CN111052912A - Air-suction vibration disc type precision seedling raising and sowing production line device and control method thereof - Google Patents
Air-suction vibration disc type precision seedling raising and sowing production line device and control method thereof Download PDFInfo
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- CN111052912A CN111052912A CN201911409747.1A CN201911409747A CN111052912A CN 111052912 A CN111052912 A CN 111052912A CN 201911409747 A CN201911409747 A CN 201911409747A CN 111052912 A CN111052912 A CN 111052912A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/002—Dibble seeders
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/085—Devices for setting seeds in pots
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
- A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
Abstract
The invention provides an air-suction vibration disc type precision seedling raising and seeding production line device and a control method thereof. The assembly line device is controlled by a PLC (programmable logic controller), can be controlled manually or automatically, and each working link is controlled independently; and during automatic control, the photoelectric sensor and the limit switch send signals to the PLC, and the PLC sends instructions to each driver and each frequency converter to control the start and stop of each working component. The invention adopts the vertically adjustable hole pressing roller to realize the adjustment of the hole depth of the seedling raising disc, and ensures the seeding precision (1-2 grains/hole); and the seeding link also has an automatic adjusting function, the frequency of the vibration seed plate is controlled by the change of the speed of the conveying belt and the seeding speed, the seed suction rate is improved, and the seeding qualification rate is improved.
Description
Technical Field
The invention belongs to the technical field of agricultural seeders, and particularly relates to an air-suction vibration disc type precision seedling raising and seeding production line device and a control method thereof.
Background
Rice is grown in a very wide distribution throughout the world in continents, asia, europe, america, africa and oceania. The rice area and total yield of the world are about 90 percent concentrated in Asia, and the rice is taken as one of main food crops in Asia; aiming at the seedling raising mode, the mode is gradually changed from manual seedling raising to mechanical seedling raising, and the operation mode is also changed from a single link to streamlined operation. In the field of mechanical seedling raising, most of the mechanical type, the external grooved wheel type and the pocket wheel type are adopted, the seeding precision is low, the seed damage rate is high, the seed damage rate can be greatly reduced by adopting air-aspiration type seeding, the survival rate is improved, the precision is high, and the sowing requirements of 1-2 grains per hole in seedling raising of super rice are met. However, at present, aiming at the operation characteristics of air suction cup type seeding, a seedling raising tray is required to wait for seeding at a seeding station, so that the assembly line operation is not realized, and the self-adaptability of a seeding link is not realized in the existing seeding machine.
Disclosure of Invention
Therefore, the invention provides the air suction vibration disc type precision seedling raising and seeding production line device and the control method thereof, which are suitable for precision seeding, in particular to air suction vibration disc type seeding, can realize automation of the whole seeding process, simultaneously realize flexible seeding of a multi-degree-of-freedom manipulator, and realize self-adaptive control of vibration parameters of a vibration disc along with the change of the seeding process and seed quantity.
The technical scheme adopted by the invention is as follows:
an air suction vibration disc type precision seedling raising and seeding assembly line device adopts a three-section type conveying belt structure, and each section of conveying belt is respectively and sequentially provided with a soil spreading and hole pressing mechanism, a seeding mechanism and an earth covering and watering mechanism according to the working direction, wherein the seeding mechanism comprises a seeding mechanical arm and an electromagnetic vibration table, the lower end of the seeding mechanical arm is connected with a seed suction disc, a vibration disc is fixed on the electromagnetic vibration table, and an air suction hole of the vibration disc is connected with a vacuum pump;
the device also comprises a PLC controller, a signal acquisition sensor and a touch screen, and controls the operation of the soil spreading and hole pressing mechanism, the seeding mechanism and the soil covering and water spraying mechanism according to the specific position of the seedling raising tray on the assembly line device; the seedling raising tray reaches the seeding position to carry out seed sowing operation; and in the seedling raising process, controlling the output vibration frequency of the electromagnetic vibration table according to the vibration frequency of the vibration seed tray.
Among the above-mentioned technical scheme, press cave device to include the second and support the threaded rod, the second supports the threaded rod and is connected with pressing cave cylinder frame.
Among the above-mentioned technical scheme, sweep subsoil device includes first support threaded rod, and first support threaded rod is connected with the brush yoke.
In the technical scheme, the bottom soil paving device comprises a soil storage box, and a soil stirring shaft is fixed at the upper end of the soil storage box.
In the technical scheme, the first conveying belt is composed of a first conveying belt part A and a first conveying belt part B which are in chain transmission connection, and the running speed of the first conveying belt part B is higher than that of the first conveying belt part A.
In the technical scheme, the third conveying belt is composed of a third conveying belt part A and a third conveying belt part B which are in chain transmission connection, and the running speeds of the third conveying belt part A and the third conveying belt part B are consistent.
