CN111656922A - Self-adaptive zero-speed seed feeding device, seed feeding control method and seed sowing device - Google Patents

Self-adaptive zero-speed seed feeding device, seed feeding control method and seed sowing device Download PDF

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Publication number
CN111656922A
CN111656922A CN202010613809.7A CN202010613809A CN111656922A CN 111656922 A CN111656922 A CN 111656922A CN 202010613809 A CN202010613809 A CN 202010613809A CN 111656922 A CN111656922 A CN 111656922A
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seed
speed
bottom shell
plate
seed feeding
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CN111656922B (en
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史嵩
焦伟
刘虎
周纪磊
位国建
张荣芳
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Shandong Academy of Agricultural Machinery Sciences
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Shandong Academy of Agricultural Machinery Sciences
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    • 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
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/18—Machines for depositing quantities of seed at intervals
    • 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 utility model provides a self-adaptation zero-speed seed feeding device, seed feeding control method and seed metering device, which relates to the field of seeding machines and comprises a bottom shell, a driving mechanism and a seed feeding plate, wherein a seed metering disc is arranged in the bottom shell, the seed feeding plate is arranged at an outlet of the bottom shell, the driving mechanism drives the seed feeding plate to adjust an included angle between the seed feeding plate and the outlet of the bottom shell, the seed feeding angle of the seed output from the outlet of the bottom shell by the seed feeding plate is changed, the seed feeding plate rotates at the outlet of the bottom shell to adjust the angle by installing the rotating seed feeding plate on the bottom shell of the seed metering device, when the seed is output, the speed vector and the posture of the seed separated from the seed feeding plate are corrected under the action of the seed feeding plate and are matched with the advancing speed of the seeding machine and the operation rotating speed of the seed.

Description

Self-adaptive zero-speed seed feeding device, seed feeding control method and seed sowing device
Technical Field
The disclosure relates to the field of seeders, in particular to a self-adaptive zero-speed seed feeding device, a seed feeding control method and a seed sowing device.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Along with the popularization of large-scale planting operation, the high-speed precise seed sowing device is widely applied to the planting of main grain crops such as corn, soybean and the like. After the seeds discharged by the seed sowing device are separated from the holes, the seeds are generally delivered to the seed guiding pipe at the initial speed of the self-cutting speed under the action of gravity and then fall into the grooves formed by the furrow opener along the pipeline. In the delivery process, the horizontal velocity component of the seeds in the falling process is not matched with the forward velocity component of the machine, the randomness of the incident angle is large, the seeds frequently collide with the pipe wall in the whole falling process, the variation coefficient of the seeding depth and the seed spacing is large, and the control of the seedling emergence time and the plant spacing is influenced.
The inventor finds that for high-precision seeding, a manual seed throwing mode is mostly adopted at present, and randomness of seed entering a seed guide pipe direction caused by seed falling depending on gravity in the prior art is avoided, but compared with a mechanical operation mode, the seed throwing mode is low in efficiency and difficult to meet the requirement of large-area crop planting; in addition, to the motion process of control seed grain, realize the demand that the zero speed was thrown kind, can also realize through the improvement to seed guide curve shape, but, because same seed guide can only adapt to the process of throwing kind under certain advancing speed, in the actual seeding in-process, the speed of advancing changes, consequently, it is higher to advancing the requirement of system to control seed guide curve shape, is difficult to satisfy the seeding speed of advancing and has the operating mode of great fluctuation to it is difficult to obtain higher seeding quality.
Disclosure of Invention
The invention aims to provide a self-adaptive zero-speed seed feeding device, a seed feeding control method and a seed sowing device aiming at the defects in the prior art.
The first purpose of this disclosure is to provide a kind of device is thrown to self-adaptation zero-speed, adopts following technical scheme:
the seed feeding device comprises a bottom shell, a driving mechanism and a seed feeding plate, wherein a seed discharging plate is arranged in the bottom shell, the seed feeding plate is arranged at an outlet of the bottom shell, and the driving mechanism drives the seed feeding plate to adjust an included angle between the seed feeding plate and the outlet of the bottom shell and is used for changing a seed feeding angle of seeds output from the outlet of the bottom shell by the seed feeding plate.
