CN110692326B - Direct seeding machine and operation method thereof - Google Patents

Direct seeding machine and operation method thereof Download PDF

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Publication number
CN110692326B
CN110692326B CN201910994183.6A CN201910994183A CN110692326B CN 110692326 B CN110692326 B CN 110692326B CN 201910994183 A CN201910994183 A CN 201910994183A CN 110692326 B CN110692326 B CN 110692326B
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walking
speed
steering
chassis
frame
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CN110692326A (en
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肖名涛
周志
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Changsha Sanglaite Agricultural Mechanical Equipment Co Ltd
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Changsha Sanglaite Agricultural Mechanical Equipment Co Ltd
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/06—Seeders combined with fertilising apparatus
    • 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
    • A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
    • A01C5/06—Machines for making or covering drills or furrows for sowing or planting
    • A01C5/062—Devices for making drills or furrows
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Sowing (AREA)

Abstract

The invention discloses a direct seeding machine and an operation method thereof, the direct seeding machine comprises a walking chassis and a direct seeding operation machine tool arranged on the walking chassis, the direct seeding operation machine tool comprises a rack arranged on the walking chassis, a plurality of deep fertilizing devices arranged at intervals in sequence, a plurality of drainage channel furrowing shovels arranged at intervals in sequence and a plurality of seeding channel furrowing shovels arranged at intervals in sequence are arranged on the rack, and a seed sowing device is arranged behind each seeding channel furrowing shovel. The operation method is characterized in that in the process of traveling operation of the traveling chassis with the direct seeding operation machine, the steering is controlled by combining the driving of the steering driving assembly and actively adjusting the rotating speed of each traveling wheel, and the operation method can ensure the accuracy of a steering path.

Description

Direct seeding machine and operation method thereof
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a direct seeding machine and an operation method thereof.
Background
New energy vehicles have developed rapidly in recent years with the support of national policies. Most traditional farmland operation vehicles have great self weight and high power consumption, and do not have the condition of complete electromotion, and in the fields of direct seeding, plant protection and the like, because the operation machines have small volumes, the power consumption is not large, and the farmland operation vehicles have the potential of complete electromotion.
Due to the fact that the steering angle of the articulated vehicle body is large, compared with a traditional wheel type tractor, the articulated vehicle body has obvious driving performance advantages under the background of complex driving environment in the south, and in recent years, farmland operation vehicles based on the articulated vehicle body are also endless. However, the existing articulated vehicle body has the defects of complex structure, poor stability, incapability of ensuring an accurate steering path during steering and the like. In addition, in the fields of live broadcast, plant protection and the like, the existing hinged vehicle body is not purely electrically driven and controlled, automatic driving or remote control is difficult to realize, the oil consumption is high, and the operation stability is poor.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art, provide a direct seeding machine with high operation efficiency and reduced operation cost, and also provide a corresponding operation method of the direct seeding machine, which can ensure the accuracy of a steering path.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a direct seeder, includes walking chassis and installs the direct seeding operation machines on walking chassis, the direct seeding operation machines is including installing the frame on walking chassis, install a plurality of interval arrangement's in proper order deep fertilizing device, a plurality of interval arrangement's in proper order water drainage tank ditching shovel and a plurality of interval arrangement's in proper order seeding tank ditching shovel in the frame, the rear of each seeding tank ditching shovel all is equipped with one row kind of ware.
As a further improvement of the above technical solution:
the deep fertilizing device comprises a fertilizer box, a fertilizer discharging pipe and a fertilizing furrowing shovel, wherein the fertilizer box is communicated with the fertilizer discharging pipe through a fertilizer guiding pipeline, the fertilizer discharging pipe extends up and down and is arranged, the fertilizing furrowing shovel is arranged on the front side of the bottom of the fertilizer discharging pipe, a fertilizer discharging port is formed in the rear side face of the bottom of the fertilizer discharging pipe, and a spiral auger driven by a rotary driving piece and used for forcing fertilizer to move downwards is arranged in the fertilizer discharging pipe.
The fertilizer box is internally provided with a fertilizer loosening knife roller driven by a motor to rotate.
