CN114467414A - Electric-drive zero-speed seed throwing device, control system and control method - Google Patents
Electric-drive zero-speed seed throwing device, control system and control method Download PDFInfo
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- CN114467414A CN114467414A CN202210024485.2A CN202210024485A CN114467414A CN 114467414 A CN114467414 A CN 114467414A CN 202210024485 A CN202210024485 A CN 202210024485A CN 114467414 A CN114467414 A CN 114467414A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
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- A01C7/20—Parts of seeders for conducting and depositing seed
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The device comprises a seed throwing shell, a seed receiving port, a seed throwing wheel, a seed throwing shaft, a driving mechanism and a seed throwing port, wherein the seed throwing shell comprises an upper shell and a lower shell, the seed throwing shell is fixedly connected with bolt hole sites on two sides, the seed receiving port is arranged at the top of the seed throwing shell and is connected with a seed outlet at the bottom of a seed sowing device, the seed throwing wheel comprises a supporting wheel and rubber poking teeth, a key groove is formed in the center hole of the supporting wheel and is in key connection with the seed throwing shaft, the driving mechanism comprises a seed throwing motor and a speed reducer, two ends of the seed throwing shaft are fixed through a bearing with a base, and the seed throwing port is arranged at the bottom of the seed throwing shell. The control system and the control method utilize the Beidou speed measurement module to acquire the advancing speed of the seeder in real time, so that the rotating speed of the seed throwing wheel is self-adaptively adjusted according to the advancing speed of the seeder, and the seeds obtain horizontal component speeds which are opposite to the advancing direction of the seeder and equal to the advancing direction of the seeder, thereby realizing zero-speed seed throwing.
Description
Technical Field
The invention relates to the technical field of agricultural precision seeding, in particular to an electric-drive type zero-speed seed throwing device, a control system and a control method.
Background
The precision seeding technology is characterized in that a precision seeder is used for seeding qualified seeds with accurate quantity to a preset position in soil meeting the growth requirement of crops according to the agronomic requirement, and comprises the steps of seed filling, seed carrying, seed cleaning, seed throwing and the like, wherein the seed throwing step is used as a tail end step for enabling the seeds to be buried in a uniform and ordered state in the seeding process, and plays an important role in the uniformity of the final field distribution of the seeds.
The most widely used seed feeding device at present is a gravity type under-constrained seed guide pipe, the device has simple structure and convenient installation, and seeds fall along the seed guide pipe under the action of gravity after leaving a seed discharging plate so as to reach a seed ditch. In the process, the seeds and the inner wall of the seed guide pipe randomly collide, and the seeds are subjected to bouncing and slipping due to overlarge relative speed during implantation, so that uniform and ordered seed flow is damaged, and the variation coefficient of the plant spacing is increased. When the seeding speed is lower, the uniformity of the seeding plant spacing can be improved by reducing the seed feeding height, and along with the continuous improvement of the seeding operation speed, the effect of reducing the seed feeding height on improving the uniformity of the seeding plant spacing is not more obvious. The zero-speed seed throwing is a technology for realizing stable seed throwing under the condition of high-speed seeding operation, namely the instantaneous speed of seeds relative to the ground is close to zero when the seeds are planted. The zero-speed seed feeding mainly comprises two modes of 'gravity seed feeding' and 'secondary seed feeding', wherein the 'gravity seed feeding' means that seeds discharged from a seed discharging port fall under the action of gravity and pass through a seed guide pipe to obtain a horizontal component speed which is equal to the operation speed of the seeder and is opposite to the operation speed of the seeder. The secondary seed throwing is to accelerate the seeds discharged from the seed outlet to the opposite direction of the advancing direction of the seeder through mechanical action, so that the seeds can obtain the horizontal speed which is opposite to and equal to the advancing direction of the seeder.
