CN115053672A - Vegetable transplanting machine and control method thereof - Google Patents
Vegetable transplanting machine and control method thereof Download PDFInfo
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- CN115053672A CN115053672A CN202210676389.6A CN202210676389A CN115053672A CN 115053672 A CN115053672 A CN 115053672A CN 202210676389 A CN202210676389 A CN 202210676389A CN 115053672 A CN115053672 A CN 115053672A
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/04—Transplanting machines for deeper setting or shifting of plants
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
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Abstract
The invention relates to the technical field of agricultural machinery equipment, and discloses a vegetable transplanting machine which comprises a machine body, a lifting mechanism and a planting mechanism, wherein a main controller, a traveling device, a driver seat and a central console are arranged on the machine body, the planting mechanism is connected with the machine body through the lifting mechanism, the lifting mechanism drives the planting mechanism to move up and down, a displacement sensor used for detecting the lifting height of the planting mechanism is arranged on the machine body, and the central console, the traveling device, the lifting mechanism, the planting mechanism and the displacement sensor are respectively in communication connection with the main controller, so that the machine body can move independently, the operation such as speed change, head turning and the like is more flexible, the vegetable transplanting machine can be used for fields with small areas, the adaptability is strong, the lifting mechanism drives the planting mechanism to move up and down, the planting depth of vegetable seedlings can be adjusted, and the transplanting accuracy is high. In addition, still include flat ridge mechanism, tectorial membrane mechanism and earthing mechanism, plant the mechanism including feeding seedling mechanism and planting seedling mechanism. The invention also provides a control method based on the vegetable transplanting machine.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a vegetable transplanting machine and a control method thereof.
Background
Seedling transplantation is an important link in the vegetable production process, and the crop yield and quality can be improved so as to achieve the purpose of improving comprehensive benefits.
The existing vegetable transplanting scheme is that a manual transplanting mode is still adopted in a region with low soil intensification degree, a semi-manual mechanical transplanting mode is adopted in a region with high scale degree and large planting area, namely, a tractor with power adaptation is used as a power source to drive a transplanting device to move forward, the efficiency can be greatly improved compared with manual operation in the mode, independent power dragging is not needed, tractor horsepower allocation and turning solution need to be considered, and the operation is inconvenient. And the lifting height of the duckbilled seedling planting part of the transplanting device is fixed, so that the planting depth can not be changed. However, the planting depth of seedlings is determined according to the variety of vegetables and the environment required for root systems. The planting depth of the vegetable seedlings can greatly influence the length of time required by the vegetable seedling revival, further influence the early and late of the vegetable harvest period and the early and late of the arrival of the high yield period, and finally influence the selling price and the cultivation benefit of the vegetables.
The prior art discloses a seedling transplanter, includes: the rice seedling transplanter comprises a rack, a gearbox, a ridging device, a film mulching device and a rice seedling transplanting device, wherein the rack is used for being connected with a tractor in a hanging manner; the ridging device comprises a connecting support, wherein two packing augers are arranged on the connecting support, the two packing augers are arranged in a mirror image mode, and the packing augers are connected with the output end of the gearbox through a transmission mechanism. The transplanter of this patent has the tractor to pull to go forward, and when planting, tractor and transplanter shared space in the field mu is big, the less field of unsuitable area to it is difficult to realize, operates inconveniently to fall first etc.. Moreover, when the moving speed is changed, the transplanter body has inertia, which easily causes collision between the transplanter and the tractor, and requires a certain transition period. In addition, the up-and-down movement of the transplanter is driven by a transplanting driving device, a gearbox, a cam and a connecting rod, so that the lifting height of the transplanter is fixed, the transplanter cannot be adjusted according to the variety of planted vegetables, the precision is low, and the problems of low survival rate of the vegetables and late harvest time are caused.
Disclosure of Invention
The invention aims to provide a vegetable transplanting mechanism with strong adaptability and high transplanting accuracy and a control method thereof.
In order to achieve the purpose, the invention provides a vegetable transplanting machine which comprises a machine body, a lifting mechanism and a planting mechanism, wherein a main controller, a walking device, a driver seat and a central control platform are arranged on the machine body, the planting mechanism is connected with the machine body through the lifting mechanism, the lifting mechanism drives the planting mechanism to move up and down, a displacement sensor used for detecting the lifting height of the planting mechanism is arranged on the machine body, and the central control platform, the walking device, the lifting mechanism, the planting mechanism and the displacement sensor are respectively in communication connection with the main controller.
