CN113906873A - Transplanting part clutch control mechanism, rice transplanter and automatic driving system - Google Patents

Abstract

The application provides a transplanting part clutch control mechanism, a rice transplanter and an automatic driving system, and solves the problem that the automation level of the rice transplanter in the prior art is low. Wherein, insert a portion clutch control mechanism and include: a motor; the fixing component is used for fixing the motor on a rack of the rice transplanter; and one end of the connecting rod assembly is connected with an output shaft of the motor, the other end of the connecting rod assembly is used for being connected with a first connecting rod of the rice transplanter, the first connecting rod is a control connecting rod for engaging and disengaging of an inserting part of the rice transplanter, and the connecting rod assembly is used for transmitting the power of the motor to the first connecting rod so as to drive the engaging and disengaging of the inserting part to be opened and closed.

Description

Transplanting part clutch control mechanism, rice transplanter and automatic driving system

Technical Field

The application relates to the technical field of farmland operation machinery, in particular to a clutch control mechanism of an transplanting part, a rice transplanter and an automatic driving system.

Background

When the rice transplanter is used for field operation, in order to enable the transplanting part of the rice transplanter to be placed at a proper position and obtain power, an operator needs to operate a handle of the clutch of the transplanting part to enable the clutch of the transplanting part to be in a closed state. At present, the clutch of the transplanting part of the rice transplanter still needs to be controlled by manpower, and the automation level is lower.

Disclosure of Invention

In view of this, the embodiment of the application provides a transplanting part clutch control mechanism, a transplanting agricultural machine and an automatic driving system, and solves the problem that the automation level of the transplanting part clutch control mechanism in the prior art is low.

The present application provides in a first aspect an insertion part clutch control mechanism, including: a motor; the fixing assembly is used for fixing the motor on a rack of the rice transplanter; one end of the connecting rod assembly is connected with an output shaft of the motor, the other end of the connecting rod assembly is used for being connected with a first connecting rod of the rice transplanter, the first connecting rod is a control connecting rod of the clutch of the transplanting part of the rice transplanter, and the connecting rod assembly is used for transmitting the power of the motor to the first connecting rod so as to drive the transplanting part to be opened and closed.

In one embodiment, the connecting rod assembly comprises a first sub-connecting rod, a second sub-connecting rod and a third sub-connecting rod which form a crank rocker structure, wherein a first end of the first sub-connecting rod is connected with an output shaft of the motor, and a second end of the third sub-connecting rod is connected with the first connecting rod.

In one embodiment, the first end of the second sub-link is pivotally connected to the second end of the first sub-link, and the second end of the second sub-link is slidably connected to the first end of the third sub-link.

In one embodiment, the second end of the second sub-link is provided with a protrusion structure, the first end of the third sub-link is provided with a strip-shaped through hole, and the protrusion structure and the strip-shaped through hole are in sliding fit.

In one embodiment, the fixing assembly includes a stopper; the rotation track of the first sub-link comprises a first cut-off position and a second cut-off position, wherein the second end of the first sub-link is abutted with the limiting piece at the first cut-off position, and the second end of the first sub-link is abutted with the rack at the second cut-off position.

In one embodiment, in the second cut-off position, the return acting force of the first connecting rod is transmitted to the first sub-connecting rod through the third sub-connecting rod and the second sub-connecting rod, so that the first sub-connecting rod has a tendency to rotate towards the direction of the rack.

In one embodiment, the insertion part clutch control mechanism further comprises a buffer block fixed at the second end of the first sub-link.

In one embodiment, the fixing assembly comprises a hoop and a fixing plate; the staple bolt is used for being connected with the frame, and the motor passes through the fixed plate to be fixed in one side of staple bolt.

In a second aspect, the application provides a rice transplanter which comprises the transplanting part clutch control mechanism provided by any one of the above embodiments.

A third aspect of the present application provides an automatic driving system, comprising: a rice transplanter provided with the clutch control mechanism provided by any one of the embodiments; and the automatic driving equipment is arranged on the rice transplanter, is connected with a motor in the clutch control mechanism and is used for controlling the starting and stopping of the motor.

