CN118058036A - Missing sowing control system and method for soybean and corn strip-shaped planting seeder - Google Patents
Missing sowing control system and method for soybean and corn strip-shaped planting seeder Download PDFInfo
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- CN118058036A CN118058036A CN202410499263.5A CN202410499263A CN118058036A CN 118058036 A CN118058036 A CN 118058036A CN 202410499263 A CN202410499263 A CN 202410499263A CN 118058036 A CN118058036 A CN 118058036A
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- 240000008042 Zea mays Species 0.000 title claims abstract description 156
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 title claims abstract description 156
- 235000002017 Zea mays subsp mays Nutrition 0.000 title claims abstract description 156
- 235000005822 corn Nutrition 0.000 title claims abstract description 156
- 244000068988 Glycine max Species 0.000 title claims abstract description 55
- 235000010469 Glycine max Nutrition 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000009331 sowing Methods 0.000 title claims description 53
- 238000010899 nucleation Methods 0.000 claims abstract description 48
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- 240000001931 Ludwigia octovalvis Species 0.000 claims 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
- A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
- A01C19/04—Arrangements for driving working parts of fertilisers or seeders by a ground-engaging wheel
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Abstract
The invention provides a soybean corn ribbon planting seeder miss-seeding control system and a method. According to the invention, a motor and land wheel dual-transmission control scheme is adopted, speed feedback is carried out through land wheel transmission and navigation equipment, the rotating speed of an overrun clutch driving part driven by a land wheel is obtained in real time, the walking speed is obtained in real time through the navigation equipment and is converted into the overrun clutch driving part rotating speed, the difference value of the two rotating speeds is compared, when the difference value is negative, the seed metering device is controlled through a motor mechanism to forcedly rotate seed metering, when the difference value is positive, seed metering is carried out according to the land wheel transmission speed, the problem of high miss-seeding rate caused by land wheel sliding is solved, the purpose of reducing miss-seeding rate is achieved, and the operation efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of agricultural mechanized equipment design, and particularly relates to a soybean corn ribbon planting seeder miss-seeding control system and method.
Background
The soybean and corn banded composite planting technology is a new technology popularized in recent years, and compared with other crops, the soybean and corn banded composite planting technology has smaller selection space of machines and tools in each link, and less research, development and manufacturing main bodies. The transmission mechanism of the soybean and corn banded composite planting mechanical seeding and seeding device is generally a land wheel, the land wheel has various shapes and mainly comprises a toothed bar-shaped cylindrical land wheel, a deep pattern rubber land wheel, a common rubber wheel and the like, and the land wheel slides in the rotating process, so that miss seeding can be caused; on the other hand, as the soybean and corn banded compound planting adopts a small plant spacing close planting technology, the miss-seeding rate can be increased; in addition, no-tillage seeding is mainly adopted during seeding, the front crop straw exists on the ground surface, the flatness of the ground surface is inconsistent, the seeding quality is also affected, and the larger the operation speed is, the larger the slip coefficient is, so that the higher the miss-seeding rate is. Meanwhile, in order to reduce the miss-seeding rate, the operation efficiency is affected due to the fact that the speed is generally low, in addition, the tractor is rigidly connected with the seeder, speed change exists in the running process of the machine, and the stability of a transmission system is reduced. In summary, the invention designs a novel soybean corn ribbon planting seeder miss-seeding control system and method for reducing the miss-seeding rate during the soybean corn ribbon planting and seeding and improving the seeding quality and the operation efficiency under the condition of small hole spacing.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a seeding missing control system and a seeding missing control method for a soybean and corn strip-shaped planter, which can be used for a seeding link in soybean and corn strip-shaped composite planting, and the rotation precision of a seeding apparatus is improved by a method combining mechanical transmission and motor transmission, so that the seeding missing rate is reduced, the operation efficiency is improved, and the damage caused by inversion of the seeding apparatus is prevented.
The present invention achieves the above technical object by the following technical means.
