CN115606348A - Parallel control device and method for gears of hand accelerator of power chassis in paddy field - Google Patents
Parallel control device and method for gears of hand accelerator of power chassis in paddy field Download PDFInfo
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- CN115606348A CN115606348A CN202211255108.6A CN202211255108A CN115606348A CN 115606348 A CN115606348 A CN 115606348A CN 202211255108 A CN202211255108 A CN 202211255108A CN 115606348 A CN115606348 A CN 115606348A
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- 230000004048 modification Effects 0.000 abstract description 9
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- 241000209094 Oryza Species 0.000 description 11
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- G05G5/02—Means preventing undesired movements of a controlling member which can be moved in two or more separate steps or ways, e.g. restricting to a stepwise movement or to a particular sequence of movements
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- Automation & Control Theory (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a parallel control device and a parallel control method for gears of a hand accelerator of a paddy field power chassis. The method is mainly provided for the unmanned modification of the existing paddy field power chassis, and the safety problem of walking operation after the unmanned modification of the existing paddy field power chassis is solved. The device mainly comprises: the manual accelerator driving mechanism, the parallel hydraulic component, the driving long semi-axis, the driving short semi-axis and the automatic accelerator hydraulic control component. In the unmanned automatic walking operation process of the paddy field power chassis, the device can automatically connect/disconnect the mechanical structure for automatically controlling the walking operation of the paddy field power chassis by controlling the separation shifting fork, thereby realizing the automatic/manual control switching of the walking speed of the paddy field power chassis. The invention provides a parallel control device and a parallel control method for a manual accelerator gear of a paddy field power chassis, which improve the safety of walking operation after unmanned modification of the paddy field power chassis from two aspects of hardware and a control method.
Description
Technical Field
The invention relates to the field of agricultural mechanical equipment, in particular to a parallel control device and a parallel control method for a hand accelerator gear of a paddy field power chassis.
Background
The power chassis for paddy field is an agricultural machine for planting rice seedlings in paddy field. Compared with the traditional artificial rice transplanting and planting mode, the power chassis for the paddy field improves the work efficiency and the planting quality of rice transplanting.
The hand throttle gear of the existing paddy field power chassis is a straight gear stay-supported type. When the hand throttle stop lever is positioned in the middle paddy field power chassis, the power chassis is in a stop state; the hand accelerator stop lever pushes the paddy field power chassis forward from the middle position to start to walk forward, and the forward walking speed of the paddy field power chassis is accelerated along with the increase of the forward pushing stroke of the hand accelerator stop lever; the hand accelerator stop lever pushes the paddy field power chassis backwards from the middle position to back the paddy field, and the speed of backing the paddy field power chassis is increased along with the backward pushing stroke of the hand accelerator stop lever. However, the riding type paddy field power chassis needs one person to be specially responsible for controlling the walking speed direction of the paddy field power chassis and one person is responsible for placing background seedlings of the paddy field power chassis, so that the increase of labor force reduces the paddy planting efficiency, increases the paddy planting cost and is not in line with the trend of unmanned operation in the current paddy planting process.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a hand-throttle gear parallel control apparatus and a control method for a paddy field power chassis, in order to provide technical support for unmanned rice planting in the future, improve rice planting efficiency and reduce rice planting labor cost, wherein the hand-throttle gear parallel control apparatus and the control method can be used for realizing forward/backward direction control of the paddy field power chassis and adjustment of walking speed of the paddy field power chassis.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a hand throttle fender position parallel control device of paddy field power chassis, includes paddy field power chassis main part, manual throttle drive mechanism, parallelly connected hydraulic assembly, transmission major axis, transmission stub axle and automatic throttle hydraulic control subassembly, manual throttle drive mechanism fixes in the paddy field power chassis main part, and with parallelly connected hydraulic assembly rotates to be connected, set up force sensor on the manual throttle drive mechanism, be provided with first displacement sensor on the parallelly connected hydraulic assembly, parallelly connected hydraulic assembly's one end with the one end of transmission major axis with manual throttle drive mechanism is fixed, just the one end of transmission major axis with paddy field power chassis main part rotatable coupling, the one end of transmission stub axle with paddy field power chassis main part rotatable coupling, the other end of transmission major axis is provided with the telescoping device, and passes through the telescoping device with the setting of the other end joint of transmission stub axle, the other end cover of parallelly connected hydraulic assembly establish on the telescoping device, and with transmission major axis slidable sets up, be provided with second displacement sensor on the automatic throttle hydraulic assembly, the one end of automatic throttle hydraulic assembly with the one end of transmission stub axle is fixed, the other end of automatic throttle hydraulic assembly with paddy field power chassis main part is fixed.
