CN113892326B - Direct planting machine and seedling throwing method - Google Patents
Direct planting machine and seedling throwing method Download PDFInfo
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- CN113892326B CN113892326B CN202111362072.7A CN202111362072A CN113892326B CN 113892326 B CN113892326 B CN 113892326B CN 202111362072 A CN202111362072 A CN 202111362072A CN 113892326 B CN113892326 B CN 113892326B
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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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Abstract
The invention discloses a direct planting machine and a seedling throwing method, which relate to the field of transplanting machinery, and can effectively avoid the situations of seedling breaking, seedling connection and the like during seedling throwing, ensure that a seedling container can realize continuous seedling throwing, improve seedling throwing efficiency, realize automatic planting according to fixed plant spacing by controlling the opening frequency of a door opening mechanism, ensure that seedlings are planted under the ground with fixed depth at a vertical angle in the transplanting process, ensure that grown medicinal materials are better and have high medicine yield.
Description
Technical Field
The invention relates to the field of transplanting machinery, in particular to a direct planting machine and a seedling throwing method.
Background
In the planting process of the traditional Chinese medicinal materials such as astragalus mongholicus and the like, seeds grow into seedlings in a seedling raising chamber, and then the seedlings are transplanted to a field for continuous growth. In the transplanting process, seedlings are planted underground at a fixed depth at a vertical angle, so that the grown medicinal materials are good in quality and high in yield.
The existing seedling throwing device of transplanting machinery cannot effectively control the angle of throwing the seedlings, and when the seedling loading amount is large, the seedlings cannot be effectively separated, the conditions of breaking the seedlings, connecting the seedlings and the like are easy to occur, the continuity of throwing the seedlings is affected, and the plant spacing between plants is difficult to control when the seedlings are planted. How to seed the seedlings under the ground with fixed depth at a vertical angle improves the efficiency of transplanting the seedlings, so that the seedlings can be automatically planted according to fixed plant spacing, and the problem to be solved by the technicians in the field is urgent.
Disclosure of Invention
The invention aims at: aiming at the problems, the invention provides the direct planting machine and the seedling throwing method, which can effectively avoid the situations of seedling breaking, seedling connection and the like during seedling throwing, ensure that the seedling container can realize continuous seedling throwing, improve seedling throwing efficiency, realize automatic planting according to fixed planting distance by controlling the opening frequency of the door opening mechanism, ensure that the seedlings are planted under the ground with fixed depth at a vertical angle in the transplanting process, ensure that the grown medicinal materials are better and have high yield.
The technical scheme adopted by the invention is as follows:
the seedling throwing device comprises a seedling container and a seedling emergence unit, wherein the seedling emergence unit is connected with the frame, and the seedling container is rotatably connected with the seedling emergence unit through a rotating shaft; the rotating shaft is arranged at the center of the seedling container, and the seedling throwing parts are arranged around the rotating shaft to form a multi-ring layer structure; the seedling emergence unit comprises a bottom plate matched with the seedling loading container, the bottom plate is provided with seedling emergence openings matched with the openings of the seedling throwing parts, at least one seedling emergence opening is correspondingly matched with the seedling throwing part of each circle of layer, and each seedling emergence opening is correspondingly provided with a door opening mechanism for controlling the opening and the closing of the seedling emergence opening.
Due to the adoption of the technical scheme, the multi-ring-layer structure ensures that the seedling container can load the seedling loading quantity meeting the transplanting requirement; when the seedling throwing part of the seedling container rotates to be matched with the seedling emergence opening, the door opening mechanism controls the corresponding seedling emergence opening to be opened, so that the seedlings are thrown down, the conditions of broken seedlings, continuous seedlings and the like during seedling throwing can be effectively avoided, continuous seedling throwing of the seedling container can be ensured, and the seedling throwing efficiency is improved.
Further, a seedling throwing clamping piece mechanism matched with the seedling throwing device is further arranged on the rack, the seedling throwing clamping piece mechanism comprises a driving part, a seedling clamping part capable of opening and closing and a seedling clamping slide way capable of enabling the seedling clamping part to be closed, the clamp Miao Huadao is vertically arranged on one side of the driving part and matched with the seedling outlet position of the seedling emergence unit, a plurality of seedling clamping parts can circularly enter and exit the seedling clamping slide way along the vertical direction under the driving of the driving part, and a restoring mechanism capable of enabling the seedling clamping part to be opened is arranged on the seedling clamping part; the driving part is matched with the rotating shaft through a traction element.