In the prior art, chinese patent application publication No. CN107580837A discloses a V-groove shifting wheel type seed guiding device, which adopts a secondary seed feeding mode to uniformly sort the seeds discharged from the seed discharging port of the seed sowing device, and guides the seeds to enter the steepest descent line seed guiding tube of the V-groove, so as to reduce or offset the relative speed of the seeds at the moment of falling into the seed trench. However, although the speed of the flexible seed-poking wheel is adjustable, so that the seed-separating speed is adjustable, and the speed of the seeds entering the seed-guiding tube is controllable, the seeds still need to move for a certain distance in the seed-guiding tube to fall into the seed groove, and the speed of the seeds at the moment of leaving the seed-guiding tube cannot be quantitatively controlled. The technical scheme of the Chinese patent with the application publication number of CN104541696A can prevent weeds and the like from entering the air chamber when seeds are thrown at a low position. However, the power of the seed feeding device is transmitted from the seed discharging device, and the working rotating speeds of the seed feeding device and the seed discharging device are related and cannot be independently arranged. The application publication number is CN 2855033Y's Chinese utility model patent, discloses a kind of zero-speed seed throwing dish, and it adopts land wheel drive, can realize theoretically that the zero-speed seed throwing is planted. However, when the land wheel slides, the seed throwing performance of the zero-speed seed throwing disc is affected. Particularly, in high-speed operation, the seeding precision can not be guaranteed.
Disclosure of Invention
The invention provides an electric-drive type zero-speed seed throwing device, a control system and a control method, aiming at solving the problems that the conventional zero-speed seed throwing device is influenced by ground wheel slip factors, the seed throwing speed cannot be self-adjusted according to the advancing speed of a seeder and the like.
The embodiment of the invention provides an electrically-driven zero-speed seed throwing device which comprises a seed throwing shell, a seed receiving port, a seed throwing wheel, a seed throwing shaft, a driving mechanism and a seed throwing port, wherein the seed throwing shell comprises an upper shell and a lower shell which are fixedly connected through bolt hole positions on two sides, the seed receiving port is arranged at the top of the seed throwing shell and is connected with a seed outlet at the bottom of a seed sowing device, the seed throwing wheel comprises a supporting wheel and rubber poking teeth, a key groove is formed in the central hole of the supporting wheel and is in key connection with the seed throwing shaft, two ends of the seed throwing shaft are fixed through a bearing with a seat, and the seed throwing port is arranged at the bottom of the seed throwing shell.
The following further technical scheme is explained:
specifically further, throw the wheel and include that rubber dials tooth and supporting wheel, rubber dials the tooth and installs on the supporting wheel, the supporting wheel is installed throw epaxial, the groove of rubber dials the tooth and throw and form seed between the inner wall of seed case and separate the chamber, the three-dimensional size that the seed separated the chamber is equal to or greater than the maximum size of seed, the seed with the seed separates the chamber and keeps relative still, and the seed along with throw the wheel and rotate and move.
It is specifically further, actuating mechanism is including throwing kind of motor and speed reducer, the speed reducer is hole output type one-level planetary reducer, throws the axle through the key-type connection drive and rotates, throw kind of motor and select DC brushless motor for use, adopt speed control mode, the rotational speed is controlled by DC brushless motor driver.
The seed feeding device is arranged at the bottom of the seed metering device, and the seed inoculating port is vertically opposite to the seed outlet port at the bottom of the seed metering device to form a seed metering channel together.
Specifically, the rotation direction of the seed throwing wheel is opposite to the rotation direction of the seed sowing plate. The rotating speed of the seed throwing wheel is calculated according to the following formula:
in the formula, n is the rotating speed of the seed throwing wheel, the unit is r/min, theta is an included angle between the speed of the seed when the seed leaves the rubber shifting teeth and the horizontal direction, and r is the radius of the seed separating chamber on the seed throwing wheel.
Specifically, further, the working process of the zero-speed seed throwing device is as follows: the seeds fall into the grooves of the rubber poking teeth of the seed throwing wheel from the inoculation port. Because the seed separates the chamber between the groove of the rubber of throwing the wheel and throw kind of the shell inner wall and form, the three-dimensional size that the seed separated the chamber equals the size of biggest maize seed grain to, the seed separates the chamber and can keep static relatively with the seed, and the seed can be followed throw the wheel and rotate and move. The lower edge of the seed throwing shell is provided with a seed throwing port, when the seeds rotate along with the seed throwing wheel at the seed throwing port, the seeds leave the seed throwing wheel along the rotating tangential direction of the seed throwing wheel and fall into a seed ditch under the action of gravity due to the loss of support.