Furthermore, the parallel hydraulic assembly comprises a parallel hydraulic push rod and a separation shifting fork arranged on the parallel hydraulic push rod, and the separation shifting fork is sleeved on the transmission long half shaft and is arranged in a sliding manner with the long half shaft.
Furthermore, the telescopic device comprises a compression spring and a synchronous combination tooth, a stopper is arranged on the transmission long half shaft, one end of the compression spring is fixed with the stopper, the other end of the compression spring is fixed with one side of the separation shifting fork, the synchronous combination tooth is connected with the transmission long half shaft through a spline, and the other end of the separation shifting fork is fixed with the synchronous combination tooth.
Furthermore, the other end of the transmission stub axle is provided with a synchronous combination sleeve, and the synchronous combination sleeve and the synchronous combination tooth can be clamped and arranged.
Further, the top in the middle of the synchronous combination tooth is provided with a shaft, the middle of the synchronous combination sleeve is provided with a hole, and the axis of the shaft and the axis of the hole are collinear.
Furthermore, the automatic accelerator hydraulic assembly comprises a fan-shaped arm and a gear control hydraulic push rod, one end of the gear control hydraulic push rod is fixed to the paddy field power chassis main body, the other end of the gear control hydraulic push rod is connected with the fan-shaped arm in a rotating mode, the fan-shaped arm is fixed to one end of the transmission stub axle, and one end of the transmission stub axle is connected with the paddy field power chassis main body in a rotating mode.
Further, manual drive mechanism includes hand throttle pin, pin linking arm fixed axle, throttle pull rod and driving arm, hand throttle pin with the pin linking arm is fixed, the pin linking arm passes through the pin linking arm fixed axle with paddy field power chassis main part is fixed, the pin linking arm with the throttle pull rod rotates to be connected, the throttle pull rod with the driving arm rotates to be connected, the outside of driving arm is provided with the fixed hook of throttle pull rod.
A hand throttle gear parallel control method of a paddy field power chassis comprises the following steps:
step one, setting a target speed V1 required by the operation of a paddy field power chassis through a system, and starting the paddy field power chassis;
step two, a second displacement sensor measures a corresponding displacement distance S1 of a gear control hydraulic push rod, the second displacement sensor is subjected to initial position calibration, a hand accelerator stop lever is in a parking neutral gear position when S1=0mm, a first displacement sensor measures a corresponding displacement distance S2 of a parallel control hydraulic push rod, the first displacement sensor is subjected to initial position calibration, a parallel control assembly is in a tight closing and meshing state when S2=0mm, a force sensor detects a force value F1 of the hand accelerator stop lever, the force sensor is subjected to initial calibration, the F1=0 hand accelerator stop lever is not manually operated, and the paddy field power chassis starts walking operation after all sensors are calibrated;
step three, controlling the moving distance S1 of the hydraulic push rod through a control gear based on the target speed V1 system set in the step one, pushing a fan-shaped arm of a mechanical transmission assembly to rotate, enabling a parallel connection control assembly to be in a normally closed combination state, pulling the transmission arm through the parallel connection control assembly by the rotating force of the fan-shaped arm, and pulling an accelerator pull wire to generate corresponding displacement by the transmission arm through an accelerator pull wire fixing hook to obtain the real-time walking speed V2 of the power chassis of the paddy field;
if F1 is less than 10N and S1 is more than 15mm, based on the set target speed V1 required by the paddy field power chassis operation, the system controls the gear to control the hydraulic push rod to work and pull the engine throttle cable to obtain the real-time walking speed V2 of the paddy field power chassis,
if the absolute value of V1-V2 is less than or equal to 0.5m/s, the gear control hydraulic push rod stops moving and keeps acting,
if the absolute value of V1-V2 is more than or equal to 0.5m/s and less than or equal to 2m/s, the gear control hydraulic push rod moves slowly for fine adjustment,
if the absolute value of V1-V2 is more than or equal to 2m/s, the system judges that the paddy field power chassis with the fault stops working; if F1 is less than 10N and S1 is less than 15mm, the system judges that the paddy field power chassis with the fault stops working;
if F1 is more than 10N, the parallel hydraulic push rod starts to work to pull the synchronous combination teeth to be separated from the engagement with the synchronous combination sleeve,
if S2 is larger than 10mm, the hand throttle gear of the paddy field power chassis is separated from the system control and is switched to be operated by people,
if S2 is less than 10mm, the hydraulic push rod of the parallel control assembly resets to again execute the meshing action of pulling the synchronous combination teeth to be separated from the synchronous combination sleeve.
Further, the system is a detection control unit.
