CN202713938U - Wide-narrow-line interplanting mechanism with independent motive power - Google Patents
Wide-narrow-line interplanting mechanism with independent motive power Download PDFInfo
- Publication number
- CN202713938U CN202713938U CN 201220230723 CN201220230723U CN202713938U CN 202713938 U CN202713938 U CN 202713938U CN 201220230723 CN201220230723 CN 201220230723 CN 201220230723 U CN201220230723 U CN 201220230723U CN 202713938 U CN202713938 U CN 202713938U
- Authority
- CN
- China
- Prior art keywords
- transplanting
- narrow
- stepper motor
- interplanting
- wide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Prostheses (AREA)
Abstract
The utility model relates to a wide-narrow-line interplanting mechanism with independent motive power. The wide-narrow-line interplanting mechanism comprises an interplanting driving box, wherein the two sides of the interplanting driving box are respectively provided with rotary boxes, two interplanting arms are arranged on the rotary boxes, the interplanting driving box is provided with two step motors, two output shafts of the two step motors are respectively and correspondingly connected with the two rotary boxes, a control circuit of the step motor is connected with a travelling controller of a rice seedling transplanting machine vehicle, an included angle is formed between the output shafts of the two step motors, and the two rotary boxes are in symmetrical arrangement. The wide-narrow-line interplanting mechanism has the characteristics that the structure is simple, the cost is low, the maintenance is convenient, and the like.
Description
Technical field
The utility model relates to a kind of rice transplanter, especially relates to a kind of implanting 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, the revolution case is provided with former and later two transplanting arms, revolution case and transplanting arm are driven by the transplanting driving box, the power of transplanting driving box is provided by 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.Be the implanting mechanism that the Chinese patent of CN102342205 discloses a kind of rice transplanter such as publication number, comprise the transplanting case, revolution case and transplanting pawl, the moving axis output shaft of described transplanting case links to each other with the rotating shaft of being located at the sun gear of revolution in the 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, interior pawl and pawl arm are slidingly connected, and be provided with an elastic recovery mechanism that interior pawl is moved upward, 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 refer to, the upper end of interior pawl and a driving rod are rotationally connected, this driving rod and pawl arm are rotationally connected, and match with a cam on the wheel shaft of being located at the second planetary gear.The power of the rice transplanter of this structure need to be by the transmission of frame for movement, obtain from the rice transplanting locomotive, and the motion of rice transplanting mechanism need to keep certain comparison with the speed of a motor vehicle, and guaranteeing suitable seedling planting row pitch, so complicated structure, required precision is high, cost is high, the maintenance trouble.
Along with the development of modern agriculture, the foster planting technology of paddy rice is also in continuous raising.Studies show that, in the middle of Rice Cropping, its line space adopts the mode of one wide one narrow interval plantation to be conducive to illumination, the ventilation of paddy rice most, alleviates damage by disease and insect, improves output.In order to develop this technology, people also design various brand-new wide-and narrow-row kind rice transplanter, are that the Chinese patent of CN102090195 discloses a kind of sliding wide-and-narrow separating-planting mechanism of rice transplanter such as publication number.Spiral slide and mobile transplant arm are installed in traditional transplant arm parts, are slided so that transplant arm is done the axial cycle of planet axis at relative relative gearcase of counter-rotational while of planet carrier.The transplant arm empty set with fixed the stretching out on the sleeve pipe of gearcase, can mutually rotate and move axially; The sleeve pipe that stretches out at spiral slide place is cemented on the gearcase by flange, and slides on the planet axis; With the supporting slide block empty set of spiral slide with 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 by slideway shortens the length of stretching out sleeve pipe, to satisfy the requirement of width between the seedling setting gate.The seedling pin after the seedling setting gate seedling taking along with transplant arm after relative seedling setting gate is offset a segment distance, the rice transplanting of burying of seedling pin.Make rice transplanting position deviation seedling fetching hole satisfy the requirement of wide-and narrow-row rice transplanting.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 higher, and transplant arm is easy to occur stuck and can not rotates, and then causes the damage to whole transplanting mechanism.Publication number is that the Chinese patent of CN101790917 discloses a kind of universal joint-driven inclined wide-and-narrow separating-planting mechanism of rice transplanter.At identical transmission case and the transplant arm of sprocket shaft both sides difference mounting structure; Sprocket shaft becomes an inclination angle by the universal joint output shaft with sprocket shaft, universal joint output shaft end and planet carrier are affixed, in planet carrier, central gear by bearings on the universal joint output shaft, and by flange, adjust pad and be fixedly connected with flange on the universal joint end transmission case body, central gear is connected with separately planetary gear respectively through idler gear, is connected respectively separately transplant arm with planet wheel spindle that planetary gear is fixedly connected with.The utility model moves the seedling pin on the transplant arm that planetary gear drives in the clinoplain of relative sprocket shaft, then the seedling pin is after seedling taking, because the inclination of planet carrier produces the lateral movement with respect to direction of advance, relative seedling taking position moves to left or moves to right to make rice shoot bury a little, does not wait the line-spacing distribution so that the rice transplanting position forms the wide-and narrow-row of agriculture requirement under seedling fetching hole is equally spaced prerequisite.But the rice transplanter of this structure is in implement using, and when the seedling fetching hole of seedling platform was tied mud, the rice transplanting head just was not easy process in the seedling fetching hole, occurs stuck phenomenon, will damage implanting mechanism at this moment.
