WO2020140486A1

WO2020140486A1 - Rice transplanter, and automatic shifting device and control method therefor

Info

Publication number: WO2020140486A1
Application number: PCT/CN2019/106716
Authority: WO
Inventors: 徐友伟; 张剑; 王寅
Original assignee: 丰疆智能科技股份有限公司
Priority date: 2019-01-04
Filing date: 2019-09-19
Publication date: 2020-07-09
Also published as: JP2022517924A

Abstract

A rice transplanter, and an automatic shifting device and control method therefor, the rice transplanter comprising: a rice transplanter main body (10); an operation unit (20) which is provided on the rice transplanter main body (10), the operation unit (20) being capable of performing a transplanting operation; and a walking unit (30) which is provided on the rice transplanter main body (10), the walking unit (30) being capable of driving the rice transplanter main body (10) to move. The automatic shifting device comprises a hydraulic transmission device (42) and a transmission control device (41). The hydraulic transmission device (42) is drivably connected to the walking unit (30), and the walking speed of the walking unit (30) may be controlled by means of controlling the output speed of the hydraulic transmission device (42). The transmission control device (41) is configured so that the output speed of the hydraulic transmission device (42) may be automatically controlled when a shift signal is acquired.

Description

Rice transplanter and its automatic shifting device and control method

Technical field

The invention relates to the field of rice transplanter, and further relates to a rice transplanter and its automatic shifting device and control method.

Background technique

my country is a country with a large population and a large grain production. Food security is directly related to the development of the country and the happiness of the people. How to improve the efficiency of agricultural production and increase the output of grain is of great significance. The rice transplanter is an agricultural planting device. The efficiency of the rice transplanter during the rice transplanting operation and the effect of rice transplantation will have a great influence on the growth and yield of the seedlings. When the transplanting efficiency of the rice transplanter is high, the efficiency of the transplanting operation can be improved and the production cost can be reduced. When the rice transplanter is working more stably when the transplanting operation is carried out, and the transplanting control is more precise, the effect of the transplanting operation can be greatly improved, and the grain output can be greatly improved.

It should be pointed out that the rice transplanter must be controlled to perform a series of gear changes whether the rice transplanter is driving or during the planting process, so that the rice transplanter switches between different driving gears, In order to make the driving process of the rice transplanter more stable and efficient. However, when the traditional rice transplanter performs the shifting operation, the tie rod is usually used to change the matching structure of the gearbox internal gear. In the operation process, it needs to cooperate with the clutch and the like to complete the corresponding shift operation. The operation process is cumbersome and the operation accuracy is low .

With the development of science and technology, some hydraulic transmission devices have also been gradually applied to rice transplanters to improve the accuracy of the rice transplanter when gear shifting. However, when the traditional hydraulic transmission device works, it needs to drive the lever of the hydraulic transmission device to move through the operation handle to change the working state of the hydraulic transmission device, and then change the running speed of the rice transplanter.

It should be pointed out that during the operation of the traditional hydraulic transmission device, the user needs to operate the operating handle to drive the rod of the hydraulic transmission device to change the working state of the hydraulic transmission device. A certain error will be generated in the process of operating the handle to drive the rod, which will affect the accuracy of the working process of the hydraulic transmission device. For example, due to limitations in connection accuracy between the operating handle and the lever, when the operating handle rotates in a certain direction and angle, the lever cannot rotate in a certain direction and the angle corresponding to the rotation angle of the handle, which will affect the operator’s The operation precision of the hydraulic transmission device, which will affect the accuracy of the shift and speed change of the rice transplanter, and affect the planting effect of the rice transplanter.

Therefore, how to solve the accuracy of the shifting process of the rice transplanter and the more convenient shifting has become an urgent problem to be solved in the development process of the rice transplanter.

Summary of the invention

An object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the rice transplanter can be automatically shifted by the automatic shifting device.

Another object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the automatic shifting device includes a hydraulic transmission device and a transmission control device, the transmission control device can automatically control the hydraulic pressure The output speed of the transmission.

Another object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the gear switching control of the rice transplanter is accurate and the gear switching precision is high.

Another object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the output of the hydraulic transmission device is more linear, and the rice transplanter runs more smoothly.

Another object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the gear switching of the rice transplanter is more stable and convenient.

Another object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the transmission control device includes a shifting execution component, which can automatically control the shifting execution component when a control signal is acquired The hydraulic transmission device switches between different output speeds, which is convenient to operate and has high control precision.

Another object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the transmission control device further includes a shift execution detection component that can detect the shift execution The shift execution result of the component, and generates a shift execution information, which is convenient for obtaining the execution structure of the shift execution component.

