A double-axle posture controller for a transplanter

Abstract

The application discloses a double-shaft posture controller of a transplanter, and relates to the technical field of agricultural machinery, which comprises a base and two groups of control components symmetrically arranged on the two sides of the vertical plate of the base. Each group of the control components comprises an operating rod, a reset member and a cable, the operating rod is rotatably installed through a rotating shaft, the reset member provides a reset torque, and the cable is connected between the operating rod and a hydraulic combination valve. The two groups of the cables are connected to the roll and pitch control input ends of the hydraulic combination valve respectively, independent double-shaft control is realized, the structure is simple, field operation is facilitated, the complexity of simultaneously coordinating and controlling two valve cores can be reduced, and the double-shaft posture controller is helpful to realize the coordination and leveling of the transplanter on undulating terrains.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, specifically to a dual-axis attitude controller for a transplanter. Background Technology

[0002] Transplanting is a crucial step in the cultivation of dryland cash crops. In hilly and mountainous areas, the terrain is complex, with irregular lateral and longitudinal slopes. To ensure the verticality of the transplanted seedlings and promote root development and subsequent growth, the transplanter's planting device must remain vertical at all times. This requires the transplanter's chassis to adjust its posture according to real-time changes in the terrain, using roll and pitch movements to counteract the slope and maintain a relatively level working platform. Therefore, achieving dynamic dual-axis leveling of the transplanter during movement is a core technological requirement for improving the quality and efficiency of mechanized transplanting in hilly and mountainous areas.

[0003] Currently, the posture leveling methods used in transplanters mainly fall into two categories: mechanical and hydraulic. Mechanical leveling devices are typically simple in structure, but the leveling angle is fixed and cannot be adjusted in real time according to changes in terrain during operation, resulting in poor adaptability. While hydraulic leveling systems can achieve dynamic adjustment and respond to terrain changes, the operation of their core control system—the hydraulic multi-way valve—often requires the operator to independently operate the roll and pitch valve cores. In bumpy field working environments, this operation method demands a high level of operator proficiency and coordination, making it difficult to achieve fast, accurate, and coordinated dual-axis linkage control, ultimately affecting leveling accuracy and work efficiency.

[0004] Therefore, this application proposes a dual-axis attitude controller for transplanters, which simplifies the operation process and enables intuitive dual-axis coordinated control, solving the problems of cumbersome operation and difficult dual-axis coordinated control in existing hydraulic leveling systems under complex working conditions. Utility Model Content

[0005] The main objective of this application is to provide a dual-axis attitude controller for transplanters to solve the problems of cumbersome operation and difficulty in coordinating dual-axis control in existing hydraulic leveling systems under complex working conditions.

[0006] To achieve the above objectives, this application provides the following technical solution: A dual-axis attitude controller for a transplanter, comprising: The base includes a vertical plate disposed on the transplanter; Two sets of control components are symmetrically arranged on opposite sides of the upright plate; each set of control components includes an operating lever, a reset component, and a cable; the operating lever has a first arm and a second arm connected and arranged at an angle, and is rotatably mounted on the upright plate via a pivot located at the connection between the first arm and the second arm; the reset component is located between the operating lever and the base, and is used to provide an elastic torque to the operating lever to reset it; one end of the cable is connected to the second arm of the operating lever, and the other end is used to connect to a hydraulic combination valve; One set of control components has its cable connected at one end to the roll control input of the hydraulic combination valve, and the other set of control components has its cable connected at the other end to the pitch control input of the hydraulic combination valve.

[0007] Beneficial effects: This application achieves independent control of the transplanter's roll and pitch attitude through a base and two symmetrically arranged control components. The two control components have identical structures and correspond to two control dimensions respectively, allowing operators to adjust them separately. This reduces the complexity of simultaneously coordinating the operation of two independent valve cores and facilitates smoother dual-axis leveling operations in undulating terrain. The overall design employs mechanical levers and cable transmission, resulting in a relatively simple structure that is easy to maintain and use in the field, and possesses a certain degree of environmental adaptability.