Summary of the invention
The utility model mainly is after solving the existing implanting mechanism of prior art and being stuck, and the technical problem that easily implanting mechanism and transmission mechanism thereof is damaged provides a kind of simple in structure, independent power wide-and narrow-row implanting mechanism that cost is low, easy to maintenance.
Above-mentioned independent power wide-and narrow-row implanting mechanism of the present utility model is mainly solved by following technical proposals: a kind of independent power wide-and narrow-row implanting mechanism, 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 two stepper motors, two output shafts of two stepper motors are corresponding continuous with described two revolution casees respectively, the control circuit of described stepper motor links to each other with the driving controller of rice transplanting locomotive, between the axle shaft of two stepper motors structure in an angle, two the revolution casees be symmetrical arranged.The utility model drives revolution case and transplanting arm by stepper motor, 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 so that the speed of a motor vehicle is in the middle of changing, the line-spacing of rice transplanting also can be consistent.And this control finishes by the signal transmission fully, avoided finishing transmission of power by the frame for movement of complexity, satisfies the proportion requirement of road speed and rice transplanting speed.Have simple in structure, cost is low, the advantage such as easy to maintenance.Because structure in an angle between the power shaft of two stepper motors; and two rotary gear boxes are to be symmetrical arranged; the position of its seedling taking is even; but the revolution by 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 finish the rice transplanting process of wide-and narrow-row.
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 larger, and then electric current is larger; when electric current greatly to a certain extent after; the driving controller namely disconnects the power supply of stepper motor, and it is quit work, and stepper motor is protected; until the operator removes resistance factor, just can work on.
As another kind of preferred version, described stepper motor is provided with a urgent power-off switch and a current sensor, and the signal circuit of this current sensor links to each other with the urgent power-off switch of stepper motor.The signal of the operating current of the stepper motor that current sensor obtains sends to urgent power-off switch in real time; when the resistance of transplanting arm excessive; when the electric current of stepper motor reaches setting value; urgent power-off switch namely disconnects; stepper motor quits work, to reach the protection to stepper motor and whole implanting mechanism.
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 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 by 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 implanting 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 implanting mechanism.
In the utility model work, finish by following control program: the corresponding relation data of driving built-in several road speeds of controller and stepper motor rotary speed, the corresponding relation data of each road speed and stepper motor rotary speed represent the line-spacing of a rice transplanting, when the rice transplanting locomotive starts, and behind the startup implanting mechanism, the driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed, and the rotating speed of control step motor carries out the rice transplanting operation.The corresponding relation data of the rotary speed of each road speed and stepper motor represent a kind of line-spacing of rice transplanting, determine row in these data, and road speed is faster, and the rotary speed of stepper motor is faster, but keep the line-spacing of rice transplanting constant.Because the power of implanting mechanism is independently provided by stepper motor, so that in actual use, the territory degree of its velocity variations is larger, 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 implanting mechanism is comparatively severe; be easy to be subject to the obstruction of earth; when the earth of this obstruction too much; when resistance is excessive; the electric current meeting fast rise of stepper motor, 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, urgent power-off switch namely carried out power operation to stepper motor.When the operating current of stepper motor is excessive; needing the most timely, outage is in; so that equipment is protected; if cut off the power supply by driving controller control step motor; have certain hysteresis quality, therefore, the technical program directly sends to urgent power-off switch with the current data that current inductor obtains; urgent power-off switch namely initiatively cuts off the power supply when obtaining to surpass the current signal of safety value.