The sowing-missing control system of the soybean and corn ribbon-shaped planting seeder comprises a driving land wheel, and a corn sowing system and a soybean sowing system which are connected with the driving land wheel, wherein the structural composition of the soybean sowing system is the same as that of the corn sowing system, the corn sowing system and the soybean sowing system are both in signal connection with a data processing system, and the data processing system is in signal connection with a satellite navigation positioning system;
The corn seed metering system comprises a corn seed metering device driving sprocket arranged at one end of the driving land wheel, the corn seed metering device driving sprocket is connected with a corn seed metering device sprocket through a corn seed metering device driving chain, and the corn seed metering device sprocket is arranged on the overrunning clutch A and synchronously rotates; the overrunning clutch A is coaxially connected with the overrunning clutch B, the overrunning clutch B is coaxially connected with the corn seed metering disc A, and the corn seed metering disc A is coaxially connected with the corn seed metering disc B; the speed sensor A is arranged on the side of the overrunning clutch A, the speed sensor B is arranged on the side of the overrunning clutch B, the driving wheel A of the overrunning clutch B is meshed with the gear A for transmission, and the gear A is arranged on the output shaft of the servo motor A.
Further, the corn seed metering disk A and the corn seed metering disk B have the same structure, the corn seed metering disk A is arranged on the through shaft of the corn seed metering device, the spoon wheel type seed metering structure is adopted, the spoon wheel type seed metering disk comprises a seed metering plate B and a seed taking plate B which keep synchronous rotation with the through shaft of the corn seed metering device, the spoon wheel type seed metering disk comprises a seed metering plate A and a seed taking plate A which are arranged on the through shaft of the corn seed metering device through a shaft sleeve C, the shaft sleeve C can relatively move around the through shaft of the corn seed metering device, the shaft sleeve C and a gear C are fixed in a key connection mode, the gear C and the gear D are meshed and driven, and the gear D108 is fixed at the output end of a servo motor C.
Further, photoelectric sensors A and B are respectively arranged on the end covers at the left side and the right side of the corn seed metering disc A and are respectively used for detecting seeds on the seed metering plate B and the seed metering plate A.
Further, the installation position of the photoelectric sensor A close to the seed metering plate B is advanced by a certain angle in the seed metering rotation direction than the photoelectric sensor B.
The soybean corn strip planter miss-seeding control method utilizing the soybean corn strip planter miss-seeding control system comprises the following steps:
Firstly, inputting the diameter D and the transmission ratio of a driving land wheel through an input interface of a data processing system Ratio/>，The rotation speed ratio of the driving part A for driving the land wheel and the overrun clutch A is expressed without considering the bad transmission effects such as slipping,The rotation speed ratio of the servo motor A to the driving part B of the overrunning clutch B is shown.
Then the seeder is started to drive the ground wheel to rotate, and the corn seed metering device transmission chain wheel is driven to synchronously rotate when the ground wheel is driven to rotate, and the corn seed metering device transmission chain wheel drives the corn seed metering device chain wheel to rotate through the corn seed metering device transmission chain, so that the corn seed metering device chain wheel, the overrunning clutch A, the overrunning clutch B and the corn seed metering device synchronously rotate;
Meanwhile, the satellite navigation positioning system acquires the real-time walking speed of the seeder And transmitting the walking speed to a data processing system, wherein the data processing system converts the walking speed into the theoretical rotating speed/>, which is required to be achieved by the driving wheel A of the overrunning clutch B; At the same time, the speed sensor A will detect data/>To a data processing system by comparing/>And/>The difference value is used for judging whether the servo motor A is controlled to intervene in work or not; when/>When the overrunning clutch B is in a separation state, the overrunning clutch A is in a combination state, the ground wheel is driven to normally work, otherwise, the overrunning clutch B is in a combination state, the overrunning clutch A is in a separation state, and the servo motor A drives the seed metering; the soybean seed metering system is driven to synchronously work when the land wheel is driven to rotate, and the soybean seed metering process is the same as the corn seed metering process.
Further, the data processing system calculates the theoretical rotation speed which the driving wheel A of the overrunning clutch B should reach through the following formula：
。
Further, when the servo motor A intervenes in working, the rotating speed of the servo motor A is assigned as follows：
。
Further, when the satellite navigation positioning system has abnormal conditions including loss of navigation signals and overlarge navigation speed, the driving land wheel provides sowing power.