Another object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the transmission control device can compare whether the shifting execution information is consistent with a shifting information, when the two are inconsistent , Control the action of the shifting actuator, can improve the execution accuracy of the shift signal, and improve the gear switching effect.

Another object of the present invention is to provide a rice transplanter and its automatic shifting device and control method, wherein the automatic shifting device has a simple structure and high shifting accuracy.

Accordingly, in order to achieve at least one of the above objects of the invention, the present invention provides a rice transplanter including:

One main body of rice transplanter;

An operation unit, which is provided on the main body of the rice transplanter, and the operation unit can perform transplanting operation;

A walking unit, which is provided on the main body of the rice transplanter, and the walking unit can drive the main body of the rice transplanter to move;

A hydraulic transmission device, which is driveably connected to the walking unit, and can control the walking speed of the walking unit by controlling the output speed of the hydraulic transmission device; and

A transmission control device configured to automatically control the output speed of the hydraulic transmission device when acquiring a shift signal.

According to an embodiment of the present invention, the transmission control device further includes a shift signal acquisition component that detects a rotation angle and/or sliding distance of a shift operation handle to generate the shift signal.

According to an embodiment of the invention, the shift signal acquisition component is an angle sensor.

According to an embodiment of the present invention, the shift signal acquisition component is provided to the shift operation handle.

According to an embodiment of the present invention, the rice transplanter further includes a shift environment acquisition unit that can detect the driving environment of the rice transplanter to generate the shift signal, and the transmission control device The shift signal can be acquired from the shift environment acquisition unit.

According to an embodiment of the present invention, the transmission control device includes a shift execution assembly configured to drive a control rod of the hydraulic transmission device to rotate and/or slide for changing the The output speed of the hydraulic transmission.

According to an embodiment of the present invention, the shift execution component is a motor.

According to an embodiment of the present invention, the transmission control device further includes a shift execution detection component capable of detecting the rotation angle and/or sliding distance of the control lever for generating a shift Implementation information.

According to an embodiment of the present invention, the shift execution detection component is an angle sensor.

According to an embodiment of the present invention, the shift execution detection assembly is provided on the output shaft of the shift execution assembly.

According to an embodiment of the present invention, the transmission control device further includes a shift control unit, which can respectively acquire the shift execution information from the shift execution detection component and acquire the shift Signal and compare whether the shift signal and the shift execution information are consistent, when the shift signal and the shift execution information are not consistent, the gear control unit controls the gear execution The assembly changes the rotation angle and/or sliding distance of the control rod.

According to another aspect of the present invention, the present invention further provides an automatic shifting device, which includes:

A hydraulic transmission device, which includes a control lever, and the output speed of the hydraulic transmission device can be changed by changing the rotation direction and/or the sliding distance of the control lever;

A transmission control device configured to automatically control the rotation direction and/or sliding distance of the control rod of the hydraulic transmission device when acquiring a shift signal.

According to another aspect of the present invention, the present invention further provides a control method of a hydraulic transmission device, which includes the following steps:

Obtain a shift signal; and

Based on the shift signal, the rotation angle and/or sliding distance of a control rod of a hydraulic transmission device is controlled by a shift execution assembly to change the output speed of the hydraulic transmission device.

According to an embodiment of the present invention, the control method of the hydraulic transmission device further includes:

Detecting the rotation direction and/or sliding distance of the control rod of the hydraulic transmission device through an angle sensor to generate a shift execution information; and

Compare whether the shift signal and the shift execution information correspond to each other, and when the shift execution information does not correspond to the shift signal, change the position of the hydraulic transmission device through the shift execution assembly The rotation angle and/or sliding distance of the control lever.

BRIEF DESCRIPTION

FIG. 1 is a schematic diagram of the overall structure of a rice transplanter according to a preferred embodiment of the present invention.

2 is a schematic diagram showing the overall block diagram of a rice transplanter according to a preferred embodiment of the present invention.

3 is a schematic diagram showing the overall block diagram of a transmission control device of a rice transplanter according to a preferred embodiment of the present invention.

4 is a schematic structural diagram of an overall block diagram of a hydraulic transmission device of a rice transplanter according to a preferred embodiment of the present invention.

FIG. 5 is a schematic diagram showing the overall block diagram of a modified embodiment of the transmission control device of the rice transplanter according to a preferred embodiment of the present invention.

6 is a schematic diagram of a working flow of an automatic shifting device of a rice transplanter according to a preferred embodiment of the present invention.