Angular transducer will be finished the actual angle of revolution of the output shaft value in one or several transplantings cycle at the interpolation arm and send in real time the driving controller, the driving controller compares this angle of revolution value and theoretical angle of revolution value during this period, obtain angular error, with 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 will impact the precision of rice transplanting position to a certain extent.In the technical program, detected by the rotational angle to upper one or several cycles, and data should be detected 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 finished several transplantings cycle 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 the compensation of the mean value of this angular error within 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, only have when this accumulation of error to a certain extent, just easily be detected, if and with the compensation of these data that detect as next cycle, meeting is so that the fluctuation ratio of implanting mechanism is larger, the skew of the position of rice transplanting can be apparent in view.And the technical program 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, so that this error is progressively compensated, avoided the obvious fluctuation of implanting mechanism, also so that the skew of rice transplanting position is not too obvious, Effective Raise the rice transplanting quality.
The beneficial effect that brings of the present utility model is, solve the existing complicated structure of prior art, the 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, little, safe and reliable independent power wide-and narrow-row implanting mechanism fluctuates.
Description of drawings
Accompanying drawing 1 is a kind of structural representation of the present utility model;
Accompanying drawing 2 is structural representations of the control system of embodiment 1 of the present utility model;
Accompanying drawing 3 is structural representations of the control system of embodiment 2 of the present utility model.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.
Embodiment 1:
As shown in Figure 1 and Figure 2, the utility model is a kind of independent power wide-and narrow-row implanting mechanism, comprise transplanting driving box 1, transplanting driving box both sides are respectively equipped with revolution case 3, revolution case 3 is provided with two transplanting arms 4, two output shafts 5 that described transplanting driving box is provided with 2, two stepper motors 2 of two stepper motors turn round 3 corresponding linking to each other of casees with described two respectively.Stepper motor 2 is provided with a current sensor, the output shaft of stepper motor is provided with angular transducer, the control circuit of the signal circuit of this angular transducer, the signal circuit of current sensor and stepper motor all links 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 above-mentioned independent power wide-and narrow-row implanting mechanism, the corresponding relation data of driving built-in several road speeds of controller and stepper motor rotary speed, the corresponding relation data of each road speed and stepper motor rotary speed represent the line-spacing of a rice transplanting, when the rice transplanting locomotive starts, and behind the startup implanting mechanism, the driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed, and the rotating speed of control step motor carries 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 that angular transducer is whenever finished a transplanting cycle 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 the compensation of this angular error as next one stepper motor rotational angle gyration period.
Embodiment 2:
Such as Fig. 1, shown in Figure 3, the utility model is a kind of independent power wide-and narrow-row implanting mechanism, 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, be provided with two stepper motors, two output shafts of two stepper motors are corresponding continuous with described two revolution casees respectively.The output shaft of stepper motor is provided with angular transducer, the signal circuit of this angular transducer and the control circuit of stepper motor all link to each other with the driving controller of rice transplanting locomotive, stepper motor is provided with a urgent power-off switch and a current sensor, and the signal circuit of this current sensor links to each other with the urgent power-off switch of stepper motor.The driving controller links to each other with a warning device.
Control method as above-mentioned independent power wide-and narrow-row implanting mechanism, the corresponding relation data of driving built-in several road speeds of controller and stepper motor rotary speed, the corresponding relation data of each road speed and stepper motor rotary speed represent the line-spacing of a rice transplanting, when the rice transplanting locomotive starts, and behind the startup implanting mechanism, the driving controller is according to the corresponding relation data of selected road speed and stepper motor rotary speed, and the rotating speed of control step motor carries 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 total actual angle of revolution of output shaft that angular transducer is whenever finished 6 transplanting cycles with the interpolation arm sends to the driving controller in real time, the driving controller compares the sum of this angle of revolution value and the theoretical angle of revolution value within 6 transplanting cycles, obtain angular error, with the compensation of the mean value of this angular error within 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 the features such as simple in structure, that cost is low, easy to maintenance, precision is high, fluctuation is little, safe and reliable.