The second aspect of the embodiment of the invention provides an electric-drive type zero-speed seed throwing device control system, which is used for realizing the self-adaptive adjustment of the rotating speed of a seed throwing wheel according to the advancing speed of a seeder, and comprises a main controller, a boosting module, a display terminal, a Beidou speed measuring module, a seed throwing motor driver, a seed throwing motor encoder and a seeding monitoring sensor, wherein the boosting module is used for boosting a vehicle-mounted 12V power supply to 24V to provide stable voltage for the control system, the display terminal is used for displaying the working state information of the seed throwing device and controlling the starting and stopping of the seed throwing motor, the Beidou speed measuring module is used for acquiring the advancing speed of the seeder and sending a navigation message containing the advancing speed information to the main controller, the seed throwing motor driver is used for controlling the rotating speed of the seed throwing motor, the seed throwing motor is used for driving the seed throwing device to rotate at zero speed, the seed throwing motor encoder is used for acquiring the real-time rotating speed of the seed throwing motor and feeding the seed throwing motor back to the main controller, the seeding monitoring sensors are installed on two sides of the seed throwing port and used for detecting the instantaneous speed of the seeds separated from the seed throwing port and feeding the information of the instantaneous speed of the seeds back to the main controller, the main controller is used for collecting the information of each sensor, calculating the target rotating speed of the zero-speed seed throwing device and sending a control signal to the seed throwing motor driver.
The third aspect of the embodiment of the invention provides a method for controlling the rotating speed of a zero-speed seed feeding device, which realizes the self-adaptive accurate adjustment of the rotating speed of the seed feeding device based on the advancing speed of a seeder, and comprises the following steps:
s1, the main controller receives the Beidou speed measurement module message and analyzes the advancing speed of the seeder;
s2, the main controller judges whether the advancing speed is more than 0 km/h: step S3 is executed when the seeder forward speed is 0, and step S4 is executed when the seeder forward speed is 0;
s3, the main controller sends a stop signal to the seed throwing motor driver;
s4, judging whether the advancing speed is more than or equal to 6km/h by the main controller: executing the steps S5, S6 and S12 when the advancing speed of the seeder is less than 6km/h, and executing the step S7 when the advancing speed of the seeder is more than or equal to 6 km/h;
s5, the main controller sends a speed-up signal to the display terminal for prompting a driver to increase the advancing speed of the seeder to the optimal working speed interval of the seeding and metering device;
s6, calculating the target rotating speed of the seed throwing mechanism by the main controller according to the advancing speed of the seeder, and executing a classical PID closed-loop control algorithm according to a feedback signal of a motor encoder;
s7, the main controller judges whether the advancing speed is more than or equal to 16 km/h: the steps S10, S11 and S12 are executed when the advancing speed of the seeder is less than 16km/h, and the steps S8 and S9 are executed when the advancing speed of the seeder is more than or equal to 16 km/h;
s8, the main controller sends a speed reduction signal to the display terminal to prompt a driver to reduce the advancing speed of the seeder to the optimal working speed interval of the seeding apparatus;
s9, executing a constant rotating speed control algorithm by the main controller according to the maximum target rotating speed of the seed throwing device;
s10, calculating the target rotating speed of the seed throwing mechanism by the main controller according to the advancing speed of the seeder, executing a double closed-loop cascade control algorithm, and sending a rotating speed control signal to a seed throwing motor driver;
s11, the main controller receives a seeding monitoring sensor feedback signal and calculates the seed horizontal direction component velocity; and
and S12, the main controller receives a feedback signal of the encoder of the seed feeding motor.
The rotating speed control method of the zero-speed seed throwing device is characterized in that the rotating speed control method is characterized in that 6-16 km/h is an optimal working speed interval of the seed metering device, and the seed metering precision of the seed metering device is highest in the interval. When the advancing speed of the seeder is lower than the speed interval, the detection error of the seeding monitoring sensor is larger, so that the instantaneous speed parameter of the seeds is invalid, the main controller executes a classical PID control algorithm in the interval, and the closed-loop control of the rotating speed of the seed feeding motor is realized only according to a feedback signal of a motor encoder; when the advancing speed of the seeder is in the speed interval, the main controller executes a double-closed-loop cascade control algorithm, and the closed-loop control of the rotating speed of the seed feeding motor is realized according to the feedback signal of the seeding monitoring sensor and the feedback signal of the motor encoder; when the advancing speed of the seeder is higher than the speed interval, the seed throwing speed of the seeds can be influenced by overlarge vibration caused by overhigh rotating speed of the seed throwing mechanism, the main controller calculates the maximum target rotating speed of the seed throwing device according to the highest working speed of 16km/h, and sends the maximum target rotating speed to the driver of the seed throwing motor to enable the seed throwing motor to be constant at the maximum target rotating speed.
