CN107241948B - Automatic transplanter, which takes, feeds control system and its control method - Google Patents
Automatic transplanter, which takes, feeds control system and its control method Download PDFInfo
- Publication number
- CN107241948B CN107241948B CN201610918183.4A CN201610918183A CN107241948B CN 107241948 B CN107241948 B CN 107241948B CN 201610918183 A CN201610918183 A CN 201610918183A CN 107241948 B CN107241948 B CN 107241948B
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- seedling
- claw
- taking
- cylinder
- hole tray
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
Abstract
It is taken the present invention provides a kind of automatic transplanter and feeds control system and its control method, comprising moving disk control system, seedling taking control system, throwing seedling control system, programmable controller；Using stepper motor and two main power sources of engine in situ, it is delivered separately to plant duckbilled and seedling separation rotation cup by chassis power source while connecting inflator pump provide gas source for cylinder, the motor coordination between each component only is realized with 5 sensors and 1 encoder, using touch screen design operation interface and can monitor alarm in real time.
Description
Technical field
The invention belongs to field of agricultural mechanical automation, and in particular to a kind of automatic transplanter, which takes, feeds control system and its control
Method processed.
Background technique
Transplanting plantation can shorten the growing process of crop, improve combating a natural disaster drought-resistant ability, reducing and need secondary to reseed for crop
Phenomenon, while the growth cycle of crop can be increased, improve crop yield and quality.Before China's transplanter has a vast market
Scape, " 2012-2014 country the supports the Agricultural Machinery Design catalogue promoted " display formally announced, is included in the transplanter of catalogue
Up to 27 kinds, 12 enterprises, country's transplanter is also based on semi-automatic transplanter at present, transplanting efficiency bottom, labor workload
Greatly, thus time saving and energy saving full-automatic transplantation be from now on transplanting equipment development Main way.
Patent CN104737686A discloses a kind of automatic transplanter for plug seedling motor coordination control system and control method,
It is combined by PLC with relay, the coordinated control acted to transplanter is realized with relay on-off electricity, control system is more
Complexity, laterally takes up space into disc mechanism and is not suitable for booth work greatly, and transplanting efficiency is limited.CN104808573A discloses a kind of shifting
Machine control system is planted, realizes entire transplanting process using a variety of position sensors of motor lead screw R. concomitans, but use 6 in system
A stepper motor power is excessive, and control system is at high cost, and control flow is complicated.CN103294058A discloses a kind of for column
The robot transplanting control system and control method of cultivation are only applicable to indoor flower transplanting and fill the gaps with seedlings and go bad reject operation.
Summary of the invention
In response to the deficiencies in the existing technology, it is taken automatically the present invention provides a kind of Plug seedling and feeds control system and controlling party
Chassis power source is delivered separately to plant duckbilled and seedling separation using stepper motor and two main power sources of engine in situ by method
Connect inflator pump provides gas source for cylinder to rotation cup simultaneously, only realizes the movement between each component with 5 sensors and 1 encoder
Coordinate.
The present invention achieves the above technical objects by the following technical means.
A kind of automatic transplanter, which takes, feeds control system, comprising moving disk control system, seedling taking control system, throwing seedling control system
System, programmable controller；
Disk control system is moved to include stepper motor driver, longitudinal shifting disk stepper motor, laterally move disk cylinder, hole tray position
Sensor and hole tray counter, longitudinal shifting disk stepper motor, laterally shifting disk cylinder is connected with programmable controller respectively, walks
Longitudinal disk stepper motor that moves is controlled into motor driver to work, and hole tray is driven to realize length feed, is laterally moved disk cylinder and is driven
Hole tray realizes traverse feed；
The hole tray position sensor is located at seedling claw overturning seedling taking corresponding position, can finely tune up and down, with PLC technology
Device is connected, and for positioning hole tray initially into disk position, triggers seedling taking movement；
The hole tray counter is triggered by stepper motor direct impulse, a stepper motor direct impulse of every sending, under
Moving number adds one to record the line number that hole tray moves down with this；
Hole tray position sensor triggers seedling taking movement for positioning hole tray initially into disk position；Hole tray counter measures cave
The line number that disk moves down；
Seedling taking control system includes seedling picking mechanism, solenoid valve, magnetic switch A, magnetic switch B, magnetic switch C, seedling taking machine
Structure includes coulisse, small door frame, gate seedling taking tumble cylinder, seedling claw and big door frame, and seedling claw number is n, n seedling claw at
Arrangement is set, and sliding slot is provided on the coulisse, is fixed on the chassis of the transplanter, described two side arms of big door frame
Bottom end be rotatably attached to the chassis or in the relatively-stationary structure in the chassis, an and side of the big door frame