The frame is installed on the walking chassis in an adjustable installation height mode through a lifting assembly, the lifting assembly comprises a telescopic ejector rod and more than one group of rod groups, each rod group comprises two connecting rods, two ends of each connecting rod correspond to the walking chassis and the frame respectively to form a parallelogram mechanism allowing the frame to move up and down in a translation mode relative to the walking chassis, and the telescopic ejector rod is connected between the walking chassis and the frame.
The walking chassis comprises an articulated vehicle frame formed by hinging two supports and a power system arranged on the articulated vehicle frame, wherein two walking wheels driven by independent rotation driving devices are arranged on each support, four walking wheels on the two supports are positioned in the same plane and are coincided with two diagonal intersection points of an assumed rectangle, four walking wheels on the two supports are respectively and correspondingly arranged on four corners of the assumed rectangle, and the walking chassis further comprises a steering driving assembly used for driving the two supports to rotate relatively.
The steering driving assembly comprises a telescopic driving piece connected between the two brackets; the two brackets are hinged with each other through a hinge assembly, the hinge assembly comprises a connecting plate arranged on one bracket and two clamping plates which are arranged on the other bracket in a detachable mode at intervals, the connecting plate is inserted between the two clamping plates, and a plane bearing is arranged between each clamping plate and the connecting plate; the hinge assembly further comprises a hinge positioning pin and a locking cap, the hinge positioning pin penetrates through the connecting plate, the two clamping plates and all the plane bearings, a limiting portion which is abutted to one of the clamping plates is arranged at one end of the hinge positioning pin, the locking cap is connected to the other end of the hinge positioning pin through a fastening piece, and the locking cap is abutted to the other clamping plate.
The power system comprises a range-extending engine, a transformer and a storage battery, the range-extending engine is connected with the storage battery through the transformer, and the independent rotary driving device and the driving piece of the seed sowing device are both motors which are connected with the storage battery to take electricity.
The operation method of the articulated four-wheel drive chassis comprises the following steps that one end, away from an articulated axis, of one support is the front end of an articulated vehicle frame, and one end, away from the articulated axis, of the other support is the rear end of the articulated vehicle frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two supports are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (1),
Figure BDA0002239238590000021
in the formula, v0 represents the walking speed per hour of the articulated four-wheel drive chassis, alpha is a target steering angle, W is the wheel track of left and right walking wheels, and L is the wheel track of front and rear walking wheels;
then the speed of each running wheel is controlled by the independent rotation driving device, so that the speed of the running wheel at the front end and far away from the steering direction side and the speed of the running wheel at the rear end and near to the steering direction side are adjusted to v0+ delta v, and the speed of the running wheel at the front end and near to the steering direction side and the speed of the running wheel at the rear end and far away from the steering direction side are adjusted to v 0-delta v, so that the instantaneous steering origin O of the articulated frame is positioned on a straight line passing through the articulated axis and perpendicular to the advancing direction.
The operation method of the direct seeding machine comprises the steps that the traveling chassis drives the direct seeding operation machine to perform traveling operation, one end of one support far away from a hinge axis is the front end of the hinged frame, and the other end of the other support far away from the hinge axis is the rear end of the hinged frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two supports are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (2),
Figure BDA0002239238590000022
in the formula, v0 represents the walking speed per hour of the articulated four-wheel drive chassis, alpha is a target steering angle, W is the wheel track of left and right walking wheels, and L is the wheel track of front and rear walking wheels;
then the speed of each running wheel is controlled by the independent rotation driving device, the speed of the running wheel at the front end and far away from the turning direction is adjusted to v0+ delta v, and the speed of the running wheel at the front end and near to the turning direction is adjusted to v 0-delta v, so that the instantaneous turning original point O of the articulated vehicle frame is positioned on the axis of the running wheel at the rear end.
The operation method of the direct seeding machine comprises the steps that the traveling chassis drives the direct seeding operation machine to perform traveling operation, one end of one support far away from a hinge axis is the front end of the hinged frame, and the other end of the other support far away from the hinge axis is the rear end of the hinged frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two supports are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (3),
Figure BDA0002239238590000031
in the formula, v0 represents the walking speed per hour of the articulated four-wheel drive chassis, alpha is a target steering angle, W is the wheel track of left and right walking wheels, and L is the wheel track of front and rear walking wheels;
then the speed of each running wheel is controlled by the independent rotation driving device, the speed of the running wheel at the rear end and close to the turning direction side is adjusted to v 0-delta v, and the speed of the running wheel at the rear end and close to the turning direction side and the speed of the running wheel at the rear end and far from the turning direction side are adjusted to v0+ delta v, so that the instantaneous turning original point O of the articulated vehicle frame is positioned on the axis of the running wheel at the front end.
