CN112219513A - Automatic transplanting equipment based on Internet of things and working method thereof - Google Patents
Automatic transplanting equipment based on Internet of things and working method thereof Download PDFInfo
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- CN112219513A CN112219513A CN202011093443.1A CN202011093443A CN112219513A CN 112219513 A CN112219513 A CN 112219513A CN 202011093443 A CN202011093443 A CN 202011093443A CN 112219513 A CN112219513 A CN 112219513A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 238000005096 rolling process Methods 0.000 claims abstract description 73
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000002093 peripheral effect Effects 0.000 claims description 15
- 239000002689 soil Substances 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 9
- 238000005056 compaction Methods 0.000 claims description 7
- 238000003466 welding Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000003825 pressing Methods 0.000 description 20
- 230000006872 improvement Effects 0.000 description 13
- 230000008859 change Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
Abstract
The invention discloses automatic transplanting equipment based on the Internet of things and a working method thereof. The invention has the beneficial effects that: the automatic degree of the equipment for carrying out the transplanting work is high, the seedlings are driven to move through the rolling crawler, the seedling grabbing frame is driven to move through the component on the transplanting mechanism, and the movable work is carried out through the equipment, so that the efficiency of grabbing the seedlings by the seedling grabbing frame for transplanting is greatly improved; in the process of driving the whole device to move by the walking mechanism, the first motor drives the steering frame to rotate and adjust through the output shaft, so that the walking direction and position of the device can be flexibly changed, the working coverage area of the device can be conveniently adjusted by a worker, and the use convenience is guaranteed.
Description
Technical Field
The invention relates to transplanting equipment, in particular to automatic transplanting equipment based on the Internet of things and a working method of the automatic transplanting equipment, and belongs to the technical field of application of the transplanting equipment.
Background
Along with the rapid development of the science and technology level of the agricultural field, transplanting equipment is used more and more frequently in an agricultural greenhouse, seedlings with mud blocks are automatically grabbed through the transplanting equipment, the seedlings are transplanted into seedling pits, and the efficiency of planting the seedlings in the greenhouse is greatly improved.
The current transplanting equipment still has very big defect when using, current transplanting equipment snatchs the seedling and transplants the efficiency in the seedling hole slow, and snatch the precision poor to the seedling, the scope that current transplanting equipment can drive the seedling removal is little, and can work the scope of coverage less, current transplanting equipment can not work by the automatic migration, and at the during operation, the direction of can not quick adjustment marcing in the big-arch shelter, the convenience of use is poor, current transplanting equipment transplants the seedling to the seedling hole in back, can not push the hole with earth around the seedling hole automatically and pack the seedling, current transplanting equipment is poor to the quality of seedling transplantation department work, the variety of work is poor.
Disclosure of Invention
The invention aims to solve the problem that the existing transplanting equipment is low in efficiency of grabbing seedlings and transplanting the seedlings into seedling pits; the precision of grabbing the seedlings is poor, the range of the existing transplanting equipment capable of driving the seedlings to move is small, and the working coverage range is small; the existing transplanting equipment cannot automatically move to work, and cannot quickly adjust the advancing direction in the greenhouse when working, so that the use convenience is poor; after the existing transplanting equipment transplants the seedlings into the seedling pits, soil around the seedling pits cannot be automatically pushed into the pits to fill and press the seedlings, and the existing transplanting equipment has the problems of poor quality of work of seedling transplanting positions and poor working diversity, so that the automatic transplanting equipment based on the Internet of things and the working method thereof are provided.
The purpose of the invention can be realized by the following technical scheme: an automatic transplanting device based on the Internet of things comprises a mounting disc, a seedling placing disc, two moving and loading mechanisms and a seedling grabbing frame, wherein the traveling mechanisms are arranged below four corners of the bottom of the mounting disc, a lower rolling frame is arranged at one end of the bottom of the mounting disc, the seedling placing disc is horizontally arranged at the bottom of the outer side wall of the lower rolling frame, an upper rolling frame is arranged on one side of the upper end of the mounting disc, the two moving and loading mechanisms are sleeved on the lower rolling frame, and the seedling grabbing frame and a seedling bulldozing frame are respectively arranged below the two moving and loading mechanisms;
the travelling mechanism comprises a steering frame and a first roller, a first motor is arranged at the top of the travelling mechanism, the steering frame is rotatably connected below the first motor through an output shaft, a second motor is arranged on one side of the steering frame, and one end of the second motor is rotatably connected with the first roller through the output shaft;
the seedling placing disc is provided with a supporting frame, a groove is formed in the middle of the supporting frame, third motors are arranged on two sides of one end of the supporting frame, and one end of each third motor is rotatably connected with a rolling crawler through an output shaft;
the two moving and installing mechanisms comprise moving and hanging seats and fourth motors, two transverse supporting rods are arranged above the moving and installing mechanisms in parallel, vertical supporting rods are vertically arranged at the bottoms of the two transverse supporting rods, a welding plate is welded between the bottoms of the two vertical supporting rods, the fourth motor is arranged on one side of the bottom of each vertical supporting rod, a first gear is rotatably connected below the fourth motor through an output shaft, a sliding block is arranged on the other side of the bottom of each vertical supporting rod, top hanging frames are arranged at the tops of the two transverse supporting rods, and the moving and hanging seats are sleeved between the two top hanging frames;
the two ends of the moving and hanging seat are provided with fifth motors, and one end of each fifth motor is rotatably connected with a second gear through an output shaft;
a plurality of second clamping teeth matched with the first gear are arranged on the side wall of one side of the lower rolling frame at equal intervals, and the first gear is meshed with the second clamping teeth;
the seedling grabbing frame comprises a first hydraulic cylinder and a movable plate, the first hydraulic cylinder is arranged at the top of the first hydraulic cylinder, the movable plate is movably connected below the first hydraulic cylinder through a first hydraulic shaft, two sixth motors are arranged at the bottom of the movable plate, one ends of the two sixth motors are rotatably connected with a turning block through output shafts, and grabbing feet are arranged below the turning block;
the mechanism of moving to install includes second pneumatic cylinder and seventh motor, there is the seventh motor second pneumatic cylinder below through second hydraulic column swing joint, seventh motor below is connected with through the output shaft and bulldozes the fill, the second pneumatic cylinder bulldozes through the promotion of second hydraulic column and bulldozes the fill and move down, push the hole through bulldozing the fill with seedling hole peripheral earth, and the seventh motor bulldozes through the output shaft drive and bulldozes the fill rotation, change and bulldoze the direction and the position of fighting bulldozing, and construct the position of changing the frame of bulldozing through the mechanism of moving to install, guarantee to bulldoze the frame and push into the hole with seedling hole peripheral earth more completely in the hole, the quality that this equipment transplanted the seedling, the diversity of this equipment work has been improved.
