CN112855889A - Rice transplanter, differential lock system thereof and control method - Google Patents
Rice transplanter, differential lock system thereof and control method Download PDFInfo
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- CN112855889A CN112855889A CN202010882855.7A CN202010882855A CN112855889A CN 112855889 A CN112855889 A CN 112855889A CN 202010882855 A CN202010882855 A CN 202010882855A CN 112855889 A CN112855889 A CN 112855889A
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 99
- 235000009566 rice Nutrition 0.000 title claims abstract description 99
- 238000000034 method Methods 0.000 title claims abstract description 26
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 98
- 230000007246 mechanism Effects 0.000 claims description 44
- 230000000717 retained effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 14
- 230000002829 reductive effect Effects 0.000 abstract description 6
- 230000005540 biological transmission Effects 0.000 description 22
- 238000001514 detection method Methods 0.000 description 22
- 238000003780 insertion Methods 0.000 description 11
- 230000037431 insertion Effects 0.000 description 11
- 230000000670 limiting effect Effects 0.000 description 6
- 230000003139 buffering effect Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 238000002054 transplantation Methods 0.000 description 2
- 206010017367 Frequent bowel movements Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/20—Arrangements for suppressing or influencing the differential action, e.g. locking devices
- F16H48/30—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means
- F16H48/34—Arrangements for suppressing or influencing the differential action, e.g. locking devices using externally-actuatable means using electromagnetic or electric actuators
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Electromagnetism (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a rice transplanter, a differential lock system thereof and a control method, wherein the differential lock system comprises a differential, a differential pedal and an electric drive assembly, wherein the differential pedal is connected to the differential, the differential pedal can drive the differential to switch between a locking state and an unlocking state, the electric drive assembly comprises an electric drive element and a connecting element, the connecting element is respectively connected with the electric drive element and the differential pedal, and the electric drive element can electrically drive the connecting element and the differential pedal to move so as to change the working state of the differential. Through improvement of electrification, the electrification degree of the rice transplanter is improved, the operation intensity of a driver is reduced, and the operation efficiency of the rice transplanter is also improved.
Description
Technical Field
The invention relates to the field of rice transplanting machines, in particular to a rice transplanting machine, a differential lock system and a control method thereof.
Background
In recent years, various kinds of rice transplanters gradually enter the field of view of the public, and are applied to farmland operation by more and more farmers, compared with the traditional manual rice transplantation, the rice transplanter has high operation efficiency, can reasonably control the planting distance and the row distance of the rice seedlings, not only reduces the labor intensity of the farmers and saves the labor cost, but also is beneficial to the growth and the yield increase of the rice seedlings through scientific rice transplantation operation. Therefore, the popularity of rice transplanters is also increasing.
The operating environment of the rice transplanter is severe, and the phenomenon that the rice transplanter is difficult to continuously drive forwards due to the fact that the wheels on one side are not moved and the wheels on the other side slip and idle in situ and sink deeper easily occurs when the rice transplanter moves across ridges or in paddy fields and the wheels sink deep into puddles. Therefore, the wheels on the two sides need to be connected into a whole by using a differential lock system, so that the wheels on the two sides can rotate at the same speed, and the rice transplanter can easily cross ridges or pass through a slippery field.
The existing rice transplanter has low electrification degree, and a differential lock system of the rice transplanter completely depends on a driver to step on a differential lock pedal of the differential lock system to control the working state of a differential lock of the differential lock system, so as to adjust the running state of wheels at two sides. Moreover, the driving environment in the farmland is severe, and the working state of the differential lock is often required to be adjusted so as to avoid the slipping of the rice transplanter. The frequent stepping on of the differential lock pedal increases the working strength of the driver and also improves the labor cost of the rice transplanting operation. In addition, the differential lock system of the existing rice transplanter needs to be completely controlled by the pedal of a driver, the automation degree is low, and the running speed and the transplanting efficiency of the rice transplanter are greatly reduced.
Disclosure of Invention
An object of the present invention is to provide a rice transplanter, a differential lock system thereof and a control method thereof, wherein the differential lock system is electrically controlled to be switched between a locked state in which wheels of the rice transplanter are locked as a whole and maintained in the same rotation direction and rotation speed and an unlocked state in which the wheels of the rice transplanter are normally operated. Thus, the electrification degree of the rice transplanter is improved, the operation intensity of a driver is reduced, and the operation efficiency of the rice transplanter is also improved.
Another object of the present invention is to provide a rice transplanter, a differential lock system thereof and a control method thereof, wherein the differential lock system comprises a differential, a differential pedal and an electric drive assembly, wherein the electric drive assembly electrically drives the differential pedal to rotate in response to an operation command of a driver, so as to drive the differential to switch between the locked state and the unlocked state, and the operation is simple and labor-saving.
Another object of the present invention is to provide a rice transplanter, a differential lock system thereof and a control method thereof, wherein the electric driving assembly of the differential lock system comprises an electric driving element and a connecting element, wherein two ends of the connecting element are respectively connected to the electric driving element, wherein the electric driving element drives the connecting element to move in an electrically telescopic manner, and further drives the differential pedal connected to the connecting element to move, so as to change the working state of the differential.