The invention has the beneficial effects that:
1) the zero-speed seed throwing device adopts a driving scheme of a direct-current brushless motor and a hole output type primary planetary reducer, and compared with a ground wheel driving scheme, the zero-speed seed throwing device can eliminate the influence of ground wheel slippage and chain jumping on the rotating speed of the seed throwing device;
2) the seed separating chamber is arranged on the outer edge of the seed throwing wheel, and in the seed throwing process, seeds are limited in the seed separating chamber and rotate along with the seed separating chamber, so that the movement of the seeds is controlled, and the random movement is reduced;
3) the rotating speed control method of the zero-speed seed throwing device can adopt three different control algorithms according to the advancing speed of the seeder, realizes the self-adaptive accurate adjustment of the rotating speed of the seed throwing device based on the advancing speed of the seeder, ensures that the horizontal direction partial speed of seeds leaving a seed throwing mechanism is always equal to the advancing speed of the seeder and opposite in direction, realizes the zero-speed seed throwing, reduces the variation coefficient of the seeding plant spacing, and greatly improves the working quality of the seeder.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a schematic structural diagram of an electric-drive type zero-speed seed-feeding device in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control system of the electric drive type zero-speed seed throwing device in the embodiment of the invention;
FIG. 3 is a flow chart of a method for controlling the electric-drive type zero-speed seed throwing device according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of a classical PID closed-loop-control algorithm in step S6 of the control method;
fig. 5 is a schematic diagram of the double closed-loop cascade PID control algorithm in step S10 of the control method.
Wherein the reference numerals
101 seed throwing wheel
1011 rubber shifting tooth
1012 supporting wheel
102 seed throwing shaft
103 seed throwing shell
1031 Upper Shell
1032 lower casing
104 bearing with seat
105 bolt
106 spring washer
107 key
108 inoculation port
109 seed throwing port
201 Main controller
202 boost module
203 display terminal
204 big dipper speed module
205 throw kind of motor drive
206 seed throwing motor
207 throw kind of motor encoder
208 seeding monitoring sensor
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper", "lower", "left" and "right" indicate orientations and positional relationships based on those shown in the drawings, and are only used for convenience in describing the structure and operation of the present invention, but do not indicate or imply that the portions indicated must have specific orientations and operate in specific orientations, and thus, the present invention should not be construed as being limited thereto.
Fig. 1 is a schematic structural diagram of the electric-drive type zero-speed seed throwing device in the embodiment of the invention, which comprises: the seed throwing device comprises a seed throwing wheel 101, a rubber shifting tooth 1011, a supporting wheel 1012, a seed throwing shaft 102, a seed throwing shell 103, an upper shell 1031, a lower shell 1032, a seated bearing 104, a bolt 105, a spring washer 106, a key 107, a seed receiving port 108 and a seed throwing port 109, wherein the seed throwing wheel 101 is mounted on the seed throwing shaft 102 and rotates synchronously with the seed throwing shaft 102, a gap is reserved between the inner wall of the seed throwing shell 103 and the outer edge of the seed throwing wheel 101, namely the inner wall of the seed throwing shell 103 is not in contact with the outer edge of the seed throwing wheel 101, the gap of 1mm is preferably reserved, the seed throwing shaft 102 and the seed throwing wheel 101 are preferably circumferentially fixed through the flat key 107 and axially fixed through the spring washer 106. The inoculation port 108 is arranged at the top of the seed throwing shell 103, the seed throwing port 109 is arranged at the lower edge of the seed throwing shell 103, a seed baffle is arranged at the starting end of the inoculation port 108 and is aligned with the starting end of the seed discharging port 112, the seed throwing wheel 101 comprises a rubber shifting tooth 1011 and a support wheel 1012, the rubber shifting tooth 1011 is arranged on the support wheel 1012, and the structures of the joints of the rubber shifting tooth 1011 and the support wheel 1012 are complementary, so that connection is realized. The supporting wheel 1012 is installed on the seed throwing shaft 102, a seed compartment is formed between the groove of the rubber poking tooth 1011 and the inner wall of the seed throwing shell 103, the three-dimensional size of the seed compartment is equal to or larger than the maximum size of a seed, the seed and the seed compartment are kept relatively static, and the seed moves along with the rotation of the seed throwing wheel 101. The seed throwing shaft 102 of the present embodiment is provided with a key groove, and is radially fixed by a key 107 and the seed throwing wheel 101. The throw shaft 102 is axially fixed by a spring washer 106 and the throw wheel 101. The housing 103 is composed of an upper housing 1031 and a lower housing 1032, and the upper housing 1031 and the lower housing 1032 are connected by bolts. Wherein, the upper shell 1031 is provided with an inoculation port 108, and the lower shell 1032 is provided with a seed feeding port 109. Bosses are arranged on two sides of the lower shell 1032, threaded holes are formed in the bosses and used for mounting the seated bearing 104, and the seated bearing 104 is mounted on the bosses of the lower shell 1032 through bolts 105. The seed feeding shaft 102 is supported and positioned by a bearing 104 with a seat, and the seed feeding shaft 102 is installed in a bearing hole of the bearing 104 with a seat.
