A variable-speed rice transplanting operation drive system

Abstract

The invention provides a variable transplanting operation drive system, wherein the oil discharge port of the variable pump is connected to the circuit where the walking motor, the back pressure valve, the fertilization drive motor, the left and right translation drive motor of the seedling box and the transplanting drive motor are located through the three-position four-way reversing valve one; the oil discharge port of the quantitative pump one is respectively connected to the seedling conveying motor and the two-position two-way electromagnetic reversing valve four; the oil discharge port of the quantitative pump two is connected to the two-position two-way electromagnetic reversing valve five, the two-position two-way electromagnetic reversing valve five is connected to the branch where the accumulator is located, and is also connected to the seedling box horizontal adjustment hydraulic cylinder through the three-position three-way electromagnetic reversing valve one and the three-position three-way electromagnetic reversing valve two, and is also connected to the seedling box lifting adjustment hydraulic cylinder through the three-position three-way electromagnetic reversing valve two and the three-position three-way electromagnetic reversing valve three; the accumulator is respectively connected to the three-position three-way electromagnetic reversing valve one and the three-position three-way electromagnetic reversing valve two through the speed regulating valve two and the speed regulating valve one. The system can realize variable operation and can effectively achieve the operation goals of saving seeds, fertilizers and medicines.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural planting machinery, and in particular relates to a variable transplanting operation drive system. Background Art

[0002] Precision agriculture is the development trend of agricultural machinery modernization, and variable operation is an important technical means of precision agriculture. Variable operation technology can determine the use of agricultural materials such as seeds, fertilizers, and agronomy according to information such as target yield, crop growth, and field environment, and then realize refined operations, achieving the composite saving goals of saving seeds, fertilizers, and medicines, which is conducive to accelerating the development of resource-saving and environmentally friendly agriculture. In the prior art, most of the driving systems for transplanting operations have a relatively simple structure and a relatively single function, and cannot realize variable operation at all. They can only realize operations with fixed seedling row spacing, and the spacing between plants can only be adjusted in 6 gears at most, and cannot realize stepless changes in spacing between plants. In addition, the transplanting and fertilizing device matched with the drive system can only change the amount of fertilizer according to the walking speed, and cannot effectively save fertilizer. For this reason, it is urgent to provide a drive system that can realize variable transplanting operations, so as to achieve the operation goals of saving seeds, fertilizers, and medicines. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the present invention provides a variable transplanting operation drive system, which has a reasonable structure and diverse functions. It can not only realize variable operation, but also effectively achieve the operation goal of saving seeds, fertilizers and pesticides.

[0004] In order to achieve the above-mentioned object, the present invention provides a variable transplanting operation drive system, comprising a driving mechanism, a transplanting and fertilizing mechanism, a seedling conveying mechanism, a seedling box level and lifting adjustment mechanism and a controller; the driving mechanism comprises an engine, a coupling and a transfer case, and the engine is connected to the input shaft of the transfer case through the coupling;

[0005] The rice transplanting and fertilizing mechanism includes a variable pump, a three-position four-way reversing valve 1, a travel motor, a back pressure valve, a fertilizing drive motor, a rice seedling box left and right translation drive motor, a rice transplanting drive motor, an axle, a rear drive wheel 1, a rear drive wheel 2, a rice seedling box left and right translation mechanism, a two-position two-way electromagnetic reversing valve 1, a two-position two-way electromagnetic reversing valve 2, a two-position two-way electromagnetic reversing valve 3, a speed sensor 1, a speed sensor 2, a speed sensor 3, a speed sensor 4 and a speed sensor 5; the transmission shaft of the variable pump is coaxially connected to an output shaft of the transfer case, and the The oil suction port is connected to the hydraulic oil tank, and the oil discharge port is connected to the P port of the three-position four-way reversing valve. The A port and T port of the three-position four-way reversing valve are respectively connected to the A port of the travel motor and the hydraulic oil tank. The B port of the three-position four-way reversing valve is connected to the A port of the fertilization drive motor through the back pressure valve. The B port of the fertilization drive motor is connected to the A port of the left and right translation drive motor of the seedling box. The B port of the left and right translation drive motor of the seedling box is connected to the A port of the rice transplanting drive motor. The B port of the rice transplanting drive motor is connected to the B port of the travel motor. The input end of the axle is connected to the travel motor. The transmission shaft of the two-position two-way electromagnetic reversing valve is connected, and its two output ends are respectively connected to the rear driving wheel one and the rear driving wheel two; the left-right translation mechanism of the seedling box is connected to the output shaft of the left-right translation driving motor of the seedling box; the A port and the B port of the two-position two-way electromagnetic reversing valve one are respectively connected to the A port of the left-right translation driving motor of the seedling box and the B port of the transplanting driving motor, the A port and the B port of the two-position two-way electromagnetic reversing valve two are respectively connected to the A port and the B port of the fertilization driving motor, and the A port and the B port of the two-position two-way electromagnetic reversing valve three are respectively connected to the oil inlet and the oil outlet of the back pressure valve The speed sensor 1 is connected to the variable pump for real-time acquisition of the speed signal of the variable pump; the speed sensor 2 is connected to the rice transplanting drive motor for real-time acquisition of the speed signal of the rice transplanting drive motor; the speed sensor 3 is connected to the fertilization drive motor for real-time acquisition of the speed signal of the fertilization drive motor; the speed sensor 4 is connected to the rear drive wheel 1 for real-time acquisition of the speed signal of the rear drive wheel 1; the speed sensor 5 is connected to the rear drive wheel 2 for real-time acquisition of the speed signal of the rear drive wheel 2;

[0006] The rice seedling conveying mechanism is composed of a metering pump 1, a rice seedling conveying motor, a rice seedling conveying mechanism and a two-position two-way electromagnetic reversing valve 4; the transmission shaft of the metering pump 1 is coaxially connected with another output shaft of the transfer case through an electric clutch, its oil suction port is connected with the hydraulic oil tank, its oil discharge port is connected with the A port of the rice seedling conveying motor, the B port of the rice seedling conveying motor is connected with the hydraulic oil tank, the rice seedling conveying mechanism is connected with the output shaft of the rice seedling conveying motor, and the A port and the B port of the two-position two-way electromagnetic reversing valve 4 are respectively connected with the A port of the rice seedling conveying motor and the hydraulic oil tank;