The bottom end of arm is close to the coulisse or is rotatably mounted on the coulisse；The small door frame is rotatably installed in described big
The inside of door frame side arm is connect by pin shaft with sliding slot；The seedling claw is fixedly mounted on the small door frame；The gate takes
Seedling tumble cylinder is rotatably installed in coulisse or any and relatively-stationary structure of coulisse, and the gate seedling taking overturns gas
The extension end of the push rod of cylinder and big door frame are rotatablely connected；Magnetic switch A, magnetic switch B and magnetic switch C are respectively arranged in door
It is corresponding when the stretching limit position of type seedling taking tumble cylinder, seedling claw contact pot seedling to stretch out position and retract limit position, and respectively with
Programmable controller is connected；The programmable controller also opens and closes gas by the seedling claw of solenoid valve and end effector mechanism respectively
Cylinder, gate seedling taking tumble cylinder are connected；
Throw seedling control system include rows of seedling claw seeding separation arranged in parallel, incremental encoder, optoelectronic switch,
High-speed counter, throwing seedling impulse register, seedling cup counter, counting allows to switch and photoelectric switch state register, described to take
Seedling pawl includes seedling taking cleoid, seedling pawl folding cylinder, solenoid valve, and the seeding separation includes series connection cyclization and can rotate with ring more
A seedling cup, to accept the seedling that seedling claw is launched；
The incremental encoder is at the chassis transfer case of automatic transplanter power mechanism, for according to chassis transfer
The rotation of the tachometric survey seedling cup of case, and pulse is issued according to the rotation of seedling cup；
The photoelectric sensor of the optoelectronic switch is placed in a seedling cup outer wall side in seeding separation, for detecting seedling cup
Rotation, the high-speed counter is for counting the pulse of incremental encoder；
The throwing seedling impulse register is for storing the corresponding throwing seedling number of pulses of each seedling claw；From seedling cup direction of rotation
Opposite direction is started, the corresponding throwing seedling number of pulses An=[D of n-th of seedling claw0+ (n-1) × D] × B/C, wherein B is equal to
Number of pulses caused by incremental encoder each rotation high-speed counter, C are equal to incremental encoder each rotation seedling cup
Corresponding distance of passing by, D0Equal to the 1st seedling claw throwing spacing from, refer to when throwing the starting of seedling function, first seedling claw center with
Distance between its latter seedling cup center, D are equal to the distance between the center of two neighboring seedling cup；
The seedling cup quantity that the rising edge signal that the seedling cup counter is generated according to optoelectronic switch passes through rotation is counted
Number；
The range for allowing switch control seedling cup counter to count is counted, when the counting of seedling cup counter is more than or equal to n-2,
The counting of seedling cup counter and high-speed counter is reset；
Photoelectric switch state register is used to deposit the state of optoelectronic switch, it is ensured that throwing seedling, repeated trigger does not throw seedling in the process
Program；
Programmable controller drives stepper motor to turn according to the information command stepper motor driver of hole tray position sensor
It is dynamic, hole tray with stepper motor quick rotation length feed for seedling, when hole tray moves to hole tray position sensor installation site, according to
Hole tray generates rising edge signal, judges that longitudinal direction quickly stops operating into disk finishing control stepper motor；And it is completed in a seedling taking
Starting laterally moves disk cylinder afterwards, so that hole tray is moved to the left the distance of a cavities, carries out secondary seedling taking；It is again started up stepper motor
Longitudinal direction moves down, and motor rotation distance is seedling claw seedling taking after specified Plug seedling line space；It laterally moves disk and replaces weight with longitudinal move down
Whole disc picking seedling is completed again.
According to the input signal of magnetic switch A, magnetic switch B and magnetic switch C, opened by solenoid valve control seedling claw
It is flexible to close cylinder, gate seedling taking tumble cylinder, and seedling trigger point is thrown in positioning respectively, seedling claw starts to shrink a little and seedling taking is completed
Point；
The step-by-step counting that incremental encoder issues is obtained by high-speed counter, and according to the step-by-step counting, throwing seedling arteries and veins
The corresponding throwing seedling number of pulses of each seedling claw stored in register is rushed, driving signal is issued and is controlled after signal amplifier amplifies
The closure for making the solenoid valve opens and closes cylinder by seedling pawl and seedling claw is driven to carry out throwing seedling movement.
Further, photoelectric sensor and outer wall distance are 0~1mm.
Further, seedling claw number n is the integral multiple of the lateral single cavities number s of hole tray.
Further, n is the half of the lateral single cavities number s of hole tray, to realize interval seedling taking.
Further, the gate seedling taking tumble cylinder is rotary is mounted on gate seedling taking tumble cylinder mounting plate
On, the gate seedling taking tumble cylinder mounting plate is fixed on coulisse or the gate seedling taking tumble cylinder can be with
It is mounted on chassis.
Further, the solenoid valve is two-position-five-way solenoid valve.
Further, the pin shaft is connect by duplex needle bearing with sliding slot.