Compared with the prior art, the invention has the advantages that:
the traveling chassis drives the direct seeding machine to advance and work when the direct seeding machine works, the deep fertilizer application device in the direct seeding machine can release fertilizer into soil, the drainage channel ditching shovel can open the drainage channel, the sowing channel ditching shovel can open the sowing channel, and the seed sowing device can play seeds into the sowing channel opened by the sowing channel ditching shovel.
According to the operation method of the direct seeding machine, in the process of traveling operation of the traveling chassis with the direct seeding operation machine, the steering is controlled by combining the driving of the steering driving assembly and actively adjusting the rotating speed of each traveling wheel, and the accuracy of a steering path can be ensured.
Drawings
Fig. 1 is a schematic perspective view of a direct seeder.
Fig. 2 is a schematic perspective view of a direct seeding work tool.
Fig. 3 is a schematic sectional structure view of the deep fertilizing device.
Fig. 4 is a diagram of the operation effect of the live broadcast operation tool.
Fig. 5 is a schematic perspective view of the lifting assembly.
Fig. 6 is a perspective view of the articulated frame.
Fig. 7 is a front view of the articulated frame.
Fig. 8 is a main sectional structural view of a hinge assembly between two brackets.
Fig. 9 is a schematic sectional structure view of the independent rotation driving device and the traveling wheel.
FIG. 10 is a schematic diagram of a powertrain.
Fig. 11 is a schematic diagram of a first steering system.
Fig. 12 is a schematic diagram of a second steering system.
Fig. 13 is a schematic diagram of a third steering system.
Illustration of the drawings:
1. a walking chassis; 11. a support; 111. a connecting plate; 112. a splint; 113. a plane bearing is arranged; 114. hinging and positioning pins; 1141. a limiting part; 115. a locking cap; 12. a traveling wheel; 13. a telescopic driving member; 14. an extended range engine; 15. a transformer; 16. a storage battery; 2. a frame; 3. a deep fertilizing device; 31. a fertilizer box; 32. a fertilizer discharging pipe; 321. a fertilizer outlet; 33. fertilizing and ditching shovel; 34. a spiral auger; 4. a drainage channel ditching shovel; 5. ditching and shoveling the seeding grooves; 6. a seed sowing device; 7. a lifting assembly; 71. a telescopic ejector rod; 72. a connecting rod; 8. a rotary drive member; 9. a secondary reduction box; 91. a housing; 92. a power input shaft; 93. a deceleration shaft; 94. a power take-off shaft; 95. a primary driving gear; 96. a primary driven gear; 97. a secondary drive gear; 98. a secondary driven gear.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1 and fig. 2, the direct sowing machine of the present embodiment includes a walking chassis 1 and a direct sowing machine installed on the walking chassis 1, the direct sowing machine includes a frame 2 installed on the walking chassis 1, a plurality of deep fertilizing devices 3 arranged at intervals in sequence, a plurality of drainage channel furrowing shovels 4 arranged at intervals in sequence and a plurality of sowing channel furrowing shovels 5 arranged at intervals in sequence are installed on the frame 2, and a row of seed sowing device 6 is arranged at the rear of each sowing channel furrowing shovel 5. This direct seeder during operation walking chassis 1 takes direct seeding operation machines to advance and work, deep fertilizing device 3 in the direct seeding operation machines can release fertilizer to soil, water drainage tank can be driven out by water drainage tank furrowing blade 4, seeding groove can be driven out by seeding groove furrowing blade 5, seeding mechanism 6 plays the seed to the seeding groove that seeding groove furrowing blade 5 drove out simultaneously, it can realize fertilizeing, drive the water drainage tank, drive the seeding groove and sow the disposable synchronous operation, can improve the operating efficiency greatly, reduce the operating cost.