[0007] The seedling box level and lifting adjustment mechanism is mainly composed of a second metering pump, a second two-position two-way electromagnetic reversing valve, a one-way valve, a second speed regulating valve, an accumulator, a first speed regulating valve, a first three-position three-way electromagnetic reversing valve, a second three-position four-way electromagnetic reversing valve, a seedling box level adjustment hydraulic cylinder, a second three-position three-way electromagnetic reversing valve, a third three-position four-way electromagnetic reversing valve, a seedling box lifting adjustment hydraulic cylinder, a seedling box, a first pressure sensor and a second pressure sensor; the transmission shaft of the second metering pump and the transmission shaft of the first metering pump The oil inlet of the two-position two-way electromagnetic reversing valve is connected to the oil tank, and the oil outlet is connected to the A port of the two-position two-way electromagnetic reversing valve five. The B port of the two-position two-way electromagnetic reversing valve five is respectively connected to the A port of the three-position three-way electromagnetic reversing valve one, the oil inlet of the one-way valve and the P port of the three-position three-way electromagnetic reversing valve two. The oil outlet of the one-way valve is respectively connected to the oil inlet of the speed regulating valve two, the oil port of the accumulator and the oil inlet of the speed regulating valve one. The oil outlet of the speed regulating valve two is connected to the P port of the three-position three-way electromagnetic reversing valve one. The B port of the three-position three-way electromagnetic reversing valve 1 is connected to the P port of the three-position four-way electromagnetic reversing valve 2, the T port of the three-position four-way electromagnetic reversing valve 2 is connected to the hydraulic oil tank, and its A port and B port are respectively connected to the two rod chambers of the hydraulic cylinder for horizontal adjustment of the seedling box; the hydraulic cylinder for horizontal adjustment of the seedling box is a double-piston rod double-acting hydraulic cylinder; the oil outlet of the speed regulating valve 1 is connected to the A port of the three-position three-way electromagnetic reversing valve 2, the B port of the three-position three-way electromagnetic reversing valve 2 is connected to the P port of the three-position four-way electromagnetic reversing valve 3, the T port of the three-position four-way electromagnetic reversing valve 3 is connected to the hydraulic oil tank, and its A port and B port are respectively connected to the rodless chamber and the rod chamber of the hydraulic cylinder for lifting and adjusting the seedling box; the seedling box is connected to the piston rod end of the hydraulic cylinder for lifting and adjusting the seedling box; the first pressure sensor is connected to the accumulator for real-time acquisition of the pressure signal inside the accumulator; the second pressure sensor is connected to the oil outlet of the one-way valve for real-time acquisition of the pressure signal at the oil outlet of the one-way valve;

[0008] The input end of the controller is respectively connected to speed sensor 1, speed sensor 2, speed sensor 3, speed sensor 4, speed sensor 5, a first pressure sensor and a second pressure sensor, and the output end is respectively connected to the engine, the variable pump, the electric clutch, the three-position four-way reversing valve 1, the two-position two-way solenoid reversing valve 1, the two-position two-way solenoid reversing valve 2, the two-position two-way solenoid reversing valve 3, the three-position three-way solenoid reversing valve 1, the three-position four-way solenoid reversing valve 2, the three-position three-way solenoid reversing valve 2, the three-position four-way solenoid reversing valve 3, the two-position two-way solenoid reversing valve 4 and the two-position two-way solenoid reversing valve 5.

[0009] Furthermore, in order to ensure that the pressure of the system is maintained within a set range, the rice transplanting and fertilizing mechanism further includes a safety valve 1, and the oil discharge port of the variable pump is connected to the hydraulic oil tank through the safety valve 1. The safety valve 1 is a proportional safety valve, which is connected to the controller.

[0010] Furthermore, in order to facilitate the unloading operation of the oil supply pipeline, the seedling box level and lifting adjustment mechanism also includes a safety valve 2 and a safety valve 3, the oil discharge port of the quantitative pump 2 is also connected to the hydraulic oil tank through the safety valve 2, and the oil outlet of the one-way valve is also connected to the hydraulic oil tank through the safety valve 3. The safety valve 2 and the safety valve 3 are both proportional safety valves, and are connected to the controller.

[0011] As a preferred embodiment, when the three-position four-way reversing valve is powered and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is powered off and works in the middle position, its A port and B port are both closed and not connected to each other. After its P port and T port are connected, they are connected to the hydraulic oil tank. When it is powered and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected. When the two-position two-way solenoid reversing valve is powered, it works in the left position, and The oil circuit between its A port and its B port is connected, and it works in the right position when the power is off, and the oil circuit between its A port and its B port is disconnected; the two-position two-way electromagnetic reversing valve two works in the left position when energized, and the oil circuit between its A port and its B port is connected, and it works in the right position when the power is off, and the oil circuit between its A port and its B port is disconnected; the two-position two-way electromagnetic reversing valve three works in the upper position when energized, and the oil circuit between its A port and its B port is connected, and it works in the lower position when the power is off, and the oil circuit between its A port and its B port is disconnected.

[0012] As a preferred embodiment, the two-position two-way solenoid reversing valve 4 works in the left position when it is energized, and the oil circuit between its A port and its B port is connected, and works in the right position when it is de-energized, and the oil circuit between its A port and its B port is disconnected;

[0013] As a preferred embodiment, when the three-position four-way solenoid reversing valve 2 is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected; when it is de-energized and works in the middle position, its A port and B port are both closed and not connected to each other, and its P port and T port are connected and connected to the hydraulic oil tank after being connected, and when it is energized and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected; when the three-position four-way solenoid reversing valve 3 is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected; when it is de-energized and works in the middle position, its A port and B port are both closed and not connected to each other, and its P port and T port are connected and connected to the hydraulic oil tank after being energized. When working in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected; when the three-position three-way electromagnetic reversing valve 1 is energized and working in the left position, the oil circuit between its A port and B port is connected, and its P port is closed; when it is de-energized and working in the middle position, its A port, B port and P port are all closed and not connected to each other; when it is energized and working in the right position, the oil circuit between its P port and B port is connected, and its A port is closed; when the three-position three-way electromagnetic reversing valve 2 is energized and working in the left position, the oil circuit between its A port and B port is connected, and its P port is closed; when it is de-energized and working in the middle position, its A port, B port and P port are all closed and not connected to each other; when it is energized and working in the right position, the oil circuit between its P port and B port is connected, and its A port is closed.

[0014] As a preference, the controller is a PLC controller.

[0015] Furthermore, in order to facilitate the closed-loop control of the horizontality of the seedling box, and at the same time, to conveniently control the distance between the seedling box and the paddy field, and to automatically determine whether a row of seedlings has been planted, it also includes a horizontal inclination sensor, a third pressure sensor and an infrared sensor. The horizontal inclination sensor is installed on the body of the rice transplanter, and is used to collect the inclination angle signal of the transplanter body in real time and transmit it to the controller; the third pressure sensor is installed on the middle floating plate of the rice transplanter, and is used to collect the ground pressure ratio signal in real time and transmit it to the controller; the infrared sensor is used to collect the planting operation distance signal in real time and transmit it to the controller.