The automatic transplanter takes the control method for feeding control system, comprising the following steps:
Step 1: after transplanter starting, power mechanism drives planting apparatus and the rotation of seedling cup, programmable controller to receive wink
When signal and control seedling claw whole set opening；
Step 2: programmable controller instruction step motor driver drives stepper motor rotation, and hole tray is fast with stepper motor
Speed rotation length feed is for seedling, when moving to hole tray position sensor installation site, senses that hole tray generates rising edge signal,
Programmable controller control stepper motor stops operating, in place into disk；
Step 3: gate seedling taking tumble cylinder corresponds to solenoid valve connection, and gate seedling taking tumble cylinder starts to stretch out, seedling claw
Entire row overturning, when gate seedling taking tumble cylinder continues to extend out to magnetic switch B, programmable controller controls solenoid valve and then controls
Seedling claw cylinder processed is shunk, and is shunk seedling taking needle, is started to grab seedling；When gate seedling taking tumble cylinder continues to extend out to magnetic switch C
When, seedling taking needle is retracted to limit position, grabs seedling completion；Programmable controller controls seedling taking tumble cylinder and retracts, when gate seedling taking is turned over
When rotaring cylinder is retracted to magnetic switch A, seedling claw is located above seeding separation, and seedling taking is completed；
Step 4: after the completion of seedling taking, laterally moving disk cylinder and stretch out, be moved to the left a cavities distance, opening is removed under allowing
It closes, and assigns the initial value of a > n-2 to seedling cup counter, incremental encoder is made to correspond to high-speed counter clearing, high-speed counter
Again from zero count, seedling cup counter is also reset；When high-speed counter value is more than or equal to for throwing and setting in seedling impulse register
When one seedling claw throws seedling number of pulses, the corresponding seedling claw cylinder of first seedling claw pushes the seedling claw to open, and is thrown
Seedling；When high-speed counter value, which is more than or equal to second seedling claw thrown and set in seedling impulse register, throws seedling number of pulses, the
The corresponding seedling claw cylinder of two seedling claws pushes the seedling claw to open, and carries out throwing seedling；Seedling is thrown sequentially into n-th of seedling claw；
Step 5: after the last one seedling claw finishes, opening allows counter switch, and seedling cup counter counts from zero, together
When triggering gate seedling taking tumble cylinder overturn seedling taking again, be repeated once step 3；
Step 6: after the completion of seedling taking, being opened due to allowing to move down switch, forbid moving to left, programmable controller is to stepper motor
Driver relative displacement signal controls stepper motor and rotates specified angle, and hole tray moves down a cavities distance, and hole tray counts
Device value adds 1, while allowing to move down switch and closing.As seedling cup counter >=n-2, optoelectronic switch generates rising edge signal
When, so that incremental encoder is corresponded to high-speed counter clearing, again from zero count, seedling cup counter is also reset high-speed counter；
When high-speed counter value, which is more than or equal to first seedling claw thrown and set in seedling impulse register, throws seedling number of pulses, first
The corresponding seedling claw cylinder of seedling claw pushes the seedling claw to open, and carries out throwing seedling；Seedling arteries and veins is thrown when high-speed counter value is more than or equal to
When rushing the second seedling claw throwing seedling number of pulses set in register, the corresponding seedling claw cylinder of second seedling claw pushes should
Seedling claw opens, and carries out throwing seedling；Seedling is thrown sequentially into n-th of seedling claw；After the last one seedling claw finishes, opening, which allows to count, to be opened
It closes, seedling cup counter counts from zero；
Step 7: repeat step 3 arrive step 6, when hole tray Counter Value > used in hole tray line number -1 when, the stepper motor
Disk is moved back in rotation, carries out to next disk seedling secondary into disk；
Step 8: repeating step 2 and arrive step 7, until system is closed.
The automatic transplanter, which takes, feeds in control system, and programmable controller connects and control stepper motor driver, transverse direction
Disk cylinder, Plug seedling position sensor, high-speed counter, seedling cup counter, control valve, seedling claw folding cylinder, gate is moved to take
Seedling tumble cylinder and magnetic switch A, magnetic switch B and magnetic switch C, with realize move disk control system, seedling taking control system and
Throw the interoperation of seedling control system.Simple time saving, pick-and-place seedling speed is fast, band seedling is steady, and seedling falls into seedling cup accuracy rate height, adjusts and ties up
It repairs conveniently.
Detailed description of the invention
Fig. 1 is that automatic transplanter of the present invention takes hello control system general structure schematic diagram.
Fig. 2 is that automatic transplanter of the present invention takes hello control system seedling taking structural schematic diagram.
Fig. 3 is that automatic transplanter of the present invention takes hello control system figure.
Fig. 4 is that automatic transplanter of the present invention takes hello control system flow chart.
In figure:
The chassis 1-, 2- laterally move disk cylinder, 243- for seedling mechanism, 232- and longitudinally move disk stepper motor, 25- hole tray position biography
Sensor, 3- seedling picking mechanism, 31- coulisse, 311- sliding slot, the small door frame of 32-, 33- gate seedling taking tumble cylinder, 34- seedling claw,
321- pin shaft, 331- mounting plate, 341- seedling claw folding cylinder, the 342- seedling claw folding push rod of cylinder, 343- seedling taking cleoid,
The big door frame of 35-, 36- magnetic switch A, 37- magnetic switch B, 38- magnetic switch C, 4- seeding separation, 44- seedling cup, 46- photoelectric transfer
Sensor, 47- incremental encoder, the chassis 62- transfer case.