As a preferred scheme, the planting mechanism comprises a frame, a seedling feeding mechanism and a seedling planting mechanism, the frame is connected with the lifting mechanism, the seedling feeding mechanism comprises a transmission device and a plurality of seedling cups, the seedling planting mechanism comprises a planting device and a transmission mechanism, the planting device and the seedling cup are both of a structure which is hollow inside, has an opening at the top and can be opened and closed, the planting device is connected with the frame through the transmission mechanism, the transmission mechanism drives the planting device to move up and down, the transmission device comprises a mounting frame, a transmission chain and a plurality of chain wheels, the mounting rack is connected with the frame, a plurality of chain wheels are arranged along the circumferential direction of the mounting rack, the transmission chain is connected with the chain wheel, the seedling cups are connected with the transmission chain, the transmission device drives the seedling cups to move circularly, and the planting device is positioned below the mounting rack.
As preferred scheme, the seedling cup includes left lamella cup, right lamella cup and activity buckle, left side lamella cup is close to the top of one side of right lamella cup is equipped with the breach, be equipped with the lug on the right lamella cup, work as left side lamella cup with right lamella cup is fashionable, the lug is located in the breach, the activity buckle includes connection piece and connecting pin, the one end of connection piece with left lamella cup is connected, the other end of connection piece passes through the connecting pin with right lamella cup rotates to be connected, left side lamella cup with one side that the mounting bracket is relative is connected with the friction pulley, be equipped with the friction spare on the mounting bracket.
Preferably, the transmission mechanism comprises a crank-link mechanism and a driving device, the crank-link mechanism comprises a crank, a slider and a connecting rod, the crank and the connecting rod are rotatably connected with the machine body, the slider is movably connected to the connecting rod along the length direction of the connecting rod, one end of the crank is rotatably connected with the slider, one end of the connecting rod is connected with the planting device, and the driving device is connected with the crank.
As a preferred scheme, the lifting mechanism is a hydraulic driving system, the lifting mechanism comprises an oil tank, a three-position four-way valve, a hydraulic cylinder and a gear pump, two working oil ports of the three-position four-way valve are respectively connected with a rod cavity and a rodless cavity of the hydraulic cylinder, an oil inlet of the three-position four-way valve is connected with the oil tank through the gear pump, an oil return port of the three-position four-way valve is connected with the oil tank, the gear pump is driven by a motor, and a piston rod of the hydraulic cylinder is connected with the planting mechanism.
Preferably, the ridging machine further comprises a ridging mechanism, wherein the ridging mechanism comprises a bulldozer, the bulldozer is located at the front end of the machine body, and the bulldozer is connected with the machine body in a vertically movable mode.
As the preferred scheme, still include the tectorial membrane mechanism, the tectorial membrane mechanism includes the plastic film mounting bracket, running gear includes front wheel and rear wheel, the front wheel with the rear wheel with the organism is connected and sets up around just, the plastic film mounting bracket with the organism is connected, the plastic film mounting bracket is located the place ahead of rear wheel.
Preferably, the soil covering device further comprises a soil covering mechanism, the soil covering mechanism comprises soil covering wheels, the soil covering wheels are connected with the planting mechanism, the two soil covering wheels are symmetrically arranged on the left side and the right side of the machine body, the planting mechanism is located between the two soil covering wheels, the soil covering wheels are located behind the planting mechanism, the soil covering wheels are arranged in an outward inclined mode, and the distance between the front ends of the two soil covering wheels is larger than the distance between the rear ends of the two soil covering wheels.
The invention also provides a control method based on the vegetable transplanting machine, which comprises the following steps:
the planting depth is set through the central control console, the main controller receives signals, the signals are processed and transmitted to the lifting mechanism, the lifting mechanism drives the planting mechanism to ascend or descend, the displacement sensor detects the height of the planting mechanism and transmits the height to the main controller, and closed-loop control is achieved;
the plant spacing is set according to the central control console, the main controller receives signals, the signals are processed and transmitted to the traveling device, and the moving speed of the traveling device is controlled.
Preferably, the control method further comprises:
hard ground detection, namely detecting the light reflection degree of the ground where the vegetable transplanting machine is located by a light reflection degree detection device, if the light reflection degree is greater than a set value, determining the ground as the hard ground, sending a lifting instruction by a central control console, receiving a signal by a main controller, processing the signal and transmitting the signal to a lifting mechanism, and driving the lifting mechanism to work to control a planting mechanism to move upwards; if the reflection degree is smaller than the set value, the original state is kept until the next instruction is issued.
Compared with the prior art, the invention has the beneficial effects that:
the machine body can move independently by arranging the walking device on the machine body, the operation is more flexible when changing speed, turning around and the like, the machine body can be used for fields with smaller area, and the adaptability is strong.
Drawings
Fig. 1 is a front view of a vegetable transplanter according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a planting apparatus according to an embodiment of the present invention.