Further, still include data acquisition module and controller, the data acquisition module acquires the speed of travel of drain pan and throws the contained angle of kind board and drain pan export, and actuating mechanism and data acquisition module are the connection director respectively, and the action of data control actuating mechanism that the controller acquireed according to data acquisition module.
Furthermore, throw the seed tray and be connected with the drain pan rotation, actuating mechanism installs on the drain pan to throw kind of a board cooperation transmission.
Furthermore, one side of the seed feeding plate is matched with the bottom shell, the other side of the seed feeding plate is an arc-shaped plate, a seed feeding channel is formed at the outlet of the arc-shaped plate and the outlet of the bottom shell, and the seed discharging plate outputs seeds through the seed feeding channel.
Furthermore, one side of the arc-shaped plate, which faces the seed feeding channel, is of a plane and arc surface butt joint structure, and the arc surface is used for correcting the falling posture of the seeds in the seed feeding channel.
A second object of the present disclosure is to provide an adaptive zero-speed seed casting control method, which utilizes the adaptive zero-speed seed casting device as described above, and includes the following steps:
acquiring the advancing speed of the bottom shell in real time, and calculating to obtain the optimal operation angle for discharging the seeds from the outlet of the bottom shell, so that the speed of the output seeds in the advancing direction is consistent with the advancing speed of the bottom shell;
and adjusting the included angle between the seed feeding plate and the outlet of the bottom shell according to the optimal operation angle until the output speed of the seeds in the advancing direction is zero relative to the bottom shell.
Further, the calculating of the optimal working angle comprises the following steps:
acquiring the advancing speed of the bottom shell in real time, and calculating the rotating speed of the seed metering disc according to the requirement of the plant spacing and the number of holes of the seed metering disc;
calculating the initial speed of the seeds separating from the seed plate according to the rotating speed of the seed plate and the diameter of the seed plate;
calculating to obtain the optimal seed throwing angle of the seed throwing plate.
Furthermore, the driving mechanism drives the seed feeding plate to rotate, and the included angle between the seed feeding plate and the outlet of the bottom shell is adjusted to a required value.
Furthermore, the angle change of the seed throwing plate is obtained through an angle sensor, and the advancing speed of the bottom shell is obtained through a speed sensor.
A third object of the present disclosure is to provide a seed sowing device, wherein the seed sowing device is provided with the self-adaptive zero-speed adjusting device.
Compared with the prior art, the utility model has the advantages and positive effects that:
(1) the seed feeding plate matching angle is calculated through the advancing speed of the seed sowing device, the rotating speed of the seed sowing disc and related reference values, the seed feeding plate angle is adjusted in real time, the seed feeding plate is ensured to be in the optimal angle range, and the problem that the sowing quality is reduced due to improper angle is avoided;
(2) the angle of the seed throwing plate is calculated in real time according to the real-time advancing speed and the rotating speed of the seed discharging disc, and the angle of the seed throwing plate is automatically adjusted in real time through a driving mechanism, so that the seed throwing plate is always in the optimal zero-speed seed throwing posture, and the operation quality of the seeder is ensured;
(3) the seed speed vector and the posture which are separated from the seed discharging plate are corrected and are matched with the advancing speed of the seeder and the operating rotating speed of the seed discharging plate, so that the problem of large variation coefficient of grain distance caused by the fact that seeds randomly enter the seed guide pipe under different operating conditions is solved, and the working quality of the seeder is greatly improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic view of the overall structure of a seed throwing device in embodiments 1 and 2 of the present disclosure;
fig. 2 is a schematic structural diagram of a seed feeding plate in embodiments 1 and 2 of the present disclosure;
FIG. 3 is a schematic diagram showing the connection of various elements in example 2 of the present disclosure;
fig. 4 is a schematic flow chart of seed injection control in embodiment 2 of the present disclosure.
In the figure: 1. the device comprises a controller, 2, a driver, 3, a driving motor, 4, an angle sensor, 5, a speed reducer, 6, a seed throwing plate, 7, a transmission shaft, 8, a seed sowing plate, 9 and a bottom shell.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this disclosure, if any, merely indicate that the directions of movement are consistent with those of the figures themselves, and are not limiting in structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present disclosure.
As introduced in the background art, in the delivery process in the prior art, the horizontal velocity component of the seeds in the falling process is not matched with the forward velocity component of the machine, the randomness of the incident angle is large, so that the seeds frequently collide with the pipe wall in the whole falling process, the variation coefficient of the sowing depth and the seed spacing is large, and the control of the seedling emergence time and the plant spacing is influenced; in order to solve the problems, the disclosure provides a self-adaptive zero-speed seed feeding device, a seed feeding control method and a seed sowing device.
