CN105794373B - A kind of device of filling the gaps with seedlings of automatic transplanter - Google Patents
A kind of device of filling the gaps with seedlings of automatic transplanter Download PDFInfo
- Publication number
- CN105794373B CN105794373B CN201610007501.1A CN201610007501A CN105794373B CN 105794373 B CN105794373 B CN 105794373B CN 201610007501 A CN201610007501 A CN 201610007501A CN 105794373 B CN105794373 B CN 105794373B
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- stepper motor
- seedlings
- gaps
- seedling
- drive roll
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- Life Sciences & Earth Sciences (AREA)
- Transplanting Machines (AREA)
- Soil Sciences (AREA)
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Abstract
The invention discloses a kind of automatic device of filling the gaps with seedlings of field transplanting machine.Transplanter frame is fixedly arranged at the front end with device architecture of filling the gaps with seedlings, and rear end is provided with seed plate conveying device.Seedling picking mechanism is located at the front of seed plate conveying device, in transplanter frame.Fill the gaps with seedlings and be fixed with four rolling bearing units before and after device architecture, its rear end one side is fixed with stepper motor support, and its underpart is fixed with stepper motor driver.Drive roll and follower rollers are installed in parallel in the rear and front end of device architecture of filling the gaps with seedlings by bearing, and conveyer belt tensioning is arranged between drive roll and follower rollers.Stepper motor faces drive roll side on stepper motor support, and its power transmission shaft is connected by shaft coupling with drive roll.Infrared sensor is detected to the seedling taking situation of manipulator, when Programmable Logic Controller judges that seedling picking mechanism does not get seedling, then stepper motor driver, stepper motor driver control stepper motor action are issued a signal to, conveyer belt rotates a certain distance, and dividing plate moves a lattice.The present invention can realize function of filling the gaps with seedlings in good time, and this problem unsuccessful to manipulator seedling taking provides solution.
Description
Technical field
The present invention relates to the automatic device of filling the gaps with seedlings that a kind of crop field automatic transplanter transplants operation, belong to agricultural mechanical technology neck
Domain.
Background technology
Before transplanter is transplanted seedlings, there is the greenhouse automation transplanter dedicated for completion seed plate to fill the gaps with seedlings device, to seed plate
It is short of seedling at hole and is filled the gaps with seedlings, obtain the seed plate that a nothing is short of seedling, sees patent CN104303660；When transplanting machine operation, there is one kind
Self-propelled transplanter with bad seedling removing function, detecting system detects unhealthy seedling and is rejected, then by with pedestrian
Member fills the gaps with seedlings, and sees patent CN104704969.But in transplanter farm work, the situation of seedling is not got if there is manipulator
When, healthy seedling how is filled in time to avoid transplanting cavitation, it is solution as a kind of in good time automatic device of filling the gaps with seedlings
This problem provides a kind of solution.
Transplanter is carried out in the middle of the process of operation, and because hole tray is short of seedling, or manipulator seedling taking is unsuccessful, can all cause to move
Plant cavitation.A kind of automatic device of filling the gaps with seedlings of field transplanting machine, can accomplish to fill the gaps with seedlings in good time, not taken when manipulator is detected
During to seedling, mechanism of filling the gaps with seedlings is acted, and is made to be positioned over the healthy seedling on dividing plate and is slipped in the duckbilled that plants seedlings, and completes to fill the gaps with seedlings.
The content of the invention
The present invention is for the unsuccessful problem for causing to transplant leakage seedling of transplanter seedling taking manipulator seedling taking in background technology, there is provided
A kind of automatic device of filling the gaps with seedlings, to realize whether getting seedling taking manipulator the detection of seedling, so as to be filled the gaps with seedlings in time.