By adopting the technical scheme, when the seedling clamping part is driven, the rotating shaft drives the seedling loading container to rotate to throw seedlings, and the door opening mechanism is controlled, so that the seedling clamping part is just matched under the action of the seedling clamping slideway when the seedlings fall to the seedling clamping part, the seedlings are driven by the seedling clamping part to approach the planting basal plane, and the seedlings are planted into the planting basal plane at a vertical angle when the seedling clamping part is separated from the seedling clamping slideway.
Further, a seedling throwing auxiliary assembly acting on a planting base surface is further arranged on the frame, the upper part of the seedling clamping slide rail is a seedling inlet end, the lower part of the seedling clamping slide rail is a seedling outlet end, and the seedling throwing auxiliary assembly is matched with the seedling outlet end.
The actual planting base surface has the rugged phenomenon, and due to the adoption of the technical scheme, the planting base surface can be treated through the seedling throwing auxiliary assembly, so that seedlings can be planted into the planting base surface according to the designated depth, and the growth quality of the seedlings is effectively improved.
Further, the seedling throwing auxiliary assembly comprises a ditching device acting on a planting basal plane, a ridging device capable of ridging seedlings and a soil covering device for covering soil on the planted seedlings, and the ridging device is arranged between the ditching device and the soil covering device.
By adopting the technical scheme, under the traction of the frame, the ditching device acts on the planting basal plane and ditches the seedlings, the soil covering device covers the soil on the planted seedlings, automatic direct planting of the seedlings is realized, and the transplanting efficiency of the seedlings is improved.
Further, a seedling receiving funnel is further arranged between the seedling throwing device and the seedling throwing clamping piece mechanism, the seedling emergence openings of the seedling emergence units are arranged on the same side of the rotating shaft, the seedling receiving openings of the seedling receiving funnel are matched with the seedling emergence openings, and the seedling throwing openings of the seedling receiving funnel are matched with the seedling inlet ends of the seedling clamping slide ways.
By adopting the technical scheme, the receiving Miao Loudou ensures that the seedling automatic seedling throwing device can enter the seedling throwing clamping piece mechanism in a vertical state after being thrown down and is clamped by the seedling clamping part, and ensures that the seedlings are planted into the planting base surface in a vertical angle when being separated from the seedling clamping part.
Further, the seedling loading auxiliary device comprises a plurality of seedling loading parts matched with the seedling loading parts of the seedling loading device, a cover plate covers the opening of the seedling loading auxiliary device, and the cover plate is rotatably connected with the seedling loading container through an assembly component.
When the seedling in the seedling throwing device is leaked, one seedling needs to be filled in each seedling filling pipe, and the seedling filling is completed by a single hand, so that the workload is high, the time consumption for filling the seedling each time is long, and the seedling throwing operation efficiency is influenced. By adopting the technical scheme, when in large-scale operation, the seedling loading auxiliary device is aligned with the seedling throwing device, and the cover plate is rotated, so that the rapid seedling supplementing of the seedling throwing device can be realized, and the seedling throwing operation efficiency is improved.
Further, the seedling loading device also comprises a control module, a detection module for detecting the moving state data of the seedling loading container and a door opening driving module for controlling the door opening mechanism to open and close; the door opening driving module is in signal connection with the driving part and is controlled by the control module; the control module is in signal connection with and controls the door opening driving module.
By adopting the technical scheme, the detection module is used for detecting the data of the moving state of the seedling container and transmitting the data to the control module, the control module controls the door opening mechanism to throw the seedlings according to the data of the moving state of the seedling container, so that the seedling clamping part is closed to clamp the seedlings just under the action of the seedling clamping slide way when the seedlings fall to the seedling clamping part, the seedlings are driven by the seedling clamping part to approach the planting base surface, and the seedlings are planted into the planting base surface at a vertical angle when the seedling clamping part is separated from the seedling clamping slide way, and the seedlings can be automatically planted according to the fixed planting distance.