A control method of an air-suction vibration disk type precision seedling raising and seeding production line device,
detecting the specific position of the seedling raising tray on the assembly line device, and controlling the corresponding working parts to start and stop;
the hole pressing device automatically adapts to the speed of the first conveyor belt and aligns hole pressing on hole holes of the seedling raising disc;
when seeding, the seeding operation is carried out after the limit switch is triggered;
controlling the output vibration frequency of the electromagnetic vibration table according to the vibration frequency of the vibration plate;
and detecting the rotating speeds of the bottom soil paving device, the surface soil covering device, the first conveying belt, the second conveying belt and the third conveying belt, displaying a detection result through a touch screen, and simultaneously controlling the coordinated operation of all working parts by the PLC according to the detection result.
Further, the electromagnetic vibration table is controlled by frequency conversion, and the specific control process is as follows: when the assembly line device is started, the vibration seed tray vibrates at low frequency; when the seed is sucked, the electromagnetic vibration table drives the vibration seed tray to vibrate in high frequency, and when the seed is sucked, the electromagnetic vibration table recovers the low-frequency vibration; with the progress of seeding, the seed quantity in the vibration seed tray is gradually reduced, and the vibration frequency of the electromagnetic vibration table is improved; when the seed amount in the vibration seed tray is reduced to a certain amount, seed adding is carried out, the vibration frequency of the magnetic vibration table is adjusted, the PLC controller controls the seeding speed to be reduced, and the reserved time is reserved for seed homogenizing of the vibration seed tray.
Compared with the prior art, the invention has the advantages and positive effects that:
(1) the hole pressing device in the air-suction vibration disc type precision seedling raising and seeding streamline device provided by the invention adopts the hole pressing roller which is adjustable up and down to realize the adjustment of the hole depth of the seedling raising disc, so that the seedling raising effect is effectively improved.
(2) The invention relates to an electromagnetic vibration table in an air-suction vibration disc type precise seedling raising and sowing assembly line device, which adopts variable frequency control and adjusts the frequency according to different working states, and specifically comprises the following steps: when the seed is sucked, the electromagnetic vibration table drives the vibration seed tray to vibrate at high frequency; after the seed suction is finished, the electromagnetic vibration table recovers the low-frequency vibration; during seed adding, the vibration frequency of the magnetic vibration table is adjusted. The automatic adjustment of the frequency of the vibration plate is realized, the 'boiling' effect of the vibration plate population is improved, the seeding qualification rate is improved, and the seeding void rate is reduced.
(3) The invention also adopts a multi-degree-of-freedom mechanical arm to suck seeds and seed, and the position of the seedling raising tray is detected by the photoelectric sensor, so that each working part can be flexibly started and stopped, the automation degree of precision seeding assembly line operation is effectively improved, and the intelligent level of rice seedling raising is improved by adopting system control based on a touch screen.
Drawings
FIG. 1 is a schematic view of the general structure of a pneumatic vibration disk type precision seedling cultivation and sowing assembly line device according to the present invention;
FIG. 2 is a top view of the structure of a pneumatic vibration disk type precision seedling raising and sowing assembly line device of the present invention;
FIG. 3 is a schematic structural view of a bottom soil paving device and a top soil covering device according to the present invention;
FIG. 4 is a schematic structural view of a subsoil sweeping device and a cave-pressing device according to the present invention, FIG. 4(a) is an isometric view of the subsoil sweeping device and the cave-pressing device, and FIG. 4(b) is a sectional view of the cave-pressing device;
FIG. 5 is a schematic view of a second belt support according to the invention,
FIG. 6 is a schematic view of a sprinkler of the present invention;
FIG. 7 is a schematic view of the structure of the horizontal adjustment wheel of the present invention;
FIG. 8 is a flow chart of the in-line seeding process of the present invention;
FIG. 9 is a hardware block diagram of the pipeline control system of the present invention;
FIG. 10 is a circuit diagram of a vibration plate frequency control system of the present invention;
FIG. 11 is a schematic diagram of a frequency control system for an electromagnetic vibration table in accordance with the present invention; wherein, FIG. 11(a) is a schematic diagram of controlling the frequency of the electromagnetic vibration table according to the variation of the amount of the seeds in the vibration seed tray, and FIG. 11(b) is a schematic diagram of controlling the frequency of the electromagnetic vibration table according to the variation of the number of the seeding seed trays;
FIG. 12 is a flow chart of a seeding link adaptive control algorithm of the present invention;
FIG. 13 is a schematic view of a touch screen control interface of the present invention;
FIG. 14 is a flow chart of the process control of the pipeline operation of the present invention.