Example 1
In an exemplary embodiment of the present disclosure, as shown in fig. 1-2, an adaptive zero-speed seeding device is provided.
The device mainly comprises a control system, an execution mechanism and a data acquisition system, wherein the control mechanism comprises a controller 1 and a motor driver 2, the execution mechanism comprises a seed throwing plate 6, a transmission shaft 7, a driving motor 3 and a speed reducer 5, and the data acquisition system comprises a data acquisition module which is divided into a speed sensor and an angle sensor 4;
in this embodiment, the controller is mounted within a cockpit of the travel system of the planter that drives the overall device to travel, in a position proximate to the operator's operating position;
the seed feeding plate is connected with one end of a seed feeding plate transmission shaft and then is arranged on a bottom shell 9 of the seed sowing device; the speed reducer is fixedly arranged on the bottom shell of the seed sowing device through 4 bolts; the speed reducer is a reduction gear box;
the driving motor is fixedly arranged on the reduction gear box through a bolt; one end of the seed throwing transmission shaft is connected with the seed throwing plate through a bolt, and the other end of the seed throwing transmission shaft is connected with a power output shaft of the reduction gear box;
the angle sensor is arranged on the speed reducer, and the speed reducer is driven by a gear, so that the rotation speed of the angle sensor and the power output shaft of the speed reducer is driven in a one-to-one manner, and the angle change of the seed throwing plate is indirectly acquired; the speed sensor is arranged on a walking system of the seeder and used for measuring the advancing speed of the whole device.
When the seeding machine runs, the controller calculates the seed throwing plate matching angle through the forward speed of the machine, the rotating speed of the seed discharging disc 8 and the related reference value, adjusts the angle of the seed throwing plate in real time, ensures that the seed throwing plate is in the optimal angle range, and avoids the reduction of seeding quality caused by improper angle.
Furthermore, the data acquisition module acquires the advancing speed of the bottom shell and the included angle between the seed feeding plate and the bottom shell outlet, the driving mechanism and the data acquisition module are respectively connected with the controller, and the controller controls the driving mechanism to act according to the data acquired by the data acquisition module;
the rotation speed of the seed discharging plate is calculated by combining the advancing speed of the bottom shell with the planting distance required by the seeding operation and the number of circumferential holes of the seed discharging plate.
Of course, as for the driving motor, in this embodiment, a servo motor may be selected, the servo motor cooperates with the speed reducer and the transmission shaft to form a driving mechanism, and the power of the servo motor is transmitted to the seed throwing disc through the speed reducer and the transmission shaft.
It should be pointed out that, for the seed metering ware drain pan, choose present seed metering ware drain pan for use, seed metering ware inside is equipped with corresponding seed metering dish, and seed metering dish receives the seed and exports the seed dispersion in its circumference type hole.
Specifically, the seed feeding plate is rotationally connected with the bottom shell through a transmission shaft, and the driving mechanism is fixed on the bottom shell and is in matched transmission with the seed feeding plate;
one side of the seed feeding plate is matched with the bottom shell, the other side of the seed feeding plate is an arc-shaped plate, a seed feeding channel is formed at the outlet of the arc-shaped plate and the bottom shell, and seeds are output by the seed discharging plate through the seed feeding channel;
one side of the arc-shaped plate facing the seed throwing channel is of a plane and arc surface butt joint structure, and the arc surface is used for correcting the falling posture of the seeds in the seed throwing channel.
In this embodiment, the seed feeding plate is an integrated metal plate bending structure, and forms a structure with a connecting hole on one side and an arc-shaped plate on the other side;
the installation flat plate with the connecting holes is provided with 2 circular holes, and the upper holes are the rotating centers of the seed throwing plates in the working process and are matched with the transmission shaft to rotate;
the lower hole is matched with the arc-shaped elongated slot of the bottom shell of the seed sowing device and used for restricting the rotation angle of the seed sowing plate when the seed sowing plate rotates, and the limiting function in the adjustment range is achieved.
The outer side surface of the arc plate is in a structure that a plane is transited to an arc surface, and the directional falling and falling posture correction of the seeds are realized by means of an outer side curved surface.