The application provides a plant a portion separation and reunion control mechanism inserts, after this mechanism installed the transplanter, can utilize the motor to provide power to utilize link assembly as the transmission structure between motor and the first link, transmit the power of motor to first link, with the drive plant a portion separation and reunion open and shut. Therefore, the clutch control mechanism of the transplanting part can change the transplanting part clutch of the rice transplanter from manual operation to electric operation, thereby improving the automation level of the rice transplanter.

Furthermore, in some embodiments, the insertion part clutch control mechanism provided by the present application further comprises the following technical effects: the connecting rod assembly is used for transmitting the power of the motor to the clutch, and compared with a mode of directly driving the clutch by using the motor, the clutch has the advantages that the moment arm is increased, so that the current of the motor can be reduced; for a conventional transplanter, at least one driver and one seedling placer are needed in the operation project of the transplanter, but the transplanter adopting the transplanting part clutch control mechanism provided by the embodiment can simultaneously carry out seedling placement and driving by one operator, thereby saving the labor cost; the clutch control mechanism of the transplanting part provided by the embodiment of the application can be directly and conveniently installed on the transplanter without transforming the transplanter body or only needing small transformation, and the transformation cost is low.

Drawings

Fig. 1 is a partial exploded view of a prior art clutch control mechanism of an insertion portion.

Fig. 2 is a schematic structural view of the insertion portion clutch control mechanism in a first working state according to an embodiment of the present application.

Fig. 3 is a schematic structural view of the clutch control mechanism of the inserting portion shown in fig. 2 in a second working state.

Fig. 4 is a block diagram of an automatic driving system according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

FIG. 1 is a partial exploded view of a manual control mechanism for engaging and disengaging the transplanting portion of a rice transplanter. The transplanting part clutch control mechanism is used for controlling the transplanting part of the rice transplanter to open and close in a clutch way. As shown in fig. 1, the plant part clutch control mechanism 10 includes a swing arm 12, a U-shaped link 13, a control link 14, an adjustable push rod 15, an L-shaped pull rod 16, and a spring 17. Wherein, the clutch control mechanism 10 is connected with a frame 11 of the rice transplanter through a swing arm 12, a control connecting rod 14 and a spring 17.

The operator is directed in a first direction L₁When the handle is pushed, the swing arm 12, the U-shaped connecting rod 13, the control connecting rod 14, the adjustable push rod 15 and the L-shaped pull rod 16 are driven in sequence. The L-shaped pull rod 16 pulls out the clutch pin, so that the clutch is in a linkage state. In the above process, the control link 14 drives the spring 17 to stretch, so as to store elastic potential energy. The operator is directed in a first direction L₁A second opposite direction L₂When the handle is pushed, the spring 17 releases elastic potential energy to drive the control connecting rod 14 to rotate reversely, the control connecting rod 14 sequentially drives the adjustable push rod 15 and the L-shaped pull rod 16, the L-shaped pull rod 16 drives the clutch pin to reset, and the clutch pin is enabled to be clutchedIn an uncoupled state.

As described above, the insertion section clutch control mechanism 10 shown in fig. 1 realizes switching between the interlocking state and the non-interlocking state by manually controlling the insertion section clutch, and has a low automation level. In view of this, the present application provides a clutch control mechanism that controls a clutch to switch states in an automated manner. The following detailed description is made with reference to the accompanying drawings.

Fig. 2 is a schematic structural view of the insertion portion clutch control mechanism in a first working state according to an embodiment of the present application. Fig. 3 is a schematic structural view of the clutch control mechanism of the inserting portion shown in fig. 2 in a second working state. The first operating state is an operating state of the clutch control mechanism 20 when the insertion portion clutch is in the off state. The second operating state is the operating state of the clutch control mechanism 20 when the plant part clutch is in the closed state. As shown in fig. 2 and 3, the insertion part clutch control mechanism 20 includes a motor 21, a fixing assembly 22, and a link assembly 23, which are connected in sequence. Wherein, the fixing component 22 is used for fixing the motor 21 on the frame of the rice transplanter. One end of the connecting rod assembly 23 is connected with the output shaft of the motor 21, and the other end is used for being connected with a first connecting rod 230 of the rice transplanter, wherein the first connecting rod 230 is the control connecting rod 14 in the transplanting part clutch control mechanism 10 shown in figure 1. The first link 230 is not shown in fig. 3 to avoid obscuring other structures. The connecting rod assembly 23 is used for transmitting the power of the motor 21 to the first connecting rod 230 so as to drive the insertion part to open and close.

