CN109618620B - Sowing and supplementing integrated potato planter matched with double one-way clutches - Google Patents
Sowing and supplementing integrated potato planter matched with double one-way clutches Download PDFInfo
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- CN109618620B CN109618620B CN201910106116.6A CN201910106116A CN109618620B CN 109618620 B CN109618620 B CN 109618620B CN 201910106116 A CN201910106116 A CN 201910106116A CN 109618620 B CN109618620 B CN 109618620B
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- 244000061456 Solanum tuberosum Species 0.000 title claims abstract description 107
- 235000002595 Solanum tuberosum Nutrition 0.000 title claims abstract description 107
- 230000001502 supplementing effect Effects 0.000 title claims abstract description 16
- 238000009331 sowing Methods 0.000 title claims description 106
- 238000010899 nucleation Methods 0.000 claims abstract description 208
- 230000005540 biological transmission Effects 0.000 claims abstract description 126
- 238000001514 detection method Methods 0.000 claims abstract description 112
- 238000007599 discharging Methods 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 35
- 230000001133 acceleration Effects 0.000 claims description 7
- 241000196324 Embryophyta Species 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 6
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- 230000003993 interaction Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 239000000969 carrier Substances 0.000 claims 3
- 230000009977 dual effect Effects 0.000 claims 2
- 240000001931 Ludwigia octovalvis Species 0.000 claims 1
- 241000721671 Ludwigia Species 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 235000012015 potatoes Nutrition 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000012544 monitoring process Methods 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
- 241001632422 Radiola linoides Species 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
- 230000000295 complement effect Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C9/00—Potato planters
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Abstract
A seeding and supplementing integrated potato planter with double one-way clutches, which is driven by a land wheel of a single-row potato planter under normal conditions; the miss-seeding detection system and the system controller device are matched to monitor whether a miss-seeding event of the single-row potato planter occurs or not, and the system controller device starts a miss-seeding compensation system based on a one-way clutch to work under the condition that the miss-seeding event occurs, and meanwhile, the system controller device performs data statistics; when the one-way clutch-based miss-seeding compensation system is started, the system controller device controls the motor to accelerate to run, so that the power source of the seed discharging chain wheel of the single-row potato planter is separated from the ground wheel transmission, the motor drives to run, and when the potato seeds to be supplemented are accelerated to catch up to the normal preset position of the potato seeds in the previous blank, the seed discharging chain wheel acquires power from the ground wheel again, and the system enters a normal seeding state again. The invention realizes accurate detection and timely compensation of missing seeding of the potato planter.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery and electric automation thereof, and particularly relates to a sowing and supplementing integrated potato planter matched with a double one-way clutch.
Background
At present, precision seeding has become a main feature of modern seeding technology, and for large-grain crops, precision seeding is a direction of future development. The precision seeding in European and American countries starts in the 40 th century and is mature at present, but is mainly concentrated on the cultivation of large crops such as corn, soybean and the like. At present, related researches on potato missing seeding monitoring exist at home and abroad, for example, an electromechanical missing seeding detection compensation system based on photoelectric detection is respectively proposed by Wang Guanping, zhang Jiao east and the like, and the electromechanical missing seeding detection compensation system adopts a seed metering pipe for monitoring although the schemes are different, and a set of standby seed metering device is additionally arranged on an original seed metering device, and when missing seeding occurs in the original seed metering device, the standby device is adopted for complementary seeding. The seed supplementing mode of the seed metering device and the seed supplementing device independent of each other is simple in principle, but has a complex structure after being put into practice; in addition, the normal seed sowing and the falling path of the reseeding are different, so that the problems of lag in reseeding position, inaccuracy and the like exist, the problem of blockage of the potato seeds to be reseeded can also exist, and the practicability is not high. Wang Guan A one-way clutch type seeding and reseeding integrated potato planter is also proposed, the core of the idea is that the use of the one-way clutch enables normal seeding and reseeding to use different power sources, but the scheme is only a theoretical framework, is very coarse, for example, the installation of a miss-seeding detection sensor has insufficient structural data, the system control has no theoretical formula as a basis, the basic hardware of a control system is not formed, and a key system software flow block diagram is not provided.
Disclosure of Invention
The invention aims to solve the technical problem of providing a sowing and supplementing integrated potato planter matched with a double one-way clutch aiming at the defects in the prior art.
The technical scheme adopted for solving the technical problems of the invention is as follows:
a double one-way clutch matched seeding and supplementing integrated potato planter comprises a single-row potato planter, a missing seeding detection system, a missing seeding compensation system based on a one-way clutch and a system controller device; the power of the seed discharging chain wheel of the single-row potato planter is normally transmitted by a land wheel of the single-row potato planter; the miss-seeding detection system and the system controller device work in a combined mode, whether a miss-seeding event of the single-row potato planter occurs or not is monitored, the system controller device starts a miss-seeding compensation system based on a one-way clutch to work under the condition that the miss-seeding event occurs, and meanwhile the system controller device performs data statistics; when the one-way clutch-based miss-seeding compensation system is started, the system controller device controls the motor to accelerate, so that the power source of the seed discharging chain wheel of the single-row potato planter is separated from the ground wheel transmission, and the motor drives the motor to rotate, when the potato seeds to be supplemented of the single-row potato planter are accelerated and chased to the normal preset position of the previous empty potato seeds, the system controller device controls the motor to stop accelerating rotation, the seed discharging chain wheel acquires power from the ground wheel again, and the system enters a normal seeding state again.
The single-row potato planter comprises a seed box, a frame vertical beam, a seed sowing groove, a compensation one-way clutch, a seed sowing chain wheel (II, I), a seed sowing chain, a land wheel shaft, a frame bottom beam, a main power transmission one-way clutch, a seed sowing chain wheel shaft (II, I), a seed taking spoon, a land wheel power transmission chain and a main power transmission chain wheel, wherein the frame bottom beam is arranged on the land wheel shaft, the frame vertical beam is vertically fixed on the frame bottom beam, and the seed sowing groove is arranged on the frame vertical beam in parallel; the upper end and the lower end in the seed sowing groove are respectively provided with a seed sowing chain wheel shaft II and a seed sowing chain wheel shaft I, the seed sowing chain wheel shaft II is sleeved with a seed sowing chain wheel II, the seed sowing chain wheel shaft I is sleeved with a seed sowing chain wheel I, a seed sowing chain is sleeved between the seed sowing chain wheel II and the seed sowing chain wheel I, and a plurality of seed taking spoons are uniformly arranged on the seed sowing chain; the main power transmission one-way clutch is sleeved on one side of a seed metering sprocket shaft II, the compensation one-way clutch is sleeved on the other side of the seed metering sprocket shaft II, the main power transmission one-way clutch is connected with a main power transmission sprocket through a land wheel power transmission chain, the main power transmission sprocket is arranged on the land wheel shaft and synchronously rotates with the land wheel shaft, the compensation one-way clutch is connected with a motor power output sprocket of a miss-seeding compensation system based on the one-way clutch through a miss-seeding compensation power transmission chain, and the power of a motor of the miss-seeding compensation system based on the one-way clutch is output by the motor power output sprocket arranged on a rotating shaft of the motor power output sprocket; the miss-seeding compensation system based on the one-way clutch is matched with the system controller device and the miss-seeding detection system.
