CN202551668U - Electric wide and narrow row rice transplanting mechanism - Google Patents
Electric wide and narrow row rice transplanting mechanism Download PDFInfo
- Publication number
- CN202551668U CN202551668U CN 201220232350 CN201220232350U CN202551668U CN 202551668 U CN202551668 U CN 202551668U CN 201220232350 CN201220232350 CN 201220232350 CN 201220232350 U CN201220232350 U CN 201220232350U CN 202551668 U CN202551668 U CN 202551668U
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- transplanting
- rice transplanting
- stepper motor
- driving box
- driving controller
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Abstract
The utility model relates to an electric wide and narrow row rice transplanting mechanism. The mechanism includes a transplanting driving box, wherein rotary boxes are respectively arranged on the two sides of the transplanting driving box; two transplanting arms are arranged on each rotary box; a double-shaft stepping motor is arranged on the transplanting driving box; two output shafts of the stepping motor are respectively and correspondingly connected with input shafts of the two rotary boxes through torque/rotary angle devices; the two input shafts form an included angle, and are symmetrically arranged and both rotationally connected with the transplanting driving box; and a control circuit of the stepping motor is connected with a traveling controller of a rice transplanting vehicle. The electric wide and narrow row rice transplanting mechanism has the characteristics of simple structure, low cost, convenience in maintenance, and the like.
Description
Technical field
The utility model relates to a kind of rice transplanter, especially relates to a kind of transplanting mechanism of rice transplanter.
Background technology
Existing rice transplanter generally all comprises the transplanting driving box; The both sides of transplanting driving box are respectively equipped with the revolution case, and the revolution case is provided with former and later two transplanting arms, and revolution case and transplanting arm are driven by the transplanting driving box; The power of transplanting driving box is provided through transmission mechanism by the rice transplanting locomotive; In general, be provided with sprocket wheel, chain in this transplanting driving box, and the output shaft that links to each other with described revolution case.Like publication number is the transplanting mechanism that the Chinese patent of CN102342205 discloses a kind of rice transplanter, comprises transplanting case, revolution case and transplanting pawl, and the moving axis output shaft of described transplanting case links to each other with the rotating shaft of a sun gear in being located at the revolution case; The end of transplanting pawl is provided with outer pawl head; Should comprise that two pawls referred to by outer pawl head, described pawl arm is provided with interior pawl, and interior pawl and pawl arm are slidingly connected; And be provided with one make in the elastic recovery mechanism that moves upward of pawl; The pawl head of interior pawl is that single pawl refers to, between two pawls that the root that interior pawl pawl refers to is located at outer pawl referred to, the upper end of interior pawl and a driving rod were rotationally connected; This driving rod and pawl arm are rotationally connected, and match with a cam on the wheel shaft of being located at second planetary gear.The power of the rice transplanter of this structure need be through the transmission of frame for movement; Obtain from the rice transplanting locomotive; And the motion of rice transplanting mechanism need keep certain comparison with the speed of a motor vehicle, and guaranteeing suitable seedling planting row pitch, so the structure more complicated, required precision is high, cost is high, the maintenance trouble.Along with modern agricultural development, the foster planting technology of paddy rice is also in continuous raising.Research shows that in the middle of the paddy rice plantation, its line space adopts the mode of one wide one narrow interval plantation to help illumination, the ventilation of paddy rice most, alleviates damage by disease and insect, improves output.In order to develop this technology, people also design the capable kind rice transplanter of various brand-new width, are that the Chinese patent of CN102090195 discloses a kind of sliding wide-and-narrow separating-planting mechanism of rice transplanter like publication number.Spiral slide and the transplant arm that moves are installed in traditional transplant arm parts, are made transplant arm do the axial cycle of planet axis and slide at relative relative gearcase of counter-rotational while of planet carrier.The transplant arm sky is enclosed within and fixed the stretching out on the sleeve pipe of gearcase, can rotate each other and move axially; The sleeve pipe that stretches out at spiral slide place is cemented on the gearcase through flange, and slides on the planet axis; With the supporting slide block sky of spiral slide be enclosed within the fixed transplant arm end cap of transplant arm on; In the motion process, the axially-movable of transplant arm planet axis is ordered about in the planet axis axially-movable of slide block, realizes that the cycle of seedling pin moves.Depth difference through slideway shortens the length of stretching out sleeve pipe, to satisfy the requirement of width between the seedling door.The seedling pin is in that relative seedling door squints behind the segment distance along with transplant arm after the seedling taking of seedling door, the rice transplanting of burying of seedling pin.Make rice transplanting position deviation seedling fetching hole satisfy the requirement of the capable rice transplanting of width.But because the environment for use of rice transplanter is poor, mud is easy to enter in the spiral slide, and the required precision of spiral slide is than higher, and transplant arm is easy to occur stuck and can not rotates, and then causes the damage to whole transplanting mechanism.