For the angle sensor, the rotation angle of the seed throwing plate is obtained in real time and fed back to the controller, the controller automatically adjusts the seed throwing angle in real time according to the angle fed back by the angle sensor and the optimal seed throwing angle calculated in real time, so that the seed throwing plate is in the optimal zero-speed seed throwing posture, and the operation quality of the seeder is guaranteed.
Example 2
In another exemplary embodiment of the present disclosure, as shown in fig. 1-4, an adaptive zero-velocity seeding control method is provided.
The adaptive zero-speed seed casting method in the embodiment 1 comprises the following steps:
collecting the operating speed of the machine tool by using a forward speed sensor for detection, and feeding back data to a controller;
according to the advancing speed, the controller calculates the optimal operation angle of the seed throwing plate;
the real-time angle of the seed throwing plate is collected by using an angle sensor, and data are fed back to a controller to form closed-loop control until the seed throwing plate is adjusted to the optimal operation angle.
Specifically, the step of calculating the optimum operation angle of the seed throwing plate specifically comprises the following steps:
advancing operation v of seeder1The forward speed sensor measuring the current speed v1；
According to the current speed v1The preset planting distance requirement is L, the number of the holes of the seed metering disc is N, and the rotating speed of the seed metering disc is obtained through calculation
Figure BDA0002563066600000071
The diameter of a preset seed discharging disc is d, and the initial speed v of seeds separated from the seed discharging disc is pi nd/30;
the controller calculates the optimal seed throwing angle according to the parameters
Figure BDA0002563066600000072
After the optimal seed throwing angle is obtained, the controller sends an instruction to the motor driver according to the optimal seed throwing angle calculated by the controller, the motor driver controls the motor to rotate to drive the seed fixing plate to rotate, and the seed throwing plate reaches a preset angle under the feedback of the angle sensor.
Compared with the prior art, the self-adaptive zero-speed seed feeding method provided by the embodiment corrects the speed vector and the posture of the seeds separated from the seed discharging plate, and is matched with the advancing speed of the seeder and the operating rotating speed of the seed discharging plate, so that the problem of large variation coefficient of grain distance caused by the random entry of the seeds into the seed guide pipe under different operating conditions is solved, and the working quality of the seeder is greatly improved.
Example 3
In a third embodiment of the present disclosure, a seed meter is provided.
The seeder is provided with the self-adaptive zero-speed seed feeding device in the embodiment 1.
Installing a speed sensor on a traction device of the seeder, installing a bottom shell of the seed sowing plate on the seeder, and correspondingly installing other elements on the bottom shell; the controller is arranged in a cockpit of the traction equipment, so that the whole seed throwing process can be controlled by the workers conveniently.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Claims (10)

1. A self-adaptive zero-speed seed feeding device is characterized by comprising a bottom shell, a driving mechanism and a seed feeding plate, wherein a seed discharging plate is arranged in the bottom shell, the seed feeding plate is arranged at an outlet of the bottom shell, and the driving mechanism drives the seed feeding plate to adjust an included angle between the seed feeding plate and the outlet of the bottom shell and is used for changing a seed feeding angle of seeds output from the outlet of the bottom shell by the seed feeding plate.
2. The adaptive zero-speed seed feeding device according to claim 1, further comprising a data acquisition module and a controller, wherein the data acquisition module acquires the traveling speed of the bottom shell and the included angle between the seed feeding plate and the outlet of the bottom shell, the driving mechanism and the data acquisition module are respectively connected with the controller, and the controller controls the driving mechanism to operate according to the data acquired by the data acquisition module.
3. The adaptive zero-speed seed feeding device as claimed in claim 1, wherein the seed feeding plate is rotatably connected with the bottom shell, and the driving mechanism is mounted on the bottom shell and is in transmission fit with the seed feeding plate.
4. The adaptive zero-speed seed feeding device of claim 3, wherein one side of the seed feeding plate is matched with the bottom shell, the other side of the seed feeding plate is an arc-shaped plate, a seed feeding channel is formed at an outlet of the arc-shaped plate and the bottom shell, and the seed discharging plate outputs seeds through the seed feeding channel.
5. The adaptive zero-speed seed throwing device of claim 4, wherein one side of the arc-shaped plate facing the seed throwing channel is in a butt joint structure of a plane and a circular arc surface, and the circular arc surface is used for correcting the falling posture of the seeds in the seed throwing channel.