In the figure: 1-a first conveyer belt bracket, 2-a bottom soil paving device, 2 a-a soil feeding hopper, 2 b-a soil storage box, 2 c-a soil stirring shaft, 2 d-a soil paving amount adjusting plate, 2 e-a soil paving crawler, 2 f-a first crawler shaft, 2 g-a second crawler shaft, 3-a bottom soil sweeping device, 3 a-a brush holder, 3 b-a first motor holder, 3 c-a first stepping motor, 3 d-a brush, 3 e-a first supporting threaded rod, 3 f-a first coupling, 4-a hole pressing device, 4 a-a hole pressing roller holder, 4 b-a second motor holder, 4 c-a second stepping motor, 4 d-a hole pressing roller, 4 e-a second supporting threaded rod, 4 f-a second coupling, 4 g-a soil cleaning brush, 5-a second conveyer belt bracket, 5 a-a second conveyer belt bracket beam, 5 b-a first supporting plate, 5 c-a second supporting plate, 6-a seeding manipulator, 7-a seed sucking disc, 8-an electromagnetic vibration table, 9-a vibration seed disc, 10-a surface soil covering device, 11-a surface soil sweeping device, 12-a water spraying device, 12 a-a water spraying frame, 12 b-a water pipe, 12 c-an atomizing nozzle, 12 d-an adjustable electromagnetic valve, 13-a third conveyer belt bracket, 14-a vacuum pump, 15-a first driving motor, 16-a second driving motor, 17-a third driving motor, 18-a fourth driving motor, 19-a fifth driving motor, 20-an adjustable universal wheel, 21-a horizontal adjusting wheel, 21 a-an adjusting threaded rod and 21 b-an auxiliary threaded rod, 21 c-top support plate, 21 d-bottom support plate, 21 e-wheel, 22-first bridge plate, 23-second bridge plate, 24-first conveyor belt, 24 a-first conveyor belt a section, 24B-first conveyor belt B section, 25-second conveyor belt, 26-third conveyor belt, 26 a-third conveyor belt a section, 26B-third conveyor belt B section, 27-first photosensor, 28-second photosensor, 29-third photosensor, 30-fourth photosensor, 31-fifth photosensor, 32-sixth photosensor, 33-seventh photosensor, 34-eighth photosensor, 35-ninth photosensor, 36-tenth photosensor, 37-eleventh photosensor, 38-twelfth photoelectric sensor, 39-thirteenth photoelectric sensor, 40-limit switch, 41-first rotating speed sensor, 42-second rotating speed sensor, 43-third rotating speed sensor, 44-fourth rotating speed sensor, 45-fifth rotating speed sensor, 46-frequency sensor, 47-positioning stop block.
Detailed Description
The following will further describe the embodiments of the present invention with reference to the drawings, but the scope of the present invention is not limited thereto.
As shown in figures 1 and 2, the air-suction vibration disc type precision seedling raising and sowing assembly line device comprises a first conveying belt support 1, a bottom soil paving device 2, a bottom soil sweeping device 3, a hole pressing device 4, a second conveying belt support 5, a sowing manipulator 6, a seed suction disc 7, an electromagnetic vibration table 8, a vibration seed disc 9, a surface soil covering device 10, a surface soil sweeping device 11, a water spraying device 12, a third conveying belt support 13 and a vacuum pump 14. Wherein, one end of the first conveyor belt bracket 1, one end of the second conveyor belt bracket 5 and one end of the third conveyor belt bracket 13 are all provided with a conveyor belt tensioning adjusting groove.
As shown in fig. 3, the subsoil application device 2 comprises a soil storage box 2b and a soil inlet bucket 2a which are fixed into a whole, wherein the soil inlet bucket 2a is positioned at the upper end of the soil storage box 2b, the soil storage box 2b is of a hollow structure, the upper end of the soil storage box is open, and the front end of the soil storage box is semi-closed; the front end of the soil storage box 2b is fixed with a soil paving amount adjusting plate 2d through two studs and a butterfly nut, and the height of the soil paving amount adjusting plate 2d can be adjusted up and down through loosening the butterfly nut, so that the thickness of the bottom soil is controlled; a first crawler shaft 2f and a second crawler shaft 2g are fixed in the soil storage box 2b on the same horizontal line, a soil paving crawler 2e is fixed by the first crawler shaft 2f and the second crawler shaft 2g, and the soil paving crawler 2e is positioned below the soil paving amount adjusting plate 2 d; the fixed soil axle 2c that stirs of soil storage box 2b upper end intermediate position prevents to store up soil matrix in soil storage box 2b because of the extrusion caking. The soil storage box 2b is further provided with a first rotation speed sensor 41 for measuring the rotation speed of the first track shaft 2 f. The structure of the surface soil covering device 10 is the same as that of the bottom soil paving device 2, and the surface soil covering device 10 is provided with a fourth rotating speed sensor 44 for measuring the rotating speed of a track shaft of the surface soil covering device.