Specific embodiment
Present invention will be further explained with reference to the attached drawings and specific examples, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As shown in Figure 1, Figure 3, of the present invention take automatically feeds control system, including programmable controller (PLC), shifting disk
Control system, seedling taking control system and throwing seedling control system.Moving disk control system includes stepper motor driver, longitudinal shifting disk step
Into motor 243, laterally move disk cylinder 232, hole tray position sensor 25 and hole tray counter.Stepper motor driver, Zong Xiangyi
Disk stepper motor 243, laterally move disk cylinder 232 constitute transplanter for seedling mechanism 2；Longitudinal shifting disk stepper motor 243, cross
Xiang Yipan cylinder 232 is connected with programmable controller respectively, and stepper motor driver control is longitudinal to move 243 work of disk stepper motor
Make, and hole tray is driven to realize length feed, laterally moves disk cylinder 232 and hole tray is driven to realize traverse feed.The hole tray position passes
Sensor 25 is located at seedling claw 34 and overturns seedling taking corresponding position, is connected with programmable controller, for positioning hole tray initially into disk position
It sets, triggering seedling taking movement.The hole tray counter issues the line number that direct impulse signal record hole tray moves down according to stepper motor.
The line number of Plug seedling is m.Plug seedling position sensor triggers seedling taking movement for positioning hole tray initially into disk position；Hole tray meter
The line number that number device metering hole tray moves down.
As shown in Fig. 2, seedling taking control system includes seedling picking mechanism 3, solenoid valve, magnetic switch A36, magnetic switch B37, magnetic
Property switch C38.Seedling picking mechanism 3 includes coulisse 31, small door frame 32, gate seedling taking tumble cylinder 33, seedling claw 34 and big door frame
35,34 numbers of seedling claw are n, and n seedling claw 34 is arranged in rows.It is provided with sliding slot 311 on the coulisse 31, is fixed at institute
It states on the chassis 1 of transplanter.The bottom end of 35 two side arms of big door frame be rotatably attached to the chassis 1 or with the bottom
In the relatively-stationary structure of disk 1, and the bottom end of a side arm of the big door frame 35 is close to the coulisse 31 or rotation
Ground is mounted on the coulisse 31.The small door frame 32 is rotatably installed in the inside of 35 side arm of big door frame, passes through pin shaft
321 connect with sliding slot 311；Specifically, the pin shaft 321 is connect by duplex needle bearing with sliding slot 311.The seedling claw 34
It is fixedly mounted on the small door frame 32.The gate seedling taking tumble cylinder 33 is rotatably installed on coulisse 31, specifically, institute
State that gate seedling taking tumble cylinder 33 is rotary to be mounted on 33 mounting plate 331 of gate seedling taking tumble cylinder, the gate takes
33 mounting plate 331 of seedling tumble cylinder is fixed on coulisse 31；Or gate seedling taking tumble cylinder 33 be rotatablely installed it is in office
What and the relatively-stationary structure of coulisse 31, such as be mounted on chassis 1.The push rod 342 of the gate seedling taking tumble cylinder 33
Extension end and big door frame 35 be rotatablely connected.Magnetic switch A36, magnetic switch B37 and magnetic switch C38 are respectively arranged in door
The stretching limit position of type seedling taking tumble cylinder 33, seedling claw 34 are corresponding when contacting pot seedling to be stretched out position and retracts limit position, and point
It is not connected with programmable controller；The programmable controller is also opened by the seedling claw of solenoid valve and end effector mechanism respectively
Close cylinder 341, gate seedling taking tumble cylinder 33 is connected.
Throwing seedling control system includes the seeding separation 4 arranged in parallel with rows of seedling claw 34, incremental encoder 47, light
Electric switch, high-speed counter, throwing seedling impulse register, seedling cup counter, counting allows to switch and photoelectric switch state register.
The seedling claw 34 includes seedling taking cleoid 343, seedling pawl folding cylinder 341, solenoid valve, and the seeding separation 4 includes series connection cyclization
And the multiple seedling cups 44 that can be rotated with ring, to accept the seedling that seedling claw 34 is launched.
The incremental encoder 47 is at the chassis transfer case 62 of automatic transplanter power mechanism, for according to seedling separation
The rotation of the tachometric survey seedling cup 44 of the chassis transfer case 62 of mechanism 4, and pulse is issued according to the rotation of seedling cup 44.
The photoelectric sensor 46 of the optoelectronic switch is placed in the 44 outer wall side of a seedling cup in seeding separation 4, for examining
The rotation of seedling cup 44 is surveyed, the high-speed counter is for counting the pulse of incremental encoder 47.The throwing seedling pulse
Register is for storing the corresponding throwing seedling number of pulses of each seedling claw 34；The direction opposite from 44 direction of rotation of seedling cup is started,
N-th of corresponding throwing seedling number of pulses An=[D of seedling claw 340+ (n-1) × D] × B/C, wherein B is equal to incremental encoder
Number of pulses caused by 47 each rotation high-speed counters, C are equal to 47 each rotation seedling cup 44 of incremental encoder and correspond to
Cross distance, D0Equal to the 1st seedling claw 34 throwing spacing from, refer to throw seedling function starting when, first 34 center of seedling claw and its
Distance between 44 center of the latter seedling cup, D are equal to the distance between the center of two neighboring seedling cup 44.The seedling cup counter root
44 quantity of seedling cup that the rising edge signal generated according to optoelectronic switch passes through rotation counts.Counting allows switch control seedling cup
The range that counter counts, when the counting of seedling cup counter is more than or equal to n-2, by seedling cup counter and the meter of high-speed counter
Number is reset.Photoelectric switch state register is used to deposit the state of optoelectronic switch, it is ensured that throwing seedling, repeated trigger does not throw seedling in the process
Program.