The invention has further technical improvements that: first gyro wheel is located turns to the frame middle part, and first motor passes through the output shaft and drives to turn to the frame rotation regulation, can change the direction and the position that this equipment walking removed in a flexible way, and the staff of being more convenient for adjusts the work coverage area of this equipment, has guaranteed the convenience of using, and the end connection of the output shaft of second motor one end is to turning to the frame in, guarantees that first gyro wheel rotates more in the same direction as smooth, firm.
The invention has further technical improvements that: the rolling track is arranged in an annular mode, the rolling track is located in the groove, seedlings with mud blocks are placed on the rolling track, the second motor on the traveling mechanism drives the first idler wheels to rotate to drive the equipment to move integrally, then the third motor drives the rolling track to rotate through the output shaft, and the seedlings with the mud blocks are moved to be close to the seedling grabbing frame.
The invention has further technical improvements that: one end of the transverse support rod is sleeved with a second roller through a penetrating shaft, a hollow first empty groove is formed in the upper roller frame, a first rolling groove matched with the second roller is formed in the lower portion of the middle of the first empty groove, the second roller is connected to the first rolling groove, the second roller rolls in the first rolling groove, and therefore the moving mechanism is guaranteed to move more stably.
The invention has further technical improvements that: the middle part of the inside of the top hanging frame is provided with a second empty groove, the lower part of the inside of the second empty groove is provided with a second rolling groove matched with a second gear, the bottom of the second rolling groove is provided with a plurality of first clamping teeth at equal intervals, the second gear is connected into the second rolling groove and is meshed with the first clamping teeth, a fifth motor drives the second gear to be meshed with the first clamping teeth to roll, a hanging seat and a seedling grabbing frame are moved to the upper part of the seedlings on the rolling crawler belt, then, a first hydraulic cylinder pushes a grabbing foot to move downwards through a first hydraulic column, two sixth motors drive a turning block and the grabbing foot to turn through an output shaft, the seedlings are grabbed through two grabbing feet, the seedling grabbing frame is driven to move through a moving mechanism, an infrared sensor at the bottom of the seedling grabbing frame detects the positions of seedling pits in the greenhouse, the seedlings are placed into the seedling pits through the seedling grabbing frame, the transplanting work of the seedling is completed, the automatic degree of the transplanting work of the equipment is high, and drive the seedling through rolling the track and remove, the component on the rethread transplanting mechanism drives and grabs the seedling frame activity, and just carries out work through this equipment is portable, very big improvement grab the seedling frame and snatch the efficiency that the seedling transplanted.
The invention has further technical improvements that: the upper end and the lower end of one side of the second empty groove are provided with the inserting piece grooves, the upper end and the lower end of the fifth motor are provided with the sliding plates, the sliding plates at the upper end and the lower end of the fifth motor are connected to the inserting piece grooves at the upper end and the lower end of the second empty groove respectively, the fifth motor is guaranteed to be more stable when being driven by the second gear to move the hanging seat to move, and the hanging seat is prevented from inclining or reversely shaking.
The invention has further technical improvements that: one side of the bottom of the sliding block is provided with a sleeve foot with a cross-shaped section, one side of the lower rolling frame, which is far away from the second clamping tooth, is provided with a buckling groove matched with the sleeve foot, and the sleeve foot is connected into the buckling groove, so that the moving mechanism is more stable and firm in moving work.
The invention has further technical improvements that: grab the foot cross-section and be L shape structure, and be provided with the space between grab foot and the sixth motor, guarantee to grab seedling frame and bulldoze the rest base portion and all be provided with infrared sensor, and infrared sensor and the inside PLC controller communication connection who sets up of mounting disc, the position of the infrared sensor through grabbing seedling rest base portion detection seedling, PLC controller control fifth motor drives the first latch of second gear meshing roll, will move the seat of hanging and grab the seedling frame and move to the seedling top on the track that rolls, grab the in-process that seedling frame snatched the seedling and planted the seedling hole, detect the seedling hole that has planted the seedling through the infrared sensor of bulldozing rest base portion, another moving mechanism will bulldoze the frame and move to the seedling hole top that has planted the seedling, the second pneumatic cylinder pushes and bulldozes the fill through the second hydraulic cylinder and moves down, push and bulldoze the peripheral earth of seedling hole through bulldozing the fill and push in the hole.
