CN109654218A - Fluid drive rice transplanter and its application - Google Patents
Fluid drive rice transplanter and its application Download PDFInfo
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- CN109654218A CN109654218A CN201910007539.2A CN201910007539A CN109654218A CN 109654218 A CN109654218 A CN 109654218A CN 201910007539 A CN201910007539 A CN 201910007539A CN 109654218 A CN109654218 A CN 109654218A
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- speed
- rice transplanter
- driving
- sensor
- rice
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 263
- 235000009566 rice Nutrition 0.000 title claims abstract description 263
- 239000012530 fluid Substances 0.000 title claims abstract description 109
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 262
- 230000008859 change Effects 0.000 claims abstract description 62
- 230000005540 biological transmission Effects 0.000 claims description 92
- 238000004458 analytical method Methods 0.000 claims description 33
- 238000001514 detection method Methods 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 15
- 230000003137 locomotive effect Effects 0.000 claims description 7
- 230000008450 motivation Effects 0.000 claims description 2
- 239000003921 oil Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000007423 decrease Effects 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000008141 laxative Substances 0.000 description 1
- 230000002475 laxative effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a fluid drive rice transplanter and its applications, wherein the fluid drive rice transplanter includes a rice transplanting railcar body, a gear and a speed-change control device, wherein the speed change gear and the speed-change control device are arranged at the rice transplanting railcar body respectively, and the speed change gear is controllably connected to the speed-change control device, wherein the speed-change control device controls the speed change gear speed change with the following speed that will be carried out according to the current vehicle speed of the rice transplanting railcar body.
Description
Technical field
The present invention relates to rice transplanter fields, further to a fluid drive rice transplanter and its application.
Background technique
Rice transplanter, such as high-speed transplanter are applied to for rice seedling being colonized in paddy field, instead of traditional
Transplanting rice seedling by hand operation significantly improves the working efficiency of rice transplanting and quality of transplanting seedlings, and realizes reasonable uniform dense planting, is conducive to subsequent
The mechanization of the operations such as laxative, harvesting.
With the development of science and technology power rice-transplantor is widely used by people, power rice-transplantor be divided into again walking self-propelled,
Self-propelled and tractor mounted power rice-transplantor is taken, wherein the power rice-transplantor includes the seedling case for storing rice shoot, divides and insert
Rice seedling distribution mechanism, vehicle frame, power-driven mechanism, running gear and seedlings sending mechanism etc., its working principle is that rice shoot is whole with group's state
It full cries into seedling case, moves laterally with seedling case, making seedling fetching machine, gradually lattice takes a certain number of rice shoots away, in rice transplanting TRAJECTORY CONTROL
Under mechanism effect, rice shoot is inserted into soil by agriculture requirement, seedling fetching machine is back to seedling case seedling taking by certain track again, with car body
Controllable walking in paddy field, so that rice shoot is by according to artificially planting in the paddy field defaultly.
However, current power rice-transplantor has clutch system, and driver's manual shift is needed mostly, realize speed change
Walking, for example when locomotive turns to, driver needs manual downshift to slow down, when needing to pluck gear when perhaps stopping manually or retreating
It needs to shift to manually and reverse gear, to realize that locomotive retreats walking.And especially for the topography in some farmlands it is poor such as hilly country or
Person's hollow, ridge are more, and driver is when this kind of farmland drives the rice transplanter, it may be necessary to chronically relatively frequently manually
Shift speed change, one may shift speed change cause locomotive walking to have some setbacks and cause rice transplanting uneven or even locomotive can not in time
It can stop working parking, two come more demanding to the roadcraft of driver, are unfavorable for neophyty operation.
Especially for unpiloted rice transplanter, seats on vehicle due to not needing driver and drive, can not execute
Automatic gear shifting speed changing, causes car body that can not adapt to different environments, such as cannot achieve steering speed change deceleration, acceleration speed change and mentions
Speed etc., prevent the unmanned rice transplanter is from being generally applicable in.
And at present in vehicle market, fluid drive automobile has been widely used, using automatic gear-box automatically according to
Car engine revolving speed realizes fluid drive to shift gears.For the i.e. described automobile during traveling, driver presses the need of driving process
It manipulates accelerator pedal (gas pedal), the automatic gear-box can be according to the operating condition of engine load and automobile, certainly
Move and work into different gears, without driver's manual shift speed change.But due to working environment or body construction etc.
Difference in power rice-transplantor and is not implemented automatic gear shifting speed changing, is unable to satisfy the demand of people.
In addition, how to realize that fluid drive adapts to current working environment is to need to solve for unpiloted rice transplanter
Certainly the problem of.
Summary of the invention
It is an object of the present invention to provide a fluid drive rice transplanter and its applications, relative to existing rice transplanter
For, the fluid drive rice transplanter of the invention can be realized fluid drive.
It is an object of the present invention to provide a fluid drive rice transplanter and its application, nobody can be implemented as and driven
Fluid drive is sailed, or without driver's manual shift etc..
It is another object of the present invention to provide a fluid drive rice transplanter and its applications, are able to detect described
The rotary state of the shifting shaft of fluid drive rice transplanter changes.
It is another object of the present invention to provide a fluid drive rice transplanter and its application, it is able to detect and feeds back institute
The actual speed signal of fluid drive rice transplanter is stated, in subsequent realization fluid drive.
It is another object of the present invention to provide a fluid drive rice transplanter and its application, can fluid drive to suitable
The following speed for the driving status that should will be carried out.
It is another object of the present invention to provide a fluid drive rice transplanter and its applications, according to the fluid drive
The speed that the rotary state variation of the actual speed signal and the shifting shaft of rice transplanter controls the fluid drive rice transplanter becomes
Change, completes fluid drive.
It is another object of the present invention to provide a fluid drive rice transplanter and its applications, by changing transmission ratio,
Realize fluid drive.
It is another object of the present invention to provide a fluid drive rice transplanter and its applications, wherein the fluid drive quilt
It is embodied as automatic stepless speed change.
It is another object of the present invention to provide a fluid drive rice transplanter and its application, high gear, low can be realized
Keep off, reverse gear or the gears such as neutral gear between the fluid drive that switches.
It is another object of the present invention to provide a fluid drive rice transplanter and its applications, by described in motor control
The gear of fluid drive rice transplanter controls velocity variations.
It is another object of the present invention to provide a fluid drive rice transplanter and its applications, are able to detect described automatic
The true value of the actual vehicle speed of speed change rice transplanter.
It is another object of the present invention to provide a fluid drive rice transplanter and its applications, and structure is simple, Neng Goushi
Now rapid shift speed change has excellent driving performance.
One aspect under this invention, the present invention further provides a fluid drive rice transplanters comprising:
One rice transplanting railcar body；
One gear；And
One speed-change control device, wherein the speed change gear and the speed-change control device are arranged at the rice transplanting respectively
Railcar body, and the speed change gear is controllably connected to the speed-change control device, wherein the speed-change control device
The speed change gear speed change is controlled according to the current vehicle speed of the rice transplanting railcar body and the following speed that will be carried out.