Summary of the invention
The utility model mainly is to solve existing in prior technology structure more complicated, required precision height, high, the maintenance trouble of cost; Easily transplanting mechanism and transmission mechanism thereof such as are damaged at technical problem, a kind of simple in structure, capable rice transplanting mechanism of electronic width that cost is low, easy to maintenance is provided.
The capable rice transplanting mechanism of above-mentioned electronic width of the utility model mainly is able to solve through following technical proposals: the capable rice transplanting mechanism of a kind of electronic width; Comprise the transplanting driving box; Transplanting driving box both sides are respectively equipped with the revolution case; The revolution case is provided with two transplanting arms, it is characterized in that described transplanting driving box is provided with a twin shaft stepper motor, and two output shafts of this stepper motor are respectively through power shaft corresponding link to each other of rotation angle of torque device with described two revolution casees; Two mutual structures of power shaft in an angle; And be symmetrical set, two power shafts are rotationally connected with described transplanting driving box respectively, and described Stepping Motor Control circuit links to each other with the driving controller of rice transplanting locomotive.The utility model is through twin shaft step motor drive revolution case and transplanting arm; The rotation of stepper motor is by the control of driving controller, and the driving controller is adjusted the rotating speed of stepper motor according to the variation of the speed of a motor vehicle; Even make the speed of a motor vehicle in the middle of changing, the line-spacing of rice transplanting also can be consistent.And this control accomplishes through the signal transmission fully, avoided accomplishing transmission of power through complex mechanical construction, satisfies the proportion requirement of road speed and rice transplanting speed.Have simple in structure, cost is low, advantage such as easy to maintenance.Simultaneously, two power shafts pass through the rotation angle of torque device and link to each other with two power shafts respectively, make that structure in an angle between two power shafts; Two revolution casees are to be symmetrical set; The position of its seedling taking is even, but the revolution through certain angle, when arriving the rice transplanting position; Can close up or scatter in the position of two rice shoots on the same transplanting mechanism; And the adjacent rice shoot of adjacent two transplanting mechanisms can scatter or close up (on its situation and the same transplanting mechanism close up or the situation of scattering just in time opposite, this and publication number are that the principle of patent of CN101790917 is similar), this mechanism just can accomplish the capable rice transplanting process of width.
As preferably, described rotation angle of torque device is the universal joint that two ends link to each other with power shaft with described output shaft respectively.
As preferably, described stepper motor is provided with a current sensor, and the signal circuit of this current sensor links to each other with described driving controller.Current sensor sends to the driving controller with the current signal of stepper motor in real time, when transplanting arm is obstructed, will cause the electric current of stepper motor to strengthen; Resistance is big more, and then electric current is big more, after electric current arrives to a certain degree greatly; The driving controller promptly breaks off the power supply of stepper motor, and it is quit work, and stepper motor is protected; Remove resistance factor up to the operator, just can work on.
As preferably, the output shaft of described stepper motor is provided with angular transducer, and the signal circuit of this angular transducer links to each other with described driving controller.The driving controller is according to road speed and the velocity of rotation and the rotational angle of the proportion control stepper motor of the carry out ahead of schedule road speed set and rice transplanting mechanism movement velocity; And in real time the actual rotation angle of the stepper motor in the velocity of rotation of stepper motor and each transplanting cycle is fed back to the driving controller through the angular transducer device; The driving controller is adjusted the rotation of stepper motor according to this actual angle, to improve the rice transplanting precision of transplanting mechanism.
As preferably, described driving controller links to each other with a warning device.Excessive when the operating current of stepper motor, warning device is reported to the police, so that the operator in time searches reason, has effectively protected transplanting mechanism.
The utility model control scheme is: the corresponding relation data that are built-in several road speeds of described driving controller and stepper motor rotary speed; The line-spacing of the data represented rice transplanting of the corresponding relation of each road speed and stepper motor rotary speed; When the rice transplanting locomotive starts, and after starting transplanting mechanism, the driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed; The control step rotating speed of motor is carried out the rice transplanting operation.The line-spacing of the data represented a kind of rice transplanting of corresponding relation of the rotary speed of each road speed and stepper motor is confirmed row in these data, and road speed is fast more, and the rotary speed of stepper motor is fast more, but keeps the line-spacing of rice transplanting constant.Because the power of transplanting mechanism is independently provided by stepper motor, make that in actual use the territory degree of its velocity variations is bigger, can effectively improve rice transplanting speed.
