WO2016155656A1

WO2016155656A1 - Planting mechanism for variable wide-narrow row rice transplanter, and control method therefor

Info

Publication number: WO2016155656A1
Application number: PCT/CN2016/078269
Authority: WO
Inventors: 栾翠莲; 张绍权; 尹修安
Original assignee: 安徽省锦禾农业装备有限责任公司
Priority date: 2015-04-02
Filing date: 2016-04-01
Publication date: 2016-10-06
Also published as: CN104770122A; CN104770122B

Abstract

A planting mechanism for a variable wide-narrow rice transplanter comprises a plurality of transplanting claws (1) arranged in line. Each transplanting claw is correspondingly provided with a driving mechanism. Each driving mechanism comprises a transverse power source (3) having a transversely arranged rotating shaft and a longitudinal power source (4) having a longitudinally arranged rotating shaft. The rotating shaft of each transverse power source is connected to the corresponding transplanting claw, and the rotating shaft of each longitudinal power source is connected to the lower side or the upper side of a machine body of the corresponding transverse power source. A control circuit of each of the transverse power source and the longitudinal power source is connected to a control system. The planting mechanism can instantly adjust the transplanting spacing. Also disclosed is a control method for the planting mechanism.

Description

Inserting mechanism of variable width and narrow row transplanter and control method thereof

Technical field

The invention relates to a rice transplanter, in particular to a planting mechanism of a control machine.

Background technique

Generally, the insertion control drive box of the existing control machine is provided with a sprocket, a chain, and an output shaft connected to the rotary box. Chinese Patent Publication No. CN102342205 discloses a planting mechanism for a rice transplanter, comprising a planting box, a rotary box and a planting claw, the moving shaft output shaft of the planting box and a set in the rotary box. The rotating shaft of the sun wheel is connected, the end of the planting claw is provided with an outer claw head, the outer claw head comprises two claw fingers, the claw arm is provided with an inner claw, the inner claw is slidably connected with the claw arm, and a The elastic returning mechanism for moving the inner claw upwards, the claw of the inner claw is a single claw finger, the root of the inner claw finger is disposed between the two claw fingers of the outer claw, and the upper end of the inner claw is rotatably connected with a driving rod. The drive rod is rotatably coupled to the pawl arm and mates with a cam provided on the axle of the second planet gear. The power of the transplanter of this structure needs to be obtained from the transplanting locomotive through the transmission of the mechanical structure, and the movement of the transplanting mechanism needs to be kept in a certain comparison with the speed of the vehicle to ensure proper insertion and spacing, so the structure is complicated, the precision is high, and the cost is high. High, maintenance troubles. Studies have shown that in rice planting, the spacing between rows and widths is best for rice light and ventilation, reducing pests and diseases, and increasing yield. In order to develop this technology, a variety of new wide and narrow row transplanters have been designed. For example, the Chinese patent publication CN102090195 discloses a slide type wide and narrow row transplanter. A spiral slide and a moving planting arm are installed in the conventional planting arm member, so that the planting arm slides in the axial direction of the planetary shaft relative to the gear case while rotating in the opposite direction with respect to the carrier. The planting arm is sleeved on the protruding sleeve which is fixed with the gear box, and can rotate and move axially; the protruding sleeve where the spiral slide is located is fixed on the gear box through the flange, and is sleeved on the planetary shaft Upper; the slider matched with the spiral slide is sleeved on the end cap of the planting arm consolidated with the planting arm; In the middle, the axial movement of the planetary shaft of the slider drives the axial movement of the planetary shaft of the planting arm to realize the periodic movement of the needle. The length of the extension sleeve is shortened by the difference in the depth of the slide to meet the width between the tips. After the sputum needle is removed from the cardia and the planting arm is offset from the cardia for a distance, the sputum needle is inserted into the soil. The position of the transplanting head is offset from the picking opening to meet the requirements of wide and narrow row insertion. However, due to the poor use environment of the rice transplanter, the mud can easily enter the spiral slide, and the accuracy of the spiral slide is relatively high. The planting arm is easily stuck and does not rotate, thereby causing the entire insertion and insertion mechanism. damage.

In order to solve this problem, the Chinese Patent Publication No. 102656983A discloses an electric wide and narrow row insertion mechanism, including a planting drive box, and a rotary box is arranged on each side of the planting drive box, and two insertion plants are arranged on the rotary box. The arm, the planting drive box is provided with a two-axis stepping motor, and the two output shafts of the stepping motor are respectively connected to the input shafts of the two rotary boxes through the torque angle device, and the two input shafts They form an angle with each other and are symmetrically arranged. The two input shafts are respectively rotatably connected to the planting drive box, and the control circuit of the stepping motor is connected to the driving controller of the rice transplanting locomotive.