It should be noted that reference herein to "for" means that the respective components of the insertion part clutch control mechanism 20 can be mounted on the existing structure of the rice transplanter when in use. For example, the fixing unit 22 may be fixed to a frame of a rice transplanter via the fixing unit 22 when the transplanting unit clutch control mechanism 20 is used. For another example, the connecting rod assembly 23 may be connected to the first connecting rod 230 through the other end of the connecting rod assembly 23 when the insertion portion clutch control mechanism 20 is in use.

In one embodiment, the fixing assembly 22 may include a fixing plate 221 and an anchor ear 222. The motor 21 is fixed on one side of the anchor ear 222 through the fixing plate 221, and the anchor ear 222 is used for fixing the transplanting part clutch control mechanism 20 on the frame of the rice transplanter. Adopt staple bolt 222 to fix, simple to operate need not to punch. In one example, the rotational axis of the motor 21 is parallel to the center line of the hoop 222.

In one embodiment, the link assembly 23 includes a first sub-link 231, a second sub-link 232, and a third sub-link 233 constituting a crank and rocker mechanism, a first end of the first sub-link 231 is connected to the output shaft of the motor 21, a second end of the first sub-link 231 may be connected to a first end of the second sub-link 232, a second end of the second sub-link 232 may be connected to a first end of the third sub-link 233, and a second end of the third sub-link 233 is connected to the first link 230.

Specifically, as shown in fig. 2 and 3, the link assembly 23 includes a first sub-link 231, a second sub-link 232, and a third sub-link 233. The first, second, and third sub-links 231, 232, and 233 respectively include two ends disposed opposite to each other. The first end of the first sub-link 231 is coaxially disposed with the motor 21, and the second end is rotatably connected with the first end of the second sub-link 232. In one example, the second end of the first sub-link 231 and the first end of the second sub-link 232 are connected by a bearing 24. The second end of the second sub-link 232 is slidably coupled to the first end of the third sub-link 233. In one example, the second end of the second sub-link 232 is provided with a protrusion structure, and the first end of the third sub-link 233 is provided with a strip-shaped through hole, and the protrusion and the strip-shaped through hole are in sliding fit. A second end of the third sub-link 233 is fixedly connected to the first link 230.

The first link 230 is the control link 14 of fig. 1. In one embodiment, the first link 230 is a V-shaped link including a first side wall 230a and a second side wall 230b that are angled with respect to each other. The link assembly 23 further includes a fourth sub-link 234, a first end of the fourth sub-link 234 is fixedly connected to a second end of the third sub-link 233, and a second end of the fourth sub-link 234 is fixedly connected to a region of the first sidewall 230a adjacent to the second sidewall 230 b. The fourth sub-link 234 is used for being rotationally connected with a round pipe on the transplanter frame. In this case, the socket clutch control mechanism 20 may replace the combination of the swing arm 12 and the U-shaped link 13 in fig. 1 to drive the control link 14 to rotate.