6. An adaptive zero-speed seed throwing control method, characterized in that the adaptive zero-speed seed throwing device according to any one of claims 1-5 is utilized, and the method comprises the following steps:
acquiring the advancing speed of the bottom shell in real time, and calculating to obtain the optimal operation angle for discharging the seeds from the outlet of the bottom shell, so that the speed of the output seeds in the advancing direction is consistent with the advancing speed of the bottom shell;
and adjusting the included angle between the seed feeding plate and the outlet of the bottom shell according to the optimal operation angle until the output speed of the seeds in the advancing direction is zero relative to the bottom shell.
7. The adaptive zero-speed seed-casting control method according to claim 6, wherein calculating the optimal working angle comprises the steps of:
acquiring the advancing speed of the bottom shell in real time, and calculating the rotating speed of the seed metering disc according to the requirement of the plant spacing and the number of holes of the seed metering disc; calculating the initial speed of the seeds separating from the seed plate according to the rotating speed of the seed plate and the diameter of the seed plate;
calculating to obtain the optimal seed throwing angle of the seed throwing plate.
8. The adaptive zero-speed seed throwing control method according to claim 6, wherein the driving mechanism drives the seed throwing plate to rotate, and the included angle between the seed throwing plate and the outlet of the bottom shell is adjusted to a required value.
9. The adaptive zero-speed seed throwing control method according to claim 6, wherein the angle change of the seed throwing plate is obtained through an angle sensor, and the traveling speed of the bottom shell is obtained through a speed sensor.
10. A seed metering device comprising an adaptive zero-speed seed metering device according to any one of claims 1-5.
CN202010613809.7A 2020-06-30 2020-06-30 Self-adaptive zero-speed seed feeding device, seed feeding control method and seed sowing device Active CN111656922B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114467414A (en) * 2022-01-06 2022-05-13 中国农业机械化科学研究院集团有限公司 Electric-drive zero-speed seed throwing device, control system and control method

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US4399757A (en) * 1980-04-04 1983-08-23 Nodet - Gougis Seeding machine with a pneumatic seed ejecting means, especially for vegetable culture
CN1517003A (en) * 2003-01-10 2004-08-04 Seed slide plate for use in agricutural seeding machine
CN101548601A (en) * 2009-04-28 2009-10-07 河南科技大学 Seed metering and sprinkling device used in air-jet type high-speed and no-tillage precision seeder
CN106211881A (en) * 2016-07-18 2016-12-14 柳州好顺科技有限公司 A kind of seed guide
CN107580837A (en) * 2017-11-01 2018-01-16 东北农业大学 V-type groove pull-type conducting device
CN110881291A (en) * 2019-12-26 2020-03-17 河北农哈哈机械集团有限公司 Equal plant spacing seed sowing device
CN212936659U (en) * 2020-06-15 2021-04-13 四川农业大学 Seed guiding device of corn precision planter based on air flow auxiliary seed throwing

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4399757A (en) * 1980-04-04 1983-08-23 Nodet - Gougis Seeding machine with a pneumatic seed ejecting means, especially for vegetable culture
CN1517003A (en) * 2003-01-10 2004-08-04 Seed slide plate for use in agricutural seeding machine
CN101548601A (en) * 2009-04-28 2009-10-07 河南科技大学 Seed metering and sprinkling device used in air-jet type high-speed and no-tillage precision seeder
CN106211881A (en) * 2016-07-18 2016-12-14 柳州好顺科技有限公司 A kind of seed guide
CN107580837A (en) * 2017-11-01 2018-01-16 东北农业大学 V-type groove pull-type conducting device
CN110881291A (en) * 2019-12-26 2020-03-17 河北农哈哈机械集团有限公司 Equal plant spacing seed sowing device
CN212936659U (en) * 2020-06-15 2021-04-13 四川农业大学 Seed guiding device of corn precision planter based on air flow auxiliary seed throwing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114467414A (en) * 2022-01-06 2022-05-13 中国农业机械化科学研究院集团有限公司 Electric-drive zero-speed seed throwing device, control system and control method
CN114467414B (en) * 2022-01-06 2023-08-18 中国农业机械化科学研究院集团有限公司 Electric-drive zero-speed seed feeding device, control system and control method

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