CN111819930B - Sugarcane planting integrated rotary tiller - Google Patents

Abstract

The invention discloses a sugarcane planting integrated rotary tiller, which comprises a frame and is equipped with a traveling mechanism; a rotary tiller is arranged below the frame and is used for loosening and breaking up the land; and a travel device is arranged on the frame The bottom and the rear of the rotary tiller along the running direction of the rack are used to shovel the partially scattered soil and form grooves on both sides; the cutting device is arranged on the rack and is used to cut the sugarcane into cane The planting device is arranged on the frame and is located behind the traveling device along the traveling direction of the traveling mechanism, and is used for placing the sugarcane seeds into the groove along the set order or orientation. The rotary tillage device loosens and disperses the land, the travel device ploughs the loosened soil out of the trench to prepare for sowing, and the cutting device cuts the entire sugarcane into suitable lengths as sugarcane seeds, and each segment of sugarcane seeds is planted The device is placed in the excavated trench to realize the mechanized planting of sugarcane.

Description

Sugarcane planting integrated rotary tiller

technical field

The invention relates to agricultural machinery and equipment, in particular to a sugarcane planting integrated rotary tiller.

Background technique

Sugarcane is a temperate and tropical crop, and is the raw material for the manufacture of sucrose, and ethanol can be extracted as an energy substitute. Sugarcane is rich in sugar and water, and also contains various vitamins, fats, proteins, organic acids, Calcium, iron and other substances. my country is one of the largest sugarcane producing countries. In the early days, most of the sugarcane planting was done manually, and the production efficiency was low. With the development of social economy and science and technology, sugarcane planting is also developing towards mechanization.

Before planting sugarcane, the land should be deeply ploughed to provide a loose and fertile soil condition for sugarcane seedlings to fully meet the needs of their root growth, so that the roots can better absorb water and nutrients. Sugarcane can be planted by sugarcane seedlings and sugarcane seeds. At present, most of the mechanized sugarcane planting is planted by pre-cut seeding, that is, the sugarcane is cut into several small sections in advance, each section contains 1-2 buds, and then the cut sugarcane is planted. When planting sugarcane seeds, pay attention to laying the sugarcane seeds flat in the soil. Although the existing sugarcane planters can realize mechanized plowing, ridge opening, fertilization, soil covering and other operations, it is still necessary to manually pre-cut the sugarcane seeds and manually place the sugarcane seedlings horizontally. Phenomenon, the regionalized planting of sugarcane has a large amount of seeds, high labor intensity and low efficiency.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes an integrated rotary tiller for sugarcane planting, which truly realizes full automation of sugarcane planting, improves production efficiency and reduces labor intensity.

The sugarcane planting integrated rotary cultivator according to the embodiment of the present invention includes a frame, the frame is equipped with a traveling mechanism; The front end of the frame is used for loosening and breaking up the land; the driving device is arranged below the frame and is located at the rear of the rotary tiller along the running direction of the frame, and is used for breaking up part of the ground. The soil is shoveled and divided into two sides to form grooves; a cutting device is arranged on the frame, and is used to cut the sugarcane into cane seeds; a planting device is arranged on the frame and walks along the frame A direction is located behind the running device for placing cane seeds into the trench in a set order or orientation.

The sugarcane planting integrated rotary tiller according to the embodiment of the present invention has at least the following technical effects:

When working, the soil is loosened and scattered by the rotary tiller, and then the driving device will plough the loosened soil out of the trench to prepare for sowing. The cutting device will cut the whole sugarcane into suitable lengths as sugarcane seeds. During the process, the position of sugarcane buds is avoided, and each segment of sugarcane seeds is placed in the groove according to the set orientation or order by the planting device, which realizes the mechanized planting of sugarcane. The scheme has the advantages of compact structure, simple procedure, manpower saving and high efficiency, and can completely realize the sugarcane planting procedure, with high economic benefit and broad market prospect.

According to some embodiments of the present invention, the rack is provided with a water spraying device between the traveling device and the planting device along the running direction of the rack, for spraying water into the groove.

According to some embodiments of the present invention, a stirring device is provided on the frame, and the stirring device is located close to the water spraying device for stirring the mud.

According to some embodiments of the present invention, the rotary tillage device includes a first rotary shaft provided on the frame and a plurality of rotary tillers distributed in the circumferential direction of the first rotary shaft.

According to some embodiments of the present invention, the traveling device includes a bracket and a plurality of blade blades arranged at the bottom of the bracket, and the horizontal height of the blade blades is higher than the lowest point of the movement path of the end of the rotary blade. the corresponding horizontal height.

