CN106773966A - A kind of air-suction seeding unit sucker inhales the adaptive controller and method of kind of position - Google Patents
A kind of air-suction seeding unit sucker inhales the adaptive controller and method of kind of position Download PDFInfo
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- CN106773966A CN106773966A CN201611180455.1A CN201611180455A CN106773966A CN 106773966 A CN106773966 A CN 106773966A CN 201611180455 A CN201611180455 A CN 201611180455A CN 106773966 A CN106773966 A CN 106773966A
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- sucker
- discharge plate
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- General Physics & Mathematics (AREA)
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Abstract
The present invention provides the adaptive controller and method that a kind of air-suction seeding unit sucker inhales kind of position, by installing horizontal linear slide unit module and vertical line slide unit module that " ten " word intersects above frame, sucker is fixedly mounted on the sliding block with vertical line slide unit module, the vertical displacement of displacement sensor sucker；Multiple weighing sensors are installed in discharge plate bottom surface, the population thickness of discharge plate different zones is measured；It is combined using theory analysis and experiment, setting up discharge plate can effectively adsorb the suction kind position control model of seed, and be inputted in controller.Inhale during planting, the structure of the variation characteristic of population thickness in the vibration seed tray of Real-time Collection and feed mechanism for seed, running parameter are carried out information fusion by controller, the motor control signal that position control strategy exports straight line slide unit module is planted according to inhaling, enable the suction kind position of sucker carries out self-adaptative adjustment with the change of population thickness and distribution in vibration seed tray, so that improving feed mechanism for seed inhales kind of a performance.
Description
Technical field
The invention belongs to accurate seedling planting technical field, and in particular to a kind of air-suction seeding unit sucker inhales kind of position
Adaptive controller and method.
Background technology
Culturing and transplanting seedlings are the main Rice Cropping modes of China, and feed mechanism for seed is then the core for realizing mechanical sock growing nursery sowing
Part.Aspirated-air type disc type feed mechanism for seed is mainly made up of sucker and vibration seed tray, its operating efficiency is high, seedling-damaging rate is low, often disk broadcast
Plant amount easily controllable, be the ideal device of paddy rice blanket seedling planting.Apply small size high-frequency excitation by discharge plate, population is being planted
Discrete state is presented in disk, is to improve the important technical for inhaling kind of precision to reduce frictional resistance.Feed mechanism for seed inhales kind of a process
In, rationally control negative pressure sucker is to ensure to inhale kind of a rate in the suction kind position that the relative distance of vertical direction is sucker with vibration seed tray
Key factor.Relative distance is excessive, and population can not be efficiently entering in seeds vibration tray, and leakage suction rate increases；Relative distance is too small
Suction rate can then be caused again to be increased, i.e., the one multiple seeds of sucker absorption, additionally, the population in vibration seed tray can also be with sucker panel
Generation is drastically collided, and causes seed to damage and sucker blocking.
Preferably inhale structure and running parameter that kind of position depends not only on feed mechanism for seed, such as hole sucting diameter, Negative Pressure Difference, vibration
Frequency, amplitude etc., the influence of the thickness and distribution of population in discharge plate also vibrated.With entering for suction kind-seeding operation
OK, the quantity of population is continuously reduced in discharge plate, it is necessary to toward addition seed in discharge plate, the quantity of population is again after operation for a period of time
Increase sharply, therefore, the population quantity in discharge plate is constantly in dynamic changing process.Apply exciting to discharge plate to be although conducive to subtracting
Small frictional resistance, but this can also increase the mobility of population, it is easy to cause uneven, some regions that population is distributed in discharge plate
Population thickness is larger, and some regions population thickness is smaller.Current feed mechanism for seed is generally using proximity switch to the suction kind position of sucker
Put and positioned, inhale kind of a position and fix, it is difficult to solve the above problems, it is continuous to inhale kind of a unstable properties.Therefore, design one kind can
According to the change of population thickness and distribution in vibration seed tray, the apparatus and method of the suction kind position of Self Adaptive Control sucker,
To improve seeding accuracy, there is important theoretical significance and practical value, open research report is there are no at present.
The content of the invention
The purpose of the present invention is directed to above mentioned problem and provides a kind of the self-adaptive controlled of air-suction seeding unit sucker suction kind position
Apparatus and method processed, by designing a kind of sucker motion that can be realized and both horizontally and vertically move, and are passed with displacement
Vertical displacement of the sensor to sucker is measured, and the population for measuring vibration seed tray different zones in real time using weighing sensor is thick
Degree, structure, the running parameter of the vertical displacement of controller collection sucker, population thickness and feed mechanism for seed, then can according to what is set up
Effectively the suction kind position control model of absorption seed, exports the control signal of sucker motion, drives sucker to move to discharge plate
Top appropriate location carries out inhaling kind of an operation, so that improving feed mechanism for seed inhales kind of a performance.