Further, the sowing process of the corn sowing plate A is as follows:
The corn seed metering device is driven by a through shaft to rotate a seed taking plate B and a seed metering plate B, the seed taking plate B acquires seeds from a seed box, the seeds are sent into the seed metering plate B after being cleaned by a seed protection plate A, and the seeds are thrown out after the seed metering plate B rotates; in the process, a photoelectric sensor A detects whether seeds exist in a seed discharging plate B at the current position in real time, when no seeds exist in the seed discharging plate B, a servo motor C drives a gear D to rotate by a seed spoon rotation angle, the servo motor C drives the gear C to rotate through the gear D, the seed discharging plate A and the seed taking plate A rotate for reseeding, and when the photoelectric sensor A detects that the seeds exist in the seed discharging plate B, the servo motor C does not work;
the photoelectric sensor B detects whether seeds exist in the seed discharging plate A at the current position in real time, when the seeds are not detected, the seed discharging plate A is controlled to rotate through the servo motor C, the next sowing position is rotated to the current position until the photoelectric sensor B can detect the seeds, and then the seeds enter a to-be-sowed state for subsequent reseeding.
The invention has the following beneficial effects:
According to the invention, a motor and land wheel dual-transmission control scheme is adopted, when the seeder is in normal operation in the field, speed feedback can be carried out through land wheel transmission and navigation equipment, the rotating speed of an overrunning clutch driving part driven by the land wheel is obtained in real time, the walking speed is obtained in real time through the navigation equipment and is converted into the rotating speed of the overrunning clutch driving part, the controller processes speed information, the difference value of the two rotating speeds is compared, when the difference value is negative, the seed metering device is controlled through a motor mechanism to carry out forced rotation seed metering, when the difference value is positive, seed metering is carried out according to the land wheel transmission speed, the problem of high miss-seeding rate caused by land wheel slippage is reduced, and the purpose of lowering the miss-seeding rate is achieved. In the operation process, the motor is always in an operation state according to the navigation speed, and when the navigation speed is higher than the ground wheel rotation speed, the seed metering device is intervened and driven, so that the impact caused by overlarge difference between the ground wheel rotation speed and the navigation speed is reduced (if the ground wheel drives the seed metering device, the motor is in a stop state, and when the motor suddenly needs to intervene in operation, the impact can be caused due to large speed difference, thereby affecting the sowing quality). In addition, as the land wheel and the motor are adopted for double driving, the operation speed can be properly improved, thereby improving the productivity; furthermore, compared with the conventional seeder, after the seeder is operated to the ground, the seeder is not lifted by a manipulator in time, so that the seeding device is reversed during reversing, and the seeding device is damaged under severe conditions. In addition, the invention also carries out innovative design aiming at the structure of the seed metering disc, adopts a parallel seed metering layout mode, and when detecting that one seed metering position does not have seeds, the other seed metering plate carries out seed supplementing, thereby further preventing the generation of miss seeding.
Drawings
FIG. 1 is a schematic diagram of the overall frame of a miss-seeding control system of a soybean and corn strip planter;
FIG. 2 is a schematic diagram of the connection of overrunning clutch A, overrunning clutch B and corn seed tray A;
FIG. 3 is a cross-sectional view taken along the direction G-G of FIG. 2;
FIG. 4 is a front view of a corn seed tray;
FIG. 5 is a cross-sectional view of a corn seed tray;
fig. 6 is a flow chart of the soybean corn ribbon planter miss-seeding control operation.
In the figure: 1-driving land wheels; 2-a corn seed sowing device driving sprocket; 3-columnar teeth; 4-a corn seed sowing device transmission chain; 5-a corn seed sowing device through shaft; 6-a corn seed sowing device sprocket; 7-overrunning clutch A; 8-a speed sensor a; 9-overrunning clutch B; 10-gear a; 11-a servo motor A; 12-photosensor a; 13-a speed sensor B; 14-a corn seed sowing plate A; 15-photosensor B; 16-soybean seed metering device sprocket; 17-overrunning clutch C; 18-a speed sensor C; 19-overrunning clutch D; 20-a speed sensor D; 21-soybean seed metering disc; 22-a driving wheel A; 23-spline shaft A; 24-shaft sleeve A; 25-shaft sleeve B; 26-a servo motor B; 27-gear B; 28-satellite navigation positioning system; 29-an active member B; 30-a data processing system; 31-an active part A; 32-a corn seed sowing plate B; 33-follower a; 34-soybean drive chain; 35-a soybean seed sowing device driving sprocket; 36-follower B; 37-spline shaft B; 101-a shaft sleeve C; 102-funnel; 103-protecting a seed plate A; 104-end caps; 105-seed box; 106-gear C; 107-protecting a plate B; 108-gear D; 109-seed metering A; 110-seed discharging plate B; 111-taking a plate A; 112-taking a plate B; 116-servo motor C.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which illustrate a soybean/corn ribbon composite planter in a 4+2 mode (4 rows of soybeans, 2 rows of corn), but the scope of the present invention is not limited thereto. The english letters "a", "B", "C" and "D" used in the present invention are merely for convenience of distinguishing structural members having the same names from each other, and are not meant to refer to the reference numerals, since the present invention is not limited thereto, and the specific meaning of the english letters in the present invention can be understood by those skilled in the art according to the specific circumstances.