Another object of the present invention is to provide a rice transplanter, a differential lock system thereof and a control method thereof, wherein the electric driving assembly of the differential lock system includes an elastic member, both ends of the elastic member are respectively connected to the connecting member and the electric driving member, and the elastic member can provide a buffering time for the differential mechanism to perform an overload protection function when the differential mechanism cannot be immediately switched to the locking state.
Another object of the present invention is to provide a rice transplanter and a differential lock system and a control method thereof, wherein both ends of the elastic member are connected to the connecting member and the differential pedal, respectively, and the elastic member can provide a buffering time for the differential to perform an overload protection function when the differential cannot be immediately switched to the locked state.
According to one aspect of the present invention, there is provided a differential lock system comprising:
a differential mechanism;
a differential pedal, wherein said differential pedal is connected to said differential, said differential pedal being capable of driving said differential between a locked state and an unlocked state; and
an electric drive assembly, wherein said electric drive assembly comprises an electric drive element and a connecting element, wherein said connecting element is connected to said electric drive element and said differential pedal, respectively, said electric drive element being capable of electrically driving said connecting element and said differential pedal to move, thereby changing the operating state of said differential.
According to an embodiment of the present invention, the electric driving assembly further comprises an elastic member, wherein both ends of the elastic member are connected to the electric driving member and the connecting member, respectively.
According to an embodiment of the present invention, the electric drive assembly further comprises an elastic member, wherein both ends of the elastic member are connected to the differential pedal and the connecting member, respectively.
According to an embodiment of the present invention, the electric driving assembly includes a mounting plate, a fixing plate, and a guide tube having a guide passage, wherein the electric driving element is mounted to the mounting plate, the guide tube is fixed to the mounting plate and the fixing plate, and the connecting element is movably held to the guide passage of the guide tube.
According to one embodiment of the present invention, the differential lock system further comprises a controller, wherein the controller is communicatively connected to the electrically driven element of the electrically driven assembly.
According to one embodiment of the present invention, the differential lock system further comprises a control handle, wherein the control handle is communicatively connected to the controller.
According to one embodiment of the invention, the electrically driven element is an electric push rod.
According to another aspect of the present invention, there is further provided a rice transplanter comprising:
a rice transplanter body, wherein the rice transplanter body comprises a body main body, a traveling main body, and an planting main body, wherein the traveling main body and the planting main body are provided to the body main body; and
a differential lock system, wherein said differential lock system comprises a differential, a differential pedal and an electric drive assembly, wherein said electric drive assembly comprises an electric drive element and a connecting element, wherein said differential is connected to said traveling body, said differential pedal is connected to said differential, said differential pedal is capable of driving said differential to switch between a locked state and an unlocked state, wherein said connecting element is connected to said electric drive element and said differential pedal, respectively, said electric drive element is capable of electrically driving said connecting element and said differential pedal to move, thereby changing an operating state of said differential.
According to another aspect of the present invention, the present invention further provides a control method of a differential lock control system, the control method including the steps of:
(a) electrically driving a differential pedal to move; and
(b) a differential is actuated to switch between a locked state and an unlocked state.
According to one embodiment of the present invention, in the step (a), an electric driving element electrically stretches and retracts to pull a connecting element to move, so as to drive the differential pedal to rotate.
According to an embodiment of the present invention, in the step (a), when the electric driving element is contracted, the connecting element is pulled to move towards the electric driving element, and the differential pedal is pulled to rotate to a preset position; when the electric drive element is elongated, the connecting member moves in a direction away from the electric drive element, and the differential pedal rotates to an initial position.
According to an embodiment of the present invention, the control method further includes the step (c) of deforming an elastic member in a stretched manner when the electric drive element contracts, and restoring the elastic member to an original state after the differential pedal is rotated to a preset position.
Drawings
Fig. 1 is a perspective view of a rice transplanter in accordance with a preferred embodiment of the present invention.
FIG. 2 is a perspective view showing the rice transplanter according to the above preferred embodiment of the present invention.
FIG. 3 is a perspective view showing a control handle of the control system of the rice transplanter in accordance with the above preferred embodiment of the present invention.
Fig. 4A and 4B are schematic structural views of a travel control unit of the control system of the rice transplanter according to the above preferred embodiment of the present invention.
Fig. 5A and 5B are schematic structural views of the travel control unit of the control system of the rice transplanter according to the above preferred embodiment of the present invention.
Fig. 6A and 6B are schematic diagrams showing a configuration of an transplanting control unit of the control system of the rice transplanting machine according to the above preferred embodiment of the present invention.
FIGS. 7A and 7B are schematic structural views of the transplanting control unit of the rice transplanter control system according to the above preferred embodiment of the present invention.
FIGS. 8A and 8B are schematic diagrams illustrating a structure of a steering sensing unit of the rice transplanter control system according to the above preferred embodiment of the present invention.
Fig. 9A and 9B are schematic structural views of a differential lock system of the rice transplanter according to the above preferred embodiment of the present invention.
FIG. 10A is a schematic bottom view showing the partial structure of the rice transplanter according to the above preferred embodiment of the present invention.