In some embodiments, wherein the rice transplanter car body includes a driving analysis system, wherein the driving is analyzed
System obtains the following speed based on the driving relevant information analysis of the rice transplanting railcar body and feeds back to the speed Control
Device.
In some embodiments, wherein the driving analysis system includes at least one driving sensor, wherein the driving
Sensor is installed in the rice transplanting railcar body to detect the driving relevant information of the rice transplanting railcar body.
In some embodiments, wherein the speed-change control device includes at least one following vehicle speed sensor, wherein described
The following vehicle speed sensor is installed in the input shaft of the gear to turn by the input shaft for detecting the gear
Speed obtains the following speed of the rice transplanting railcar body.
In some embodiments, wherein the speed-change control device includes at least one following vehicle speed sensor, wherein described
The following vehicle speed sensor is installed in the engine of the rice transplanting railcar body to obtain by the output power for detecting the engine
Take the following speed of the rice transplanting railcar body.
In some embodiments, wherein the speed-change control device includes a controller, wherein the controller is connected
In the driving analysis system to obtain the following speed.
In some embodiments, wherein the gear has a shifting shaft, wherein the speed-change control device includes
The one following vehicle speed sensor, wherein the future car speed sensor is installed in the shifting shaft of the gear to pass through
The rotational angle for detecting the shifting shaft obtains the following speed of the rice transplanting railcar body.
In some embodiments, wherein the future car speed sensor is implemented as angular transducer.
In some embodiments, wherein the driving sensor includes the engine selected from a detection rice transplanting railcar body
The sensor of operating condition, one receive remote control signal sensor, at least one detection driving ambient enviroment sensor and
One or one group of sensor in the detector of one detection planning driving path.
In some embodiments, wherein the driving sensor includes an at least photographic device, wherein the photographic device
It is mounted respectively in the rice transplanting railcar body.
In some embodiments, wherein the speed-change control device includes an at least vehicle speed sensor, wherein the speed
Sensor is installed in the wheel of the rice transplanting railcar body or the driving axle housing of the gear to detect the rice transplanter
The current vehicle speed of car body.
In some embodiments, wherein the vehicle speed sensor is implemented as magneto-electric vehicle speed sensor or photo-electric vehicle
Fast sensor.
In some embodiments, wherein the gear is implemented as CVT stepless speed changer or AT stepless speed change
Device.
Another aspect under this invention, it also offers the automatic gear shifting methods of a rice transplanter comprising following steps:
A, the following speed that obtains the current vehicle speed of a rice transplanter and will carry out；With
B, one gear of control changes transmission ratio to control the velocity variations of the rice transplanter.
In some embodiments, wherein in step, one driving relevant information of detection is based on the driving relevant information,
Analysis obtains the following speed that the rice transplanter will carry out.
In some embodiments, wherein in step, at least camera module by being installed in the rice transplanter detects
Obtain the driving relevant information.
In some embodiments, wherein in step, obtaining institute by detecting the revolving speed of input shaft of the gear
State the following speed that rice transplanter will carry out.
In some embodiments, wherein in step, being obtained by detecting the output power of engine of the rice transplanter
The following speed that the rice transplanter will carry out.
In some embodiments, wherein in step, passing through the rotational angle of a shifting shaft of the detection gear
Obtain the following speed that the rice transplanter will carry out.
In some embodiments, wherein in step, by the revolving speed or the inspection that detect the output shaft of the gear
The revolving speed for surveying the wheel of the rice transplanter obtains the current vehicle speed of the rice transplanter.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of fluid drive rice transplanter according to a preferred embodiment of the present invention.
Fig. 2 is the module diagram of fluid drive rice transplanter according to a preferred embodiment of the present invention.
Fig. 3 is the module signal of the CVT speed changer of fluid drive rice transplanter according to a preferred embodiment of the present invention
Figure.
Fig. 4 is the structural representation of the CVT speed changer of fluid drive rice transplanter according to a preferred embodiment of the present invention
Figure.
Fig. 5 is that the following vehicle speed sensor detection of fluid drive rice transplanter according to a preferred embodiment of the present invention is changed
The structural schematic diagram of the rotational angle of gear shaft.
Fig. 6 is the side of the unmanned fluid drive of fluid drive rice transplanter according to a preferred embodiment of the present invention
Method schematic diagram.
Fig. 7 is the module signal of the AT speed changer of the fluid drive rice transplanter of the first variant embodiment according to the present invention
Figure.
Fig. 8 is the structural representation of the AT speed changer of the fluid drive rice transplanter of the first variant embodiment according to the present invention
Figure.
Fig. 9 is the schematic perspective view of the fluid drive rice transplanter of the second variant embodiment according to the present invention.
Figure 10 is the module diagram of the fluid drive rice transplanter of the second variant embodiment according to the present invention.
Figure 11 is the mould of the another embodiment of the fluid drive rice transplanter of the second variant embodiment according to the present invention
Block schematic diagram.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, term " one "
It should not be understood as the limitation to quantity.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. mean the specific features in conjunction with embodiment or example description, structure, material or
Feature is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms
Necessarily it is directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be
It can be combined in any suitable manner in any one or more embodiment or examples.In addition, without conflicting with each other, this field
Technical staff can carry out the feature of different embodiments or examples described in this specification and different embodiments or examples
Combination and combination.
The present invention provides a fluid drive rice transplanters, can automatically control speed change, and this is inserted in the fluid drive
During seedling machine operation, driver's manual shift, such as Self-propelled transplanter may not need, improve the fluid drive rice transplanting
The operability of machine reduces the human error in rice transplanting operation and reduces the labor intensity of controller.
In rice transplanting operation, according to geographical location and shape size, the position of barrier and shape in operating environment such as farmland
Shape size and the artificial arrangement of operation process etc., the fluid drive rice transplanter need to be completed to advance in farmland, accelerate, subtract
The traveling operation such as speed, steering, retrogressing or stopping, and in the handoff procedure of different traveling operations, the fluid drive is slotting
Seedling machine can have timely completed the fluid drive of speed, to ensure the stationarity and density of transplants reliability of car body traveling, and
Extend the durability of locomotive, reduces wear intensity.
Classified according to power, it is mixed that the fluid drive rice transplanter can be fuel oil rice transplanter, electric rice transplanter or oil electricity
Dynamic rice transplanter.According to manipulation classification of type, the fluid drive rice transplanter can be saddle type rice transplanter, such as in person by driver
It rides in vehicle and drives the fluid drive rice transplanter completion rice transplanting operation or unmanned rice transplanter, such as adopted by manipulator
Rice transplanting operation is completed with the traveling that remote controllers are remotely controlled the fluid drive rice transplanter or by the fluid drive rice transplanter
Rice transplanting operation is autonomously carried out according to the driving route being predetermined and one group of sensor, herein with no restrictions.
