CN110366913A - Rice transplanter and its rice transplanting method and rice seedlings transplanting system - Google Patents
Rice transplanter and its rice transplanting method and rice seedlings transplanting system Download PDFInfo
- Publication number
- CN110366913A CN110366913A CN201910270461.3A CN201910270461A CN110366913A CN 110366913 A CN110366913 A CN 110366913A CN 201910270461 A CN201910270461 A CN 201910270461A CN 110366913 A CN110366913 A CN 110366913A
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- Prior art keywords
- rice
- transplanting
- transmission belt
- seedling disk
- rice transplanter
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/003—Transplanting machines for aquatic plants; for planting underwater, e.g. rice
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention discloses a rice transplanter and its rice transplanting method and rice seedlings transplanting system, wherein the rice transplanter includes a car body and is arranged at a transplanting portion of the car body, at least a seedling disk loadig device, a controller and a conversion equipment respectively, wherein the controller can control the car body and shift the seedling disk for being loaded on the seedling disk loadig device to the transplanting portion, to allow seedling disk described in transplanting portion transplanting with that can control the conversion equipment along rice transplanting path walking.
Description
Technical field
The present invention relates to rice transplanting field, in particular to a rice transplanter and its rice transplanting method and rice seedlings transplanting system.
Background technique
The appearance of rice transplanter greatly improves the transplanting efficiency of rice shoot, so that Rice Cropping industry is further towards intensive
Develop with the direction of modernization.Fig. 1 shows existing rice transplanter, which includes a body 10P, is set to the body
A seedling disk plummer 20P of 10P and the transplanting portion that is set to body 10P and can be driven by body 10P
30P.The working condition of the rice transplanter are as follows: be pre-loaded with the seedling disk in seedling disk plummer 20P, so that the seedling disk can be by the machine
Body 10P drives, and when driver drives rice transplanter walking, manually shifts the seedling disk for being carried on seedling disk plummer 20P
To transplanting portion 30P, to drive the transplanting portion 30P to carry out transplanting operation to the seedling disk by body 10P.It is somebody's turn to do for existing
For rice transplanter, at least need two personal synergics that can carry out rice transplanting operation using the rice transplanter, one of people needs to drive
Sailing rice transplanter walking, another person needs to shift the seedling disk for being carried on seedling disk plummer 20P to transplanting portion 30P,
This not only causes the waste of human resources, but also when the personnel for participating in rice transplanting operation are lower than two people, or even can not utilize
The rice transplanter executes rice transplanting operation.In addition, the rice transplanter transplanting but can be not limited to six row seedlings when walking along direction
Seedling, and the spacing between arbitrary neighborhood row rice shoot can be by way of the parameter of transplanting portion 30P for presetting the rice transplanter
To determine.However, along second direction (second direction after the rice transplanter is in walking along a first direction and completion transplanting operation
It is reversed opposite with first) when walking again and carrying out transplanting operation, the rice transplanter is at the progress post-job edge of first time transplanting
Spacing of the row rice shoot between the post-job edge lines rice shoot of second of transplanting then needs exceptionally experienced driver to pass through control
The rice transplanter to be made to control with the spacing of second direction in a first direction, this is very difficult for driver, however,
If the spacing disunity (too large or too small) between adjacent rows rice shoot, very passive shadow can be generated to the growth of rice shoot
It rings.
In addition, RTK (Real-Time kinematic, in real time dynamically) location technology is based on carrier phase observation data
Real time kinematic survey system, the difference with GPS positioning technology are that RTK location technology can be realized determining for centimetre class precision
Position.Therefore, how RTK location technology is applied to agricultural machinery is the project that inventor is dedicated to research.
Summary of the invention
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein the rice transplanter
Rice transplanting operation can be executed, in an operating area automatically to reduce the manually degree of participation in rice transplanting operation process.
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein the rice transplanter
Can along a rice transplanting autonomous path in the operating area execute rice transplanting operation, with improve rice transplanting operation automation and
Intelligence degree.
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein the rice transplanting road
Diameter is planned in the operating area according to the seedling row distance of the rice transplanter, to match the rice transplanting path and the operation
Region.
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein correspond to one to
The operating area in rice transplanting plot is based on RTK location technology and is acquired, described to rice transplanting in acquisition to be greatly reduced
The error when boundary of block.
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein the rice transplanter
Greater number of seedling disk can be carried, to improve the rice transplanting efficiency of the rice transplanter.
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein the rice transplanter
Seedling disk can be rapidly supplemented, to improve the rice transplanting efficiency of the rice transplanter.
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein the rice transplanter
A car body and the seedling disk loadig device for being removably installed in the car body are provided, thus being loaded on the seedling disk dress
It carries after the seedling disk set is depleted, the seedling disk loadig device for not being loaded seedling disk can be torn open from the car body
It unloads down, and the seedling disk loadig device for being loaded seedling disk is installed in the car body, to guarantee the rice transplanting of the rice transplanter
The continuity of operation.
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein the seedling disk fills
It carries that set be a passive seedling disk loadig device, with the structure of the simplification seedling disk loadig device and makes the seedling disk loadig device
Lighting.
It is an object of the present invention to provide a rice transplanter and its rice transplanting method and rice seedlings transplanting systems, wherein the rice transplanter
A conversion equipment is provided, the conversion equipment is arranged at the car body, wherein the conversion equipment can automatically convert quilt
It is carried on the position of the seedling disk of the seedling disk loadig device to the transplanting portion of the rice transplanter, is inserted with being executed by the transplanting portion
Seedling operation.
One aspect under this invention, the present invention provides the rice transplanting method of a rice transplanter, wherein the rice transplanting method includes
Following steps:
(a) operating area is obtained；
(b) a rice transplanting path is planned in the operating area by a path programmed decision-making, wherein the path planning
Decision includes the spacing determined between two neighboring track route according to the seedling row distance of the rice transplanter；And
(c) it controls the rice transplanter and carries out rice transplanting operation along the rice transplanting path.
According to one embodiment of present invention, the step (a) further comprises step:
Obtain an image to rice transplanting plot；
A series of critical points are determined in the image to rice transplanting plot；And
Line between the two neighboring critical point forms a boundary of the operating area, corresponds to institute to obtain
State the operating area to rice transplanting plot.
According to one embodiment of present invention, the step (a) further comprises step:
Obtain a series of critical points to rice transplanting plot；With
Line between the two neighboring critical point forms a boundary of the operating area, corresponds to institute to obtain
State the operating area to rice transplanting plot.