The miss-seeding detection system comprises a seed metering detection photoelectric sensor group (II, I), a seed taking spoon position signal carrier and seed taking spoon position sensors (II, I), wherein the seed taking spoon position signal carrier is arranged on the same position of each seed taking spoon, the seed metering groove is provided with the seed taking spoon position sensor II and the seed taking spoon position sensor I respectively at two positions from top to bottom on one side of the seed taking spoon position signal carrier correspondingly, and the distance between the adjacent seed taking spoon position sensors and the distance L between the adjacent seed taking spoons 1 The seed metering position sensor II and the seed metering average radius r of the seed potatoes on the seed metering position sensor I are respectively provided with a seed metering detection photoelectric sensor group II and a seed metering detection photoelectric sensor group I, wherein the seed metering position sensor I is away from the distance L between the starting line of the seed potatoes entering the free falling body and the distance L between the seed metering position sensor I and the adjacent seed metering spoon 1 The seed metering detection photoelectric sensor group I is a detection point for judging whether a miss-seeding event occurs or not, and the seed metering detection photoelectric sensor group II is a detection point for judging whether the potato seeds to be supplemented are possessed or not; the seed metering detection photoelectric sensor group and the seed taking spoon position sensor are respectively connected with a system controller device, and the system controller device is arranged on the single-row potato planter.
The miss-seeding compensation system based on the one-way clutch comprises a driver, a motor power output chain wheel, a vehicle-mounted storage battery and a miss-seeding compensation power transmission chain, wherein the driver is connected with the motor and a system controller device, the motor is connected with the vehicle-mounted storage battery, the motor provides compensation power for a seed metering chain wheel shaft through the motor power output chain wheel, the miss-seeding compensation power transmission chain and the compensation one-way clutch, and the seed metering chain wheel shaft obtains normal working power from a land wheel shaft through a main power transmission one-way clutch, a land wheel power transmission chain and the main power transmission chain wheel.
The system controller device comprises a CPU core operation processor, a reset key, a keyboard, a miss-broadcast alarm acousto-optic circuit and a parameter display, wherein the CPU core operation processor has a timing and interrupt function, the keyboard, the parameter display and the CPU core operation processor jointly provide a man-machine interaction channel when the parameter is set, and the performance deviation of the system can be corrected by continuously modifying the parameter setting; the reset key is used for resetting the system state, stopping the emergency working condition, and restarting the system; the CPU core operation processor (28-1) makes a judgment on whether miss seeding occurs or not on the basis of comprehensively acquiring the position sensor (II, I) of the seed spoon, the seed metering detection photoelectric sensor group (II, I) and the speed measuring code disc signal, and outputs a control signal required by a driver on the premise of judging the miss seeding event, so that the motor reaches a required running speed, statistics of a natural seeding number, a natural miss seeding number, a seed supplementing number and a final miss seeding number are simultaneously carried out, and the result is updated on parameter display in real time.
When the machine works, if the CPU core operation processor of the system controller device judges that the seeding missing event occurs at the seeding detection photoelectric sensor group I, the CPU core operation processor is required to send corresponding control signals to the driver according to the detection result of whether the potato seeds to be fed at the seeding detection photoelectric sensor group II are provided or not, besides counting the natural seeding number, the natural seeding missing number, the feeding number and the final seeding missing number and updating and displaying the result on the parameter display: if the II position of the seed metering detection photoelectric sensor group is to be supplementedThe CPU core operation processor is used for controlling the speed v of the seed taking spoon according to the real-time movement speed v of the seed taking spoon when the potato seeds are provided 1 The control signal sent to the driver should make the motor drive the target speed of the seed-metering chain in the original movement direction reach v' 1 Due to v' 1 ＞v 1 According to the working principle of the one-way clutch, at the moment, the motor provides power for the seed metering sprocket shaft through the motor power output sprocket, the miss-seeding compensation power transmission chain and the compensation one-way clutch, and the previous seed metering sprocket shaft is automatically separated from the way of acquiring power from the land wheel shaft through the main power transmission one-way clutch, the land wheel power transmission chain and the main power transmission sprocket, so that the seed taking spoon at the position of the seed metering detection photoelectric sensor group II is enabled to take time t 1 After acceleration, it is possible to reach the original speed v which is still adopted 1 The same position is reached, so that no deviation compensation of the potato seed position is completed, then the CPU core operation processor sends a control signal to the driver again, so that the motor stops rotating, namely the target speed of the seed sowing chain driven by the motor in the original motion direction is v' 1 =0, obviously v' 1 ＜v 1 According to the working principle of the one-way clutch, at the moment, the motor is automatically separated through a motor power output chain wheel, a miss-seeding compensation power transmission chain and a way for providing power for a seed metering chain wheel shaft by the compensation one-way clutch, and the seed metering chain wheel shaft is recovered from a way for acquiring power from the land wheel shaft through a main power transmission one-way clutch, a land wheel power transmission chain and the main power transmission chain wheel, so that the seed supplementing state is exited and the seed metering chain wheel shaft normally operates; if the potato seeds to be supplemented at the position of the seed metering detection photoelectric sensor group II are not provided, the CPU core operation processor starts the missed broadcast warning sound-light circuit at low frequency immediately to enter the working state of the warning I, and on the other hand, the CPU core operation processor moves at the real-time speed v of the seed taking spoon 1 The control signal sent to the driver makes the motor drive the seed-metering chain to reach the target speed v 'in the original motion direction' 1 Due to v' 1 ＞v 1 According to the working principle of the one-way clutch, the motor provides power for the seed metering sprocket shaft through the motor power output sprocket, the miss-seeding compensation power transmission chain and the compensation one-way clutch, and the previous seed metering sprocket shaft passes through the main powerThe way of transmitting the unidirectional clutch, the land wheel power transmission chain and the main power transmission chain wheel to obtain power from the land wheel shaft is automatically separated, and the motor is used for enabling the speed of the seed sowing chain to reach v' 1 Then, waiting to detect whether the potato seeds to be supplemented are arranged behind the seed taking spoon at the position of the next seed metering detection photoelectric sensor group II, if so, executing according to the condition that the potato seeds to be supplemented at the position of the seed metering detection photoelectric sensor group II are arranged, wherein the final miss-seeding event occurs 1 time behind the seed taking spoon at the position of the original seed metering detection photoelectric sensor group I, updating the final miss-seeding number and displaying in real time in parameter display, and sending a control signal to a driver again by a CPU core operation processor to stop rotating the motor, namely, the target speed of the seed metering chain driven by the motor in the original motion direction is v 'again' 1 =0, obviously v' 1 ＜v 1 According to the working principle of the one-way clutch, at the moment, the motor is automatically separated through a motor power output chain wheel, a miss-seeding compensation power transmission chain and a way for providing power for a seed metering chain wheel shaft by the compensation one-way clutch, the seed metering chain wheel shaft is recovered through a way for acquiring power from the land wheel shaft by a main power transmission one-way clutch, a land wheel power transmission chain and a main power transmission chain wheel, the system exits from the miss-seeding compensation working state, the miss-seeding alarm sound-light circuit exits from the alarm I working state, and the system normally operates, otherwise, the next seed taking spoon to be detected at the position of a seed metering detection photoelectric sensor group II still does not exist after the seed supplementing seed is still, a CPU core operation processor immediately starts the miss-seeding alarm sound-light circuit to enter into the alarm II working state at high frequency, and simultaneously, the CPU core operation processor gives a shutdown instruction to a whole system controller device, so that the motor drives the seed metering chain to have the target speed of v 'in the original motion direction' 1 =0, obviously v' 1 ＜v 1 According to the working principle of the one-way clutch, at the moment, the motor is automatically separated through a motor power output chain wheel, a miss-seeding compensation power transmission chain and a way for providing power for a seed metering chain wheel shaft by the compensation one-way clutch, the seed metering chain wheel shaft is recovered from a way for obtaining power from a land wheel shaft through a main power transmission one-way clutch, a land wheel power transmission chain and the main power transmission chain wheel, and at the moment, the tractor is stoppedAnd stopping the forward movement, and performing manual inspection by an operator.