[0016] In the present invention, by connecting the travel motor, the rice transplanting drive motor, the left and right translation drive motor of the rice seedling box and the fertilizer drive motor in series in the driving and rice transplanting fertilization circuit, on the one hand, the linear matching of the rice transplanting spacing and the fertilizer application amount with the travel speed is realized, and on the other hand, the stepless variable adjustment of the rice transplanting spacing and the fertilizer application amount can be realized by the controller through the stepless variable adjustment of the variable pump. By setting the back pressure valve in the driving and rice transplanting fertilization circuit, on the one hand, a certain basic pressure can be provided for the motor in the circuit to prevent the occurrence of cavitation, and on the other hand, the speed rigidity of each motor in the circuit can be improved, which is conducive to overcoming the inertia moment and quickly reaching the state of stopping rotation. By setting the speed sensors four and five, the speed signals of the rear drive wheels one and two can be collected in real time, and then the speed signals of the two rear drive wheels can be used to comprehensively judge whether the rice transplanter is in the forward, backward, steering or parking state. By setting the two-position two-way electromagnetic reversing valve one, it is convenient to control the rice transplanting operation or not by turning it on and off. By setting the two-position two-way electromagnetic reversing valve 2, it is possible to conveniently control whether to carry out fertilization operation or not by turning it on and off. By setting the two-position two-way electromagnetic reversing valve 3, it is possible to conveniently control whether the back pressure valve is connected to the circuit by turning it on and off. By setting the first pressure sensor, it is convenient to obtain the energy state inside the accumulator in real time, and then it can be determined whether to charge the accumulator, or whether the energy stored in the accumulator can be used to drive the action of the hydraulic cylinder for adjusting the lifting and lowering of the seedling box and the hydraulic cylinder for adjusting the horizontal position of the seedling box. By setting the speed regulating valve 2 and the speed regulating valve 1, it is possible to conveniently control the action speed of the hydraulic cylinder for adjusting the lifting and lowering of the seedling box and the hydraulic cylinder for adjusting the horizontal position of the seedling box in the process of driving with the accumulator. By setting the three-position three-way electromagnetic reversing valve 1, it is possible to simultaneously establish oil circuit connections between the accumulator and the three-position four-way electromagnetic reversing valve 2, and between the metering pump 2 and the three-position four-way electromagnetic reversing valve 2, and then it is convenient to choose to use the accumulator or the metering pump 2 to drive the hydraulic cylinder for adjusting the horizontal position of the seedling box. Through the setting of the three-position three-way electromagnetic reversing valve 2, the oil circuit connection can be established between the accumulator and the three-position four-way electromagnetic reversing valve 3, and between the metering pump and the three-position four-way electromagnetic reversing valve 3, so that it is convenient to choose to use the accumulator or the metering pump 2 to drive the hydraulic cylinder for adjusting the lifting of the seedling box. In addition, in the horizontal and lifting adjustment circuit of the seedling box, the combination of the metering pump 2 and the accumulator avoids the disadvantages of large oil supply pressure loss and high heat generation of the traditional metering pump and the overflow valve, and the movement speed is controllable and adjustable. The oil discharge port of the metering pump 1 is connected to the seedling conveying motor and the two-position two-way electromagnetic reversing valve 4 at the same time, and the seedling conveying mechanism can be conveniently selected by controlling the power on and off of the two-position two-way electromagnetic reversing valve 4. The system has a reasonable structure and rich functions. It can not only realize the variable operation of the rice planting spacing and the amount of fertilizer, but also achieve the operation goals of saving seeds, fertilizers and medicines. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the hydraulic principle diagram of the present invention;

[0018] Figure 2 It is the control principle diagram in the present invention.

[0019] In the figure: 1, engine, 2, coupling, 3, transfer case, 4, variable pump, 5, speed sensor 1, 6, safety valve 1, 7, three-position four-way reversing valve 1, 8, travel motor, 9, rear drive wheel 1, 10, axle, 11, rear drive wheel 2, 12, rice transplanting drive motor, 13, speed sensor 2, 14, two-position two-way solenoid reversing valve 1, 15, rice seedling box left and right translation drive motor, 16, rice seedling box left and right translation mechanism, 17, fertilization drive motor, 18, speed sensor 3, 19, two-position two-way solenoid reversing valve 2, 20, back pressure valve, 21, two-position two-way solenoid reversing valve 3, 22, electric clutch, 23, metering pump 1, 24, metering pump 2, 25, single directional valve, 26. speed regulating valve one, 27. speed regulating valve two, 28. second pressure sensor, 29. accumulator, 30. three-position three-way solenoid reversing valve one, 31. three-position four-way solenoid reversing valve two, 32. seedling box horizontal adjustment hydraulic cylinder, 33. three-position three-way solenoid reversing valve two, 34. three-position four-way solenoid reversing valve three, 35. seedling box lifting adjustment hydraulic cylinder, 36. seedling box, 37. safety valve two, 38. safety valve three, 39. two-position two-way solenoid reversing valve four, 40. seedling conveying motor, 41. hydraulic oil tank, 42. speed sensor four, 43. speed sensor five, 44. first pressure sensor, 45. two-position two-way solenoid reversing valve five, 46. seedling conveying mechanism. DETAILED DESCRIPTION

[0020] The present invention will be further described below.

[0021] like Figure 1 and Figure 2 As shown, the present invention provides a variable transplanting operation drive system, including a driving mechanism, a transplanting and fertilizing mechanism, a seedling conveying mechanism, a seedling box level and lifting adjustment mechanism and a controller; the driving mechanism includes an engine 1, a coupling 2 and a transfer case 3, and the engine 1 is connected to the input shaft of the transfer case 3 through the coupling 2;

[0022] The rice transplanting and fertilizing mechanism includes a variable pump 4, a three-position four-way reversing valve 17, a travel motor 8, a back pressure valve 20, a fertilizing drive motor 17, a rice seedling box left and right translation drive motor 15, a rice transplanting drive motor 12, an axle 10, a rear drive wheel 19, a rear drive wheel 2 11, a rice seedling box left and right translation mechanism 16, a two-position two-way electromagnetic reversing valve 14, a two-position two-way electromagnetic reversing valve 2 19, a two-position two-way electromagnetic reversing valve 3 21, a speed sensor 1 5, a speed sensor 2 13, a speed sensor 3 18, a speed sensor 4 42 and a speed sensor 5 43;

[0023] The variable pump 4 serves as a power element for the travel and rice transplanting and fertilizing circuits. It adjusts the travel speed of the rice transplanter by changing its own displacement. When the rice transplanter stops, its displacement is 0; the travel motor 8 is a driving element for the travel of the rice transplanter, the rice transplanting drive motor 12 is a driving element for the planting arm, the rice seedling box left and right translation drive motor 15 is a driving element for the lateral movement of the rice seedling box, and the fertilization drive motor 17 is a driving element for the fertilization device.