FIG. 3 is a top view of a seedling feeding mechanism according to an embodiment of the present invention.
FIG. 4 is a front view of a seedling feeding mechanism according to an embodiment of the present invention.
FIG. 5 is a schematic view of the closed seedling cup according to the embodiment of the present invention.
Fig. 6 is a schematic view of the structure of the seedling cup of the embodiment of the present invention when it is opened.
Fig. 7 is a schematic structural diagram of a transmission mechanism according to an embodiment of the present invention.
Fig. 8 is a schematic structural diagram of the lifting mechanism according to the embodiment of the present invention.
Fig. 9 is a control schematic diagram of the vegetable transplanter according to the embodiment of the present invention.
In the figure, 1-body; 2-driver seat; 3-a center console; 4-seedling cup; 401-left lobe cup; 402-right lobe cup; 403-gap; 404-a bump; 405-connecting pieces; 406-connecting pins; 407-a gasket; 5-planting device; 501-a mounting seat; 502-left duckbill sheet; 503-right duck mouth piece; 504-a return spring; 505-a pin; 506-seedling throwing bucket; 6-mounting a frame; 7-a transmission chain; 8-chain wheel; 9-a friction wheel; 10-a friction member; 11-a crank; 12-a slide block; 13-a connecting rod; 14-a fuel tank; 15-three-position four-way valve; 16-a hydraulic cylinder; 17-a gear pump; 18-a motor; 19-a shuttle valve; 20-a constant-differential pressure-reducing valve; 21-a safety valve; 22-a cooler; 23-a filter; 24-a bulldozer; 25-a mulching film mounting rack; 26-front wheel; 27-rear wheel; 28-soil covering wheels; 29-a storage battery; 30-a steering wheel; 31-seedling tray loading frame; 32-seedling throwing seat; 33-a counterweight block; 34-one-way throttle valve.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred apparatus or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Example one
As shown in fig. 1 to 9, a vegetable transplanter according to a preferred embodiment of the present invention includes a main controller, a traveling device, a driver seat 2 and a central console 3, the main controller, the traveling device, the driver seat 2 and the central console 3 are disposed on the main body, the planting mechanism is connected to the main body 1 through the lifting mechanism, the lifting mechanism drives the planting mechanism to move up and down, a displacement sensor for detecting the lifting height of the planting mechanism is disposed on the main body 1, and the central console 3, the traveling device, the lifting mechanism, the planting mechanism and the displacement sensor are respectively in communication connection with the main controller. This embodiment is through setting up running gear on organism 1, make organism 1 can independently remove, change speed, it is more nimble when operation such as turn around, and can be used to the less field of area, strong adaptability, and the mechanism of planting of this embodiment is driven by elevating system, can be according to the type of vegetables, set up the lifting height of planting the mechanism through well accuse platform, and realize this lifting height by main control unit control elevating system, thereby realize the adjustment of different planting depths, improve the survival rate of seedling and the harvest time of guaranteeing vegetables, and the lifting height of planting the mechanism is monitored by displacement sensor, guarantee the planting depth of vegetable seedling, it is high to transplant the precision.
Further, the mechanism of planting of this embodiment includes the frame, feed seedling mechanism and plant seedling mechanism, it includes transmission and a plurality of seedling cup 4 to feed seedling mechanism, it includes planting device 5 and drive mechanism to plant seedling mechanism, planting device 5 and seedling cup 4 are inside cavity, open-top and structure that can open and shut, planting device 5 passes through drive mechanism and is connected with the frame, drive mechanism drives planting device 5 and reciprocates, transmission includes mounting bracket 6, driving chain 7 and a plurality of sprocket 8, mounting bracket 6 is connected with the frame, a plurality of sprocket 8 set up along the circumference of mounting bracket 6, driving chain 7 is connected with sprocket 8, seedling cup 4 is connected with driving chain 7, make transmission drive seedling cup 4 circulation removal, planting device 5 is located the below of mounting bracket 6. Seedling cup 4 is installed on mounting bracket 6, planting apparatus 5 is located the below of mounting bracket 6, be the top that seedling cup 4 is located planting apparatus 5 promptly, because 4 open-top in seedling cup, so can put into vegetable seedling on the seedling cup 4 from the top, drive seedling cup 4 along the circumferential direction of mounting bracket 6 by transmission, move planting apparatus 5 directly over when seedling cup 4, seedling cup 4 is opened, vegetable seedling in the seedling cup 4 falls into planting apparatus 5, drive mechanism drives planting apparatus 5 and moves down until inserting in the soil of turning over, planting apparatus 5 is opened, vegetable seedling falls into the soil. The up-and-down moving height of the planting device 5 of the embodiment is fixed, however, the lifting mechanism drives the planting mechanism to move up and down integrally, the planting depth of the vegetable seedling is the sum of the original available planting depth of the planting device 5 and the height of the frame driven by the lifting mechanism to descend, and therefore, the planting depth is adjusted through the lifting of the frame. The sprocket 8 of this embodiment is driven by a drive motor.