Correspondingly, the invention also discloses a seedling throwing method of the direct planting machine, which comprises the following steps:
collecting container data of container seedlings: the driving part drives the seedling clamping part to circularly enter the seedling clamping slideway from top to bottom, and simultaneously, the rotating shaft drives the seedling container to rotate relative to the seedling emergence unit under the action of the driving part, and the detection module detects the data of the moving state of the seedling container and transmits the data to the control module in real time;
a door opening decision step: the control module transmits a control signal to the door opening driving module according to the data of the moving state of the seedling container;
and (3) seedling throwing: the door opening driving module drives the corresponding door opening mechanism to be opened after receiving the control signal of the control module, so that seedlings are thrown down from the corresponding seedling emergence openings;
and (3) seedling clamping: after the seedlings are thrown down from the seedling outlet, the seedlings are moved to a seedling inlet end of a seedling clamping slide way through a seedling receiving funnel, the seedlings are matched with seedling clamping parts rotating to the seedling inlet end, and meanwhile the seedling clamping parts enter the seedling clamping slide way and clamp the seedlings under the action of the seedling clamping slide way;
planting seedlings: the seedling clamping part is driven by the driving part to move from the seedling inlet end of the seedling clamping slideway to the seedling outlet end, and is in an opening state under the action of the restoring mechanism when the seedling outlet end is separated from the seedling outlet end, so that the seedling separated from the seedling clamping part is vertically planted into the planting base surface.
By adopting the technical scheme, the detection module is used for detecting the data of the moving state of the seedling container and transmitting the data to the control module, the control module controls the door opening mechanism to throw the seedlings according to the data of the moving state of the seedling container, so that the seedling clamping part is matched under the action of the seedling clamping slideway just when the seedlings fall to the seedling clamping part, the seedlings are driven by the seedling clamping part to approach the planting basal plane, and the seedlings are planted into the planting basal plane at a vertical angle when the seedling clamping part is separated from the seedling clamping slideway.
Further, in the step of collecting the seedling container data, the detection module detects the rotation angle of the rotating shaft through the rotary encoder, the rotary encoder transmits collected data of the rotation angle theta of the seedling container to the counting device, the counting device calculates the data of the rotation number n according to the data of the rotation angle theta of the seedling container, and the detection module transmits the data of the rotation number n and the rotation angle theta of the seedling container to the control module in real time; the number of the ring layers of the seedling throwing parts is K, K is an integer greater than or equal to 1, the number of the seedling throwing parts contained in the K-th ring layer is A=KX, and X is the number of the seedling throwing parts contained in the innermost ring layer; in the door opening decision step, the door opening mechanism of the K-th layer opens the door once through K seedling throwing parts, and seedlings of the K-th layer are thrown after rotating the rotating shaft for K circles; in the seedling throwing step, the seedling throwing control system sequentially controls the opening of the corresponding opening mechanism from the inner ring layer to the outer ring layer, and after the seedling of each ring layer is leaked, the seedling throwing control system controls the opening of the opening mechanism corresponding to the next ring layer.
By adopting the technical scheme, under the condition that the rotating shaft speed is constant, the rotating angular speed of each circle of layer is unchanged but the linear speed is in a linear relation, so that seedlings can be automatically planted according to fixed plant spacing by controlling the opening frequency of the door opening mechanism.
Further, in the seedling planting step, the frame moves along a seedling planting route, under the traction of the frame, the ditching device acts on the planting base surface and ditches for planting seedlings are formed, the ridging device is used for ridging the seedlings, and after the seedlings are planted on the planting base surface, the soil covering device covers soil on the planted seedlings under the traction of the frame.
By adopting the technical scheme, the ditching and ridging steps can be automatically completed in the advancing process of the rack, and soil is automatically covered for the seedlings after the seedlings are planted on the planting base surface, so that the automation degree of seedling planting can be improved, the seedlings can be planted on the planting base surface according to a designated depth, and the growth phases of the seedlings can be effectively improved.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. the invention can load the seedling loading quantity meeting the transplanting requirement.
2. The invention can effectively avoid the situations of seedling breaking, seedling connection and the like during seedling throwing, ensures that the seedling container can realize continuous seedling throwing, and improves seedling throwing efficiency.
3. The invention ensures that seedlings can be planted into the planting basal plane at a vertical angle.
4. The invention enables the seedlings to be planted into the planting basal plane according to the appointed depth, and effectively improves the growth quality of the seedlings.
5. The invention can realize automatic ditching, ridging and earthing, and has high automation degree.
6. According to the seedling automatic throwing device, after the seedling automatic throwing device is thrown down, the seedling automatic throwing device can enter the seedling throwing clamping piece mechanism in a vertical state and is clamped by the seedling clamping part.
7. The invention can automatically plant seedlings according to fixed plant spacing.
8. The invention can realize rapid seedling supplementing after the seedling in the seedling throwing device is leaked, and improves the seedling throwing operation efficiency.