According to the insertion part clutch control mechanism 20 provided by the embodiment, the motor 21 is used for providing driving force, and the connecting rod assembly 23 is used as a transmission structure between the motor 21 and the first connecting rod 230, so that the insertion part clutch is driven to open and close through the first connecting rod 230, and the following technical effects can be achieved: firstly, the motor 21 is used as a power source to automatically replace manual operation, so that the automation level of the clutch control mechanism of the inserting part is improved; secondly, the power of the motor 21 is transmitted to the clutch by the connecting rod assembly 23, and compared with a mode of directly driving the clutch by the motor 21, the force arm is increased, so that the current required to be provided by the motor 21 can be reduced, and the energy is saved; thirdly, as for the conventional transplanter, the transplanter needs at least one driver and one seedling releaser in the operation project, but the transplanter adopting the clutch control mechanism of the transplanting part provided by the embodiment can simultaneously release and drive seedlings by one operator, thereby saving the labor cost; fourth, the power of the motor 21 is transmitted to the first link 230 through the link assembly 23, and the first link 230 is a control link for engaging and disengaging the transplanting portion of the rice transplanter. In this case, the insertion part clutch control mechanism provided by the embodiment of the present application can directly replace a manual control assembly (i.e., the combination of the swing arm 12 and the U-shaped link 13 shown in fig. 1) to drive the first link 230 to rotate, and further, the first link 230 drives the clutch to open and close, so that the modification is small and the cost is low.

In one embodiment, the rotation trajectory of the first sub-link 231 includes a first off position P as shown in fig. 2 and a second off position Q as shown in fig. 3, which correspond to the first and second operating states of the plant section clutch control mechanism 20, respectively. The first and second off positions P and Q mentioned herein indicate both ends on the rotation trajectory of the first sub link 231, respectively, for defining the rotation angle of the first sub link 231, i.e., the first sub link 231 can only make the rotational movement within the angle defined by the first and second off positions P and Q.

Specifically, as shown in fig. 2 and 3, the fixing member 22 includes a stopper 221 a. In one example, the limiting member 221a is implemented as a protrusion on the fixing plate 221, i.e., the fixing plate 221 includes a protrusion to form the limiting member. In the first off position P, the second end of the first sub link 231 abuts against the stopper 221a, and in the second off position Q, the first sub link 231 abuts against the frame. For example, the frame includes a square tube, the anchor 25 is fixed to the square tube, and the first sub link 231 abuts against the square tube at the second off position Q.

In one embodiment, the insertion part clutch control mechanism 20 further includes a buffer block 25 fixed to the second end of the first sub link 231. The material of the buffer block 25 is, for example, polyurethane, which can reduce the impact force of the structure and improve the durability.

It should be understood that the specific configurations of the first sub link 231 at the first off position P and the second off position Q shown in the embodiments of fig. 2 and 3 are only exemplary, and in other embodiments, other configurations may be adopted. For example, another limiting member is disposed at the second cut-off position Q instead of the frame, and is used for abutting against the second end of the first sub-link 231 to limit the first sub-link 231.

In one embodiment, in the second off position Q, as shown in fig. 3, the restoring force of the first link 230 is transmitted to the first sub-link 221 through the third sub-link 233 and the second sub-link 222, so that the first sub-link 221 tends to rotate in the direction of the rack. The return force referred to herein may be that applied to the first link 230 by a return spring. Referring to fig. 1, the first link 230 is connected to the spring 17, when the first sub-link 231 is at the second cut-off position Q, the first link 230 lengthens the spring 17 after rotating counterclockwise, the spring 17 has a tendency to shorten, so as to provide a restoring force to the first link 230 to rotate it clockwise, and the first sub-link 231 can have a tendency to rotate toward the rack (i.e., rotate counterclockwise in fig. 3) after the restoring force is transmitted to the first sub-link 231, so that the first sub-link 231 just can abut against the rack to form a self-lock, without the need of the motor to continuously maintain a large current, and the service life of the motor is prolonged. In one example, the first link 230 is a V-shaped link including a first side wall 230a and a second side wall 230b angled with respect to each other, and a spring connected to an end of the second side wall 230 b.