Optionally, seedling cup 4 of this embodiment includes left lamella cup 401, right lamella cup 402 and activity buckle, the top that left lamella cup 401 is close to one side of right lamella cup 402 is equipped with breach 403, be equipped with lug 404 on the right lamella cup 402, when left lamella cup 401 and right lamella cup 402 involutes, lug 404 is located breach 403, the activity buckle includes connection piece 405 and connecting pin 406, the one end and the left lamella cup 401 of connection piece 405 are connected, the other end of connection piece 405 passes through connecting pin 406 and is connected with right lamella cup 402 rotation, left lamella cup 401 is connected with friction pulley 9 with the relative one side of mounting bracket 6, be equipped with friction spare 10 on the mounting bracket 6. When the seedling cup 4 moves to the position where the friction piece 10 is arranged on the mounting frame 6, the friction wheel 9 on the seedling cup 4 is in contact with the friction piece 10, large friction force is generated between the friction wheel 9 and the friction piece 10, when the seedling cup 4 is driven to move rightwards by the transmission chain 7, the friction force is leftwards, so that the resistance of the left-petal cup body 401 relative to the right-petal cup body 402 is large, the left-petal cup body 401 is pulled open, because the left-petal cup body 401 is connected with the right-petal cup body 402 through the movable buckle, when the left-petal cup body 401 is pulled open, the connecting piece 405 pulls the connecting pin 406 to rotate, the lug 404 is matched with the notch 403 to serve as an auxiliary fulcrum, so that the left-petal cup body 401 and the right-petal cup body 402 rotate in opposite directions, the left-petal cup body 401 and the right-petal cup body 402 are both pulled open, so that vegetable seedlings have large falling space, and the purpose of not damaging seedlings is achieved. In addition, the spacer 407 is connected to the connecting pin 406 of this embodiment, and the connecting piece 405 can be prevented from coming off the connecting pin 406. The transmission chain 7 is connected with a connecting piece, and the left cup 401 and the right cup 402 are respectively connected with the connecting piece in a rotating way. In addition, the friction member 10 is a gear which is rotatably connected with the mounting frame 6, the friction wheel 9 is provided with teeth distributed circumferentially, and the friction wheel 9 can be meshed with the friction member 10. This embodiment passes through transmission, can improve planting efficiency.
In this embodiment, plant the mechanism and set up to two, two planting device 5 that plant the mechanism are close to the both sides setting of organism 1 respectively, are provided with two friction pieces 10 on the mounting bracket 6, and two friction pieces 10 are located two planting device 5 directly over respectively, and two friction pieces 10 set up from top to bottom, and the friction pulley 9 of two adjacent seedling cups 4 also sets up for from top to bottom. When the friction wheel 9 of one seedling cup 4 is in contact with one friction piece 10 to open the seedling cup 4, so that the vegetable seedlings of the seedling cup 4 fall into one transplanting device 5, the friction wheel 9 of the next seedling cup 4 is in contact with the other friction piece 10 to open, so that the vegetable seedlings of the seedling cup 4 fall into the other transplanting device 5, and the two rows of vegetable seedlings are planted simultaneously.
Example two
The difference between the present embodiment and the first embodiment is that the present embodiment further describes the seedling planting mechanism on the basis of the first embodiment.
The planting device 5 of the embodiment adopts a duckbilled seedling planting part. The planting device 5 comprises a mounting seat 501, a left duckbill sheet 502, a right duckbill sheet 503 and a return spring 504, the left duckbill sheet 502, the right duckbill sheet 503 is respectively connected with the mounting seat 501 through a pin shaft 505, and the left duckbill sheet 502, the right duckbill sheet 503 all has a part located above the pin shaft 505 and a part located below the pin shaft 505, the two ends of the return spring 504 are respectively connected with the left duckbill sheet 502, the right duckbill sheet 503 is located above the pin shaft 505, the left duckbill sheet 502, the right duckbill sheet 503 is respectively connected with a control line, the control line is connected with a tensioning mechanism, the mounting seat 501 is connected with a transmission mechanism. After drive mechanism drives planter 5 and inserts in the soil and reach established degree of depth, the taut control line of straining device, make left duckbilled piece 502, right duckbilled piece 503 rotates to opposite direction, left duckbilled piece 502, the part that right duckbilled piece 503 is located round pin axle 505 top is close to, reset spring 504 compresses, left duckbilled piece 502, the part that right duckbilled piece 503 is located round pin axle 505 top is close to and keeps away from each other, let originally lie in left duckbilled piece 502, the vegetable seedling in the cavity that right duckbilled piece 503 involutes the formation falls, the completion is planted the seedling. When the planting device 5 ascends, the tensioning mechanism is loosened, the control line is in a loose state, the reset spring 504 is restored, and under the action of gravity, the left duckbill sheet 502 and the right duckbill sheet 503 are driven to reset to restore to a closed state. In addition, the planting device 5 of the embodiment further comprises a seedling throwing hopper 506, the seedling throwing hopper 505 is located above the mounting seat 501 and connected with the mounting seat 501, the seedling throwing hopper 505 is of a horn mouth structure, the area of a seedling receiving inlet of the planting device 5 is increased, vegetable seedlings falling from the seedling cups 4 can accurately fall into the planting device 5, and the alignment difficulty of the planting device 5 and the seedling cups 4 is reduced.