Drawings
FIG. 1 is a schematic view of the structure of the direct planting machine of the present invention;
FIG. 2 is a schematic structural view of the seedling receiving hopper of the present invention;
FIG. 3 is a schematic structural view of the seedling throwing device of the present invention;
FIG. 4 is a bottom view of the seedling throwing apparatus of the present invention;
FIG. 5 is a top view of the seedling throwing device of the present invention;
FIG. 6 is a schematic view of the structure of the seedling clamping piece mechanism of the invention;
FIG. 7 is a schematic structural view of the seedling loading auxiliary device of the present invention;
fig. 8 is a schematic flow chart of a control system of the seedling throwing device.
The marks in the figure: 1-seedling throwing device, 2-frame, 3-seedling container, 4-seedling emergence unit, 5-door opening mechanism, 6-seedling throwing clamping piece mechanism, 7-seedling throwing auxiliary component, 8-seedling receiving hopper, 9-seedling loading auxiliary device, 301-seedling throwing part, 302-rotating shaft, 401-bottom plate, 402-seedling emergence opening, 601-driving part, 602-seedling clamping part, 603-clamp Miao Huadao, 701-ditching device, 702-ridging device and 703-earthing device.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
1-8, a direct planting machine comprises a frame 2, wherein a seedling throwing device 1 capable of continuously throwing single seedlings is arranged on the frame 2, the seedling throwing device 1 comprises a seedling containing container 3 and a seedling emergence unit 4, the seedling emergence unit 4 is connected with the frame 2, and the seedling containing container 3 is rotatably connected with the seedling emergence unit 4 through a rotating shaft 302; the rotating shaft 302 is arranged at the center of the seedling container 3, and a plurality of seedling throwing parts 301 are arranged around the rotating shaft 302 to form a multi-circle layer structure; the seedling emergence unit 4 comprises a bottom plate 401 matched with the seedling container 3, the bottom plate 401 is provided with seedling emergence openings 402 matched with the openings of the seedling throwing parts 301, at least one seedling emergence opening 402 is correspondingly matched with the seedling throwing part 301 of each circle of layers, and each seedling emergence opening 402 is correspondingly provided with a door opening mechanism 5 for controlling the opening and closing of the seedling emergence opening 402. The seedling container 3 further comprises laminate plates, the laminate plates are at least arranged at two ends and the middle part of the seedling throwing part 301 in the length direction, and two adjacent laminate plates are connected through a fastener; the laminate is provided with a plurality of positioning holes for limiting the seedling throwing parts 301, and the positioning holes are in one-to-one correspondence with the seedling throwing parts 301. The assembly of a plurality of seedling throwing parts 301 is realized by matching the laminate with the seedling throwing parts 301, the structure is simple and reliable, and the manufacturing cost is low; when the height of the seedling container 3 is too high, if the laminates are arranged at the two ends of the seedling throwing part 301, the fasteners are too long to influence the stability of the fasteners and the fasteners are easy to interfere, so that the laminates are arranged in the middle of the seedling throwing part 301 to improve the stability of the structure of the seedling container 3. The laminates at the two ends are respectively provided with three assembling parts in an outward extending mode, and the assembling parts at the two ends are arranged in a staggered mode, so that the fasteners are prevented from interfering with each other. Six assembly parts are outwards extended from the laminate at the middle part, protrude from the seedling throwing part 301 and are uniformly distributed according to the outer diameter of the laminate; and the mutually matched assembly parts between the two adjacent layers are fixedly connected through fasteners.
Specifically, the multi-turn layer structure ensures that the seedling container 3 can load the seedling loading amount meeting the transplanting requirement; when the seedling throwing part 301 of the seedling container 3 rotates to be matched with the seedling outlet 402, the door opening mechanism 5 controls the corresponding seedling outlet 402 to be opened, so that seedlings are thrown down, the situations of broken seedlings, continuous seedlings and the like during seedling throwing can be effectively avoided, continuous seedling throwing of the seedling container 3 can be ensured, and seedling throwing efficiency is improved.