The invention has further technical improvements that: the cross section of the pushing and pressing bucket is of a U-shaped structure, the lower part of the middle of the pushing and pressing bucket is of an inwards concave arc structure, the tops of the first hydraulic cylinder and the second hydraulic cylinder are respectively and vertically welded with the bottoms of the transplanting seats on the two transplanting mechanisms, in the process that the seedling grabbing frame grabs seedlings and plants the seedlings into seedling pits, the seedling pits where the seedlings are planted are detected through the infrared sensor at the bottom of the pushing and pressing frame, the other transplanting mechanism moves the pushing and pressing frame to the upper part of the seedling pits where the seedlings are planted, the second hydraulic cylinder pushes the pushing and pressing bucket to move downwards through the second hydraulic column, soil around the seedling pits is pushed into the pits through the pushing and pressing bucket, the seventh motor drives the pushing and pressing bucket to rotate through the output shaft, the direction and the position of the pushing and pressing bucket are changed, the position of the pushing and pressing frame is changed through the transplanting mechanisms, the pushing and pressing bucket pushes the soil around the seedling, the diversity of the work of the equipment is improved.
The invention has further technical improvements that: the using method of the clamping adjusting equipment specifically comprises the following steps:
the method comprises the following steps: the equipment is placed in an agricultural greenhouse, seedlings with mud blocks are placed on a rolling track, a second motor on a travelling mechanism drives a first roller to rotate to drive the equipment to move integrally, then a third motor drives the rolling track to rotate through an output shaft, in the process, a fourth motor on a transplanting mechanism drives a first gear to be meshed with a second gear-latch rolling belt to drive a transplanting mechanism to move, then the position of the seedlings is detected through an infrared sensor at the bottom of a seedling grabbing frame, a PLC controller controls a fifth motor to drive a second gear to be meshed with the first gear-latch to roll, and a transplanting seat and the seedling grabbing frame are moved to the position above the seedlings on the rolling track;
step two: the first hydraulic cylinder pushes the grab legs to move downwards through the first hydraulic column, the two sixth motors drive the turning blocks and the grab legs to turn through the output shafts, seedlings are grabbed through the two grab legs, the moving and installing mechanism drives the seedling grabbing frame to move, the infrared sensor at the bottom of the seedling grabbing frame detects the position of a seedling pit in the greenhouse, the seedlings are placed in the seedling pit through the seedling grabbing frame, the first motor drives the steering frame to rotate and adjust through the output shafts, and the moving direction and the moving position of the device can be changed flexibly;
step three: snatch the seedling at grab seedling frame and plant the in-process that plants the seedling hole, the seedling hole that has planted the seedling has been detected through the infrared sensor who bulldozes the frame bottom, another moving mechanism will bulldoze the frame and move to the seedling hole top of planting the seedling, the second pneumatic cylinder bulldozes through the promotion of second hydraulic cylinder and bulldozes and fight the downstream, push the hole through bulldozing the peripheral earth in fighting the seedling hole, drive the second hydraulic cylinder through the second pneumatic cylinder and bulldoze the reciprocal activity from top to bottom of fighting, through bulldozing the peripheral earth compaction of seedling of fighting the bottom to the seedling hole.
Compared with the prior art, the invention has the beneficial effects that:
1. when the seedling transplanter is used, the device is placed in an agricultural greenhouse, seedlings with mud blocks are placed on a rolling track, a second motor on a travelling mechanism drives a first roller to rotate to drive the device to move integrally, then a third motor drives the rolling track to rotate through an output shaft, in the process, a fourth motor on a transplanting mechanism drives a first gear to be meshed with a second gear rack rolling belt to drive a transplanting mechanism to move, then the position of the seedlings is detected through an infrared sensor at the bottom of a seedling grabbing frame, a PLC controller controls a fifth motor to drive a second gear to be meshed with the first gear rack to roll, a hanging seat and the seedling grabbing frame are moved to the position above the seedlings on the rolling track, then a first hydraulic cylinder pushes grabbing feet to move downwards through a first hydraulic column, two sixth motors drive turning blocks and grabbing feet to turn through the output shaft, the seedlings are grabbed through the two grabbing feet, the rethread moves the dress mechanism and drives and grabs the seedling frame and remove, grab the seedling hole position in the infrared sensor detection big-arch shelter of seedling frame bottom, fall into the seedling hole with the seedling through grabbing the seedling frame, accomplish the transplanting work of this equipment to the seedling, the degree of automation that this equipment moved the work of carrying on year, and drive the seedling through the roll track and remove, the seedling frame activity is grabbed in the component drive that the rethread moved in the dress mechanism, and work through this equipment is portable, very big improvement grab the seedling frame and snatch the efficiency that the seedling transplanted.
2. Grab the seedling frame and snatch the back to the seedling, it grabs seedling frame back-and-forth movement regulation to drive through the fifth motor, rethread fourth motor drives and moves the mechanism and grab seedling frame and remove the control, it is more accurate to guarantee that this equipment is with the position of seedling transplanting in the seedling hole, very big improvement this equipment can drive the scope that the seedling transplanted the activity, and the in-process of this equipment moving as a whole work is driven to the running gear, first motor passes through the output shaft and drives the bogie rotation regulation, can change the direction and the position that this equipment walking removed in a flexible way, the staff of being more convenient for adjusts the work coverage area of this equipment, the convenience of using has been guaranteed.