According to one embodiment of present invention, the critical point be the intersecting point to rice transplanting plot and/or it is described to
The interface point in cultivable region and barrier in rice transplanting plot.
According to one embodiment of present invention, the step (c) further comprises step:
(c.1) posture for adjusting a transmission belt of a converting unit of the rice transplanter, so that the both ends of the transmission belt
Correspond respectively to the end and a transplanting portion of a transmission belt of a seedling disk loadig device；
(c.2) transmission belt and the transmission belt is driven to do the rotation of the same direction, synchronously to pass through the transmission
A seedling disk of the transmission belt is carried on to the transplanting portion with transfer；And
(c.3) when the rice transplanter is walked along the rice transplanting path, seedling disk described in transplanting portion transplanting is driven, with
Carry out rice transplanting operation.
According to one embodiment of present invention, the step (c.2) further comprises step:
(c.2.1) driving motor of the converting unit drives the transmission belt rotation by a drive shaft；
(c.2.2) for the drive shaft when driving driving wheel rotation, adjustment wheel in one direction of driving does turning for opposite direction
It is dynamic；
(c.2.3) the direction adjustment wheel drives one in the driven gear rotation for driving the seedling disk loadig device
Shaft does the rotation of the support plate relative to the seedling disk loadig device；And
(c.2.4) shaft drives the transmission belt to do the rotation relative to the support plate, so that the transmission belt
The rotation for doing the same direction is driven with the transmission belt.
According to one embodiment of present invention, before the step (c.1), installation is loaded the described of the seedling disk
Seedling disk loadig device is in a car body of the rice transplanter.
Other side under this invention, the present invention further provides a rice seedlings transplanting systems comprising:
One acquiring unit, wherein the acquiring unit obtains an operating area；
One path decision package, wherein the path decision unit is communicatively connected in a network in the acquiring unit, wherein
The path decision unit includes a path programmed decision-making, and the path planning decision plans a rice transplanting in the operating area
Path, wherein the path planning decision includes being determined between two neighboring track route according to the seedling row distance of a rice transplanter
Spacing；And
One control unit, wherein described control unit is communicatively connected in a network in the path decision unit, wherein described
Control unit controls the rice transplanter and carries out rice transplanting operation along the rice transplanting path.
According to one embodiment of present invention, the acquiring unit includes that the critical point being mutually communicatively coupled obtains
Module, a boundary obtain module and an area determination module, wherein the critical point, which obtains module, obtains one to rice transplanting plot
A series of critical points, the boundary obtains the boundary that module obtains the formation of the line between the two neighboring critical point, institute
It states area determination module and the operating area is determined according to the boundary that the boundary obtains module acquisition.
According to one embodiment of present invention, the acquiring unit further comprises a dozen point modules, and the critical point obtains
Modulus block, which is communicatively connected in a network, gets module ready in described, wherein it is described get module ready and got ready when, the critical point obtains
The location information that modulus root tuber is provided according to a locating module obtains the critical point to rice transplanting plot.
Other side under this invention, the present invention further provides a rice transplanters comprising:
One car body；
One transplanting portion, wherein the transplanting portion is driveably set to the car body；
An at least seedling disk loadig device, wherein the seedling disk loadig device is arranged at the car body；
One controller, wherein the controller is arranged at the car body, and the controller can control the vehicle
Body is walked along a rice transplanting path；And
One conversion equipment, wherein the conversion equipment is arranged at the car body and is controllably connected to the control
Device, wherein the conversion equipment can shift the seedling disk for being loaded on the seedling disk loadig device to the transplanting portion, to permit
Perhaps seedling disk described in the described transplanting portion transplanting.
According to one embodiment of present invention, the seedling disk loadig device is removably installed in the car body.
According to one embodiment of present invention, the quantity of the seedling disk loadig device is six.
According to one embodiment of present invention, the seedling disk loadig device includes that a support unit and at least one transmission are single
Member, wherein the support unit include two support plates and have an accommodation space, the accommodation space be formed in two it is opposite
Between the support plate being arranged, wherein the transmission unit includes two shafts and a transmission belt, the both ends of two shafts
It is rotatably installed on two support plates respectively, the both ends of the transmission belt are arranged at two shafts respectively,
So that the transmission belt is rotatably held in the accommodation space of the support unit.
According to one embodiment of present invention, the transmission unit includes a driven gear, and the driven gear is set
The end of a shaft in two shafts.
According to one embodiment of present invention, the transmission unit include two driven gears, two of the transmission unit
The end of the shaft is equipped with the driven gear respectively, and two driven gears are maintained at the transmission belt
Opposite side.
According to one embodiment of present invention, the conversion equipment includes a telescopic arm and a converting unit, wherein described
Converting unit further comprises a frame, a driving motor, a drive shaft, a roller bearing and a transmission belt, and the frame is set
It is placed in the free end of the telescopic arm, the driving motor is arranged at the frame, the drive shaft and roller bearing difference
It is rotatably installed on the end of the frame, and the drive shaft is driveably connected to the driving motor, institute
The both ends for stating transmission belt are arranged at the drive shaft and the roller bearing respectively.
According to one embodiment of present invention, the conversion equipment includes a telescopic arm and a converting unit, wherein described
Converting unit further comprises a frame, a driving motor, a drive shaft, a roller bearing, a transmission belt, a driving wheel and a side
It is taken turns to adjustment, the frame is arranged at the free end of the telescopic arm, and the driving motor is arranged at the frame, described
Drive shaft and the roller bearing are rotatably installed on the end of the frame respectively, and the drive shaft is driveably connected
It is connected to the driving motor, the both ends of the transmission belt are arranged at the drive shaft and the roller bearing, the driving wheel respectively
It is arranged at the drive shaft, the direction adjustment wheel is connected to the driving wheel engagedly.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of existing rice transplanter.
Fig. 2 is the stereoscopic schematic diagram of a rice transplanter of a preferred embodiment under this invention.
Fig. 3 is the decomposition diagram of the rice transplanter of above-mentioned preferred embodiment under this invention.
Fig. 4 is the seedling disk loadig device of the seedling disk loadig device of the rice transplanter of above-mentioned preferred embodiment under this invention
Decomposition diagram.
Fig. 5 is the decomposition diagram of the conversion equipment of the rice transplanter of above-mentioned preferred embodiment under this invention.