Compared with the prior art, the parallel control device and the parallel control method for the gears of the manual accelerator of the power chassis for the paddy field provided by the invention have the advantages that the transmission long half shaft can be clamped with the transmission short half shaft, and signals of the first sensor and the second sensor are transmitted, so that the automatic/manual switching of the forward/backward direction control and the automatic/manual switching of the walking speed adjustment of the power chassis for the paddy field can be realized, technical support is provided for unmanned machine operation for rice planting in future, the rice planting efficiency is improved, and the labor cost for rice planting is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic diagram of a specific installation position of a hand throttle gear parallel control device of a paddy field power chassis on a whole vehicle according to a preferred embodiment of the invention.
Fig. 2 is a schematic diagram of the overall mechanical structure of the parallel control device for the hand throttle gear position of the paddy field power chassis according to a preferred embodiment of the invention.
Fig. 3 is a schematic structural layout of a paddy field power chassis hand throttle gear console according to a preferred embodiment of the invention.
Fig. 4 is a schematic structural disconnection diagram of a parallel control assembly of the paddy field power chassis hand throttle gear parallel control device according to a preferred embodiment of the invention.
Fig. 5 is a structural combination schematic diagram of a parallel control assembly of the parallel control device for the hand throttle gear position of the paddy field power chassis according to a preferred embodiment of the invention.
Fig. 6 is a schematic overall block diagram structure diagram of the parallel control device for the hand throttle gear position of the paddy field power chassis according to a preferred embodiment of the invention.
FIG. 7 is a schematic flow chart of a parallel control method for the hand throttle gear position of the paddy field power chassis according to a preferred embodiment of the invention.
Fig. 8 is a schematic diagram of the hydraulic control principle of the hand throttle gear parallel control device of the paddy field power chassis according to a preferred embodiment of the invention.
The reference numerals are as follows: 1. a paddy field power chassis body; 2. a manual throttle transmission mechanism; 3. parallel hydraulic components; 4. an automatic throttle hydraulic control assembly; 10. a manual throttle lever; 11. the stop lever connecting arm; 12. the stop lever connecting arm is fixed on the shaft; 13. a throttle lever; 14. a transmission arm; 15. a throttle cable fixing rod; 16. a transmission long half shaft; 17. a drive stub axle; 18. a sector arm; 20. hydraulic push rods are connected in parallel; 21. a gear control hydraulic push rod; 22. a hydraulic power source; 23. a hydraulic regulation and control component; 30. a force sensor; 31. a second displacement sensor; 32. a first displacement sensor; 33. a detection control unit; 40. a compression spring; 41. separating the shifting fork; 42. synchronous combination teeth; 43. a synchronous coupling sleeve; 44. a stopper.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that, if directional indications (such as up, down, left, right, front, back, 8230; etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in figure 1, the manual accelerator gear parallel control device for the paddy field power chassis provided by the invention comprises a paddy field power chassis main body 1, a manual accelerator transmission mechanism 2, a parallel hydraulic component 3, a transmission long half shaft 16, a transmission short half shaft 17 and an automatic accelerator hydraulic control component 4, wherein the manual accelerator transmission mechanism 2 is fixed on the paddy field power chassis main body 1 and is rotationally connected with the parallel hydraulic component 3, a force sensor 30 is arranged on the manual accelerator transmission mechanism 2, the force sensor 30 is used for detecting whether a person manually operates an accelerator, a first displacement sensor 32 is arranged on the parallel hydraulic component 3, the first displacement sensor 32 is used for detecting the working state of the parallel hydraulic component 3, one end of the parallel hydraulic component 3 and one end of the transmission long half shaft 16 are fixed with the manual accelerator transmission mechanism 2, one end of the transmission long half shaft 16 is rotationally connected with the paddy field power chassis main body 1, one end of the transmission short half shaft 17 is connected with the paddy field power chassis main body 1, the other end of the transmission short half shaft 17 is provided with a telescopic device, the hydraulic component is clamped with the other end of the transmission half shaft, the hydraulic component of the transmission short half shaft 16, the hydraulic component is provided with a second displacement sensor 31, the hydraulic component is used for detecting the automatic accelerator, the hydraulic component 31 is arranged on the paddy field power chassis main body, and is arranged on the paddy field power chassis, the hydraulic component, and the automatic accelerator, the hydraulic component 31 is fixed with the hydraulic transmission long hydraulic component, the hydraulic transmission half shaft, the hydraulic component 31, and an accelerator pull wire fixing hook is arranged at the joint of the manual accelerator transmission mechanism 2 and the transmission long half shaft 16, and when the accelerator pull wire fixing hook is pulled, the accelerator pull wire fixing hook can be used for controlling the walking speed of the paddy field power chassis.