The technical scheme is that：A kind of air-suction seeding unit sucker inhales the adaptive controller of kind of position, including
Frame, limit switch, horizontal linear slide unit module, vertical line slide unit module, displacement transducer, right angle rack, sucker cover, suction
Card plate, discharge plate, weighing sensor, adjustable plate, Offset slider-crank mechanism, straight line slide unit module, monitoring board, signal processor
And controller；
The horizontal linear slide unit module and vertical line slide unit module are fixedly mounted on the upper of frame in right-angled intersection
Portion, limit switch is arranged on horizontal linear slide unit module；The perpendicular end surface of the right angle rack is fixedly mounted on vertical line
On slide unit module, the horizontal end face of right angle rack is fixedly connected with the upper surface of sucker cover, and the tracheae is fixed by ring flange
In the through hole of sucker cover center；
The sucker panel is bolted to connection in the lower surface of sucker cover；The base of institute's displacement sensors is fixed
It is installed on vertical line slide unit module, the measurement bar of displacement transducer is fixedly connected on the horizontal end face of right angle rack, measures
Bar can make synchronous linear and move with right angle rack；The discharge plate is located at the lower section of sucker panel, and the adjustable plate is located at discharge plate
Lower section；
One end of the Offset slider-crank mechanism is connected through adjustable plate with the center below discharge plate, and the other end is solid
It is scheduled on the base of frame；The discharge plate Offset slider-crank mechanism driving under, along the axis of guide of Offset slider-crank mechanism
The axis direction of set makees of reciprocating vibration；Four ends of the adjustable plate are fixedly supported to four groups of straight lines by bulb joint bearing respectively
On the sliding block of slide unit module, four groups of straight line slide unit modules are respectively and fixedly installed to the upper of frame, four groups of straight line slide units of Parallel Control
Module, thus it is possible to vary the normal angle of adjustable plate, adjusts the direction of vibration of discharge plate；
Four monitoring windows of uniform array arrangement, four installation ends of weighing sensor are processed on the base plate of the discharge plate
It is respectively fixedly connected with the base plate lower section of discharge plate, the test side of four weighing sensors is respectively mounted monitoring board, and monitoring board is installed
In monitoring window center；
Four weighing sensors are connected with one end of signal processor respectively, and the other end and the controller of signal processor connect
Connect, the signal for retransmitting sensor is sent to controller, displacement transducer, limit switch, motor driver one by signal processor
Electrical connection, the other end and the horizontal linear slide unit module of motor driver one are connected with controller respectively with motor driver two
The motor connection of motor connection, motor driver two and vertical line slide unit module.
In such scheme, the horizontal linear slide unit module includes stepper motor one, slid platform base one, leading screw one and sliding block
One；
The slid platform base one is fixedly mounted on the top of frame, and makes the center line holding level side of slid platform base one
To the output shaft of stepper motor one connects leading screw one by shaft coupling, and leading screw one passes through the internal thread of sliding block one, leading screw one and cunning
Block one forms thread transmission, and sliding block one makees horizontal linear under the driving of stepper motor one along the center line of slid platform base one
Motion.
In such scheme, the vertical line slide unit module includes stepper motor two, slid platform base two, leading screw two and sliding block
Two；
The slid platform base two is fixedly mounted on the outer face of sliding block one, and makes the center line of slid platform base two keep hanging down
Nogata is to the output shaft of stepper motor two links leading screw two by shaft coupling, and leading screw two passes through the internal thread of sliding block two, leading screw two
Thread transmission is formed with sliding block two, sliding block two makees vertical under the driving of stepper motor two along the center line of slid platform base two
Linear motion.
In such scheme, the Offset slider-crank mechanism includes drive shaft, guideway, motor, eccentric disc and connecting rod；
One end of the drive shaft is fixedly mounted on the center below the discharge plate, the other end through guideway with
The upper end of connecting rod is connected by flake bearing, and motor is fixedly installed in the base of frame, setting-up eccentricity disk on the output shaft of motor,
Eccentric disc is connected with the lower end of connecting rod by bearing；The guideway is fixedly installed in adjustable plate center, guideway
Axis it is vertical with adjustable plate plane.
In such scheme, sealing gasket is installed additional between the sucker panel and the lower surface of sucker cover.
In such scheme, the monitoring board is installed on the monitoring window center processed on discharge plate base plate, and mutual gap is less than
0.5mm。
In such scheme, the controller is with PLC or single-chip microcomputer as core；
The suction kind position control model of sucker panel is set up inside the controller, according to hole sucting diameter d, the discharge plate of setting
Centre of oscillation coordinate z0, discharge plate vibration frequency f, amplitude A and tracheae Negative Pressure Difference Δ p, controller gathers signal by multichannel A/D
The analog signal of processor output, determines the suction kind position of sucker panel, and the sucker by being obtained with displacement sensor
The vertical displacement of panel is compared, and the control signal of output is moved by the Driving Stepping Motor two of motor driver two, until
Sucker panel moves to the suction kind position specified and carries out inhaling kind of an operation.