Programmable controller drives stepper motor according to the information command stepper motor driver of hole tray position sensor 25
Rotation, for hole tray with stepper motor quick rotation length feed for seedling, hole tray moves to 25 installation site of hole tray position sensor i.e.
When seedling claw 34 overturns seedling taking corresponding position, rising edge signal is generated according to hole tray, is judged longitudinal quickly into disk finishing control step
Into motor stalls；And start after the completion of a seedling taking and laterally move disk cylinder 232, so that hole tray is moved to the left a cavities
Distance carries out secondary seedling taking；Stepper motor is again started up longitudinally to move down, after motor rotation distance is specified Plug seedling line space,
34 seedling taking of seedling claw；It laterally moves disk and longitudinal move down is alternately repeated completion whole disc picking seedling.
According to the input signal of magnetic switch A36, magnetic switch B37 and magnetic switch C38, taken by solenoid valve control
It is flexible that seedling pawl opens and closes cylinder 341, gate seedling taking tumble cylinder 33, and seedling trigger point is thrown in positioning respectively, and seedling claw 34 starts to shrink
Point and seedling taking complete point；The step-by-step counting that incremental encoder 47 issues is obtained by high-speed counter, and according to the pulse
It counts, throw the corresponding throwing seedling number of pulses of each seedling claw 34 stored in seedling impulse register, issue driving signal through signal
The closure that the solenoid valve is controlled after amplifier amplification opens and closes cylinder by seedling pawl and seedling claw 34 is driven to carry out throwing seedling movement.
By shifting disk control system control for seedling, seedling taking is controlled by seedling taking control system, then by throwing seedling control system
Plug seedling is put into seedling cup 44；As shown in figure 4, this takes the workflow for feeding control system as follows automatically:
Step 1: starting to work；Transplanter starting, power mechanism drive planting apparatus and seedling cup 44 to rotate, PLC technology
Device, which receives instantaneous signal and controls the whole set of seedling claw 34, to be opened；
Step 2: programmable controller instruction step motor driver drives stepper motor rotation, and hole tray is fast with stepper motor
Speed rotation length feed is for seedling, when moving to hole tray 25 installation site of position sensor, senses that hole tray generates rising edge letter
Number, programmable controller control stepper motor stops operating, in place into disk；
Step 3: the corresponding solenoid valve of gate seedling taking tumble cylinder 33 is connected, and gate seedling taking tumble cylinder 33 starts to stretch out, take
The overturning of 34 entire row of seedling pawl, when gate seedling taking tumble cylinder 33 continues to extend out to magnetic switch B37, programmable controller control electricity
Magnet valve and then control 34 cylinder of seedling claw contraction, shrink seedling taking needle, start to grab seedling；When gate seedling taking tumble cylinder 33 continues to stretch
When out to magnetic switch C38, seedling taking needle is retracted to limit position, grabs seedling completion；Programmable controller controls the contracting of seedling taking tumble cylinder
It returns, when gate seedling taking tumble cylinder 33 is retracted to magnetic switch A36, seedling claw 34 is located at 4 top of seeding separation, and seedling taking is complete
At；
Step 4: after the completion of seedling taking, laterally moving disk cylinder 232 and stretch out, a cavities distance is moved to the left, under opening allows
Pass is removed, and assigns the initial value of a > n-2 to seedling cup counter, resets the corresponding high-speed counter of incremental encoder 47, high speed
Again from zero count, seedling cup counter is also reset counter；It is set when high-speed counter value is more than or equal to throw in seedling impulse register
When first fixed seedling claw 34 throws seedling number of pulses, first corresponding 34 cylinder of seedling claw of seedling claw 34 pushes the seedling claw
34 open, and carry out throwing seedling；It is thrown when high-speed counter value is more than or equal to second seedling claw 34 thrown and set in seedling impulse register
When seedling number of pulses, second corresponding 34 cylinder of seedling claw of seedling claw 34 pushes the seedling claw 34 to open, and carries out throwing seedling；Successively
Seedling is thrown to n-th of seedling claw 34；
Step 5: after the last one seedling claw 34 finishes, opening allows counter switch, and seedling cup counter counts from zero,
Trigger gate seedling taking tumble cylinder 33 overturns seedling taking again simultaneously, is repeated once step 3；
Step 6: after the completion of seedling taking, being opened due to allowing to move down switch, forbid moving to left, programmable controller is to stepper motor
Driver relative displacement signal controls stepper motor and rotates specified angle, and hole tray moves down a cavities distance, and hole tray counts
Device value adds 1, while allowing to move down switch and closing.As seedling cup counter >=n-2, optoelectronic switch generates rising edge signal
When, reset the corresponding high-speed counter of incremental encoder 47, for high-speed counter again from zero count, seedling cup counter is also clear
Zero；When high-speed counter value, which is more than or equal to first seedling claw 34 thrown and set in seedling impulse register, throws seedling number of pulses,
First corresponding 34 cylinder of seedling claw of seedling claw 34 pushes the seedling claw 34 to open, and carries out throwing seedling；When high-speed counter value is big
When being equal to the second seedling claw 34 throwing seedling number of pulses set in throwing seedling impulse register, second seedling claw 34 is corresponding
34 cylinder of seedling claw pushes the seedling claw 34 to open, and carries out throwing seedling.Seedling is thrown sequentially into n-th of seedling claw 34.The last one seedling taking
After pawl 34 finishes, opening allows counter switch, and seedling cup counter counts from zero；
Step 7: repeat step 3 arrive step 6, when hole tray Counter Value > used in hole tray line number when, stepper motor rotation move back
Disk carries out next disk seedling secondary into disk；
Step 8: repeating step 2 and arrive step 7, until system is closed.