In this case, the operation of the clutch control mechanism 20 includes: referring to fig. 2, when the first sub link 231 is at the first cut-off position P, the motor 21 rotates clockwise to drive the first sub link 231 to rotate clockwise, the first sub link 231 drives the third sub link 233 to rotate counterclockwise through the second sub link 232, the third sub link 233 drives the first link 230 to rotate counterclockwise, and the first link 230 drives the spring to stretch to store elastic potential energy. When the first sub link 231 rotates to the second off position Q, as shown in fig. 3, the first sub link 231 abuts against the square tube, the square tube forms a stop for the first sub link 231, and the first sub link 231 cannot rotate clockwise. At this time, the first link 230 has a clockwise rotation tendency by a pulling force of the spring, and accordingly, the third sub-link 233 has a clockwise rotation tendency. In this case, the third sub-link 233 pushes the second sub-link 232 along the arrow line L, the second sub-link 232 pushes the first sub-link 231 to have a clockwise rotation tendency, and the first sub-link 231 is supported by the square tube, so that the whole structure is self-locked, i.e. the second position Q of the first sub-link 231 is not maintained by the motor 21.

Referring to fig. 3, when the first sub link 231 is at the second off position Q, the motor 21 rotates counterclockwise to drive the first sub link 231 to rotate counterclockwise, so as to release the limit of the square tube on the first link 230. In this case, the spring releases elastic potential energy, pulling the first link 230 to rotate clockwise. When the first sub-link 231 rotates to the first off position P, the second end of the first sub-link 231 contacts the stopper 221a, and the stopper 221a stops the first sub-link 231, so that the motor 21 is over-current, the motor stops rotating, and the first sub-link 231 is maintained at the first off position P.

According to the insertion part clutch control mechanism provided by the embodiment, when the first sub link 231 is at the first cut-off position P and the second cut-off position Q, the motor 21 is not required to provide power to maintain the state of the first sub link 231, and the service life of the motor 21 is prolonged.

In one embodiment, when the first sub link 231 is at the first cut-off position P and the first link 230 rotates clockwise under the action of the external force, the first link 230 drives the third sub link 233 to slide clockwise along the strip through hole, and the second sub link 233 remains stationary with respect to the first sub link 231.

The external force referred to herein may be applied to the first link 230 by a manual control assembly, such as the combination of the swing arm 12 and the U-shaped link 13 shown in fig. 1. Referring to fig. 1 and 2, the first end of the U-shaped link 13 is slidably connected to the first link 230, and the second end is fixedly connected to the swing arm 12. Specifically, the first link 230 is a V-shaped link, the V-shaped link includes a first side wall 230a and a second side wall 230b that form an included angle with each other, a strip-shaped through hole 230c is opened on the first side wall 230a, the strip-shaped through hole 230c extends along a direction in which an end of the first side wall 230a points to the second side wall 230b, the first end of the U-shaped link 13 includes a protruding structure 13a, and the protruding structure 13a and the strip-shaped through hole 230c are slidably connected.

In this case, when manual control is required, the first sub link 231 may be controlled to rotate to the first off position P shown in fig. 2 by the motor 21. At this time, the operator pushes the handle in the first direction L1, on one hand, the first link 230 is driven to rotate counterclockwise, so as to control the clutch to be switched to the linkage state; on the other hand, due to the existence of the strip through hole on the third sub-link 233, the rotation motion of the first link 230 does not rotate the second sub-link 232.

Therefore, the clutch control mechanism of the inserting part provided by the embodiment can be compatible with a manual control assembly, so that an automatic and manual dual control mode of the inserting part clutch is realized.

In one embodiment, the rice transplanter further comprises a conversion assembly (not shown) for converting the rotational motion of the first link 230 into the linear motion of the clutch pin. For example, the conversion assembly includes a combination of an adjustable push rod 15 and an L-shaped pull rod 16 as shown in fig. 1. The end of the second side wall 230b of the first link 230 is connected to the first end of the adjustable push rod 15, and the second end of the adjustable push rod 15 is connected to the L-shaped pull rod 16.

In the process that the first sub-link 231 rotates clockwise to the second cut-off position Q, the first link 230 rotates counterclockwise, and the adjustable push rod 15 drives the L-shaped pull rod 16 to pull out the clutch pin, so that the clutch is closed, and the linkage between the motor 21 and the clutch is realized. In the process that the first sub-link 231 rotates counterclockwise to the first stop position P, the spring drives the first link 230 to rotate clockwise, the adjustable push rod 15 drives the L-shaped pull rod 16 to drive the clutch pin to reset, the clutch is disconnected, and the linkage between the motor 21 and the clutch is released.