It should be noted that under the effect of the parallel hydraulic assembly 3 and the telescopic device, the other end of the transmission long half shaft 16 and the other end of the transmission short half shaft 17 are clamped or not clamped (i.e. they are not connected), when they are not clamped, the control state is the manual throttle gear control state, and when they are clamped, the control state is the automatic throttle gear state. The automatic accelerator gear state is normally the automatic accelerator gear state, namely the other end of the transmission long half shaft 16 is clamped with the other end of the transmission short half shaft 17.
As shown in fig. 2, the manual throttle shift control principle: when the force sensor detects that the manual accelerator transmission mechanism 2 is operated manually, the parallel hydraulic assembly 3 contracts under the action of the first displacement sensor 32, so that the telescopic device is compressed to a certain distance by the other end of the parallel hydraulic assembly 3, the distance can be detected by the first displacement sensor 32, the transmission long half shaft 16 and the transmission short half shaft 17 are not clamped, and therefore the accelerator gear is operated manually only, namely, the accelerator pull wire fixing hook is controlled by the manual accelerator transmission mechanism 2 only.
As shown in fig. 2, the automatic throttle shift control principle: when the force sensor 30 detects that the manual throttle transmission mechanism 2 is not operated by a person, under the action of the second displacement sensor 31, the automatic throttle hydraulic control assembly 4 is made to stretch and contract, the transmission short half shaft 17 is driven to rotate, and the transmission long half shaft 16 can pull a throttle gear pull wire at the joint of the manual throttle transmission mechanism 2 and the transmission long half shaft 16, so that the control of a throttle gear is realized.
According to the invention, no matter whether a person operates an accelerator gear, the paddy field power chassis main body 1 can walk, when manual operation is required, the control mode can be changed into a manual control mode by manually operating the manual accelerator transmission mechanism 3 under the state of automatic accelerator gear control, and when the manual control is abandoned, the control mode can be automatically switched into the automatic accelerator control state, so that the seedling placing vehicle can keep walking when workers place seedlings.
In one embodiment, referring to fig. 1, 2 and 3, the manual throttle actuator 2 comprises: the accelerator pedal comprises a hand accelerator stop lever 10, a stop lever connecting arm 11, a stop lever connecting arm fixing shaft 12, an accelerator pull rod 13 and a transmission arm 14; the utility model discloses a paddy field power chassis, including fender rod connecting arm, fender rod connecting arm 11, fender rod connecting arm 12, hand throttle pin 10 with fender rod connecting arm 11 fixed connection, fender rod connecting arm 11 with fender rod connecting arm fixed axle 12 rotates and connects, and paddy field power chassis frame only restricts promptly the radial movement of fender rod connecting arm fixed axle 12 does not restrict the axial of fender rod connecting arm fixed axle 12 is rotated, fender rod connecting arm 11 with the one end of throttle pull rod 13 is connected through the round pin axle mode, the other end of throttle pull rod 13 with the edge of drive arm 14 is connected through the round pin axle mode, promptly throttle pull rod 13 can be relative drive arm 14 rotates, drive arm 14 welds on one end of drive long semi-axis 16, and the one end of drive long semi-axis 16 with paddy field power chassis main part 1 rotates and is connected, needs further point out drive arm 14 with the drive long semi-axis 16 of parallel control device rotates and does not take place to remove as the center pin axle, throttle fixed hook 15 is fixed in the outside of throttle arm 14, the fixed hook 15 is connected with engine drive power chassis frame for the walking of control power stay wire.
Further, the hand throttle gear direction is as shown in fig. 3, and the specific process when the hand throttle gear is manually operated is as follows: when 1 parking in paddy field power chassis main part the hand throttle pin 10 is in meso position initial position, when 1 preparation in paddy field power chassis main part is removed the people hand promotes forward or stimulates backward hand throttle pin 10, hand throttle pin 10 drives pin linking arm 11 and winds pin linking arm fixed axle 12 rotates, throttle pull rod 13 quilt through round pin axle mode connection on the pin linking arm 11 upward/downward displacement motion is done in the drive of pin linking arm 11, upward/downward displacement motion of throttle pull rod 13 drives again transmission arm 14 takes place to rotate, transmission arm 14 rotates and makes the setting be in the throttle of the throttle wire fixing hook 15 pulling engine in the transmission arm 14 outside is acted as go-between, has realized the manual control of engine speed to the realization is to the control of paddy field power chassis walking speed.