Fig. 6 A is one of the rice transplanting process of the rice transplanter of above-mentioned preferred embodiment under this invention schematic diagram.
Fig. 6 B is two schematic diagrames of the rice transplanting process of the rice transplanter of above-mentioned preferred embodiment under this invention.
Fig. 6 C is three schematic diagrames of the rice transplanting process of the rice transplanter of above-mentioned preferred embodiment under this invention.
Fig. 6 D is four schematic diagrames of the rice transplanting process of the rice transplanter of above-mentioned preferred embodiment under this invention.
Fig. 6 E is five schematic diagrames of the rice transplanting process of the rice transplanter of above-mentioned preferred embodiment under this invention.
Fig. 6 F is six schematic diagrames of the rice transplanting process of the rice transplanter of above-mentioned preferred embodiment under this invention.
Fig. 6 G is seven schematic diagrames of the rice transplanting process of the rice transplanter of above-mentioned preferred embodiment under this invention.
Fig. 7 A is the schematic diagram of a rice transplanting method of a preferred embodiment under this invention, and which illustrate one rice transplanting roads of planning
One mode of diameter.
Fig. 7 B is the schematic diagram of the rice transplanting method of above-mentioned preferred embodiment under this invention, and which illustrate described in planning
Another mode in rice transplanting path.
Fig. 7 C is the schematic diagram of the rice transplanting method of above-mentioned preferred embodiment under this invention, and which illustrate the rice transplantings
Machine is according to the rice transplanting process in the rice transplanting path.
Fig. 8 is the schematic diagram of a rice seedlings transplanting system of a preferred embodiment under this invention.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" or position are closed
System is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned art
Language is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
With reference to Figure of description of the invention attached drawing 2 to Fig. 5, a rice transplanter 1 of a preferred embodiment under this invention
It is disclosed for and is set forth in following description, wherein the rice transplanter 1 includes a car body 10, a transplanting portion 20 and at least
One seedling disk loadig device 30, wherein the transplanting portion 20 is driveably set to the car body 10, each seedling disk is loaded
Device 30 is arranged at the car body 10 respectively.One or more seedling disk can be loaded on the seedling disk loadig device 30,
Wherein the car body 10 travel during, the transplanting portion 20 can transplanting be loaded on the seedling disk loadig device 30
The seedling disk, to carry out rice transplanting operation by the rice transplanter 1.
It is noted that the quantity of the seedling disk loadig device 30 is unrestricted in the rice transplanter 1 of the invention,
Wherein the quantity of the seedling disk loadig device 30 is related to the rice transplanting line number of the rice transplanter 1.For example, being shown in attached drawing 2 to Fig. 5
The rice transplanter 1 this preferable examples in, the quantity of the seedling disk loadig device 30 is six, thus the rice transplanter 1
It being capable of synchronously six row rice shoot of transplanting.Optionally, in the other example of the rice transplanter 1 of the invention, the seedling disk
The quantity of loading attachment 30 can be three, so that the rice transplanter 1 being capable of synchronously three row rice shoot of transplanting.
In a preferable examples of the rice transplanter 1 of the invention, the seedling disk loadig device 30 is fixedly arranged
In the car body 10, so that seedling disk, which can be added, is loaded into the seedling after car body 10 traveling to seedling disk supplements place
Disk loadig device 30.
In this preferable examples of attached drawing 2 to the rice transplanter 1 shown in Fig. 5, the seedling disk loadig device 30 is by can
It is releasably installed on the car body 10, so that the rice transplanter 1 allows the seedling disk loadig device 30 by from the car body 10
Supplement loads the seedling disk after upper disassembly.For example, loaded in the seedling disk loadig device 30 for being installed in the car body 10
The seedling disk by 20 transplanting of transplanting portion it is complete after, by dismantling the idle seedling disk loadig device from the car body 10
30 can rapidly supplement institute in the mode of the car body 10 with the seedling disk loadig device 30 for being mounted with the seedling disk
Seedling disk is stated in the rice transplanter 1, to guarantee the continuity of the rice transplanting operation of the rice transplanter 1 and guarantee rice transplanting efficiency.
In this preferable examples of attached drawing 2 to the rice transplanter 1 shown in Fig. 5, each of described rice transplanter 1 seedling
Disk loadig device 30 is independent from each other, to allow each seedling disk loadig device 30 can be separately by from described
It is dismantled on car body 10 or each seedling disk loadig device 30 can separately be installed in the car body 10, so as to
In the supplement seedling disk in the rice transplanter 1.
It is noted that installing the seedling disk loadig device 30 in the mode of the car body 10, described in of the invention
It is unrestricted in rice transplanter 1, for example, the seedling disk loadig device 30 can be riveted in the car body 10, Huo Zhetong by rivet
The seedling disk loadig device 30 can be clamped in the car body 10 by crossing clip.
With continued reference to attached drawing 2 to Fig. 5, the seedling disk loadig device 30 is including a support unit 31 and is arranged at institute respectively
An at least transmission unit 32 for support unit 31 is stated, wherein the support unit 31 is removably installed in the car body 10,
Wherein the transmission unit 32 is for carrying the seedling disk.That is, the seedling disk can be to be held by the transmission unit 32
The mode of load is loaded on the seedling disk loadig device 30.
The support unit 31 is including two support plates 311 and has an accommodation space 312, support plate described in two of them
311 are oppositely disposed, to form the accommodation space 312 between two support plates 311.Each transmission unit
32 respectively include two shafts 321 and a transmission belt 322, and the both ends of shaft 321 described in two of them are each extended over can be turned
It is installed on two support plates 311 dynamicly, so that two shafts 321 are maintained at and are formed in two support plates
The accommodation space 312 between 311, and two shafts 321 are in the same height, wherein the transmission belt 322
Both ends be rotatablely arranged at each shaft 321 respectively so that the transmission belt 322 is by being rotatably held in
State the accommodation space 312 of support unit 31.
Specifically, the shaft 321 when the transmission unit 32 is done by driving relative to the support unit 31
When the rotation of the support plate 311, the shaft 321 is able to drive the transmission belt 322 and synchronously does relative to the support
The rotation of plate 311, to drive the seedling disk for being carried on the transmission belt 322 to change position.For example, described in of the invention
In one specific example of rice transplanter 1, the transmission belt 322 is the belt with rough surface, to work as the shaft
321 when being done the rotation relative to the support plate 311 by driving, by be formed in the shaft 321 and the transmission belt 322 it
Between frictional force, the shaft 321 is able to drive the transmission belt 322 and synchronously does rotation relative to the support plate 311.