The seedling clamping piece mechanism 6 matched with the seedling throwing device 1 is further arranged on the rack 2, the seedling clamping piece mechanism 6 comprises a driving part 601, an openable seedling clamping part 602 and a seedling clamping slide way 603 capable of enabling the seedling clamping part 602 to be closed, the clamp Miao Huadao 603 is vertically arranged on one side of the driving part 601 and matched with the seedling outlet 402 of the seedling outlet unit 4 in position, a plurality of seedling clamping parts 602 can circularly enter and exit the seedling clamping slide way 603 along the vertical direction under the driving of the driving part 601, and a restoring mechanism capable of enabling the seedling clamping part 602 to be opened is arranged on the seedling clamping part 602; the drive 601 is coupled to the shaft 302 by a traction element. Specifically, while the seedling clamping part 602 is driven, the rotation shaft 302 drives the seedling container 3 to rotate for throwing the seedlings, and the door opening mechanism 5 is controlled to enable the seedling clamping part 602 to be just matched under the action of the seedling clamping slide 603 when the seedlings fall onto the seedling clamping part 602, the seedlings are driven by the seedling clamping part 602 to approach the planting base surface, and the seedlings are planted into the planting base surface at a vertical angle when the seedling clamping part 602 is separated from the seedling clamping slide 603.
The machine frame 2 is also provided with a seedling throwing auxiliary assembly 7 acting on a planting base surface, the upper part of the clamp Miao Huadao is a seedling inlet end, the lower part of the clamp Miao Huadao is a seedling outlet end, and the seedling throwing auxiliary assembly 7 is matched with the seedling outlet end. The actual planting base surface has the rugged phenomenon, specifically, the planting base surface can be treated by the seedling throwing auxiliary assembly 7, so that seedlings can be planted into the planting base surface according to the designated depth, and the growth quality of the seedlings is effectively improved.
The seedling throwing auxiliary assembly 7 comprises a ditching device 701 acting on a planting base surface, a ridging device 702 capable of ridging seedlings and a soil covering device 703 for covering soil on the planted seedlings, wherein the ridging device 702 is arranged between the ditching device 701 and the soil covering device 703, and the heights of the ditching device 701, the ridging device 702 and the soil covering device 703 are adjustable. Specifically, under the traction of the frame 2, the ditching device 701 acts on a planting base surface and ditches are formed for planting seedlings, the ridging device 702 is Miao Qilong, the soil covering device 703 covers soil on the planted seedlings, automatic direct planting of the seedlings is realized, and the transplanting efficiency of the seedlings is improved. The seedling collecting hopper 8 is further arranged between the seedling collecting device 1 and the seedling collecting clamping piece mechanism 6, the seedling outlet 402 of the seedling outlet unit 4 is arranged on the same side of the rotating shaft 302, the seedling collecting opening of the seedling collecting hopper 8 is matched with the seedling outlet 402, and the seedling collecting opening of the seedling collecting hopper 8 is matched with the seedling inlet of the seedling clamping slide 603. Specifically, the seedling receiving hopper 8 ensures that the seedling automatic seedling throwing device 1 can enter the seedling throwing clamping piece mechanism 6 in a vertical state after being thrown down and is clamped by the seedling clamping part 602, and ensures that the seedlings are planted into the planting base surface at a vertical angle when being separated from the seedling clamping part 602.
The seedling loading device is characterized by further comprising a seedling loading auxiliary device 9, wherein the seedling loading auxiliary device 9 comprises a plurality of seedling loading parts matched with the seedling loading parts 301 of the seedling loading device 1, a cover plate covers the opening of the seedling loading auxiliary device 9, and the cover plate is rotatably connected with the seedling loading container 3 through an assembly component. The side wall of the seedling loading auxiliary device 9 extends outwards to form a positioning part, and one side of the positioning part matched with the seedling throwing device 1 is provided with a positioning component for limiting the seedling loading auxiliary device 9 to the seedling throwing device 1; the positioning assembly comprises a positioning groove and a positioning lug which are matched with each other, the positioning groove is connected with the seedling loading auxiliary device 9, and the positioning lug is connected with the seedling throwing device 1.
When the seedling in the seedling throwing device 1 is leaked, one seedling needs to be filled in each seedling filling pipe, and the seedling filling is completed by a single hand, so that the workload is high, the time consumption for filling the seedling each time is long, and the seedling throwing operation efficiency is influenced. Specifically, when large-scale operation is performed, the seedling loading auxiliary device 9 is aligned with the seedling throwing device 1, and the cover plate is rotated, so that rapid seedling supplementing of the seedling throwing device 1 can be realized, and the seedling throwing operation efficiency is improved.
The seedling loading device also comprises a control module, a detection module for detecting the moving state data of the seedling loading container 3 and a door opening driving module for controlling the door opening mechanism 5 to open and close; the detection module is in signal connection with the control module, and the door opening driving module is in signal connection with the driving part 601 and is controlled by the control module; the control module is in signal connection with and controls the door opening driving module. Specifically, the detection module detects the data of the moving state of the seedling container 3 and transmits the data to the control module, the control module controls the door opening mechanism 5 to throw the seedlings according to the data of the moving state of the seedling container 3, when the seedlings fall to the seedling clamping part 602, the seedling clamping part 602 is just closed to clamp the seedlings under the action of the seedling clamping slide way 603, the seedlings are driven by the seedling clamping part 602 to approach to the planting base surface, and the seedlings are planted into the planting base surface at a vertical angle when the seedling clamping part 602 is separated from the seedling clamping slide way 603, so that the seedlings can be planted automatically according to fixed plant spacing.