According to some embodiments of the present invention, a compacting device is provided under the frame, and the compacting device is located at the rear end of the planting device along the running direction of the frame, and is used for placing the planting device in the groove. The sugarcane seeds are compacted in the mud.

According to some embodiments of the present invention, the cutting device is provided with a material storage mechanism, and the material storage mechanism is provided on the frame for storing the sugar cane to be cut.

According to some embodiments of the present invention, the cutting device is provided with a clamping mechanism, a carrying mechanism and a cutting knife; the cutting knife is located at the output end of the carrying mechanism and is used for cutting sugar cane, and the carrying mechanism uses The holding mechanism is used to carry the sugarcane to be cut and transport the sugarcane to the output end, and the clamping mechanism is used for transferring the sugarcane in the storage mechanism to the carrying mechanism.

According to some embodiments of the present invention, the cutting device is provided with a detection mechanism for detecting the positions of sugarcane nodes and sugarcane sprouts.

According to some embodiments of the present invention, a feeding mechanism is provided below the cutting device for sending the sugarcane seeds to the planting device.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

Fig. 1 is the first structural representation of sugarcane planting integrated rotary tiller of the present invention;

Fig. 2 is the second structural representation of the sugarcane planting integrated rotary tiller of the present invention;

Fig. 3 is the third structural schematic diagram of the sugarcane planting integrated rotary tiller of the present invention;

Fig. 4 is the sectional view of the sugarcane planting integrated rotary tiller of the present invention;

Figure 5 is a partial schematic view of a planting device and a cutting device;

Fig. 6 is the partial schematic diagram of the rotary tillage device;

Fig. 7 is the partial schematic diagram of the opening device;

Reference number:

frame 101, rollers 102;

The rotary tiller 110, the first rotating shaft 111, the cutter head 112, the rotary tiller 113;

A travel device 120, a shovel blade 121, and a shovel blade holder 122;

Cutting device 130, storage bin 131, cutting bin 132, carrying mechanism 133, cutting knife 134, discharge port 135, chip removal hole 136, clamping jaw 137, unloading bin 138;

The planting device 140, the pneumatic gripper 141, the second rotating shaft 142, the carrier sheet 143;

Water spray device 150, water tank 151;

Compaction device 160 , leveling roller 161 , bracket 162 .

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Axial, Radial, Circumferential The orientation or positional relationship indicated by etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, with a specific orientation. The orientation configuration and operation are therefore not to be construed as limitations of the present invention. Furthermore, features delimited with "first", "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

1 to 7, the sugarcane planting integrated rotary tiller according to the embodiment of the present invention includes:

The frame 101 is configured with a traveling mechanism;

The rotary tillage device 110 is arranged below the frame 101 and is used for loosening and breaking up the land;

The traveling device 120 is arranged below the frame 101 and behind the rotary tiller 110 along the running direction of the frame 101, and is used for shoveling the partially scattered soil and forming grooves on both sides;

The cutting device 130 is arranged on the frame 101 and is used for cutting the sugarcane into sugarcane seeds;

The planting device 140 is installed on the frame 101 and is located behind the traveling device 120 along the traveling direction of the traveling mechanism, and is used for placing the sugarcane seeds into the trenches in a set order.

The sugarcane planting integrated rotary cultivator set with the above structure includes a rotary tiller 110, a traveling device 120, a cutting device 130, and a planting device 140 in sequence from front to back along the running direction of the frame 101. The device 110 loosens and disperses the soil, then the driving device 120 ploughs the loosened soil to form one or more grooves, and the cutting device 130 cuts the whole sugarcane into suitable lengths as sugarcane seeds, and finally each segment of sugarcane seeds The mechanized planting of sugar cane is achieved by placing the planting devices 140 into the trenches in a set order. The scheme has compact structure and simple process, can completely realize the sugarcane planting process, and has good practical value.

In some embodiments of the present invention, the rack 101 is provided with a water spray device 150 between the traveling device 120 and the planting device 140 along the running direction of the rack 101 for spraying water into the trench. The water spray device 150 includes a water tank 151, and the water tank 151 is connected with a water outlet pipe. The water outlet pipe is provided with a regulating valve (not shown in the figure), and the regulating valve can control the water outlet speed.

In some embodiments of the present invention, a stirring device (not shown in the figure) is provided on the frame 101, and the stirring device is located close to the water spray device 150 for stirring the mud. The stirring device includes a stirring rod vertically arranged on the frame 101 , and a plurality of stirring blades are provided at the end of the stirring rod, and the rotation of the stirring rod drives the stirring blades to stir the soil and water. The stirring device can ensure that the soil and water are evenly and fully mixed. It can be understood that water-soluble fertilizers can be placed in the water spray device 150 to improve soil nutrients.