The theory of the invention is that:
possible parameters related in the system and units thereof:
v 1 normal speed of movement of the seeding chain, unit: m/s;
v′ 1 seed metering chain speed and unit when seed metering is carried out on potato seeds to be replenished at position II of seed metering detection photoelectric sensor group under the condition that seed metering is carried out: m/s;
v 2 tractor travel speed, unit: m/s;
ω 1 -normal rotational speed of the seed metering sprocket (II, I), which data can be obtained by the CPU core processor receiving the signal from the tachometer encoder, in units of: rad/s;
ω′ 1 -transport angular speed of the seeding sprocket (II, I) during miss-seeding compensation, unit: rad/s;
ω' — the angular speed of operation of the motor during miss-seeding compensation, unit: rad/s;
t 1 Run time of the motor in the miss-seeding compensation operation state, unit: s;
N 1 -motor power take-off sprocket number;
N 2 -compensating the number of outer teeth of the one-way clutch;
r-radius of the seed metering sprocket (II, I), unit: m;
L 1 -spacing of seed scoops, units: m;
l-potato sowing plant spacing, unit: m.
The adjustment of the potato sowing plant spacing L in the normal sowing state is completed by the mechanical system before the start, which is not the category of the invention, and the control system does not perform additional control work except for the statistics of the natural sowing number and the display refreshing on the parameter display.
(1) Parameter relation under normal sowing state
Under normal working conditions, the system does not have miss-seeding event, and the seed metering sprocket shaft of the single-row potato planter obtains power from the land wheel shaft through the main power transmission one-way clutch, the land wheel power transmission chain and the main power transmission sprocket, so that the single-row potato planter has the following functions
v 1 ＝ω 1 R (1)
(2) Operation angle speed omega' and operation time t of motor required under miss-seeding compensation condition 1
As can be seen from the outline of the working principle of the system, under the condition of miss-seeding, the seed sowing chain must be rotated in an accelerating way, and the potato seeds to be supplemented at the position of the seed sowing detection photoelectric sensor group II are required to be planted at the original seed sowing chain speed v 1 Span the distance L between seed taking scoops 1 Is spanned 2*L within a period of time of (a) 1 Therefore, the angular velocity omega 'required by the seed metering sprockets (II, I) in the miss-seeding compensation operating state' 1 Is that
ω′ 1 ＝2ω 1 (2)
Under the condition of miss-seeding compensation, the power of the seed discharging chain wheels (II, I) is only from the motor and the transmission ratio isTherefore, the required angular speed ω' of the motor in the case of miss-seeding compensation is
Thus, the operating time t of the motor required in the event of miss-seeding compensation 1 Is that
(3) Parameter correction expression under miss-seeding compensation working state
Time t of compensation 1 The real-time movement speed v of the seed metering chain is obtained 1 On the basis of the step (a), the movement of the seed metering chain is calculated to span a standard seed taking spoon interval L 1 The time required, however, is actually longer than the time required according to the formula due to the objective software added time cost(4) Calculated t 1 Longer, this necessarily causes a deviation in the compensated position. Therefore, the invention corrects the operation angle speed omega' of the motor in the miss-seeding compensation working state to be
Corresponding to the formula (5), the invention compensates the running time t of the motor in the working state of miss-seeding 1 Corrected to
Corresponding to omega ' correction, the speed v ' of the seed sowing chain in the miss-seeding compensation working state ' 1 Is also modified as
v′ 1 ＝2K 1 ω 1 R (7)
Wherein K is 1 Is a motion compensation coefficient and has K 1 And the compensation of the software delay consumption and the acceleration and elongation effects of the motor from 0 are more than 1.
The operation time t of the motor in the miss-seeding compensation working state 1 Speed v 'of seed metering chain' 1 The modified results of the formula (6) and the formula (7) are specified.
The invention has the advantages that: the normal sowing power comes from the land wheel transmission, the potato spoon overturns upwards to enter the seed sowing groove after seed taking from the seed box, finally, the potato spoon is discharged into the seed sowing groove through the seed sowing port, and the sowing is completed after the film covering is carried out after the operation of the subsequent filling and ridging mechanism. On the seed sowing channel, the system has no other seed sowing compensation and sowing channels except a seed sowing chain, a seed taking spoon and a seed sowing groove, and the design of the combination of the seed sowing and sowing channels simplifies the structure of the system; when the potato seeds are missed, a missed seeding signal is sent by a missed seeding detection system, if the potato seeds to be repaired at a position of a seed metering detection photoelectric sensor group II are provided, a missed seeding compensation system based on a one-way clutch acts, a compensation one-way clutch coaxially arranged with a seed metering sprocket attached to a seed metering spoon enables a power source to be separated from a land wheel and to be supplied by a motor supplied by a battery to accelerate the operation, when the next potato spoon is accelerated and chased to a normal preset reaching position of the previous vacant potato seeds, an electric acceleration rotation state is terminated, the seed metering spoon sprocket acquires power from the land wheel again, the system enters a normal seeding state, the control of the missed seeding compensation system is concluded according to formulas (5), (6) and (7), the theory of the system is perfect, and all key problems how the system is arranged and how the system is controlled are completely answered; the system carries out miss-seeding acceleration catch-up compensation according to the time required to run obtained by the real-time angular velocity of the seed metering sprocket acquired by the speed measuring code wheel, the control of the system is easy to realize, the performance deviation of the system can be corrected by continuously modifying parameter setting, the function of enhancing hardware functions by software can be achieved, and the adaptability and the intelligence of the system are outstanding; if the potato seeds to be supplemented at the position of the seed metering detection photoelectric sensor group II are not provided, the miss-seeding compensation system based on the one-way clutch also acts, if the seed metering spoon at the position of the next seed metering detection photoelectric sensor group II is provided with the potato seeds to be supplemented, if so, the potato seeds to be supplemented at the position of the seed metering detection photoelectric sensor group II are executed according to the condition that the potato seeds to be supplemented are provided, otherwise, the system controller device sends a shutdown instruction, namely, the system has a position non-deviation compensation and a deviation compensation opportunity, and the reliability of the system compensation is improved; besides the number statistics signal display, the system also has a design that different working states of a set of alarm circuits give different alarm information, so that the hardware of the system circuit is simplified.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a block diagram illustrating operation of a system controller apparatus according to the present invention;
FIG. 3 is a block diagram of a system controller apparatus according to the present invention;
FIG. 4 is a block diagram of a system controller apparatus main interrupt subroutine of the present invention;
FIG. 5 is a block diagram of a timer interrupt subroutine of the system controller apparatus of the present invention;
in the figure: 1: a seed box; 2: a vertical beam of the frame; 3: sprocket bearings; 4: a seed metering groove; 5: a land wheel; 6: a motor; 7: a compensating one-way clutch; 8: a motor power take-off sprocket; 9: a seed metering detection photoelectric sensor group (II, I); 10: seed metering sprockets (II, I); 11: taking a seed spoon; 12: a seed spoon position signal carrier; 13: a seed taking spoon position sensor (II, I); 14: a seed metering chain; 15: a land axle; 16: seed feeding port of seed feeding groove; 17: planting potato; 18: a frame bottom beam; 19: a vehicle-mounted storage battery; 20: a main power transmission one-way clutch; 21: position-adjustable furrow opener; 22: seed metering sprocket shafts (II, I); 23: a motor mounting base plate; 24: a driver; 25: a land wheel power transmission chain; 26: miss-seeding compensation power transmission chain; 27: a main power transmission sprocket; 28: a system controller device; 28-1: a CPU core arithmetic processor; 28-2: resetting a key; 28-3: a keyboard; 28-4: the missing broadcast alarm sound-light circuit; 28-5: displaying parameters; 29: a speed measuring code disc.