In another specific example of the rice transplanter 1 of the invention, the transmission belt 322 is a chain belt, and the shaft 321 is
One gear shaft, thus when the shaft 321 does the rotation relative to the support plate 311 by driving, 321 energy of shaft
The transmission belt 322 is enough driven synchronously to do the rotation relative to the support plate 311.
It is noted that the type of the support plate 311 of the support unit 31 is in the rice transplanter 1 of the invention
In it is unrestricted.For example, the support plate 311 of the support unit 31 can be entity plate, it is also possible to hollow out plate.
In addition, the shaft 321 is rotatably installed on the mode of the support plate 311 in the rice transplanter 1 of the invention not
It is restricted.For example, the shaft 321 can be rotatably installed in the support plate 311 by bearing.
In this specific example of attached drawing 2 to the rice transplanter 1 shown in Fig. 5, the seedling disk loadig device 30 includes
Multiple transmission units 32, wherein each transmission unit 32 is in a manner of being spaced apart from each other along the support unit 31
Short transverse setting, in this way, the seedling disk loadig device 30 can carry the greater number of seedling disk, to protect
It demonstrate,proves the continuity of the rice transplanting operation of the rice transplanter 1 and improves the rice transplanting efficiency of the rice transplanter 1.
Further, the support unit 31 includes a top plate 313 and a bottom plate 314, support plate 311 described in two of them
High-end upwardly extended respectively to be installed in the bottom plate of the top plate 313 and two support plates 311 and point be by the downwardly extending
To be installed in the bottom plate 314, to make two support plates 311 by phase by the top plate 313 and the bottom plate 314
It is arranged over the ground.Correspondingly, the top plate 313 of the support unit 31 and the bottom plate 314 can be entity plate, can also be with
It is hollow out plate.
With continued reference to attached drawing 2 to Fig. 5, the transmission unit 32 includes an at least driven gear 323, wherein at least one institute
The end for stating shaft 321 is equipped with the driven gear 323, wherein being done by driving relative to institute in the driven gear 323
When stating the rotation of the support plate 311 of support unit 31, the driven gear 323 drives the shaft 321 synchronously to do phase
Rotation for the support plate 311 of the support unit 31, and then the shaft 321 drives the transmission belt 322 in institute
State the rotation that the support plate 311 relative to the support unit 31 is done in the accommodation space 312 of support unit 31.
It is noted that the driven gear 323 and the shaft 321 of the transmission unit 32 can be integral type
Structure is also possible to split type structure.
It's also worth mentioning that although in this specific example of attached drawing 2 to the rice transplanter 1 shown in Fig. 5, with institute
The end for stating two shafts 321 of transmission unit 32, which is equipped with respectively for the driven gear 323, illustrates this hair
The content and feature of the bright rice transplanter 1, it will be understood by those skilled in the art that in the rice transplanting of the invention
In the other example of machine 1, only by the end of a shaft 321 in the shaft 321 of two of the transmission unit 32
Portion is equipped with the driven gear 323, wherein described turn for being equipped with the driven gear 323 of the transmission unit 32
Axis 321 forms an active rotating shaft, and correspondingly, another described shaft 321 forms a driven spindle, so that the transmission is single
The both ends of the active rotating shaft and the both ends of the driven spindle of member 32 are each extended over to be rotatably installed on the branch
The support plate 311 of unit 31 is supportted, the both ends of the transmission belt 322 are arranged at the active rotating shaft and described driven respectively
Shaft, so that the transmission belt 322 is rotatably held in the accommodation space 312 of the support unit 31.
In this specific example of attached drawing 2 to the rice transplanter 1 shown in Fig. 5, two institutes of the transmission unit 32
It states driven gear 323 and is located at the not ipsilateral of the transmission belt 322 at the both ends of the transmission belt 322, side in this way
Formula, there are two installation directions for the tool of seedling disk loadig device 30, in order to be quickly installed the seedling disk loadig device 30 in institute
State car body 10.In addition, the driven gear 323 of the transmission unit 32 can be located at the support of the support unit 31
The outside of plate 311 can also be located between two support plates 311 of the support unit 31.
With continued reference to attached drawing 2 to Fig. 5, the rice transplanter 1 of the invention further comprises an at least conversion equipment 40, wherein
The conversion equipment 40 is arranged at the car body 10, wherein the conversion equipment 40 is for converting the seedling disk loadig device 30
Position to the transplanting portion 20 of the seedling disk loaded, to carry out rice transplanting operation by the transplanting portion 20.Preferably, described turn
Changing device 40 drives the shaft 321 to do phase by way of driving the driven gear 323 by the driven gear 323
Rotation for the support plate 311 of the support unit 31, and then the transmission belt 322 is driven by the shaft 321
The rotation of the support plate 311 relative to the support unit 31 is done, is carried on described in the transmission belt 322 with conversion
The position of seedling disk to the transplanting portion 20, to carry out rice transplanting operation by the transplanting portion 20.
Further, the conversion equipment 40 includes a telescopic arm 41 and a converting unit 42, wherein the telescopic arm 41
With an installation end 411 and corresponding to a free end 412 of the installation end 411, the installation end 411 of the telescopic arm 41
It is installed in the car body 10, the converting unit 42 is installed in the free end 412 of the telescopic arm 41.It is described flexible
The state of arm 41 can move the converting unit 42 to the seedling disk loadig device 30 after being adjusted and load the seedling disk
The gradient of position, the converting unit 42 can be adjusted, single to allow the converting unit 42 to be maintained at the transmission
Between the end and the transplanting portion 20 of the transmission belt 322 of member 32, wherein described in being driven when the converting unit 42
The driven gear 323 of transmission unit 32 is rotated to drive the transmission belt 322 to do the institute relative to the support unit 31
When stating the rotation of support plate 311, the seedling disk for being carried on the transmission belt 322 can be transferred to the converting unit
42, and then it is transferred to the transplanting portion 20, to carry out rice transplanting operation by the transplanting portion 20 subsequent.