As shown in fig. 4(a), the subsoil sweeping device 3 comprises a first supporting threaded rod 3e, the first supporting threaded rod 3e is fixed on the first conveyor belt bracket 1 through a bolt, the first supporting threaded rod 3e is connected with a brush holder 3a through a nut, a brush 3d is fixed on the brush holder 3a, one end of the brush holder 3a is connected with a first motor holder 3b through a bolt, and a first stepping motor 3c is fixed on the first motor holder 3 b; the first stepping motor shaft is connected with the brush shaft through a first coupler 3 f. The structure of the surface soil sweeping device 11 is the same as that of the subsoil sweeping device 3. The rotating direction of the brush 3d is opposite to the running direction of the first conveying belt 24, and the height of the brush frame 3a can be adjusted by rotating the first supporting threaded rod 3e, so that the surface of the seedling raising tray paved with bottom soil is smooth and uniform.
As shown in fig. 4(a), the acupoint pressing device 4 includes a second supporting threaded rod 4e, the second supporting threaded rod 4e is fixed on the first conveyor belt bracket 1 through a bolt, the second supporting threaded rod 4e is connected with an acupoint pressing roller frame 4a through a nut, the acupoint pressing roller frame 4a is connected with an acupoint pressing roller 4d through a nut, one end of the acupoint pressing roller frame 4a is connected with a second motor frame 4b through a bolt, the second motor frame 4b fixes a second stepping motor 4c, and a shaft of the second stepping motor is connected with a shaft of the acupoint pressing roller through a second coupling 4 f. The rotation direction of the hole-pressing roller 4d is the same as the running direction of the first conveyor belt 24. By rotating the second supporting threaded rod 4e, the height of the hole pressing roller frame 4a can be adjusted up and down, so that holes are sequentially pressed on the surface of the seedling raising tray on which the bottom soil is paved. As shown in fig. 4(b), a soil cleaning brush 4g is fixed on the inner wall of the hole pressing roller frame 4a to brush off the soil adhered to the surface of the hole pressing roller 4d in time.
The first belt carrier 1 is bridged with the second belt carrier 5 by a first bridge plate 22, and the second belt carrier 5 is bridged with the third belt carrier 13 by a second bridge plate 23. The bottom ends of the first conveying belt bracket 1 and the third conveying belt bracket 13 are connected with adjustable universal wheels 20 through bolts. The first conveyer belt bracket 1 is provided with a first conveyer belt 24, the first conveyer belt 24 is connected with a first conveyer belt A part 24a and a first conveyer belt B part 24B by two chain wheels through chain transmission, the running speed of the first conveyer belt B part 24B is higher than that of the first conveyer belt A part 24a, so that the seedling raising trays can form proper intervals when being continuously placed, and the subsoil swept down by the subsoil sweeping device 2 from the previous tray is prevented from falling onto the next tray. The bottom soil paving device 2, the bottom soil sweeping device 3 and the hole pressing device 4 are sequentially connected with the upper part of the first conveyor belt bracket 1 through bolts according to the working direction, the bottom soil paving device 2 is positioned at the part 24a of the first conveyor belt A, and the bottom soil sweeping device 3 and the hole pressing device 4 are positioned at the part 24B of the first conveyor belt; a first driving motor 15 and a second driving motor 16 are further fixed on the first conveyor belt bracket 1, the first driving motor 15 is used for providing power for the bottom soil paving device 2, and the second driving motor 16 is used for providing power for the first conveyor belt 24; the first belt support 1 is also provided with a second speed sensor 42 for determining the speed of the first belt 24. The third belt support 13 is provided with a third belt 26 and a fifth speed sensor 45, the fifth speed sensor 45 being used to measure the speed of the third belt 26. The third conveyer belt 26 is formed by connecting a third conveyer belt A part 26a and a third conveyer belt B part 26B through two chain wheels by chain transmission, the running speeds of the third conveyer belt A part 26a and the third conveyer belt B part 26B are consistent, so that a watering link can be isolated from a surface soil covering link and a surface soil sweeping link, and soil matrixes scattered on the third conveyer belt A part 26a are prevented from being adhered to the third conveyer belt B part 26B after meeting water, so that the whole conveyer belt is muddy. The top of the third conveyer belt bracket 13 is sequentially connected with the surface soil covering device 10, the surface soil sweeping device 11 and the water spraying device 12 through bolts according to the working direction; the third conveyor belt bracket 13 is further fixed with a fourth driving motor 18 and a fifth driving motor 19, the fourth driving motor is used for providing power for the motor 18 soil covering device 10, and the fifth driving motor 19 is used for providing power for the third conveyor belt 26.