3. Grab the seedling frame and snatch the seedling and plant the in-process that plants the seedling hole, the infrared sensor through bulldozing the frame bottom detects the seedling hole of planting the seedling, another moving installation mechanism will bulldoze the frame and move to the seedling hole top of planting the seedling, the second hydraulic cylinder bulldozes through the promotion of second hydraulic cylinder and bulldozes the fill and move down, push the hole with the peripheral earth in seedling hole through bulldozing the fill, and the seventh motor bulldozes through the output shaft drive and bulldozes the fill rotation, change and bulldoze the direction and the position of fighting, and construct the position of changing the frame of bulldozing through the moving installation, guarantee to bulldoze the frame and push into the hole with the peripheral earth in seedling hole more completely, the quality that this equipment transplanted the seedling has been improved, the diversity of this equipment work has been.
4. After pushing bulldoze the frame and push away earth in the seedling hole, drive the second hydraulic cylinder through the second pneumatic cylinder and bulldoze reciprocal activity from top to bottom of fighting, peripheral earth compaction of seedling through bulldozing the fill bottom to the seedling hole, the equipment is transplanted the back to the seedling has been improved, the seedling is the stability in the seedling hole, and guarantee that this equipment function is more various, and this equipment is transplanted the back to the seedling, the staff is more convenient for manage the seedling of being transplanted in the big-arch shelter, and adjust the position that bulldozes the frame and bulldoze earth through the mechanism of transplanting, guarantee this equipment and to the peripheral earth compaction in seedling hole, it is more comprehensive to cover, this equipment passes through infrared sensing scanning identification work, and through the whole automatic work of this equipment of PLC controller control, the thing networking operation has been realized, the intelligent degree of work is high, time saving and labor saving automation is used.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a schematic overall perspective structure of the present invention.
Fig. 2 is a schematic structural diagram of the traveling mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the seedling placing tray of the invention.
Fig. 4 is a schematic structural diagram of the transfer mechanism of the present invention.
Fig. 5 is an enlarged view of the area a in fig. 1 according to the present invention.
Fig. 6 is an enlarged view of the detail of the area C in fig. 4 according to the present invention.
FIG. 7 is a schematic view of a slider structure according to the present invention.
Fig. 8 is a cross-sectional view of the lower roll frame of the present invention.
Fig. 9 is an enlarged view of the detail of the area B in fig. 1 according to the present invention.
Fig. 10 is a schematic structural view of the seedling grabbing frame of the invention.
FIG. 11 is a schematic view of the bulldozer frame of the present invention.
In the figure: 1. mounting a disc; 2. a traveling mechanism; 3. a lower rolling frame; 4. placing a seedling tray; 5. rolling the frame upwards; 6. a transfer mechanism; 7. seedling grabbing frames; 8. a bulldozing frame; 9. a first motor; 10. a steering frame; 11. a second motor; 12. a first roller; 13. a support frame; 14. grooving; 15. rolling the caterpillar; 16. a third motor; 17. a transverse stay bar; 18. a vertical stay bar; 19. welding the plate; 20. a fourth motor; 21. a slider; 22. a first gear; 23. hanging the frame; 24. moving the hanging seat; 25. a first empty slot; 26. a first roll groove; 27. a second roller; 28. a second empty slot; 29. a second roll groove; 30. a first latch; 31. a sheet inserting groove; 32. a fifth motor; 33. a slide plate; 34. a second gear; 35. sleeving feet; 36. buckling grooves; 37. a second latch; 38. a first hydraulic cylinder; 39. a first hydraulic column; 40. a movable plate; 41. a sixth motor; 42. turning over the blocks; 43. grabbing feet; 44. a second hydraulic cylinder; 45. a second hydraulic column; 46. a seventh motor; 47. pushing the bucket.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-11, an automatic transplanting device based on the internet of things comprises a mounting disc 1, a seedling placing disc 4, two transplanting mechanisms 6 and a seedling grabbing frame 7, wherein traveling mechanisms 2 are arranged below four corners of the bottom of the mounting disc 1, a lower rolling frame 3 is arranged at one end of the bottom of the mounting disc 1, the seedling placing disc 4 is horizontally arranged at the bottom of the outer side wall of the lower rolling frame 3, an upper rolling frame 5 is arranged on one side of the upper end of the mounting disc 1, the two transplanting mechanisms 6 are sleeved on the lower rolling frame 3, and the seedling grabbing frame 7 and a soil pushing frame 8 are respectively arranged below the two transplanting mechanisms 6;
the traveling mechanism 2 comprises a steering frame 10 and a first roller 12, a first motor 9 is arranged at the top of the traveling mechanism 2, the steering frame 10 is rotatably connected below the first motor 9 through an output shaft, a second motor 11 is arranged on one side of the steering frame 10, and one end of the second motor 11 is rotatably connected with the first roller 12 through the output shaft;
a supporting frame 13 is arranged on the seedling placing disc 4, a loading groove 14 is formed in the upper portion of the middle of the supporting frame 13, third motors 16 are arranged on two sides of one end of the supporting frame 13, and one ends of the third motors 16 are rotatably connected with rolling tracks 15 through output shafts;