A kind of method of the adaptive controller that kind of position is inhaled using described air-suction seeding unit sucker, including it is following
Step：
S1, the controller output signal are to controllor for step-by-step motor one, one turn of one Driving Stepping Motor of electric machine controller
It is dynamic, drive sucker part to be translated to limit switch direction by sliding block one, until limit switch has output signal, now sucker face
Plate is located at the surface of discharge plate；
S2, apply negative pressure by tracheae, the sucker inner chamber being made up of sucker cover and sucker panel can form negative pressure, air
Sucked by the sucker on sucker panel, so as to set up negative-pressure air-flow on the outside of the sucker on sucker panel, planted for inhaling；
S3, the motor of the Offset slider-crank mechanism drive discharge plate to make of reciprocating vibration along the normal direction of adjustable plate, discharge plate
Interior population produces upward sling movement and mutually discrete under effect of vibration, and population is impacted on four monitoring boards, correspondence
Four weighing sensors can monitor impulsive force, the output signal of four weighing sensors sends signal processor to, pass through
Population thickness of four monitoring boards each in region is obtained after signal processor, and is converted to analog signal h1、h2、h3、h4Output
To in controller；
The Controlling model that sucker panel inhales kind of position is set up inside S4, the controller；
S5, the controller gather the analog signal h that signal processor is exported by multichannel A/D1、h2、h3、h4, according to
Feed mechanism for seed structure and job parameter, controller input hole sucting diameter d, discharge plate centre of oscillation coordinate z0, discharge plate vibration frequency f, shake
Width A and tracheae Negative Pressure Difference Δ p, controller inhales the Controlling model of kind of position according to the sucker panel set up, and determines sucker panel
Inhale kind of a position, and vertical displacement by the sucker panel obtained with displacement sensor is compared, the control letter of output
Number moved by the Driving Stepping Motor two of motor driver two, until sucker panel moves to the suction kind position specified and inhale kind
Operation；
S6, persistently carrying out with suction kind-seeding operation, the quantity of population is continuously reduced in discharge plate, measures the kind for obtaining
Group's thickness analog signal h1、h2、h3、h4Overall presentation progressively reduces trend, and the suction kind position of sucker panel also can therewith correspondingly
Gradually reduce；
The h of S7, the controller to acquisition1、h2、h3、h4Signal carries out summation Σ hiCalculate, as Σ hiLess than given threshold
When, controller sends and adds kind of a prompt message；
S8, through suction kind-seeding operation after a while, toward discharge plate in after addition seed, the quantity of population increases rapidly
Plus, measure the population thickness analog signal h for obtaining1、h2、h3、h4It is overall that rapid increase tendency, the suction kind position of sucker panel is presented
Put also can correspondingly raise therewith.
In such scheme, the vertical coordinate z of discharge plate center can use equation z=z in the step S30+Asin(2π
Ft) represent, wherein vibration frequency f is determined by the rotating speed of motor, and amplitude A is determined by the eccentric throw of eccentric disc, centre of oscillation coordinate
z0By feed mechanism for seed structures shape.
In such scheme, the Controlling model for setting up sucker panel suction kind position in the step S4 inside controller is specific
For：
The method being combined with bench test is calculated using Gas-solid Coupling, 1-2 is adsorbed with each sucker on sucker panel
Seed is target, obtains hole sucting diameter d=1.5~2.5mm, discharge plate vibration frequency f=10~12Hz, amplitude A=3~5mm, gas
In pipe Negative Pressure Difference Δ p=3~10kPa, discharge plate in the range of the 10~30mm of thickness of population, sucker panel is with discharge plate in vertical direction
Relative distance, inhale kind of a position, the thickness change of population inhales the influence of kind of position, analysator to sucker panel in analysis discharge plate
The otherness of different zones population thickness inhales the influence of kind of position to sucker panel in disk, formulates sucker panel and inhales kind of a position adjustment
Strategy, sets up and inhales the Controlling model that sucker panel when planting operation inhales kind of position.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention installs " ten " word in feed mechanism for seed frame intersects
Horizontal linear slide unit module and vertical line slide unit module, on sucker fixed installation and the sliding block of vertical line slide unit module,
By controlling two motors of straight line slide unit module, sucker is realized in movement both horizontally and vertically, and using biography
Sensor measures the vertical displacement of sucker, and multiple weighing sensors are installed in vibration seed tray bottom surface, measures the kind of discharge plate different zones
Group's thickness；By the factor such as the physical characteristic of comprehensive analysis seed, feed mechanism for seed structure and running parameter, population thickness to inhaling kind of a property
The influence of energy, sets up the Controlling model that sucker inhales kind of position, can be according to population thickness in the vibration seed tray of measurement acquisition in real time
With the situation of change of different zones distributional difference, export sucker motion control signal, the suction kind position of self-adaptative adjustment sucker,
Efficiently solve plant-sowed due to continuous suction, add kind and discharge plate that the factor such as discharge plate exciting is caused in Dynamic state of population to suction
The influence of performance is planted, a suction kind stability is improve.
Brief description of the drawings
Fig. 1 is the structural representation of the air-suction seeding unit of an embodiment of the present invention；
Fig. 2 is the discharge plate of an embodiment of the present invention and the structural representation of monitoring board；
Fig. 3 is the air-suction seeding unit electric wiring schematic diagram of an embodiment of the present invention；
Fig. 4 is that the sucker of an embodiment of the present invention inhales the auto-adaptive control theory figure for planting position.
In figure：1st, frame, 2 stepper motors one, 3 limit switches, 4 slid platform bases one, 5 leading screws one, 6 sliding blocks one, 7 displacements are passed
Sensor, 8 stepper motors two, 9 slid platform bases two, 10 leading screws two, 11 sliding blocks two, 12 right angle racks, 13 tracheaes, 14 ring flanges, 15
Sucker cover, 16 sucker panels, 17 discharge plates, 18 weighing sensors, 19 adjustable plates, 20 bulb joint bearings, 21 drive shafts, 22 are oriented to
Axle sleeve, 23 motors, 24 eccentric discs, 25 connecting rods, 26 straight line slide unit modules, 27 monitoring boards, 28 signal processors, 29 controllers, 30
Motor driver one, 31 motor drivers two.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description, but protection scope of the present invention
It is not limited to this.