FIG. 10B is a schematic view showing a partial structure of the rice transplanter according to the above preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 1 to 10B of the accompanying drawings of the specification, a rice transplanter 1000 and a rice transplanter control system 100 thereof according to a preferred embodiment of the present invention will be explained in the following description, in which several operations of a driver with a high operation frequency are electrically controlled and integrated by modifying the rice transplanter 1000 in an electrified manner, so that the degree of electrification of the rice transplanter 1000 is increased, the working environment of the driver is improved, and the working intensity of the driver is reduced.
The rice transplanter 1000 comprises the rice transplanter control system 100 and a rice transplanter body 200, wherein the rice transplanter body 200 comprises a main body 210, a traveling body 220 and an implanting body 230, wherein the traveling body 210 and the implanting body 230 are mounted on the main body 210, the traveling body 220 drives the main body 210 and the implanting body 230 to move, and the implanting body 230 performs rice transplanting operation during traveling of the traveling body 220.
The traveling body 220 includes a traveling mechanism 221 and a hydraulic transmission device 222, wherein the traveling mechanism 221 is connected to the hydraulic transmission device 222 in a driving manner, and the hydraulic transmission device 222 can drive the traveling mechanism 221 to operate, so as to drive the rice transplanter 1000 to advance, reverse, accelerate, decelerate, and the like. Preferably, the hydraulic transmission device 222 is a hydrostatic transmission device, that is, the hydraulic transmission device is a closed oil circuit system composed of a power element, a control element and the like, and is abbreviated as HST in english.
The inserting body 230 comprises an inserting mechanism 231 and a hydraulic valve 232, wherein the hydraulic valve 232 comprises a valve body 2321 and a hydraulic valve rod 2322, the hydraulic valve rod 2322 is movably disposed on the valve body 2321, the hydraulic valve rod 2322 controls the working state of the valve body, the valve body 2321 is connected to the inserting mechanism 231, and the valve body 2321 can drive the inserting mechanism 231 to ascend and descend.
The rice transplanter control system 100 includes a control handle 10, a travel control unit 20, an transplanting control unit 30, and a controller 40, wherein the control handle 10 is connected to the travel control unit 20, and the travel body 220 of the rice transplanter 1000 can be controlled to advance, retreat, accelerate, decelerate, and the like by operating the control handle 10. The control handle 10 is communicably connected to the controller 40, the transplanting control unit 30 is controllably connected to the controller 40, and the raising and lowering of the transplanting mechanism 231 of the transplanting body 230 can be controlled by operating the control handle 10. Preferably, the control handle 10 is held by a steering wheel of the traveling body 220, thereby facilitating the operation of the driver.
That is, after the rice transplanter 1000 is electrified and modified, several operations with high frequency of operation by the driver are integrated into the control handle 10, and the driver can control the rice transplanter 1000 by operating the control handle 10. Even after the rice transplanter 1000 is simply operated in the early stage, the rice transplanter 1000 can be automatically driven, so that drivers are liberated, the working environment and the operation intensity of the drivers are obviously improved, and the labor cost of the transplanting operation is reduced.
Referring to fig. 3, the control handle 10 includes a control body 11, a connecting rod 12 extending downward from the control body 11, and an operation key 13, wherein the operation key 13 is movably disposed on the control body 11. The rice transplanter body 100 can be controlled to move forward, backward, accelerate and decelerate by holding the control main body 11 to move forward or backward. Each of the operation keys 13 corresponds to a different operation instruction, and the control handle 10 sends out the corresponding operation instruction by selecting the different operation keys 13. The controller 40 controls the planting control unit 30 to realize the ascending and descending of the planting mechanism 231 of the planting body 230 according to the operation instruction.
Specifically, the front part and the rear part of the control main body 11 of the control handle 10 are arc-shaped curved surfaces, the surface of the control main body 11 is recessed inwards, and the recessed shape is matched with the state of a human hand when the hand is half-gripped, so that the holding habit of a driver is met.
Preferably, the operation key 13 includes a transplanting button 131, a walking button 132 and a shift lever 133, wherein the operation command corresponding to the transplanting button 131 is transplanting, and after the driver presses the transplanting button 131, the transplanting mechanism 231 of the transplanting body 230 starts the transplanting operation, and then presses the transplanting button 131 to stop the transplanting operation. The operation corresponding to the travel button 132 is that the rice transplanter 1000 travels automatically, and when the driver presses the travel button 132, the travel mechanism 221 of the travel body 220 travels automatically, and then presses the travel button 132, the automatic travel can be cancelled. The shifting rod 133 operates correspondingly such that the inserting mechanism 231 of the inserting body 230 ascends and descends, the shifting rod 133 is shifted downwards, the inserting mechanism 231 descends, and the shifting rod 133 is shifted upwards, and the inserting mechanism 231 ascends. It will be appreciated by those skilled in the art that the specific embodiment of the operation keys 13 is merely an example, and that the operation keys 13 may also be implemented to include other control functions.