Preferably, the installation end 411 of the telescopic arm 41 of the conversion equipment 40 is movably mounted in institute
Car body 10 is stated, to allow the conversion equipment 40 that can shift the position for the seedling disk that each seedling disk loadig device 30 loads
It sets to the transplanting portion 20.For example, the car body 10 provides a track, the institute of the telescopic arm 41 of the conversion equipment 40
The track that installation end 411 is slidably mounted on the car body 10 is stated, so that the peace of the telescopic arm 41
Dress end 411 is movably mounted in the car body 10, when the installation end 411 of the telescopic arm 41 is in the car body 10
When sliding on the track, the converting unit 42 of the conversion equipment 40 can correspond respectively to different seedling disk dresses
Carry set 30 the transmission belt 322.
With continued reference to attached drawing 2 to Fig. 5, the converting unit 42 further comprises a frame 421, a driving motor 422, one
Drive shaft 423, a roller bearing 424, a transmission belt 425, a driving wheel 426 and direction adjustment wheel 427.421 quilt of frame
It is installed on the free end 412 of the telescopic arm 41, the driving motor 422 is installed in the frame 421, the driving
Axis 423 and the roller bearing 424 are installed in the both ends of the frame 421 respectively, and the drive shaft 423 is driveably connected
It is connected to the driving motor 422, the both ends of the transmission belt 425 are installed in the drive shaft 423 and the roller bearing respectively
424, the driving wheel 426 is arranged at the end of the drive shaft 423, and the direction adjustment wheel 427 is connected to engagedly
The driving wheel 426.It is adjusted in the posture (position and/or gradient) of the converting unit 42, so that the converting unit
42 transmission belt 425 is maintained at an end and the transplanting portion for the transmission belt 322 of the transmission unit 32
When between 20, the direction adjustment wheel 427 of the converting unit 42 is engaged in the driven gear of the transmission unit 32
323.Turn when the driving motor 422 of the converting unit 42 drives the drive shaft 423 to do relative to the frame 421
When moving to drive the transmission belt 425 to do the rotation relative to the frame 421, the driving motor 422 passes through the direction
The driven gear 323 of the 427 driving transmission unit 32 of adjustment wheel does the support relative to the support unit 31
The rotation of plate 311, and then the drive transmission belt 322 does the rotation of the support plate 311 relative to the support unit 31,
In this way, the seedling disk for being carried on the transmission belt 322 of the transmission unit 32 can be transferred to institute
The transmission belt 425 of converting unit 42 is stated, and then is transferred to the transplanting portion 20, it is slotting to be carried out by the transplanting portion 20
Seedling operation.Pass through the adjustment of the direction adjustment wheel 427 of the converting unit 42, the transmission belt of the transmission unit 32
322 rotation direction is consistent with the rotation direction of the transmission belt 425 of the converting unit 42, to be carried on the biography
The seedling disk of the transmission belt 322 of defeated unit 32 can be transferred to the transmission belt 425 of the converting unit 42, into
And it is transferred to the transplanting portion 20.
In this specific example of the rice transplanter 1 of the invention, the converting unit 42 of the conversion equipment 40
The driving motor 422 can drive the seedling disk loadig device 30 the transmission unit 32 the driven gear 323
The rotation of the support plate 311 relative to the support unit 31 is done, so that the seedling disk loadig device 30 can be one
Passive loading attachment, that is, the seedling disk loadig device 30 does not need that any power source is individually arranged, in this way,
The structure of the seedling disk loadig device 30 can be simplified, to guarantee the reliability of the seedling disk loadig device 30 and make the seedling
30 lighting of disk loadig device.
Attached drawing 6A to Fig. 6 G shows the work flow of the rice transplanter 1.
With reference to attached drawing 6A, the seedling disk is loaded in the seedling disk loadig device 30.Preferably, shown in attached drawing 2 to Fig. 5
In this preferable examples of the rice transplanter 1, the transmission belt 322 of the transmission unit 32 can carry two seedlings
Disk, one of them described seedling disk are loaded from an end of the transmission belt 322, another described seedling disk is from the transmission belt
322 another end is loaded.Optionally, in the other example of the rice transplanter 1 of the invention, the transmission is single
The transmission belt 322 of member 32 can carry three seedling disks, wherein loading a seedling disk in the transmission belt 322
Later, by the way that the transmission belt 322 can be rotated by way of rotating the driven gear 323 of the transmission unit 32 manually,
To drive the seedling disk to be moved to the middle part of the seedling disk loadig device 30, then proceed to a seedling disk from the transmission
An end with 322 is loaded into the seedling disk loadig device 30, and by another described seedling disk from the another of the transmission belt 322
One end is loaded into the seedling disk loadig device 30.
With reference to attached drawing 6B, the seedling disk loadig device 30 of the seedling disk is mounted with to the car body 10.In this hair
It, can be through but not limited to bolt or the fixed seedling disk loadig device 30 of clip and the vehicle in the bright rice transplanter 1
Body 10, to guarantee the stability and reliability of the installation relation of the seedling disk loadig device 30 and the car body 10.
The conversion equipment is adjusted first when carrying out rice transplanting operation by the rice transplanter 1 with reference to attached drawing 6C and Fig. 6 D
The posture of 40 telescopic arm 41, so that the converting unit 42 corresponds to the transmission belt 322 of the transmission unit 32
An end, the secondly posture of the transmission belt 425 of the adjustment converting unit 42, so that the transmission belt 425 is protected
It holds between the transmission belt 322 and the transplanting portion 20, and 427 engagement of direction adjustment wheel of the converting unit 42
In the driven gear 323 of the transmission unit 32.
With reference to attached drawing 6E to Fig. 6 G, when the driving motor 422 of the converting unit 42 is to drive the drive shaft 423
When the mode of rotation drives the transmission belt 325 to do the rotation relative to the frame 421, the driving motor 422 passes through institute
Driving wheel 426 and direction adjustment wheel 427 are stated to drive the driven gear 323 of the transmission unit 32 to do relative to institute
The mode for stating the rotation of the support plate 311 of support unit 31 drives the transmission belt 322 to do relative to the support unit 31
The support plate 311 rotation, so that the transmission belt 322 for being carried on the transmission unit 32 is transferred to described turn
The transmission belt 425 for changing unit 42 is then transferred to the transplanting portion 20, to carry out rice transplanting work by the transplanting portion 20
Industry.
With continued reference to attached drawing 2 to Fig. 5, the rice transplanter 1 further comprises a controller 50, wherein 50 quilt of the controller
It is set to the car body 10, and the car body 10 and the conversion equipment 40 are controllably connected to the controller respectively
50.The controller 50 can control the car body 10 and travel, for example, the controller 50 can control the car body 10 along
Particular course traveling.The controller 50 can control the telescopic arm 41 and the converting unit 42 of the conversion equipment 40
Posture, for example, the controller 50 can control the transmission that the telescopic arm 41 stretches, adjusts the converting unit 42
With 425 gradient, the rotary state of the driving motor 422 of the control converting unit 42 etc..
