)
Therefore obtaining power has
v1=ω1R (1)
The operating angular velocity omega of motor (6) needed in the case of (2) broadcast leakage compensates ' and runing time t1
In the case where being summarized by System Working Principle it is found that broadcast leakage event occurs, seeding chain (14) must accelerate to rotate, seeding
The potato kind to be mended at photoelectric sensor group II (9) is detected to need with original seeding chain (14) speed v1Across taking kind of a spoon (11)
Spacing L1Period in cross over 2*L1Displacement, therefore, angle needed for seeding sprocket wheel (II, I) (10) under broadcast leakage compensation work state
Speed omega '1For
ω′1=2 ω1 (2)
And under broadcast leakage compensation condition, the power of seeding sprocket wheel (II, I) (10) is only from motor (6) and transmission ratio's
Transmission system, therefore, broadcast leakage compensation in the case of needed for motor (6) operating angular velocity omega ' be
Therefore, the runing time t of motor (6) required in the case of broadcast leakage compensation1For
(3) the parameters revision expression under broadcast leakage compensation work state
Compensate used time t1It is to seek seeding chain (14) real time kinematics speed v1On the basis of, calculate the fortune of seeding chain (14)
It is dynamic to take kind of a spoon (11) spacing L across a standard1The required time, still, since objective expense software additional time makes
It can be than the t that is calculated according to formula (4) the time required to actually1Longer, this will necessarily make the position of compensation deviation occur.Cause
This, the present invention by the operating angular velocity omega under motor (6) broadcast leakage compensation work state ' be modified to
Corresponding with formula (5), the present invention is by the runing time t of motor (6) under broadcast leakage compensation work state1It is modified to
It is corresponding with ω ' amendment, the speed v ' of seeding chain (14) under broadcast leakage compensation work state1Also it is modified to
v′1=2K1ω1R (7)
Wherein, K1For motion compensated coefficient, and there is K1> 1 is to accelerate to spin out shadow from 0 starting to software delay consumption, motor (6)
The simple compensation of loud one kind.
8. the integrated potato setter of benefit, feature are broadcast in a kind of double unidirectional clutch cooperation according to claim 7
It is: the runing time t of motor (6) under the broadcast leakage compensation work state1, seeding chain (14) speed v '1Refer in particular to respectively according to
According to formula described in claim 5 (6), formula (7) revised result.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113330869A (en) * | 2021-06-10 | 2021-09-03 | 华中农业大学 | Intelligent pneumatic precision seeder for small-grain-size seeds and vegetables |
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| RU2040878C1 (en) * | 1993-06-12 | 1995-08-09 | Научно-исследовательский институт "Аргон" | Hand-operated selection drill |
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| CN113330869A (en) * | 2021-06-10 | 2021-09-03 | 华中农业大学 | Intelligent pneumatic precision seeder for small-grain-size seeds and vegetables |
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| CN109618620B (en) | 2023-09-01 |
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