[0024] The transmission shaft of the variable pump 4 is coaxially connected to an output shaft of the transfer case 3, its oil suction port is connected to the hydraulic oil tank 41, and its oil discharge port is connected to the P port of the three-position four-way reversing valve 7, the A port and T port of the three-position four-way reversing valve 7 are respectively connected to the A port of the travel motor 8 and the hydraulic oil tank 41, the B port of the three-position four-way reversing valve 7 is connected to the A port of the fertilizer drive motor 17 through the back pressure valve 20, and the B port of the fertilizer drive motor 17 is connected to the The A port is connected, the B port of the left-right translation driving motor 15 of the seedling box is connected to the A port of the transplanting driving motor 12, and the B port of the transplanting driving motor 12 is connected to the B port of the travel motor 8; the input end of the axle 10 is connected to the transmission shaft of the travel motor 8, and its two output ends are respectively connected to the rear drive wheel 1 9 and the rear drive wheel 2 11; the left-right translation mechanism 16 of the seedling box is connected to the output shaft of the left-right translation driving motor 15 of the seedling box; the A port of the two-position two-way electromagnetic reversing valve 14 is connected to the A port of the two-position two-way electromagnetic reversing valve 14 The A and B ports are respectively connected to the A ports of the left-right translation drive motor 15 of the rice seedling box and the B port of the rice transplanting drive motor 12, the A port and the B port of the two-position two-way electromagnetic reversing valve 2 19 are respectively connected to the A port and the B port of the fertilizer drive motor 17, and the A port and the B port of the two-position two-way electromagnetic reversing valve 3 21 are respectively connected to the oil inlet and the oil outlet of the back pressure valve 20; the speed sensor 1 5 is connected to the variable pump 4 for real-time acquisition of the speed signal of the variable pump 4; the speed sensor 2 13 is connected to the rice transplanting drive motor 12 for real-time acquisition of the speed signal of the rice transplanting drive motor 12; the speed sensor 3 18 is connected to the fertilizer drive motor 17 for real-time acquisition of the speed signal of the fertilizer drive motor 17; the speed sensor 4 42 is connected to the rear drive wheel 1 9 for real-time acquisition of the speed signal of the rear drive wheel 1 9; the speed sensor 5 43 is connected to the rear drive wheel 2 11 for real-time acquisition of the speed signal of the rear drive wheel 2 11;

[0025] The rice seedling conveying mechanism is composed of a metering pump 23, a rice seedling conveying motor 40, a rice seedling conveying mechanism 46 and a two-position two-way electromagnetic reversing valve 439; the transmission shaft of the metering pump 23 is coaxially connected to another output shaft of the transfer case 3 through the electric clutch 22, its oil suction port is connected to the hydraulic oil tank 41, its oil discharge port is connected to the A port of the rice seedling conveying motor 40, the B port of the rice seedling conveying motor 40 is connected to the hydraulic oil tank 41, the rice seedling conveying mechanism 46 is connected to the output shaft of the rice seedling conveying motor 40, and the A port and the B port of the two-position two-way electromagnetic reversing valve 439 are respectively connected to the A port of the rice seedling conveying motor 40 and the hydraulic oil tank 41;

[0026] The seedling box level and lifting adjustment mechanism is mainly composed of a quantitative pump 24, a two-position two-way electromagnetic reversing valve 5 45, a one-way valve 25, a speed regulating valve 27, an accumulator 29, a speed regulating valve 1 26, a three-position three-way electromagnetic reversing valve 1 30, a three-position four-way electromagnetic reversing valve 2 31, a seedling box level adjustment hydraulic cylinder 32, a three-position three-way electromagnetic reversing valve 2 33, a three-position four-way electromagnetic reversing valve 3 34, a seedling box lifting adjustment hydraulic cylinder 35, a seedling box 36, a first pressure sensor 44 and a second pressure sensor 28; the transmission shaft of the quantitative pump 24 is connected to the quantitative pump 24. The transmission shaft of the metering pump 23 is coaxially connected, its oil suction port is connected to the hydraulic oil tank 41, and its oil discharge port is connected to the A port of the two-position two-way electromagnetic reversing valve 5 45. The B port of the two-position two-way electromagnetic reversing valve 5 45 is respectively connected to the A port of the three-position three-way electromagnetic reversing valve 1 30, the oil inlet of the one-way valve 25 and the P port of the three-position three-way electromagnetic reversing valve 2 33. The oil outlet of the one-way valve 25 is respectively connected to the oil inlet of the speed regulating valve 27, the oil port of the accumulator 29 and the oil inlet of the speed regulating valve 1 26. The oil outlet of the speed regulating valve 27 is connected to the oil inlet of the three-position three-way electromagnetic reversing valve 1 The oil outlet of the speed regulating valve 26 is connected to the P port of the three-position three-way electromagnetic reversing valve 1 30, the B port of the three-position three-way electromagnetic reversing valve 1 30 is connected to the P port of the three-position four-way electromagnetic reversing valve 2 31, the T port of the three-position four-way electromagnetic reversing valve 2 31 is connected to the hydraulic oil tank 41, and its A port and B port are respectively connected to the two rod chambers of the seedling box horizontal adjustment hydraulic cylinder 32; the seedling box horizontal adjustment hydraulic cylinder 32 is a double-piston rod double-acting hydraulic cylinder; the oil outlet of the speed regulating valve 1 26 is connected to the A port of the three-position three-way electromagnetic reversing valve 2 33, and the B port of the three-position three-way electromagnetic reversing valve 2 33 is connected to the three-position four-way electromagnetic The P port of the reversing valve 34 is connected, the T port of the three-position four-way electromagnetic reversing valve 34 is connected to the hydraulic oil tank 41, and its A port and B port are respectively connected to the rodless chamber and the rod chamber of the seedling box lifting and adjusting hydraulic cylinder 35; the seedling box 36 is connected to the piston rod end of the seedling box lifting and adjusting hydraulic cylinder 35; the first pressure sensor 44 is connected to the accumulator 29, and is used to collect the pressure signal inside the accumulator 29 in real time; the second pressure sensor 28 is connected to the oil outlet of the one-way valve 25, and is used to collect the pressure signal at the oil outlet of the one-way valve 25 in real time;

[0027] The input end of the controller is respectively connected to a speed sensor 1 5, a speed sensor 2 13, a speed sensor 3 18, a speed sensor 4 42, a speed sensor 5 43, a first pressure sensor 44 and a second pressure sensor 28, and the output end is respectively connected to the engine 1, the variable pump 4, the electric clutch 22, a three-position four-way reversing valve 1 7, a two-position two-way solenoid reversing valve 1 14, a two-position two-way solenoid reversing valve 2 19, a two-position two-way solenoid reversing valve 3 21, a three-position three-way solenoid reversing valve 1 30, a three-position four-way solenoid reversing valve 2 31, a three-position three-way solenoid reversing valve 2 33, a three-position four-way solenoid reversing valve 3 34, a two-position two-way solenoid reversing valve 4 39 and a two-position two-way solenoid reversing valve 5 45.