As shown in fig. 1, the soybean and corn ribbon planter miss-seeding control system comprises a driving land wheel 1, a corn seed sowing system, a soybean seed sowing system, a satellite navigation positioning system 28 and a data processing system 30.
As shown in fig. 1, the satellite navigation positioning system 28 is connected with the data processing system 30, and is used for acquiring the real-time walking speed of the planter, transmitting the walking speed to the data processing system 30 for subsequent processing, and the data processing system 30 is used for realizing data receiving, data processing and comprehensive management and control.
As shown in fig. 1, a driving land wheel 1 is hung behind a seeder, the driving land wheel 1 is driven to rotate along with the forward movement of a tractor, a plurality of columnar teeth 3 are arranged on the surface of the driving land wheel 1, the driving land wheel 1 can press the columnar teeth 3 into soil through gravity, and the soil is excavated for the seeder to sow.
As shown in fig. 1,2 and 3, one end of a driving land wheel 1 is provided with a corn seed metering device driving chain wheel 2, the corn seed metering device driving chain wheel 2 is connected with a corn seed metering device chain wheel 6 through a corn seed metering device driving chain 4, and the corn seed metering device chain wheel 6 is arranged on an overrunning clutch A7, so that the corn seed metering device driving chain wheel 2 and the overrunning clutch A7 can keep synchronous rotation; specifically, the corn seed sowing device sprocket 6 is installed on a driving part A31 of the overrunning clutch A7 in a key connection mode, synchronous rotation is achieved, and the driving part A31 can drive the spline shaft A23 to rotate through a driven part A33 of the overrunning clutch A7. The overrunning clutch A7 is coaxially connected with the overrunning clutch B9, the overrunning clutch B9 is coaxially connected with the corn seed metering disc A14, and the corn seed metering disc A14 is coaxially connected with the corn seed metering disc B32; specifically, the spline shaft A23 of the overrunning clutch A7 is connected with the spline shaft B37 of the overrunning clutch B9 through the shaft sleeve A24, the spline shaft B37 is connected with the corn seed metering device through shaft 5 through the shaft sleeve B25, the corn seed metering disc A14 is arranged at one end of the corn seed metering device through shaft 5 in a key connection mode, the corn seed metering disc A14 and the corn seed metering disc B32 are connected through the corn seed metering device through shaft 5, namely the corn seed metering disc B32 is arranged at the other end of the corn seed metering device through shaft 5 in a key connection mode, and synchronous rotation is achieved. In actual production, the spline shaft A23, the spline shaft B37 and the corn seed sowing device through shaft 5 can be in a shaft form or in a sectional installation form.
As shown in fig. 1,2 and 3, a speed sensor A8 is mounted on the side of the overrunning clutch A7, a speed sensor B13 is mounted on the side of the overrunning clutch B9, the speed sensor A8 is used for detecting the rotation speed of the driving member a31 of the overrunning clutch A7, and the speed sensor B13 is used for detecting the rotation speed of the driving member B29 of the overrunning clutch B9.
As shown in fig. 2 and 3, the driving wheel a22 of the overrunning clutch B9 is meshed with the gear a10, the gear a10 is mounted on the output shaft of the servo motor a11, and the servo motor a11 can transmit power to the driving wheel a22 of the overrunning clutch B9 through the gear a 10.