7 is a schematic view of the installation position of the automatic shifting device of the rice transplanter according to a preferred embodiment of the present invention.

8 is a schematic view of the installation position of the automatic shifting device of the rice transplanter according to a preferred embodiment of the present invention.

9 is a block diagram of a control method of a hydraulic transmission device of a rice transplanter according to a preferred embodiment of the present invention.

detailed description

The following description is used to disclose the present invention to enable those skilled in the art to implement the present invention. The preferred embodiments in the following description are only examples, and those skilled in the art may think of other obvious modifications. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalent solutions, and other technical solutions without departing from the spirit and scope of the present invention.

Those skilled in the art should understand that in the disclosure of the present invention, the terms "portrait", "horizontal", "upper", "lower", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the invention And simplify the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore the above terms should not be construed as limiting the present invention.

It can be understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, and in other embodiments, the The number can be more than one, and the term "one" cannot be understood as a limitation on the number.

With reference to Figures 1 to 8 of the specification, the rice transplanter provided by the present invention is explained. The rice transplanter includes a rice transplanter body 10, a working unit 20, a walking unit 30, and an automatic shifting device 40. The working unit 20, the walking unit 30, and the automatic shifting device 40 are respectively provided In the rice transplanter body 10, the working unit 20 can perform planting work, the walking unit 30 can drive the rice transplanter body 10 to move, and the automatic shift device 40 can change the running of the walking unit 30 speed.

The automatic shifting device 40 further includes a transmission control device 41 and a hydraulic transmission device 42. The transmission control device 41 can automatically control the working state of the hydraulic transmission device 42 to change the running speed of the walking unit 30 .

Specifically, the transmission control device 41 can automatically control the working state of the hydraulic transmission device 42 after acquiring a shift information to change the running speed of the walking unit 30.

Further, the rice transplanter body 10 further includes a driving device 11 and a transmission device 12, the driving device 11 can generate power, and the transmission device 12 can transmit the power generated by the driving device 11 to the The walking unit 30 is used for driving the walking unit 30 to travel.

The hydraulic transmission device 42 is operatively connected between the driving device 11 and the transmission device 12, and the hydraulic transmission device 42 can transmit the driving force generated by the driving device 11 to the transmission Device 12 for transmitting power to the walking unit 30 through the transmission device 12.

It is worth integrating that, by changing the transmission state of the hydraulic transmission device 42, such as changing the ratio of the input rotation speed and the output rotation speed of the hydraulic transmission device 42, the running speed of the walking unit 30 is changed.

Preferably, the driving device 11 is a motor, and the transmission device 12 is a gearbox. The output shaft of the motor can be driveably connected to the input end of the hydraulic transmission device 42, the output end of the hydraulic transmission device 42 can be driveably connected to the gearbox, and the hydraulic transmission device 42 can connect the The driving force generated by the motor is transmitted to the gearbox, and then transmitted to the walking unit 30 through the gearbox for driving the walking unit 30 to drive the rice transplanter body 10 to travel.

In other preferred embodiments of the present invention, the driving device 11 can also be an internal combustion engine. Those skilled in the art should understand that, as long as the object of the present invention can be achieved, the specifics of the driving device 11 The type should not constitute a limitation of the present invention.

The hydraulic transmission device 42 further includes a power input assembly 421 and a power output assembly 422, the power input assembly 421 is driveably connected to the power output end of the drive device 11 to obtain the drive device 11 The driving force generated. The power output assembly 422 is driveably connected to the power input end of the transmission device 12 to transmit the obtained driving force of the drive device 11 to the transmission device 12. The power input assembly 421 is driveably connected to the power output assembly 422, and the power input assembly 421 can transmit the obtained driving force generated by the driving device 11 to the power output assembly 422.

Illustratively, the hydraulic transmission device 42 is an HST (Hydro Static Transmission integrated hydraulic transmission device (or static pressure transmission device)).

Illustratively, the power output assembly 421 includes a hydraulic pump. The power output assembly 422 includes a hydraulic motor. The hydraulic pump and the hydraulic motor are connected by a reversing valve pipeline. The hydraulic pump is driveably connected to the motor. The output speed of the hydraulic motor can be adjusted by adjusting the pressure and flow of the hydraulic oil output by the hydraulic pump, so that the driving force generated by the motor can be transmitted to the hydraulic motor, and the output of the hydraulic motor can be changed speed. It should be noted that, in this example, the hydraulic pump and the hydraulic motor are connected by a reversing valve pipeline to constitute a continuously variable transmission mechanism. The stepless speed change can be realized by adjusting the output speed of the hydraulic motor by adjusting the pressure and flow of the hydraulic oil output by the hydraulic pump.