As shown in fig. 5, the second conveyor belt bracket 5 comprises a second conveyor belt bracket beam 5a, and a first supporting plate 5b and a second supporting plate 5c which are arranged on one side of the bracket, a horizontal adjusting wheel 21 is installed at the lower end of the second conveyor belt bracket 5, a seeding manipulator 6 and a third driving motor 17 are fixedly connected to the first supporting plate 5b, and the seeding manipulator 6 is a five-axis manipulator; the lower end of the seeding manipulator 6 is connected with a seed suction disc 7, an electromagnetic vibration table 8 and a vacuum pump 14 are fixed on the second supporting plate 5c, a vibration seed disc 9 is fixed on the electromagnetic vibration table 8 through bolts, and a suction hole of the vibration seed disc 9 is connected with the vacuum pump 14 through a hose; the bottom of the vibration seed tray 9 is provided with a frequency sensor 46 for measuring the frequency of the vibration seed tray 9; the second conveyor belt support beam 5a mounts the second conveyor belt 25 and a third speed sensor 43 for measuring the speed of rotation of the second conveyor belt 25. The tail end of the second conveyor belt support beam 5a is also provided with a limit switch 40 and a positioning stop 47, when the seeding position is reached, the limit switch 40 is positioned at the corner of the seed suction disc 7 and used for controlling the seeding distance between the seed suction disc 7 and the seedling raising disc, and the positioning stop 47 is positioned at the front end of the seedling raising disc.
Along the conveying direction of the conveying belt, the front end and the rear end of the bottom soil paving device 2 are respectively provided with a second photoelectric sensor 28 and a first photoelectric sensor 27, the front end and the rear end of the bottom soil sweeping device 3 are respectively provided with a third photoelectric sensor 29 and a fourth photoelectric sensor 30, the front end and the rear end of the hole pressing device 4 are respectively provided with a fifth photoelectric sensor 31 and a sixth photoelectric sensor 32, the tail end of the first conveying belt 24 is provided with a seventh photoelectric sensor 33, the front end and the rear end of the surface soil covering device 10 are respectively provided with an eighth photoelectric sensor 34 and a ninth photoelectric sensor 35, the front end and the rear end of the surface soil sweeping device 11 are respectively provided with a tenth photoelectric sensor 36 and an eleventh photoelectric sensor 37, and the front end and the rear end of the water sprinkling device 12 are respectively provided with a twelfth photoelectric sensor 38 and a thirteenth photoelectric sensor 39.
As shown in fig. 6, the sprinkler 12 includes two rectangular sprinkler frames 12a, the bottom ends of the two rectangular sprinkler frames 12a are fixed on the third conveyor belt bracket 13, a plurality of water pipes 12b are fixed on the two sprinkler frames 12a, the atomizing nozzles 12c are uniformly arranged on the water pipes 12b, the adjustable electromagnetic valves 12d are arranged on the water pipes 12b connected with the water source, and the amount of sprinkling can be controlled by adjusting the opening degree of the adjustable electromagnetic valves 12 d.
As shown in fig. 7, the horizontal adjustment wheel 21 includes an adjustment threaded rod 21a, an auxiliary threaded rod 21b, a support top plate 21c, a support bottom plate 21d, and a wheel 21e, the support top plate 21c and the support bottom plate 21d are connected by the adjustment threaded rod 21a and the auxiliary threaded rod 21b, and the wheel 21e is fixed below the support bottom plate 21 d.
As shown in figure 8, the seeding process flow chart of the air suction vibration disc type precision seedling raising and seeding assembly line device is that a seedling raising disc is manually placed at the starting end of a first conveying belt 24, the seedling raising disc sequentially passes through a bottom soil paving device 2, a bottom soil sweeping device 3, a hole pressing device 4, a second conveying belt bracket 5, a surface soil covering device 10, a surface soil sweeping device 11 and a water spraying device 12, bottom soil paving operation, bottom soil sweeping operation, hole pressing operation, seeding operation, surface soil covering operation, surface soil sweeping operation and water spraying operation are carried out, and finally the seedling raising disc is manually taken down.