The present invention includes transplanter frame, device architecture of filling the gaps with seedlings, four rolling bearing units, drive roll, follower rollers, transmission
Band, tilting dividing plate, stepper motor support, stepper motor, stepper motor driver, infrared sensor support, infrared sensor, can
Programmable controller；Transplanter frame is fixedly arranged at the front end with device architecture of filling the gaps with seedlings, and rear end is provided with seed plate conveying device.Seedling picking mechanism position
In the front of seed plate conveying device, in transplanter frame；Fill the gaps with seedlings be respectively fixed with device architecture four rolling bearing units,
Stepper motor support and stepper motor driver；Four rolling bearing units are fixed on the top of device architecture of filling the gaps with seedlings, and stepper motor drives
Dynamic device is fixed on the lower section of device architecture of filling the gaps with seedlings；Drive roll installation parallel with follower rollers, conveyer belt is sleeved on drive roll
On follower rollers, the equidistant tilt distribution of conveyer belt upper spacer is on conveyer belt, for depositing healthy seedling；Stepper motor support
Upper placement stepper motor, stepper motor power transmission shaft is connected with the axle that shaft coupling, shaft coupling connect drive roll, is moved with this
Transmission；The rear underface of drive roll is directed at the duckbilled that plants seedlings, and whether infrared sensor is used to detect seedling picking mechanism from seed plate
Get seedling.
The described connecting gear filled the gaps with seedlings on device architecture is specifically included：Drive roll is parallel by bearing with follower rollers
Installed in the both sides of device architecture of filling the gaps with seedlings, conveyer belt tensioning is arranged between drive roll and follower rollers；Stepper motor is just right
Drive roll side on stepper motor support, the power transmission shaft of stepper motor is connected by shaft coupling with drive roll, driven
It is driven by conveyer belt between roller and drive roll.
Described infrared sensor detects that detection signal is input to PLC technology to the seedling taking situation of seedling picking mechanism
In device, judge whether seedling picking mechanism gets seedling after treatment.If it is determined that seedling picking mechanism does not get seedling, then Programmable Logic Controller
Signal input is sent in stepper motor driver, stepper motor driver control stepper motor action, drive roll is rotated, passed
Band is sent to rotate a certain distance, then the healthy seedling on conveyer belt on tilting dividing plate is slipped to the duck of planting seedlings of underface after drive roll
In mouth.When detecting seedling picking mechanism and getting seedling, motor stopping action, conveyer belt stops conveying immediately, on conveyer belt dividing plate
Seedling is maintained on dividing plate.
The invention has the advantages that：The present invention sets up a set of automatic fill the gaps with seedlings device, infrared sensing on transplanter
Device is detected to manipulator seedling taking situation, and signal is fed back into Programmable Logic Controller, and is filled the gaps with seedlings automatically.This is mended automatically
Seedling device can fill up the transplanting unsuccessful vacancy of machine operation seedling taking, it is to avoid transplant cavitation.With reasonable, structure novel in design
Simply, practical the characteristics of.
Brief description of the drawings
Fig. 1 is whole three-dimensional normal axomometric drawing of the invention.
Fig. 2 is whole three-dimensional axonometric drawing of the invention.
Fig. 3 is whole three-dimensional structure side view of the invention.
Fig. 4 is the three dimensional structure diagram of device of entirely filling the gaps with seedlings.
Fig. 5 is the three dimensional structure diagram of device connecting gear of filling the gaps with seedlings.
Fig. 6 is the course of work schematic diagram of device of filling the gaps with seedlings.
In figure：1st, transplanter frame, 2, follower rollers, 3, rolling bearing units, 4, device architecture of filling the gaps with seedlings, 5, conveyer belt, 6, plant
Seedling duckbilled, 7, tilting dividing plate, 8, infrared sensor support, 9, infrared sensor, 10, Programmable Logic Controller, 11, seed plate conveying dress
Put, 12, seedling picking mechanism, 13, drive roll, 14, shaft coupling, 15, stepper motor, 16, stepper motor support, 17, stepper motor
Driver.
Specific embodiment
Below in conjunction with the accompanying drawings and example, technical scheme is further described.