As shown in fig. 1, 2 and 3, the other end of the driving land wheel 1 is provided with a soybean seed metering device driving chain wheel 35, the soybean seed metering device driving chain wheel 35 is connected with the soybean seed metering device chain wheel 16 through a soybean driving chain 34, the soybean seed metering device chain wheel 16 is arranged on an overrunning clutch C17, the overrunning clutch C17 and the overrunning clutch D19 can keep synchronous rotation, the overrunning clutch D19 is coaxially connected with a plurality of soybean seed metering discs 21. The installation mode between the soybean seed metering device sprocket 16 and the overrunning clutch C17 is the same as the installation mode between the corn seed metering device sprocket 6 and the overrunning clutch A7, the installation mode between the overrunning clutch C17 and the overrunning clutch D19 is the same as the installation mode between the overrunning clutch A7 and the overrunning clutch B9, the installation mode between the overrunning clutch D19 and the soybean seed metering disc 21 is the same as the installation mode between the overrunning clutch B9 and the corn seed metering disc A14, and the installation mode between the soybean seed metering disc 21 is the same as the installation mode between the corn seed metering disc A14 and the corn seed metering disc B32, which are not repeated here.
As shown in fig. 1, a speed sensor C18 is mounted on the side of the overrunning clutch C17, a speed sensor D20 is mounted on the side of the overrunning clutch D19, the speed sensor C18 is used for detecting the rotational speed of the driving member C of the overrunning clutch C17, and the speed sensor D20 is used for detecting the rotational speed of the driving member D of the overrunning clutch D19.
As shown in fig. 1, the driving wheel B of the overrunning clutch D19 is meshed with a gear B27, the gear B27 is mounted on the output shaft of a servo motor B26, and the servo motor B26 can transmit power to the driving wheel B of the overrunning clutch B9 through the gear B27.
In the embodiment, the corn seed plate A14, the corn seed plate B32 and the soybean seed plate 21 have the same structural composition; taking the corn seed plate a14 as an example for structural illustration, as shown in fig. 4 and 5, the corn seed plate a14 comprises a shaft sleeve C101, a funnel 102, a seed protection plate a103, an end cover 104, a seed box 105, a gear C106, a seed protection plate B107, a gear D108, a seed protection plate a109, a seed protection plate B110, a seed taking plate a111, a seed taking plate B112, a photoelectric sensor a12 and a photoelectric sensor B15. The corn seed metering disc A14 in the embodiment is an improvement on the basis of the traditional spoon wheel type seed metering structure, and is designed to be of a bilateral symmetry structure, namely, a parallel seed metering plate layout mode is adopted, when no seed exists at one seed metering plate position, the other seed metering plate is used for supplementing seeds, and the generation of miss seeding is further prevented.
As shown in fig. 4 and 5, the corn seed plate a14 is mounted on the corn seed metering device through shaft 5, the seed plate B110 and the seed plate B112 are coaxially rotated by adopting screw connection, and the seed plate B110, the seed plate B112 and the corn seed metering device through shaft 5 are synchronously rotated. The seed metering plate A109 and the seed taking plate A111 are connected by screws to keep coaxial rotation, the seed metering plate A109 and the seed taking plate A111 are arranged on the corn seed metering device through shaft 5 through a shaft sleeve C101, the shaft sleeve C101 can relatively move around the corn seed metering device through shaft 5, the shaft sleeve C101 and a gear C106 are fixed in a key connection mode, the gear C106 is meshed with a gear D108 for transmission, the gear D108 is fixed at the output end of a servo motor C116, and the seed metering plate A109 and the seed taking plate A111 can rotate to perform reseeding operation under the driving of the servo motor C116.
As shown in fig. 4 and 5, the mounting modes of the prior bucket wheel type seed metering structure are adopted for the mounting of the seed protection plate a103, the seed metering plate B110, the seed taking plate B112, the seed box 105, the funnel 102, the end cover 104 and the like, and the mounting modes of the prior bucket wheel type seed metering structure are also adopted for the mounting of the seed protection plate B107, the seed metering plate a109, the seed taking plate a111, the seed box 105, the funnel 102, the end cover 104 and the like, which are not the protection focus of the invention and are not repeated herein.