It is noted that the type of the controller 50 is unrestricted in the rice transplanter 1 of the invention, as long as
The car body 10 and the conversion equipment 40 can be controlled.For example, the controller 50 can be general processor (CPU)
Perhaps either the controller 50 includes general processor (CPU) or special instruction set to dedicated instruction set processor (ASIP)
Processor (ASIP), in this way, the controller 50 can control 10 edge of car body when executing and including the execution of particular course
Particular course walking or the controller 50 described turn can be controlled when executing comprising telescoping instruction or adjustment instruction
The posture of changing device 40.
The rice transplanter 1 further comprises a locating module 60, wherein the locating module 60 is arranged at the car body
10, for determining the current location of the rice transplanter 1.The type of the locating module 60 is in the rice transplanter 1 of the invention
In it is unrestricted, for example, the locating module 60 can be based on RTK (Real-time kinematic, in real time dynamic) positioning
The module of technology, to improve the accuracy for the current location about the rice transplanter 1 being acquired.
Other side under this invention, the present invention further provides the rice transplanting methods of the rice transplanter 1, wherein described insert
Seedling method includes the following steps: that (a) obtains an operating area 100；(b) by a path programmed decision-making in the operating area
Planning 1 in 100, wherein the path planning decision include determined according to the seedling row distance of the rice transplanter 1 it is two neighboring
Spacing between track route；And (c) control the rice transplanter 1 and carry out rice transplanting operation along described 300, side in this way
Formula, the rice transplanter 1 can autonomously carry out rice transplanting operation, to reduce manually degree of participation during rice transplanting operation,
Develop to be conducive to Rice Cropping industry further towards intensive and intelligentized direction.Preferably, described 300 be in " several " word
Shape, that is, the rice transplanter 1 carries out rice transplanting operation along described the 300 of " several " font.
In the rice transplanting method of the invention, the path planning decision is true according to the seedling row distance of the rice transplanter 1
Spacing between fixed two neighboring track route, in this way, spacing between two seedling rows of arbitrary neighborhood can be by
Guarantee, to be conducive to rice shoot in the growth in later period, this is arriving of can not doing of the rice transplanting operation of pilot steering rice transplanter 1.
Attached drawing 7A shows the example that the rice transplanting method plans described 300 in the operating area 100, packet
Include following steps: (a.1) obtains an image 200a to rice transplanting plot 200；(a.2) in the image to rice transplanting plot 200
200a determines a series of critical point 100a；And (a.3) line between the two neighboring critical point 100a forms the work
One boundary 100b in industry region 100 corresponds to the operating area 100 to rice transplanting plot 200 to obtain.
It is noted that obtaining the mode of the image 200a to rice transplanting plot 200 in the rice transplanting of the invention
It is unrestricted in method, such as the image to rice transplanting plot 200 can be obtained through but not limited to the mode of satellite shooting
200a, wherein the image 200a in the seedling plot 200 to be inserted can be displayed on a display screen, so that operator looks into
It sees.
It's also worth mentioning that the physical location to rice transplanting plot 200 and the image to rice transplanting plot 200
The virtual location of 200a corresponds, that is, the physical location to rice transplanting plot 200 and the figure to rice transplanting plot 200
As 200a virtual location be in mapping relations, therefore, once the virtual location of the image 200a to rice transplanting plot 200 is true
Fixed, then the physical location to rice transplanting plot 200 is determined, correspondingly, once the physical location to rice transplanting plot 200
It is determined, then the virtual location to the image 200a in rice transplanting plot 200 is determined.In attached drawing 7A, operator can be
The corresponding position of the image 200a to rice transplanting plot 200 is got ready, with a series of critical point 100a of determination.It is preferred that
Ground, operator is in the image 200a to rice transplanting plot 200 intersecting point shown and/or the image to rice transplanting plot
The position of the interface point in cultivable region and barrier that 200a is shown is got ready, with a series of critical points of determination
100a.Operator the mode that the image 200a to rice transplanting plot 200 is got ready can be mark position in it is described to
The image 200a in rice transplanting plot 200.Line between the two neighboring critical point 100a forms the one of the operating area 100
A boundary 100b, therefore, a series of boundary 100b form the operating area 100.
Attached drawing 7B shows another example that the rice transplanting method plans described 300 in the operating area 100,
Include the following steps: (a.1') to obtain a series of critical point 100a to rice transplanting plot 200；(a.2') two neighboring institute
The boundary 100b that the line between critical point 100a forms the operating area 100 is stated, to obtain corresponding to described to be inserted
The operating area 100 in seedling plot 200.Specifically, in attached drawing 7B, operator controls the rice transplanter 1 along described
Edge (such as round described ridge to rice transplanting plot) to rice transplanting plot 200 is walked, described to rice transplanting plot 200 encountering
Intersecting point and/or described when the interface point in cultivable region and barrier in rice transplanting plot 200, operator it is described to
The intersecting point in rice transplanting plot 200 and/or the interface point to cultivable region and barrier in rice transplanting plot 200 are beaten
Point, in this way, a series of critical point 100a are determined.For example, encountering turn to rice transplanting plot 200
Angle point and/or described when the interface point in cultivable region and barrier in rice transplanting plot, operator are based on RTK (Real-
Time kinematic, in real time dynamic) location technology the intersecting point to rice transplanting plot 200 and/or it is described to rice transplanting
The interface point in cultivable region and barrier in block 200 is positioned, with a series of critical point 100a of determination.Adjacent two
Line between a critical point 100a forms a boundary 100b of the operating area 100, therefore, a series of boundaries
100b forms the operating area 100.
With reference to attached drawing 7A and Fig. 7 B, the seedling row distance of the rice transplanter 1 is provided, to allow the path planning decision root
According to the seedling row distance of the rice transplanter 1 and operating area planning described 300, to match described 300 and the operating area
100, in this way, the rice transplanter 1 according to it is described 300 carry out rice transplanting operation after, two seedling rows of arbitrary neighborhood it
Between spacing can be guaranteed, to be conducive to rice shoot in the growth in later period, with reference to attached drawing 7C.