As shown in Figures 1 to 6 be a preferred embodiment of the present invention the fluid drive rice transplanter, can nobody drive
Sail the completion rice transplanting operation in farmland such as paddy field.The fluid drive rice transplanter includes a rice transplanting railcar body 10, a gear
20 and a speed-change control device 30.The rice transplanting railcar body 10 can be unmanned rice transplanting railcar body, i.e., by not needing to drive
Member takes the rice transplanting operation for manipulating the fluid drive rice transplanter or the fluid drive rice transplanting as described in operator's remote control
Machine operation.In other examples, the rice transplanting railcar body 10 can also be operated by driver, such as driver can only grasp
Steering or the speed change etc. made but be not limited to the fluid drive rice transplanter.The rice transplanting railcar body 10 includes a vehicle frame 11, quilt
It is operably installed on an engine 12, a control centre 13 and the one group of wheel 14 of the vehicle frame 11, wherein in the control
The heart 13 be used to receive rice transplanting machine operation described in the control instruction of operator and intelligent control, and engine 12 is transported as described in control
Turn, wherein the engine 12 drives the wheel 14 to rotate.The type of the control centre 13 is unrestricted, such as the control
Center 13 processed can issue control instruction to control the operating of the engine 12, to drive by the engine 12 described
The rotation of wheel 14.The gear 20 includes an at least shifting shaft 21 and a transmission device 22, wherein the shifting shaft 21
It rotates in response to the variable rate signal of the control centre 13 of the rice transplanting railcar body 10, and relatively rotates a rotational angle
L, wherein the transmission device 22 of the gear 20 be arranged at the engine 12 of the rice transplanting railcar body 10 with
Between the wheel 14 and there is a transmission ratio, when the transmission ratio is changed, the engine 12 and the wheel 14
Between transmission rate be altered accordingly.The speed-change control device 30 be arranged at according to the rotational angle L and it is described insert
The actual vehicle speed of seedling railcar body changes the transmission ratio of the transmission device 22 to control the velocity variations of the rice transplanting railcar body 10,
The rice transplanter speed is set more intelligently to be adjusted to best speed.I.e. in rice transplanting operation, when the rice transplanter
When car body 10 needs to switch driving status, the shifting shaft 21 receives the rotation variable signal of the input of rice transplanting railcar body 10 i.e.
Change the rotary state of the shifting shaft 21, wherein rotation shape of the speed-change control device 30 by the detection shifting shaft 21
Actual speed, that is, rice transplanting railcar body 10 actual vehicle speed control of the wheel 14 of state variation and the rice transplanting railcar body 10
The transmission ratio of the transmission device 22 of the gear 20 is made, and then controls the actual speed for changing the wheel 13 to control
Make the velocity variations of the rice transplanting railcar body 10.
As shown in Fig. 2, further, the rice transplanting railcar body 10 further includes a driving analysis system 15, wherein the row
Vehicle analysis system 15 includes at least one driving sensor 151 and a driving processor 152, wherein the driving sensor 111 wraps
Include the sensor to engine operating status detection, the sensor to artificial remote control signal infomation detection, at least a pair
The sensor of driving ambient enviroment detection and the detector detected to planning driving path etc. are to respectively correspond the related letter of detection driving
It ceases, or the unmanned intention of detection operator, and will test result and feed back to the driving processor 152, wherein institute
Stating driving processor 152 to go out the rice transplanting railcar body 10 according to these running information comprehensive analysis is suitable for following driving status
Target vehicle speed.
It is noted that the sensor of described pair of driving ambient enviroment detection may be implemented as at least one camera shooting mould
Group, wherein each camera module is mounted respectively front side, left side, right side or rear side etc. in the rice transplanting railcar body 10,
Wherein the camera module obtains the driving phase by the surrounding ambient conditions of rice transplanting railcar body 10 described in captured in real-time
Close information.Or the sensor of described pair of driving ambient enviroment detection also may be implemented as a radar installations, be installed in
The rice transplanting railcar body 10, and the ambient conditions, etc. of the rice transplanting railcar body 10 are obtained by detections of radar, herein not
It is limited.
That is, the rice transplanting railcar body 10 needs to be switched to the target carriage under next driving status
Speed can guarantee to drive a vehicle smooth.For example, when the driving sensor 151 detects that the rice transplanting railcar body 10 will turn to
When, the driving processor 112, which analyzes the rice transplanting railcar body 10, need to reduce gear with speed change reduction of speed, it is ensured that turn to smooth.
Or when the driving sensor 151 detects that front needs to accelerate, the driving processor 152 analyzes described insert
Seedling railcar body 10 needs upshift speed-raising, etc..Certainly, for unmanned rice transplanter, the driving analysis system 11 can be by
The corresponding target gear that need to be switched in a certain road location is specified according to the planning driving path being predetermined, herein with no restrictions.
That is, analyzing next mesh that the rice transplanting railcar body 10 need to be switched in the driving analysis system 15
When marking speed, the driving processor 152 feeds back the driving relevant information to the control centre 13, by the control
The shifting shaft 21 that the heart 13 controls the gear 20 correspondingly rotates, i.e., the described shifting shaft 21 is rotated the rotation
Angle L.
Further, the driving analysis system 15 is implemented as the driving system suitable for unmanned rice transplanter.It lifts
Example ground, in the normal driving conditions of the rice transplanter, when the driving processor 152 detects 10 front of rice transplanting railcar body
Whens having barrier such as people, animal, trees, pond or hollow etc., the driving processor 152 analyzes the rice transplanting railcar body
10, which need to carry out deceleration deflecting, avoids the barrier, and the shift of the gear 20 is controlled by the control centre 13
Axis 21 turns to low gear position, i.e., the rotary state variation of the described shifting shaft 21 is that certain rotation is rotated from high gear position
Angle L is changed relatively to the low gear position with ensuring that the speed-change control device 30 can control the gear 20
The transmission ratio answered makes the 10 downshift speed change of rice transplanting railcar body.
Correspondingly, it needs to stop when the driving processor 152 detects the rice transplanting railcar body 10, fall back, accelerate
Whens equal, the control centre 13 controls the rotation of shifting shaft 21 correspondingly rotational angle, until suitable gear positions, such as need
When parking, the shifting shaft 21 is turned to neutral gear position, and when such as needing to fall back, the shifting shaft 21 is turned to position of reversing gear
It sets, when such as needing to accelerate, the shifting shaft 21 is turned to high gear position, etc..