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the sowing and repairing integrated potato planter with the double one-way clutches comprises a single-row potato planter, a sowing missing detection system, a sowing missing compensation system based on the one-way clutches and 4 subsystems of a system controller device, and particularly comprises a seed box 1, a frame vertical beam 2, a sprocket bearing 3, a sowing groove 4, a land wheel 5, a motor 6, a compensation one-way clutch 7, a motor power output sprocket 8, a sowing detection photoelectric sensor group (II, I) 9, a sowing sprocket (II, I) 10, a sowing spoon 11, a sowing spoon position signal carrier 12, a sowing spoon position sensor (II, I) 13, a sowing chain 14, a land wheel shaft 15, a sowing groove seed throwing port 16, a potato 17, a frame bottom beam 18, a vehicle-mounted storage battery 19, a main power transmission one-way clutch 20, a position adjustable furrow opener 21, a sowing chain wheel shaft (II, I) 22, a motor mounting bottom plate 23, a driver 24, a land wheel power transmission 25, a sowing compensating power transmission chain 26, a main power transmission chain 27, a CPU (CPU) 28, a system reset key-3-28, a core electric control system 28-3-28, a speed measuring keyboard and an alarm device 28; the power of the seeding chain wheel 10 is normally transmitted from the land wheel 5; the miss-seeding detection system works in conjunction with the system controller device 28 to monitor the single row potato planter for miss-seeding events If not, the system controller device 28 starts the miss-seeding compensation system based on the one-way clutch to work and count data under the condition that the miss-seeding event occurs; the operation start of the miss-seeding compensation system based on the one-way clutch enables the system controller device 28 to control the motor 6 to accelerate to operate, so that the power source of the seed metering sprocket 10 of the double one-way clutch matched seed metering sprocket of the potato planter is separated from the land wheel transmission, and the motor 6 drives the seed metering sprocket to operate, so that when the seed metering to be in the seed metering of the double one-way clutch matched seed metering sprocket of the potato planter is accelerated to catch up to the normal preset reaching position of the previous empty seed potato 17, the accelerating rotation state of the motor 6 is stopped, the seed metering sprocket 10 acquires power from the land wheel 5 again, and the system enters the normal seeding state again. The single-row potato planter comprises a seed box 1, a frame vertical beam 2, a sprocket bearing 3, a seed metering groove 4, a land wheel 5, a seed metering chain 14, a land wheel shaft 15, a seed metering groove seed inlet 16 and a position adjustable furrow opener 21; the system formed by the land wheel 5 and the land wheel shaft 15 walks in the field under the drive of the tractor to provide a platform support for the machine; the frame bottom beam 18 is arranged on the land axle 15, the frame vertical beam 2 is vertically fixed on the frame bottom beam 18, the position-adjustable furrow opener 21 is arranged in the middle of the frame bottom beam 18, the seed box 1 is arranged above the frame bottom beam 18 and at one side of the frame vertical beam 2, which is far away from the tractor, and the seed sowing groove 4 is arranged at one side of the frame vertical beam 2, which is close to the tractor, in parallel; the upper end and the lower end in the seed sowing groove 4 are respectively provided with a seed sowing chain wheel shaft II22 and a seed sowing chain wheel shaft I22, a seed sowing chain wheel II10 is sleeved on the seed sowing chain wheel shaft II22, a seed sowing chain wheel I10 is sleeved on the seed sowing chain wheel shaft I22, a seed sowing chain 14 is sleeved between the seed sowing chain wheel II0 and the seed sowing chain wheel I10, and a plurality of seed taking spoons 11 are uniformly arranged on the seed sowing chain 14; the main power transmission one-way clutch 20 is sleeved on one side of the seed sowing sprocket shaft II22, the main power transmission one-way clutch 20 is connected with the main power transmission sprocket 27 through the land wheel power transmission chain 25, the main power transmission sprocket 27 is arranged on the land wheel shaft 15 and synchronously rotates with the land wheel shaft 15, and the main power of the seed sowing system is derived from the torque transmitted to the seed sowing sprocket shaft II22 by the land wheel shaft 15 synchronous with the land wheel 5 through the main power transmission sprocket 27, the land wheel power transmission chain 25 and the main power transmission one-way clutch 20. The miss-seeding detection system comprises each seed taking spoon 11 which is arranged at the same position The seed spoon position signal carrier 12, the seed metering groove 4 is provided with a seed spoon position sensor II13 and a seed spoon position sensor I13 respectively from top to bottom at two positions corresponding to the side provided with the seed spoon position signal carrier 12, and the distance between adjacent seed spoon position sensors 13 and the distance L between adjacent seed spoons 11 are respectively 1 The seed metering position sensor II13 and the average radius r of the seed potato 17 above the seed metering position sensor I13 are respectively provided with a seed metering detection photoelectric sensor group II9 and a seed metering detection photoelectric sensor group I9, wherein the seed metering position sensor I13 is separated from the distance L between the starting line distance of the seed potato 17 entering the free falling body movement and the distance L between the adjacent seed metering spoons 11 1 The same applies, wherein the seed metering detection photoelectric sensor group I9 is a detection point for whether a miss-seeding event occurs, and the seed metering detection photoelectric sensor group II9 is a detection point for whether the potato seeds to be supplemented are provided; the seed metering detection photoelectric sensor group 9 and the seed taking spoon position sensor 13 are respectively connected with a system controller device 28. The miss-seeding compensation system based on the one-way clutch consists of a motor 6, a compensation one-way clutch 7, a motor power output chain wheel 8, a miss-seeding compensation power transmission chain 26 and a speed measuring code wheel 29; the compensating one-way clutch 7 is connected with the motor power output chain wheel 8 through a miss-seeding compensating power transmission chain 26, the power of the motor 6 is output by the motor power output chain wheel 8 arranged on the rotating shaft of the motor 6, and the power required by miss-seeding compensation is directly transmitted to the compensating one-way clutch 7 by the motor 6 through the motor power output chain wheel 8 and the miss-seeding compensating power transmission chain 26 and further transmitted to the seed sowing chain wheel shaft II 22; the rotation shaft of the speed measuring code wheel 29 is connected with one end of the seed metering sprocket shaft I22, the machine body of the speed measuring code wheel 29 is fixed on the frame bottom beam 18, and the signal of the speed measuring code wheel 29 is transmitted to the CPU core operation processor 28-1 to calculate and obtain the angular velocity of the seed metering sprocket (II, I) 10, and the real-time movement velocity of the seed metering chain 14 can be further obtained. The system controller device 28 is arranged on a single-row potato planter and comprises a CPU core operation processor 28-1, a reset key 28-2, a keyboard 28-3, a miss-broadcast alarm acousto-optic circuit 28-4 and a parameter display 28-5, wherein the CPU core operation processor 28-1 has timing and interrupt functions, and the keyboard 28-3, the parameter display 28-5 and the CPU core operation processor 28-1 jointly provide man-machine interaction when parameters are set The mutual channel, the performance deviation of the system can be corrected by continuously modifying the parameter setting; reset button 28-2 is used for resetting the system state, stopping the emergency working condition, and restarting the system; the CPU core operation processor 28-1 makes a judgment whether miss seeding occurs or not on the basis of comprehensively acquiring signals of the seed spoon position sensor (II, I) 13, the seed sowing detection photoelectric sensor group (II, I) 9 and the speed measuring code wheel 29, and outputs a control signal required by the driver 24 on the premise of judging the miss seeding event, so that the motor 6 reaches the required running speed and the natural seeding number N is carried out at the same time 1 Number N of natural missed broadcasting 2 Number of reseeding N 3 Number N of final missed broadcasting 4 And updates the results in real time on parameter display 28-5. The system controller device 28 is connected with the motor 6 through the driver 24, the motor 6 and the system controller device 28 are respectively connected with the vehicle-mounted storage battery 19, and the system controller device, the driver and the vehicle-mounted storage battery are all arranged on the potato planter body.
As shown in fig. 1, 2 and 3, under normal operation, since the working parameters required by the machine tool are inputted by the cooperation of the keyboard 28-3 and the parameter display 28-5 before the operation, the rotating land axle 15 transmits power to the seed sowing sprocket shaft II 22 through the main power transmission sprocket 27, the land wheel power transmission chain 25 and the main power transmission one-way clutch 20 under the traction of the tractor, thereby driving the whole seed sowing sprocket (II, I) 10, the seed sowing chain 14, all seed taking scoops 11 and seed potatoes 17 to complete sowing, and the system controller device 28 performs real-time miss-sowing judgment by using the information of the seed sowing detection photoelectric sensor group (II, I) 9 and the seed taking scoop position sensor (II, I) 13, and simultaneously performs the natural sowing number N 1 Statistics and results are displayed on parameter display 28-5.