Illustratively, the hydraulic transmission device 42 is provided on the gearbox case, the output shaft of the hydraulic transmission device 42 is concentrically connected with the input shaft of the gearbox, that is, the hydraulic transmission device 42 The shaft center of the output shaft is aligned with the shaft center of the input shaft of the gearbox to increase torque. The hydraulic transmission device 42 transmits the driving force generated by the driving device 11 to the gearbox, and then transmits the driving unit 30 to the traveling unit 30 through the gearbox. It is used to drive the walking unit to drive the rice transplanter body 10 to move.

Further, the transmission control device 41 can change the working state of the hydraulic transmission device 42 to change the running speed of the walking unit 30. Illustratively, the transmission control device 41 can adjust the pressure and flow rate of the hydraulic oil output by the hydraulic pump to change the output speed of the hydraulic motor to change the running speed of the traveling unit 30.

Referring to FIG. 4, specifically, the hydraulic transmission device 42 further includes a regulating component 423, through which the working state of the hydraulic transmission device 42 can be changed. For example, the pressure and flow of the hydraulic oil output by the hydraulic pump can be changed by the regulating component 423 to change the output speed of the hydraulic motor. Exemplarily, the regulating component 423 is a control lever, and the pressure and flow of the hydraulic oil output by the hydraulic pump can be controlled by controlling the rotation direction and rotation angle of the control lever, thereby changing the output speed of the hydraulic motor. The transmission control device 41 is configured to control the regulating assembly 423 to change the working state of the hydraulic transmission device 42. That is to say, the transmission control device 41 can control the rotation direction and rotation angle of the control lever to control the pressure and flow rate of the hydraulic oil output by the hydraulic pump to change the output speed of the hydraulic motor. Further, the control rod is connected to a valve arm of the hydraulic transmission device 42, the control rod can drive the movement of the valve arm, thereby changing the pressure and flow rate of the hydraulic oil output by the hydraulic pump, and changing the The output speed of the hydraulic motor of the hydraulic transmission 42.

Further, the transmission control device 41 further includes a shift execution assembly 411, the shift execution assembly 411 is controllably connected to the hydraulic transmission device 42, the shift execution assembly 411 can change the hydraulic pressure The working state of the transmission device 42. Specifically, the shift execution assembly 411 can control the rotation direction and/or the rotation angle and/or the movement distance of the control rod of the hydraulic transmission device 42 to change the pressure and the hydraulic oil output by the hydraulic pump Flow rate for adjusting the output speed of the hydraulic motor.

Specifically, the shift execution component 411 is configured to control the rotation direction and/or the rotation angle and/or the moving distance of the control rod of the hydraulic transmission device 42 when receiving a shift control signal to change The output speed of the hydraulic motor is adjusted by the pressure and flow of the hydraulic oil output by the hydraulic pump.

Exemplarily, the shift execution component 411 is a motor. After receiving the shift control signal, the motor is configured to control the control lever of the hydraulic transmission device 42 to rotate in a certain direction in a certain direction. Angle and/or move a certain distance for changing the pressure and flow of the hydraulic oil output by the hydraulic pump to adjust the output speed of the hydraulic motor.

Further, the transmission control device 41 further includes a shift control unit 412, and the shift control unit 412 is communicably (or operably) connected to the shift execution component 411. The shift control unit 412 is configured to send the shift control signal to the shift execution component 411 when acquiring a shift signal 410 so that the shift execution component 411 controls the active shift mechanism 42 Working status.

Exemplarily, the shift control unit 412 is an on-board ECU (Electronic Control Unit) controller, and the shift control unit 412 is set with the overall control of the rice transplanter walking and planting system.

The transmission control device 41 further includes a shift signal acquisition component 413, which can acquire the shift signal 410 and send the shift signal 410 to the shift control unit 412, The shift control unit 412 can acquire the shift signal 410 from the shift signal acquisition component 413 and can control the operation of the shift actuator 411 according to the shift signal 410.

Specifically, the shift signal acquisition component 413 is configured as a first angle sensor 4131, the first angle sensor 4131 is provided at the input shaft end of a shift operation handle 50, the first angle sensor 4131 can With the rotation and/or movement of the shift operation handle 50, the corresponding angle and distance are rotated and/or moved. The first angle sensor 4131 is used to detect the rotation angle and/or movement of the shift operation handle 50 Direction and movement distance for generating the corresponding shift signal 410.