In the present embodiment, the gear 20 is implemented as stepless speed changer or case, that is, refers to the gear
The transmission ratio of 20 transmission device 22 can consecutive variations in a certain range, common are hydraulic type, it is mechanical and
Electric power type iso-variable velocity device.Gear 20 can be divided into variable ramp type stepless transmission and CVT stepless transmission at present.Using nothing
The advantage that grade gearbox saves is to eliminate complicated and bulky gear combination gear, only be become with two groups of belt wheels
Speed transmission.The gear 20 carries out variable speed by changing the contact radius of driving wheel and driven wheel transmission belt, due to
The continuous change of transmission ratio may be implemented in stepless transmission, to obtain the best match of power train and engine operating condition, improves
The fuel economy and dynamic property of vehicle, improve the driving condition of car body, more smoothly, steadily and surely.Especially in the rice transplanter
During rice transplanting, the shake that can prevent car body from generating in speed change by the variable speed of the gear 20, so that inserting
Seedling process is more stable, uniformly.
As shown in figure 3, specifically, the gear 20 is preferably implemented as CVT stepless transmission, wherein the speed change
Device 22 includes a shell 220 and an active wheels 221, a driven wheel group 222, one transmission for being installed in the shell 220
Band 223, a hydraulic pump 224, an input shaft 225 and an output shaft 226.The transmission belt 223 is by can the Synchronous Transmission ground company of engagement
It is connected between the active wheels 221 and 222 groups of the driven wheel, wherein the output power of the output shaft of the engine 12
It drives the input shaft 225 of the active wheels 221 to rotate and power is transferred to by the driven wheel by the transmission belt 223
222, rotate synchronously the driven wheel 222, then retarder, differential of the driven wheel 222 through the rice transplanting railcar body 10
Power is transferred to the wheel 14 to drive the rice transplanting railcar body 10 to travel by the output shaft 226 by device.It is described hydraulic
Pump 224 passes through release oil cylinder working-pressure and generates the axial shifting acted between the change of active wheels 221 and the transmission belt 223
Momentum is to change the transmission ratio of the gear 20, and then the reliability and height for making the gear 20 that power be kept to transmit
Effect property.
As shown in figure 4, further, the active wheels 221 include an active movable plate 2211, an active fixed disk
2212 and a driving shaft 2213, wherein the driving shaft 2213 is arranged at and is axially movable the active movable plate 2211 and is leaning on
Transmission belt 223 described in one lateral edge of the nearly hydraulic pump 224 is mobile, and is meshed with the transmission belt 223.The hydraulic pump
224, which can be released pressure, acts on the driving shaft 2213, so that the driving shaft 2213 axially rotates, so that the master
Dynamic movable plate axially moves, and then changes the working radius of the active wheels 221.The active fixed disk 2212 is fixed
It is meshed in the other side far from the hydraulic pump 224 and with the transmission belt 223.Correspondingly, the driven wheel group 222 includes
One driven movable plate 2221, a driven fixed disk 2222 and a driven shaft 2223, wherein the driven movable plate 2221 is set
In being axially displaceably installed on the driven shaft 2223 and being meshed with the transmission belt 223, enable the active wheels 221
The driven wheel group 222 is enough driven to rotate synchronously, wherein the driven fixed disk 2222 is fixed on the driven shaft 223
The other side.The driven shaft 2223 and the output shaft 226 are coaxially connected to guarantee power transmission, so that the driven shaft 2223
It axially rotates, and then when the active movable plate 2211 is axially displaced, by the transmission effect of the transmission belt 223,
So that the driven movable plate 2221 does the axial movement of opposite direction, and then change transmission ratio.
The speed-change control device 30 is practical according to the rotational angle and the rice transplanting railcar body 10 of the shifting shaft 21
Speed controls the 224 release action power of hydraulic pump to drive the active movable plate 2211 to make and move to axial to change
With the transmission ratio of the driven wheel group 222.
In other words, when the driving analysis system 15 feeds back speed change information to the control centre 13, the control
Center 13 controls the shifting shaft 21 and rotates the rotational angle L, and the speed-change control device 30 is by detecting the angle of rotation
The actual vehicle speed of L and the rice transplanting railcar body 11 are spent, hydraulic pump 224 described in relation control, which discharges certain pressure, makes the active
Axis 2213 axially rotates, respectively move to axial the active movable plate 2211 and make the driven movable plate
2221 axial movements for making opposite direction change transmission ratio, so change the active wheels 221 of the gear 20 with
Transmission ratio between the driven wheel group 222 simultaneously guarantees the reliability of power transmitting simultaneously, realizes reliable fluid drive.
Preferably, the transmission belt 223 is preferably implemented as metal tape, i.e., by two beam beckets and several hundred a sheet metal structures
At V-type metal drive belt structure.The active movable plate 2211, the active fixed disk 2212, the driven movable plate
2221 and the driven fixed disk 2222 be all implemented as cone structure, their conical surface forms V-groove and is simultaneously driven with the V-type
Band 223 is meshed.In speed change work, the speed-change control device 30 by control the oil cylinder working-pressure of the hydraulic pump 224 come
It relatively drives the driving shaft 2213 to move to axial and comes active wheels 221 described in relative changes, the driven wheel group
The working radius being meshed between 222 and the transmission belt 223.It is understood that the driving shaft 2213 is to axial
Amount of movement is by the gear 30 according to the rotational angle L of the shifting shaft 21 and the practical vehicle of the rice transplanting railcar body 10
What speed was realized by controlling to adjust the pressure that the oil cylinder of the hydraulic pump 224 discharges respectively.It can thus be anticipated that due to described
Active wheels 221 and the working radius of the driven wheel 222 may be implemented to continuously adjust, i.e., the described transmission belt 223 is in the master
The radius of gyration in driving wheel group 221 and the driven wheel group 223 can realize consecutive variations, and then realize the continuous change of transmission ratio
Change, to realize variable speed.
In other words, the effect of the driving wheel hydraulic pump 224 is to drive the active of the active wheels 221 movable
Disk 2211 makes axially opposing movement to change the transmission ratio between the driven wheel group 222.The i.e. described driving wheel movable plate
2211 along the transmission belt 223 do it is axially opposing move, i.e., V-type of the described transmission belt 223 in the driving wheel movable plate 2211
Slot relative movement, changes the working radius of the active wheels 221, since the length of the transmission belt 223 immobilizes, institute
It states transmission belt 223 and does opposite direction along the V-groove of the driven wheel group 222 and move, and then make the work of the driven wheel group 222
Radius also changes accordingly, and then changes transmission ratio.
Citing ground, under normal circumstances, the working radius of the active wheels 221 are less than the work of the driven wheel group 222
Radius.When the rice transplanter starts starting, since the working radius of the active wheels 221 is smaller, so that the variable-speed motor
Structure 20 can obtain biggish transmission ratio, and guarantee that the rice transplanter can have enough torques to obtain higher acceleration, complete
It starts to walk at car body.
And with the increase of speed, the driving analysis system 15 feeds back the driving relevant information (if you need to reduce transmission
Than) to the control centre 13, changed by the rotational angle that the control centre 13 controls the shifting shaft 21 to smaller transmission
The rotational angle position of ratio, wherein the speed-change control device 30 is by detecting the rotational angle of the shifting shaft 21 and described inserting
The actual vehicle speed of seedling railcar body 10, control the hydraulic pump 224 drive the active movable plate 2211 to move to axial with by
The working radius of the decrescence small active wheels 221, i.e., the working radius of the described driven wheel group 222 increase accordingly, into
And decline the transmission ratio of the transmission mechanism 20, the rice transplanter is travelled with higher speed.