However, the technical solution is a fixed-row insertion mechanism, and the insertion distance cannot be adjusted. In the actual insertion process, the insertion distance is preferably adjusted according to rice varieties, soil conditions, climatic conditions and the like to achieve the insertion spacing. The best planting effect, therefore, the shortcomings of this transplanting mechanism are still very obvious.

Summary of the invention

The invention mainly solves the technical problem that the line spacing of the existing wide and narrow row rice transplanting machine can not be adjusted in time in the prior art, and provides a planting mechanism and control thereof for the variable width and narrow row rice transplanter capable of adjusting the inserted row spacing in real time. method.

The above technical problem of the present invention is mainly solved by the following technical solution: a planting mechanism of a variable width and narrow row transplanter, comprising a plurality of claws arranged in a line, each of which has a drive corresponding to each of the claws The mechanism is characterized in that the driving mechanism comprises a transverse power source with a rotating shaft disposed laterally, and the rotating shaft of the transverse power source is connected with the corresponding claw, and the body of the lateral power source is under the body The side or upper side is connected to a rotating shaft of a longitudinal power source, the rotating shaft of the longitudinal power source is longitudinally disposed, and the control circuit of the lateral power source and the longitudinal power source is connected to a control system. The picking position of the seedling table of the existing rice transplanter is fixed, that is to say, the picking position of the insertion claw is fixed, and the lateral power source of the invention directly drives the insertion claw to rotate, and performs the picking and inserting. After the mud is implanted, after the completion of the boring, the rotation of the longitudinal power source indirectly drives the insertion claw to the left or right position in the horizontal direction, so that when the insertion of the mud is performed, the adjacent row spacing is achieved, and The angle of rotation is set according to the size requirements of the wide and narrow rows. The direction of rotation generally has the following characteristics: the direction of rotation of the adjacent longitudinal power source is opposite, starting from the first one from the left, with two sets of claws as a group, During the rotation of the longitudinal power source, the ends of the longitudinal ends are displaced. During the rotation of the longitudinal power source, the lateral power source is still rotating. When the rotation angle of the longitudinal power source reaches a predetermined rotation angle, the insertion claws just reach the position where the insertion of the mud is inserted, and after the planting of the seedlings is completed, each longitudinal direction is completed. The power source is rotated in the opposite direction, so that the picking end of the insertion claw is returned to the picking position, and the next planting process is performed.

Preferably, the lateral power source and the longitudinal power source are both stepper motors. The stepping motor is advantageous for precise control of its rotation angle and rotation time and the rotation speed, so that the utility model is more practical.

Preferably, the lateral power source and the longitudinal power source are hydraulic motors, or the lateral power source is a hydraulic motor, and the longitudinal power source is a stepping motor. The hydraulic motor can also perform more accurate angle control in the present invention, and the utility of the hydraulic motor makes the power supply more concentrated, which is beneficial to reduce the cost and reduce the weight of the transplanting machine. In the technical solution, we prefer that the lateral power source is a hydraulic motor, and the longitudinal power source is a stepping motor. Because the lateral power source is continuously moving throughout the working process, it is necessary to ensure precise control of its rotational speed. The hydraulic motor can be done very well, and the longitudinal power source needs to drive the claws to swing back and forth at an accurate angle. It is easier to meet the requirements using a stepping motor.

The invention also provides a control method for the planting mechanism of the variable width and narrow row transplanter described above, which comprises the following process:

1. The insertion pitch of the wide row or the narrow row is set by the control system, and the rotation angle α of the longitudinal power source at the insertion pitch is calculated by the control system. The total width of one adjacent wide line and one narrow line is constant, and only one of the wide line and the narrow line can be used to determine the uniqueness of each parameter;

2. Start the system, the horizontal power source is started synchronously, and the rotating shaft rotates to drive the insertion claw to rotate, and the insertion claws are synchronously rotated in parallel with each other, and the picking is completed;

3. After the boring is completed, each longitudinal power source is started synchronously, and its rotating shaft rotates to drive the angle of the overall rotation of the lateral power source α, and the rotation direction of the adjacent longitudinal power source is opposite, starting from the left, with two transplanting The claws are a group. During the rotation of the longitudinal power source, the stern ends are displaced. In this process, the rotation shaft of the lateral power source continues to rotate. When the lateral power source reaches the rotation angle of α, the seedling insertion is completed. Mud, then, each longitudinal power source is reversed, and the transverse power sources are reversed as a whole. Before the second claw is taken, the plugs are parallel to each other. It can be seen from the process that there is a narrow line between the two stalks of the insertion claws which are oppositely displaced, and the group of the insertion claws is a wide line of the insertion, and the line spacing of the wide line and the narrow line is composed of the longitudinal power source. The rotation angle is determined, and a wide and narrow row insertion mechanism capable of adjusting the line spacing in real time is also realized.

The invention has the beneficial effects that the prior art wide and narrow row rice transplanter can solve the technical problem that the line spacing cannot be adjusted in real time, and realizes a variable width and narrow row insert which can adjust the inserted row spacing in real time. The planting mechanism of the machine and its control method.