The operation effect of the direct seeder according to the present embodiment is shown in fig. 3, in which 101 denotes a field, 102 denotes a water discharge groove formed by the water discharge groove shovel 4, 103 denotes a seed groove, 104 denotes seeds, and 105 denotes fertilizers. The number, the positions and the spacing distances of the deep fertilizing device 3, the water draining groove furrowing blade 4 and the seeding groove furrowing blade 5 can be set according to actual needs.
In this embodiment, as shown in fig. 2 and 3, the deep fertilizer applicator 3 includes a fertilizer box 31, a fertilizer outlet pipe 32 and a fertilizer furrowing blade 33, the fertilizer box 31 is communicated with the fertilizer outlet pipe 32 through a fertilizer guide pipeline, the fertilizer outlet pipe 32 extends up and down, the fertilizer furrowing blade 33 is installed at the front side of the bottom of the fertilizer outlet pipe 32, a fertilizer outlet 321 is provided at the rear side of the bottom of the fertilizer outlet pipe 32, and a screw auger 34 driven by a rotary driving member and used for forcing the fertilizer to move down is installed in the fertilizer outlet pipe 32. Wherein, the fertilizing furrowing shovel 33 is used for digging a fertilizing ditch, and the fertilizer outlet 321 is arranged on the rear side surface of the bottom of the fertilizer outlet pipe 32, so that fertilizer can flow out of the fertilizing ditch and can be mixed with soil conveniently. The fertilizer outlet pipe 32 is provided with a spiral auger 34 which is driven by a rotary driving piece and is used for forcing the fertilizer to move downwards, so that blockage can be prevented, fertilizer discharging smoothness is ensured, and quantitative fertilizer discharging can be realized. The rotary driving piece is a motor fixedly arranged at the top end of the fertilizer discharging pipe 32. Preferably, an inlet pipe is arranged on the side wall of the middle part of the fertilizer outlet pipe 32, the inlet pipe is communicated with the fertilizer outlet pipe 32 through a fertilizer guide pipeline, and the inlet pipe extends upwards from the fertilizer outlet pipe 32 in an inclined manner, so that fertilizer can enter the fertilizer outlet pipe 32 and can be pushed and discharged by the spiral auger 34.
In this embodiment, a fertilizer loosening knife roller (not shown) is installed in the fertilizer box 31, and the fertilizer loosening knife roller is driven by a motor to rotate, so that the fertilizer can be prevented from caking and agglomerating, and blockage is avoided. The seed metering device 6 used in the embodiment adopts the prior art.
In the embodiment, the frame 2 is arranged on the walking chassis 1 in an adjustable mounting height mode through a lifting component 7, the seeding and ditching depth can be adjusted during operation, and the direct seeding operation machine is lifted during transportation. As shown in fig. 5, the lifting assembly 7 includes a telescopic prop 71 and more than one rod set, each rod set includes two connecting rods 72, two ends of each connecting rod 72 are respectively hinged to the traveling chassis 1 and the frame 2 to form a parallelogram mechanism allowing the frame 2 to move up and down in a translational manner relative to the traveling chassis 1, and the telescopic prop 71 is connected between the traveling chassis 1 and the frame 2. When the telescopic mandril 71 extends and retracts, the frame 2 can be driven to move up and down in a translation way correspondingly, and the height of the direct seeding operation machine is further changed. The lifting assembly 7 has the advantages of simple structure, high stability and reliability and low cost, and changes the installation height in a mode of driving the direct seeding operation machine to do up-down translational motion, so that the direct seeding operation machine can keep the optimal operation angle at any height. The telescopic ejector 71 is an electric ejector.
In this embodiment, as shown in fig. 6 and 7, the walking chassis 1 includes an articulated frame formed by two brackets 11 being articulated and a power system installed on the articulated frame, two walking wheels 12 driven by independent rotation driving devices are installed on each bracket 11, four walking wheels 12 on the two brackets 11 are located in the same plane, the articulation axes of the two brackets 11 coincide with two diagonal intersection points of an assumed rectangle, the four walking wheels 12 on the two brackets 11 are respectively and correspondingly installed at four corners of the assumed rectangle, the rotation axes of the two walking wheels 12 on the same bracket 11 are collinear, the four walking wheels 12 are located in the same plane and are parallel to each other, and the walking chassis 1 further includes a steering driving assembly for driving the two brackets 11 to rotate relatively. The traveling chassis 1 can realize the undifferentiated traveling and steering of the forward and backward movement, ensures the same traveling performance when the forward and backward movement are carried out, has the advantages of good traveling flexibility, simple and compact structure, easiness in manufacturing, low cost and stability and reliability in working, can better adapt to the complex farmland operation environment, and meets the higher traveling operation requirement.