Further, as shown in fig. 2, fig. 4 and fig. 5, the axes of the transmission long half shaft 16 and the transmission short half shaft 17 are collinear, it should be noted that, since one end of the transmission long half shaft 16 is rotatably connected with the paddy field power chassis main body 1, one end of the transmission short half shaft 17 is rotatably connected with the paddy field power chassis main body 1, that is, the paddy field power chassis main body 1 only limits the movement of the transmission long half shaft 16 and the transmission short half shaft 17 but not the axial rotation of the transmission long half shaft 16 and the transmission short half shaft 17, one end of the transmission long half shaft 16 rotatably connected with the paddy field power chassis main body 1 is welded with the transmission arm 14, the transmission arm 14 is fixed on the paddy field power chassis main body 1 by a pin shaft with the transmission long half shaft 16 as a rotating shaft, and when the transmission arm 14 rotates, the paddy field power chassis main body 1 and the transmission long half shaft 16 fixed through a pin shaft can also rotate as a rotating shaft, namely the transmission long half shaft 16 and the transmission arm 14 rotate synchronously around the axis of the transmission long half shaft 16, the parallel hydraulic component 3 comprises a parallel hydraulic push rod 20 and a separation fork 41 arranged on the parallel hydraulic push rod 20, one end of the parallel hydraulic push rod 20 is fixed with the transmission arm 14, the telescopic device comprises a pressing spring 40 and synchronous combination teeth 42, the separation fork 41 is sleeved on the transmission long half shaft 16 and is positioned between the pressing spring 40 and the synchronous combination teeth 42, a stopper 44 is arranged on the transmission long half shaft 16, one end of the pressing spring 40 is fixed with the stopper 44, and the other end of the pressing spring 40 is fixed with one side of the synchronous combination teeth 42. Further, referring to fig. 4, the synchronous engaging tooth 42 is matched with the spline of the transmission long half shaft 16, the other end of the separating fork 41 is fixed to the synchronous engaging tooth 42, the fork bayonet of the separating fork 41 is engaged with the outer diameter groove of the synchronous engaging tooth 42, the bayonet is engaged with the groove to ensure that the separating fork 41 can pull the synchronous engaging tooth 42 to make axial displacement, specifically, the spline of the transmission long half shaft 16 limits the rotation of the synchronous engaging tooth 42, and the compression spring 40 and the separating fork 41 control the synchronous engaging tooth 42 to move axially of the transmission long half shaft 16.
As shown in fig. 2, the other end of transmission stub axle 17 is provided with synchronous combination cover 43, synchronous combination cover with but synchronous combination tooth joint sets up, automatic throttle hydraulic assembly includes fan-shaped arm 18 and gear control hydraulic push rod 21, gear control hydraulic push rod 21's one end with paddy field power chassis main part 1 is fixed, gear control hydraulic push rod 21's the other end with fan-shaped arm 18 rotates and connects, fan-shaped arm 18 with the one end of transmission stub axle 17 is fixed, the one end of transmission stub axle 17 with paddy field power chassis main part 1 rotates and connects, works as when fan-shaped arm 18 rotates, transmission stub axle 17 with fan-shaped arm 18 winds the axis synchronous rotation of transmission stub axle 17. The fan-shaped arm 18 is connected with the working end of the gear control hydraulic push rod 21 through a pin shaft, and the base end of the gear control hydraulic push rod 21 is fixedly connected with the rack.
Further, as shown in fig. 2, 4 and 5, the specific working process of the parallel control device is that, because the sector arm 18 is welded and fixed to one end of the transmission stub axle 17, the transmission stub axle 17 is fixed to the paddy field power chassis body 1 in a pin shaft manner, the sector arm 18 rotates with the axis of the transmission stub axle 17 as a rotating shaft, the synchronous combining teeth 42 are meshed with the synchronous combining sleeve 43 under the action of the pressing spring 40, at this time, the transmission stub axle 16 and the transmission stub axle 17 are integrated, when the gear control hydraulic push rod 21 works to push the sector arm 18 to rotate, the rotation of the sector arm 18 passes through a central rotating shaft, which is the transmission stub axle 17 to further drive the transmission stub axle 16 to rotate, the transmission stub axle 16 and the transmission arm 14 are welded and fixed, and the rotation of the transmission stub axle 16 passes through the accelerator cable fixing hook 15 welded to the outside of the transmission arm 14 to pull the accelerator cable, thereby achieving automatic control of the engine speed.
As shown in fig. 3, the control console of the hand throttle gear of the power chassis for paddy field is structurally arranged such that the hand throttle lever 10 is disposed on the central console on the right side of the steering wheel, the shifting path of the hand throttle lever 10 of the power chassis for paddy field is zigzag, the hand throttle lever 10 is located at the middle position when the power chassis for paddy field is stationary, the hand throttle lever 10 is pushed forward from the middle position, when the power chassis for paddy field starts to move forward and the displacement of the hand throttle lever 10 pushing forward is increased, the forward speed of the power chassis for paddy field is increased, the hand throttle lever 10 pushes the power chassis for paddy field backward from the middle position and the power chassis for paddy field is moved backward, and the backward speed of the power chassis for paddy field is increased without increasing the backward speed along with the displacement of the hand throttle lever 10 pushing backward.