As shown in Figure 1 and Figure 2, the automatic device of filling the gaps with seedlings of a kind of field transplanting machine, its by transplanter frame 1, follower rollers 2,
Rolling bearing units 3, device architecture 4 of filling the gaps with seedlings, conveyer belt 5, the duckbilled 6 that plants seedlings, tilting dividing plate 7, infrared sensor support 8, infrared sensing
Device 9, Programmable Logic Controller 10, seed plate conveying device 11, seedling picking mechanism 12, drive roll 13, shaft coupling 14, stepper motor 15,
Stepper motor support 16, stepper motor driver 17 are constituted.The whole device such as Fig. 3 that fills the gaps with seedlings relies on transplanter frame 1.Fill the gaps with seedlings dress
Put framework 4 and be fixed with four rolling bearing units 3, stepper motor support 16 and stepper motor driver 17.Four rolling bearing units 3 are being mended
The front and rear each of seedling device architecture 4 fixes two, is used to install drive roll and follower rollers, and stepper motor driver 17 is fixed on
Fill the gaps with seedlings the lower section of device architecture 4, for controlling stepper motor 15.Drive roll 13 and the parallel installation of follower rollers 2, conveyer belt 5
Be sleeved on drive roll 13 and follower rollers 2, on conveyer belt tilting dividing plate 7 be equally distributed on conveyer belt 5, for depositing
Healthy seedling.Stepper motor 15 is placed on stepper motor support 16, the power transmission shaft of stepper motor 15 is connected with shaft coupling 14, shaft coupling
The axle of 14 connection drive rolls 13, the transmission moved with this.The rear underface of drive roll 13 is directed at the duckbilled 6 that plants seedlings, and mends
During seedling device action, in causing that the healthy seedling for gliding is accurate and falling the duckbilled 6 that plants seedlings.Infrared sensor 9 is used to detect seedling taking machine
Whether structure 12 gets seedling from the seed plate in seed plate conveying device 11.
Whole device of filling the gaps with seedlings is to depend on original framework of transplanter and exist, and it is by transmission device and control device two
Major part composition.As shown in figure 4, the transmission mechanism filled the gaps with seedlings on device architecture 4 is specifically included：Drive roll 13 and follower rollers 2
The both sides of device architecture 4 of filling the gaps with seedlings are installed in parallel in by bearing, the tensioning of conveyer belt 5 is arranged on drive roll 13 and follower rollers 2
Between, drive roll 13 drives follower rollers 2 to rotate by conveyer belt 5；Stepper motor 15 faces the side of drive roll 13 and is mounted in
On stepper motor support 16, the power transmission shaft of stepper motor 15 is connected by shaft coupling 14 with drive roll 13,15 turns of stepper motor
It is dynamic, drive drive roll 13 to rotate, the transmission moved by conveyer belt 5 between follower rollers 2 and drive roll 13.
The control process of automatic device of filling the gaps with seedlings is as follows：
The infrared sensor 9 for being placed in the side of transplanter frame 1 detects that detection is believed to the seedling taking situation of seedling taking manipulator
Number it is input in Programmable Logic Controller 10, judges whether seedling picking mechanism 12 gets seedling after treatment, does not get seedling and then may be programmed
Controller 10 is issued a signal in stepper motor driver 17, and the control stepper motor 15 of stepper motor driver 17 is acted, actively
Roller 13 is rotated, and whole conveyer belt 5 is rotated, then the seedling on conveyer belt on tilting dividing plate 7 be slipped to drive roll 13 it is rear just under
In the duckbilled 6 that plants seedlings of side.When detecting seedling picking mechanism and getting seedling, motor stopping action, conveyer belt stops conveying, transmission immediately
Also it is maintained on dividing plate with the seedling on dividing plate.
The course of work of the invention is as follows：
As a example by shown in Fig. 1, two seedling picking mechanisms 12 are provided with a pair devices of filling the gaps with seedlings.In the operation of whole transplanter
Before, there is the artificial healthy seedling for placing on tilting dividing plate 7.In transplanter running, two infrared sensors 9 are examined to it respectively
The seedling taking situation of the seedling taking manipulator of survey detected, when thering is one to detect in the case that seedling taking manipulator do not get seedling, with
The corresponding control of stepper motor driver 17 stepper motor 15 of the seedling taking manipulator is rotated, and conveyer belt 5 rotates a certain distance, tiltedly
Put dividing plate 7 and move a lattice, when seedling taking manipulator put this action of seedling, be positioned over healthy seedling on tilting dividing plate 7 just
Slid, healthy seedling is fallen in the duckbilled 6 that plants seedlings.Equally, do not got when two devices of filling the gaps with seedlings are detected simultaneously by seedling taking manipulator
In the case of seedling, the simultaneously mobile one section distance of two conveyer belts, the healthy seedling on dividing plate is slipped to two duckbilleds that plant seedlings respectively
In, complete a process for putting seedling instead of manipulator.When the healthy seedling on dividing plate is surplus there are one or two, there is setting in addition
Alarm send sound, remind staff to carry out putting seedling on conveyer belt dividing plate.