The working process of the electric-drive type zero-speed seed throwing device in the embodiment of the invention shown in figure 1 is as follows: the seed falls from the inoculation port 108 into the groove of the rubber poking tooth 1011 of the seed throwing wheel 101. Because a seed separation cavity is formed between the groove of the rubber poking teeth 1011 of the seed throwing wheel 101 and the inner wall of the seed throwing shell 103, the three-dimensional size of the seed separation cavity is equal to the size of the largest corn kernel, so that the seed and the seed separation cavity can be kept relatively static, and the seed can move along with the rotation of the seed throwing wheel 101. The seed throwing shell 103 is provided with a seed throwing port 109 at the lower edge, and when the seeds rotate to the seed throwing port 109 along with the seed throwing wheel 101, the seeds leave the seed throwing wheel 101 along the rotating tangential direction of the seed throwing wheel 101 under the action of gravity due to the loss of support and fall into a seed ditch.
Fig. 2 is a schematic structural diagram of a control system of the electric drive type zero-speed seed throwing device in the embodiment of the invention. The method comprises the following steps: including main control unit 201, boost module 202, display terminal 203, big dipper speed measurement module 204, throw kind of motor driver 205, throw kind of motor 206, throw kind of motor encoder 207, seeding monitoring sensor 208, boost module 202 is used for stepping up the on-vehicle 12V power to 24V, provides steady voltage for control system, display terminal 203 is used for the zero-speed to throw kind of device operating condition information display and throw kind of motor 206 and open and stop control, big dipper speed measurement module 204 is used for the seeder forward speed to gather and send the navigation message that contains forward speed information to main control unit 201, throw kind of motor driver 205 control throw kind of motor 206 rotational speed, throw kind of motor 206 and be used for driving the rotation of zero-speed throw kind of device, throw kind of motor encoder 207 be used for gathering throw kind of motor 206 real-time rotational speed and feed back in main control unit 201, seeding monitoring sensor 208 installs in throwing kind of a mouthful both sides, the device is used for detecting the instantaneous speed of the seeds leaving a seed throwing port and feeding the information of the instantaneous speed of the seeds back to the main controller 201, the main controller 201 is used for collecting the information of each sensor, calculating the target rotating speed of the zero-speed seed throwing device and sending a control signal to the seed throwing motor driver 205.
Fig. 3 is a flow chart of a control method of the electric-drive type zero-speed seed throwing device according to the embodiment of the invention. The method comprises the following steps:
s1, the main controller receives the Beidou speed measurement module message and analyzes the advancing speed of the seeder;
s2, judging whether the advancing speed is more than 0km/h by the main controller: step S3 is executed when the seeder forward speed is 0, and step S4 is executed when the seeder forward speed is 0;
s3, the main controller sends a stop signal to the seed throwing motor driver;
s4, judging whether the advancing speed is more than or equal to 6km/h by the main controller: executing the steps S5, S6 and S12 when the advancing speed of the seeder is less than 6km/h, and executing the step S7 when the advancing speed of the seeder is more than or equal to 6 km/h;
s5, the main controller sends a speed-up signal to the display terminal for prompting a driver to increase the advancing speed of the seeder to the optimal working speed interval of the seeding and metering device;
s6, calculating the target rotating speed of the seed throwing mechanism by the main controller according to the advancing speed of the seeder, and executing a classical PID closed-loop control algorithm according to a feedback signal of a motor encoder;
s7, the main controller judges whether the advancing speed is more than or equal to 16 km/h: executing steps S10, S11 and S12 when the advancing speed of the seeder is less than 16km/h, and executing steps S8 and S9 when the advancing speed of the seeder is more than or equal to 16 km/h;
s8, the main controller sends a speed reduction signal to the display terminal to prompt a driver to reduce the advancing speed of the seeder to the optimal working speed interval of the seeding apparatus;
s9, executing a constant rotating speed control algorithm by the main controller according to the maximum target rotating speed of the seed throwing device;
s10, calculating the target rotating speed of the seed throwing mechanism by the main controller according to the advancing speed of the seeder, executing a double closed-loop cascade control algorithm, and sending a rotating speed control signal to a seed throwing motor driver;
s11, the main controller receives a seeding monitoring sensor feedback signal and calculates the seed horizontal direction component velocity;
and S12, the main controller receives a feedback signal of the encoder of the seed feeding motor.