In this embodiment, the transmission mechanism includes a crank-link mechanism and a driving device, the crank-link mechanism includes a crank 11, a slider 12 and a connecting rod 13, the crank 11 and the connecting rod 13 are rotatably connected with the machine body 1, the slider 12 is movably connected to the connecting rod 13 along the length direction of the connecting rod 13, one end of the crank 11 is rotatably connected with the slider 12, one end of the connecting rod 13 is connected with the planting device 5, and the driving device is connected with the crank 11. The driving device drives the crank 11 to rotate, so that the slide block 12 moves along the connecting rod 13 and further drives the connecting rod 13 to rotate, the planting device 5 is moved up and down, the planting device 5 is positioned under the seedling cup 4 when the seedling cup 4 throws seedlings, the planting device 5 is positioned behind the seedling cup when the planting device 5 plants the seedlings, and the seedling cup 4 and a transmission device can be prevented from interfering with the lifting of the planting device 5. The end of the connecting rod 13 far away from the planting device 5 is connected with a balancing weight 33.
Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.
EXAMPLE III
The present embodiment is different from the second embodiment in that the present embodiment further describes the lifting mechanism on the basis of the second embodiment.
The elevating system of this embodiment is hydraulic drive system, elevating system includes oil tank 14, three-position four-way valve 15, pneumatic cylinder 16 and gear pump 17, two working oil ports of three-position four-way valve 14 are connected with the pole chamber and the rodless chamber of pneumatic cylinder 16 respectively, the oil inlet of three-position four-way valve 15 passes through gear pump 17 and is connected with oil tank 14, the oil return opening of three-position four-way valve 15 is connected with oil tank 14, gear pump 17 is driven by motor 18, the piston rod of pneumatic cylinder 16 is connected with the mechanism of planting. The piston rod of the hydraulic cylinder 16 stretches and retracts to drive the planting mechanism to move up and down. The piston rod of the hydraulic cylinder 16 of the present embodiment is connected to the frame.
Further, two working oil ports of the three-position four-way valve 14 of the present embodiment are connected by a shuttle valve 19, and an oil inlet of the three-position four-way valve 14 is connected with the shuttle valve 19 by a constant-differential pressure-reducing valve 20. A relief valve 21 and a cooler 22 are connected between the oil return port of the three-position four-way valve 14 and the oil tank 14. A filter 23 is connected between the oil tank 14 and the gear pump 17. The pneumatic cylinder 16 of this embodiment sets up to two, and two pneumatic cylinders 16 locate the both sides of organism 1 respectively to realize planting the steady lift of mechanism. A one-way throttle valve 34 is arranged between the working oil port of the three-position four-way valve 14 and the rodless cavity of the hydraulic cylinder 16.
Other structures of this embodiment are the same as those of the embodiment, and are not described herein again.
Example four
The present embodiment is different from the third embodiment in that, in addition to the third embodiment, the present embodiment further describes other mechanisms of the vegetable transplanting machine.
In this embodiment, the vegetable transplanter further comprises a ridge leveling mechanism, the ridge leveling mechanism comprises a bulldozer blade 24, the bulldozer blade 24 is located at the front end of the machine body 1, and the bulldozer blade 24 is connected with the machine body 1 in a vertically movable manner. The bulldozer 24 can level the bottom surface of the planting land, and reduce planting depth errors caused by uneven planting land to improve transplanting accuracy. The ridge leveling mechanism of the embodiment is also driven by a hydraulic system.