By take automatically feed control system cooperation may be implemented for seedling, seedling taking and throw seedling, then pass through power mechanism band
Dynamic seeding separation 4 and planting mechanism completion send seedling and plant seedlings, and complete automatic transplanting operation may be implemented.
Hole tray more commonly used at present is 6 × 12 or 8 × 16 hole tray, and corresponding line number is respectively 6 and 8.And correspondingly
In order to take every row Plug seedling in two times, the quantity of the seedling claw 34 on seedling picking mechanism 3 is accordingly respectively 6 and 8
It is a.Mentality of designing according to the present invention, those skilled in the art be contemplated that other types hole tray for seedling, seedling taking and throw Miao Fang
Method, or be based on method provided by the invention, those skilled in the art can make some equivalence replacements, such as by every row Plug seedling one
Secondary or take in three times, the setting of 34 quantity of corresponding control method and seedling claw can be readily derived, and not done herein superfluous
It states.
Control system of the invention can design different subprograms according to different hole trays, pass through in implementation process
Switching between subprogram is to adapt to different hole trays.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (8)
1. a kind of automatic transplanter take feed control system, comprising move disk control system, seedling taking control system, throw seedling control system,
Programmable controller；
Disk control system is moved to include stepper motor driver, longitudinal shifting disk stepper motor (243), laterally move disk cylinder (232), cave
Disk position sensor (25) and hole tray counter, longitudinal shifting disk stepper motor (243) laterally move disk cylinder (232) respectively
It is connected with programmable controller, stepper motor driver control is longitudinal to move disk stepper motor (243) work, and hole tray is driven to realize
Length feed laterally moves disk cylinder (232) and hole tray is driven to realize traverse feed；
The hole tray position sensor (25) is located at seedling claw (34) overturning seedling taking corresponding position, is connected with programmable controller,
For positioning hole tray initially into disk position, seedling taking movement is triggered；
The hole tray counter is triggered by the stepper motor (243) direct impulse, and the stepper motor (243) is every to issue one
Secondary direct impulse is moved down number and adds one to be recorded the line number that hole tray moves down with this；
Hole tray position sensor (25) triggers seedling taking movement for positioning hole tray initially into disk position；Hole tray counter measures cave
The line number that disk moves down；
Seedling taking control system includes seedling picking mechanism (3), solenoid valve, magnetic switch A (36), magnetic switch B (37), magnetic switch C
(38), seedling picking mechanism (3) includes coulisse (31), small door frame (32), gate seedling taking tumble cylinder (33), seedling claw (34) and big
Door frame (35), seedling claw number are n, and n seedling claw (34) is arranged in rows, and sliding slot (311) is provided on the coulisse (31), is consolidated
It is arranged on the chassis (1) of the transplanter calmly, the bottom end of big (35) two side arms of door frame is rotatably attached to the bottom
Disk (1) or in the chassis (1) relatively-stationary structure, and the bottom end of a side arm of the big door frame (35) is close
The coulisse (31) is rotatably mounted on the coulisse (31)；The small door frame (32) is rotatably installed in described big
The inside of door frame (35) side arm is connect by pin shaft (321) with sliding slot (311)；The seedling claw (34) is fixedly mounted on described
On small door frame (32)；The gate seedling taking tumble cylinder (33) is rotatably installed in coulisse (31) or any and coulisse (31)
In relatively-stationary structure, the extension end and big door frame (35) of the push rod of the gate seedling taking tumble cylinder (33) are rotatablely connected；
Magnetic switch A (36), magnetic switch B (37) and magnetic switch C (38) are respectively arranged in gate seedling taking tumble cylinder (33)
It is corresponding when stretching out limit position, seedling claw (34) contact pot seedling to stretch out position and retract limit position, and respectively with programmable controller
It is connected；The programmable controller is also taken by solenoid valve and seedling claw folding cylinder (341) of seedling claw (34), gate respectively
Seedling tumble cylinder (33) is connected；
Throw seedling control system include the seeding separation (4) arranged in parallel with rows of seedling claw (34), incremental encoder (47),
Photoelectric sensor (46), high-speed counter, throwing seedling impulse register, seedling cup counter, counting allows to switch and photoelectric sensor
(46) status register, the seedling claw (34) include seedling taking cleoid (343), seedling pawl folding cylinder (341), solenoid valve, it is described