As shown in fig. 9, the hardware structure of the control system of the air-suction vibration disk type precision seedling raising and seeding assembly line device of the present invention is schematically illustrated, the photoelectric sensor, the rotation speed sensor, the limit switch 40 and the frequency sensor 46 are all connected with the signal input end of the PLC controller, the output end of the PLC controller is connected with the driver of the stepping motor, the frequency converter of the driving motor, the frequency converter of the vacuum pump 14, the frequency converter of the electromagnetic vibration table 8 and the adjustable electromagnetic valve 12d, and the PLC controller is in communication with the industrial touch screen. The PLC controller is used as a main control unit and is responsible for overall operation of the assembly line device, logic operation and instruction sending are carried out through receiving signals, and operation of each part of the assembly line device is controlled. The frequency converter is a driving unit for driving the motor, the electromagnetic vibration table and the vacuum pump and is responsible for speed regulation of the motor, vibration frequency regulation of the electromagnetic vibration table and negative pressure regulation of the vacuum pump. The speed of each running device is monitored by the rotating speed sensor, the photoelectric sensor collects the specific position of the seedling raising tray on the assembly line device and sends the specific position to the PLC, and after the specific position is logically processed by the PLC, a corresponding instruction is sent to the corresponding device, so that the device is started and stopped. The adjustable electromagnetic valve is responsible for controlling the sprinkling quantity of the sprinkler head.
As shown in fig. 10, the oscillating frequency control system of the oscillating seed table is a loop diagram, and the oscillating frequency of the electromagnetic oscillating table 8 is adjusted by using the amount of decrease in the amount of the oscillating seed table 9 as a feedback signal.
As shown in fig. 11, the schematic diagram of the electromagnetic vibration table frequency control system adjusts the vibration seed disk 9 by using the seed amount of the vibration seed disk as a detection object as shown in fig. 11(a), and converts the seed amount change of the vibration seed disk into the number of seed disks as shown in fig. 11(b) as an input signal for the vibration frequency control of the vibration seed disk 9.
As shown in fig. 12, the electromagnetic vibration table 8 adopts a frequency conversion control mode, firstly, the vibration seed tray 9 vibrates according to a set low frequency after being powered on, when the seeding manipulator 6 drives the seed suction tray 7 to perform seed suction operation, the electromagnetic vibration table 8 drives the vibration seed tray 9 to perform high frequency vibration, and when the seed suction operation is finished, the electromagnetic vibration table 8 recovers the low frequency vibration; meanwhile, with the progress of the seeding process, the seed quantity in the vibration seed tray 9 is gradually reduced, and at the moment, the vibration frequency of the electromagnetic vibration table 8 during seed suction operation is also improved according to the variable quantity of the seed quantity in the vibration seed tray 9, so that the seed population achieves the optimal 'boiling' effect, the seed suction rate of the seed suction tray 7 is ensured, and the seeding qualification rate is ensured to be maximum; finally, when the seed amount in the vibration seed tray 9 is reduced to a certain amount (20 trays to 30 trays), seed addition is needed, and after seed addition, the electromagnetic vibration table 8 can immediately make proper adjustment on the vibration frequency according to the seed addition amount, so that the seed group is quickly and uniformly distributed in the vibration seed tray 7; meanwhile, the seeding manipulator 6 can also make adjustment from the last seeding completion to the motion process of this seed suction, the motion speed is slowed down, the seed homogenizing of the seed group is carried out for the vibrating seed tray 9 at a proper time, correspondingly, other links of the assembly line device can also make adjustment correspondingly, thereby realizing the self-adaptive control process of the whole seeding assembly line, ensuring that the seeding qualification rate is the highest and the seeding efficiency is the largest.
As shown in fig. 13 and 14, in the flow chart of the pipeline work process control of the present invention, after the pipeline device is powered on, the touch screen is lighted up to enter the mode selection interface. When the mode is manually controlled, the manual mode is clicked on the mode selection interface, the interface jumps to the manual mode control interface, then each part under the working part column can be respectively selected, one key is clicked each time, then working parameters of each part are respectively set under the setting column, the key is clicked to confirm each parameter, then each part can operate according to the set parameter, the key of the part under the working part column is clicked again, and the corresponding working part stops operating. The parameter setting options in the "setting" column can be adjusted according to the selected working component in the "working component" column, the setting options are highlighted, and other options are displayed in gray and cannot be set. For example: when the bottom soil paving device 2 is set to operate, firstly, a manual mode button on a mode selection interface is clicked, then, a bottom soil paving device button under a working part column is clicked, then, a rotating speed value is input in a rotating speed frame under a setting column, fine adjustment can be carried out through an upper triangle and a lower triangle at the rear part, a confirmation button is clicked after the numerical value is confirmed, and at the moment, the bottom soil paving device 2 starts to operate according to the set rotating speed.