In addition, the vegetable transplanting machine of this embodiment still includes the tectorial membrane mechanism, and the tectorial membrane mechanism includes plastic film mounting bracket 25, and running gear includes front wheel 26 and rear wheel 27, and front wheel 26 and rear wheel 27 are connected and set up around with organism 1, and plastic film mounting bracket 25 is connected with organism 1, and plastic film mounting bracket 25 is located the place ahead of rear wheel 27. The plastic film mounting bracket 25 is used for installing a whole roll of plastic film, when the transplanter moves forwards, the plastic film roll rotates on the plastic film mounting bracket 25, so that the plastic film is paved on the ground behind the transplanter, and the rear wheel 27 can assist in pressing the film to meet the agricultural requirement that a layer of plastic film needs to be covered before certain vegetables are transplanted.
The vegetable transplanting machine of this embodiment still includes earthing mechanism, and earthing mechanism includes earthing wheel 28, and earthing wheel 28 is connected with planting the mechanism, and organism 1's the left and right sides is located to two earthing wheel 28 symmetries, plants the mechanism and is located between two earthing wheels 28, and earthing wheel 28 is located the rear of planting the mechanism, and earthing wheel 28 leans out the setting, makes the distance between two earthing wheel 28 front ends be greater than the distance between two earthing wheel 28 rear ends. The transplanter moves forward, the planting mechanism continuously plants the seedlings into the soil, and soil is gathered towards the middle by the advancing soil covering wheels 28, so that the soil covers the vegetable seedlings. The soil covering wheel 28 of the embodiment is connected with the frame through a bracket, so that the soil covering wheel 28 and the planting mechanism are lifted together, and the center of the soil covering wheel 28 is aligned with the bottom end of the planting device 5.
In addition, the vegetable transplanter of the present embodiment uses the battery 29 as the power source of the whole transplanter, so that the vibration at the start and stop can be reduced, and the noise and the environmental pollution can hardly be brought. The battery 29 is provided at the front end of the machine body 1. The central console 3 is used for controlling the whole machine, and comprises the forward and backward movement of the whole machine, the lifting of the bulldozer 24, the adjustment of parameters of the lifting height of the planting mechanism, the transplanting planting distance and the like. The present embodiment further includes a steering wheel 30 provided on the body 1, and the turning of the vegetable transplanter is realized by the steering wheel 30. The running gear further comprises a servo mechanism, the servo mechanism is connected with the front wheel 26 and the rear wheel 27, and the servo mechanism drives the front wheel 26 and the rear wheel 27 to rotate. A switch pedal is arranged on the machine body 1 and connected with the servo mechanism, and the switch pedal is used for controlling the starting and stopping of the servo mechanism. The central console 3 is provided with a stop lever to realize the selection of functions such as advancing, retreating, ridge leveling, operation and the like.
The machine body 1 is also provided with a seedling tray loading frame 31 for storing a plurality of seedling trays, a plurality of seedlings are placed on the seedling trays, and empty seedling trays can be placed on the mounting frame 6. When the transplanter works, one person sits on the driver seat 2 to drive the vegetable transplanter and control the central console 3, the other person sits on the machine body 1, seedlings on the seedling trays are put into the seedling cups 4 one by one, and after the seedlings on one seedling tray are all put into the seedling cups, the empty seedling tray is put on the mounting frame 6. In this embodiment, a seedling feeding seat 32 is arranged on one side of the machine body 1 and is used for a worker who feeds seedlings into the seedling cup 4 to sit, the directions of the seedling feeding seat 32 and the driver seat 2 are opposite, the driver seat 2 faces forward, and the seedling feeding seat 32 faces backward, so that the operation is convenient.
Further, the machine body 1 of the present embodiment is further provided with a limit switch for limiting the descending height of the planting mechanism, so that the planting mechanism is kept above the safe height and the installation height. The machine body 1 is also provided with a vehicle speed sensor, and the vehicle speed sensor is used for monitoring the moving speed of the vegetable planting machine, so that the plant spacing is monitored, and closed-loop control is realized.
Other structures of this embodiment are the same as those of this embodiment, and are not described herein again.
EXAMPLE five
The embodiment provides a control method of a vegetable transplanting mechanism based on the first embodiment, the second embodiment, the third embodiment or the fourth embodiment, and the method comprises the following steps:
the planting depth is set through the center console 3, the main controller receives signals, the signals are processed and transmitted to the lifting mechanism, the lifting mechanism drives the planting mechanism to change the descending height, the displacement sensor detects the descending height of the planting mechanism and transmits the descending height to the main controller, and closed-loop control is achieved;
the planting distance is set according to the central control console 4, the main controller receives signals, the signals are processed and transmitted to the traveling device, and the moving speed of the traveling device is controlled.