When the current data of current inductor acquisition surpassed safety value, the driving controller was the outage of control step motor, quits work.The working environment of transplanting mechanism is comparatively severe, is easy to receive the obstruction of earth, when the earth of this obstruction too much; When resistance is excessive; The electric current of stepper motor can fast rise, and current inductor is monitored the electric current of stepper motor, if when electric current surpasses safety value; Just by the timely control step motor outage of driving controller, so that equipment is protected.
When the current data of current inductor acquisition surpassed safety value, the emergency power off switch promptly carried out power operation to stepper motor.When the operating current of stepper motor was excessive, needing cuts off the power supply the most timely was in, so that equipment is protected; If cut off the power supply through driving controller control step motor; Have certain hysteresis quality, therefore, the present technique scheme directly sends to the emergency power off switch with the current data that current inductor obtains; The emergency power off switch promptly initiatively cuts off the power supply when obtaining to surpass the current signal of safety value.
Angular transducer will be accomplished the actual angle of revolution of the output shaft value in one or several transplanting cycles at the interpolation arm and send to the driving controller in real time; The driving controller compares this angle of revolution value and theoretical angle of revolution value during this period; Obtain angular error, with of the compensation of this angular error as next or several of stepper motor rotational angle gyration period.The rotation of stepper motor is by the control of driving controller, but its rotation process must have certain mistake, and this error accumulation is to a certain degree will the precision of rice transplanting position being impacted.In the present technique scheme; Rotational angle through to last one or several cycles detects; And should detect data and the point of theory value is carried out ratio, obtain error amount, and with the compensation of this error amount as next or several cycles; Effectively solve the accumulation problem of error, guaranteed the rice transplanting precision.
The total actual angle of revolution of output shaft that angular transducer is accomplished several transplanting cycles with the interpolation arm sends to the driving controller in real time; The driving controller compares this angle of revolution value and theoretical angle of revolution value during this period; Obtain angular error, with of the compensation of the mean value of this angular error in above-mentioned several transplanting cycles as the stepper motor rotational angle in each transplanting cycle in the transplanting cycle of next round same number.The error in single transplanting cycle can be smaller, is not easy to detect, have only when this accumulation of error to a certain degree; Just be detected easily; And if will these detected data as the compensation of next cycle, can make that the fluctuation ratio of transplanting mechanism is bigger, the offset meeting of rice transplanting is apparent in view.And the present technique scheme is with the compensation as each cycle in the cycle of next round same number of the mean value of total actual angle of revolution in several transplanting cycles; Make that this error is progressively compensated; Avoided the obvious fluctuation of transplanting mechanism; Make that also the skew of rice transplanting position is not too obvious, effectively improved the rice transplanting quality.
The beneficial effect that brings of the utility model is; Solve existing in prior technology structure more complicated, technical problems such as required precision is high, cost is high, maintenance trouble, provide a kind of simple in structure, cost is low, easy to maintenance, precision is high, fluctuation is little, the safe and reliable capable rice transplanting mechanism of electronic width.
Description of drawings
Accompanying drawing 1 is a kind of structural representation of the utility model;
Accompanying drawing 2 is structural representations of the control system of the utility model.
Embodiment
Pass through embodiment below, and combine accompanying drawing, do further bright specifically the technical scheme of the utility model.
Embodiment 1:
Like Fig. 1, shown in Figure 2; The utility model is the capable rice transplanting mechanism of a kind of electronic width, comprises transplanting driving box 1, and transplanting driving box both sides are respectively equipped with revolution case 3; Revolution case 3 is provided with two transplanting arms 4; Described transplanting driving box 1 is provided with a twin shaft stepper motor 2, and through power shaft 7 corresponding link to each other of a universal joint 6 with described two revolution casees 3, two power shaft 7 mutual structures in an angle respectively for two output shafts 5 of this stepper motor; And be symmetrical set; Two power shafts are rotationally connected with described transplanting driving box 1 respectively, and stepper motor 2 is provided with a current sensor, and the output shaft of stepper motor is provided with angular transducer; The signal circuit of this angular transducer, the signal circuit of current sensor and Stepping Motor Control circuit all link to each other with the driving controller of rice transplanting locomotive, and the driving controller links to each other with a warning device.