Exemplarily, after detecting that the shift operation handle 50 is rotated by a certain angle in a certain direction, the first angle sensor 4131 sends the shift signal 410 to the shift control unit 412, and the shift control The unit 412 acquires the shift signal 410 from the first angle sensor 4131, and performs a series of processing on the shift signal 410 to generate the shift control signal suitable for the shift signal 410 And send the generated shift control signal to the shift execution component 411 to control the shift execution component 411 to generate a corresponding action for controlling the control rod edge of the hydraulic transmission device 42 Rotate a certain angle in a certain direction to change the pressure and flow of the hydraulic oil output by the hydraulic pump, so that the output speed of the hydraulic motor is changed, thereby changing the running speed of the walking unit 30.

It can be understood that the shift operation handle 50 can be manually operated by the driver of the rice transplanter to rotate a certain angle and/or move a certain distance in a preset direction, and the shift operation handle 50 can also be A driving machine, such as a motor, is driven to rotate a certain angle and/or move a certain distance in a preset direction to realize automatic control of the shift operation handle 50. Those skilled in the art should understand that, as long as the object of the present invention can be achieved, the manner in which the shift operation handle 50 is specifically operated to rotate and/or move should not constitute a limitation on the present invention.

Referring to FIG. 5, in other preferred embodiments of the present invention, the shift control unit 412 can also acquire the shift signal 410 from a shift environment acquisition unit 43. Illustratively, the shifting environment acquisition unit 43 can detect the driving environment information of the rice transplanter and generate the gear information 410 suitable for the driving environment information for intelligent driving and automatic shifting of the rice transplanter block. The shift control unit 412 can acquire the shift signal 410 from the shift environment acquisition unit 43, and control the hydraulic transmission device 42 to generate a corresponding action according to the shift signal 410 for controlling the rice transplanting Movement of the walking unit 30 of the machine.

Further, in the preferred embodiment, the transmission control device 41 further includes a shift execution detection component 414, the shift execution detection component 414 can detect the shift execution result of the shift execution component 411, and A shift execution information 4110 is generated. The shift control unit 412 can obtain the shift execution information 4110 from the shift execution detection component 414, and can compare the shift execution information 4110 with the shift signal 410 when the shift When the shift execution information 4110 and the shift signal 410 are inconsistent, the shift control unit 412 controls the shift execution component 411 to generate corresponding adjustment actions for adjusting the motion information of the shift execution component 411, Ensure that the shift execution result of the shift execution component 411 is consistent with the shift signal 4110 to improve the accuracy of the shift process.

Specifically, the shift execution detection component 414 is configured to detect the sliding direction and/or sliding distance and/or sliding angle of the control rod of the hydraulic transmission device 42 for detecting the shift execution component 411 The result of the shift execution. It can be understood that the sliding direction and/or sliding distance and/or sliding angle of the control rod of the hydraulic transmission device 42 will directly affect the pressure of the hydraulic oil output by the hydraulic pump of the hydraulic transmission device 42 And the flow rate directly affects the output speed of the hydraulic motor of the hydraulic transmission device 42, when the shift execution assembly 411 actually controls the sliding direction and/or sliding of the control rod of the hydraulic transmission device 42 When the distance and/or the sliding angle do not correspond to the control signal, the output speed of the hydraulic motor of the hydraulic transmission device 42 will be greatly affected, and the switching accuracy of the gear and/or speed will be affected, thereby Affect the traveling speed of the walking unit 30.

Preferably, the transmission control device 41 is electrically connected to the power supply system of the rice transplanter to change the power supply system of the rice transplanter to provide electrical energy for the operation of the transmission control device 41, so that the transmission control device 41 can be replaced accordingly Operation.

Illustratively, the shift execution detection component 414 is configured as a second angle sensor 4132, the second angle sensor 4132 is provided on the output shaft of the shift execution component 411, the second angle sensor 4132 can It rotates as the output shaft of the shift execution assembly 411 rotates. The second angle sensor 4132 of the Huidong transmission mechanism 42 can detect the rotation angle of the output shaft of the shift execution assembly 411 for detecting the sliding direction and/or sliding of the control rod of the hydraulic transmission device 42 Distance and/or sliding angle to detect the shift execution result of the shift execution component 411.

In some other preferred embodiments of the present invention, the second angle sensor 4132 can also be provided to the control rod of the hydraulic transmission device 42 and enable the second angle sensor 4132 to follow the hydraulic pressure The control rod of the transmission 42 moves and/or rotates to allow the second angle sensor 4132 to detect the sliding direction of the control rod of the hydraulic transmission 42 and/or The sliding distance and/or the sliding angle are used for detecting a shift execution result of the shift execution component 411.