In this embodiment of the present invention, the insertion button 131 and the shift lever 133 are disposed at the left side portion of the control body 11, and when the driver holds the control body 11, the insertion button 131 and the shift lever 133 are close to the thumb of the driver, thereby facilitating the operation of the driver. The walking button 132 is located at a lower portion of the control body 11, and when the walking button 132 is needed to be used, the hand is moved downward. Preferably, the walking button 132 is located below the rear portion of the control body 11, which is advantageous for preventing the driver from touching by mistake.
Referring to fig. 4A to 5B, the travel control unit 20 includes a handle position detecting member 21, an HST state detecting member 22, and an HST control motor 23. The grip position detecting element 21 is connected to the control grip 10, wherein the grip position detecting element 21 detects a change in position of the control grip 10. The HST control motor 23 controls the hydraulic transmission device 222 to reach a corresponding position according to the position change of the control handle 10. The HST control motor 23 is connected to the hydraulic transmission device 222, the HST state detecting element 22 is connected to the HST control motor 23, and the HST state detecting element 22 obtains the operating state of the hydraulic transmission device 222 according to the rotation angle of the HST control motor 23. So that the HST control motor stops rotating after the HST state detecting element 22 feeds back the HST control motor 23 to rotate to a corresponding angle. The hydraulic transmission system 222 keeps the working state at this time and continuously outputs power, thereby realizing the forward movement, backward movement, acceleration and deceleration of the rice transplanter 1000.
Referring to fig. 4A and 4B, specifically, the travel control unit 20 further includes a handle driving lever 24, a first mounting plate 25, a support frame 26, and a first link 27, wherein one end of the handle driving lever 24 is connected to the control handle 10, the other end is mounted to the support frame 26, and the support frame 26 is rotatably mounted to the body main body 210 of the rice transplanter body 200. The first mounting plate 25 is fixed to the body main body 210, the first link 27 and the handle position detection element 21 are held on both sides of the first mounting plate 25, respectively, the first link 27 is connected to the handle position detection element 21, and the first link 27 is mounted to the support frame 26. When a driver needs to advance, retreat, accelerate and decelerate the rice transplanter 1000 during the driving of the rice transplanter 1000, the driver pushes the control handle 10, the control handle 10 drives the handle driving rod 24 to rotate, and the handle driving rod 24 drives the first connecting rod 27 to rotate, so that the handle position detection element 21 deflects by a certain angle. In this manner, the grip position detection element 21 can detect a change in position of the control grip 10.
Referring to fig. 5A and 5B, the travel control unit 20 further includes a rotation plate 28, a second mounting plate 29, and a second link 201, and the rotation plate 28 includes a latch portion 281 and an adjustment portion 282 integrally extending from the latch portion 281. The HST control motor 23 is mounted to the body main body 210 through the second mounting plate 29. The latch portion 281 of the rotating plate 28 is connected to the HST control motor 23, the adjusting portion 282 is mounted on the hydraulic transmission device 222, and when the HST control motor 23 rotates, the rotating plate 28 is driven to rotate relative to the hydraulic transmission device 222, and the magnitude of the power output by the hydraulic transmission device 222 is adjusted. The second link 201 is connected to the rotating plate 28 and the HST state detecting element 22, respectively. The HST state detecting element 22 follows the rotation of the rotating plate 28, and the HST state detecting element 22 obtains the rotation angle of the HST control motor 23 and the corresponding working state of the hydraulic transmission device 222, such as, but not limited to, the magnitude of the power output by the hydraulic transmission device 222, by detecting the rotation angle of the rotating plate 28. In other words, the rotation angle of the HST control motor 23 reflects the operation state of the hydraulic transmission device 222, and the operation state of the hydraulic transmission device 222 can be obtained by detecting the rotation angle of the HST control motor 23. Preferably, the pivoting plate 28 is embodied as a toothed plate.
In this particular embodiment of the present invention, the grip position detecting member 21 and the HST state detecting member 22 are implemented as angle sensors, respectively, the grip position detecting member 21 obtains a change in position of the control grip 10 by detecting a deflection angle, and the HST state detecting member 22 obtains a corresponding operating state of the hydraulic actuator 222 by detecting a rotation angle of the HST control motor 23. It should be understood by those skilled in the art that the specific embodiments of the hand position detecting element 21 and the HST state detecting element 22 are only examples and should not be construed as limiting the content and scope of the rice transplanter control system 100 of the present invention.
Further, the handle position detecting element 21 is communicably connected to the controller 40, the position information of the control handle 10 detected by the handle position detecting element 21 is transmitted to the controller 40, the HST control motor 23 is controllably connected to the controller 40, and the controller 40 controls the HST control motor 23 to rotate by a corresponding angle according to the position information of the control handle 10, thereby adjusting the operating state of the hydraulic actuator 222. The HST state detecting element 22 is communicably connected to the controller 40, the HST detecting element 22 obtains a state signal of the hydraulic transmission device 222 and transmits the state signal to the controller 40, and the controller 40 controls the HST rotating motor 23 to stop rotating after the HST controlling motor 23 is rotated to a corresponding angle, that is, the hydraulic transmission device 222 is adjusted to an operating state corresponding to the position of the control handle 10. The hydraulic transmission system 222 keeps the working state at this time and continuously outputs power, thereby realizing the forward movement, backward movement, acceleration and deceleration of the rice transplanter 1000.