the two moving and installing mechanisms 6 respectively comprise a moving and hanging seat 24 and a fourth motor 20, two transverse supporting rods 17 are arranged above the moving and installing mechanisms 6 in parallel, vertical supporting rods 18 are vertically arranged at the bottoms of the two transverse supporting rods 17, a welding plate 19 is welded between the bottoms of the two vertical supporting rods 18, the fourth motor 20 is arranged on one side of the bottom of each vertical supporting rod 18, a first gear 22 is rotatably connected below the fourth motor 20 through an output shaft, a sliding block 21 is arranged on the other side of the bottom of each vertical supporting rod 18, top hanging frames 23 are arranged at the tops of the two transverse supporting rods 17, and the moving and hanging seat 24 is sleeved between the two top hanging frames 23;
wherein, both ends of the hanging seat 24 are provided with a fifth motor 32, and one end of the fifth motor 32 is rotatably connected with a second gear 34 through an output shaft;
a plurality of second clamping teeth 37 matched with the first gear 22 are arranged on the side wall of one side of the lower roller frame 3 at equal intervals, and the first gear 22 is meshed with the second clamping teeth 37;
the seedling grabbing frame 7 comprises a first hydraulic cylinder 38 and a movable plate 40, the first hydraulic cylinder 38 is arranged at the top of the first hydraulic cylinder 38, the movable plate 40 is movably connected below the first hydraulic cylinder 38 through a first hydraulic shaft 39, two sixth motors 41 are arranged at the bottom of the movable plate 40, one ends of the two sixth motors 41 are rotatably connected with a turning block 42 through output shafts, and a grabbing foot 43 is arranged below the turning block 42;
the transfer mechanism 6 comprises a second hydraulic cylinder 44 and a seventh motor 46, the seventh motor 46 is movably connected below the second hydraulic cylinder 44 through a second hydraulic column 45, a pushing bucket 47 is rotatably connected below the seventh motor 46 through an output shaft, the second hydraulic cylinder 44 pushes the pushing bucket 47 to move downwards through the second hydraulic column 45, soil around the seedling pit is pushed into the pit through the pushing bucket 47, the seventh motor 46 drives the pushing bucket 47 to rotate through the output shaft, the direction and the position of the pushing bucket 47 for pushing the soil are changed, the position of the bulldozer frame 8 is changed through the transfer mechanism 6, the bulldozer frame 8 is enabled to push the soil around the seedling pit more completely, the quality of transplanting seedlings by the device is improved, and the working diversity of the device is improved.
The rolling crawler 15 is arranged in an annular shape, the rolling crawler 15 is positioned in the groove 14, seedlings with mud blocks are placed on the rolling crawler 15, the second motor 11 on the travelling mechanism 2 drives the first idler wheel 12 to rotate to drive the equipment to move integrally, and then the third motor 16 drives the rolling crawler 15 to rotate through an output shaft, so that the seedlings with the mud blocks are moved to be close to the seedling grabbing frame 7.
One end of the transverse supporting rod 17 is sleeved with a second roller 27 through a penetrating shaft, a hollow first empty groove 25 is formed in the upper roller frame 5, a first rolling groove 26 matched with the second roller 27 is formed in the lower portion of the middle of the first empty groove 25, the second roller 27 is connected to the first rolling groove 26, the second roller 27 rolls in the first rolling groove 26, and therefore the moving mechanism 6 is guaranteed to move more stably.
A second empty groove 28 is arranged in the middle of the inside of the top hanging frame 23, a second rolling groove 29 matched with a second gear 34 is arranged below the inside of the second empty groove 28, a plurality of first clamping teeth 30 are arranged at equal intervals at the bottom of the second rolling groove 29, the second gear 34 is connected into the second rolling groove 29, the second gear 34 is meshed with the first clamping teeth 30, a fifth motor 32 drives the second gear 34 to be meshed with the first clamping teeth 30 to roll, the hanging seat 24 and the seedling grabbing frame 7 are moved to the upper part of the seedlings on the rolling crawler belt 15, then, a first hydraulic cylinder 38 pushes the grabbing feet 43 to move downwards through a first hydraulic column 39, two sixth motors 41 drive a turning block 42 and the grabbing feet 43 to turn through output shafts, the seedlings are grabbed through two grabbing feet 43, the seedling grabbing frame 7 is driven to move through the moving mechanism 6, an infrared sensor at the bottom of the seedling grabbing frame 7 detects the positions of the seedling pits in the greenhouse, the seedlings are placed in the seedling pits through the seedling grabbing frame 7, accomplish the work of transplanting of this equipment to the seedling, this equipment moves the degree of automation that moves the work high, and drives the seedling through rolling track 15 and remove, and the component on the rethread moves dress mechanism 6 drives and grabs seedling frame 7 activity, and carries out work through this equipment is portable, very big improvement grab seedling frame 7 and snatch the seedling and carry out the efficiency of transplanting.
The upper end and the lower end of one side of the second empty groove 28 are provided with the inserting piece grooves 31, the upper end and the lower end of the fifth motor 32 are provided with the sliding plates 33, the sliding plates 33 at the upper end and the lower end of the fifth motor 32 are respectively connected to the inserting piece grooves 31 at the upper end and the lower end of the second empty groove 28, the fifth motor 32 is guaranteed to be more stable when being driven by the second gear 34 to move the hanging seat 24, and the hanging seat 24 is prevented from inclining or reversely shaking.
One side of the bottom of the sliding block 21 is provided with a sleeve foot 35 with a cross-shaped section, one side of the lower rolling frame 3 away from the second clamping tooth 37 is provided with a buckling groove 36 matched with the sleeve foot 35, and the sleeve foot 35 is connected into the buckling groove 36, so that the moving and mounting mechanism 6 is more stable and firm during moving and working.