In some embodiments of the present invention, the rotary tillage device 110 includes a first rotary shaft 111 disposed on the frame 101 and a plurality of rotary tiller blades 113 distributed in the circumferential direction of the first rotary shaft 111 .

In some embodiments of the present invention, the first rotating shaft 111 is provided with a plurality of cutter discs 112 at intervals in the axial direction, and each cutter disc 112 is provided with four cross-shaped right-angle rotary cultivating knives 113 . The blade tails of the adjacent rotary blades 113 on the disk 112 are bent in opposite directions. The arrangement of multiple right-angle machetes makes the soil loosening more efficient and ensures a good land environment when sugarcane is planted. It can be understood that, the rotary tiller device 110 can also be set with reference to the rotary tiller in the prior art, and the specific structure of the rotary tiller is common knowledge and will not be described in detail here.

In some embodiments of the present invention, the traveling device 120 includes a blade holder 122 and a plurality of blade blades 121 arranged at the bottom of the blade holder 122 , and the level of the blade 122 is higher than the moving path of the rotary tiller 113 . The horizontal height of the lowest point of the shovel is to prevent the shovel blade 121 from shoveling all the soil in the trench, to ensure that a certain amount of soil can form mud with the water discharged from the water spray device 150, and the soil is kept moist, which is beneficial for the sugarcane to absorb moisture and nutrients to ensure the emergence rate. It can be understood that the setting of the running device 120 can also be made with reference to the running device in the prior art, and the specific structure of the running device is common knowledge and will not be described in detail here.

In some embodiments of the present invention, a compacting device 160 is provided below the rack 101, and the compacting device is located at the rear end of the planting device 140 along the running direction of the rack 101, for compacting the sugarcane seeds placed in the trenches Really in the mud.

In some embodiments of the present invention, the compaction device 160 is provided with a leveling roller 161 , both ends of the leveling roller 161 are provided with brackets 162 , and one end of the bracket 162 is connected to the frame 101 . Rollers 161 press the cane seeds into the soil while leveling the ground.

In some embodiments of the present invention, the cutting device 130 is provided with a storage mechanism, and the storage mechanism is provided on the frame 101 for storing the sugar cane to be cut. As shown in FIG. 5 , the storage mechanism includes a storage bin 131 . In this embodiment, the storage bin 131 is set in a funnel type.

In some embodiments of the present invention, the cutting device 130 is provided with a clamping mechanism, a carrier mechanism 133 , a cutting magazine 132 and a cutting knife 134 . The cutting bin 132 is arranged adjacent to the storage bin 131, the carrying mechanism 133 is arranged in the cutting bin 132, the cutting knife 134 is located at the output end of the carrying mechanism 133, and is used for cutting sugar cane; the carrying mechanism 133 is used for carrying the to-be-cut The sugarcane can be transported to the output end of the carrying mechanism 133 close to the cutting blade 134 , and the clamping mechanism is used to transfer the sugarcane in the storage mechanism to the carrying mechanism 133 . It can be understood that a space is reserved between one end of the carrying mechanism 133 close to the cutting blade 134 and the inner wall of the cutting chamber 132, and the cut sugarcane seeds enter the next process from the space. In this embodiment, the clamping mechanism is provided with two clamping jaws 137 at both ends of the storage bin 131 respectively, and the two clamping jaws 137 can respectively grasp both ends of the sugarcane and send them to the carrying mechanism 133 .

In some embodiments of the present invention, the cutting device 130 is provided with a detection mechanism (not shown in the figure) for detecting the positions of sugarcane nodes and sugarcane sprouts.

In some embodiments of the present invention, the detection mechanism is a camera disposed on the carrier mechanism 133, and the camera detection uses grayscale adjustment, edge detection and Radon transform to identify sugarcane nodes and sugarcane buds based on computer vision. The camera is located close to the cutting knife 134, and the sugarcane moves toward the end with the cutting knife 134 on the carrier mechanism 133. When the camera detects the sugarcane sprouts and sugarcane knots, the cutting knife 134 can adjust the cutting position to avoid cutting. Cane festival and cane sprouts.