Seeding separation (4) includes series connection cyclization and can be with multiple seedling cup (44) of ring rotation, to accept the seedling that seedling claw (34) is launched；
The incremental encoder (47) is at the seeding separation transfer case of automatic transplanter power mechanism, for according to transfer
The rotation of the tachometric survey seedling cup (44) of case, and pulse is issued according to the rotation of seedling cup (44)；
The photoelectric sensor (46) is placed in seedling cup (44) outer wall side in seeding separation (4), for detecting seedling cup
(44) rotation,
The high-speed counter is for counting the pulse of incremental encoder (47)；
The throwing seedling impulse register is for storing the corresponding throwing seedling number of pulses of each seedling claw (34)；It is rotated from seedling cup (44)
Contrary direction is started, n-th of seedling claw (34) corresponding throwing seedling number of pulses An=[D0+ (n-1) × D] × B/C,
In, B is equal to number of pulses caused by incremental encoder (47) each rotation high-speed counter, and C is equal to incremental encoder
(47) the corresponding distance of passing by of each rotation seedling cup (44), D0 are equal to the throwing spacing of the 1st seedling claw (34) from referring to that throwing seedling function opens
When dynamic, distance between first seedling claw (34) center and its latter seedling cup (44) center, D is equal to two neighboring seedling cup (44)
The distance between center；
Seedling cup (44) quantity that the rising edge signal that the seedling cup counter is generated according to photoelectric sensor (46) passes through rotation
It is counted；
The range for allowing switch control seedling cup counter to count is counted, when the counting of seedling cup counter is more than or equal to n-2, by seedling
The counting of cup counter and high-speed counter is reset；
Photoelectric sensor status register is used to deposit the states of photoelectric sensor (46), it is ensured that throws during seedling not repeated trigger
Throw seedling program；
Programmable controller drives stepper motor according to the information command stepper motor driver of hole tray position sensor (25)
(243) it rotates, for hole tray with stepper motor (243) quick rotation length feed for seedling, hole tray moves to hole tray position sensor
(25) when installation site, rising edge signal is generated according to hole tray, judges that longitudinal direction is quickly stopped into disk finishing control stepper motor (243)
Rotation stop is dynamic；And start after the completion of a seedling taking and laterally move disk cylinder (232), so that hole tray is moved to the left the distance of a cavities,
Carry out secondary seedling taking；Stepper motor (243) is again started up longitudinally to move down, after motor rotation distance is specified Plug seedling line space,
Seedling claw (34) seedling taking；It laterally moves disk and longitudinal move down is alternately repeated completion whole disc picking seedling；
According to the input signal of magnetic switch A (36), magnetic switch B (37) and magnetic switch C (38), pass through solenoid valve control
It is flexible that seedling claw (34) opens and closes cylinder, gate seedling taking tumble cylinder (33), and seedling trigger point is thrown in positioning respectively, and seedling claw (34) is opened
Beginning constriction point and seedling taking complete point；
The step-by-step counting that incremental encoder (47) issue is obtained by high-speed counter, and according to the step-by-step counting, throwing seedling arteries and veins
The corresponding throwing seedling number of pulses of each seedling claw (34) stored in register is rushed, driving signal is issued and amplifies through signal amplifier
The closure for controlling the solenoid valve afterwards opens and closes cylinder driving seedling claw (34) by seedling pawl and carries out throwing seedling movement.
2. automatic transplanter according to claim 1, which takes, feeds control system, which is characterized in that photoelectric sensor (46) and outer
Wall distance is 0~1mm.
3. automatic transplanter according to claim 1, which takes, feeds control system, which is characterized in that seedling claw (34) number n is
The integral multiple of the lateral single cavities number s of hole tray.
4. automatic transplanter according to claim 1, which takes, feeds control system, which is characterized in that n is hole tray laterally single cave
The half of hole count s, to realize interval seedling taking.
5. automatic transplanter according to claim 1, which takes, feeds control system, which is characterized in that the gate seedling taking overturns gas
Cylinder (33) is rotary to be mounted on gate seedling taking tumble cylinder (33) mounting plate (331), the gate seedling taking tumble cylinder
(33) mounting plate (331) is fixed on coulisse (31) or the gate seedling taking tumble cylinder (33) may be mounted at
On chassis (1).
6. automatic transplanter according to claim 1, which takes, feeds control system, which is characterized in that the solenoid valve is two five
Three-way electromagnetic valve.