In order to ensure the accuracy and reliability of the miss-seeding detection, the miss-seeding detection system adopts a photoelectric sensor which is not easily interfered by external natural light, and the miss-seeding detection is not carried out at all times and only carried out in a specific time period, thereby not only reducing the working intensity of the system, but also obviously reducing the probability of misjudgment caused by external interference of the system.
The miss-seeding judgment of the system is obtained by combining a seed taking spoon position signal carrier 12, a seed taking spoon position sensor 13, a seed metering detection photoelectric sensor group (II, I) 9 and a CPU core operation processor 28-1 which are attached to the side face of each seed taking spoon 11. Every time a seed taking spoon position signal carrier 12 attached to the side surface of one seed taking spoon 11 reaches the position where a seed taking spoon position sensor I13 is located, a CPU core operation processor 28-1 provides signals for the transmitting end of a seed metering detection photoelectric sensor group I9, then signal changes of receiving ends of the seed metering detection photoelectric sensor group I9 are detected, if the state of at least one receiving end of the seed metering detection photoelectric sensor group I9 is expected to change within a preset time period, the existence of a seed potato 17 is indicated, no miss-seeding event occurs, and conversely, if the state of no receiving end of the seed metering detection photoelectric sensor group I9 is expected to change within the preset time period, the back surface of the seed taking spoon 11 is indicated to have miss-seeding event; the detection process of whether the potato seeds to be supplemented are executed at the position of the seed metering detection photoelectric sensor group II 9 is similar to the detection process of whether the miss-seeding event is executed at the position of the seed metering detection photoelectric sensor group I9, the judgment criteria of the CPU core operation processor 28-1 are completely the same, and only the final use mode and the target are different.
As shown in fig. 1, 2 and 4, if the CPU core arithmetic processor 28-1 of the system controller device 28 determines that a miss-seeding event has occurred at the seed metering detection photo-sensor group I9, then the natural seed count (N 1 ) Number of natural missed broadcasting (N) 2 ) Number of reseeding (N) 3 ) Number of final missed shots (N) 4 ) In addition to updating and displaying the results on the parameter display 28-5 in real time, the CPU core operation processor 28-1 needs to send corresponding control signals to the driver 24 according to the detection result of whether the potato seeds to be supplemented at the seeding detection photoelectric sensor group II9 are possessed: if the potato seeds to be supplemented at the position of the seed metering detection photoelectric sensor group II9 are provided, the CPU core operation processor 28-1 calculates the real-time movement speed v of the seed taking spoon 11 1 The control signal to the drive 24 should be such that the motor 6 brings the target speed of the seeding chain 14 in the original movement direction to v' 1 Due to v' 1 ＞v 1 According to the work of the one-way clutchAs a principle, at this time, the motor 6 supplies power to the seed metering sprocket shaft 22 through the motor power output sprocket 8, the miss-seeding compensation power transmission chain 26 and the compensation one-way clutch 7, and the previous seed metering sprocket shaft 22 is automatically separated from the way of acquiring power from the land wheel shaft 15 through the main power transmission one-way clutch 20, the land wheel power transmission chain 25 and the main power transmission sprocket 27, so that the seed taking spoon 11 at the seed metering detection photoelectric sensor group II9 is at the elapsed time t 1 Can reach the speed v at which the original speed v is still adopted 1 The same position is reached, so that no deviation compensation of the potato 17 position is completed, and then the CPU core operation processor 28-1 sends a control signal to the driver 24 again to stop the rotation of the motor 6, namely the target speed of the motor 6 driving the seed sowing chain 14 in the original motion direction is v' 1 =0, obviously v' 1 ＜v 1 According to the working principle of the one-way clutch, at this time, the motor 6 is automatically separated through the motor power output chain wheel 8, the miss-seeding compensation power transmission chain 26 and the compensation one-way clutch 7 to provide power for the seed metering chain wheel shaft 22, and the seed metering chain wheel shaft 22 is recovered through the main power transmission one-way clutch 20, the land wheel power transmission chain 25 and the main power transmission chain wheel 27 to obtain power from the land wheel shaft 15, so that the reseed state is exited to normally run; if the potato seeds to be supplemented at the position of the seed metering detection photoelectric sensor group II9 are not provided, the CPU core operation processor 28-1 starts the missed broadcast warning sound-light circuit 28-4 at low frequency to enter the working state of the warning I immediately on one hand, and on the other hand, the real-time movement speed v of the seed taking spoon 11 is utilized 1 The control signal sent to the driver 24 causes the motor 6 to drive the seed metering chain 14 to reach the target speed v 'in the original movement direction' 1 Due to v' 1 ＞v 1 According to the principle of operation of the one-way clutch, the motor 6 supplies power to the seeding sprocket shaft 22 via the motor power take-off sprocket 8, the miss-seeding compensating power transmission chain 26 and the compensating one-way clutch 7, the previous seeding sprocket shaft 22 is automatically separated from the land wheel shaft 15 via the main power transmission one-way clutch 20, the land wheel power transmission chain 25 and the main power transmission sprocket 27, and the motor 6 reaches the speed v 'of the seeding chain 14' 1 Is set in the state of operation of (1),then, whether the potato seeds to be supplemented are provided after the next seed taking spoon 11 entering the seed metering detection photoelectric sensor group II9 is waited for detection, if so, the seed metering spoon is executed according to the condition that the potato seeds to be supplemented are provided at the seed metering detection photoelectric sensor group II9, the final miss-seeding event occurs for 1 time after the seed metering spoon 11 at the original seed metering detection photoelectric sensor group I9 is provided, and the final miss-seeding number (N 4 ) And in real time on the parameter display 28-5, the CPU core operation processor 28-1 sends a control signal to the driver 24 again to stop the rotation of the motor 6, i.e. the target speed of the seed metering chain 14 driven by the motor 6 in the original motion direction is v 'again' 1 =0, obviously v' 1 ＜v 1 According to the working principle of the one-way clutch, at this time, the motor 6 is automatically separated through the motor power output chain wheel 8, the miss-seeding compensation power transmission chain 26 and the compensation one-way clutch 7 to provide power for the seed metering chain wheel shaft 22, the seed metering chain wheel shaft 22 is recovered through the main power transmission one-way clutch 20, the land wheel power transmission chain 25 and the main power transmission chain wheel 27 from the way of obtaining power from the land wheel shaft 15, the system exits from the miss-seeding compensation working state, the miss-seeding alarm sound-light circuit 28-4 exits from the alarm I working state, the system normally operates, otherwise, the next seed taking spoon 11 to be detected enters the seed metering detection photoelectric sensor group II9 and is still not provided after the seed supplementing, the CPU core operation processor 28-1 immediately starts the miss-seeding alarm sound-light circuit 28-4 to enter the alarm II working state at high frequency, and meanwhile, the CPU core operation processor 28-1 gives a shutdown instruction to the whole system controller device 28, so that the target speed of the motor 6 driving the seed metering chain 14 in the original motion direction is v' 1 =0, obviously v' 1 ＜v 1 According to the principle of operation of the one-way clutch, the motor 6 is automatically separated by the motor power take-off sprocket 8, the miss-seeding compensation power transmission chain 26 and the compensation one-way clutch 7 to provide power to the seed metering sprocket shaft 22, the seed metering sprocket shaft 22 is restored by the main power transmission one-way clutch 20, the land wheel power transmission chain 25 and the main power transmission sprocket 27 to obtain power from the land wheel shaft 15, and at this time, the tractor should be stopped to advance, and an operator should perform manual inspection.