Fig. 4 is a schematic diagram of a classical PID closed-loop control algorithm in step S6 of the control method, in which the input is the forward speed of the seeding machine, the controlled variable is the rotation speed of the seed-feeding motor, and the rotation speed controller of the seed-feeding motor operates according to the deviation between the theoretical value of the rotation speed of the seed-feeding motor and the feedback value of the rotation speed of the seed-feeding motor, so as to realize the closed-loop control of the rotation speed of the seed-feeding motor.
Fig. 5 is a schematic diagram of a double closed-loop cascade PID control algorithm in step S10 of the control method, in which the input is the forward speed of the seeding machine, the main controlled variable is the seed feeding speed, and the rotational speed of the seed feeding motor is used as the intermediate point of the main controlled variable of the stable seed feeding speed to supplement the feedback signal as the secondary controlled variable. The seed throwing speed controller is used as a main controller to work according to the deviation of the seed throwing speed measured value and the preset value, and the output signal is used as the set value of the sub-controller. The seed throwing motor speed controller as a secondary controller works according to the deviation of the actual measured value of the seed throwing motor speed and the output signal of the seed throwing speed controller, and the output signal of the seed throwing motor speed controller directly controls a seed throwing motor driver so as to regulate and control the rotating speed of the seed throwing device.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (14)
1. The utility model provides an electricity drives formula zero-speed and throws kind device, its characterized in that, including throwing the seed case, inoculation mouth, throw kind of a wheel, throw axle, actuating mechanism and throw kind of a mouth, throw the seed case and include epitheca and inferior valve, carry out fixed connection through the bolt hole site of both sides, inoculation mouth sets up throw the top of seed case, go out kind of a mouth with the seed metering ware bottom and be connected, throw kind of a wheel and dial the tooth including supporting wheel and rubber, supporting wheel centre bore department be equipped with the keyway with throw the axle and carry out the key-type connection, throw an axle both ends and fix through the rolling bearing, throw kind of a mouth setting and be in throw the bottom of seed case.
2. The electrically driven zero speed seed delivery apparatus of claim 1 wherein the rubber pick is mounted on a support wheel mounted on the seed shaft, a seed compartment is formed between the groove of the rubber pick and the inner wall of the seed case, the seed compartment has a three dimensional dimension equal to or greater than the largest dimension of a seed that remains relatively stationary with the seed compartment and moves as the seed wheel rotates.
3. The electrically-driven zero-speed seed throwing device according to claim 1, wherein the driving mechanism comprises a seed throwing motor and a speed reducer, the speed reducer is a hole output type one-stage planetary speed reducer, the seed throwing shaft is driven to rotate through key connection, the seed throwing motor is a direct-current brushless motor, and a speed control mode is adopted, and the rotating speed is controlled by a driver of the direct-current brushless motor.
4. The electrically-driven zero-speed seed feeding device as claimed in claim 1, wherein the seed inoculating opening is vertically opposite to the seed outlet opening at the bottom of the seed metering device, and forms a seed metering channel together.
5. The electrically driven zero speed seed delivery apparatus of claim 1, wherein the seed delivery wheel rotates in a direction opposite to the direction of rotation of the seed plate, and the rotational speed of the seed delivery wheel is calculated according to the following formula:
in the formula, n is the rotating speed of the seed throwing wheel, the unit is r/min, theta is an included angle between the speed of the seed when the seed leaves the rubber shifting teeth and the horizontal direction, and r is the radius of the seed separating chamber on the seed throwing wheel.