[0008] As a further improvement of this application, the reset component is a torsion spring; the torsion spring is sleeved on the rotating shaft, and its two lever arms extend in a cross manner; on the upright plate, on the side of the rotating shaft away from the cable, two parallel first limiting posts are fixedly provided; the roots of the two lever arms of the torsion spring are respectively constrained between the two first limiting posts; the first arm of the operating lever is provided with a second limiting post, the second limiting post extending between the two cross lever arms and located on the side of the opening formed by the cross; the two first limiting posts and the second limiting post together constrain the two lever arms of the torsion spring, so that when the operating lever is deflected by force, it compresses the torsion spring to store energy and generate a reset torque.

[0009] Beneficial effects: This application uses a torsion spring as the reset element and two first limiting posts to constrain the roots of its two lever arms. A second limiting post extending between the crossed lever arms is also provided on the operating lever, allowing the torsion spring to be compressed and store energy when the operating lever deflects. This helps to keep the operating lever stably returning to the intermediate position after release, reducing wobbling during operation and thus improving the directional control and feel during leveling.

[0010] As a further improvement of this application, the control component also includes a sheath sleeved over the cable, with one end of the sheath located on the end of the upright plate away from the operating lever, and the other end of the sheath located on the transplanter frame.

[0011] Beneficial effects: This application provides external protection and path guidance for the cable by installing a sheath on the outside of the cable and attaching its two ends to the connecting plate and the frame, respectively. This prevents the cable from getting tangled or worn with surrounding components during reciprocating motion. At the same time, the fixed installation method of the sheath simplifies the complexity of the overall wiring and helps maintain transmission stability in vibration environments.

[0012] As a further improvement of this application, the end of the first arm of the operating lever is provided with an extension for transmitting operating force in a direction away from the upright plate.

[0013] Beneficial effects: This application provides a clear force application position for the operator or external connecting mechanism by providing an extension at the end of the first arm of the operating lever that faces away from the vertical plate. This allows for effective transmission of operating force whether the lever is held directly by hand or transmitted through a linkage or other mechanism, adapting to different operating habits or assembly layouts and enhancing the flexibility of the controller.

[0014] As a further improvement of this application, the base also includes a mounting plate fixed to the transplanter frame, the mounting plate being fixedly connected to the upright plate.

[0015] Beneficial effects: This application adds a mounting plate to the base, which is fixedly connected to the upright plate, allowing the controller to be fixedly mounted to the transplanter frame. This provides a stable and reliable mounting base for the controller, facilitating positioning and assembly on the frame, and also helps reduce installation loosening caused by vibration during operation, thereby improving the rigidity of the overall structure. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the three-dimensional structure of a dual-axis attitude controller for a transplanter. Figure 1 ; Figure 2 A schematic diagram of the three-dimensional structure of a dual-axis attitude controller for a transplanter. Figure 2 ; Figure 3 yes Figure 2 A three-dimensional structural diagram of the central control lever; Figure 4 yes Figure 2 A three-dimensional structural diagram of the central base; Figure 5 yes Figure 2 A three-dimensional structural diagram of the reset component; Figure label: 100. Rack; 1. Base; 11. Vertical plate; 12. Mounting plate; 2. Control assembly; 21. Operating lever; 211. First arm; 212. Second arm; 213. Extension; 22. Reset component; 23. Cable; 24. Rotating shaft; 25. First limiting post; 26. Second limiting post; 27. Sheath; 28. Connecting plate. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the described embodiments are merely some, not all, of the embodiments of this application. Unless otherwise specified, the embodiments and features described in this application can be combined with each other. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] Example 1 Figure 1 An embodiment of a dual-axis attitude controller for a transplanter according to this application is shown. See also Figure 1 In this embodiment, the transplanter dual-axis attitude controller includes a base 1 and two sets of control components 2.