Example 2
The seedling throwing method of the direct planting machine, as shown in figures 1-8, comprises the following steps:
collecting container data of container seedlings: the driving part 601 drives the seedling clamping part 602 to circularly enter the seedling clamping slide ways 603 from top to bottom, meanwhile, the rotating shaft 302 drives the seedling container 3 to rotate relative to the seedling emergence unit 4 under the action of the driving part 601, and the detection module detects data of the moving state of the seedling container 3 and transmits the data to the control module in real time;
a door opening decision step: the control module transmits a control signal to the door opening driving module according to the data of the moving state of the seedling container 3;
and (3) seedling throwing: after receiving the control signal of the control module, the door opening driving module drives the corresponding door opening mechanism 5 to be opened, so that seedlings are thrown down from the corresponding seedling emergence openings 402;
and (3) seedling clamping: after being thrown down from the seedling outlet 402, the seedlings are moved to the seedling inlet end of the seedling clamping slide way 603 through the seedling receiving hopper 8, the seedlings are matched with the seedling clamping parts 602 rotating to the seedling inlet end, and meanwhile the seedling clamping parts 602 enter the seedling clamping slide way 603 and clamp the seedlings under the action of the seedling clamping slide way 603;
planting seedlings: the seedling clamping part 602 moves from the seedling inlet end to the seedling outlet end of the seedling clamping slide way 603 under the drive of the driving part 601, and is in an open state under the action of the restoring mechanism when the seedling is separated from the seedling outlet end, so that the seedling is vertically planted into the planting base surface after being separated from the seedling clamping part 602.
Specifically, the detection module detects the data of the moving state of the seedling container 3 and transmits the data to the control module, and the control module controls the door opening mechanism 5 to throw the seedlings according to the data of the moving state of the seedling container 3, so that when the seedlings fall to the seedling clamping part 602, the seedling clamping part 602 is matched under the action of the seedling clamping slide way 603, the seedlings are driven by the seedling clamping part 602 to approach the planting base surface, and when the seedling clamping part 602 is separated from the seedling clamping slide way 603, the seedlings are planted into the planting base surface at a vertical angle.
Example 3
Example 3 is a further modification of example 2; further, as shown in fig. 1-8, in the step of collecting the data of the seedling container, the detecting module detects the rotation angle of the rotating shaft 302 through a rotary encoder, the rotary encoder transmits the collected data of the rotation angle θ of the seedling container 3 to a counting device, the counting device calculates the data of the rotation number n according to the data of the rotation angle θ of the seedling container 3, and the detecting module transmits the data of the rotation number n and the rotation angle θ of the seedling container 3 to a control module in real time; the number of the rings of the seedling throwing parts 301 is K, K is an integer greater than or equal to 1, the number of the seedling throwing parts 301 contained in the K-th ring is a=kx, and X is the number of the seedling throwing parts 301 contained in the innermost ring; in the door opening decision step, the door opening mechanism 5 of the Kth layer opens the door once through the K seedling throwing parts 301, and seedlings of the Kth layer are thrown after rotating the rotating shaft 302 for K circles; in the seedling throwing step, the seedling throwing control system sequentially controls the opening of the corresponding opening mechanism 5 from the inner ring layer to the outer ring layer, and after the seedling of each ring layer is leaked, the seedling throwing control system controls the opening of the opening mechanism 5 corresponding to the next ring layer.
Specifically, under the condition that the speed of the rotating shaft 302 is constant, the angular speed of rotation of each circle of layers is unchanged but the linear speed is in a linear relationship, so that seedlings can be automatically planted at fixed plant spacing by controlling the opening frequency of the door opening mechanism 5.
Example 4
Example 4 is a further modification of example 2 or example 3; further, the same matters will not be described herein, and as shown in fig. 1-8, in the seedling planting step, the frame 2 moves along the seedling planting route, under the traction of the frame 2, the ditching device 701 acts on the planting base surface and ditches for planting seedlings are formed, the ridging device 702 is Miao Qilong, and the soil covering device 703 covers the soil on the planted seedlings.