Apparatus of the present invention can fill up the unsuccessful vacancy of seedling taking, it is to avoid transplant cavitation.With reasonable, knot novel in design
Structure is simple, it is practical the characteristics of.
Claims (3)
1. the automatic device of filling the gaps with seedlings of a kind of field transplanting machine, it is characterised in that：Including transplanter frame（1）, device architecture of filling the gaps with seedlings
（4）, rolling bearing units（3）, drive roll（13）, follower rollers（2）, conveyer belt（5）, tilting dividing plate（7）, stepper motor support
（16）, stepper motor（15）, stepper motor driver（17）, infrared sensor support（8）, infrared sensor（9）, programmable control
Device processed（10）；Transplanter frame（1）It is fixedly arranged at the front end with device architecture of filling the gaps with seedlings（4）, rear end is provided with seed plate conveying device（11）；Take
Seedling mechanism（12）Positioned at seed plate conveying device（11）Front, installed in transplanter frame（1）On；Fill the gaps with seedlings device architecture（4）On
It is respectively fixed with four rolling bearing units（3）, stepper motor support（16）And stepper motor driver（17）；Four rolling bearing units
（3）It is fixed on device architecture of filling the gaps with seedlings（4）Top, stepper motor driver（17）It is fixed on device architecture of filling the gaps with seedlings（4）Lower section；
Drive roll（13）And follower rollers（2）Parallel installation, conveyer belt（5）It is sleeved on drive roll（13）And follower rollers（2）On,
Tilting dividing plate（7）Equidistant tilt distribution is in conveyer belt（5）On；Stepper motor support（16）Upper placement stepper motor（15）, step
Stepper motor（15）Power transmission shaft be connected with shaft coupling（14）, shaft coupling（14）Connection drive roll（13）Axle, drive roll
（13）Rear underface alignment plant seedlings duckbilled（6）；Infrared sensor（9）Face seedling picking mechanism（12）On seedling taking manipulator.
2. a kind of automatic device of filling the gaps with seedlings of field transplanting machine according to claim 1, it is characterised in that described dress of filling the gaps with seedlings
Put framework（4）On connecting gear specifically include：Drive roll（13）And follower rollers（2）It is installed in parallel in by bearing and is filled the gaps with seedlings
Device architecture（4）Rear and front end, conveyer belt（5）Tensioning is arranged on drive roll（13）And follower rollers（2）Between；Stepping electricity
Machine（15）Face drive roll（13）Side is mounted in stepper motor support（16）On, stepper motor（15）Power transmission shaft pass through shaft coupling
Device（14）With drive roll（13）Connection, follower rollers（2）And drive roll（13）Between pass through conveyer belt（5）It is driven.