Fig. 1 show a kind of implementation that air-suction seeding unit sucker of the present invention inhales the adaptive controller of kind of position
Mode, the adaptive controller of the air-suction seeding unit sucker suction kind position, including frame 1, limit switch 3, level are straight
Line slide unit module, vertical line slide unit module, displacement transducer 7, right angle rack 12, sucker cover 15, sucker panel 16, discharge plate
17th, weighing sensor 18, adjustable plate 19, Offset slider-crank mechanism, straight line slide unit module 26, monitoring board 27, signal processor
28 and controller 29.
The horizontal linear slide unit module and vertical line slide unit module are fixedly mounted on the upper of frame 1 in right-angled intersection
Portion；
The horizontal linear slide unit module includes stepper motor 1, slid platform base 1, leading screw 1 and sliding block 1；
The slid platform base 1 is fixedly mounted on the top of frame 1, and makes the center line holding level of slid platform base 1
Direction, the output shaft of stepper motor 1 connects leading screw 1 by shaft coupling, and leading screw 1 passes through the internal thread of sliding block 1, leading screw
1 and sliding block 1 formed thread transmission, sliding block 1 is under the driving of stepper motor 1 along the center of slid platform base 1
Line makees horizontal rectilinear motion.
The vertical line slide unit module includes stepper motor 28, slid platform base 29, leading screw 2 10 and sliding block 2 11；Institute
State slid platform base 29 to be fixedly mounted on the outer face of sliding block 1, and the center line of slid platform base 29 is kept vertical direction,
The output shaft of stepper motor 28 links leading screw 2 10 by shaft coupling, and leading screw 2 10 passes through the internal thread of sliding block 2 11, leading screw two
10 and sliding block 2 11 formed thread transmission, sliding block 2 11 is under the driving of stepper motor 28 along the center of slid platform base 29
Line makees vertical linear motion.
The perpendicular end surface of the right angle rack 12 is fixedly mounted on the outer face of sliding block 2 11, the level of right angle rack 12
End face is fixedly connected with the upper surface of sucker cover 15, the center processing manhole of sucker cover 15, the through hole of sucker cover 15
Position fixedly mounts flange disk 14, and tracheae 13 is fixedly connected on the Conduit Joint of ring flange 14.
The sucker of arranged is processed on the sucker panel 16, sucker panel 16 is bolted to connection in sucker cover
Sealing gasket is installed additional between the lower surface of 15 lower surface, sucker panel 16 and sucker cover 15, to ensure the air-tightness of sucker, install
After the completion of should ensure that sucker panel 16 be in horizontality.
The base of institute's displacement sensors 7 is fixedly installed in slid platform base 29, the measurement direction and cunning of displacement transducer 7
The center line keeping parallelism of platform base 29, the measurement bar of displacement transducer 7 is fixedly connected on the horizontal end face of right angle rack 12,
Measurement bar can make synchronous linear and move with right angle rack 12, and the output result according to displacement transducer 7 is that can obtain sucker face
The vertical displacement of plate 16.
Limit switch 3, when should ensure that limit switch 3 has output signal, sucker panel 16 are installed in the slid platform base 1
Positioned at the surface of discharge plate 17.
The Offset slider-crank mechanism includes drive shaft 21, guideway 22, motor 23, eccentric disc 24 and connecting rod 25；
One end of the drive shaft 21 is fixedly mounted on the center of the lower section of the discharge plate 17, and the other end is through guideway 22 and even
The upper end of bar 25 is connected by flake bearing, and motor 23 is fixedly installed in the base of frame 1, installs inclined on the output shaft of motor 23
Cartridge 24, eccentric disc 24 is connected with the lower end of connecting rod 25 by bearing；The guideway 22 is fixedly installed in adjustable plate 19
Heart position, the axis of guideway 22 is vertical with the plane of adjustable plate 19.Discharge plate 17 can be under the driving of motor 23, along guiding
The axis direction of axle sleeve 22 makees of reciprocating vibration.
The guideway 22 is fixedly installed in the center of adjustable plate 19, and ensures axis and the regulation of guideway 22
The plane of plate 19 is vertical, and four ends of adjustable plate 19 are fixedly supported to four groups of straight line slide unit modules 26 by bulb joint bearing 20 respectively
Sliding block on, four groups of straight line slide unit modules 26 are respectively and fixedly installed to the upper of frame 1, by four groups of straight line slide unit moulds of Parallel Control
Group 26, thus it is possible to vary the normal angle of adjustable plate 19, that is, change the axis direction of guideway 22, so as to realize the side of vibration of discharge plate 17
To regulation.The setting of guideway 22 simultaneously can increase the stability of discharge plate 17, reduce rocking for mid-game 17 or so.
As shown in Fig. 2 processing four monitoring windows on the base plate of the discharge plate 17, monitoring window uniform column battle array is arranged in kind
On the base plate of disk 17, the installation end of four weighing sensors 18 is respectively fixedly connected with the base plate lower section of discharge plate 17, and four are weighed
The test side of sensor 18 is respectively mounted monitoring board 27, and monitoring board 27 is installed in the monitoring window processed on the base plate of discharge plate 17
The heart, mutual gap is less than 0.5mm, prevents seed to be stuck in gap.