In this embodiment, the steering driving assembly includes a telescopic driving member 13 connected between the two brackets 11, and has a simple structure and low cost. Preferably, the telescopic driving member 13 is an electric telescopic rod. In other embodiments, the telescopic driving member 13 may also be a telescopic driving member such as a telescopic cylinder or a telescopic cylinder.
In this embodiment, as shown in fig. 8, the two brackets 11 are hinged to each other through a hinge assembly, the hinge assembly includes a connecting plate 111 disposed on one of the brackets 11 and two clamping plates 112 detachably disposed on the other bracket 11 at intervals, the connecting plate 111 is inserted between the two clamping plates 112, and a flat bearing 113 is mounted between each clamping plate 112 and the connecting plate 111. The hinge assembly is simple in structure, easy to manufacture and assemble, low in cost, stable in operation and high in reliability.
The hinge assembly further comprises a hinge positioning pin 114 and a locking cap 115, the hinge positioning pin 114 penetrates through the connecting plate 111, the two clamping plates 112 and all the plane bearings 113, a limiting portion 1141 abutting against one of the clamping plates 112 is arranged at one end of the hinge positioning pin 114, the locking cap 115 is connected to the other end of the hinge positioning pin 114 through a fastener, and the locking cap 115 abuts against the other clamping plate 112. That is, the limiting portion 1141 of the hinge positioning pin 114 and the locking cap 115 clamp the two clamp plates 112 from the outside, and the hinge positioning pin 114 plays a role in hinge positioning, so that the structural strength can be improved, and the accuracy, stability and reliability of hinge connection can be ensured. The fasteners are screws.
In this embodiment, as shown in fig. 10, the power system includes a range-extending engine 14, a transformer 15 and a storage battery 16, the range-extending engine 14 is connected to the storage battery 16 through the transformer 15, and the independent rotation driving device and the driving member of the seed sowing device 6 are both motors connected to the storage battery 16 for taking electricity.
In this embodiment, as shown in fig. 9, the independent rotation driving device for driving each traveling wheel 12 includes a rotation driving member 8 and a secondary reduction gearbox 9, the secondary reduction gearbox 9 is fixedly mounted on a support 11, a driving end of the rotation driving member 8 is connected with an input shaft of the secondary reduction gearbox 9, and the traveling wheels 12 are connected to an output shaft of the secondary reduction gearbox 9. The power of the rotary driving part 8 is transmitted to the traveling wheels 12 through the secondary reduction gearbox 9, so that the torque can be effectively amplified, and the transmission precision is improved. The secondary reduction gearbox 9 comprises a shell 91 fixedly mounted on a support 11, a power input shaft 92 is rotatably mounted on the shell 91, a reduction shaft 93 and a power output shaft 94, a primary driving gear 95 is connected onto the power input shaft 92 through splines, a primary driven gear 96 and a secondary driving gear 97 are connected onto the reduction shaft 93 through splines, a secondary driven gear 98 is connected onto the power output shaft 94 through splines, the primary driving gear 95 is meshed with the primary driven gear 96, the secondary driving gear 97 is meshed with the secondary driven gear 98, the power input shaft 92 is connected with a rotary driving piece 8, a polygonal shaft section is arranged at the tail end of the power output shaft 94, a travelling wheel 12 is provided with a polygonal hole which is sleeved on the polygonal shaft section and is matched with the polygonal shaft section to stop rotation, and the travelling wheel 12 is fixedly connected with the power output shaft 94 through a bolt pair.
In this embodiment, rotary driving piece 8 adopts the motor, does benefit to energy saving, improves the operation stationarity, and has realized the pure electric control on articulated formula four-wheel drive chassis, realizes autopilot or remote control after being convenient for install relevant controller additional.