[0028] In order to ensure that the pressure of the system is maintained within the set range, the rice transplanting and fertilizing mechanism also includes a safety valve 6, and the oil discharge port of the variable pump 4 is connected to the hydraulic oil tank 41 through the safety valve 6. The safety valve 6 is a proportional safety valve, which is connected to the controller.

[0029] In order to facilitate the unloading operation of the oil supply pipeline, the seedling box level and lifting adjustment mechanism also includes a safety valve 2 37 and a safety valve 3 38. The oil discharge port of the quantitative pump 24 is also connected to the hydraulic oil tank 41 through the safety valve 2 37, and the oil outlet of the one-way valve 25 is also connected to the hydraulic oil tank 41 through the safety valve 3 38. The safety valve 2 37 and the safety valve 3 38 are both proportional safety valves and are connected to the controller.

[0030] As a preferred embodiment, when the three-position four-way reversing valve 7 is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is de-energized and works in the middle position, its A port and B port are both closed and not connected to each other. After its P port and T port are connected, they are connected to the hydraulic oil tank 41. When it is energized and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected. When the two-position two-way solenoid reversing valve 14 is energized, it works in the left position, and The oil circuit between its A port and B port is connected, and it works in the right position when the power is off, and the oil circuit between its A port and B port is disconnected; the two-position two-way electromagnetic reversing valve 2 19 works in the left position when energized, and the oil circuit between its A port and B port is connected, and it works in the right position when the power is off, and the oil circuit between its A port and B port is disconnected; the two-position two-way electromagnetic reversing valve 3 21 works in the upper position when energized, and the oil circuit between its A port and B port is connected, and it works in the lower position when the power is off, and the oil circuit between its A port and B port is disconnected.

[0031] As a preferred embodiment, the two-position two-way electromagnetic reversing valve 4 39 works in the left position when it is energized, and the oil circuit between its A port and its B port is connected, and works in the right position when it is de-energized, and the oil circuit between its A port and its B port is disconnected;

[0032] As a preferred embodiment, when the three-position four-way solenoid reversing valve 2 31 is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected; when it is de-energized and works in the middle position, its A port and B port are both closed and not connected to each other, and its P port and T port are connected to the hydraulic oil tank 41 after being connected; when it is energized and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected; when the three-position four-way solenoid reversing valve 3 34 is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected; when it is de-energized and works in the middle position, its A port and B port are both closed and not connected to each other, and its P port and T port are connected to the hydraulic oil tank 41 after being connected, and its When it is energized and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected; when the three-position three-way electromagnetic reversing valve 1 30 is energized and works in the left position, the oil circuit between its A port and B port is connected, and its P port is closed; when it is de-energized and works in the middle position, its A port, B port and P port are all closed and not connected to each other; when it is energized and works in the right position, the oil circuit between its P port and B port is connected, and its A port is closed; when the three-position three-way electromagnetic reversing valve 2 33 is energized and works in the left position, the oil circuit between its A port and B port is connected, and its P port is closed; when it is de-energized and works in the middle position, its A port, B port and P port are all closed and not connected to each other; when it is energized and works in the right position, the oil circuit between its P port and B port is connected, and its A port is closed.

[0033] As a preference, the controller is a PLC controller.

[0034] In order to facilitate the closed-loop control of the horizontality of the seedling box, and at the same time, to conveniently control the distance between the seedling box and the paddy field, and to automatically determine whether a row of seedlings has been planted, it also includes a horizontal inclination sensor, a third pressure sensor and an infrared sensor. The horizontal inclination sensor is installed on the body of the rice transplanter, and is used to collect the inclination angle signal of the transplanter body in real time and transmit it to the controller; the third pressure sensor is installed on the middle floating plate of the rice transplanter, and is used to collect the ground pressure ratio signal in real time and transmit it to the controller; the infrared sensor is used to collect the planting operation distance signal in real time and transmit it to the controller.

[0035] Working principle:

[0036] As a preference, it further includes a joystick, which is used to send A action signal, B action signal, C action signal, D action signal, E action signal and F action signal to the controller respectively according to the operator's selection operation.

[0037] 1. Working principle of driving and transplanting fertilization circuit:

[0038] The controller receives the speed signal from the speed sensor 42 and the speed sensor 5 43 in real time, and determines whether the rice transplanter is in a straight forward state, a straight backward state or a turning state through the speed signal fed back by the speed sensor 42 and the speed sensor 5 43. When the rice transplanter is in the turning and backward state, the rice transplanting operation and the fertilization operation are not performed. The controller controls the three-position four-way reversing valve 17 to be connected to the circuit in the right position, and at the same time, controls the two-position two-way electromagnetic reversing valve 14, the two-position two-way electromagnetic reversing valve 2 19 and the two-position two-way electromagnetic reversing valve 3 21 to be energized, so that the rice transplanting drive motor 12, the rice box left and right translation drive motor 15 and the fertilization drive motor 17, which are the actuators, are not working.

[0039] When the controller receives the A action signal, it indicates that the rice transplanter does not need to perform the rice transplanting operation or the fertilizing operation, but only needs to perform the straight-line forward operation. The controller controls the three-position four-way reversing valve 17 to connect to the circuit in the left position, and at the same time, controls the two-position two-way electromagnetic reversing valve 14, the two-position two-way electromagnetic reversing valve 2 19 and the two-position two-way electromagnetic reversing valve 3 21 to be energized, so that the rice transplanting drive motor 12, the rice box left and right translation drive motor 15 and the fertilizing drive motor 17 as the actuators do not work, and only the travel motor 8 rotates to drive the rice transplanter to move forward in a straight line. In this process, the controller proportionally adjusts the displacement of the variable pump 4 according to the swing amplitude of the control handle, thereby achieving the purpose of stepless variable adjustment.

[0040] When the controller receives the B action signal, it indicates that the rice transplanter needs to perform rice transplanting operations, fertilizing operations, and needs to move forward in a straight line. The controller controls the three-position four-way reversing valve 17 to be connected to the left position of the circuit. At the same time, the two-position two-way solenoid reversing valve 14, the two-position two-way solenoid reversing valve 2 19 and the two-position two-way solenoid reversing valve 3 21 are all de-energized, and the oil circuits between their A ports and B ports are all in a disconnected state, so that the rice transplanting drive motor 12, the rice box left and right translation drive motor 15 and the fertilizing drive motor 17 serving as the actuators all work, and at the same time the travel motor 8 rotates to drive the rice transplanter to move forward in a straight line.

[0041] When the controller receives the C action signal, it indicates that the rice transplanter needs to perform rice transplanting operations, not fertilizing operations, and needs to move forward in a straight line. The controller controls the three-position four-way reversing valve 7 to connect to the circuit in the left position. At the same time, the two-position two-way solenoid reversing valve 1 14 and the two-position two-way solenoid reversing valve 3 21 are both powered off, and the two-position two-way solenoid reversing valve 2 19 is powered on, so that the rice transplanting drive motor 12 and the rice box left and right translation drive motor 15, which serve as actuators, work. At the same time, the travel motor 8 rotates to drive the rice transplanter to move forward in a straight line.