Fig. 3 show air-suction seeding unit electric circuit diagram, four weighing sensors 18 respectively with signal processor
28 one end connection, the other end of signal processor 28 is connected with controller 29, and the signal for retransmitting sensor 18 passes through signal transacting
Device 28 is sent to controller 29, displacement transducer 7, limit switch 3, motor driver 1 and motor driver 2 31 respectively with
The connection electrical connection of controller 29, the other end of motor driver 1 electrically connects with stepper motor 1, motor driver 2 31 and
Stepper motor 28 is electrically connected.
Four output signals of weighing sensor 18 input signal processor 28 first, by after the conversion of signal processor 28
H1、h2、h3、h4Signal input controller 29.The output signal of displacement transducer 7 and limit switch 3 directly inputs controller
29.Controller 29 has two groups of output signals, and one group is used for controlled motor driver 1, is operated with Driving Stepping Motor 1, separately
One group of controlled motor driver 2 31, is operated with Driving Stepping Motor 28.
The controller 29 is with PLC or single-chip microcomputer as core；The suction kind of sucker panel 16 is set up inside the controller 29
Position control model, hole sucting diameter d, the centre of oscillation coordinate z of discharge plate 17 according to setting0, the vibration frequency f of discharge plate 17, amplitude A and
The Negative Pressure Difference Δ p of tracheae 13, controller 29 gathers the analog signal that signal processor 28 is exported by multichannel A/D, determines sucker
The suction kind position of panel 16, and be compared by measuring the vertical displacement of sucker panel 16 for obtaining with displacement transducer 7, it is defeated
The control signal for going out is moved by 2 31 Driving Stepping Motor of motor driver 28, until sucker panel 16 moves to what is specified
Inhaling kind of a position carries out inhaling kind of an operation.
Inhale the Controlling model method for building up of kind of position：
Whether seed can effectively be adsorbed by the sucker on sucker panel 16, depend primarily on the physical characteristic of seed, inhale
In the planform in hole, the running parameter of feed mechanism for seed, discharge plate 17 thickness and distribution and sucker panel 16 of population with shake
The relative position of dynamic discharge plate.
Calculated using Gas-solid Coupling and bench test is combined method, 1-2 is adsorbed with each sucker on sucker panel 16
Seed is target, obtain hole sucting diameter d=1.5~2.5mm, the vibration frequency f=10 of discharge plate 17~12Hz, amplitude A=3~5mm,
In the Negative Pressure Difference Δ p=3 of tracheae 13~10kPa, discharge plate 17 in the range of the 10~30mm of thickness of population, sucker panel 16 and discharge plate 17
A relative distance, i.e. suction kind position in vertical direction, the thickness change of population inhales kind of a position to sucker panel 16 in analysis discharge plate 17
The influence put, the otherness of different zones population thickness inhales the influence of kind of position to sucker panel 16 in analysis discharge plate 17, formulates
Sucker panel 16 inhales kind of a position adjustment strategy under above-mentioned condition, sets up and inhales the control mould that sucker panel 16 when planting operation inhales kind of position
Type.
As shown in figure 4, the air-suction seeding unit sucker that the present invention also provides described in a kind of utilization claim 1 inhales kind of a position
Adaptive controller method, be mainly used in air-suction seeding unit when negative pressure is inhaled kind, sucker 17 and vibration seed tray are hanging down
Nogata to relative distance, inhale the Self Adaptive Control of kind of position, during inhaling kind, controller 29 is by the vibration seed of Real-time Collection
The structure of the variation characteristic of population thickness and feed mechanism for seed, running parameter carry out information fusion in disk, and a position control plan is planted according to inhaling
Slightly export the motor control signal of straight line slide unit module so that the suction kind position of sucker can be thick with population in vibration seed tray
The change of degree and distribution carries out self-adaptative adjustment, so that improving feed mechanism for seed inhales kind of a performance.The method is comprised the following steps：
S1, the controller 29 output signal to controllor for step-by-step motor 1, and electric machine controller 1 drives stepping electricity
Machine 1 is rotated, and drives sucker part to be translated to the direction of limit switch 3 by sliding block 1, until limit switch 3 has output signal,
Now sucker panel 16 is located at the surface of discharge plate 17；
S2, by tracheae 13 apply negative pressure, the sucker inner chamber being made up of sucker cover 15 and sucker panel 16 can form negative pressure
, air is sucked by the sucker on sucker panel 16, so as to set up negative-pressure air-flow on the outside of the sucker on sucker panel 16,
Planted for inhaling；
S3, the motor 23 of the Offset slider-crank mechanism drive discharge plate 17 to make back and forth to shake along the normal direction of adjustable plate 19
Dynamic, the vertical coordinate z of the center of discharge plate 17 can use equation z=z0+ Asin (2 π ft) represents that wherein vibration frequency f is by electricity
The rotating speed of machine 23 determines that amplitude A is determined by the eccentric throw of eccentric disc 24, centre of oscillation coordinate z0By feed mechanism for seed structures shape；Kind
Population in disk 17 produces upward sling movement and mutually discrete under effect of vibration, and population impacts four monitoring boards 27
On, corresponding four weighing sensors 18 can monitor impulsive force, and the output signal of four weighing sensors 18 sends signal to
Processor 28, by obtaining the population thickness in four respective regions of monitoring board 27 after signal processor 28, and is converted to simulation
Signal h1、h2、h3、h4In exporting controller 29；
S4, the controller 29 set up the suction kind of sucker panel 16 with PLC or single-chip microcomputer as core inside the controller 29
The Controlling model of position：
The method being combined with bench test is calculated using Gas-solid Coupling, with each sucker absorption 1-2 on sucker panel 16
Grain seed is target, obtain hole sucting diameter d=1.5~2.5mm, the vibration frequency f=10 of discharge plate 17~12Hz, amplitude A=3~
In 5mm, the Negative Pressure Difference Δ p=3 of tracheae 13~10kPa, discharge plate 17 in the range of the 10~30mm of thickness of population, sucker panel 16 with plant
Disk 17 in the relative distance of vertical direction, i.e. a suction kind position, to sucker panel 16 inhale in analysis discharge plate 17 by the thickness change of population
The influence of position is planted, the otherness of different zones population thickness inhales the influence of kind of position to sucker panel 16 in analysis discharge plate 17,