In the automatic control mode, clicking the automatic mode on the mode selection interface, jumping to the automatic mode control interface, selecting each part under the working part column, clicking one key each time, setting working parameters of each part under the setting column, clicking confirmation after setting one parameter, setting parameters of all working parts in sequence, clicking the starting key above the interface, and automatically operating all working parts according to the set working parameters. For example: under the condition of seeding a seedling raising tray, after all working parameters are set, a start button is pressed, and the electromagnetic vibration table 8 and the vacuum pump 14 are started; when the seedling raising tray is put into the assembly line device, the front end of the seedling raising tray firstly triggers the first photoelectric sensor 27, at the moment, a signal is sent to the first conveying belt 24 through the PLC, and then the first conveying belt 24 bears the seedling raising tray to start to operate; when the front end of the seedling raising tray triggers the second photoelectric sensor 28 arranged at the front end of the bottom soil paving device 2, the bottom soil paving device 2 starts to operate; the seedling raising tray is conveyed forwards continuously, the front end of the seedling raising tray triggers the third photoelectric sensor 29, and the bottom soil sweeping device 3 starts to operate; then the front end of the seedling raising tray contacts the fifth photoelectric sensor 31, and then the hole pressing device 4 starts to operate; when the tail end of the seedling raising tray triggers the second photoelectric sensor 28, the bottom soil paving device 2 stops running; when the tail end of the seedling raising tray triggers the fourth photoelectric sensor 30, the bottom soil sweeping device 3 stops running; when the sixth photoelectric sensor 32 is triggered at the tail end of the seedling raising tray, the hole pressing device 4 stops running; the front end of the seedling raising tray is contacted with the seventh photoelectric sensor 33, a signal is sent to the PLC, the PLC judges whether the eighth photoelectric sensor 34 is in a trigger state, if so, the first conveying belt 24 stops running, otherwise, the first conveying belt 24 continues running, meanwhile, the second conveying belt 25 is started, the seed suction tray 7 starts to suck seeds, and the positioning stop block 47 is pushed out; the front end of the seedling raising tray is blocked by a positioning block 47, the eighth photoelectric sensor 34 is triggered, the seed suction tray 7 carries out seed metering, meanwhile, the seed suction tray 7 triggers a limit switch 40, the positioning block 47 is retracted, and the third conveying belt 26 is started; the tail end of the seedling raising tray touches the eighth photoelectric sensor 34, and the second conveyer belt 25 stops; the ninth photoelectric sensor 35 is triggered at the front end of the seedling raising tray, and the surface soil covering device 10 is started; the tenth photoelectric sensor 36 is triggered at the front end of the seedling raising tray, and the surface soil sweeping device 11 is started; the twelfth photoelectric sensor 38 is triggered at the front end of the seedling raising tray, and the watering device 12 is started; the ninth photoelectric sensor 35 is triggered by the tail end of the seedling raising tray, and the surface soil covering device 10 stops; the front end of the seedling raising tray triggers the eleventh photoelectric sensor 37, and the surface soil sweeping device 11 stops; the thirteenth photoelectric sensor 39 is triggered by the tail end of the seedling raising tray, the sprinkling device 12 stops sprinkling water, and the third conveying belt 26 stops. So far, the whole sowing assembly line is finished. Under the automatic seeding mode, the working condition of the seeding part can be displayed on the industrial touch screen in real time.
The above detailed description of the embodiments according to the present invention is provided. Technical solution according to the present invention, a person skilled in the art may propose various alternative structures and implementations without changing the spirit of the present invention. Therefore, the above-described embodiments and the accompanying drawings are only exemplary illustrations of the technical solutions of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical solutions of the present invention.
Claims (8)
1. The utility model provides a precision sprout cultivation seeding assembly line device of air suction vibration dish which characterized in that: a three-section type conveying belt structure is adopted, a soil spreading and hole pressing mechanism, a seeding mechanism and an earth covering and water spraying mechanism are sequentially arranged on each section of conveying belt according to the working direction, the seeding mechanism comprises a seeding mechanical arm (6) and an electromagnetic vibration table (8), the lower end of the seeding mechanical arm (6) is connected with a seed suction disc (7), a vibration seed disc (9) is fixed on the electromagnetic vibration table (8), and a suction hole of the vibration seed disc (9) is connected with a vacuum pump (14);
the device also comprises a PLC controller, a signal acquisition sensor and a touch screen, and controls the operation of the soil spreading and hole pressing mechanism, the seeding mechanism and the soil covering and water spraying mechanism according to the specific position of the seedling raising tray on the assembly line device; the seedling raising tray reaches the seeding position to carry out seed sowing operation; in the process of seedling raising operation, the output vibration frequency of the electromagnetic vibration table (8) is controlled according to the vibration frequency of the vibration seed tray (9).
2. The air-suction vibration disc type precision seedling raising and sowing assembly line device according to claim 1, characterized in that: and the acupoint pressing device (4) comprises a second supporting threaded rod (4e), and the second supporting threaded rod (4e) is connected with an acupoint pressing roller frame (4 a).
3. The air-suction vibration disc type precision seedling raising and sowing assembly line device according to claim 1, characterized in that: sweep subsoil device (3) and include first support threaded rod (3e), first support threaded rod (3e) are connected with brush yoke (3 a).