In some embodiments of the present invention, a feeding mechanism is provided below the cutting device 130 for sending the sugarcane seeds to the planting device 140 section by section. In this embodiment, the feeding mechanism includes a feeding bin 138 disposed below the cutting bin 132, a discharge port 135 is provided at the bottom of the feeding bin 138, and a push rod (not shown in the figure) is provided in the feeding bin 138. , the sugarcane seeds are dropped from the cutting bin 132 to the lower bin 138 , and the push rod can push the sugarcane seeds to the discharge port 135 .

In some embodiments of the present invention, the bottom of the unloading bin 138 is also provided with a number of chip removal holes 136. When chips are generated when cutting the sugar cane, the chips can be discharged through the chip removal holes 136, and at the same time, it is convenient to complete the work. Afterwards, the unloading bin 138 is cleaned.

In some embodiments of the present invention, the planting device 140 is located below the outlet 135 . In this embodiment, the planting device 140 is a pair of pneumatic gripping jaws 141 . The two pneumatic gripping jaws 141 move synchronously, respectively grab the two ends of the sugarcane seeds dropped from the discharge port 135 and place the sugarcane seeds horizontally. on the mud.

In some embodiments of the present invention, the planting device 140 includes a second rotating shaft 142 disposed below the discharge port 135 . The second rotating shaft 142 is provided with a plurality of bearing mechanisms evenly and at intervals in the axial direction, and each bearing mechanism can receive a plurality of bearing mechanisms. The sugarcane seeds dropped from the discharge port 135 can be placed on the ground along with the rotation of the second rotating shaft 142 . In order to reduce the weight, each carrier mechanism includes several carrier sheets 143 that are evenly and spaced apart, and the projections of the carrier sheets 143 of each carrier mechanism on the end surface of the second rotating shaft 142 overlap.

In some embodiments of the present invention, the sugarcane planting integrated rotary tiller controls each process based on a robot operating system (ROS system), and the machine tool is also provided with a visual operation panel (not shown in the figure), which is connected to the ROS system. With the communication connection, the operator can sit on the sugarcane planting integrated rotary tiller and regulate the planting process by controlling the visual operation panel.

The following is a detailed description of the integrated rotary tiller for sugarcane planting according to an embodiment of the present invention with reference to FIGS. 1 to 7 with a specific embodiment. It is to be understood that the following description is illustrative only and not specific limitation of the invention.

As shown in FIG. 1 to FIG. 7 , the sugarcane planting integrated rotary tiller in this embodiment includes a frame 101, and the frame 101 is equipped with a walking mechanism, which can be set by referring to the walking on the agricultural machinery in the prior art. There are chassis, engine, gearbox, traveling gear train, etc., which will not be described in detail here.

In this embodiment, a rotary tiller 110 , a traveling device 120 , a water spraying device 150 , a stirring device, a planting device 140 and a compacting device 160 are sequentially arranged on the frame 101 from front to back along the running direction. The rotary tillage device 110 includes a first rotating shaft 111 arranged on the frame 101. The first rotating shaft 111 is provided with a plurality of cutter discs 112 at intervals along the axial direction. As for the rotary tiller blades 113 , the bending directions of the blade tails of the adjacent rotary tiller blades 113 on each cutter head 112 are opposite to each other. The travel device 120 includes a blade holder 122 and a plurality of blade blades 121 arranged at the bottom of the blade holder 122 . The horizontal height of the blade 122 is higher than the horizontal height of the lowest point of the moving path of the rotary tiller blade 113 . The frame 101 is also provided with a cutting device 130, and the cutting device 130 includes a material storage mechanism, a clamping mechanism, a carrying mechanism 133, a cutting bin 132, a cutting knife 134 and a detection mechanism; The storage bin 131 and the cutting bin 132 are arranged adjacent to the storage bin 131 , the clamping mechanism is set close to the storage mechanism, the carrying mechanism 133 is set in the cutting bin 132 , and the cutting knife 134 is located at the output end of the carrying mechanism 133 . In this embodiment, the clamping mechanism is two clamping claws 137 at both ends of the storage bin 131 respectively, and the detection mechanism is a camera, which can detect sugarcane buds and sugarcane knots on the sugarcane. A lowering bin 138 is provided below the cutting bin 132 , and a discharging port 135 is provided at the bottom of the lowering bin 138 . The planting device 140 is disposed near the discharge port 135. In this embodiment, the planting device 140 is a pair of pneumatic grippers 141, and the two pneumatic grippers 141 move synchronously.

The soil is loosened and scattered by the rotary tiller 110, and then the driving device 120 tills the loosened soil to make one or more grooves, and the cutting device 130 cuts the whole sugarcane into suitable lengths as sugarcane seeds. The cane segments are placed into the trenches by the planting device 140 in a set sequence.