A first operation method of the direct seeding machine of the embodiment is that, as shown in fig. 11, the walking chassis 1 carries the direct seeding operation machine to operate, and one end of one support 11 away from the hinge axis is the front end of the articulated frame, and one end of the other support 11 away from the hinge axis is the rear end of the articulated frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two brackets 11 are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (1),
Figure BDA0002239238590000061
in the formula, v0The speed per hour of the articulated four-wheel drive chassis is shown, alpha is a target steering angle, W is the wheel track of the left and right walking wheels 12, and L is the wheel track of the front and rear walking wheels 12;
then, the speed of each traveling wheel 12 is controlled by the independent rotation driving device so that the speed of the traveling wheel 12 at the front end and on the side away from the turning direction and the speed of the traveling wheel 12 at the rear end and on the side close to the turning direction are adjusted to v0+ Δ v, traveling wheels 12 at the front end and on the side closer to the turning direction, and traveling wheels at the rear endAnd the speed of the running wheels 12 on the side away from the turning direction is adjusted to v0Δ v, so that the instantaneous steering origin O of the articulated frame lies on a straight line passing through the articulation axis and perpendicular to the direction of advance.
A second operation method of the direct seeding machine of the embodiment is that, as shown in fig. 12, the traveling chassis 1 carries the direct seeding operation machine to travel, and one end of one support 11 away from the hinge axis is the front end of the articulated frame, and one end of the other support 11 away from the hinge axis is the rear end of the articulated frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two brackets 11 are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (2),
Figure BDA0002239238590000071
in the formula, v0The speed per hour of the articulated four-wheel drive chassis is shown, alpha is a target steering angle, W is the wheel track of the left and right walking wheels 12, and L is the wheel track of the front and rear walking wheels 12;
then, the speed of each running wheel 12 is controlled by the independent rotation driving device to adjust the speed of the running wheel 12 at the front end and at the side far from the turning direction to v0+ Δ v, the speed of the traveling wheels 12 at the front end and on the side closer to the turning direction is adjusted to v0Δ v, so that the instantaneous steering origin O of the articulated frame (walking chassis 1) is located on the axis of the rear walking wheels 12.
A third operation method of the direct seeding machine of the embodiment is that, as shown in fig. 13, the walking chassis 1 carries the direct seeding operation machine to operate, one end of one bracket 11 far away from the hinge axis is the front end of the articulated frame, and one end of the other bracket 11 far away from the hinge axis is the rear end of the articulated frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two brackets 11 are driven to rotate relatively through the steering driving component, the differential speed delta v is calculated according to the formula (3),
Figure BDA0002239238590000072
in the formula, v0The speed per hour of the articulated four-wheel drive chassis is shown, alpha is a target steering angle, W is the wheel track of the left and right walking wheels 12, and L is the wheel track of the front and rear walking wheels 12;
then, the rotation speed of each traveling wheel 12 is controlled by the independent rotation driving device, and the vehicle speed of the traveling wheel 12 located at the rear end and on the side close to the turning direction is adjusted to v0Δ v, the speed of the running wheels 12 at the rear end on the side close to the turning direction and the speed of the running wheels 12 at the rear end on the side far from the turning direction being adjusted to v0+ Δ v so that the instant steering origin O of the articulated frame is located on the axis of the front running wheels 12.
Since the running resistance of the front and rear running wheels 12 varies from moment to moment in the actual running situation, the turning running path of the articulated frame cannot be determined if only the steering drive assembly is used to provide the steering force. The operation method controls steering by combining the driving of the steering driving assembly and actively adjusting the rotating speed of each walking wheel 12, can accurately limit the steering posture of the articulated vehicle frame, and realizes an accurate articulated vehicle frame steering path.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-described embodiments. Modifications and variations that may occur to those skilled in the art without departing from the spirit and scope of the invention are to be considered as within the scope of the invention.