As shown in fig. 4 and 5, the photoelectric sensors a12 and B15 detected based on pulse signals are respectively installed on the end covers 104 on the left and right sides and are respectively used for detecting seeds on the seed discharging plate B110 and the seed discharging plate a109, and the installation positions of the photoelectric sensors a12 are advanced by a certain angle in the rotation direction compared with the sensor B110, and are preferably set to be 5 ° in advance in the embodiment, when the photoelectric sensors a12 do not detect that the seeds on the seed discharging plate B110, the seed discharging plate a109 is timely controlled to discharge under the comprehensive control of the data processing system 30, so that the seed supplementing is realized and the miss seeding is prevented; meanwhile, when the photoelectric sensor B15 does not detect that seeds exist on the seed discharging plate A109, the seed discharging plate A109 is automatically controlled to rotate, and the next sowing position is rotated to the current position until the photoelectric sensor B15 can detect the seeds for subsequent reseeding.
Referring to fig. 6, the soybean corn strip planter miss-seeding control method using the soybean corn strip planter miss-seeding control system of the invention comprises the following steps:
first, the diameter D of the driving land wheel 1 and the transmission ratio are input through the input interface of the data processing system 30 Ratio of transmissionWherein/>The rotation speed ratio of the driving member A31 for driving the land wheel 1 and the overrun clutch A7 without considering the bad influence of the transmission such as slipping is expressed by/>The ratio of the rotational speed of the servomotor a11 to the rotational speed of the driving member B29 of the overrunning clutch B9 is shown.
Then the seeder is started to drive the ground wheel 1 to rotate, and when the ground wheel 1 is driven to rotate, the corn seed metering device driving chain wheel 2 is driven to synchronously rotate, the corn seed metering device driving chain wheel 2 drives the corn seed metering device chain wheel 6 to rotate through the corn seed metering device driving chain 4, and as the corn seed metering device chain wheel 6 is connected with the overrunning clutch A7, the rotating speed of the corn seed metering device chain wheel 6 and the overrunning clutch A7 are synchronous, and the overrunning clutch A7, the overrunning clutch B9 and the corn seed metering disc A14 are coaxial, and the corn seed metering device driving chain wheel 2, the overrunning clutch A9 and the corn seed metering disc A14 synchronously rotate.
At the same time, satellite navigation positioning system 28 acquires the real-time travel speed of the planterAnd transmitted to the data processing system 30, the data processing system 30 converts the walking speed into the theoretical rotating speed which should be achieved by the servo motor A11, namely the theoretical rotating speed/>, which should be achieved by the driving wheel A22 of the overrunning clutch B9; At the same time, the speed sensor A8 will detect data/>Is transferred to the data processing system 30, and the data processing system 30 compares the difference between the wheel speed signal and the motor speed signal (i.e., compares/>And/>Difference between the two) to determine whether to control the intervention work of the servo motor A11; when the rotation speed signal of the land wheel is greater than or equal to the rotation speed signal of the motor, namely, the rotation speed of the seed sowing device is driven to rotate by driving the land wheel 1 to be greater than the rotation speed converted based on the positioning and driving speed of the satellite navigation positioning system 28, the overrunning clutch B9 is in a separation state, the overrunning clutch A7 is in a combination state, the corn seed sowing disc A14 is driven to rotate by driving the land wheel 1, otherwise, the overrunning clutch B9 is in a combination state, the overrunning clutch A7 is in a separation state, and the corn seed sowing disc A14 is driven to rotate by the servo motor A11. The driving wheel 1 also drives the soybean seed sowing device driving sprocket 35 to synchronously rotate when rotating, and the principle of the soybean seed sowing process is the same as that of the corn seed sowing process, so that the description is omitted.
The data processing system 30 calculates the theoretical rotation speed to be reached by the driving wheel A22 of the overrunning clutch B9：
When (when)When the corn seed sowing device is in use, the driving land wheel 1 is driven to work normally, sowing power is provided by the driving land wheel 1, the driving part A31 of the overrunning clutch A7 is driven to rotate by the corn seed sowing device sprocket 6, the driving part A31 drives the spline shaft A23 to synchronously rotate by the driven part A33 of the overrunning clutch A7, and the spline shaft A23, the spline shaft B37 and the corn seed sowing device through shaft 5 keep to synchronously rotate; at this time, the rotational speed of the driving member B29 of the overrunning clutch B9 is/>The rotation speed of the driven member B36 of the overrunning clutch B9 is/>The driving part B29 is separated from the driven part B36, the overrunning clutch B9 is in a separated state, and the corn seed metering disc A14 and the corn seed metering disc B32 are driven to rotate by the driving land wheel 1, so that corn sowing is performed.