When the rice transplanting opportunity turns to or climb deceleration, the driving analysis system 15 feeds back related acceleration information
(if you need to increase transmission ratio) to described control centre 13, the control centre 13 control the shifting shaft 21 turn to acquisition compared with
The rotational angle position of large transmission ratio, wherein the speed-change control device 30 by detect the shifting shaft 21 rotational angle and
The actual vehicle speed of the rice transplanting railcar body 10 controls the hydraulic pump 224 and the active movable plate 2211 is driven to move to axial
The dynamic working radius to be gradually increased the active wheels 221, i.e., the working radius of the described driven wheel group 222 is correspondingly
Reduce, and then the gear 20 allow to obtain biggish transmission ratio, make the rice transplanter can adapt to slow down turn to or
Person's climbing etc..
Those skilled in the art person it should be appreciated that the gear 20 only as offer embodiment of the invention
One kind, is not intended as limitation of the present invention, i.e., the described gear 20 can also be implemented as the change of other types structure
Fast mechanism, such as step change transmission, AT speed changer, AMT speed changer, DCT speed changer, this will not be repeated here, should belong to this
The protection scope of invention.
In the present embodiment, the speed-change control device 30 includes at least one following vehicle speed sensor 31, at least a speed
Sensor 32, a controller 33 and a motor 34, wherein the future car speed sensor 31 is for detecting the shifting shaft 21
Rotary state changes and feeds back to the controller 33, wherein the vehicle speed sensor 32 is for detecting the rice transplanting railcar body 10
14 actual speed of the wheel and feed back to the controller 33, wherein the controller 33 according to feedback information control institute
It states motor 14 and controls the change transmission ratio of the transmission device 22 of the gear 20 to control the rice transplanting railcar body 10
Velocity variations.
As shown in figure 5, it is noted that the future vehicle speed sensor 31 is able to detect the one of the shifting shaft 21
The variable quantity of a turned position, i.e. detection obtain the angle of rotation that the shifting shaft 21 turns to position after rotation from rotation front position
L is spent, and is fed back to electric signal to the controller 33.Preferably, the vehicle speed sensor 32 being capable of rice transplanting described in real-time detection
The currently practical speed of railcar body 10 simultaneously feeds back electric signal to the controller 33.Alternatively, under normal circumstances, the rice transplanting locomotive
Body 10 has original vehicle speed detector device, and the vehicle speed sensor 32 can obtain the original speed of the rice transplanting railcar body 10
The currently practical speed of detection device real-time detection simultaneously feeds back electric signal to the controller 33.
The controller 33 generates a speed signal and is sent to according to the rotational angle L and the currently practical speed
The motor 34, correspondingly to be controlled described in the corresponding change of the 224 release action power of driving wheel hydraulic pump as the motor 34
The transmission ratio of gear 20 realizes fluid drive.
It should be noted that the controller 33 can be bright by the rotational angle L and the currently practical speed
True ground discriminatory analysis goes out the driving status that will be carried out of the rice transplanting railcar body 10.For example, being needed in the rice transplanting railcar body 10
When downshift being wanted to slow down, currently practical speed is V1, the institute that the rotational angle L is reduced to the direction of target gear to rotate for direction
Angle L is stated, the controller 33 is analyzed and judges the following speed for the driving status that the rice transplanting railcar body 10 will carry out
For V2, and the speed signal is generated according to the future speed V2 and is transferred to the motor 34, then by 34 phase of motor
It controls the gear 20 with answering changes transmission ratio the transmission ratio is enable to match and be adapted to the following speed V2, in turn
So that the rice transplanter is completed fluid drive, and ensures that the rice transplanting railcar body 10 can adapt to the driving status that will be carried out.
It is noted that the motor 34 can control the oil cylinder working-pressure of the driving wheel hydraulic pump 224, wherein described
Motor 34 is using the speed signal as the benchmark for the oil cylinder working-pressure changing value for controlling the driving wheel hydraulic pump 224, to ensure
The gear 20 changes transmission ratio to the future car that can adapt to the driving status that the rice transplanting railcar body 10 will carry out
Speed.
Specifically, the following vehicle speed sensor 31 is implemented as an angular transducer, can be installed with rotating synchronously
In the shifting shaft 21 of the gear 20, the shifting shaft 21 is detected with the synchronous rotation with the shifting shaft 21
The rotational angle L, and be converted into electric signal to the processor 33.In other words, when the shifting shaft 21 rotates centainly
Rotational angle when, the future vehicle speed sensor 31 also rotates synchronously and correspondingly rotates angle, and then makes the future speed
Sensor 31 can correspondingly detect the rotational angle L for obtaining the shifting shaft 21, and be not likely to produce error.In the shifting shaft
21 when not rotating, and the future vehicle speed sensor 31 also keeps opposing stationary, without detection trigger signal, therefore it is described not
Carry out vehicle speed sensor 31 as the angle changing for detecting 21 turned positions of shifting shaft and is converted into electric signal to described
Controller 33.
Preferably, the vehicle speed sensor 32 can be implemented as a magneto-electric vehicle speed sensor, be installed in described
In the driving axle housing or shell of gear 20, with the revolving speed by the output shaft for detecting the gear 20 to obtain
The currently practical speed of rice transplanting railcar body 10 is stated, and feeds back electric signal to the controller 33.Specifically, the magneto-electric speed
Sensor is made of the magnetic core and coil of two binding posts, can analog AC electric signal generator, generate AC signal
To detect the currently practical speed of the rice transplanting railcar body 10.
Preferably, the vehicle speed sensor 32 can feed back the currently practical speed to the controller 33 in real time.
In addition, the vehicle speed sensor 32 is electrically connected to the signal wire of the controller 33 usually by one layer or multilayer screen set packet
It wraps up in, to eliminate the electromagnetism or radio frequency interference of high tension live wire or car phone or other communication electronic devices, to guarantee
The feedback signal of the vehicle speed sensor 32 will not interrupt, and cause the speed-change control device 30 that can not control the change in time
The problems such as fast mechanism 20 controls speed change and driving performance is caused to be deteriorated.
Certainly, the vehicle speed sensor 32 also may be implemented as photo-electric vehicle speed sensor, by turntable with holes, two
Optical fiber, a light emitting diode and one form as the phototriode of optical sensor, also can be realized described in real-time detection
The currently practical speed of rice transplanting railcar body 10 simultaneously feeds back to the controller 33, and this will not be repeated here.