DRAWINGS

Figure 1 is a schematic view showing the structure of the picking position of the present invention;

Figure 2 is a schematic view showing the structure of the inserted mud position of the present invention.

detailed description

The technical solutions of the present invention will be further specifically described below by way of embodiments and with reference to the accompanying drawings.

Example:

As shown in Figures 1 and 2, the present invention is a planting mechanism for a variable width and narrow row transplanter, comprising six insertion claws 1 arranged in a line (the number of insertion claws can be set according to circumstances), each The insertion claw is correspondingly provided with a driving mechanism, and the driving mechanism comprises a transverse power source 3 with a rotating shaft disposed laterally, and the rotating shaft of the lateral power source is connected with the corresponding insertion claw, and the lower side or upper side of the body of the lateral power source The side is connected to a rotating shaft of a longitudinal power source 4, the rotating shaft of the longitudinal power source is longitudinally disposed, and the control circuit of the lateral power source and the longitudinal power source is connected to a control system, and the lateral power source and the power source are both A stepper motor.

The lateral power source of the invention directly drives the insertion claw to rotate, and performs the process of picking up and inserting the mud, and after the completion of the picking, the rotation of the longitudinal power source indirectly drives the insertion claw to the left or right position in the horizontal direction, so that When inserting the mud, it achieves the purpose of different adjacent row spacing, and the angle of rotation is set according to the size requirement of the wide and narrow rows. The direction of rotation generally has the following characteristics: the direction of rotation of the adjacent longitudinal power source is opposite, Starting from the left, the two jaws are grouped together. During the rotation of the longitudinal power source, the ends 2 are displaced. During the rotation of the longitudinal power source, the lateral power source is still rotating. When the rotation angle of the longitudinal power source reaches a predetermined rotation angle, the insertion claws just reach the position where the insertion of the mud is inserted, and after the planting of the seedlings is completed, each longitudinal direction is completed. The power source is rotated in the opposite direction, so that the picking end 2 of the insertion claw is returned to the picking position, and the next planting process is performed.

The invention includes the following processes during use:

Example 2:

In this embodiment, the lateral power source and the longitudinal power source described in Embodiment 1 are both set as hydraulic motors, or the lateral power source is a hydraulic motor, and the longitudinal power source is a stepping motor. The hydraulic motor can also perform more accurate angle control in the present invention, and the utility of the hydraulic motor makes the power supply more concentrated, which is beneficial to reduce the cost and reduce the weight of the transplanting machine. In the technical solution, we prefer that the lateral power source is a hydraulic motor, and the longitudinal power source is a stepping motor. Because the lateral power source is continuously moving throughout the working process, it is necessary to ensure precise control of its rotational speed. The hydraulic motor can be done very well, and the longitudinal power source needs to drive the claws to swing back and forth at an accurate angle. It is easier to meet the requirements using a stepping motor.

Claims

A planting mechanism for a variable width and narrow row rice transplanter, comprising a plurality of claws arranged in a line, each of the claws correspondingly provided with a driving mechanism, wherein the driving mechanism comprises a rotating shaft disposed laterally a transverse power source, the rotating shaft of the lateral power source is connected to the corresponding insertion claw, and the lower side or the upper side of the body of the lateral power source is connected to the rotating shaft of a longitudinal power source, and the rotating shaft of the longitudinal power source is longitudinally disposed. The lateral power source and the control circuit of the longitudinal power source are connected to a control system.
The planting mechanism of a variable width and narrow row transplanter according to claim 1, wherein the lateral power source and the longitudinal power source are both stepping motors.
The planting mechanism of a variable width and narrow row transplanter according to claim 1, wherein the lateral power source and the longitudinal power source are hydraulic motors, or the lateral power source is a hydraulic motor, and the longitudinal power source is Stepper motor.
A method of controlling a planting mechanism of a variable width and narrow row transplanter according to claim 1, characterized in that it comprises the following process:

1. The insertion distance of the wide row or the narrow row is set by the control system, and the rotation angle α of the longitudinal power source at the insertion spacing is calculated by the control system;

2. Start the system, the horizontal power source is started synchronously, and the rotating shaft rotates to drive the insertion claw to rotate, and the insertion claws are synchronously rotated in parallel with each other, and the picking is completed;

3. After the boring is completed, each longitudinal power source is started synchronously, and its rotating shaft rotates to drive the angle of the overall rotation of the lateral power source α, and the rotation direction of the adjacent longitudinal power source is opposite, starting from the left, with two transplanting The claws are a group. During the rotation of the longitudinal power source, the stern ends are displaced. In this process, the rotation shaft of the lateral power source continues to rotate. When the lateral power source reaches the rotation angle of α, the seedling insertion is completed. Mud, then, each longitudinal movement The force source is reversed, and the transverse power source is reversed as a whole. Before the second claw is taken, the plugs are parallel to each other.