3. the automatic device of filling the gaps with seedlings of a kind of field transplanting machine according to claim 2, it is characterised in that：Infrared sensor
（9）To seedling picking mechanism（12）Seedling taking situation detected that detection signal is input to Programmable Logic Controller（10）In, judge seedling taking
Mechanism（12）Whether seedling is got；If it is determined that seedling picking mechanism does not get seedling, then Programmable Logic Controller（10）Send signal input
To stepper motor driver（17）In, stepper motor driver（17）Control stepper motor（15）Action, drive roll（13）Turn
It is dynamic, conveyer belt（5）Rotate, then tilting dividing plate on conveyer belt（7）Move a lattice；When detecting seedling picking mechanism（12）When getting seedling,
Stepper motor（15）Stopping is acted, conveyer belt（5）Stop operating immediately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007501.1A CN105794373B (en) | 2016-01-07 | 2016-01-07 | A kind of device of filling the gaps with seedlings of automatic transplanter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610007501.1A CN105794373B (en) | 2016-01-07 | 2016-01-07 | A kind of device of filling the gaps with seedlings of automatic transplanter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105794373A CN105794373A (en) | 2016-07-27 |
| CN105794373B true CN105794373B (en) | 2017-06-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610007501.1A Expired - Fee Related CN105794373B (en) | 2016-01-07 | 2016-01-07 | A kind of device of filling the gaps with seedlings of automatic transplanter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105794373B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113228900A (en) * | 2021-05-11 | 2021-08-10 | 中国农业大学 | Seedling supplementing device and method |
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| CN107926232B (en) * | 2017-11-29 | 2023-09-26 | 河南科技大学 | Automatic seedling leakage detection and seedling supplementing device of transplanting machine |
| CN108124557B (en) * | 2017-12-25 | 2023-10-20 | 卓斐(东营)农业科技研究院有限公司 | Transplanting machine with fault-tolerant function and fault-tolerant method thereof |
| CN107980302A (en) * | 2017-12-29 | 2018-05-04 | 华中农业大学 | A kind of automatic laterally transplanting pot seedling device |
| CN108353583B (en) * | 2018-03-13 | 2020-11-06 | 桐乡市常新农机专业合作社 | Rice transplanter with pull-type reseeding machine |
| CN108271484B (en) * | 2018-03-13 | 2020-07-14 | 安徽舒州农业科技有限责任公司 | Rice transplanter with automatic rice seedling supplementing machine |
| CN108541547A (en) * | 2018-04-18 | 2018-09-18 | 中山市立恒信息咨询有限公司 | A kind of intelligence planting equipment |
| CN108738564A (en) * | 2018-06-06 | 2018-11-06 | 中国农业大学 | A kind of full-automatic potted tray seedling transplanter seedling taking selects seedling to fill the gaps with seedlings seedling launching mechanism |
| CN108934337B (en) * | 2018-06-06 | 2020-06-23 | 中国农业大学 | Seedling monitoring, removing and seedling supplementing device of full-automatic plug seedling transplanter |
| CN109845461B (en) * | 2019-01-04 | 2020-12-29 | 丰疆智能科技股份有限公司 | Seedling supplementing control system of high-speed rice transplanter and seedling supplementing control method thereof |
| CN110149860A (en) * | 2019-06-26 | 2019-08-23 | 贵州大学 | The agricultural machinery seedlings plugging device of function is remedied with bad seedling |
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| CN103477770A (en) * | 2013-09-24 | 2014-01-01 | 浙江理工大学 | Automatic complementary planting device based on vision for seedlings for bowl plate |
| CN104604403A (en) * | 2015-02-01 | 2015-05-13 | 浙江大学 | Mechanical operation device for automatically filling gaps with seedlings |
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| CN205378530U (en) * | 2016-01-07 | 2016-07-13 | 石河子大学 | Automatic device of filling gaps with seedlings of transplanter |
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2016
- 2016-01-07 CN CN201610007501.1A patent/CN105794373B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11192007A (en) * | 1997-10-24 | 1999-07-21 | Laennen Tehtaat Oy | Method and device for transplanting seedling |
| CN202818947U (en) * | 2012-10-23 | 2013-03-27 | 湖南农业大学 | Automatic tray seedling taking and putting device |
| CN103477770A (en) * | 2013-09-24 | 2014-01-01 | 浙江理工大学 | Automatic complementary planting device based on vision for seedlings for bowl plate |
| CN104604403A (en) * | 2015-02-01 | 2015-05-13 | 浙江大学 | Mechanical operation device for automatically filling gaps with seedlings |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113228900A (en) * | 2021-05-11 | 2021-08-10 | 中国农业大学 | Seedling supplementing device and method |
| CN113228900B (en) * | 2021-05-11 | 2022-02-11 | 中国农业大学 | Seedling supplementing device and method |
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| Publication number | Publication date |
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| CN105794373A (en) | 2016-07-27 |
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Granted publication date: 20170627 Termination date: 20180107 |