In this embodiment, after the planting depth is set through the center console 4, a signal is transmitted to the main controller, the main controller transmits to the lifting mechanism, the rotating speed of the motor 18 is controlled, the motor 18 rotates, the three-position four-way valve 15 is switched on, the hydraulic cylinder 16 operates, and the piston rod of the hydraulic cylinder 16 extends out or retracts to drive the planting mechanism to ascend or descend. After the vegetable varieties are changed, the planting depth and the planting distance parameters are adjusted in the central console 4 again, the main controller receives signals sent by the central console 4 and transfers the signals to the lifting mechanism through signal processing, so that the height of the planting mechanism is changed, and the depth parameters are changed; meanwhile, a displacement sensor for detecting the lifting height of the planting mechanism returns the detection structure of the displacement sensor to the main controller for closed-loop control; when the limit position is reached, the limit switch for limiting the safety height of the planting mechanism returns a signal to the main controller. The walking device receives the signal sent by the center console 4, controls the servo mechanism driving the front wheels 26 and the rear wheels 27 to work, changes the speed of the vehicle and further realizes the change of the plant spacing parameters. The center console 4 of this embodiment sends digital signals, and after receiving the signals, the main controller converts the signals into electrical signals and transmits the electrical signals to the lifting mechanism and the traveling device.
Further, the control method of the embodiment further comprises hard ground detection, wherein the light reflectivity of the ground where the vegetable transplanting machine is located is detected through the light reflectivity detection device, if the light reflectivity is larger than a set value, the ground is a hard ground, an ascending instruction is sent through the central control console, the main controller receives a signal, the signal is processed and then transmitted to the lifting mechanism, and the lifting mechanism works to drive the planting mechanism to move upwards; if the reflection degree is smaller than the set value, the original state is kept until the next instruction is issued. The lifting mechanism drives the planting mechanism to rise to a height greater than the height difference between the lowest point of the movement of the planting device 5 and the lowest point of the vegetable transplanter when the planting mechanism works. The hard land is a cement land or an uncultivated land, and the planting device 5 can not be inserted into the ground when the vegetable transplanter detects the hard land, so that the planting device 5 can collide with the ground to be damaged, therefore, the lifting mechanism is used for driving the planting mechanism to ascend, the lowest motion point of the planting device 5 is higher than the ground, and the protection of the planting device 5 is realized.
The working process of the invention is as follows: when the whole machine is started, the stop lever on the center console 3 is shifted to advance or retreat, the switch pedal is lightly stepped, the servo mechanism is started, the vegetable transplanting machine starts to advance or retreat, and steering can be realized through the steering wheel 30. When the stop lever is shifted to 'flat ridge', the soil shifter 24 descends to the ridge surface, and the planting ridge surface becomes flat with the movement of the vegetable transplanter and with the zero depth as the reference. When the gear lever is shifted to 'DEMO (demonstration)', the three-position four-way valve 15 is switched on, the hydraulic cylinder 16 supporting the planting mechanism rises or falls, the lowest point of the planting device 5 is enabled to be away from the ground for a certain distance, the seedling feeding mechanism is started, the transmission motor is started, the chain wheel 8 rotates to drive the transmission chain 7 to move, the seedling cup 4 is enabled to move around the circumferential direction of the mounting frame 6, the seedling planting mechanism is started, the transmission mechanism drives the planting device 5 to move up and down, and a driver can check whether the operation working condition of the machine tool is good or not. When the stop lever is shifted to 'operation', the lifting mechanism works, the piston rod of the hydraulic cylinder 16 retracts to drive the planting mechanism to descend, so that the planting device 5 can be inserted into the soil, then, a driver steps on the switch pedal, the vegetable transplanting machine starts to advance, a worker of the seedling throwing seat 32 takes off the seedling tray from the seedling tray loading frame 31, seedlings on the seedling tray are placed into the seedling cup 4, and after the seedlings on the seedling tray are placed, the seedling tray is placed on the mounting frame 6. The planting device 5 is driven by the transmission mechanism to rise to catch the seedling which falls after the seedling cup 4 is opened, then the planting device is driven by the transmission mechanism to fall, the bottom end of the planting device 5 is inserted into the soil, the planting device 5 is opened, the seedling falls into the soil, and along with the advance of the vegetable transplanting machine, the soil is covered on the seedling by the soil covering wheel 28 to form ridges. In order to meet different planting requirements and improve the applicability of the transplanter, the planting depth and the planting distance can be preset in the central control console 3 before operation, the falling depth of the hydraulic cylinder 16 is increased by prolonging the opening time of the three-position four-way valve 15 so as to increase the planting depth, and the planting distance of the transplanted seedlings is controlled by adjusting the rotating speed of the front wheel 26 driven by the servo mechanism. When the mulching film roll is arranged on the mulching film mounting rack 25, the mulching film is continuously rolled out and paved on the ground along with the advance of the vegetable transplanting machine, and the rear wheel 27 assists in pressing the film. Can be suitable for vegetable varieties needing film mulching and transplanting, such as green peppers, tomatoes, pakchoi and the like.