Claims (6)

1. A working method of a direct seeding machine comprises a walking chassis (1) and a direct seeding machine tool arranged on the walking chassis (1), and is characterized in that: the direct seeding operation machine comprises a rack (2) arranged on a walking chassis (1), wherein a plurality of deep fertilizing devices (3), a plurality of drainage channel furrowing shovels (4) and a plurality of sowing channel furrowing shovels (5) are sequentially arranged on the rack (2) at intervals, and a seed sowing device (6) is arranged behind each sowing channel furrowing shovel (5);
the walking chassis (1) comprises an articulated vehicle frame formed by articulating two supports (11) and a power system arranged on the articulated vehicle frame, wherein two walking wheels (12) driven by an independent rotation driving device are arranged on each support (11), the four walking wheels (12) on the two supports (11) are positioned in the same plane, the articulating axes of the two supports (11) are superposed with the intersection points of two diagonals of an assumed rectangle, the four walking wheels (12) on the two supports (11) are respectively correspondingly arranged on four corners of the assumed rectangle, and the walking chassis (1) further comprises a steering driving assembly for driving the two supports (11) to rotate relatively;
the operation method is that the walking chassis (1) drives the live broadcast operation machine to operate, one end of one bracket (11) far away from the hinge axis is the front end of the hinged frame, and one end of the other bracket (11) far away from the hinge axis is the rear end of the hinged frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two brackets (11) are driven to rotate relatively through the steering driving assembly, and the differential speed is calculated according to the formula (1)∆v，
Figure 76412DEST_PATH_IMAGE001
（1）
In the formula (I), the compound is shown in the specification,v 0 represents the speed per hour of the walking chassis (1),αthe target steering angle is W, the track width of the left and right walking wheels (12) is W, and the wheel base of the front and rear walking wheels (12) is L;
then the independent rotation driving device controls the rotation speed of each walking wheel (12) to adjust the speed of the walking wheel (12) which is positioned at the front end and is far away from the steering direction and the speed of the walking wheel (12) which is positioned at the rear end and is close to the steering direction tov 0 +∆vThe speed of the traveling wheels (12) at the front end and on the side close to the turning direction and the speed of the traveling wheels (12) at the rear end and on the side far from the turning direction are adjusted tov 0 -∆vThereby enabling instantaneous steering of the articulated frameThe origin O is positioned on a straight line which passes through the hinge axis and is vertical to the advancing direction;
or the operation method is that the walking chassis (1) drives the live broadcast operation machine to operate, one end of one bracket (11) far away from the hinge axis is the front end of the hinged frame, and the other end of the other bracket (11) far away from the hinge axis is the rear end of the hinged frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two brackets (11) are driven to rotate relatively through the steering driving assembly, and the differential speed is calculated according to the formula (2)∆v，
Figure 665657DEST_PATH_IMAGE002
（2）
In the formula (I), the compound is shown in the specification,v 0 represents the speed per hour of the walking chassis (1),αthe target steering angle is W, the track width of the left and right walking wheels (12) is W, and the wheel base of the front and rear walking wheels (12) is L;
then, the independent rotation driving device controls the rotation speed of each walking wheel (12) to adjust the speed of the walking wheel (12) which is positioned at the front end and is far away from the steering direction to the speed of the walking wheelv 0 +∆vThe speed of the traveling wheels (12) at the front end and on the side close to the turning direction is adjusted tov 0 -∆vSo that the instantaneous steering origin O of the articulated frame is located on the axis of the rear running wheel;
or the operation method is that the walking chassis (1) drives the live broadcast operation machine to operate, one end of one bracket (11) far away from the hinge axis is the front end of the hinged frame, and the other end of the other bracket (11) far away from the hinge axis is the rear end of the hinged frame; when the articulated vehicle frame needs to be steered in the process of straight forward walking, the two brackets (11) are driven to rotate relatively through the steering driving assembly, and the differential speed is calculated according to the formula (3)∆v，
Figure 976552DEST_PATH_IMAGE003
（3）
In the formula (I), the compound is shown in the specification,v 0 represents the speed per hour of the walking chassis (1),αthe target steering angle is W, the track width of the left and right walking wheels (12) is W, and the wheel base of the front and rear walking wheels (12) is L;
then the independent rotation driving device controls the rotation speed of each walking wheel (12) to adjust the speed of the walking wheel (12) which is positioned at the rear end and is far away from the side of the steering direction to the speedv 0 -∆vThe speed of the traveling wheels (12) at the rear end and on the side close to the turning direction is adjusted tov 0 +∆vSo that the instantaneous steering origin O of the articulated vehicle frame is located on the axis of the front running wheels (12).