With reference to the attached drawing 8 of Figure of description of the invention, a rice seedlings transplanting system of another preferred embodiment under this invention exists
It is disclosed for and is set forth in following description, wherein the rice seedlings transplanting system includes that one be mutually communicatively coupled obtains list
First 1000, one path decision package 2000 and a control unit 3000.The acquiring unit 1000 obtains the operating area
100.The path decision unit 2000 includes the path planning decision, and the path planning decision is in the operating area
Planning described 300 in 100, wherein the path planning decision includes determining adjacent two according to the seedling row distance of the rice transplanter 1
Spacing between a track route.The controller 50 controls the rice transplanter 1 and carries out rice transplanting operation along described 300, passes through
Such mode, the spacing between two seedling rows of arbitrary neighborhood can be guaranteed, to be conducive to rice shoot in the growth in later period.
Further, the acquiring unit 1000 includes that the critical point being mutually communicatively coupled obtains module
1001, a boundary obtains module 1002 and an area determination module 1003.The critical point acquisition module 1001 obtains described
To a series of critical point 100a in rice transplanting plot 200, the boundary obtains module 1002 and obtains the two neighboring critical point
The boundary 100b that line between 100a is formed, the area determination module 1003 obtain module 1002 according to the boundary and obtain
Boundary 100b determine the operating area 100.
Further, the acquiring unit 1000 includes a dozen point modules 1004, and the critical point obtains module 1001
Be communicatively connected in a network and get module 1004 ready in described, wherein it is described get module 1004 ready and got ready when, the critical point
It obtains the location information that module 1001 is provided according to the locating module 60 and obtains the critical point to rice transplanting plot 200
100a.For example, when the rice transplanter 1 drive to it is described when the corner in rice transplanting plot 200, it is described get module 1004 ready can
Obtain the current location of the rice transplanter 1 by the locating module 60 of the rice transplanter 1 to complete to get ready operation, it is described to face
Boundary's point obtains module 1001 from the current location got module 1004 ready and obtain the rice transplanter 1, and determines the current location
For critical point 100a, subsequent, the boundary obtains module 1002 by determining the line between two neighboring critical point 100a
Mode obtain boundary 100b and the area determination module 1003 operation area obtained by each boundary 100b of connecting
Domain 100.
It will be appreciated by those skilled in the art that above embodiments are only for example, wherein the feature of different embodiments
It can be combined with each other, with the reality that the content disclosed according to the present invention is readily conceivable that but is not explicitly pointed out in the accompanying drawings
Apply mode.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention exists
It shows and illustrates in embodiment, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (20)
1. the rice transplanting method of a rice transplanter, which is characterized in that the rice transplanting method includes the following steps:
(a) operating area is obtained；
(b) a rice transplanting path is planned in the operating area by a path programmed decision-making, wherein the path planning decision
The spacing between two neighboring track route is determined including the seedling row distance according to the rice transplanter；And
(c) it controls the rice transplanter and carries out rice transplanting operation along the rice transplanting path.
2. rice transplanting method according to claim 1, wherein the step (a) further comprises step:
Obtain an image to rice transplanting plot；
A series of critical points are determined in the image to rice transplanting plot；And
Line between the two neighboring critical point forms a boundary of the operating area, with obtain correspond to it is described to
The operating area in rice transplanting plot.
3. rice transplanting method according to claim 1, wherein the step (a) further comprises step:
Obtain a series of critical points to rice transplanting plot；With
Line between the two neighboring critical point forms a boundary of the operating area, with obtain correspond to it is described to
The operating area in rice transplanting plot.
4. rice transplanting method according to claim 3, wherein the critical point be the intersecting point to rice transplanting plot and/or
The interface point to cultivable region and barrier in rice transplanting plot.
5. according to claim 1 to any rice transplanting method in 4, wherein the step (c) further comprises step:
(c.1) posture for adjusting a transmission belt of a converting unit of the rice transplanter, so that the both ends of the transmission belt are distinguished
The end of a transmission belt corresponding to a seedling disk loadig device and a transplanting portion；
(c.2) transmission belt and the transmission belt is driven to do the rotation of the same direction, synchronously to turn by the transmission belt
It moves and is carried on a seedling disk of the transmission belt to the transplanting portion；And
(c.3) when the rice transplanter is walked along the rice transplanting path, seedling disk described in transplanting portion transplanting is driven, to carry out
Rice transplanting operation.
6. rice transplanting method according to claim 5, wherein the step (c.2) further comprises step:
(c.2.1) driving motor of the converting unit drives the transmission belt rotation by a drive shaft；
(c.2.2) for the drive shaft when driving driving wheel rotation, adjustment wheel in one direction of driving does the rotation of opposite direction；
(c.2.3) the direction adjustment wheel drives a shaft in the driven gear rotation for driving the seedling disk loadig device
Do the rotation of the support plate relative to the seedling disk loadig device；And
(c.2.4) shaft drives the transmission belt to do the rotation relative to the support plate, so that the transmission belt and institute
It states transmission belt and is driven the rotation for doing the same direction.
7. rice transplanting method according to claim 5, wherein installation has been loaded the seedling before the step (c.1)
The seedling disk loadig device of disk is in a car body of the rice transplanter.
8. rice transplanting method according to claim 6, wherein installation has been loaded the seedling before the step (c.1)
The seedling disk loadig device of disk is in a car body of the rice transplanter.
9. a rice seedlings transplanting system characterized by comprising
One acquiring unit, wherein the acquiring unit obtains an operating area；
One path decision package, wherein the path decision unit is communicatively connected in a network in the acquiring unit, wherein described
Path decision unit includes a path programmed decision-making, and the path planning decision plans a rice transplanting road in the operating area
Diameter, wherein the path planning decision includes being determined between two neighboring track route according to the seedling row distance of a rice transplanter
Spacing；And
One control unit, wherein described control unit is communicatively connected in a network in the path decision unit, wherein the control
Unit controls the rice transplanter and carries out rice transplanting operation along the rice transplanting path.
10. rice seedlings transplanting system according to claim 9, wherein the acquiring unit includes that one be mutually communicatively coupled faces
Boundary's point obtains module, a boundary obtains module and an area determination module, wherein the critical point obtain module obtain one to
A series of critical points in rice transplanting plot, the boundary obtain module and obtain the formation of the line between the two neighboring critical point
Boundary, the area determination module obtain the boundary that module obtains according to the boundary and determine the operating area.