[0042] The travel motor 8, the rice transplanting drive motor 12, the rice seedling box left and right translation drive motor 15 and the fertilizer drive motor 17 as the actuators are connected in series, so the flow rates flowing through them are basically equal, which is the premise of variable operation. After obtaining the flow rate provided by the variable pump 4, the travel speed can be determined, and the rotation speed of the planting arm can be changed by changing the displacement of the rice transplanting drive motor 12, thereby changing the rice transplanting spacing. The displacement of the rice seedling box left and right translation drive motor 15 corresponds one to one with the displacement of the rice transplanting drive motor 12, because the speed of the rice seedling box left and right translation corresponds one to one with the rotation speed of the planting arm. It should be noted that the controller will ensure that the rotation speed of the rice transplanting drive motor 12 does not exceed 300rev / min, which is the limit of the rotation speed of the planting arm. Similarly, the rotation speed of the fertilizer wheel can be changed by changing the displacement of the fertilizer drive motor 17, thereby changing the amount of fertilizer.

[0043] The back pressure valve 20 can provide a certain basic pressure for the rice transplanting drive motor 12, the rice seedling box left and right translation drive motor 15 and the fertilization drive motor 17 which serve as the actuators. Firstly, it is used to prevent cavitation, and secondly, it can improve the speed rigidity of these actuators. For example, when the rice transplanter suddenly stops moving, the existence of back pressure can allow the rice transplanting drive motor 12, the rice seedling box left and right translation drive motor 15 and the fertilization drive motor 17 which serve as the actuators to quickly overcome the inertia torque and stop rotating.

[0044] 2. Working principle of the seedling box level and lifting adjustment circuit:

[0045] During the operation of the rice transplanter, the horizontal circuit of the seedling box can keep the seedling box 36 always level with the surface of the paddy field, and the lifting and lowering circuit can keep the height of the seedling box 36 from the surface of the paddy field unchanged, thereby ensuring the stability of the planting depth of the seedlings. The horizontal inclination sensor installed on the vehicle body can provide inclination angle information, and the third pressure sensor on the middle floating plate of the rice transplanter can obtain the ground pressure ratio, which is then converted into the height of the seedling box 36 from the surface of the paddy field. In this process, the controller receives the inclination angle signal collected by the horizontal inclination sensor in real time, receives the ground pressure ratio signal collected by the third pressure sensor in real time, and receives the energy storage pressure signal collected by the first pressure sensor 44 in real time;

[0046] This circuit has three working states: (1) accumulator driving state; (2) metering pump driving state; (3) metering pump charging state for accumulator.

[0047] Accumulator driving state: When the circuit is working and the first pressure sensor 44 monitors that the current energy of the accumulator 29 is greater than 20% of the total rated stored energy, the controller controls the two-position two-way electromagnetic reversing valve 5 45 to be de-energized. At the same time, the opening pressure of the control safety valve 2 37 is reduced, so that the oil of the metering pump 24 is unloaded from the safety valve 2 37 without generating excess heat. At the same time, by controlling the right-position access circuit of the three-position three-way solenoid reversing valve 1 30, and then cooperating with controlling the left-position access circuit or the right-position access circuit of the three-position four-way solenoid reversing valve 2 31, the energy stored in the accumulator 29 can be used to drive the seedling box horizontal adjustment hydraulic cylinder 32 to make corresponding actions, so as to achieve the purpose of adjusting the seedling box 36 to a horizontal state; the left-position access circuit of the three-position three-way solenoid reversing valve 2 33 can also be controlled, and then cooperating with controlling the left-position access circuit or the right-position access circuit of the three-position four-way solenoid reversing valve 3 34, the energy stored in the accumulator 29 can be used to drive the piston rod of the seedling box lifting and lowering adjustment hydraulic cylinder 35 to extend or retract, so as to achieve the change of adjusting the height of the seedling box 36.

[0048] Driving state of metering pump: when the circuit is working and the first pressure sensor 44 monitors that the current energy of the accumulator 29 is less than 20% of the total rated stored energy, the controller controls the two-position two-way electromagnetic reversing valve five 45 to be energized. At this time, the opening pressure of the control safety valve two 37 is increased, and the three-position three-way electromagnetic reversing valve 30 is controlled to be connected to the circuit in the left position, and then the three-position four-way electromagnetic reversing valve two 31 is controlled to be connected to the circuit in the left position or the right position, so that the metering pump two 24 can be used to directly drive the seedling box horizontal adjustment hydraulic cylinder 32 to make corresponding actions, so as to achieve the purpose of adjusting the seedling box 36 to a horizontal state; the three-position three-way electromagnetic reversing valve 33 can also be controlled to be connected to the circuit in the right position, and then the three-position four-way electromagnetic reversing valve three 34 is controlled to be connected to the circuit in the left position or the right position, so that the metering pump two 24 can be used to directly drive the piston rod of the seedling box lifting adjustment hydraulic cylinder 35 to extend or retract, so as to achieve the change of the height of the adjusting seedling box 36.

[0049] The metering pump charges the accumulator: When the controller receives the D action signal, it indicates that the seedling box horizontal adjustment hydraulic cylinder 32 does not need to work, and the seedling box lifting adjustment hydraulic cylinder 35 does not need to work. The controller controls the two-position two-way electromagnetic reversing valve five 45 to be energized, and controls the three-position three-way electromagnetic reversing valve one 30 and the three-position three-way electromagnetic reversing valve two 33 to be connected to the circuit in the middle position. At this time, the opening pressure of the control safety valve two 37 is increased, so that the metering pump two 24 charges the accumulator 29. When the first pressure sensor 44 monitors that the current energy of the accumulator 29 reaches 100% of the total energy, at this time, the controller controls the two-position two-way electromagnetic reversing valve five 45 to be de-energized, and controls the opening pressure of the proportional safety valve two 37 to be reduced, so that the oil of the metering pump two 24 is unloaded from the safety valve two 37.

[0050] The three-position four-way electromagnetic reversing valve 2 31 is used to adjust the movement direction of the seedling box horizontal adjustment hydraulic cylinder 32, and the three-position four-way electromagnetic reversing valve 3 34 is used to adjust the movement direction of the seedling box lifting adjustment hydraulic cylinder 35.

[0051] The movement speed (sensitivity) of the seedling box horizontal adjustment hydraulic cylinder 32 is adjusted by the speed regulating valve 27, and the movement speed (sensitivity) of the seedling box lifting adjustment hydraulic cylinder 35 is adjusted by the speed regulating valve 1 26. When the speed regulating valve opening is large, the movement speed is fast, and when the speed regulating valve opening is small, the movement speed is slow.