As shown in fig. 4 and 5, a shaft is disposed at the top of the middle of the synchronous coupling tooth 42 and a hole is disposed at the middle of the synchronous coupling sleeve 43, and when the synchronous coupling tooth 42 and the synchronous coupling sleeve 43 are ready to be engaged, the advance fit of the shaft and the hole ensures the concentricity of the engagement of the synchronous coupling tooth 42 and the synchronous coupling sleeve 43.
According to the parallel control device for the hand throttle gear of the power chassis of the paddy field, the parallel hydraulic push rod 20 drives the separation shifting fork 41 to control the separation or combination of the parallel hydraulic components 3, so that the manual or automatic control switching of the hand throttle gear of the power chassis of the paddy field is realized. Referring to fig. 4, manual control state: the parallel hydraulic push rod 20 pulls the separation shifting fork 41 to control the parallel hydraulic component 3 to be in a separation state, a driver directly controls the hand throttle stop lever 10 to move, the hand throttle stop lever 10 drives the stop lever connecting arm 11 to rotate around the stop lever connecting arm fixing shaft 12, the throttle pull rod 13 connected to the stop lever connecting arm 11 in a pin shaft mode is driven by the stop lever connecting arm 11 to move upwards/downwards in a displacement mode, the upwards/downwards displacement motion of the throttle pull rod 13 drives the transmission arm 14 to rotate, the transmission arm 14 rotates to enable the throttle pull wire fixing hook 15 arranged on the outer side of the transmission arm to pull the throttle pull wire of the engine, and the manual control of the rotating speed of the engine is realized; referring to fig. 5, the automatic control state: parallelly connected hydraulic pressure push rod 20 pulling the parallelly connected hydraulic component 3 of separation shift fork 41 control is in the bonding state, need not manual operation this moment keep off position control hydraulic pressure push rod 21 work and promote when fan-shaped arm 18 rotates, fan-shaped arm 18's rotation is through central pivot, and central pivot is promptly transmission stub axle 17 further drives transmission stub axle 16 rotates, transmission stub axle 16 with driving arm 14 is welded fastening, the rotation on the transmission stub axle 16 is passed through the fixed hook 15 pulling engine throttle of throttle stay wire of the welded throttle in the driving arm 14 outside is acted as go-between, has realized the automatic control of engine speed.
The control method of the hand accelerator gear parallel control device of the paddy field power chassis provided by the invention is further described in detail by combining the figure 6 and the figure 7, and comprises the following steps:
step one, setting a target speed V1 required by the operation of a paddy field power chassis through a system, and starting the paddy field power chassis;
step two, the second displacement sensor 31 measures the corresponding displacement distance S1 of the movement of the gear control hydraulic push rod 21, the second displacement sensor 31 is initially calibrated, the hand throttle stop lever 10 is in a parking neutral gear when S1=0mm, the first displacement sensor 32 measures the corresponding displacement distance S2 of the movement of the parallel hydraulic push rod 20, the first displacement sensor 32 is initially calibrated, the parallel control component is in a tight closing and meshing state when S2=0mm, the force sensor 30 detects the force value F1 of the hand throttle stop lever 10, the force sensor 30 is initially calibrated, the F1=0 hand throttle stop lever 10 is not manually operated, and the paddy field power chassis starts to walk after all sensors are calibrated;
step three, controlling the moving distance S1 of the hydraulic push rod 21 by controlling a gear based on the target speed V1 system set in the step one, pushing the fan-shaped arm 18 of the mechanical transmission assembly to rotate, enabling the parallel connection control assembly to be in a normally closed combination state, enabling the rotating force of the fan-shaped arm 18 to drive the transmission arm 14 through the parallel connection control assembly, enabling the transmission arm 14 to pull an accelerator pull wire to generate corresponding displacement through the accelerator pull wire fixing hook 15, and obtaining the real-time walking speed V2 of the power chassis of the paddy field;
further, if F1 is less than 10N and S1 is greater than 15mm, based on the set target speed V1 required by the operation of the paddy field power chassis, the system controls the gear control hydraulic push rod 21 to work and pull the accelerator cable of the engine to obtain the real-time walking speed V2 of the paddy field power chassis,
furthermore, if the absolute value of V1-V2 is less than or equal to 0.5m/s, the gear control hydraulic push rod 21 stops moving and keeps acting,
furthermore, if the absolute value of V1-V2 is more than or equal to 0.5m/s and less than or equal to 2m/s, the gear control hydraulic push rod 21 slowly moves for fine adjustment,
further, if the absolute value of V1-V2 is more than or equal to 2m/s, the system judges that the power chassis of the paddy field has a fault and stops working; if F1 is less than 10N and S1 is less than 15mm, the system judges that the failed paddy field power chassis stops working;
further, if F1 is greater than 10N, the parallel hydraulic push rod 20 starts to work to pull the synchronous combination tooth 42 out of the engagement with the synchronous combination sleeve 43,
further, if S2 is larger than 10mm, the hand throttle gear of the paddy field power chassis is separated from the system control and is switched to be operated by people,
further, if S2<10mm, the parallel hydraulic push rod 20 is reset to perform the engaging action of pulling the synchronous engaging teeth 42 out of the synchronous engaging sleeve 43 again.