[0020] Among them, see Figure 2The base 1 includes a vertical plate 11, which serves as a support structure. Two sets of control components 2 are identical in structure and symmetrically arranged on the left and right sides of the vertical plate 11. Each set of control components 2 includes an operating lever 21, a reset element 22, and a cable 23. The operating lever 21 is a one-piece molded lever with a first arm 211 for hand gripping or connecting to an external mechanism, and a second arm 212 for outputting pulling force. The first arm 211 and the second arm 212 are arranged at a right angle. At the connection point, a pivot 24 is provided, through which the operating lever 21 is rotatably mounted on the vertical plate 11. The reset element 22 is located between the operating lever 21 and the base 1, and its function is to provide an elastic torque when the operating lever 21 is moved, allowing the operating lever 21 to automatically return to the intermediate position. One end of the cable 23 is connected to the second arm 212 of the operating lever 21, and the other end is used to connect to a hydraulic combination valve for controlling the leveling of the transplanter chassis. In the two sets of control components 2, the end of the cable 23 of one set is connected to the roll control input of the hydraulic combination valve, which is used to control the left and right tilt adjustment of the transplanter; the end of the cable 23 of the other set is connected to the pitch control input of the hydraulic combination valve, which is used to control the forward and backward tilt adjustment of the transplanter. In this way, the two independent operating levers 21 correspond to the roll and pitch control channels respectively.

[0021] It should be noted that the hydraulic combination valve can be a mechanically cable-operated proportional directional valve. This type of valve has independent roll control input arms and pitch control input arms on its body. When the cable 23 is pulled or released by the operating lever 21, it directly pulls the corresponding input arm, thereby driving the valve core to move, changing the oil path to the leveling hydraulic cylinder, and achieving chassis attitude adjustment.

[0022] Optionally, the rotating shaft 24 is rotatably mounted on the upright plate 11 via bearings or bushings, and the operating lever 21 is fixedly connected to the end of the rotating shaft 24 extending out of the upright plate 11 via fastening bolts, so that the operating lever 21 can drive the rotating shaft 24 to rotate together.

[0023] Optionally, the cable 23 is installed under tension and has a certain degree of rigidity. In this way, when the operating lever 21 is rotated, the cable 23 can be effectively pushed or pulled, causing it to move along a set path, and the operating action can be accurately transmitted to the hydraulic combination valve.

[0024] Further, see Figure 2 The control assembly 2 also includes a sheath 27. The sheath 27 is fitted over the cable 23. One end of the sheath 27 is located on the side of the upright plate 11 away from the operating lever 21, and the other end is fixed to the frame 100 of the transplanter. This provides a fixed protection and guiding channel for the cable 23, preventing the cable 23 from rubbing or tangling with surrounding components during operation, and also making the entire transmission line more organized.

[0025] Optionally, two symmetrical connecting plates 28 are welded to the side of the upright plate 11 away from the operating lever 21, and each connecting plate 28 has a U-shaped notch. The end of the sheath 27 can be inserted into this notch to achieve initial positioning.

[0026] Optionally, threaded sections are machined at both ends of the sheath 27, and each end is equipped with two nuts. By tightening the nuts, the ends of the sheath 27 can be securely fixed to the connecting plate 28 or the frame 100 on both sides.

[0027] Further, see Figure 3 The first arm 211 of the operating lever 21 extends a portion away from the vertical plate 11 to form an extension 213, which allows the operator to directly grip and apply force, or to connect to other operating linkage mechanisms. The extension 213 clarifies the point of force application, making the operation easier to execute, and also increases the flexibility of the controller to adapt to different operating habits or installation layouts.

[0028] Further, see Figure 4 The base 1 also includes a mounting plate 12. The mounting plate 12 is fixedly connected to the upright plate 11 and secured to the frame 100 of the transplanter by bolts or other fasteners. This provides a stable and reliable mounting base for the entire controller, facilitating positioning and assembly on the frame 100, and also enhancing the overall rigidity of the controller in vibration environments.

[0029] Optionally, the mounting plate 12 is positioned above the upright plate 11 and is welded perpendicularly to the upright plate 11. At each end of the mounting plate 12 along its length, a mounting hole can be provided, through which bolts are passed to secure the entire controller to the transplanter frame 100.