4. The air-suction vibration disc type precision seedling raising and sowing assembly line device according to claim 1, characterized in that: the bottom soil paving device (2) comprises a soil storage box (2b), and a soil stirring shaft (2c) is fixed at the upper end of the soil storage box (2 b).
5. The air-suction vibration disc type precision seedling raising and sowing assembly line device according to claim 1, characterized in that: the first conveyor belt (24) consists of a chain-driven first conveyor belt A part (24a) and a first conveyor belt B part (24B), the first conveyor belt B part (24B) having a greater speed of travel than the first conveyor belt A part (24 a).
6. The air-suction vibration disc type precision seedling raising and sowing assembly line device according to claim 1, characterized in that: the third conveyor belt (26) is composed of a third conveyor belt A part (26a) and a third conveyor belt B part (26B) which are connected in a chain transmission mode, and the running speeds of the third conveyor belt A part (26a) and the third conveyor belt B part (26B) are consistent.
7. The control method of the air-suction vibration disk type precision seedling raising and sowing assembly line device according to any one of claims 1 to 6 is characterized in that:
detecting the specific position of the seedling raising tray on the assembly line device, and controlling the corresponding working parts to start and stop;
the hole pressing device automatically adapts to the speed of the first conveyor belt and aligns hole pressing on hole holes of the seedling raising disc;
when seeding, the seeding operation is carried out after the limit switch (40) is triggered;
controlling the output vibration frequency of the electromagnetic vibration table (8) according to the vibration frequency of the vibration seed tray (9);
and the rotating speeds of the bottom soil paving device (2), the surface soil covering device (10), the first conveying belt (24), the second conveying belt (25) and the third conveying belt (26) are detected, the detection result is displayed through a touch screen, and meanwhile, the PLC controls all working parts to run coordinately according to the detection result.
8. The control method of the air-suction vibration disc type precision seedling raising and sowing assembly line device according to claim 7, characterized in that: the electromagnetic vibration table (8) is controlled by frequency conversion, and the specific control process is as follows: when the assembly line device is started, the vibration seed tray (9) vibrates at low frequency; when the seed is sucked, the electromagnetic vibration table (8) drives the vibration seed tray (9) to vibrate in high frequency, and after the seed is sucked, the electromagnetic vibration table (8) recovers the low-frequency vibration; with the progress of seeding, the seed quantity in the vibrating seed tray (9) is gradually reduced, and the vibration frequency of the electromagnetic vibration table (8) is improved; when the seed amount in the vibration seed tray (9) is reduced to a certain amount, seed adding is carried out, the vibration frequency of the magnetic vibration table (8) is adjusted, the PLC controller controls the seeding speed to be reduced, and the reserved time is reserved for seed homogenizing of the vibration seed tray (9).
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911409747.1A CN111052912A (en) | 2019-12-31 | 2019-12-31 | Air-suction vibration disc type precision seedling raising and sowing production line device and control method thereof |
| JP2020570963A JP7055490B2 (en) | 2019-12-31 | 2020-01-09 | Gas suction vibration tray type precision cultivation sowing single sink device and its control method |
| PCT/CN2020/071059 WO2021134817A1 (en) | 2019-12-31 | 2020-01-09 | Air suction vibration disc type precision seedling raising and seeding assembly line device and control method therefor |
| GB2019526.9A GB2587736B (en) | 2019-12-31 | 2020-01-09 | Flowline operation apparatus of pneumatic vibration tray-type precision seeding for seedling raising and control method thereof |
| CH01572/20A CH717531B1 (en) | 2019-12-31 | 2020-01-09 | Conveyor device for growing seedlings and method. |
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| CN201911409747.1A CN111052912A (en) | 2019-12-31 | 2019-12-31 | Air-suction vibration disc type precision seedling raising and sowing production line device and control method thereof |
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| CN111052912A true CN111052912A (en) | 2020-04-24 |
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| WO (1) | WO2021134817A1 (en) |
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| CN111630981A (en) * | 2020-06-22 | 2020-09-08 | 上海侬盛现代农业科技有限公司 | One-key type seeder and working method thereof |
| CN111802132A (en) * | 2020-06-30 | 2020-10-23 | 农业农村部南京农业机械化研究所 | Electric seeding and seedling raising equipment |
| CN113287392A (en) * | 2021-04-14 | 2021-08-24 | 江苏大学 | Blowing-sucking type electromagnetic vibration precision seeding device and control method thereof |
| WO2022183523A1 (en) * | 2021-03-04 | 2022-09-09 | 江苏大学 | Multi-component coordinated motion control device and method for air vibration type precision seeding assembly line |
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