Formulate sucker panel 16 and inhale kind of a position adjustment strategy, sucker panel 16 inhales the Controlling model of kind of position when setting up suction kind operation；
During S5, suction kind, the controller 29 gathers the analog signal that signal processor 28 is exported by multichannel A/D
h1、h2、h3、h4, according to feed mechanism for seed structure and job parameter, the input hole sucting diameter of controller 29 d, discharge plate centre of oscillation coordinate z0、
The parameters such as the vibration frequency f of discharge plate 17, amplitude A and the Negative Pressure Difference Δ p of tracheae 13, controller 29 is inhaled according to the sucker panel 16 set up and is planted
The Controlling model of position, determines the suction kind position of sucker panel 16, and measure the sucker panel for obtaining by with displacement transducer 7
16 vertical displacement is compared, and the control signal of output is moved by 2 31 Driving Stepping Motor of motor driver 28, until
Sucker panel 16 moves to the suction kind position specified and carries out inhaling kind of an operation；
S6, persistently carrying out with suction kind-seeding operation, the quantity of population is continuously reduced in discharge plate 17, what measurement was obtained
Population thickness analog signal h1、h2、h3、h4Overall presentation progressively reduces trend, and the suction kind position of sucker panel 16 also can phase therewith
Answering ground gradually reduces；
S7,29 couples of h of acquisition of the controller1、h2、h3、h4Signal carries out summation Σ hiCalculate, as Σ hiLess than setting threshold
During value, controller 29 sends and adds kind of a prompt message；
S8, through suction kind-seeding operation after a while, toward discharge plate 17 in after addition seed, the quantity of population increases rapidly
Plus, measure the population thickness analog signal h for obtaining1、h2、h3、h4It is overall that rapid increase tendency, the suction kind of sucker panel 16 is presented
Position also can correspondingly raise therewith.
The factors such as exciting, feed mechanism for seed installation accuracy, interference by discharge plate 17 are influenceed, and easily cause population in discharge plate 17
Uneven, the population thickness analog signal h that measurement is obtained of interior distribution1、h2、h3、h4Also can have differences, controller 29 can be with
The size of population difference in thickness being calculated in real time, and inhales the Controlling model of kind of position, the suction kind position of sucker panel 16 is adjusted
It is whole, to ensure that seed can effectively be adsorbed by the sucker on sucker panel 16.
It should be understood that, although this specification is described according to each embodiment, but not each embodiment only includes one
Individual independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art will should say
Used as an entirety, technical scheme in each embodiment can also be through appropriately combined, and forming those skilled in the art can be with for bright book
The other embodiment of understanding.
Those listed above is a series of to describe illustrating only for possible embodiments of the invention in detail,
They simultaneously are not used to limit the scope of the invention, all Equivalent embodiments made without departing from skill spirit of the present invention or change
Should be included within the scope of the present invention.
Claims (10)
1. a kind of air-suction seeding unit sucker inhales the adaptive controller of kind of position, it is characterised in that including frame (1), limit
Bit switch (3), horizontal linear slide unit module, vertical line slide unit module, displacement transducer (7), right angle rack (12), sucker cover
(15), sucker panel (16), discharge plate (17), weighing sensor (18), adjustable plate (19), Offset slider-crank mechanism, straight line are slided
Platform module (26), monitoring board (27), signal processor (28) and controller (29)；
The horizontal linear slide unit module and vertical line slide unit module are fixedly mounted on the upper of frame (1) in right-angled intersection
Portion, limit switch (3) is on horizontal linear slide unit module；The perpendicular end surface of the right angle rack (12) is fixedly mounted on vertical
On straight straight line slide unit module, the horizontal end face of right angle rack (12) is fixedly connected with the upper surface of sucker cover (15), the tracheae
(13) it is fixedly mounted in the through hole of sucker cover (15) center by ring flange (14)；
The sucker panel (16) is bolted to connection in the lower surface of sucker cover (15)；Institute's displacement sensors (7)
Base is fixedly installed on vertical line slide unit module, and the measurement bar of displacement transducer (7) is fixedly connected on right angle rack (12)
Horizontal end face, measurement bar can with right angle rack (12) make synchronous linear move；The discharge plate (17) is positioned at sucker panel
(16) lower section, lower section of the adjustable plate (19) positioned at discharge plate (17)；
One end of the Offset slider-crank mechanism is connected through adjustable plate (19) with the center below discharge plate (17), another
End is fixed on the base of frame (1)；The discharge plate (17) Offset slider-crank mechanism driving under, along eccentric mechanism sliding block machine
The axis direction of the guideway (22) of structure makees of reciprocating vibration；Four ends of the adjustable plate (19) pass through bulb joint bearing respectively
(20) it is fixedly supported on four groups of sliding blocks of straight line slide unit module (26), four groups of straight line slide units module (26) are respectively and fixedly installed to
Upper, four groups of straight line slide units module (26) of Parallel Control, thus it is possible to vary the normal angle of adjustable plate (19) of frame (1), adjust discharge plate
(17) direction of vibration；
Four monitoring windows of uniform array arrangement, four peaces of weighing sensor (18) are processed on the base plate of the discharge plate (17)
Dress end is respectively fixedly connected with the base plate lower section of discharge plate (17), and the test side of four weighing sensors (18) is respectively mounted monitoring board
(27), monitoring board (27) is installed on monitoring window center；
The one end of four weighing sensors (18) respectively with signal processor (28) is connected, the other end of signal processor (28) with
Controller (29) is connected, and the signal for retransmitting sensor (18) is sent to controller (29), displacement sensing by signal processor (28)
Device (7), limit switch (3), motor driver one (30) and motor driver two (31) are connected with controller (29) are electrically connected respectively
Connect, the other end of motor driver one (30) and the motor connection of horizontal linear slide unit module, motor driver two (31) with hang down
The motor connection of straight straight line slide unit module.