[0030] In this embodiment, two sets of identical control components 2 are symmetrically arranged on a common base 1, naturally forming two independent and equal control channels for roll and pitch at the mechanical level. This not only makes the controller left and right balanced and easy to install, but also simplifies production and maintenance, as the two sets of components are interchangeable. The control mechanism is clear: the rotational motion of the operating lever 21 is amplified by the lever arm and converted into linear traction of the cable 23, ultimately transmitted to the hydraulic system. The entire solution is primarily mechanically driven, avoiding complex circuits or sensors, resulting in a simple structure and relatively low manufacturing cost, making it particularly suitable for agricultural machinery environments requiring tolerance to dust, vibration, and moisture. It fundamentally changes the traditional complex mode of operating two independent valve cores separately, providing the operator with an integrated, physically centralized control interface.

[0031] Example 2 To further illustrate the structure of the reset component 22, this embodiment further defines the reset component 22 based on the above embodiment 1. See also Figure 5 The reset element 22 is a torsion spring.

[0032] Among them, see Figures 3 to 5 The torsion spring is directly mounted on the pivot 24 of the operating lever 21. The two arms of the torsion spring extend from the spring body in a crossed manner. On the upright plate 11, on the side of the pivot 24 away from the cable 23, two parallel first limiting posts 25 are fixedly installed; these posts can be welded pins. The roots of the two arms of the torsion spring are respectively constrained between these two first limiting posts 25, restricting the rotation of the torsion spring body. Simultaneously, on the first arm 211 of the operating lever 21, a second limiting post 26 is provided. This post extends between the two crossed arms of the torsion spring and is located on the side of the opening formed by the crossing. When the operating lever 21 is deflected by force, the second limiting post 26 compresses the two crossed arms of the torsion spring, causing them to deform and store energy. When the operating force is released, the elastic potential energy stored in the torsion spring is released, pushing the second limiting post 26, thereby causing the operating lever 21 to return to its initial intermediate position. The two first limit posts 25 and the second limit post 26 work together to provide stable constraint and reset torque for the torsion spring. This helps to keep the operating lever 21 in a stable intermediate position, reduces free sway, makes the operation feel clearer, and the leveling control more precise.

[0033] Furthermore, the first limiting post 25 and the second limiting post 26 can be cylindrical pins, which are fixed in their respective positions by interference fit or welding.

[0034] Optionally, the area where the torsion spring contacts the limiting post may be provided with a smooth chamfer or bushing to reduce wear and friction noise.

[0035] In this embodiment, the elastic properties of the torsion spring and the geometric relationship of the cross arms are utilized. Two first limiting posts 25, fixed to the upright plate 11, lock the roots of the two arms of the torsion spring, determining the resting point of the torsion spring. A second limiting post 26, fixed to the operating lever 21, inserts into the opening of the cross arms, directly coupling the rotation of the operating lever 21 with the deformation of the torsion spring. At any deflection position of the operating lever 21, the torsion spring provides a corresponding, correctly oriented reset torque, and the return-to-center process is smooth and without any jamming. Simultaneously, it avoids potential malfunctions of electronic sensors, ensuring high reliability and long lifespan. This allows the operator to perceive the current adjustment status through the force feedback of the lever, which is particularly helpful for precise fine-tuning in bumpy environments.

[0036] Example 3 To illustrate the working process of the dual-axis attitude controller for transplanters, this embodiment, based on the above embodiment, provides a method for using the dual-axis attitude controller for transplanters: When the transplanter operates on uneven terrain in hilly and mountainous areas, the operator observes the terrain and the machine's posture. If the machine tilts to the left, the operator uses their left hand to move the corresponding roll control lever 21 to the left. The lever 21 rotates around the pivot 24, pulling the connected cable 23 via its second arm 212. The movement of the cable 23 tractions the roll control input arm on the hydraulic combination valve, driving the valve core and causing the hydraulic system to supply oil to the leveling cylinder, raising the left side of the transplanter or lowering the right side until the chassis is level again. At this point, releasing the lever 21 causes it to automatically return to center under the restoring torque of the torsion spring, releasing the cable 23, and returning the valve core to its neutral position, stopping the leveling operation.