Exemplarily, when the shift control unit 412 compares the acquired shift execution information 4110 with the shift signal 410, that is, the hydraulic pressure indicated by the shift execution information 4110 The actual sliding direction and/or sliding distance and/or sliding angle of the control rod of the transmission 42 and the theoretical sliding direction and/or of the control rod of the hydraulic transmission 42 corresponding to the shift signal 410 When the sliding distance and/or the sliding angle are inconsistent, the shift control unit 412 controls the action of the shift execution component 411, so that the hydraulic transmission device 42 indicated by the shift execution information 4110 The actual sliding direction and/or sliding distance and/or sliding angle of the control rod and the theoretical sliding direction and/or sliding distance and/or sliding of the control rod of the hydraulic transmission device 42 corresponding to the shift signal 410 The angle is consistent. When the shift control unit 412 compares the acquired shift execution information 4110 with the shift signal 410, that is, the hydraulic transmission device indicated by the shift execution information 4110 42 The actual sliding direction and/or sliding distance and/or sliding angle of the control lever of 42 and the theoretical sliding direction and/or sliding distance of the control lever of the active transmission mechanism 42 corresponding to the shift signal 410 When the sliding angle is consistent with the sliding angle, the shift control unit 412 does not control the shift execution component 411 to generate a corresponding action.

Exemplarily, when the shift operation handle 50 is pushed to the forward gear, the shift operation handle 50 outputs a shaft action, and slides a certain distance and/or a certain angle in a preset direction; The first angle sensor 4131 of the shift operation handle 50 can detect the sliding distance and/or the sliding angle of the shift operation handle 50 and generate the shift signal 410; the shift control unit 412 can Obtain the shift signal 410, and the shift control unit 412 controls the shift execution component 411 to generate a corresponding action based on the control signal 410, rotate a certain angle and/or slide a certain distance in a certain direction; The control rod of the hydraulic transmission device 42 can be driven by the shift execution assembly 411 as the shift execution assembly 411 rotates by a certain angle and/or slides a certain distance in a certain direction; the hydraulic pressure The control rod of the transmission device 42 can drive the valve arm of the active transmission mechanism 42 to rotate by a certain angle, thereby changing the pressure and flow rate of the hydraulic oil output by the hydraulic pump of the hydraulic transmission device 42 to change the The output speed of the hydraulic motor of the hydraulic transmission device 42; the output shaft of the hydraulic motor drives the gears in the gearbox to rotate, and the rotation of the gears in the gearbox powers the output shaft of the hydraulic motor It is transmitted to the walking unit 30 for driving the walking unit 30 to travel. When the shift execution assembly 411 is controlled by the shift control unit 412 to generate an action, the second angle sensor 4132 provided on the output shaft of the shift execution assembly 411 can detect the shift execution assembly 411 the rotation angle and/or sliding distance of the output shaft to generate the shift execution information 4110, and can send the detected shift execution information to the shift control unit 412; the shift control unit 412 It is possible to compare the acquired shift execution information 4110 and the shift signal 412, and when the shift signal 412 and the shift execution information 4110 are inconsistent, the shift control unit 412 controls the shift The shift execution component 411 generates a corresponding action to change the rotation angle and/or sliding distance of the output shaft of the shift execution component 411, so that the shift execution information 4110 can be correlated with the shift signal 410 corresponds.

When the sliding distance and/or rotation angle of the shift operation handle 50 increases, the sliding distance and/or rotation angle of the first angle sensor 4131 also increases accordingly, so that when the shift control unit 412 After acquiring the shift signal 410 from the first angle sensor 4131, the shift control unit 412 controls the output shaft of the shift execution assembly 411 to rotate by a larger angle, and the position of the hydraulic transmission device 42 The control rod slides for a larger stroke, the pressure and/or flow rate of the output hydraulic oil of the hydraulic pump of the hydraulic transmission device 42 becomes larger, and the output rotational speed of the hydraulic motor of the hydraulic transmission device 42 increases, thereby The traveling speed of the walking unit 30 can be increased.