During operation, the rotary tillage device 110 crushes and loosens the soil, the driving device 120 tills the land out of the trench, and then the water spray device 150 sprays water into the trench, and then the stirring device stirs the soil and water into mud. The two gripping claws respectively grab both ends of the sugarcane and send them to the carrier mechanism 133. After the camera recognizes the positions of the sugarcane buds and sugarcane nodes, the cutting knife 134 adjusts the cutting position to avoid cutting the sugarcane nodes and sugarcane buds. The cutting knife 134 After the sugarcane is cut into segments, the pneumatic gripper 141 grabs the sugarcane seeds and places them in the mud along the set order or orientation, and finally the compacting device 160 compacts the sugarcane seeds. The scheme has the advantages of compact structure, simple procedure, manpower saving and high efficiency, can completely realize the sugarcane planting procedure, and has good practical value.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, The scope of the invention is defined by the claims and their equivalents.

Claims (9)

1. a sugarcane planting integrated rotary tiller, is characterized in that, comprises: Rack, equipped with running mechanism; A rotary tillage device, arranged below the frame, is used for loosening and breaking up the land; a traveling device, arranged below the frame and behind the rotary tiller along the running direction of the frame, for shoveling the partially scattered soil and forming grooves on both sides; a cutting device, arranged on the frame, for cutting the sugarcane into sugarcane seeds; a planting device, arranged on the frame and located behind the travel device along the running direction of the frame, for placing the sugarcane seeds into the groove along a set order or orientation; A blanking mechanism, arranged below the cutting device, is used for sending the sugarcane seeds to the planting device; Wherein, the bottom of the unloading mechanism is provided with a discharge port, the planting device includes a second rotating shaft arranged below the discharge port, and the second rotating shaft is uniformly and spaced along the axial direction with a plurality of bearing Each of the carrying mechanisms includes a plurality of uniformly spaced carrier sheets, the projections of the carrier sheets of the carrier mechanism on the end face of the second rotating shaft overlap, and the carrier mechanism is used to receive The sugarcane seeds dropped by the feeding mechanism, and the sugarcane seeds are placed on the ground during the rotation of the second rotating shaft; The planting device further comprises a pair of pneumatic gripping claws arranged on the second rotating shaft, and the two pneumatic gripping claws can respectively grasp the two ends of the cut sugarcane seeds and place the sugarcane seeds on the ground. 2 . The sugarcane planting integrated rotary cultivator according to claim 1 , wherein the frame is provided with a water spray device between the traveling device and the planting device along the running direction of the frame, 2 . Used to spray water into the groove. 3 . The sugarcane planting integrated rotary tiller according to claim 2 , wherein the frame is provided with a stirring device, and the stirring device is located close to the water spraying device for stirring the mud. 4 . 4. The sugarcane planting integrated rotary tiller according to claim 1, wherein the rotary tiller comprises a first rotating shaft arranged on the frame and a plurality of rotating shafts distributed in the circumferential direction of the first rotating shaft. A rotary knife. 5 . The sugarcane planting integrated rotary tiller according to claim 4 , wherein the traveling device comprises a bracket and a plurality of shovel knives arranged at the bottom of the bracket, and the horizontal height of the shovel knives is higher than that of all the shovel knives. 6 . The horizontal height corresponding to the lowest point of the movement path of the end of the rotary tiller. 6 . The sugarcane planting integrated rotary tiller according to claim 1 , wherein a compacting device is provided below the frame, and the compacting device is located on the planting device along the running direction of the rack. 7 . The rear end is used to compact the sugarcane seeds placed in the groove into the mud. 7 . The sugarcane planting integrated rotary tiller according to claim 1 , wherein the cutting device is provided with a material storage mechanism, and the material storage mechanism is arranged on the frame and is used for storing the to-be-cutting machine. 8 . of sugarcane. 8 . The sugarcane planting integrated rotary tiller according to claim 7 , wherein the cutting device is provided with a clamping mechanism, a carrying mechanism and a cutting knife; the cutting knife is located at the output of the carrying mechanism. 9 . The end is used for cutting sugar cane, the carrying mechanism is used to carry the sugar cane to be cut and can transport the sugar cane to the output end, and the clamping mechanism is used to transfer the sugar cane in the storage mechanism to the output end. on the carrying mechanism. 9 . The sugarcane planting integrated rotary tiller according to claim 1 , wherein the cutting device is provided with a detection mechanism for detecting the positions of sugarcane knots and sugarcane buds. 10 .

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