The section of the grab foot 43 is in an L-shaped structure, a gap is arranged between the grab foot 43 and the sixth motor 41, the infrared sensors are arranged at the bottoms of the seedling grabbing frame 7 and the bulldozing frame 8, the infrared sensors are in communication connection with a PLC (programmable logic controller) arranged in the mounting disc 1, the position of the seedling is detected through the infrared sensor with the model of OS137-3 at the bottom of the seedling grabbing frame 7, the PLC with the model of CPM1A controls the fifth motor 32 to drive the second gear 34 to be meshed with the first clamping tooth 30 to roll, the transplanting seat 24 and the seedling grabbing frame 7 are moved to the position above the seedling on the rolling crawler belt 15, in the process that the seedling grabbing frame 7 grabs the seedling and plants the seedling, the seedling pit with the seedling planted is detected through the infrared sensor at the bottom of the bulldozing frame 8, the other transplanting mechanism 6 moves the bulldozing frame 8 to the position above the seedling pit with the seedling planted, the second hydraulic cylinder 44 pushes and pushes the bulldozes bucket 47 to move downwards, soil around the seedling pit is pushed into the pit by the push hopper 47.
The section of the pushing and pressing bucket 47 is of a U-shaped structure, the middle lower part of the pushing and pressing bucket 47 is of an inwards concave arc structure, the tops of the first hydraulic cylinder 38 and the second hydraulic cylinder 44 are respectively and vertically welded with the bottoms of the transplanting seats 24 on the two transplanting mechanisms 6, in the process that the seedling grabbing frame 7 grabs seedlings and plants the seedlings into seedling pits, the seedling pits with the seedlings planted are detected through the infrared sensor at the bottom of the pushing and pressing frame 8, the other transplanting mechanism 6 moves the pushing and pressing frame 8 to the upper part of the seedling pits with the seedlings planted, the second hydraulic cylinder 44 pushes the pushing and pressing bucket 47 to move downwards through the second hydraulic cylinder 45, soil around the seedlings is pushed into the pits through the pushing and pressing bucket 47, the seventh motor 46 drives the pushing and pressing bucket 47 to rotate through an output shaft, the direction and the position of the pushing and pressing bucket 47 are changed, the position of the pushing and pressing frame 8 is changed through the transplanting mechanism 6, and the pushing and pressing bucket 8 is guaranteed that the, the quality of transplanting the seedlings by the equipment is improved, and the working diversity of the equipment is improved.
The using method of the clamping adjusting equipment specifically comprises the following steps:
the method comprises the following steps: the equipment is placed in an agricultural greenhouse, seedlings with mud blocks are placed on a rolling crawler 15, a second motor 11 on a travelling mechanism 2 drives a first roller 12 to rotate to drive the equipment to integrally move, then a third motor 16 drives the rolling crawler 15 to rotate through an output shaft, in the process, a fourth motor 20 on a transplanting mechanism 6 drives a first gear 22 to be meshed with a second clamping tooth 37 to roll, the transplanting mechanism 6 is driven to move, then the position of the seedlings is detected through an infrared sensor at the bottom of a seedling grabbing frame 7, a PLC controller controls a fifth motor 32 to drive a second gear 34 to be meshed with a first clamping tooth 30 to roll, and a hanging seat 24 and the seedling grabbing frame 7 are moved to the position above the seedlings on the rolling crawler 15;
step two: the first hydraulic cylinder 38 pushes the grab foot 43 to move downwards through the first hydraulic column 39, the two sixth motors 41 drive the turning block 42 and the grab foot 43 to turn through the output shafts, the seedlings are grabbed through the two grab feet 43, the seedling grabbing frame 7 is driven to move through the moving and mounting mechanism 6, the infrared sensor at the bottom of the seedling grabbing frame 7 detects the position of a seedling pit in the greenhouse, the seedlings are placed in the seedling pit through the seedling grabbing frame 7, the first motor 9 drives the steering frame 10 to rotate and adjust through the output shafts, and the walking and moving direction and position of the equipment can be changed flexibly;
step three: snatch the seedling and plant the in-process in seedling hole at grab seedling frame 7, the infrared sensor through bulldozing 8 bottoms detects the seedling hole of planting the seedling, another move dress mechanism 6 will bulldoze 8 and remove to the seedling hole top of planting the seedling, second hydraulic cylinder 44 bulldozes through second hydraulic cylinder 45 promotion and bulldozes 47 downstream, push the hole through bulldozing 47 with the peripheral earth in seedling hole, drive second hydraulic cylinder 45 through second hydraulic cylinder 44 and bulldoze 47 reciprocal up-and-down activities of fighting, through bulldozing 47 bottoms to the peripheral earth compaction of seedling in seedling hole.