System main theory and parameter estimation (providing reference for hardware selection)
Possible parameters related in the system and units thereof:
v 1 normal speed of movement of the seeding chain 14, unit: m/s;
v′ 1 seed metering chain 14 speed and unit when seed metering detection photoelectric sensor group II9 is used for seed metering under the condition that the potato seeds to be replenished are provided with: m/s;
v 2 tractor travel speed, unit: m/s;
ω 1 -normal rotational speed of the seeding sprocket (II, I) 10, which data can be obtained by the CPU core processor 28-1 receiving the signal sent by the tachometer code wheel 29, in units of: rad/s;
ω′ 1 -rotational speed of the seeding sprocket (II, I) 10 during miss-seeding compensation, unit: rad/s;
ω' — the angular speed of operation of the motor 6 during miss-seeding compensation, unit: rad/s;
t 1 run time of the motor 6 in the miss-seeding compensation operation state, unit: s;
N 1 -motor power take-off sprocket 8 teeth;
N 2 -compensating the number of teeth outside the one-way clutch 7;
r-radius of the seed metering sprocket (II, I) 10, unit: m;
L 1 spacing of seed scoops 11, unit: m;
l-potato sowing plant spacing, unit: m.
The adjustment of the potato sowing plant spacing L in the normal sowing state is already completed by the mechanical system before the start, which is not the category of the present invention, and the control system at this time performs the control of the natural sowing number (N 1 ) No additional control effort is done beyond counting and displaying the refresh on parameter display 28-5.
(1) Parameter relation under normal sowing state
Under normal working condition, the system has no miss-seeding event, the seeding chain wheel shaft 22 of the seeding and supplementing integrated potato planter matched with the double one-way clutches obtains power from the land wheel shaft 15 through the main power transmission one-way clutch 20, the land wheel power transmission chain 25 and the main power transmission chain wheel 27, thus the seeding and supplementing integrated potato planter has the following functions
v 1 ＝ω 1 R (1)
(2) The required rotational speed ω' and the operating time t of the motor 6 in the event of miss-seeding compensation 1
As can be seen from the outline of the system working principle, under the condition of miss-seeding, the seed sowing chain 14 must be rotated in an accelerating way, and the potato seeds to be supplemented at the position of the seed sowing detection photoelectric sensor group II9 are required to be planted at the speed v of the original seed sowing chain 14 1 Span the distance L between the seed taking spoon 11 1 Is spanned 2*L within a period of time of (a) 1 Thus, the angular velocity omega 'required by the seeding sprocket (II, I) 10 in the miss-seeding compensation operation' 1 Is that
ω′ 1 ＝2ω 1 (2)
While under the miss-seeding compensation condition, the power of the seed discharging chain wheels (II, I) 10 is only from the motor 6 and the transmission ratio isTherefore, the required angular speed ω' of the motor 6 in the event of miss-seeding compensation is
Thus, the required operating time t of the electric machine 6 in the event of miss-seeding compensation 1 Is that
(3) Parameter correction expression under miss-seeding compensation working state
Time t of compensation 1 The real-time movement speed v of the seed metering chain 14 is obtained 1 On the basis of (1) calculating the distance L between the seed metering chain 14 and a standard seed taking spoon 11 1 The time required, however, is due to the objective software overheadSo that the actually required time will be greater than t calculated according to equation (4) 1 Longer, this necessarily causes a deviation in the compensated position. Therefore, the invention corrects the operation angle speed omega' of the motor 6 in the miss-seeding compensation working state to be
Corresponding to the formula (5), the invention compensates the running time t of the motor 6 in the working state of miss-seeding 1 Corrected to
Corresponding to the omega ' correction, the speed v ' of the seeding chain 14 in the miss-seeding compensation working state ' 1 Is also modified as
v′ 1 ＝2K 1 ω 1 R (7)
Wherein K is 1 Is a motion compensation coefficient and has K 1 And the compensation of the software delay consumption and the acceleration and elongation effects of the motor 6 from 0 is simple and easy.
The embodiment relates to the operation time t of the motor in the miss-seeding compensation working state 1 Speed v 'of seed metering chain' 1 The modified results are respectively specified according to the formula (6) and the formula (7).
And (3) a system miss-seeding judgment and compensation interrupt subroutine:
since the missed broadcasting judgment needs to be fast and reliably concluded, an interruption measure needs to be adopted. As shown in fig. 4, each time the pick-up spoon position signal carrier 12 attached to the side of one of the pick-up spoons 11 reaches the position of the pick-up spoon position sensor (II, I) 13, the related interrupt operation is induced, and the interrupts are associated with each other, so that the priority order between them must be defined, and the order of interrupt priorities from high to low is as follows: interruption induced by the seed metering detection photoelectric sensor group II9 and the seed metering detection photoelectric sensor group I9, and corresponding interruption working subprogram detection junctions thereof The fruit marks are FLAGII and FLAGI respectively. The interruption detection result FLAGII=0 induced at the seeding detection photoelectric sensor group II9 represents that the potato seeds to be supplemented are in a default state, while FLAGII=1 represents that the main potato seeds to be supplemented are not in the default state; the interruption miss detection result flagi=0 induced at the seeding detection photoelectric sensor group I9 represents a seed (default state), and flagi=1 is no seed (i.e. the miss event at the seeding detection photoelectric sensor group I9 has occurred), and before the interruption is finally exited, both FLAGI and FLAGII are cleared (the interruption induced at the seeding detection photoelectric sensor group I9 is the interruption with the lowest priority, and the result mark of interruption detection at the seeding detection photoelectric sensor group II9 is called in the interruption, which is the latest exited of the two interruptions); the interruption induced by the seeding detection photoelectric sensor group I9 is the real-time speed v of the seeding chain 14 1 Acquisition, v 1 The acquisition is obtained by processing and calculating after the signals of the speed measuring code wheel 29 are transmitted to the CPU core operation processor 28-1.