[0052] When the seedling box horizontal adjustment hydraulic cylinder 32 and the seedling box lifting adjustment hydraulic cylinder 35 are not working and the energy storage of the accumulator is 100%, the controller controls the electric clutch 22 to disconnect.

[0053] 3. Working principle of seedling conveying circuit:

[0054] The seedling conveying circuit only moves once after a row of seedlings is planted. Whether the row of seedlings has been planted is monitored by an infrared sensor. The metering pump 23 is a metering pump with a smaller displacement, and the seedling conveying motor 40 is a motor with a larger displacement. When the controller receives the E action signal, it indicates that the seedling conveying circuit does not need to work. The controller controls the two-position two-way electromagnetic reversing valve four 39 to be powered on in the left position. When the controller receives the F action signal, it indicates that the seedling conveying circuit needs to work. The controller controls the two-position two-way electromagnetic reversing valve four 39 to be powered off in the right position, so that the seedling conveying motor 40 works and drives the seedling conveying mechanism 46 to work.

Claims

1. A variable-speed rice transplanting operation drive system, comprising a drive mechanism, the drive mechanism comprising an engine (1), a coupling (2) and a transfer case (3), the engine (1) being connected to an input shaft of the transfer case (3) via the coupling (2); characterized in that: It also includes a rice transplanting and fertilizing mechanism, a rice seedling conveying mechanism, a rice seedling box level and lifting adjustment mechanism and a controller; The rice transplanting and fertilizing mechanism comprises a variable pump (4), a three-position four-way reversing valve (7), a travel motor (8), a back pressure valve (20), a fertilizing drive motor (17), a rice seedling box left and right translation drive motor (15), a rice transplanting drive motor (12), an axle (10), a rear drive wheel (9), a rear drive wheel (11), a rice seedling box left and right translation mechanism (16), a two-position two-way electromagnetic reversing valve (14), a two-position two-way electromagnetic reversing valve (19), a two-position two-way electromagnetic reversing valve (21), a speed sensor (5), a speed sensor (2) (13), a speed sensor (18), a speed sensor (4) and a speed sensor (5); a transmission shaft of the variable pump (4) The hydraulic oil tank (41) is connected to the transfer case (3) coaxially, its oil suction port is connected to the hydraulic oil tank (41), its oil discharge port is connected to the P port of the three-position four-way reversing valve (7), the A port and the T port of the three-position four-way reversing valve (7) are connected to the A port of the travel motor (8) and the hydraulic oil tank (41) respectively, the B port of the three-position four-way reversing valve (7) is connected to the A port of the fertilization drive motor (17) through the back pressure valve (20), the B port of the fertilization drive motor (17) is connected to the A port of the seedling box left-right translation drive motor (15), the B port of the seedling box left-right translation drive motor (15) is connected to the A port of the rice transplanting drive motor (12), and the B port of the rice transplanting drive motor (12) is connected to the B port of the travel motor (8); The input end of the vehicle bridge (10) is connected to the transmission shaft of the travel motor (8), and the two output ends thereof are respectively connected to the first rear drive wheel (9) and the second rear drive wheel (11); the left-right translation mechanism (16) of the seedling box is connected to the output shaft of the left-right translation drive motor (15) of the seedling box; the A port and the B port of the first two-position two-way electromagnetic reversing valve (14) are respectively connected to the A port of the left-right translation drive motor (15) of the seedling box and the B port of the transplanting drive motor (12); the A port and the B port of the second two-position two-way electromagnetic reversing valve (19) are respectively connected to the A port and the B port of the fertilization drive motor (17); the A port and the B port of the third two-position two-way electromagnetic reversing valve (21) are respectively connected to the oil inlet and the oil outlet of the back pressure valve (20); The oil outlet is connected; the speed sensor 1 (5) is connected to the variable pump (4) and is used to collect the speed signal of the variable pump (4) in real time; the speed sensor 2 (13) is connected to the rice transplanting drive motor (12) and is used to collect the speed signal of the rice transplanting drive motor (12) in real time; the speed sensor 3 (18) is connected to the fertilizing drive motor (17) and is used to collect the speed signal of the fertilizing drive motor (17) in real time; the speed sensor 4 (42) is connected to the rear drive wheel 1 (9) and is used to collect the speed signal of the rear drive wheel 1 (9) in real time; the speed sensor 5 (43) is connected to the rear drive wheel 2 (11) and is used to collect the speed signal of the rear drive wheel 2 (11) in real time; The rice seedling conveying mechanism is composed of a metering pump (23), a rice seedling conveying motor (40), a rice seedling conveying mechanism (46) and a two-position two-way electromagnetic reversing valve (39); the transmission shaft of the metering pump (23) is coaxially connected to another output shaft of the transfer case (3) through an electric clutch (22), its oil suction port is connected to the hydraulic oil tank (41), its oil discharge port is connected to the A port of the rice seedling conveying motor (40), the B port of the rice seedling conveying motor (40) is connected to the hydraulic oil tank (41), the rice seedling conveying mechanism (46) is connected to the output shaft of the rice seedling conveying motor (40), and the A port and the B port of the two-position two-way electromagnetic reversing valve (39) are respectively connected to the A port of the rice seedling conveying motor (40) and the hydraulic oil tank (41); The seedling box horizontal and lifting adjustment mechanism comprises a second metering pump (24), a second two-position two-way electromagnetic reversing valve (45), a one-way valve (25), a second speed regulating valve (27), an accumulator (29), a first speed regulating valve (26), a first three-position three-way electromagnetic reversing valve (30), a second three-position four-way electromagnetic reversing valve (31), a seedling box horizontal adjustment hydraulic cylinder (32), a second three-position three-way electromagnetic reversing valve (33), a third three-position four-way electromagnetic reversing valve (34), a seedling box lifting adjustment hydraulic cylinder (35), a seedling box (36), a first pressure sensor (44) and a second pressure sensor (28); the second metering pump (24) The transmission shaft is coaxially connected to the transmission shaft of the metering pump 1 (23), its oil suction port is connected to the hydraulic oil tank (41), its oil discharge port is connected to the A port of the two-position two-way electromagnetic reversing valve 5 (45), the B port of the two-position two-way electromagnetic reversing valve 5 (45) is respectively connected to the A port of the three-position three-way electromagnetic reversing valve 1 (30), the oil inlet of the check valve (25) and the P port of the three-position three-way electromagnetic reversing valve 2 (33), the oil outlet of the check valve (25) is respectively connected to the oil inlet of the speed regulating valve 2 (27), the oil port of the accumulator (29) and the oil inlet of the speed regulating valve 1 (26), the oil outlet of the speed regulating valve 2 (27) is respectively connected to the oil inlet of the three-position three-way electromagnetic reversing valve 1 (30), the oil outlet of the one-way valve (25) is respectively connected to the oil inlet of the speed regulating valve 2 (27), the oil port of the accumulator (29) and the oil inlet of the speed regulating valve 1 (26), the oil outlet of the speed regulating valve 2 (27) is respectively connected to the oil inlet of the three-position three-way electromagnetic reversing valve 1 (30). The P port of the three-way electromagnetic reversing valve (30) is connected, the B port of the three-way three-way electromagnetic reversing valve (30) is connected to the P port of the three-way four-way electromagnetic reversing valve (31), the T port of the three-way four-way electromagnetic reversing valve (31) is connected to the hydraulic oil tank (41), and its A port and B port are respectively connected to the two rod chambers of the seedling box horizontal adjustment hydraulic cylinder (32); the seedling box horizontal adjustment hydraulic cylinder (32) is a double-piston rod double-acting hydraulic cylinder; the oil outlet of the speed regulating valve (26) is connected to the A port of the three-way three-way electromagnetic reversing valve (33), and the B port of the three-way three-way electromagnetic reversing valve (33) is connected to the three-way four-way electromagnetic reversing valve (31). The P port of the reversing valve (34) is connected, the T port of the three-position four-way electromagnetic reversing valve (34) is connected to the hydraulic oil tank (41), and its A port and B port are respectively connected to the rodless chamber and the rod chamber of the seedling box lifting and adjusting hydraulic cylinder (35); the seedling box (36) is connected to the piston rod end of the seedling box lifting and adjusting hydraulic cylinder (35); the first pressure sensor (44) is connected to the accumulator (29) and is used to collect the pressure signal inside the accumulator (29) in real time; the second pressure sensor (28) is connected to the oil outlet of the one-way valve (25) and is used to collect the pressure signal at the oil outlet of the one-way valve (25) in real time; The input end of the controller is respectively connected to a speed sensor 1 (5), a speed sensor 2 (13), a speed sensor 3 (18), a speed sensor 4 (42), a speed sensor 5 (43), a first pressure sensor (44) and a second pressure sensor (28), and the output end is respectively connected to an engine (1), a variable displacement pump (4), an electric clutch (22), a three-position four-way reversing valve 1 (7), a two-position two-way solenoid reversing valve 1 (14), a two-position two-way solenoid reversing valve 2 (19), a two-position two-way solenoid reversing valve 3 (21), a three-position three-way solenoid reversing valve 1 (30), a three-position four-way solenoid reversing valve 2 (31), a three-position three-way solenoid reversing valve 2 (33), a three-position four-way solenoid reversing valve 3 (34), a two-position two-way solenoid reversing valve 4 (39) and a two-position two-way solenoid reversing valve 5 (45).