Further, the system is a detection control unit 33.
The control method of the parallel control device for the hand throttle gear of the paddy field power chassis can solve the problem that the safety of the existing paddy rice planting machine is reduced after unmanned modification, makes clear limitation on the critical dangerous working condition of the paddy rice planting machine after unmanned modification during operation from the aspect of the control method, and guarantees the stability of machine operation and the personal safety of planting operators.
In conclusion, the invention mainly provides a method for unmanned modification of the existing paddy field power chassis, solves the safety problem of walking operation after unmanned modification of the existing paddy field power chassis, realizes free switching of automatic control and manual intervention manual control of the walking speed of the paddy field power chassis, and improves the safety of walking operation after unmanned modification of the paddy field power chassis from two aspects of hardware and a control method.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a hand throttle fender position parallel control device of paddy field power chassis, a serial communication port, including paddy field power chassis main part (1), manual throttle drive mechanism (2), parallelly connected hydraulic component (3), transmission major axis (16), transmission minor axis (17) and automatic throttle hydraulic control subassembly (4), manual throttle drive mechanism (2) are fixed on paddy field power chassis main part (1) and with parallelly connected hydraulic component (3) rotate and connect, set up force sensor (30) on manual throttle drive mechanism (2), be provided with first displacement sensor (32) on parallelly connected hydraulic component (3), the one end of parallelly connected hydraulic component (3) with the one end of transmission major axis (16) with manual throttle drive mechanism (2) is fixed, just the one end of transmission major axis (16) with paddy field power chassis main part (1) rotatable coupling, the one end of transmission minor axis (17) with paddy field power chassis main part (1) rotatable coupling, the other end of transmission minor axis (17) with the other end of transmission major axis (16) can set up the joint the throttle subassembly automatic throttle and the hydraulic control subassembly (4) is provided with the automatic throttle hydraulic control subassembly (4) of paddy field power chassis main part (1) and the other end of accelerator (4) automatic throttle (31) and the one end of transmission minor axis (4) is connected with the one end of paddy field power chassis main part (1) and the hydraulic component (1) is provided with the automatic throttle subassembly (4), the hydraulic component (1) and the hydraulic component (31) is connected ) And (5) fixing.
2. The manual accelerator gear parallel control device of the paddy field power chassis according to claim 1, characterized in that: the parallel hydraulic component (3) comprises a parallel hydraulic push rod (20) and a separation shifting fork (41) arranged on the parallel hydraulic push rod, wherein the separation shifting fork (41) is sleeved on the transmission long half shaft (16) and is arranged in a sliding manner on the transmission long half shaft (16).
3. The hand-throttle gear parallel control device of the paddy field power chassis as claimed in claim 2, characterized in that: the telescopic device comprises a compression spring (40) and synchronous combination teeth (42), a stopper is arranged on the transmission long half shaft (16), one end of the compression spring (40) is fixed with the stopper, the other end of the compression spring (40) is fixed with one side of the separation shifting fork (41), the synchronous combination teeth (42) are connected with the transmission long half shaft (16) through splines, and the other end of the separation shifting fork (41) is fixed with the synchronous combination teeth (42).
4. The hand throttle gear parallel control device of the paddy field power chassis according to claim 3, characterized in that: the other end of transmission stub axle (17) is provided with synchronous combination cover (43), synchronous combination cover (43) with but synchronous combination tooth (42) joint sets up.
5. The hand-operated accelerator gear parallel control device of the paddy field power chassis according to claim 4, characterized in that: the top is provided with the axle in the middle of synchronous combination tooth (42), set up porosely in the middle of the synchronous combination cover, the axis in axle and hole's axis collineation.