Correspondingly, when the shift operation handle 50 is pushed to the reverse gear, the shift operation handle 50 outputs the shaft action and slides a certain distance and/or a certain angle in the preset direction; The first angle sensor 4131 of the shift operation handle 50 can detect the sliding distance and/or the sliding angle of the shift operation handle 50 and generate the shift signal 410; the shift control unit 412 can Obtain the shift signal 410, and the shift control unit 412 controls the shift execution component 411 to generate a corresponding action based on the control signal 410, rotate a certain angle and/or slide a certain distance in a certain direction; The control rod of the hydraulic transmission device 42 can be driven by the shift execution assembly 411 as the shift execution assembly 411 rotates by a certain angle and/or slides a certain distance in a certain direction; the hydraulic pressure The control rod of the transmission device 42 can drive the valve arm of the active transmission mechanism 42 to rotate by a certain angle, thereby changing the pressure and flow rate of the hydraulic oil output by the hydraulic pump of the hydraulic transmission device 42 to change the The output speed of the hydraulic motor of the hydraulic transmission device 42; the output shaft of the hydraulic motor drives the gears in the gearbox to rotate, and the rotation of the gears in the gearbox powers the output shaft of the hydraulic motor It is transmitted to the walking unit 30 for driving the walking unit 30 to travel.

Correspondingly, when the shift operation handle 50 is pushed to the intermediate gear, a series of mechanical transmission and electric control procedures are restored to the original state, and the rice transplanter stops driving.

Referring to FIG. 1, the walking unit 30 includes a wheel group 31, and the wheel group 31 includes a plurality of wheels 311, such as four. Each wheel 311 of the wheel set 31 is respectively drivably connected to the gearbox through a transmission shaft, and the gearbox can transmit the driving force generated by the driving device 11 to the wheel set 31 Each of the wheels 311 is used to drive each of the wheels 311 of the wheel set 31 to rotate, thereby driving the rice transplanter body 10 to move.

Referring to FIG. 1, the working unit 20 further includes a seedling carrying part 21 and a planting part 22, the seedling carrying part 21 and the planting part 22 are respectively provided on the rice transplanter body 10, the The planting part 22 is provided below the seedling-carrying part 21. Seedlings to be transplanted can be placed on the seedling carrying part 21, and when the transplanting part 22 is working, the transplanting part 22 can pick up the seedlings placed in the seedling carrying part 21 to perform interpolation .

The planting part 22 further includes at least one planting arm 221, and the planting arm 221 can be driven to pick up the seedlings placed in the seedling carrying part 21 to perform planting work. Preferably, the number of the planting walls 221 of the planting part 22 is implemented as a plurality, so as to improve the efficiency of the interpolation operation.

The working unit 20 further includes a lifting assembly 23, which is controllably connected to the seedling carrying part 21 and/or the planting part 22, and the lifting assembly 23 can control the seedling carrying The elevation of the portion 21 and/or the interpolation portion 22 is used to control the implantation depth of the implantation portion 22 when performing the implantation operation.

Referring to FIG. 9, according to another aspect of the present invention, the present invention further provides a control method of a hydraulic transmission device, which includes the following steps:

101: Obtain a shift signal 410;

102: Based on the shift signal 410, control the rotation angle and/or sliding distance of a control rod of a hydraulic transmission device 42 through a shift execution component 411 to change the output rotational speed of the hydraulic transmission device 42.

According to an embodiment of the present invention, wherein the control method further includes the following steps:

103: Obtain a shift execution information 4110;

104: Compare whether the shift execution information 4110 corresponds to the shift signal 410, and when the shift execution information 4110 does not correspond to the shift signal 410, control by the shift execution component 411 The rotation angle and/or sliding distance of the control rod of the hydraulic transmission device 42; when the shift execution information 4110 corresponds to the shift signal 410, no action is generated.

According to an embodiment of the present invention, in the step 101, a first angle sensor 4131 detects a rotation direction and a rotation angle of a shift operation handle 50, or a sliding direction and a sliding distance to generate the shift signal 410.

According to an embodiment of the present invention, in the step 101, the shift signal 420 is acquired by a shift environment acquiring unit 43, wherein the shift environment acquiring unit 43 can detect the driving environment of the rice transplanter. Corresponding gear switching information.

According to an embodiment of the present invention, the shift execution component 411 is a motor.

According to an embodiment of the present invention, in step 103, a second angle sensor 4132 is used to detect the rotation direction and rotation angle of the control rod of the hydraulic transmission device 42 or the sliding direction and sliding distance to generate The shift execution information 4110.

In the description of this specification, the description referring to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means specific features described in conjunction with the embodiments or examples , Structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without contradicting each other, those skilled in the art may combine and combine different embodiments or examples and features of the different embodiments or examples described in this specification.

Those skilled in the art should understand that the embodiments of the present invention shown in the above description and the accompanying drawings are only examples and do not limit the present invention. The object of the present invention has been completely and effectively achieved. The functions and structural principles of the present invention have been shown and described in the examples. Without departing from the principles, the embodiments of the present invention may have any variations or modifications.