2. The work method according to claim 1, characterized in that: deep fertilizing device (3) are including can of fertilizer (31), play fertile pipe (32) and fertilization ditching shovel (33), can of fertilizer (31) through leading fertile pipeline and play fertile pipe (32) intercommunication, it arranges to extend from top to bottom to go out fertile pipe (32), the front side in play fertile pipe (32) bottom is installed in fertilization ditching shovel (33), the trailing flank that goes out fertile pipe (32) bottom is equipped with out fertile mouthful (321), install in play fertile pipe (32) and be used for forcing fertilizer downstream's spiral auger (34) by the driving of rotary driving spare.
3. The work method according to claim 2, characterized in that: the fertilizer loosening knife roller driven by a motor to rotate is installed in the fertilizer box (31).
4. The work method according to claim 1, characterized in that: frame (2) are installed on walking chassis (1) with adjustable mounting height mode through a lifting unit (7), lifting unit (7) include flexible ejector pin (71) and a set of above pole group, and each pole group includes two connecting rods (72), and the both ends of each connecting rod (72) correspond respectively and are articulated with walking chassis (1) and frame (2) and form a parallelogram mechanism that allows frame (2) for walking chassis (1) up-and-down translation motion, flexible ejector pin (71) are connected between walking chassis (1) and frame (2).
5. The work method according to claim 1, characterized in that: the steering driving assembly comprises a telescopic driving piece (13) connected between two brackets (11); the two brackets (11) are hinged with each other through a hinge assembly, the hinge assembly comprises a connecting plate (111) arranged on one bracket (11) and two clamping plates (112) which are arranged on the other bracket (11) in a detachable mode at intervals, the connecting plate (111) is inserted between the two clamping plates (112), and a plane bearing (113) is arranged between each clamping plate (112) and the connecting plate (111); the hinge assembly further comprises a hinge positioning pin (114) and a locking cap (115), the hinge positioning pin (114) penetrates through the connecting plate (111), the two clamping plates (112) and all the plane bearings (113), one end of the hinge positioning pin (114) is provided with a limiting portion (1141) which is abutted to one of the clamping plates (112), the locking cap (115) is connected to the other end of the hinge positioning pin (114) through a fastener, and the locking cap (115) is abutted to the other clamping plate (112).
6. The work method according to claim 1, characterized in that: the power system comprises a range-extending engine (14), a transformer (15) and a storage battery (16), the range-extending engine (14) is connected with the storage battery (16) through the transformer (15), and the independent rotary driving device and a driving piece of the seed sowing device (6) are motors which are connected with the storage battery (16) to take electricity.
CN201910994183.6A 2019-10-18 2019-10-18 Direct seeding machine and operation method thereof Active CN110692326B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101554884A (en) * 2009-05-20 2009-10-14 朱红蔚 Articulated field operation vehicle chassis
CN102917942A (en) * 2010-05-27 2013-02-06 日立建机株式会社 Wheel loader
CN204810910U (en) * 2015-06-15 2015-12-02 山东省花生研究所 Rotary tillage fertilization formula peanut film mulching sowing machine
CN205670977U (en) * 2016-06-02 2016-11-09 山东省农业机械科学研究院 Electric screw fertilizer apparatus
CN206196285U (en) * 2016-10-26 2017-05-31 河南农业大学 Soybean, corn intercrop trench digging no-tillage seeding fertilization all-in-one
CN209192086U (en) * 2018-11-21 2019-08-02 湖北工业大学 A kind of paddy field sowing Agricultural Robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101554884A (en) * 2009-05-20 2009-10-14 朱红蔚 Articulated field operation vehicle chassis
CN102917942A (en) * 2010-05-27 2013-02-06 日立建机株式会社 Wheel loader
CN204810910U (en) * 2015-06-15 2015-12-02 山东省花生研究所 Rotary tillage fertilization formula peanut film mulching sowing machine
CN205670977U (en) * 2016-06-02 2016-11-09 山东省农业机械科学研究院 Electric screw fertilizer apparatus
CN206196285U (en) * 2016-10-26 2017-05-31 河南农业大学 Soybean, corn intercrop trench digging no-tillage seeding fertilization all-in-one
CN209192086U (en) * 2018-11-21 2019-08-02 湖北工业大学 A kind of paddy field sowing Agricultural Robot

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