2. A variable-speed rice transplanting operation drive system according to claim 1, characterized in that: The rice transplanting and fertilizing mechanism further comprises a safety valve 1 (6), the oil discharge port of the variable pump (4) is connected to the hydraulic oil tank (41) via the safety valve 1 (6), and the safety valve 1 (6) is a proportional safety valve connected to the controller.

3. A variable-speed rice transplanting operation drive system according to claim 1 or 2, characterized in that: The seedling box level and lifting adjustment mechanism further comprises a second safety valve (37) and a third safety valve (38); the oil discharge port of the second quantitative pump (24) is also connected to the hydraulic oil tank (41) via the second safety valve (37); the oil outlet of the one-way valve (25) is also connected to the hydraulic oil tank (41) via the third safety valve (38); the second safety valve (37) and the third safety valve (38) are both proportional safety valves and are connected to the controller.

4. A variable-speed rice transplanting operation drive system according to claim 3, characterized in that: When the three-position four-way reversing valve (7) is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected. When it is de-energized and works in the middle position, its A port and B port are both closed and not connected to each other. After its P port and T port are connected, they are connected to the hydraulic oil tank (41). When it is energized and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected. When the two-position two-way solenoid reversing valve (14) is energized and works in the left position, its A port and B port are both closed and not connected to each other. After its P port and T port are connected, they are connected to the hydraulic oil tank (41). The oil circuit between the A port and the B port is connected, and when the power is off, it works in the right position, and the oil circuit between the A port and the B port is disconnected; the two-position two-way electromagnetic reversing valve 2 (19) works in the left position when it is energized, and the oil circuit between the A port and the B port is connected, and when the power is off, it works in the right position, and the oil circuit between the A port and the B port is disconnected; the two-position two-way electromagnetic reversing valve 3 (21) works in the upper position when it is energized, and the oil circuit between the A port and the B port is connected, and when the power is off, it works in the lower position, and the oil circuit between the A port and the B port is disconnected.

5. A variable-speed rice transplanting operation drive system according to claim 4, characterized in that: The two-position two-way electromagnetic reversing valve 4 (39) works in the left position when it is energized, and the oil circuit between its A port and its B port is connected. When it is de-energized, it works in the right position, and the oil circuit between its A port and its B port is disconnected.

6. A variable-speed rice transplanting operation drive system according to claim 5, characterized in that: When the three-position four-way electromagnetic reversing valve 2 (31) is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected; when it is de-energized and works in the middle position, its A port and B port are both closed and not connected to each other, and its P port and T port are connected and then connected to the hydraulic oil tank (41); when it is energized and works in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected; when the three-position four-way electromagnetic reversing valve 3 (34) is energized and works in the left position, the oil circuit between its P port and A port is connected, and the oil circuit between its T port and B port is connected; when it is de-energized and works in the middle position, its A port and B port are both closed and not connected to each other, and its P port and T port are connected and then connected to the hydraulic oil tank (41); When working in the right position, the oil circuit between its P port and B port is connected, and the oil circuit between its T port and A port is connected; when the three-position three-way electromagnetic reversing valve 1 (30) is energized and working in the left position, the oil circuit between its A port and B port is connected, and its P port is closed; when it is de-energized and working in the middle position, its A port, B port and P port are all closed and not connected to each other; when it is energized and working in the right position, the oil circuit between its P port and B port is connected, and its A port is closed; when the three-position three-way electromagnetic reversing valve 2 (33) is energized and working in the left position, the oil circuit between its A port and B port is connected, and its P port is closed; when it is de-energized and working in the middle position, its A port, B port and P port are all closed and not connected to each other; when it is energized and working in the right position, the oil circuit between its P port and B port is connected, and its A port is closed.

7. A variable-speed rice transplanting operation drive system according to claim 6, characterized in that: The controller is a PLC controller.

8. The variable-speed rice transplanting operation driving system according to claim 7, characterized in that: It also includes a horizontal inclination sensor, a third pressure sensor and an infrared sensor. The horizontal inclination sensor is installed on the body of the rice transplanter, and is used to collect the inclination angle signal of the transplanter body in real time and transmit it to the controller; the third pressure sensor is installed on the middle floating plate of the rice transplanter, and is used to collect the ground pressure ratio signal in real time and transmit it to the controller; the infrared sensor is used to collect the planting operation distance signal in real time and transmit it to the controller.

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