The embodiment of the invention realizes the compensation of no deviation of the potato seed position to be supplemented by precisely controlling the operation angle speed and the operation time of the motor 6, thus needing to involve the timer interrupt in the CPU core operation processor 28-1. As shown in fig. 5, the priority of the interruption of the timer T2 is higher than the priority of the interruption induced by the seed detection photoelectric sensor group (II, I) 9.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (3)
1. A two one-way clutch complex broadcast mend integrative potato planter, its characterized in that: the system comprises a single-row potato planter, a miss-seeding detection system, a miss-seeding compensation system based on a one-way clutch and a system controller device; the power of the seed discharging chain wheel of the single-row potato planter is normally transmitted by a land wheel of the single-row potato planter; the miss-seeding detection system and the system controller device work in a combined mode, whether a miss-seeding event of the single-row potato planter occurs or not is monitored, the system controller device starts a miss-seeding compensation system based on a one-way clutch to work under the condition that the miss-seeding event occurs, and meanwhile the system controller device performs data statistics; when the one-way clutch-based miss-seeding compensation system is started, the system controller device controls the motor to accelerate to run, so that a power source of a seed discharging chain wheel of the single-row potato planter is separated from the ground wheel transmission, and the motor drives the motor to run, when the potato seeds to be supplemented of the single-row potato planter are accelerated to catch up to the normal preset position of the previous empty potato seeds, the system controller device controls the motor to stop accelerating and rotating state, the seed discharging chain wheel acquires power from the ground wheel again, and the system enters a normal seeding state again;
The single-row potato planter comprises a seed box (1), a frame vertical beam (2), a seed sowing groove (4), a compensating one-way clutch (7), seed sowing chain wheels II and I (10), a seed sowing chain (14), a land wheel shaft (15), a frame bottom beam (18), a main power transmission one-way clutch (20), seed sowing chain wheel shafts II and I (22), a seed taking spoon (11), a land wheel power transmission chain (25) and a main power transmission chain wheel (27), wherein the frame bottom beam (18) is arranged on the land wheel shaft (15), the frame vertical beam (2) is vertically fixed on the frame bottom beam (18), and the seed sowing groove (4) is arranged on the frame vertical beam (2) in parallel; seed metering sprocket shafts II (22) and seed metering sprocket shafts I (22) are respectively arranged at the upper end and the lower end in the seed metering groove (4), seed metering sprocket shafts II (22) are sleeved with seed metering sprockets II (10), seed metering sprocket shafts I (10) are sleeved with seed metering sprockets I (22), seed metering chains (14) are sleeved between the seed metering sprockets II (10) and the seed metering sprocket shafts I (10), and a plurality of seed taking spoons (11) are uniformly arranged on the seed metering chains (14); the main power transmission one-way clutch (20) is sleeved on one side of a seed metering sprocket shaft II (22), the compensation one-way clutch (7) is sleeved on the other side of the seed metering sprocket shaft II (22), the main power transmission one-way clutch (20) is connected with a main power transmission sprocket (27) through a land wheel power transmission chain (25), the main power transmission sprocket (27) is arranged on a land wheel shaft (15) and synchronously rotates with the land wheel shaft, the compensation one-way clutch (7) is connected with a motor power output sprocket (8) of a miss-seeding compensation system based on the one-way clutch through a miss-seeding compensation power transmission chain (26), and the power of a motor (6) of the miss-seeding compensation system based on the one-way clutch is output by the motor power output sprocket (8) arranged on a rotating shaft of the motor power output sprocket; the miss-seeding compensation system based on the one-way clutch is matched with the system controller device and the miss-seeding detection system;
The miss-seeding detection system comprises seed metering detection photoelectric sensor groups II and I (9), seed taking spoon position signal carriers (12) and seed taking spoon position sensors II and I (13), the seed taking spoon position signal carriers (12) are arranged on the same position of each seed taking spoon (11), the seed metering groove (4) is correspondingly provided with the seed taking spoon position signal carriers (12), two positions from top to bottom are respectively provided with the seed taking spoon position sensor II (13) and the seed taking spoon position sensor I (13), and the distance between the adjacent seed taking spoon position sensor II (13) and the seed taking spoon position sensor I (13) and the distance L between the adjacent seed taking spoons (11) 1 The seed metering photoelectric sensor group II (9) and the seed metering photoelectric sensor group I (9) are respectively arranged on the seed metering spoon position sensor II (13) and the average radius r of the seed potato (17) above the seed metering spoon position sensor I (13), wherein the seed metering spoon position sensor I (13) is separated from the distance L between the starting line of the seed potato (17) entering the free falling body motion and the distance L between the adjacent seed metering spoons (11) 1 The same is true, wherein the seed metering detection photoelectric sensor group I (9) is a detection point for whether a miss-seeding event occurs, and the seed metering detection photoelectric sensor group II (9) is a detection point for whether potato seeds to be supplemented are provided; the seed metering detection photoelectric sensor groups II and I (9) and the seed taking spoon position sensors II and I (13) are respectively connected with a system controller device (28), and the system controller device (28) is arranged on a single-row potato planter;
The system controller device (28) comprises a CPU core operation processor (28-1), a reset key (28-2), a keyboard (28-3), a miss-broadcast alarm sound and light circuit (28-4) and a parameter display (28-5), wherein the CPU core operation processor (28-1) has timing and interrupt functions, the keyboard (28-3), the parameter display (28-5) and the CPU core operation processor (28-1) jointly provide a man-machine interaction channel when parameter setting is performed, and the performance deviation of the system can be corrected by continuously modifying the parameter setting; the reset key (28-2) is used for resetting the system state, stopping the emergency working condition and restarting the system; the system controller is equipped withThe CPU core operation processor (28-1) of the device (28) makes a judgment on whether miss seeding occurs or not on the basis of comprehensively acquiring signals of the seed spoon position sensors II and I (13), the seed metering detection photoelectric sensor groups II and I (9) and the speed measuring code disc (29), and outputs a control signal required by the driver (24) on the premise of judging the miss seeding event, so that the motor (6) reaches the required running speed and carries out natural seeding number N at the same time 1 Number N of natural missed broadcasting 2 Number of reseeding N 3 Number N of final missed broadcasting 4 The method comprises the steps that a result is updated on a parameter display (28-5) in real time, a CPU core operation processor (28-1) is connected with a speed measuring code wheel (29), a rotating shaft of the speed measuring code wheel (29) is connected with one end of a seed metering sprocket shaft I (22), a machine body of the speed measuring code wheel (29) is fixed on a frame bottom beam (18), signals of the speed measuring code wheel (29) are transmitted to the CPU core operation processor (28-1), and then the angular speeds of seed metering sprockets II and I (10) can be calculated and obtained, so that the real-time movement speed of a seed metering chain (14) is obtained;
The miss-seeding compensation system based on the one-way clutch comprises a driver (24), a motor (6), a motor power output chain wheel (8), a vehicle-mounted storage battery (19) and a miss-seeding compensation power transmission chain (26), wherein the driver (24) is connected with the motor (6) and a system controller device (28), the motor (6) is connected with the vehicle-mounted storage battery (19), the motor (6) provides compensation power for seed metering chain wheel shafts II and I (22) through the motor power output chain wheel (8), the miss-seeding compensation power transmission chain (26) and the compensation one-way clutch (7), and the seed metering chain wheel shafts II and I (22) obtain normal working power from a ground wheel shaft (15) through a main power transmission one-way clutch (20), a ground wheel power transmission chain (25) and a main power transmission chain wheel (27);