[0037] Similarly, if the machine tilts forward or backward, the operator can use their right hand to move the operating lever 21 of the corresponding pitch control channel. This will allow them to control the leveling cylinder in the forward and backward directions via another set of independent cables 23 and the pitch control input of the hydraulic combination valve, thus keeping the chassis level in the forward and backward directions.

[0038] By using two independent control levers 21 together, the operator can quickly and separately adjust the roll and pitch of the transplanter to cope with complex terrain and ensure that the planter is always in a vertical position.

[0039] In this embodiment, the operator makes operational decisions based on visual assessment of the terrain, moving two control levers 21 individually or simultaneously. The manual input is first amplified by mechanical levers, then transmitted almost instantaneously to the hydraulic combination valve via a taut cable 23, converting it into precise control of the valve core. Finally, a powerful hydraulic system adjusts the chassis attitude. Throughout the process, the two control channels are physically and functionally completely independent, avoiding mutual interference and enabling simultaneous roll and pitch leveling, which is intuitive to operate. After releasing the control levers 21, the reset element 22 ensures the system automatically returns to the neutral position, preventing over-adjustment. Simplifying complex hydraulic attitude control into intuitive lever operation reduces the skill requirements for operators, allowing them to focus more on the work path and planting quality, thereby improving the overall efficiency and effectiveness of transplanting operations in hilly and mountainous areas.

[0040] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A dual-axis attitude controller for a transplanter, characterized in that, include: The base (1) includes a vertical plate (11) disposed on the transplanter; Two sets of control components (2) are symmetrically arranged on opposite sides of the upright plate (11); each set of control components (2) includes an operating lever (21), a reset component (22), and a cable (23); the operating lever (21) has a first arm (211) and a second arm (212) connected and arranged at an angle, and is rotatably mounted on the upright plate (11) via a pivot (24) located at the connection between the first arm (211) and the second arm (212); the reset component (22) is located between the operating lever (21) and the base (1) and is used to provide the operating lever (21) with an elastic torque to reset it; one end of the cable (23) is connected to the second arm (212) of the operating lever (21), and the other end is used to connect to a hydraulic combination valve; One set of control components (2) has one end of cable (23) for connecting to the roll control input of the hydraulic combination valve, and the other set of control components (2) has one end of cable (23) for connecting to the pitch control input of the hydraulic combination valve.

2. The dual-axis attitude controller for transplanters according to claim 1, characterized in that, The reset component (22) is a torsion spring; the torsion spring is sleeved on the rotating shaft (24), and its two lever arms extend in a cross manner; on the upright plate (11), on the side of the rotating shaft (24) away from the cable (23), two parallel first limiting posts (25) are fixedly provided; the roots of the two lever arms of the torsion spring are respectively constrained between the two first limiting posts (25); the first arm (211) of the operating lever (21) is provided with a second limiting post (26), the second limiting post (26) extends between the two cross lever arms and is located on the side of the opening formed by the cross; the two first limiting posts (25) and the second limiting post (26) together constrain the two lever arms of the torsion spring so that when the operating lever (21) is deflected by force, it compresses the torsion spring to store energy and generate a reset torque.

3. The dual-axis attitude controller for transplanters according to claim 1, characterized in that, The control component (2) also includes a sheath (27) sleeved on the outside of the cable (23), one end of the sheath (27) being located on the end of the upright plate (11) away from the operating lever (21), and the other end of the sheath (27) being located on the transplanter frame (100).

4. The dual-axis attitude controller for transplanters according to claim 1, characterized in that, The end of the first arm (211) of the operating lever (21) is provided with an extension (213) for transmitting operating force in a direction away from the upright plate (11).

5. The dual-axis attitude controller for transplanters according to claim 1, characterized in that, The base (1) also includes a mounting plate (12) fixed on the transplanter frame (100), and the mounting plate (12) is fixedly connected to the upright plate (11).

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