6. The electrically driven zero speed seed delivery apparatus of claim 1, wherein a seed falls from the inoculation port into a groove of a rubber pick of the seed delivery wheel, a seed compartment is formed between the groove of the rubber pick and an inner wall of the seed delivery shell, the seed compartment has a three-dimensional size equal to a maximum seed size of the seed, the seed and seed compartment remain relatively stationary, and the seed moves as the seed delivery wheel rotates; when the seed along throw kind of wheel and rotate throw kind of shell lower limb department when throwing kind of a mouthful department, the seed is along under the action of gravity throw kind of wheel pivoted tangential direction leave throw kind of a wheel and fall into kind of a ditch.
7. A control system of an electric-drive type zero-speed seed throwing device is characterized by comprising a main controller, a boosting module, a display terminal, a Beidou speed measuring module, a seed throwing motor driver, a seed throwing motor encoder and a seeding monitoring sensor, wherein the control system is used for the electric-drive type zero-speed seed throwing device in any one of claims 1-6, and self-adaptive adjustment of the rotating speed of a seed throwing wheel according to the advancing speed of a seeder is achieved.
8. The control system of claim 7, wherein the boost module is configured to boost the on-board 12V power supply to 24V to provide a regulated voltage to the control system.
9. The control system of claim 7, wherein the display terminal is configured to display information on a working state of the seed feeding device and control start and stop of the seed feeding motor.
10. The control system of claim 7, wherein the Beidou speed measurement module is used for collecting the forward speed of the seeding machine and sending a navigation message containing forward speed information to the main controller.
11. The control system of claim 7, wherein the seed throwing motor driver controls the rotation speed of a seed throwing motor, the seed throwing motor is used for driving a seed throwing device to rotate at a zero speed, and the seed throwing motor encoder is used for acquiring the real-time rotation speed of the seed throwing motor and feeding the real-time rotation speed back to the main controller.
12. The control system of claim 7, wherein the seeding monitoring sensors are installed on both sides of the seed feeding port for detecting the instantaneous speed of the seeds leaving the seed feeding port and feeding back the information of the instantaneous speed of the seeds to the main controller.
13. The control system of claim 7, wherein the master controller is configured to collect information from the sensors, calculate a target rotation speed of the zero-speed seeding device, and send a control signal to the seeding motor driver.
14. A control method of an electric drive type zero-speed seed throwing device is characterized by comprising the following steps:
s1, the main controller receives the Beidou speed measurement module message and analyzes the advancing speed of the seeder;
s2, the main controller judges whether the advancing speed is more than 0 km/h: step S3 is performed when the seeder forward speed is equal to 0, and step S4 is performed when the seeder forward speed > 0;
s3, the main controller sends a stop signal to the seed throwing motor driver;
s4, judging whether the advancing speed is more than or equal to 6km/h by the main controller: executing steps S5, S6 and S12 when the advancing speed of the seeder is less than 6km/h, and executing step S7 when the advancing speed of the seeder is more than or equal to 6 km/h;
s5, the main controller sends a speed-up signal to the display terminal to prompt that the advancing speed of the seeder is increased to the optimal working speed interval of the seeding and metering device;
s6, calculating the target rotating speed of the seed throwing mechanism by the main controller according to the advancing speed of the seeder, and executing a classical PID closed-loop control algorithm according to a feedback signal of a motor encoder;
s7, the main controller judges whether the advancing speed is more than or equal to 16 km/h: executing steps S10, S11 and S12 when the advancing speed of the seeder is less than 16km/h, and executing steps S8 and S9 when the advancing speed of the seeder is more than or equal to 16 km/h;
s8, the main controller sends a speed reduction signal to the display terminal to prompt that the advancing speed of the seeder is reduced to the optimal working speed interval of the seeding apparatus;
s9, executing a constant rotating speed control algorithm by the main controller according to the maximum target rotating speed of the seed throwing device;
s10, calculating the target rotating speed of the seed throwing mechanism by the main controller according to the advancing speed of the seeder, executing a double closed-loop cascade control algorithm, and sending a rotating speed control signal to a seed throwing motor driver;
s11, the main controller receives a seeding monitoring sensor feedback signal and calculates the seed horizontal direction component velocity; and
and S12, the main controller receives a feedback signal of the encoder of the seed feeding motor.
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