Referring to fig. 6A to 7B, the inserting control unit 30 includes a hydraulic valve state detecting element 31 and a hydraulic valve control motor 32, wherein the hydraulic valve control motor 32 is controllably connected to the controller 40, the hydraulic valve stem 2322 of the hydraulic valve 232 of the inserting body 230 is drivably connected to the hydraulic valve control motor 32, and the hydraulic valve state detecting element 31 is capable of detecting an operating state of the hydraulic valve 323. The controller 40 controls the hydraulic valve control motor 32 to rotate according to the received operation command sent by the operation key 13 of the control handle 10, and drives the hydraulic valve rod 2322 to move, so as to change the working state of the hydraulic valve body 2321, and thus, the raising and lowering of the transplanting mechanism 231 of the transplanting body 230 which is drivably connected to the hydraulic valve body 2321 are realized.
Specifically, referring to fig. 6A and 6B, the transplanting control unit 30 further includes a first movable plate 33, a second movable plate 34, and a third link 35, wherein the hydraulic valve state detecting element 31 and the hydraulic valve control motor 32 are mounted to the body main body 210 through the second movable plate 34, wherein the first movable plate 34 is mounted to the hydraulic valve stem 2322 of the hydraulic valve 231, and both ends of the third link 35 are connected to the first movable plate 33 and the hydraulic valve state detecting element 31, respectively. Preferably, the first movable plate 33 and the second movable plate 34 are implemented as toothed plates.
The first plate 33 includes a connecting portion 331, a driving portion 332 and a connecting rod 333, wherein the driving portion 332 integrally extends from the connecting portion 331, the connecting rod 333 extends outward from the driving portion 332, the third link 35 has a movable through hole 3501, and the connecting rod 333 of the first plate 33 is movably held in the movable through hole 3501 of the third link 35.
The driver sends the operation instruction by operating the operation key 13 of the control handle 10, the controller 40 receives the operation instruction and then controls the hydraulic valve control motor 32 to rotate, the hydraulic valve control motor 32 drives the first movable plate 33 to rotate, and the first movable plate 33 drives the hydraulic valve rod 2322 of the hydraulic valve 231 to actuate. Meanwhile, when the first movable plate 33 rotates, the hydraulic valve detecting element 31 is driven to deflect by a certain angle, and then the hydraulic valve detecting element 31 can feed back the position of the hydraulic valve rod 2322. The different positions of hydraulic valve stem 2322 correspond to different operating states of hydraulic valve body 2321. That is, by detecting the position of the hydraulic valve stem 2322, the corresponding operating state of the hydraulic valve body 2321 can be obtained.
Further, the hydraulic valve state detection element 31 is communicably connected to the controller 40, and the hydraulic valve state detection element 31 feeds back the position information of the hydraulic valve stem 2322 to the controller 40, that is, the controller 40 can acquire the operating state of the hydraulic valve body 2321. When the hydraulic valve rod 2322 rotates to a position required for completing the operation command, the controller 40 controls the hydraulic valve control motor 32 to stop rotating according to the information fed back by the hydraulic valve state detection element 31. In this way, the operation such as the raising and lowering of the planting mechanism 231 of the planting main body 230 of the rice transplanter body 200 can be controlled by the control handle 10.
In this embodiment of the rice transplanter control system 100 of the present invention, the transplanting control unit 30 can feed back the real-time position of the transplanting mechanism 231 of the transplanting body 230, not only to control the transplanting mechanism 231 to maintain a preset height, but also to facilitate the driver to know the actual height of the transplanting mechanism 231, so as to better control the specific operation of the transplanting mechanism 231.
Specifically, referring to fig. 7A and 7B, the implanting control unit 30 further includes an implanting position detecting element 36, a third mounting plate 37, a fourth link 38, and a fifth link 39. The insertion position detection element 36 is mounted to the body main body 210 via the third mounting plate 37. Both ends of the fifth link 39 are connected to the implanting mechanism 231 of the implanting body 230 and the fourth link 38, respectively. Both ends of the fourth link 38 are connected to the fifth link 39 and the insertion position detecting element 36, respectively. The inserting mechanism 231 pulls the fifth link 39 and the fourth link 38 in the actuating process, so as to drive the inserting position detecting element 36 to rotate, and the inserting position detecting element 36 can feed back the position change information of the inserting mechanism 231.
Further, the inserting position detecting element 36 is communicatively connected to the controller 40, and the controller 40 can control the operating state of the hydraulic valve control motor 32 according to the position information fed back by the inserting position detecting element 36, so that the inserting mechanism 231 can be maintained at the preset height. For example, when the insertion position detecting element 36 detects that the insertion mechanism 231 is lifted to a predetermined height, the controller 40 controls the hydraulic valve to control the rotation of the motor 32, and further controls the hydraulic valve 231 to reach a neutral position, so as to maintain the insertion mechanism 231 at the predetermined height.