When (when)When the ground wheel 1 is driven to slip and other abnormal conditions are indicated, the servo motor A11 drives the driving wheel A22 of the overrunning clutch B9 to rotate through the gear A10, the driving wheel A22 and the driving piece B29 of the overrunning clutch B9 are connected through keys to keep synchronous rotation, the driving piece B29 drives the spline shaft B37 to rotate through the driven piece B36 of the overrunning clutch B9, and the spline shaft B37, the spline shaft A23 and the corn seed sowing device through shaft 5 keep synchronous rotation; at this time, the rotational speed of the follower a33 of the overrunning clutch A7 is/>Whereas the rotational speed of the driving member a31 of the overrunning clutch A7 is/>The driving part A31 is separated from the driven part A33, the overrunning clutch A7 driven by the driving land wheel 1 is in a separated state, and the servo motor A11 drives the corn seed metering disc A14 and the corn seed metering disc B32 to rotate, so that corn sowing is performed;
when the servo motor A11 is involved in working, the rotation speed of the servo motor A11 is assigned as follows ：
When abnormal conditions such as loss of navigation signal and excessive navigation speed occur, such asThe sowing power is provided by driving the land wheel 1.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and any obvious modifications, substitutions or variations that can be made by one skilled in the art without departing from the spirit of the present invention are within the scope of the present invention.
Claims (9)
1. The soybean corn ribbon planting seeder miss-seeding control system is characterized by comprising a driving land wheel (1), a corn seed sowing system and a soybean seed sowing system, wherein the corn seed sowing system and the soybean seed sowing system are connected with the driving land wheel (1), the structure composition of the soybean seed sowing system is the same as that of the corn seed sowing system, the corn seed sowing system and the soybean seed sowing system are both in signal connection with a data processing system (30), and the data processing system (30) is in signal connection with a satellite navigation positioning system (28);
The corn seed metering system comprises a corn seed metering device driving chain wheel (2) arranged at one end of a driving land wheel (1), wherein the corn seed metering device driving chain wheel (2) is connected with a corn seed metering device chain wheel (6) through a corn seed metering device driving chain (4), and the corn seed metering device chain wheel (6) is arranged on an overrunning clutch A (7) and synchronously rotates; the overrunning clutch A (7) is coaxially connected with the overrunning clutch B (9), the overrunning clutch B (9) is coaxially connected with the corn seed metering disc A (14), and the corn seed metering disc A (14) is coaxially connected with the corn seed metering disc B (32); a speed sensor A (8) is arranged on the side of an overrunning clutch A (7), a speed sensor B (13) is arranged on the side of an overrunning clutch B (9), a driving wheel A (22) of the overrunning clutch B (9) is meshed with a gear A (10) for transmission, and the gear A (10) is arranged on an output shaft of a servo motor A (11).
2. The soybean corn ribbon planting seeder seeding control system according to claim 1, wherein the corn seed metering disc A (14) and the corn seed metering disc B (32) have the same structure, the corn seed metering disc A (14) is installed on the corn seed metering device through shaft (5), the parallel seed metering layout mode is adopted based on the spoon wheel type seed metering structure, the seed metering plate B (110) and the seed taking plate B (112) which are synchronously rotated with the corn seed metering device through shaft (5) are included, the seed metering plate A (109) and the seed taking plate A (111) installed on the corn seed metering device through shaft (5) through the shaft sleeve C (101) are included, the shaft sleeve C (101) can relatively move around the corn seed metering device through shaft (5), the shaft sleeve C (101) and the gear C (106) are fixed in a key connection mode, the gear C (106) is meshed with the gear D (108), and the gear D (108) is fixed at the output end of the servo motor C (116).
3. The soybean and corn ribbon planting seeder miss-seeding control system according to claim 2, wherein photoelectric sensors A (12) and B (15) are respectively installed on the end covers (104) on the left side and the right side of the corn seed sowing plate A (14), and are respectively used for detecting seeds on seed sowing plates B (110) and A (109).
4. A soybean and corn ribbon planting planter miss-seeding control system according to claim 3, wherein the mounting position of the photosensor a (12) near the seed discharging plate B (110) is advanced by a certain angle in the seed discharging rotation direction than the photosensor B (15).