if the CPU core operation processor (28-1) of the system controller device (28) judges that the miss-seeding event occurs at the seeding detection photoelectric sensor group I (9), the natural seeding number N is not performed 1 Number N of natural missed broadcasting 2 Number of reseeding N 3 Number N of final missed broadcasting 4 The statistics of the potato seeds to be supplemented are updated and displayed on a parameter display (28-5) in real time, and the CPU core operation processor (28-1) is used for providing the detection result for the driver (24) according to the detection result of whether the potato seeds to be supplemented are in the position of the seed sowing detection photoelectric sensor group II (9) And sending out corresponding control signals: if the potato seeds to be supplemented at the position of the seed metering detection photoelectric sensor group II (9) are provided, a CPU core operation processor (28-1) carries out real-time movement speed v of the seed taking spoon (11) 1 The control signal sent to the driver (24) causes the motor (6) to drive the seed metering chain (14) to reach v at the target speed in the original movement direction 1 ' due to v 1 '＞v 1 According to the working principle of the one-way clutch, at the moment, a motor (6) provides power for seed metering sprocket shafts II and I (22) through a motor power output sprocket (8), a miss-seeding compensation power transmission chain (26) and a compensation one-way clutch (7), and the previous seed metering sprocket shafts II and I (22) are automatically separated from a way of acquiring power from a land wheel shaft (15) through a main power transmission one-way clutch (20), a land wheel power transmission chain (25) and a main power transmission sprocket (27), so that a seed taking spoon (11) at a seed metering detection photoelectric sensor group II (9) is enabled to automatically separate at the time t 1 After acceleration, it is possible to reach the original speed v which is still adopted 1 The same position is reached, so that no deviation compensation of the potato (17) position is completed, and then, the CPU core operation processor (28-1) sends a control signal to the driver (24) again, so that the motor (6) stops rotating, namely, the situation can be regarded that the target speed of the motor (6) driving the seed sowing chain (14) in the original motion direction is v 1 ' 0, obviously v 1 '＜v 1 According to the working principle of the one-way clutch, at the moment, the motor (6) automatically separates through a motor power output chain wheel (8), a miss-seeding compensation power transmission chain (26) and a compensation one-way clutch (7) to provide power for the seed metering chain wheel shafts II and I (22), and the seed metering chain wheel shafts II and I (22) recover through a way of acquiring power from the land wheel shaft (15) through a main power transmission one-way clutch (20), a land wheel power transmission chain (25) and a main power transmission chain wheel (27), so that the seed supplementing state is exited and the seed supplementing state is operated normally; if the potato seeds to be supplemented at the position of the seed metering detection photoelectric sensor group II (9) are not provided, the CPU core operation processor (28-1) starts the miss-broadcast alarm acousto-optic circuit (28-4) at low frequency to enter an alarm I working state immediately, and on the other hand, the CPU core operation processor is started according to the real-time movement speed v of the seed taking spoon (11) 1 The control signal sent to the driver (24) causes the motor (6) to drive the seed metering chain (14) to reach the target speed v 'in the original movement direction' 1 By the following constitutionIn v' 1 ＞v 1 According to the working principle of the one-way clutch, at the moment, a motor (6) supplies power to the seed metering sprocket shafts II and I (22) through a motor power output sprocket (8), a miss-seeding compensation power transmission chain (26) and a compensation one-way clutch (7), the previous seed metering sprocket shafts II and I (22) are automatically separated from a path of acquiring power from a land wheel shaft (15) through a main power transmission one-way clutch (20), a land wheel power transmission chain (25) and a main power transmission sprocket (27), and the motor (6) enables the speed of the seed metering chain (14) to reach v' 1 Then, waiting to detect whether the potato seeds to be supplemented are arranged behind the seed taking spoon (11) at the next seed metering detection photoelectric sensor group II (9), if so, executing according to the condition that the potato seeds to be supplemented are arranged at the seed metering detection photoelectric sensor group II (9), wherein a final miss-seeding event occurs for 1 time behind the seed taking spoon (11) at the original seed metering detection photoelectric sensor group I (9), and updating the final miss-seeding number N 4 And in real time in the parameter display (28-5), the CPU core operation processor (28-1) sends a control signal to the driver (24) again to stop the rotation of the motor (6), namely, the motor (6) drives the seed sowing chain (14) to have the target speed v 'again in the original motion direction' 1 =0, obviously v' 1 ＜v 1 According to the working principle of the one-way clutch, at the moment, the motor (6) automatically separates through a motor power output chain wheel (8), a miss-seeding compensation power transmission chain (26) and a compensation one-way clutch (7) to provide power for seed metering chain wheel shafts II and I (22), the seed metering chain wheel shafts II and I (22) are restored through a way of acquiring power from a land wheel shaft (15) through a main power transmission one-way clutch (20), a land wheel power transmission chain (25) and a main power transmission chain wheel (27), the system exits from a miss-seeding compensation working state, the miss-seeding alarm sound and light circuit (28-4) exits from an alarm I working state, and the system normally operates, otherwise, under the condition that the seed to be repaired is still not provided behind a seed taking spoon (11) at a seed metering detection photoelectric sensor group II (9) to be detected, a CPU core operation processor (28-1) immediately starts the miss-seeding alarm sound and light circuit (28-4) to enter into an alarm II working state, and simultaneously, the CPU core operation processor (28-1) gives an instruction to a whole system controller device (28) to stop the motor (28) to drive the seed metering chain (14) to move in the primary direction to a target direction (14) to move upwards At a speed v' 1 =0, obviously v' 1 ＜v 1 According to the working principle of the one-way clutch, at the moment, the motor (6) automatically separates through a motor power output chain wheel (8), a miss-seeding compensation power transmission chain (26) and a compensation one-way clutch (7) to provide power for the seed metering chain wheel shafts II and I (22), and the seed metering chain wheel shafts II and I (22) recover through a main power transmission one-way clutch (20), a land wheel power transmission chain (25) and a main power transmission chain wheel (27) from the way of acquiring power from the land wheel shaft (15), so that the tractor stops advancing at the moment, and an operator performs manual inspection.
2. The dual one-way clutch-engaged potato planter of claim 1 wherein: the theory of the invention is that:
possible parameters related in the system and units thereof:
v 1 -normal speed of movement of the seeding chain (14), unit: m/s;
v′ 1 seed metering detection photoelectric sensor group II (9) is equipped with seed metering chain (14) speed, unit when seed metering is waited to mend under the circumstances: m/s;
v 2 tractor travel speed, unit: m/s;
ω 1 -normal operating angular speed of the seeding sprockets II and I (10), which data can be obtained by the CPU core processor (28-1) receiving the signals sent by the tachometer code wheel (29), in units of: rad/s;
ω′ 1 -rotational speed of the seeding sprockets II and I (10), unit: rad/s;
ω' ——the angular speed of operation of the motor (6) during miss-seeding compensation, unit: rad/s;
t 1 -run time of the motor (6) in miss-seeding compensated operating state, unit: s;
N 1 -number of teeth of the motor power take-off sprocket (8);
N 2 -compensating the number of teeth outside the one-way clutch (7);
r-radius of the seed metering sprockets II and I (10), unit: m;
L 1 -spacing of seed scoops (11), unit: m;
l-potato sowing plant spacing, unit: m;
the adjustment of the potato sowing plant spacing L in the normal sowing state is completed by a mechanical system before the start;
(1) Parameter relation under normal sowing state
Under normal working conditions, the system does not have miss-seeding event, and the seed sowing chain wheel shafts II and I (22) of the single-row potato planter acquire power from the land wheel shaft (15) through the main power transmission one-way clutch (20), the land wheel power transmission chain (25) and the main power transmission chain wheel (27), so that the single-row potato planter has the following functions
v 1 ＝ω 1 R (1)
(2) The required rotational speed ω' and the operating time t of the motor (6) in the event of a miss-seeding compensation 1
As can be seen from the outline of the working principle of the system, under the condition of miss-seeding, the seed sowing chain (14) must be accelerated to rotate, and the potato seeds to be supplemented at the position of the seed sowing detection photoelectric sensor group II (9) need to be planted at the speed v of the original seed sowing chain (14) 1 Span the distance L between seed taking spoons (11) 1 Is spanned 2*L within a period of time of (a) 1 Therefore, the angular velocity omega 'required by the seed metering sprockets II and I (10) in the miss-seeding compensation operating state' 1 Is that
ω′ 1 ＝2ω 1 (2)
Under the condition of miss-seeding compensation, the power of the seed discharging chain wheels II and I (10) is only from the motor (6) and the transmission ratio isTherefore, the required angular speed omega' of the motor (6) in the case of miss-seeding compensation is
Thus, the required operating time t of the motor (6) in the event of miss-seeding compensation 1 Is that
(3) Parameter correction expression under miss-seeding compensation working state
Time t of compensation 1 The real-time movement speed v of the seed metering chain (14) is obtained 1 On the basis of the above, the movement of the seed metering chain (14) is calculated to span the interval L of a standard seed taking spoon (11) 1 The time required, however, is actually longer than t calculated according to equation (4) due to the objective software overhead 1 Longer, this necessarily leads to deviations in the compensated position; therefore, the invention corrects the operation angle speed omega' of the motor (6) in the miss-seeding compensation working state to be
Corresponding to the formula (5), the invention compensates the running time t of the motor (6) in the working state of miss-seeding 1 Corrected to
Corresponding to the omega ' correction, the speed v ' of the seeding chain (14) in the miss-seeding compensation working state ' 1 Is also modified as
v' 1 ＝2K 1 ω 1 R (7)
Wherein K is 1 Is a motion compensation coefficient and has K 1 And the compensation of the software delay consumption and the acceleration and elongation effects of the motor (6) from 0 are more than 1.
3. The dual one-way clutch-engaged potato planter of claim 2 wherein: the operation time t of the motor (6) in the miss-seeding compensation working state 1 The speed v 'of the seed metering chain (14)' 1 The modified results of the formula (6) and the formula (7) are respectively specified according to the claim 2.
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| CN113330869B (en) * | 2021-06-10 | 2024-06-28 | 华中农业大学 | Intelligent pneumatic precision seeder for small-particle-size seeds and vegetables |
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