As shown in fig. 6, further, the present embodiment additionally provides the automatic gear shifting method of the fluid drive rice transplanter,
The following steps are included:
A, the actual vehicle speed of the rice transplanting railcar body 10 and the rotary state variation of the shifting shaft 21 are detected, wherein by
The rotary state of the shifting shaft 21 changes, and obtains the following speed that the rice transplanting railcar body 10 will carry out；With
B, it controls the gear 20 and changes transmission ratio to control the velocity variations of the rice transplanting railcar body 10.
Wherein, before step A, pass through one or one group of the driving sensor 151 of the driving analysis system 15
Sensor detects the driving relevant information and controls the shifting shaft 21 by the control centre 13 and rotates.
Wherein, in step, it is examined by can be installed on the angular transducer of the shifting shaft 21 with rotating synchronously
Survey the rotational angle of the shifting shaft 21.
Wherein, in step, the actual vehicle speed of the rice transplanting railcar body 10 is detected by the vehicle speed sensor 32, or
Person obtains the actual vehicle speed of the rice transplanting railcar body 10 by the original vehicle speed detector device detection of the rice transplanter.
Further, the motor 34 is fixedly installed in the shell or the rice transplanting railcar body of the gear 20
10 vehicle frame 11, by the unlatching of the mechanical valve of the hydraulic pump 224 of gear 20 described in Mechanical Driven or
Closing degree size (i.e. switch size), and then realize the change of transmission ratio.
It should be pointed out that the motor 34 can be implemented as a power motor, is controlled and changed by rotatory mechanical force
The transmission ratio of the transmission device 22 of the gear 20, in the present embodiment, the motor 34 can be driven to electric control respectively
The mechanical valve switch size of the hydraulic pump 224 is moved, to control by the switch size for turning on or off the hydraulic pump 224
The oil cylinder working-pressure size of the release of the hydraulic pump 224 is made, and then realizes above-mentioned speed Control.
Specifically, the motor 34 has a driving end 341 and a linkage mechanism 342, wherein is produced from the driving end 341
Raw mechanical force forward or backwards, wherein the linkage mechanism 342 can be connected to synchronizing the driving end 341 with it is described
Between the mechanical threshold switch of hydraulic pump 224, so that the switch of the hydraulic pump 224 can be with the forward direction at the driving end 341
It either rotates backward and becomes larger and perhaps reduce and then correspondingly increase or reduce the transmission ratio of the gear 20.It is described
Driving end 341 is implemented as motor rotary head, wherein the linkage mechanism 342 is implemented as the synchronous biography of the rotary force of motor rotary head
It moves to increase or reducing the switch valve value size of the hydraulic pump 224, such as rotaring wheel structure.The linkage mechanism 342 is by reality
It applies as drive rod or driving wheel or belt or chain drive etc., herein with no restrictions.
It is understood that the rotative power of the motor 34 is consistent, the motor 34 is by rotating forward or inverting
The size of starting time control the transmission ratio size that the gear 20 changes.That is, 33 energy of controller
It is enough by control the driving end 341 of the motor 34 rotate forward or counter-rotational rotation time is described to control
The size of the transmission distance of linkage mechanism 342, and then the described hydraulic of the gear 20 is driven by the linkage mechanism 342
The mechanical valve of pump 224 switches on or closes degree size, to realize that controlling the gear 20 changes transmission ratio
Size realizes fluid drive in turn.The steering at the driving end 341 of the motor 34 and rotation time are by the controller 33
According to the actual vehicle speed of the rotational angle L of the shifting shaft 21 and the rice transplanting railcar body 10 as control benchmark.
It is as shown in Figure 7 and Figure 8 the fluid drive rice transplanter of one first variant embodiment of the invention, it is preferred real with this
Apply the fluid drive rice transplanter of example the difference is that, the gear of this first variant embodiment be implemented as AT from
Dynamic speed changer.
Specifically, the automatic transmission includes a rice transplanting railcar body 10, a gear 20A and a speed-change control device
30, the rice transplanting railcar body 10 and the knot identical as the part of preferred embodiment of the speed-change control device 30 in the present embodiment
Structure is not repeating to repeat.
As shown in figure 8, further, the gear 20A includes an a shifting shaft 21A and transmission device 22A, wherein
The transmission device 22A include a shell 220A and be installed in the shell 220A a power shift gear group 221A, at least one
Fluid torque-converter 222A, a hydraulic pressure control device 223A, a solenoid valve 224A, an input shaft 225A, an output shaft 226A.It is described
The output shaft of the engine 12 of rice transplanting railcar body 10 is synchronized to be connected to the input shaft 225A, wherein the input shaft
The 225A and output shaft 226A can be drivingly set to the both ends of the power shift gear group 221A, wherein the power shift gear
Group 221A has the gear of one group of changeable transmission ratio, wherein the fluid torque-converter 222A is arranged at and passes through torque
Change the transmission ratio size of the power shift gear group 221A, wherein the hydraulic pressure control device 223A is arranged at by hydraulic
Size controls the torque of the fluid torque-converter 222A to control the size for changing the transmission ratio, wherein the solenoid valve
Control valve of the 224A as the hydraulic size for controlling the hydraulic pressure control device 223A.The shifting shaft 21A is in response to described
The variable rate signal of the control centre 13 of rice transplanting railcar body 10 rotates, and relatively rotates a rotational angle L, wherein institute
Speed-change control device 30 is stated by the currently practical speed of the detection shifting shaft 21A and the rice transplanting railcar body 10, controls institute
The switch size of battery valve 224A is stated, to realize the transmission ratio for changing the power shift gear group 221A, and then realizes automatic become
Speed.
In the present embodiment, the machinery that the shifting shaft 21A is implemented as being rotatably installed on the shell 220A changes
Bar can be controlled by the control centre 13 and be rotated.The solenoid valve 224A is implemented as through electromagnetic action control
Make the oil cylinder hydraulic size of the hydraulic pressure control device 223A.
In the present embodiment, the speed-change control device 30 includes at least one following vehicle speed sensor 31, at least a speed
Sensor 32, a controller 33 and a motor 34, wherein the future car speed sensor 31 is for detecting the shifting shaft 21A's
Rotary state changes and feeds back to the controller 33, wherein the vehicle speed sensor 32 is for detecting the rice transplanting railcar body 10
14 actual speed of the wheel and feed back to the controller 33, wherein described in the controller 33 controls according to feedback information
The transmission device 22 that motor 14 controls the gear 20 changes transmission ratio to control the speed of the rice transplanting railcar body 10
Degree variation.
Specifically, the motor 14 is opened by the solenoid valve 224A that machine driving controls the transmission device 22
Size is closed, to control the hydraulic size of the hydraulic pressure control device 223A, and then changes the transmission of the power shift gear group 221A
Than completing fluid drive.
It certainly, is the safety traffic for assisting the rice transplanter, the gear 20A can also include that control shift executes
High-speed electromagnetic valve, parking locking mechanism and retarder of element etc., herein with no restrictions.