When the invention is used, the device is placed in an agricultural greenhouse, seedlings with mud blocks are placed on the rolling crawler 15, the second motor 11 on the travelling mechanism 2 drives the first roller 12 to rotate to drive the device to move integrally, then the third motor 16 drives the rolling crawler 15 to rotate through the output shaft, in the process, the fourth motor 20 on the transferring mechanism 6 drives the first gear 22 to engage with the second latch 37 to roll, the transferring mechanism 6 is driven to move, then the position of the seedlings is detected through the infrared sensor at the bottom of the seedling grabbing frame 7, the PLC controller controls the fifth motor 32 to drive the second gear 34 to engage with the first latch 30 to roll, the transferring seat 24 and the seedling grabbing frame 7 are moved to the upper part of the seedlings on the rolling crawler 15, then the first hydraulic cylinder 38 pushes the grabbing feet 43 to move downwards through the first hydraulic column 39, and the two sixth motors 41 drive the overturning blocks 42 and the grabbing feet 43 to turn through the output shaft, the seedling is grabbed through the two grabbing feet 43, the seedling grabbing frame 7 is driven to move through the moving and mounting mechanism 6, the infrared sensor at the bottom of the seedling grabbing frame 7 detects the position of a seedling pit in the greenhouse, the seedling is placed in the seedling pit through the seedling grabbing frame 7, and the transplanting work of the seedling transplanting device is completed;
after the seedling grabbing frame 7 grabs the seedlings, the fifth motor 32 drives the seedling grabbing frame 7 to move back and forth for adjustment, and then the fourth motor 20 drives the moving and mounting mechanism 6 and the seedling grabbing frame 7 to move left and right for adjustment, so that the position of the seedling transplanting device in the seedling pit is ensured to be more accurate, the range of seedling transplanting movement driven by the device is greatly increased, and in the process that the walking mechanism 2 drives the device to integrally move, the first motor 9 drives the steering frame 10 to rotate and adjust through an output shaft;
in the process that the seedling grabbing frame 7 grabs seedlings and plants the seedlings into seedling pits, the seedling pits in which the seedlings are planted are detected through an infrared sensor at the bottom of the seedling grabbing frame 8, the other transplanting mechanism 6 moves the seedling grabbing frame 8 to the position above the seedling pits in which the seedlings are planted, the second hydraulic cylinder 44 pushes the pushing bucket 47 to move downwards through the second hydraulic cylinder 45, soil around the seedling pits is pushed into the pits through the pushing bucket 47, the seventh motor 46 drives the pushing bucket 47 to rotate through an output shaft, the direction and the position of the pushing bucket 47 are changed, and the position of the seedling grabbing frame 8 is changed through the transplanting mechanism 6;
after bulldozing frame 8 and pushing away earth in the seedling hole, drive second hydraulic cylinder 45 and bulldoze 47 reciprocal activity from top to bottom through second pneumatic cylinder 44, fight 47 bottoms to the peripheral earth compaction of seedling hole through bulldozing to adjust the position that bulldozes frame 8 and bulldoze earth through moving dress mechanism 6, guarantee that this equipment is more comprehensive to the peripheral earth compaction of seedling hole, cover.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides an automatic equipment of transplanting based on thing networking, includes mounting disc (1), pendulum seedling dish (4), two move dress mechanism (6) and grab seedling frame (7), its characterized in that: the seedling placing and pushing device is characterized in that traveling mechanisms (2) are arranged below four corners of the bottom of the mounting disc (1), a lower rolling frame (3) is arranged at one end of the bottom of the mounting disc (1), a seedling placing disc (4) is horizontally arranged at the bottom of the outer side wall of the lower rolling frame (3), an upper rolling frame (5) is arranged on one side of the upper end of the mounting disc (1), two moving and installing mechanisms (6) are sleeved on the lower rolling frame (3), and a seedling grabbing frame (7) and a soil pushing frame (8) are respectively arranged below the two moving and installing mechanisms (6);
the walking mechanism (2) comprises a steering frame (10) and a first roller (12), a first motor (9) is arranged at the top of the walking mechanism (2), the steering frame (10) is rotatably connected below the first motor (9) through an output shaft, a second motor (11) is arranged on one side of the steering frame (10), and one end of the second motor (11) is rotatably connected with the first roller (12) through the output shaft;
a supporting frame (13) is arranged on the seedling placing disc (4), a loading groove (14) is arranged above the middle part of the supporting frame (13), third motors (16) are arranged on two sides of one end of the supporting frame (13), and one end of each third motor (16) is rotatably connected with a rolling crawler (15) through an output shaft;
the two moving and installing mechanisms (6) respectively comprise a moving and hanging seat (24) and a fourth motor (20), two transverse supporting rods (17) are arranged above the moving and installing mechanisms (6) in parallel, vertical supporting rods (18) are vertically arranged at the bottoms of the two transverse supporting rods (17), a welding plate (19) is welded between the bottoms of the two vertical supporting rods (18), the fourth motor (20) is arranged on one side of the bottom of each vertical supporting rod (18), a first gear (22) is rotatably connected below the fourth motor (20) through an output shaft, a sliding block (21) is arranged on the other side of the bottom of each vertical supporting rod (18), top hanging frames (23) are arranged at the tops of the two transverse supporting rods (17), and the moving and hanging seat (24) is sleeved between the two top hanging frames (23);
the two ends of the moving and hanging seat (24) are respectively provided with a fifth motor (32), and one end of the fifth motor (32) is rotatably connected with a second gear (34) through an output shaft;
a plurality of second clamping teeth (37) matched with the first gear (22) are arranged on the side wall of one side of the lower rolling frame (3) at equal intervals, and the first gear (22) is meshed with the second clamping teeth (37);
the seedling grabbing frame (7) comprises a first hydraulic cylinder (38) and a movable plate (40), the first hydraulic cylinder (38) is arranged at the top of the first hydraulic cylinder (38), the movable plate (40) is movably connected below the first hydraulic cylinder (38) through a first hydraulic shaft (39), two sixth motors (41) are arranged at the bottom of the movable plate (40), one ends of the two sixth motors (41) are rotatably connected with a turning block (42) through output shafts, and grabbing feet (43) are arranged below the turning block (42);
the moving and assembling mechanism (6) comprises a second hydraulic cylinder (44) and a seventh motor (46), the seventh motor (46) is movably connected below the second hydraulic cylinder (44) through a second hydraulic column (45), and a pushing bucket (47) is rotatably connected below the seventh motor (46) through an output shaft.
2. The automatic transplanting equipment based on the internet of things as claimed in claim 1, wherein the first roller (12) is located in the middle of the steering frame (10), and the end of the output shaft at one end of the second motor (11) is connected to the steering frame (10).