In this particular embodiment of the present invention, the hydraulic valve state detection element 31 and the insertion position detection element 36 are each implemented as an angle sensor. The hydraulic valve state detection element 31 obtains the working state of the hydraulic valve main body 2321 by detecting the rotation angle of the hydraulic valve control motor 32. The insertion position detection element 36 acquires the position where the insertion mechanism 231 ascends and descends by detecting the rotation angle of a link connected to the insertion mechanism 231. It should be understood by those skilled in the art that the specific embodiments of the hydraulic valve state detection element 31 and the transplanting position detection element 36 are only examples and should not be construed as limiting the content and scope of the rice transplanter control system 100 of the present invention.
Referring to fig. 8A and 8B, in this particular embodiment of the rice transplanter control system 100 of the present invention, the rice transplanter control system 100 further includes a steering detection unit 50, and the steering detection unit 50 can detect a change in the direction of the tire of the traveling body 220 of the rice transplanter body 200 in real time.
Specifically, the steering detection unit 50 includes a steering angle detection element 51, a mounting seat 52, a link 53, a driving lever 54, and a steering plate 55, wherein the mounting seat 52 is mounted to the body 210 of the rice transplanter body 200, the steering angle detection element 51 is mounted to the mounting seat 52, the driving lever 54 is connected to the steering plate 55 and the link 53, the link 53 is connected to the steering angle detection element 51, and the steering plate 55 is connected to the steering wheel of the travel mechanism 221.
When the rice transplanter 1000 needs to turn, the steering wheel of the running mechanism 221 rotates, the steering wheel drives the steering plate 55 to rotate, the steering plate 55 drives the connecting piece 53 to rotate, the connecting piece 53 drives the steering angle detection element 51 to deflect by a certain angle, and then the steering angle detection element 51 can obtain the rotation angle of the tire of the running mechanism 221.
Further, the steering angle detecting element 51 is communicably connected to the controller 40, and the steering angle detecting element 51 feeds back information on the angle change of the tire of the running mechanism 221 to the controller 40, so that the driver can know the direction of the tire in time, thereby facilitating better control of the running of the rice transplanter 1000.
According to another aspect of the present invention, the present invention further provides a control method of the rice transplanter control system 100, wherein the control method comprises the steps of:
(a) acquiring position information of the control handle; and
(b) controlling rotation of the HTS control motor based on the position information of the control handle; and
(c) the HST control motor adjusts the working state of the hydraulic transmission device.
Specifically, in the step (a), a change in position of the control handle is detected by an angle sensor. In the step (b), the angle sensor transmits position information of the control handle to the controller 40, and the controller 40 controls rotation of the HST control motor.
Further, the step (c) is followed by a step (d) of obtaining a rotation angle of the HST control motor. Preferably, in the step (d), a rotation angle of the HST control motor is detected using an angle sensor.
After the step (d), the method further comprises the step (e) after the HST control motor rotates to the angle corresponding to the position of the handle, the HST control motor is controlled to stop rotating, and the hydraulic transmission device keeps the working state at the moment and continuously outputs power. Specifically, in the step (e), the angle sensor feeds back the rotation angle of the HST control motor to the controller 40, and the controller 40 controls the HST control motor to stop rotating.
In the control method, there is further included the step (f) that the controller 40 controls the hydraulic valve control motor 32 to rotate and adjusts the hydraulic valve 232 to a corresponding operation state when the operation command of the control handle 10 is executed.
In the control method, a step (g) of detecting a change in position of the implanting mechanism 231 using an angle sensor is further included. Further, the controller 40 controls the operating state of the hydraulic valve control motor 32 according to the position information of the implanting mechanism 231, so that the implanting mechanism 231 can be maintained at the preset height.
Referring to fig. 9A to 10B, in this particular embodiment of the rice transplanter 1000 of the present invention, the rice transplanter 1000 further comprises a differential lock system 300, wherein the differential lock system 300 is connected to the running mechanism 221 of the running body 220 of the rice transplanter body 200. The differential lock system 300 can be electrically controlled to switch between a locked state and an unlocked state, and when the differential lock system 300 is in the locked state, the wheels of the running mechanism 221 are locked as a whole and are kept in the same rotating direction and rotating speed, so that the rice transplanter 100 can conveniently and quickly pass through a slippery field or cross a ridge. When the differential lock system 300 is in the unlocked state, the wheels of the traveling mechanism 221 may be operated normally. Therefore, the electrification degree of the rice transplanter is improved, the operation environment of a driver is improved, and the operation intensity of the driver is reduced.
Referring to fig. 9A and 9B, the differential lock system 300 further includes a differential 310, a differential pedal 320, and an electric drive assembly 330, wherein the differential pedal 320 is connected to the differential 310, and the electric drive assembly 330 is connected to the differential pedal 320. The electric drive assembly 330 drives the differential pedal 320 to rotate in response to an operation command of a driver, and the differential pedal 320 drives the differential 310 to switch between the locked state and the unlocked state.
The electric driving assembly 330 includes an electric driving element 331 and a connecting element 332, wherein both ends of the connecting element 332 are respectively connected to the electric driving element 331 and the differential pedal 320, and the electric driving element 331 electrically extends and retracts in response to an operation command of a driver, and pulls the connecting element 332 to move simultaneously, thereby driving the differential pedal 320 to rotate, so as to electrically change the working state of the differential 310.