2. air-suction seeding unit sucker according to claim 1 inhales the adaptive controller of kind of position, it is characterised in that
The horizontal linear slide unit module includes stepper motor one (2), slid platform base one (4), leading screw one (5) and sliding block one (6)；
The slid platform base one (4) is fixedly mounted on the top of frame (1), and the center line of slid platform base one (4) is kept water
Square leading screw one (5) is connected by shaft coupling to the output shaft of, stepper motor one (2), leading screw one (5) is through sliding block one (6)
Internal thread, leading screw one (5) and sliding block one (6) form thread transmission, and sliding block one (6) is under the driving of stepper motor one (2)
Center line along slid platform base one (4) makees horizontal rectilinear motion.
3. air-suction seeding unit sucker according to claim 1 inhales the adaptive controller of kind of position, it is characterised in that
The vertical line slide unit module includes stepper motor two (8), slid platform base two (9), leading screw two (10) and sliding block two (11)；
The slid platform base two (9) is fixedly mounted on the outer face of sliding block one (6), and makes the center line of slid platform base two (9)
Keep vertical direction, by shaft coupling link leading screw two (10), leading screw two (10) is through sliding block for the output shaft of stepper motor two (8)
Two (11) internal thread, leading screw two (10) and sliding block two (11) form thread transmission, and sliding block two (11) is in stepper motor two
(8) vertical linear motion is made along the center line of slid platform base two (9) under driving.
4. air-suction seeding unit sucker according to claim 1 inhales the adaptive controller of kind of position, it is characterised in that
The Offset slider-crank mechanism includes drive shaft (21), guideway (22), motor (23), eccentric disc (24) and connecting rod
(25)；
One end of the drive shaft (21) is fixedly mounted on the center below the discharge plate (17), and the other end passes through the axis of guide
Set (22) is connected with the upper end of connecting rod (25) by flake bearing, and motor (23) is fixedly installed in the base of frame (1), motor
(23) setting-up eccentricity disk (24) on output shaft, eccentric disc (24) is connected with the lower end of connecting rod (25) by bearing；The guiding
Axle sleeve (22) is fixedly installed in adjustable plate (19) center, and the axis of guideway (22) is vertical with adjustable plate (19) plane.
5. air-suction seeding unit sucker according to claim 1 inhales the adaptive controller of kind of position, it is characterised in that
Sealing gasket is installed additional between the sucker panel (16) and the lower surface of sucker cover (15).
6. air-suction seeding unit sucker according to claim 1 inhales the adaptive controller of kind of position, it is characterised in that
The monitoring board (27) is installed on the monitoring window center processed on discharge plate (17) base plate, and mutual gap is less than 0.5mm.
7. air-suction seeding unit sucker according to claim 1 inhales the adaptive controller of kind of position, it is characterised in that
The controller (29) is with PLC or single-chip microcomputer as core；
The suction kind position control model of sucker panel (16) is set up inside the controller (29), hole sucting diameter d according to setting,
Discharge plate (17) centre of oscillation coordinate z0, discharge plate (17) vibration frequency f, amplitude A and tracheae (13) Negative Pressure Difference Δ p, controller (29)
The analog signal that signal processor (28) is exported is gathered by multichannel A/D, the suction kind position of sucker panel (16) is determined, and lead to
The vertical displacement for crossing the sucker panel (16) obtained with displacement transducer (7) measurement is compared, and the control signal of output passes through
Two (31) Driving Stepping Motor of motor driver two (8) is moved, until sucker panel (16) moves to the suction kind position specified and enters
Row inhales kind of an operation.