Control method as the above-mentioned capable rice transplanting mechanism of electronic width; The corresponding relation data of driving built-in several road speeds of controller and stepper motor rotary speed, the line-spacing of the data represented rice transplanting of corresponding relation of each road speed and stepper motor rotary speed is when the rice transplanting locomotive starts; And after starting transplanting mechanism; The driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed, and the control step rotating speed of motor is carried out the rice transplanting operation.When the current data of current inductor acquisition surpassed safety value, the driving controller was the outage of control step motor, quits work.The actual angle of revolution of the output shaft value in every transplanting cycle of completion of angular transducer sends to the driving controller in real time; The driving controller compares theoretical angle of revolution value interior during this angle of revolution value and; Obtain angular error, with of the compensation of this angular error as next one stepper motor rotational angle gyration period.
Another kind control scheme as the above-mentioned capable rice transplanting mechanism of electronic width; The corresponding relation data of driving built-in several road speeds of controller and stepper motor rotary speed, the line-spacing of the data represented rice transplanting of corresponding relation of each road speed and stepper motor rotary speed is when the rice transplanting locomotive starts; And after starting transplanting mechanism; The driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed, and the control step rotating speed of motor is carried out the rice transplanting operation.When the current data of current inductor acquisition surpassed safety value, the driving controller was the outage of control step motor, quits work.Angular transducer sends to the driving controller in real time with the total actual angle of revolution of output shaft in every 6 transplanting cycles of completion of interpolation arm; The driving controller compares the sum of this angle of revolution value and the theoretical angle of revolution value in 6 transplanting cycles; Obtain angular error, with of the compensation of the mean value of this angular error in above-mentioned 6 transplanting cycles as the stepper motor rotational angle in each transplanting cycle in the transplanting cycle of 6 of next rounds.
So the utlity model has simple in structure, cost is low, easy to maintenance, precision is high, fluctuation is little, characteristic such as safe and reliable.
Claims (5)
1. capable rice transplanting mechanism of electronic width; Comprise the transplanting driving box, transplanting driving box both sides are respectively equipped with the revolution case, and the revolution case is provided with two transplanting arms; It is characterized in that described transplanting driving box is provided with a twin shaft stepper motor; Two output shafts of this stepper motor are corresponding continuous through the power shafts of rotation angle of torque device and described two revolution casees respectively, and two mutual structures of power shaft and are symmetrical set in an angle; Two power shafts are rotationally connected with described transplanting driving box respectively, and described Stepping Motor Control circuit links to each other with the driving controller of rice transplanting locomotive.
2. the capable rice transplanting mechanism of a kind of electronic width according to claim 1 is characterized in that described rotation angle of torque device is the universal joint that two ends link to each other with power shaft with described output shaft respectively.
3. the capable rice transplanting mechanism of a kind of electronic width according to claim 1 is characterized in that described stepper motor is provided with a current sensor, and the signal circuit of this current sensor links to each other with described driving controller.
4. the capable rice transplanting mechanism of a kind of electronic width according to claim 1 is characterized in that the output shaft of described stepper motor is provided with angular transducer, and the signal circuit of this angular transducer links to each other with described driving controller.
5. the capable rice transplanting mechanism of a kind of electronic width according to claim 3 is characterized in that described driving controller links to each other with a warning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220232350 CN202551668U (en) | 2012-05-18 | 2012-05-18 | Electric wide and narrow row rice transplanting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220232350 CN202551668U (en) | 2012-05-18 | 2012-05-18 | Electric wide and narrow row rice transplanting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202551668U true CN202551668U (en) | 2012-11-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220232350 Expired - Fee Related CN202551668U (en) | 2012-05-18 | 2012-05-18 | Electric wide and narrow row rice transplanting mechanism |
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| Country | Link |
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| CN (1) | CN202551668U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102656983A (en) * | 2012-05-18 | 2012-09-12 | 莱恩农业装备有限公司 | Electric spacing transplanting mechanism and control method thereof |
-
2012
- 2012-05-18 CN CN 201220232350 patent/CN202551668U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102656983A (en) * | 2012-05-18 | 2012-09-12 | 莱恩农业装备有限公司 | Electric spacing transplanting mechanism and control method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121128 Termination date: 20210518 |
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| CF01 | Termination of patent right due to non-payment of annual fee |