Claims (5)
1. independent power wide-and narrow-row implanting mechanism, 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 two stepper motors, two output shafts of two stepper motors are corresponding continuous with described two revolution casees respectively, the control circuit of described stepper motor links to each other with the driving controller of rice transplanting locomotive, between the axle shaft of two stepper motors structure in an angle, two the revolution casees be symmetrical arranged.
2. a kind of independent power wide-and narrow-row implanting mechanism 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.
3. a kind of independent power wide-and narrow-row implanting mechanism according to claim 1, it is characterized in that described stepper motor is provided with a urgent power-off switch and a current sensor, the signal circuit of this current sensor links to each other with the urgent power-off switch of stepper motor.
4. a kind of independent power wide-and narrow-row implanting mechanism 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. a kind of independent power wide-and narrow-row implanting mechanism according to claim 2 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 201220230723 CN202713938U (en) | 2012-05-18 | 2012-05-18 | Wide-narrow-line interplanting mechanism with independent motive power |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220230723 CN202713938U (en) | 2012-05-18 | 2012-05-18 | Wide-narrow-line interplanting mechanism with independent motive power |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202713938U true CN202713938U (en) | 2013-02-06 |
Family
ID=47615797
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220230723 Expired - Fee Related CN202713938U (en) | 2012-05-18 | 2012-05-18 | Wide-narrow-line interplanting mechanism with independent motive power |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202713938U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102656985A (en) * | 2012-05-18 | 2012-09-12 | 莱恩农业装备有限公司 | Independent power wide/narrow row transplanting mechanism and control method thereof |
-
2012
- 2012-05-18 CN CN 201220230723 patent/CN202713938U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102656985A (en) * | 2012-05-18 | 2012-09-12 | 莱恩农业装备有限公司 | Independent power wide/narrow row transplanting mechanism and control method thereof |
| CN102656985B (en) * | 2012-05-18 | 2014-11-19 | 莱恩农业装备有限公司 | Independent power wide/narrow row transplanting mechanism and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104898687A (en) | Automatic driving system of crawler type combined harvester and control method | |
| CN103662616B (en) | A kind of flexible annular transmitting device | |
| CN102648676B (en) | Independent-power asynchronous transplanting mechanism and control method thereof | |
| CN106592402B (en) | A kind of road cutting machine device people and its construction method | |
| CN102656985B (en) | Independent power wide/narrow row transplanting mechanism and control method thereof | |
| CN105165199A (en) | Rice seedling supplementing machine | |
| CN109699287A (en) | Leaf vegetables cropper and its control method with harvesting height regulatory function | |
| CN102656983A (en) | Electric spacing transplanting mechanism and control method thereof | |
| CN104770122B (en) | The implanting mechanism of a kind of variable wide-and narrow-row rice transplanter and control method thereof | |
| CN104396395A (en) | Potato seeder | |
| CN202713938U (en) | Wide-narrow-line interplanting mechanism with independent motive power | |
| CN103387424A (en) | Automatic livestock manure rake turnover machine | |
| CN203279600U (en) | Velocity compensation device of sprinkler | |
| CN205105600U (en) | Rice machine of filling gaps with seedlings | |
| CN202551668U (en) | Electric wide and narrow row rice transplanting mechanism | |
| CN211682084U (en) | Four-degree-of-freedom tracked robot special for wind driven generator blade | |
| CN209683866U (en) | Plant protection unmanned vehicle | |
| CN201860571U (en) | Special seedling planting machine | |
| CN114097320B (en) | Terminal actuating mechanism of bionic intelligent inter-plant weeding robot | |
| CN102656984A (en) | Independently powered transplanting mechanism and control method thereof | |
| CN204408910U (en) | A kind of Sowing machine for potatoes | |
| CN205038522U (en) | Speed stabilizing revolving stage | |
| CN202551667U (en) | Electric planting mechanism | |
| CN208523156U (en) | A kind of broom type paddy field weed-killer robot | |
| CN206518016U (en) | Self-propelled agricultural traction frame |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130206 Termination date: 20140518 |