7. automatic transplanter according to claim 1, which takes, feeds control system, which is characterized in that the pin shaft (321) passes through
Duplex needle bearing is connect with sliding slot (311).
8. automatic transplanter described in claim 1 takes the control method for feeding control system, which comprises the following steps:
Step 1: after transplanter starting, power mechanism drives planting apparatus and seedling cup (44) rotation, programmable controller to receive wink
When signal and control the whole set of seedling claw (34) and open；
Step 2: programmable controller instruction step motor driver drives stepper motor (243) rotation, and hole tray is with stepper motor
(243) quick rotation length feed is for seedling, when moving to hole tray position sensor (25) installation site, senses that hole tray generates
Rising edge signal, programmable controller control stepper motor (243) stop operating, in place into disk；
Step 3: the corresponding solenoid valve of gate seedling taking tumble cylinder (33) is connected, and gate seedling taking tumble cylinder (33) starts to stretch out, take
The overturning of seedling pawl (34) entire row, when gate seedling taking tumble cylinder (33) continues to extend out to (37) (37) magnetic switch B, programmable control
Device control solenoid valve processed and then control seedling claw cylinder contraction, shrink seedling taking needle, start to grab seedling；When gate seedling taking tumble cylinder
(33) when continuing to extend out to (38) magnetic switch C, seedling taking needle is retracted to limit position, grabs seedling completion；Programmable controller control takes
Seedling tumble cylinder retracts, and when gate seedling taking tumble cylinder (33) is retracted to (36) (36) magnetic switch A, seedling claw (34) is located at
Above seeding separation (4), seedling taking is completed；
Step 4: after the completion of seedling taking, laterally moving disk cylinder (232) and stretch out, be moved to the left a cavities distance, opening allows to move down
Switch, and seedling cup counter tax > n-2 initial value is given, reset incremental encoder (47) corresponding high-speed counter, high speed
Again from zero count, seedling cup counter is also reset counter；It is set when high-speed counter value is more than or equal to throw in seedling impulse register
When first fixed seedling claw (34) throws seedling number of pulses, the corresponding seedling claw cylinder of first seedling claw (34) pushes the seedling taking
Pawl (34) opens, and carries out throwing seedling；When high-speed counter value is more than or equal to second seedling claw thrown and set in seedling impulse register
(34) when throwing seedling number of pulses, the corresponding seedling claw cylinder of second seedling claw (34) pushes the seedling claw (34) to open, and carries out
Throw seedling；Seedling is thrown sequentially into n-th of seedling claw (34)；
Step 5: after the last one seedling claw (34) finishes, opening allows counter switch, and seedling cup counter counts from zero, together
When triggering gate seedling taking tumble cylinder (33) overturn seedling taking again, be repeated once step 3；
Step 6: after the completion of seedling taking, being opened due to allowing to move down switch, forbid moving to left, programmable controller drives to stepper motor
Device relative displacement signal controls stepper motor (243) and rotates specified angle, and hole tray moves down a cavities distance, and hole tray counts
Device value adds 1, while allowing to move down switch and closing；As seedling cup counter >=n-2, photoelectric sensor (46) generates rising
When along signal, reset incremental encoder (47) corresponding high-speed counter, again from zero count, seedling cup counts high-speed counter
Device is also reset；Seedling pulse is thrown when high-speed counter value is more than or equal to first seedling claw (34) thrown and set in seedling impulse register
When numerical value, the corresponding seedling claw cylinder of first seedling claw (34) pushes the seedling claw (34) to open, and carries out throwing seedling；When high speed is counted
When number device value is more than or equal to second seedling claw (34) the throwing seedling number of pulses set in throwing seedling impulse register, second seedling taking
The corresponding seedling claw cylinder of pawl pushes the seedling claw (34) to open, and carries out throwing seedling；Seedling is thrown sequentially into n-th of seedling claw (34)；Most
After the latter seedling claw (34) finishes, opening allows counter switch, and seedling cup counter counts from zero；
Step 7: repeat step 3 arrive step 6, when hole tray Counter Value > used in hole tray line number -1 when, the stepper motor
(243) disk is moved back in rotation, carries out to next disk seedling secondary into disk；
Step 8: repeating step 2 and arrive step 7, until system is closed.
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| CN108064512A (en) * | 2017-11-30 | 2018-05-25 | 江苏大学 | A kind of transplanter crank block type is divided into seedlings apparatus and method |
| CN109348797B (en) * | 2018-11-27 | 2021-07-20 | 江苏大学 | Automatic transplanter plug tray conveying and positioning control system and method |
| CN109804758A (en) * | 2019-01-04 | 2019-05-28 | 丰疆智慧农业股份有限公司 | Equipment of filling the gaps with seedlings and its control method and carrying are filled the gaps with seedlings the high-speed transplanter of equipment |
| CN112237076B (en) * | 2020-09-25 | 2022-07-22 | 江苏大学 | Air-blowing wrapping type seedling taking device and transplanter provided with same |
| CN113508668A (en) * | 2021-07-09 | 2021-10-19 | 山东农业大学 | Automatic seedling separating, taking and throwing device for bare sweet potato seedlings and control system thereof |
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