Preferably, the electric drive element 331 of the electric drive assembly 330 of the differential lock system 300 is communicatively connected to the controller 40 of the control system 100, the controller 40 being capable of controlling the telescopic state of the electric drive assembly 330. In a specific example of the present invention, the controller 40 allows the operation command to be input, and the controller 40 controls the electric driving element 331 to execute the operation command so as to change the operating state of the differential 310. In another specific example of the present invention, the controller 40 controls the extension and contraction state of the electric driving element 331 according to the control command input by the operation key 13 of the control handle 10. That is, the driver can easily and effortlessly adjust the working state of the differential lock 310 by operating the control handle 10, thereby reducing the working load of the driver and improving the working efficiency of the rice transplanter 1000.
For example, when the rice transplanter 1000 passes through a slippery road section of a farm field, a driver inputs the operation command corresponding to the locked state, the electric drive element 331 shortens its length when executing the operation command, the connection element 332 is pulled to move toward the electric drive element 331, and the differential pedal 320 rotates counterclockwise with respect to the main body 210, the differential pedal 320 is pulled down, the differential 310 is engaged, the differential 310 is switched from the unlocked state to the locked state, and the wheels of the travel mechanism 221 rotate together. When the rice transplanter 1000 passes through a slippery road, the operation command corresponding to the unlocked state is input, and when the electric drive element 331 executes the operation command, the length of the electric drive element 331 is extended, the connecting element 332 is pushed to move in a direction away from the electric drive element 331, and then the differential pedal 320 rotates clockwise relative to the main body 210 of the body, the differential pedal 320 returns to the initial position, the differential 310 is separated, and the differential 310 is switched from the locked state to the unlocked state. Alternatively, when the driver presses the operation key 113, the differential 310 is switched to the locked state, and when the driver releases the operation key 113, the differential 310 is switched to the unlocked state. It will be understood by those skilled in the art that the specific manner of controlling the differential 310 to switch between the locked state and the unlocked state is merely exemplary and should not be construed as limiting the scope and content of the rice transplanter 1000 and its differential lock system 300 of the present invention. For example, the operation keys 113 for controlling the differential 310 may be provided independently.
It is worth mentioning that the specific embodiments of the electrically driven element 331 and the connecting element 332 are not limited. Preferably, the electric drive element 331 is implemented as an electric push rod, and the connecting element 332 is implemented as a pull rope or a pull rod.
In this embodiment of the present invention, the electric driving assembly 330 further includes an elastic element 333, wherein both ends of the elastic element 333 are respectively connected to the connecting element 332 and the electric driving element 331, and the elastic element 333 can provide a buffering time for the differential 310 to perform an overload protection function when the differential 310 cannot be immediately switched to the locked state.
For example, when the wheel deep puddle of the traveling mechanism 221 cannot rotate, the electric driving element 331 of the electric driving assembly 330 cannot timely pull the connecting element 332 and the differential pedal 320 to the required position, i.e., cannot immediately engage the differential 310 when executing the operation command. At this time, the elastic member 333 is stretched and accumulates elastic potential energy. When the wheels of the traveling mechanism 221 slowly rotate to a proper position, the differential 310 is engaged and switched to a locked state, and the elastic potential energy accumulated by the elastic element 333 is gradually released, so as to prevent the electric driving element 331, the connecting element 332 and the differential pedal 320 from being damaged, thereby prolonging the service life of the differential lock system 300.
Preferably, the elastic member 333 is connected to the connecting member 332 and the differential pedal 320, and can also provide a buffering time to protect against overload.
Further, the electric driving assembly 330 includes a mounting plate 334, a fixing plate 335 and a guiding tube 336, wherein the mounting plate 334 and the fixing plate 335 are respectively mounted to the body 210, the electric driving element 331 is mounted to the mounting plate 334, and the guiding tube 336 is mounted to the mounting plate 334 and the fixing plate 335. The guide tube 336 has a guide channel 3361, and the connecting member 332 is movably retained to the guide channel 3361 of the guide tube 336. On the one hand, by guide pipe 336 is regular the extending direction of connecting element 332, on the other hand, guide pipe 336's parcel is favorable to avoiding connecting element 332 takes place to rub and cut with spare part on every side in the in-process of frequent motion.
It is worth mentioning that the differential pedal 320 of the differential lock system 300 allows the driver to drive the rotation by stepping, i.e. the differential 310 can be switched not only electrically driven but also manually driven between the locked state and the unlocked state.
According to another aspect of the present invention, the present invention further provides a control method of the differential control system 300, wherein the control method comprises the steps of:
(a) electrically driving the differential pedal 320 to rotate; and
(b) causing the differential 310 to switch between the locked state and the unlocked state.
Specifically, in the step (a), the electric driving element 331 electrically pulls the connecting element 332 to move in a telescopic manner, so as to drive the differential pedal 320 to rotate.
Further, in the step (a), when the electric driving element 331 contracts, the connecting element 332 is pulled to move towards the electric driving element 331, and the differential pedal 320 is further pulled to rotate to a preset position; when the electric driving element 331 is elongated, the connecting element 331 moves away from the electric driving element 331, and the differential pedal 320 rotates to an initial position.