6. The hand throttle gear parallel control device of the paddy field power chassis according to claim 1, characterized in that: the automatic accelerator hydraulic assembly comprises a fan-shaped arm (18) and a gear control hydraulic push rod (21), one end of the gear control hydraulic push rod (21) is fixed to the paddy field power chassis main body (1), the other end of the gear control hydraulic push rod (21) is rotatably connected with the fan-shaped arm (18), and the fan-shaped arm (18) is fixed to one end of the transmission stub axle (17).
7. The hand throttle gear parallel control device of the paddy field power chassis according to claim 1, characterized in that: manual drive mechanism includes hand throttle pin (10), pin linking arm (11), pin linking arm fixed axle (12), throttle pull rod (13) and driving arm (14), hand throttle pin (10) with pin linking arm (11) are fixed, pin linking arm (11) are passed through pin linking arm fixed axle (12) with paddy field power chassis main part (1) is fixed, pin linking arm (11) with throttle pull rod (13) rotate to be connected, throttle pull rod (13) with driving arm (14) rotate to be connected, the outside of driving arm (14) is provided with throttle wire fixed hook.
8. A control method of a hand throttle gear parallel control device applied to a paddy field power chassis as claimed in claims 1 to 7, characterized in that: the method comprises the following steps:
step one, setting a target speed V1 required by the operation of the paddy field power chassis through a system, and starting the paddy field power chassis;
step two, a second displacement sensor (31) measures a corresponding displacement distance S1 of a shift control hydraulic push rod (21) in moving, the second displacement sensor (31) is initially calibrated in position, a hand accelerator stop lever (10) is in a parking neutral gear position when S1=0mm, a first displacement sensor (32) measures a corresponding displacement distance S2 of a parallel hydraulic push rod (20) in moving, the first displacement sensor (32) is initially calibrated in position, a parallel control assembly is in a tight closing and meshing state when S2=0mm, a force sensor (30) detects a force value F1 borne by the hand accelerator stop lever (10), the force sensor (30) is initially calibrated, the F1=0 hand accelerator stop lever (10) is not manually operated, and the paddy field power chassis starts to walk after all sensors are calibrated;
and step three, controlling the moving distance S1 of the hydraulic push rod (21) by controlling the gear based on the target speed V1 system set in the step one, pushing a fan-shaped arm (18) of the mechanical transmission assembly to rotate, enabling the parallel connection control assembly to be in a normally closed combination state, pulling a transmission arm (14) by the rotating force of the fan-shaped arm (18) through the parallel connection control assembly, pulling an accelerator pull wire by the transmission arm (14) through an accelerator pull wire fixing hook (15) to generate corresponding displacement, and obtaining the real-time walking speed V2 of the paddy field power chassis.
9. The hand-throttle gear parallel control method for the paddy field power chassis according to claim 8, characterized in that:
if F1 is less than 10N and S1 is more than 15mm, based on the set target speed V1 required by the paddy field power chassis operation, the system controls a gear control hydraulic push rod (21) to work and pulls an engine accelerator cable to obtain the real-time walking speed V2 of the paddy field power chassis,
if the absolute value of V1-V2 is less than or equal to 0.5m/s, the gear control hydraulic push rod (21) stops moving and keeps acting,
if the absolute value of V1-V2 is more than or equal to 0.5m/s and less than or equal to 2m/s, the gear control hydraulic push rod (21) slowly moves for fine adjustment,
if the absolute value of V1-V2 is more than or equal to 2m/s, the system judges that the paddy field power chassis with the fault stops working; if F1 is less than 10N and S1 is less than 15mm, the system judges that the paddy field power chassis with the fault stops working;
if F1 is more than 10N, the parallel hydraulic push rod (20) starts to work to pull the synchronous coupling teeth (42) out of engagement with the synchronous coupling sleeve (43),
if S2 is larger than 10mm, the hand throttle gear of the paddy field power chassis is separated from the system control and is switched to be operated by people,
if S2 is less than 10mm, the parallel hydraulic push rod (20) is reset to again perform the meshing action of pulling the synchronous engaging teeth (42) to be disengaged from the synchronous engaging sleeve (43).
10. The hand throttle gear parallel control method for the paddy field power chassis according to claim 8, characterized in that: the system is a detection control unit (33).
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| CN202211255108.6A CN115606348B (en) | 2022-10-13 | 2022-10-13 | Paddy field power chassis manual throttle gear parallel control device and control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116267109A (en) * | 2023-03-14 | 2023-06-23 | 华南农业大学 | Manual-automatic integrated design method of direct seeding machine of rice, direct seeding machine of rice and operation method |
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| JP2001018681A (en) * | 1999-07-05 | 2001-01-23 | Isuzu Motors Ltd | Auto-cruise control device and method therefor |
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| CN115606348B (en) | 2024-05-07 |
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