8. the method that the air-suction seeding unit sucker described in a kind of utilization claim 1 inhales the adaptive controller of kind of position,
It is characterised in that it includes following steps：
S1, the controller (29) output signal to controllor for step-by-step motor one (31), and electric machine controller one (31) drives stepping
Motor one (2) is rotated, and drives sucker part to be translated to limit switch (3) direction by sliding block one (6), until limit switch (3)
There is output signal, now surface of the sucker panel (16) positioned at discharge plate (17)；
S2, by tracheae (13) apply negative pressure, the sucker inner chamber being made up of sucker cover (15) and sucker panel (16) can form negative
Have a meeting, an audience, etc. well under one's control, air is sucked by the sucker on sucker panel (16), so as to negative pressure is set up in the sucker outside on sucker panel (16)
Airflow field, plants for inhaling；
S3, the motor (23) of the Offset slider-crank mechanism drive discharge plate (17) to make back and forth to shake along the normal direction of adjustable plate (19)
Dynamic, the population in discharge plate (17) produces upward sling movement and mutually discrete under effect of vibration, and population impacts four prisons
On drafting board (27), corresponding four weighing sensors (18) can monitor impulsive force, four output letters of weighing sensor (18)
Number signal processor (28) is sent to, by obtaining population of four monitoring boards (27) each in region after signal processor (28)
Thickness, and be converted to analog signal h1、h2、h3、h4In exporting controller (29)；
The Controlling model that sucker panel (16) inhales kind of position is set up inside S4, the controller (29)；
S5, the controller (29) gather the analog signal h that signal processor (28) is exported by multichannel A/D1、h2、h3、h4,
According to feed mechanism for seed structure and job parameter, controller (29) input hole sucting diameter d, discharge plate centre of oscillation coordinate z0, discharge plate (17)
Vibration frequency f, amplitude A and tracheae (13) Negative Pressure Difference Δ p, controller (29) inhale kind of position according to the sucker panel (16) set up
Controlling model, determines the suction kind position of sucker panel (16), and measure the sucker panel for obtaining by with displacement transducer (7)
(16) vertical displacement is compared, and the control signal of output is transported by two (31) Driving Stepping Motor of motor driver two (8)
It is dynamic, until sucker panel (16) moves to the suction kind position specified and carries out inhaling kind of an operation；
S6, persistently carrying out with suction kind-seeding operation, the quantity of discharge plate (17) interior population is continuously reduced, and measures the kind for obtaining
Group's thickness analog signal h1、h2、h3、h4Overall presentation progressively reduces trend, and the suction kind position of sucker panel (16) also can phase therewith
Answering ground gradually reduces；
The h of S7, the controller (29) to acquisition1、h2、h3、h4Signal carries out summation Σ hiCalculate, as Σ hiLess than given threshold
When, controller (29) sends and adds kind of a prompt message；
S8, through suction kind-seeding operation after a while, toward discharge plate (17) in after addition seed, the quantity of population increases rapidly
Plus, measure the population thickness analog signal h for obtaining1、h2、h3、h4It is overall that rapid increase tendency, the suction of sucker panel (16) is presented
Plant position also can correspondingly raise therewith.
9. the air-suction seeding unit sucker described according to claim 8 inhales the adaptive controller of kind of position
Method, it is characterised in that the vertical coordinate z of discharge plate (17) center can use equation z=z in the step S30+Asin(2
π ft) represent, wherein vibration frequency f determines that amplitude A is determined by the eccentric throw of eccentric disc (24) by the rotating speed of motor (23), vibrates
Centre coordinate z0By feed mechanism for seed structures shape.
10. it is according to claim 8 that the adaptive controller for planting position is inhaled using described air-suction seeding unit sucker
Method, it is characterised in that the control mould that sucker panel (16) inhales kind of position is set up in the step S4 inside controller (29)
Type is specially：
The method being combined with bench test is calculated using Gas-solid Coupling, 1-2 is adsorbed with each sucker on sucker panel (16)
Seed is target, obtain hole sucting diameter d=1.5~2.5mm, discharge plate (17) vibration frequency f=10~12Hz, amplitude A=3~
In the range of 5mm, tracheae (13) Negative Pressure Difference Δ p=3~10kPa, the 10~30mm of thickness of discharge plate (17) interior population, sucker panel
(16) thickness change pair of discharge plate (17) interior population is analyzed in the relative distance of vertical direction, i.e. a suction kind position with discharge plate (17)
Sucker panel (16) inhales the influence of kind of position, analyzes the otherness of discharge plate (17) interior different zones population thickness to sucker panel
(16) influence of kind of position is inhaled, kind of a position adjustment strategy is inhaled in formulation sucker panel (16), sets up and inhales sucker panel when planting operation
(16) Controlling model of kind of position is inhaled.
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| CN111642191A (en) * | 2020-06-05 | 2020-09-11 | 北京农业信息技术研究中心 | Air-suction type counting seed discharging device and method |
| CN111937543A (en) * | 2020-07-28 | 2020-11-17 | 江苏大学 | Air vibration disc type seedling raising and seeding machine vibration disc leveling device and balance control method |
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| CN111052912A (en) * | 2019-12-31 | 2020-04-24 | 江苏大学 | Air-suction vibration disc type precision seedling raising and sowing production line device and control method thereof |
| CN111642191A (en) * | 2020-06-05 | 2020-09-11 | 北京农业信息技术研究中心 | Air-suction type counting seed discharging device and method |
| CN111937543A (en) * | 2020-07-28 | 2020-11-17 | 江苏大学 | Air vibration disc type seedling raising and seeding machine vibration disc leveling device and balance control method |
| CN111937543B (en) * | 2020-07-28 | 2024-06-07 | 江苏大学 | Vibration seed tray leveling device of air vibration tray type seedling raising planter and balance control method |
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