11. rice seedlings transplanting system according to claim 10, wherein the acquiring unit further comprises a dozen point modules, it is described
Critical point obtains module and is communicatively connected in a network and gets module ready in described, wherein it is described get module ready and got ready when, it is described
Critical point obtains the location information that module is provided according to a locating module and obtains the critical point to rice transplanting plot.
12. a rice transplanter characterized by comprising
One car body；
One transplanting portion, wherein the transplanting portion is driveably set to the car body；
An at least seedling disk loadig device, wherein the seedling disk loadig device is arranged at the car body；
One controller, wherein the controller is arranged at the car body, and the controller can control the car body edge
A rice transplanting path walking；And
One conversion equipment, wherein the conversion equipment is arranged at the car body and is controllably connected to the controller,
Wherein the conversion equipment can shift the seedling disk for being loaded on the seedling disk loadig device to the transplanting portion, to allow
State seedling disk described in the transplanting of transplanting portion.
13. rice transplanter according to claim 12, wherein the seedling disk loadig device is removably installed in the vehicle
Body.
14. rice transplanter according to claim 13, wherein the quantity of the seedling disk loadig device is six.
15. rice transplanter according to claim 13, wherein the seedling disk loadig device includes a support unit and at least one
Transmission unit, wherein the support unit includes two support plates and has an accommodation space, the accommodation space is formed in two
Between the support plate being oppositely arranged, wherein the transmission unit includes two shafts and a transmission belt, two shafts
Both ends be rotatably installed on two support plates respectively, the both ends of the transmission belt are arranged at respectively described in two
Shaft, so that the transmission belt is rotatably held in the accommodation space of the support unit.
16. rice transplanter according to claim 15, wherein the transmission unit includes a driven gear, the driven gear
It is arranged at the end of a shaft in two shafts.
17. rice transplanter according to claim 15, wherein the transmission unit includes two driven gears, the transmission unit
The ends of two shafts be equipped with the driven gear respectively, and two driven gears be maintained at it is described
The opposite side of transmission belt.
18. rice transplanter according to claim 15, wherein the conversion equipment includes a telescopic arm and a converting unit,
Described in converting unit further comprise a frame, a driving motor, a drive shaft, a roller bearing and a transmission belt, the frame
Frame is arranged at the free end of the telescopic arm, and the driving motor is arranged at the frame, the drive shaft and the rolling
Axis is rotatably installed on the end of the frame respectively, and the drive shaft is driveably connected to the driving electricity
Machine, the both ends of the transmission belt are arranged at the drive shaft and the roller bearing respectively.
19. rice transplanter according to claim 16, wherein the conversion equipment includes a telescopic arm and a converting unit,
Described in converting unit further comprise a frame, a driving motor, a drive shaft, a roller bearing, a transmission belt, a driving wheel with
And a direction adjustment wheel, the frame is arranged at the free end of the telescopic arm, and the driving motor is arranged at the frame
Frame, the drive shaft and the roller bearing are rotatably installed on the end of the frame respectively, and drive shaft quilt can
It is drivingly coupled to the driving motor, the both ends of the transmission belt are arranged at the drive shaft and the roller bearing, institute respectively
It states driving wheel and is arranged at the drive shaft, the direction adjustment wheel is connected to the driving wheel engagedly.
20. rice transplanter according to claim 17, wherein the conversion equipment includes a telescopic arm and a converting unit,
Described in converting unit further comprise a frame, a driving motor, a drive shaft, a roller bearing, a transmission belt, a driving wheel with
And a direction adjustment wheel, the frame is arranged at the free end of the telescopic arm, and the driving motor is arranged at the frame
Frame, the drive shaft and the roller bearing are rotatably installed on the end of the frame respectively, and drive shaft quilt can
It is drivingly coupled to the driving motor, the both ends of the transmission belt are arranged at the drive shaft and the roller bearing, institute respectively
It states driving wheel and is arranged at the drive shaft, the direction adjustment wheel is connected to the driving wheel engagedly.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270461.3A CN110366913A (en) | 2019-04-04 | 2019-04-04 | Rice transplanter and its rice transplanting method and rice seedlings transplanting system |
| JP2021557697A JP7295969B2 (en) | 2019-04-04 | 2019-09-18 | Rice planting method and rice planting system |
| PCT/CN2019/106300 WO2020199516A1 (en) | 2019-04-04 | 2019-09-18 | Transplanter, transplanting method therefor, and transplanting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270461.3A CN110366913A (en) | 2019-04-04 | 2019-04-04 | Rice transplanter and its rice transplanting method and rice seedlings transplanting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110366913A true CN110366913A (en) | 2019-10-25 |
Family
ID=68248442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910270461.3A Withdrawn CN110366913A (en) | 2019-04-04 | 2019-04-04 | Rice transplanter and its rice transplanting method and rice seedlings transplanting system |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7295969B2 (en) |
| CN (1) | CN110366913A (en) |
| WO (1) | WO2020199516A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020199531A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技股份有限公司 | Rice transplanter and rice transplantation method therefor |
| WO2020199533A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技股份有限公司 | Rice seedling transplanting method of rice transplanter |
| WO2020199529A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技股份有限公司 | Intensive seedling loading apparatus and seedling tray loading method, and rice transplanter |
| CN114467433A (en) * | 2022-03-18 | 2022-05-13 | 江苏玖顺农业机械有限公司 | Automatic transplanting device for new energy rice transplanter |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114586511B (en) * | 2022-03-21 | 2022-11-15 | 江苏玖顺农业机械有限公司 | High-speed rice transplanter with high-speed film covering function |
| CN114651695B (en) * | 2022-04-08 | 2023-01-31 | 扬州市职业大学(扬州开放大学) | Rice planting is with preventing seedling fixing device of rupture |
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| WO2020199531A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技股份有限公司 | Rice transplanter and rice transplantation method therefor |
| WO2020199533A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技股份有限公司 | Rice seedling transplanting method of rice transplanter |
| WO2020199529A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技股份有限公司 | Intensive seedling loading apparatus and seedling tray loading method, and rice transplanter |
| CN114467433A (en) * | 2022-03-18 | 2022-05-13 | 江苏玖顺农业机械有限公司 | Automatic transplanting device for new energy rice transplanter |
Also Published As
| Publication number | Publication date |
|---|---|
| JP7295969B2 (en) | 2023-06-21 |
| WO2020199516A1 (en) | 2020-10-08 |
| JP2022528527A (en) | 2022-06-14 |
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