3. The internet of things-based automatic transplanting equipment as claimed in claim 1, wherein the rolling tracks (15) are arranged in an annular shape, and the rolling tracks (15) are located in the loading grooves (14).
4. The automatic transplanting equipment based on the internet of things of claim 2, wherein one end of the transverse supporting rod (17) is sleeved with a second roller (27) through a through shaft, a hollow first empty groove (25) is formed in the upper roller frame (5), a first rolling groove (26) matched with the second roller (27) is formed in the lower portion of the middle of the first empty groove (25), and the second roller (27) is connected to the first rolling groove (26).
5. The automatic transplanting equipment based on the Internet of things of claim 3, wherein a second empty groove (28) is formed in the middle of the inside of the top hanging frame (23), a second rolling groove (29) matched with a second gear (34) is formed in the lower portion of the inside of the second empty groove (28), a plurality of first clamping teeth (30) are arranged at the bottom of the second rolling groove (29) at equal intervals, the second gear (34) is connected into the second rolling groove (29), and the second gear (34) is meshed with the first clamping teeth (30).
6. The automatic transplanting equipment based on the Internet of things of claim 5, wherein the second empty slot (28) is provided with inserting piece slots (31) at the upper end and the lower end of one side, the fifth motor (32) is provided with sliding plates (33) at the upper end and the lower end of the fifth motor (32), and the sliding plates (33) at the upper end and the lower end of the fifth motor (32) are respectively connected into the inserting piece slots (31) at the upper end and the lower end of the second empty slot (28).
7. The automatic transplanting equipment based on the Internet of things of claim 3, wherein one side of the bottom of the sliding block (21) is provided with a sleeve pin (35) with a cross-shaped section, one side of the lower rolling frame (3) far away from the second clamping tooth (37) is provided with a buckling groove (36) matched with the sleeve pin (35), and the sleeve pin (35) is connected into the buckling groove (36).
8. The automatic transplanting equipment based on the Internet of things of claim 2, wherein the cross section of the grabbing foot (43) is of an L-shaped structure, a gap is formed between the grabbing foot (43) and the sixth motor (41), infrared sensors are arranged at the bottoms of the seedling grabbing frame (7) and the bulldozing frame (8), and the infrared sensors are in communication connection with a PLC (programmable logic controller) arranged inside the mounting disc (1).
9. The automatic transplanting equipment based on the Internet of things is characterized in that the cross section of the pushing bucket (47) is of a U-shaped structure, the lower portion of the middle of the pushing bucket (47) is of an inwards concave circular arc structure, and the tops of the first hydraulic cylinder (38) and the second hydraulic cylinder (44) are respectively and vertically welded with the bottoms of the hanging seats (24) on the two moving and installing mechanisms (6).
10. The automatic transplanting equipment based on the internet of things as claimed in claim 1, wherein the using method of the clamping adjusting equipment specifically comprises the following steps:
the method comprises the following steps: the equipment is placed in an agricultural greenhouse, seedlings with mud blocks are placed on a rolling crawler belt (15), a second motor (11) on a travelling mechanism (2) drives a first roller (12) to rotate to drive the equipment to move integrally, then a third motor (16) drives the rolling crawler belt (15) to rotate through an output shaft, in the process, a fourth motor (20) on a transplanting mechanism (6) drives a first gear (22) to be meshed with a second clamping tooth (37) to roll belt to drive the transplanting mechanism (6) to move, then the positions of the seedlings are detected through an infrared sensor at the bottom of a seedling grabbing frame (7), a PLC controller controls a fifth motor (32) to drive a second gear (34) to be meshed with the first clamping tooth (30) to roll, and the transplanting seat (24) and the seedling grabbing frame (7) are moved to the positions above the seedlings on the rolling crawler belt (15);
step two: the first hydraulic cylinder (38) pushes the grab foot (43) to move downwards through the first hydraulic column (39), the two sixth motors (41) drive the turning block (42) and the grab foot (43) to turn through the output shafts, the seedlings are grabbed through the two grab feet (43), the seedling grabbing frame (7) is driven to move through the moving and installing mechanism (6), the infrared sensor at the bottom of the seedling grabbing frame (7) detects the position of a seedling pit in the greenhouse, the seedlings are placed in the seedling pit through the seedling grabbing frame (7), the first motor (9) drives the steering frame (10) to rotate and adjust through the output shafts, and the moving direction and position of the device can be changed flexibly;
step three: snatch seedling and plant the in-process in seedling hole at grab seedling frame (7), detect the seedling hole that has planted the seedling through the infrared sensor who bulldozes frame (8) bottom, another move dress mechanism (6) with bulldozing frame (8) and remove to the seedling hole top that has planted the seedling, second hydraulic cylinder (44) push through second hydraulic cylinder (45) and bulldoze fill (47) downstream, push the hole through bulldozing fill (47) with the peripheral earth in seedling hole, drive second hydraulic cylinder (45) and bulldoze fill (47) reciprocal activity from top to bottom through second hydraulic cylinder (44), through bulldozing the peripheral earth compaction of seedling that fights (47) bottom to the seedling hole.
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| CN114258747A (en) * | 2021-12-16 | 2022-04-01 | 宁夏任进礼新连栋温室技术发展有限公司 | Planting equipment |
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Denomination of invention: An automatic transplanting device based on the Internet of Things and its working method Effective date of registration: 20231020 Granted publication date: 20211029 Pledgee: Zhejiang Shaoxing Ruifeng Rural Commercial Bank Co.,Ltd. Yangxunqiao sub branch Pledgor: Zhejiang Xunke Precision Machinery Co.,Ltd. Registration number: Y2023980061865 |
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