Specifically, the frame 2 can automatically complete ditching and ridging steps in the advancing process, and automatically cover soil for the seedlings after the seedlings are planted on the planting base surface, so that the automation degree of seedling planting can be improved, the seedlings can be planted on the planting base surface according to a designated depth, and the growth quality of the seedlings can be effectively improved. The principles and embodiments of the present invention have been described herein with reference to specific examples, which are intended to be merely illustrative of the methods of the present invention and their core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Claims (8)
1. The direct planting machine comprises a frame (2), and is characterized in that a seedling throwing device (1) capable of continuously throwing single seedlings is arranged on the frame (2), the seedling throwing device (1) comprises a seedling containing container (3) and a seedling emergence unit (4), the seedling emergence unit (4) is connected with the frame (2), and the seedling containing container (3) is rotatably connected with the seedling emergence unit (4) through a rotating shaft (302); the rotating shaft (302) is arranged at the center of the seedling container (3), a plurality of seedling throwing parts (301) are arranged around the rotating shaft (302) to form a multi-circle layer structure, the number of circle layers of the seedling throwing parts (301) is K, K is an integer greater than or equal to 1, the number of the seedling throwing parts (301) contained in the K-th circle layer is A=KX, and X is the number of the seedling throwing parts (301) contained in the innermost circle layer; the seedling emergence unit (4) comprises a bottom plate (401) matched with the seedling accommodating container (3), the bottom plate (401) is provided with seedling emergence openings (402) matched with openings of the seedling throwing parts (301), at least one seedling emergence opening (402) is correspondingly matched with the seedling throwing parts (301) of each circle of layers, and a door opening mechanism (5) for controlling the opening and closing of the seedling emergence opening (402) is correspondingly arranged at each seedling emergence opening (402); the seedling feeding device is characterized in that a seedling feeding clamping piece mechanism (6) matched with the seedling feeding device (1) is further arranged on the rack (2), the seedling feeding clamping piece mechanism (6) comprises a driving part (601), an openable seedling clamping part (602) and a seedling clamping slide way (603) capable of enabling the seedling clamping part (602) to be closed, the clamp Miao Huadao (603) is vertically arranged on one side of the driving part (601) and is matched with a seedling outlet (402) of the seedling outlet unit (4) in position, a plurality of seedling clamping parts (602) can circularly enter and exit the seedling clamping slide way (603) along the vertical direction under the driving of the driving part (601), and a restoring mechanism capable of enabling the seedling clamping part (602) to be opened is arranged on the seedling clamping part (602); the driving part (601) is matched with the rotating shaft (302) through a traction element; the seedling loading device also comprises a control module, a detection module for detecting the moving state data of the seedling loading container (3) and a door opening driving module for controlling the door opening mechanism (5) to open and close; the detection module is in signal connection with the control module, and the door opening driving module is in signal connection with the driving part (601) and is controlled by the control module; the detection module comprises a rotary encoder and a counting device, the rotary encoder detects the rotation angle of the rotating shaft (302), the rotary encoder transmits data of the rotation angle theta of the seedling container (3) to the counting device, the counting device can calculate the data of the rotation number n according to the data of the rotation angle theta of the seedling container (3), and the detection module transmits the data of the rotation number n and the rotation angle theta of the seedling container (3) to the control module in real time.
2. The direct planting machine according to claim 1, wherein the frame (2) is further provided with a seedling throwing auxiliary assembly (7) acting on a planting base surface, the upper part of the clamp Miao Huadao (603) is a seedling entering end, the lower part of the clamp Miao Huadao is a seedling releasing end, and the seedling throwing auxiliary assembly (7) is matched with the seedling releasing end.
3. The direct planting machine according to claim 2, characterized in that the seedling-throwing auxiliary assembly (7) comprises a ditching device (701) acting on a planting base surface, a ridging device (702) capable of ridging seedlings and a soil covering device (703) covering soil on the planted seedlings, wherein the ridging device (702) is arranged between the ditching device (701) and the soil covering device (703).
4. The direct planting machine according to claim 2, wherein a seedling receiving funnel (8) is further arranged between the seedling throwing device (1) and the seedling throwing clamping piece mechanism (6), seedling emergence openings (402) of the seedling emergence units (4) are arranged on the same side of the rotating shaft (302), the seedling receiving openings of the seedling receiving units Miao Loudou (8) are matched with the seedling emergence openings (402), and the seedling throwing openings of the seedling receiving units Miao Loudou (8) are matched with the seedling inlet ends of the seedling clamping slide ways (603).