In this particular embodiment of the present invention, the control method further includes the step (c) of deforming the elastic member 333 in a stretched manner when the electric driving member 331 is contracted, and restoring the elastic member 333 to an original state after the differential pedal 320 is rotated to a preset position.
It will be appreciated by persons skilled in the art that the above embodiments are only examples, wherein features of different embodiments may be combined with each other to obtain embodiments which are easily conceivable in accordance with the disclosure of the invention, but which are not explicitly indicated in the drawings.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (18)
1. A differential lock system, comprising:
a differential mechanism;
a differential pedal, wherein said differential pedal is connected to said differential, said differential pedal being capable of driving said differential between a locked state and an unlocked state; and
an electric drive assembly, wherein said electric drive assembly comprises an electric drive element and a connecting element, wherein said connecting element is connected to said electric drive element and said differential pedal, respectively, said electric drive element being capable of electrically driving said connecting element and said differential pedal to move, thereby changing the operating state of said differential.
2. The differential lock system of claim 1 wherein the electrically driven assembly further comprises a resilient member, wherein the resilient member is connected at both ends to the electrically driven member and the connecting member, respectively.
3. The differential lock system of claim 1 wherein the electric drive assembly further comprises a resilient member, wherein both ends of the resilient member are connected to the differential pedal and the connecting member, respectively.
4. The differential lock system according to any one of claims 1 to 3 wherein said electric drive assembly includes a mounting plate, a fixed plate and a guide tube, said guide tube having a guide channel, wherein said electric drive element is mounted to said mounting plate, said guide tube is fixed to said mounting plate and said fixed plate, and said connecting element is movably retained to said guide channel of said guide tube.
5. The differential lock system of claim 4 further comprising a controller, wherein the controller is communicatively coupled to the electrically driven element of the electrically driven assembly.
6. The differential lock system of claim 5 further comprising a control handle, wherein the control handle is communicatively coupled to the controller.
7. The differential lock system of any of claims 1-3 wherein the electrically driven element is an electric push rod.
8. A rice transplanter, comprising:
a rice transplanter body, wherein the rice transplanter body comprises a body main body, a traveling main body, and an planting main body, wherein the traveling main body and the planting main body are provided to the body main body; and
a differential lock system, wherein said differential lock system comprises a differential, a differential pedal and an electric drive assembly, wherein said electric drive assembly comprises an electric drive element and a connecting element, wherein said differential is connected to said traveling body, said differential pedal is connected to said differential, said differential pedal is capable of driving said differential to switch between a locked state and an unlocked state, wherein said connecting element is connected to said electric drive element and said differential pedal, respectively, said electric drive element is capable of electrically driving said connecting element and said differential pedal to move, thereby changing an operating state of said differential.
9. The rice transplanter according to claim 8, wherein the electric driving assembly further comprises an elastic member, wherein both ends of the elastic member are connected to the electric driving member and the connection member, respectively.
10. The rice transplanter according to claim 8, wherein said electric drive assembly further comprises an elastic member, wherein both ends of said elastic member are connected to said differential pedal and said connecting member, respectively.
11. The rice transplanter according to any one of claims 8 to 10, wherein the electric driving assembly comprises a mounting plate, a fixing plate, and a guide pipe having a guide passage, wherein the electric driving member is mounted to the mounting plate, the guide pipe is fixed to the mounting plate and the fixing plate, and the connecting member is movably held to the guide passage of the guide pipe.
12. The rice transplanter according to claim 11, wherein said differential lock system further comprises a controller, wherein said controller is communicatively connected to said electric drive element of said electric drive assembly.
13. The rice transplanter according to claim 12, wherein said differential lock system further comprises a control handle, wherein said control handle is communicatively connected to said controller.
14. The rice transplanter according to any one of claims 8 to 10, wherein the electric driving element is an electric push rod.
15. A control method of a differential lock control system, characterized by comprising the steps of:
(a) electrically driving a differential pedal to move; and
(b) a differential is actuated to switch between a locked state and an unlocked state.
16. The control method as claimed in claim 15, wherein in said step (a), an electrically driven element electrically extends and retracts to pull a connecting element to rotate, thereby driving said differential pedal to rotate.
17. The control method of claim 16, wherein in said step (a), when said electrically driven element is retracted, said connecting element is pulled to move toward said electrically driven element, thereby pulling said differential pedal to rotate to a preset position; when the electric drive element is elongated, the connecting member moves in a direction away from the electric drive element, and the differential pedal rotates to an initial position.
18. The control method according to claim 17, further comprising the step (c) of deforming an elastic member in a stretched manner when the electric drive element contracts, and restoring the elastic member to an original state after the differential pedal is rotated to a preset position.
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| CN202010882855.7A CN112855889A (en) | 2020-08-28 | 2020-08-28 | Rice transplanter, differential lock system thereof and control method |
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| CN202010882855.7A CN112855889A (en) | 2020-08-28 | 2020-08-28 | Rice transplanter, differential lock system thereof and control method |
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