It is as shown in Figures 9 to 11 the fluid drive rice transplanter of one second variant embodiment of the invention, this second deformation
The fluid drive rice transplanter of embodiment and above two embodiment the difference is that, the institute of this second variant embodiment
The shifting shaft can be not provided with by stating in the structure of fluid drive rice transplanter, or not need the shifting shaft.In other words, this
The fluid drive rice transplanter of two variant embodiments is not necessarily to detect the rotary state of the shifting shaft, can also complete to become automatically
Speed.
Specifically, the fluid drive rice transplanter includes a rice transplanting railcar body 10B, a gear 20B and a speed change control
Device 30B processed, wherein the gear 20B may be implemented as the AT with this preferred embodiment or the first variant embodiment
Perhaps AT the CVT stepless transmission of the shifting shaft is arranged in CVT stepless transmission or cancellation, does not do herein in detail
It illustrates.
As shown in Figure 9 and Figure 10, further, the rice transplanting railcar body 10B includes a vehicle frame 11, an engine 12, one
Control centre 13B, one group of wheel 14 and a driving analysis system 15, wherein the engine 12, the control centre 13B, each
The wheel 14 and the driving analysis system 15 can be operatively installed on the vehicle frame 11, in this second variant embodiment
In, wherein the vehicle frame 11, the engine 12, each wheel 14 and the driving analysis system 15 and this preferred embodiment
The rice transplanting railcar body 10 each counter structure it is consistent, be not described in detail herein.
It is noted that the driving analysis system 15 is believed by detecting the ambient enviroment of the fluid drive rice transplanter
It ceases to one driving relevant information of control centre 13B feedback, wherein described driving relevant information and this preferred embodiment are retouched
It is similar consistent to state the driving relevant information, i.e., the described driving relevant information include the fluid drive rice transplanter next i.e.
The driving states that will be carried out, such as deflecting deceleration, acceleration, climbing, parking or starting.The control centre 13B is based on
It is dynamic to corresponding output to control the change of engine 12 for the driving relevant information that the driving analysis system 15 is fed back
Power, the output power of engine 12 as described in the output power or reduction that increase the engine 12.That is, working as institute
Driving analysis system 15 is stated when detecting that the fluid drive rice transplanter needs deflecting to slow down, the control centre 13B reduces institute
The output power of engine 12 is stated, if the engine 12 is fuel engines, then the control centre 13B passes through reduction
The output power of the engine 12 is reduced to oil mass, if the engine 12 is electric motor, the then control
Center 13B realizes the output power, etc. of the reduction engine 12 by reducing output power.The control centre 13B increases
The output power of the big engine 12 be also it is so similar, be not described in detail herein.
In the present embodiment, the speed-change control device 30B includes at least one following vehicle speed sensor 31B, an at least vehicle
Fast sensor 32, a controller 33 and a motor 34, wherein the future car speed sensor 31B is arranged at the detection hair
The output power of motivation 12, wherein the vehicle speed sensor 32 is used to detect the currently practical vehicle of the fluid drive rice transplanter
Speed, the feedback information of the currently practical speed of output power and the fluid drive rice transplanter based on the engine 12, institute
The following speed that controller 33 is analyzed and judges the driving status that the rice transplanting railcar body 10 will carry out is stated, and according to described
The following speed generates a speed signal and is transferred to the motor 34, then correspondingly controls the gear by the motor 34
20 change transmission ratios enable the transmission ratio to match to be adapted to the following speed, and then the rice transplanter is made to complete automatic become
Speed, and ensure that the rice transplanting railcar body 10 can adapt to the driving status that will be carried out.Wherein, the motor 34 is preferred with this
34 structural principle of the motor of embodiment or this first variant embodiment is similar consistent, with can control change the AT or
The transmission ratio of person's CVT stepless transmission, this will not be repeated here.
As shown in Figure 10, in other words, the future vehicle speed sensor 31B is implemented as a dynamic pickup, is pacified
Driving axle housing loaded on the gear 20 obtains the engine to detect the revolving speed of input shaft of the gear 20
Output power relevant information and feed back to the controller 33.In other words, the controller 33 is based on the gear
The revolving speed of 20 input shaft analyzes the following speed of the enforcement state that will be carried out of the fluid drive rice transplanter.
As shown in figure 11, in another embodiment, the future vehicle speed sensor 31B is implemented as obtaining the control
13B control in center processed changes the associated power information of the output power of the engine 12, in other words, the future speed sensing
Device 31B is electrically connected to the control centre 13B, wherein the control centre 13B is receiving the driving relevant information control
When system changes the output power of the engine 12, the control centre 13B believes the control of engine 12 described in this secondary control
It ceases and is sent to the following vehicle speed sensor 31B, and then the output power by the controller 33 based on the engine 12
Information analyzes the following speed of the enforcement state that will be carried out of the fluid drive rice transplanter.
It is understood that the future vehicle speed sensor 31 can also be implemented as the driving analysis system 15
The driving sensor, such as an at least photographic device or radar installations are obtained by the following detection of vehicle speed sensor 31
The driving relevant information of the rice transplanting railcar body 10 simultaneously feeds back to the controller 33, is based on institute by the controller 33
State the following speed that driving relevant information analysis show that the rice transplanting railcar body 10 will carry out.In other words, the driving
Analysis system 15 is connected to the controller 33, wherein the driving relevant information is sent to by the driving analysis system 15
The controller 33 obtains what the rice transplanting railcar body 10 will carry out based on the driving relevant information by the controller 33
The future speed.
Further, the feedback information based on future the vehicle speed sensor 31B and the vehicle speed sensor 32, the control
The analysis of device 33 processed obtains the following speed and currently practical speed of the fluid drive rice transplanter, and then controls the motor 34 and control
It makes the gear 20 and changes transmission ratio, and then realize the speed for changing the fluid drive rice transplanter automatically, be to enter
By the driving states of progress, environment is adapted to.
It is noted that for the vehicle speed sensor 32 of this preferred embodiment or first variant embodiment
It is implemented as obtaining the reality of the fluid drive rice transplanter by the revolving speed for the output shaft 226 for detecting the gear 20
Border speed.However, the vehicle may be will affect when the output shaft 226 of the gear 20 is abnormal rotation as dallied
Detection of the fast sensor 32 to the true actual vehicle speed of the fluid drive rice transplanter, such as output of the gear 20
When axis dallies, the detected value for the current vehicle speed that the vehicle speed sensor 32 detects is generally higher than the fluid drive rice transplanter
Actual vehicle speed true value, and then for the fluid drive rice transplanter of this preferred embodiment or this first variant embodiment
The speed-change control device 30 when the output shaft of the gear 20 is abnormal rotation, be likely to result in the speed change
The transmission ratio for the gear 20 that control device 30 changes does not adapt to the row that the fluid drive rice transplanter will carry out
Car state in turn results in serious driving accident.