Claims

A rice transplanter is characterized by including:

One main body of rice transplanter;

An operation unit, which is provided on the main body of the rice transplanter, and the operation unit can perform transplanting operation;

A walking unit, which is provided on the main body of the rice transplanter, and the walking unit can drive the main body of the rice transplanter to move;

A hydraulic transmission device, which is driveably connected to the walking unit, and can control the walking speed of the walking unit by controlling the output speed of the hydraulic transmission device; and

A transmission control device configured to automatically control the output speed of the hydraulic transmission device when acquiring a shift signal.
The rice transplanter according to claim 1, wherein the transmission control device further includes a shift signal acquisition component that detects a rotation angle and/or sliding distance of a shift operation handle to generate a The shift signal is described.
The rice transplanter according to claim 2, wherein the shift signal acquisition component is an angle sensor.
The rice transplanter according to claim 2, wherein the shift signal acquisition component is provided to the shift operation handle.
The rice transplanter according to claim 1, wherein the rice transplanter further includes a shift environment acquisition unit that can detect the driving environment of the rice transplanter to generate the shift signal, the The transmission control device can acquire the shift signal from the shift environment acquisition unit.
The rice transplanter according to claim 1, wherein the transmission control device includes a shift execution assembly configured to drive a control rod of the hydraulic transmission device to rotate and/or slide for Change the output speed of the hydraulic transmission device.
The rice transplanter according to claim 6, wherein the shift execution component is a motor.
The rice transplanter according to claim 6, wherein the transmission control device further comprises a gear shift execution detection component, the gear shift execution detection component can detect the rotation angle and/or sliding distance of the control lever for generation A shift execution information.
The rice transplanter according to claim 8, wherein the shift execution detection component is an angle sensor.
The rice transplanter according to claim 8, wherein the shift execution detection assembly is provided on an output shaft of the shift execution assembly.
The rice transplanter according to claim 8, wherein the transmission control device further includes a shift control unit capable of acquiring the shift execution information from the shift execution detection component, respectively The shift signal, and compare whether the shift signal is consistent with the shift execution information, and when the shift signal and the shift execution information are inconsistent, the gear control unit controls the shift signal The gear execution component changes the rotation angle and/or sliding distance of the control lever.
An automatic shifting device is characterized by including:

A hydraulic transmission device including a control lever, the output speed of the hydraulic transmission device can be changed by changing the rotation direction and/or sliding distance of the control lever; and

A transmission control device configured to automatically control the rotation direction and/or sliding distance of the control rod of the hydraulic transmission device when acquiring a shift signal.
The automatic shifting device according to claim 12, wherein the transmission control device includes a shifting execution assembly configured to drive a control rod of the hydraulic transmission to rotate and/or slide, It is used to change the output speed of the hydraulic transmission device.
The automatic shifting device according to claim 13, wherein the shift execution component is an electric motor.
The automatic shifting device according to claim 12, wherein the transmission control device further comprises a shifting signal acquiring component, the shifting signal acquiring component detects a rotation angle and/or sliding distance of a shifting operation handle to The shift signal is generated.
The automatic shifting device according to claim 12, wherein the transmission control device further comprises a shift execution detection component, the shift execution detection component can detect the rotation angle and/or sliding distance of the control lever, For generating a shift execution information.
The automatic shifting device according to claim 16, wherein the transmission control device further includes a shift control unit, the shift control unit can obtain the shift execution information from the shift execution detection component, Acquiring the shift signal, and comparing whether the shift signal and the shift execution information are consistent, when the shift signal and the shift execution information are inconsistent, the gear control unit controls The gear execution component changes the rotation angle and/or sliding distance of the control lever.
A control method of a hydraulic transmission device is characterized in that it includes the following steps:

Obtain a shift signal; and

Based on the shift signal, the rotation angle and/or the sliding distance of a control lever of a hydraulic transmission device is controlled by a shift execution assembly to change the output rotational speed of the hydraulic transmission device.
The control method of the hydraulic transmission device according to claim 18, further comprising the following steps:

Detecting the rotation direction and/or sliding distance of the control rod of the hydraulic transmission device through an angle sensor to generate a shift execution information;

Compare whether the shift signal and the shift execution information correspond to each other, and when the shift execution information does not correspond to the shift signal, change the position of the hydraulic transmission device through the shift execution assembly The rotation angle and/or sliding distance of the control lever.
The control method of the hydraulic transmission device according to claim 18, wherein the shift execution component is an electric motor.