It should be noted that the conversion assembly may also be a gear rack, a worm gear, a ball screw, etc., and the specific structure of the conversion assembly is not limited in this embodiment.

The application also provides a rice transplanter which comprises the transplanting part clutch control mechanism 20 provided by any embodiment. Details regarding the insertion section clutch control mechanism 20 will not be described herein.

The application also provides an automatic driving system. Fig. 4 is a block diagram of an automatic driving system according to an embodiment of the present application. As shown in fig. 4, the autopilot system 40 includes a rice transplanter 41 and an autopilot device 42. The rice transplanter is provided with the transplanting part clutch control mechanism 20 provided by any one of the embodiments, the automatic driving device 42 is arranged on the rice transplanter and is connected with the motor 21 in the clutch control mechanism 20, and the on-off of the motor 21 can be controlled according to the requirement of automatic driving, so that the clutch is controlled to carry out state switching. Autopilot device 42 includes a autopilot and/or an agricultural control box.

For example, the autopilot device 42 controls the motor 21 to rotate clockwise according to the acquired linkage control instruction, and controls the motor 21 to stop rotating according to the acquired overcurrent signal of the motor 21; and controlling the motor 21 to rotate anticlockwise according to the acquired non-linkage control instruction, and controlling the motor 21 to stop rotating according to the acquired overcurrent signal of the motor 21. Wherein, the linkage control command and the non-linkage control may be triggered by the rice transplanter 41 traveling to a specified position, and the specified position may be marked on the map in advance.

The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.

Claims (10)

1. An insertion part clutch control mechanism, comprising:

a motor;

the fixing assembly is used for fixing the motor on a rack of the rice transplanter;

one end of the connecting rod assembly is connected with an output shaft of the motor, the other end of the connecting rod assembly is used for being connected with a first connecting rod of the rice transplanter, the first connecting rod is a control connecting rod of the clutch of the transplanting part of the rice transplanter, and the connecting rod assembly is used for transmitting the power of the motor to the first connecting rod so as to drive the transplanting part to open and close the clutch.

2. The insertion part clutch control mechanism according to claim 1, wherein the link assembly includes a first sub-link, a second sub-link, and a third sub-link constituting a crank and rocker structure, a first end of the first sub-link is connected to the output shaft of the motor, and a second end of the third sub-link is connected to the first link.

3. The insertion section clutch control mechanism according to claim 2, wherein the first end of the second sub-link is rotatably connected to the second end of the first sub-link, and the second end of the second sub-link is slidably connected to the first end of the third sub-link.

4. The insertion part clutch control mechanism according to claim 3, wherein the second end of the second sub-link is provided with a protrusion structure, the first end of the third sub-link is provided with a strip-shaped through hole, and the protrusion structure is in sliding fit with the strip-shaped through hole.

5. The insertion portion clutch control mechanism according to claim 2, wherein the fixing member includes a limiting member; the rotation track of the first sub-link includes a first cut-off position where the second end of the first sub-link abuts against the limiting member and a second cut-off position where the second end of the first sub-link abuts against the frame.

6. The insertion section clutch control mechanism according to claim 5, wherein in the second off position, the returning acting force of the first link is transmitted to the first sub-link through the third sub-link and the second sub-link, and the first sub-link has a tendency to rotate in the direction of the frame.

7. The insertion portion clutch control mechanism according to claim 5, further comprising a bumper secured to the second end of the first sub-link.

8. The insertion part clutch control mechanism according to claim 1, wherein the fixing member includes a hoop and a fixing plate; the hoop is used for being connected with the rack, and the motor is fixed on one side of the hoop through the fixing plate.

9. A rice transplanter comprising the transplanting portion clutch control mechanism according to any one of claims 1 to 8.

10. An autopilot system, comprising:

a rice transplanter provided with the clutch control mechanism according to any one of claims 1 to 8;

and the automatic driving equipment is arranged on the rice transplanter, is connected with a motor in the clutch control mechanism and is used for controlling the starting and stopping of the motor.

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