Therefore, the true of the currently practical speed of the fluid drive rice transplanter is detected for the guarantee vehicle speed sensor 32
Real value, it is ensured that the transmission ratio that the speed-change control device 30B controls the change of gear 20 is centainly suitable for described automatic
The driving states that speed change rice transplanter will carry out.The vehicle speed sensor 32 is installed in any of the rice transplanting railcar body 10B
The wheel 14, to obtain the currently practical vehicle of the fluid drive rice transplanter by the current rotating speed for detecting the wheel 14
The true value of speed, to prevent contingency.
It is noted that the vehicle speed sensor 32 can be implemented as multiple, it is mounted respectively in each vehicle
Wheel 14 is improved with judging the true value of the currently practical speed of the fluid drive rice transplanter by the detection of multi-group data
Accuracy of detection data, etc., herein with no restrictions.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (20)
1. a fluid drive rice transplanter characterized by comprising
One rice transplanting railcar body；
One gear；And
One speed-change control device, wherein the speed change gear and the speed-change control device are arranged at the rice transplanting locomotive respectively
Body, and the speed change gear is controllably connected to the speed-change control device, wherein the speed-change control device according to
The current vehicle speed of the rice transplanting railcar body and the following speed that will be carried out control the speed change gear speed change.
2. fluid drive rice transplanter according to claim 1, wherein the rice transplanter car body includes a driving analysis system,
Wherein the driving analysis system obtains the following speed and anti-based on the driving relevant information analysis of the rice transplanting railcar body
It is fed to the speed-change control device.
3. fluid drive rice transplanter according to claim 2, wherein the driving analysis system includes that at least one driving passes
Sensor, wherein the driving sensor is installed in the rice transplanting railcar body to detect the driving correlation of rice transplanting railcar body letter
Breath.
4. fluid drive rice transplanter according to claim 1, wherein the speed-change control device includes an at least future car
Fast sensor, wherein the future car speed sensor is installed in the input shaft of the gear by detecting the speed change
The revolving speed of the input shaft of mechanism obtains the following speed of the rice transplanting railcar body.
5. fluid drive rice transplanter according to claim 1, wherein the speed-change control device includes an at least future car
Fast sensor, wherein the future car speed sensor is installed in the engine of the rice transplanting railcar body by detecting the hair
The output power of motivation obtains the following speed of the rice transplanting railcar body.
6. fluid drive rice transplanter according to claim 2, wherein the speed-change control device includes a controller, wherein
The controller is connected to the driving analysis system to obtain the following speed.
7. fluid drive rice transplanter according to claim 1, wherein the gear has a shifting shaft, wherein described
Speed-change control device includes the following vehicle speed sensor, wherein the future car speed sensor is installed in the gear
The shifting shaft obtains the following speed of the rice transplanting railcar body with the rotational angle by the detection shifting shaft.
8. fluid drive rice transplanter according to claim 7, wherein the future car speed sensor is implemented as angle biography
Sensor.
9. fluid drive rice transplanter according to claim 3, wherein the driving sensor includes selected from described in a detection
The sensor of the engine operating status of rice transplanting railcar body, one receive the sensor of remote control signal, at least one detection driving
One or one group of sensor in the sensor of ambient enviroment and the detector of a detection planning driving path.
10. fluid drive rice transplanter according to claim 3, wherein the driving sensor includes at least one camera shooting dress
It sets, wherein the photographic device is mounted respectively in the rice transplanting railcar body.
11. fluid drive rice transplanter according to any one of claims 1 to 10, wherein the speed-change control device includes at least
One vehicle speed sensor, wherein the vehicle speed sensor is installed in the wheel or the gear of the rice transplanting railcar body
Driving axle housing is to detect the current vehicle speed of the rice transplanting railcar body.
12. fluid drive rice transplanter according to claim 11, wherein the vehicle speed sensor is implemented as magneto-electric vehicle
Fast sensor or photo-electric vehicle speed sensor.
13. fluid drive rice transplanter according to claim 11, wherein the gear is implemented as the change of CVT stepless
Fast device or AT stepless speed changer.
14. the automatic gear shifting method of a rice transplanter, which comprises the following steps:
A, the following speed that obtains the current vehicle speed of a rice transplanter and will carry out；With
B, one gear of control changes transmission ratio to control the velocity variations of the rice transplanter.
15. the automatic gear shifting method of rice transplanter according to claim 14, wherein in step, one driving of detection is related
Information, is based on the driving relevant information, and analysis obtains the following speed that the rice transplanter will carry out.
16. the automatic gear shifting method of rice transplanter according to claim 15, wherein in step, it is described by being installed in
At least camera module detection of rice transplanter obtains the driving relevant information.
17. the automatic gear shifting method of rice transplanter according to claim 14, wherein in step, by detecting the change
The revolving speed of the input shaft of fast mechanism obtains the following speed that the rice transplanter will carry out.
18. the automatic gear shifting method of rice transplanter according to claim 14, wherein in step, by detecting described insert
The output power of the engine of seedling machine obtains the following speed that the rice transplanter will carry out.
19. the automatic gear shifting method of rice transplanter according to claim 14, wherein in step, by detecting the change
The rotational angle of one shifting shaft of fast mechanism obtains the following speed that the rice transplanter will carry out.
20. 4 to 18 any automatic gear shifting method according to claim 1, wherein in step, by detecting the change
The revolving speed of the wheel of the revolving speed or detection rice transplanter of the output shaft of fast mechanism obtains the described of the rice transplanter and works as front truck
Speed.
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| CN201910007539.2A CN109654218A (en) | 2019-01-04 | 2019-01-04 | Fluid drive rice transplanter and its application |
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| CN201910007539.2A CN109654218A (en) | 2019-01-04 | 2019-01-04 | Fluid drive rice transplanter and its application |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020258548A1 (en) * | 2019-06-27 | 2020-12-30 | 丰疆智能科技股份有限公司 | Transplanter and transplanter throttle control method |
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| JPH10159606A (en) * | 1996-12-03 | 1998-06-16 | Yanmar Agricult Equip Co Ltd | Riding rice transplanter mounted with engine with electronic governor mechanism thereon |
| JPH10159605A (en) * | 1996-12-03 | 1998-06-16 | Yanmar Agricult Equip Co Ltd | Riding rice transplanter mounted with engine with electronic governor mechanism thereon |
| CN201310618Y (en) * | 2008-11-06 | 2009-09-16 | 常州市吉士电器有限公司 | Gear-shift actuating device for automobile electronic-control automatic transmission |
| JP2010213620A (en) * | 2009-03-16 | 2010-09-30 | Yanmar Co Ltd | Sensitivity control mechanism of gearshift tool in rice transplanter |
| CN103109060A (en) * | 2010-09-17 | 2013-05-15 | 洋马株式会社 | Rice transplanter |
| CN204462672U (en) * | 2015-03-05 | 2015-07-08 | 天津工程机械研究院 | Rice transplanter drive-control system |
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| WO2020258548A1 (en) * | 2019-06-27 | 2020-12-30 | 丰疆智能科技股份有限公司 | Transplanter and transplanter throttle control method |
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