5. A soybean-corn strip-type planter miss-seeding control method using the soybean-corn strip-type planter miss-seeding control system of claim 3, characterized by comprising the following steps:
Firstly, the diameter D of the land wheel (1) and the transmission ratio are input and driven through the input interface of a data processing system (30) Ratio of transmission，/>Represents the rotation speed ratio of the driving part A (31) of the driving land wheel (1) and the overrunning clutch A (7) without considering the bad influence of transmissionThe rotation speed ratio of the servo motor A (11) to the driving part B (29) of the overrunning clutch B (9) is shown;
Then the seeder is started to drive the land wheel (1) to rotate, the corn seed metering device driving sprocket (2) is driven to synchronously rotate when the land wheel (1) is driven to rotate, the corn seed metering device driving sprocket (2) drives the corn seed metering device sprocket (6) to rotate through the corn seed metering device driving chain (4), the corn seed metering device sprocket (6), the overrunning clutch A (7) and the overrunning clutch B (9) synchronously rotate, and the corn seed metering disc A (14) and the corn seed metering disc B (32) are further driven to synchronously rotate for seed metering based on the corn seed metering device through shaft (5);
Meanwhile, a satellite navigation positioning system (28) acquires the real-time walking speed of the seeder And transmitting the walking speed to a data processing system (30), wherein the data processing system (30) converts the walking speed into the theoretical rotational speed/>, which is reached by the driving wheel A (22) of the overrunning clutch B (9); At the same time, the speed sensor A (8) will detect data/>To a data processing system (30), the data processing system (30) being configured to compare/>And/>The difference value is used for judging whether the servo motor A (11) is controlled to intervene in work or not; when (when)When the overrunning clutch B (9) is in a separation state, the overrunning clutch A (7) is in a combination state, the driving land wheel (1) is normally driven, the driving land wheel (1) drives the seed metering, and when/>When the seed metering device is in a seed metering state, the overrunning clutch B (9) is in a combined state, the overrunning clutch A (7) is in a separated state, and the seed metering is driven by the servo motor A (11);
the ground wheel (1) is driven to rotate and simultaneously drives the soybean seed sowing system to synchronously work, and the soybean seed sowing process is the same as the corn seed sowing process.
6. The method for controlling the miss-seeding of a soybean and corn ribbon planter according to claim 5, wherein the data processing system (30) calculates the theoretical rotational speed to be reached by the driving wheel a (22) of the overrun clutch B (9) by the following formula：
。
7. The method for controlling the miss-seeding of the soybean and corn ribbon planter according to claim 6, wherein the rotation speed of the servo motor A (11) is assigned as follows when the servo motor A (11) is in operation：
。
8. The method for controlling the miss-seeding of the soybean and corn ribbon planter according to claim 5, wherein the satellite navigation positioning system (28) provides the seeding power by driving the land wheel (1) when an abnormal condition including a loss of a navigation signal and an excessive navigation speed occurs.
9. The method for controlling the miss-seeding of the soybean and corn strip planter according to claim 5, wherein the corn seed metering disc a (14) comprises the following steps:
The corn seed metering device through shaft (5) drives the seed taking plate B (112) and the seed metering plate B (110) to rotate, the seed taking plate B (112) acquires seeds from the seed box (105), the seeds are sent into the seed metering plate B (110) after the seeds are cleaned by the seed protection plate A (103), and the seeds are thrown out after the seed metering plate B (110) rotates; in the process, a photoelectric sensor A (12) detects whether seeds exist in a seed discharging plate B (110) at the current position in real time, when no seeds exist in the seed discharging plate B (110), a servo motor C (116) drives a gear D (108) to rotate by a seed spoon rotation angle, the servo motor C (116) drives a gear C (106) to rotate through the gear D (108), the seed discharging plate A (109) and a seed taking plate A (111) rotate for reseeding, and when the photoelectric sensor A (12) detects that the seeds exist in the seed discharging plate B (110), the servo motor C (116) does not work;
The photoelectric sensor B (15) detects whether seeds exist in the seed discharging plate A (109) at the current position in real time, when the seeds are not detected, the seed discharging plate A (109) is controlled to rotate through the servo motor C (116), the next sowing position is rotated to the current position until the photoelectric sensor B (15) can detect the seeds, and then the seeds enter a waiting state for subsequent reseeding.
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