5. The direct planting machine according to any one of claims 1-4, further comprising a seedling loading auxiliary device (9), wherein the seedling loading auxiliary device (9) comprises a plurality of seedling loading parts matched with the seedling loading parts (301) of the seedling loading device (1), a cover plate is covered at an opening of the seedling loading auxiliary device (9), and the cover plate is rotatably connected with the seedling loading container (3) through an assembly component.
6. The seedling throwing method of the direct planting machine is characterized by comprising the following steps of:
collecting container data of container seedlings: the driving part (601) drives the seedling clamping part (602) to circularly enter the seedling clamping slideway (603) from top to bottom, meanwhile, the rotating shaft (302) drives the seedling loading container (3) to rotate relative to the seedling emergence unit (4) under the action of the driving part (601), a plurality of seedling throwing parts (301) are arrayed around the rotating shaft (302) to form a multi-ring-layer structure, the number of ring layers of the seedling throwing parts (301) is K, the number of the ring layers of the seedling throwing parts (301) is an integer greater than or equal to 1, the number of the seedling throwing parts (301) contained in the K-th ring layer is A=KX, and the number of the seedling throwing parts (301) contained in the innermost ring layer is X; the detection module detects the rotation angle of the rotating shaft (302) through a rotary encoder, the rotary encoder transmits collected data of the rotation angle theta of the seedling container (3) to the counting device, the counting device calculates the data of the rotation number n according to the data of the rotation angle theta of the seedling container (3), and the detection module transmits the data of the rotation number n and the rotation angle theta of the seedling container (3) to the control module in real time;
a door opening decision step: the control module transmits a control signal to the door opening driving module according to the data of the moving state of the seedling container (3);
and (3) seedling throwing: after receiving the control signal of the control module, the door opening driving module drives the corresponding door opening mechanism (5) to be opened, so that seedlings are thrown from the corresponding seedling emergence openings (402);
and (3) seedling clamping: after the seedlings are thrown down from the seedling outlet (402), the seedlings are moved to a seedling inlet end of a seedling clamping slide way (603) through a seedling receiving funnel (8), the seedlings are matched with seedling clamping parts (602) rotating to the seedling inlet end, and meanwhile the seedling clamping parts (602) enter the seedling clamping slide way (603) and clamp the seedlings under the action of the seedling clamping slide way (603);
planting seedlings: the seedling clamping part (602) moves from the seedling inlet end of the seedling clamping slide way (603) to the seedling outlet end under the drive of the driving part (601), and is in an opening state under the action of the restoring mechanism when the seedling outlet end is separated, and the seedling separating clamping part (602) is vertically planted into a planting base surface.
7. The seedling throwing method of the direct planting machine according to claim 6, wherein in the door opening decision step, the door opening mechanism (5) of the kth layer opens the door once through the K seedling throwing parts (301), and seedlings of the kth layer are thrown after the rotating shaft (302) rotates for K circles; in the seedling throwing step, the seedling throwing control system sequentially controls the opening of the corresponding opening mechanism (5) from the inner ring layer to the outer ring layer, and after the seedlings of each ring layer are leaked, the seedling throwing control system controls the opening of the opening mechanism (5) corresponding to the next ring layer.
8. The method for throwing seedlings by a direct planting machine according to claim 6, wherein in the step of planting seedlings, the frame (2) moves along a seedling planting route, the ditching device (701) acts on a planting base surface and ditches for planting seedlings are formed under the traction of the frame (2), the ridging device (702) is Miao Qilong, and the soil covering device (703) covers soil on the planted seedlings.
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| CN201663808U (en) * | 2010-04-01 | 2010-12-08 | 王猷 | Power-driven transplanting machine |
| JP2014000003A (en) * | 2012-06-15 | 2014-01-09 | Iseki & Co Ltd | Seedling transplanter |
| CN209473009U (en) * | 2018-11-29 | 2019-10-11 | 甘肃鑫陇农业装备制造有限公司 | Chinese herbal medicine fertilising transplanter |
| CN214229083U (en) * | 2020-12-29 | 2021-09-21 | 郯城县种子公司 | Three-dimensional rice seedling raising device and rice transplanting mechanism |
| CN113575060B (en) * | 2021-09-15 | 2023-03-10 | 昆明理工大学 | Parameter transplanter based on correlation sensor |
| CN216123477U (en) * | 2021-11-17 | 2022-03-25 | 甘肃赫博陇药科技有限责任公司 | Direct planting machine |
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