To sum up, the embodiment of the invention provides a vegetable transplanting machine, which enables a machine body 1 to move autonomously by arranging a walking device on the machine body 1, is more flexible in speed change, turning around and the like, can be used for fields with small areas, and has strong adaptability. The embodiment of the invention also provides a control method based on the vegetable transplanting machine.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a vegetable transplanting machine, its characterized in that includes organism (1), elevating system and plants the mechanism, be equipped with main control unit, running gear, driver's seat (2) and well accuse platform (3) on organism (1), it passes through to plant the mechanism elevating system with organism (1) is connected, elevating system drives plant the mechanism and reciprocate, be equipped with on organism (1) and be used for detecting plant the displacement sensor of mechanism elevating height, well accuse platform (3) running gear elevating system plant the mechanism with displacement sensor respectively with main control unit communication connection.
2. A vegetable transplanting machine as claimed in claim 1, wherein the planting mechanism comprises a frame, a seedling feeding mechanism and a seedling planting mechanism, the frame is connected with the lifting mechanism, the seedling feeding mechanism comprises a transmission device and a plurality of seedling cups (4), the seedling planting mechanism comprises a planting device (5) and a transmission mechanism, the planting device (5) and the seedling cups (4) are both hollow and open-top and can be opened and closed, the planting device (5) is connected with the frame through the transmission mechanism, the transmission mechanism drives the planting device (5) to move up and down, the transmission device comprises a mounting frame (6), a transmission chain (7) and a plurality of chain wheels (8), the mounting frame (6) is connected with the frame, the plurality of chain wheels (8) are arranged along the circumferential direction of the mounting frame (6), the transmission chain (7) is connected with the chain wheels (8), the seedling cups (4) are connected with the transmission chain (7), so that the transmission device drives the seedling cups (4) to move circularly, and the planting device (5) is positioned below the mounting frame (6).
3. The vegetable transplanting machine according to claim 2, wherein the seedling cup (4) comprises a left cup body (401), a right cup body (402) and a movable buckle, a notch (403) is formed in the top of one side, close to the right cup body (402), of the left cup body (401), a convex block (404) is arranged on the right cup body (402), when the left cup body (401) is aligned with the right cup body (402), the convex block (404) is located in the notch (403), the movable buckle comprises a connecting piece (405) and a connecting pin (406), one end of the connecting piece (405) is connected with the left cup body (401), the other end of the connecting piece (405) is rotatably connected with the right cup body (402) through the connecting pin (406), and a friction wheel (9) is connected to the side, opposite to the mounting frame (6), of the left cup body (401), and a friction piece (10) is arranged on the mounting frame (6).
4. The vegetable transplanter according to claim 2, wherein the transmission mechanism comprises a crank-link mechanism and a driving device, the crank-link mechanism comprises a crank (11), a slider (12) and a connecting rod (13), the crank (11) and the connecting rod (13) are rotatably connected with the machine body (1), the slider (12) is movably connected to the connecting rod (13) along the length direction of the connecting rod (13), one end of the crank (11) is rotatably connected with the slider (12), one end of the connecting rod (13) is connected with the planter (5), and the driving device is connected with the crank (11).
5. The vegetable transplanting machine according to claim 1, wherein the lifting mechanism is a hydraulic drive system, the lifting mechanism comprises an oil tank (14), a three-position four-way valve (15), a hydraulic cylinder (16) and a gear pump (17), two working oil ports of the three-position four-way valve (15) are respectively connected with a rod cavity and a rodless cavity of the hydraulic cylinder (16), an oil inlet of the three-position four-way valve (15) is connected with the oil tank (14) through the gear pump (17), an oil return port of the three-position four-way valve (15) is connected with the oil tank (14), the gear pump (17) is driven by a motor (18), and a piston rod of the hydraulic cylinder (16) is connected with the planting mechanism.
6. The vegetable transplanter according to claim 1, further comprising a ridge leveling mechanism including a blade (24), the blade (24) being located at the front end of the machine body (1), the blade (24) being connected to the machine body (1) so as to be movable up and down.
7. A vegetable transplanter according to claim 1, further comprising a mulching mechanism including mulching film mounting brackets (25) (6), wherein the traveling device includes front wheels (26) and rear wheels (27), the front wheels (26) and the rear wheels (27) are connected to the body (1) and arranged in front of and behind the body (1), the mulching film mounting brackets (25) (6) are connected to the body (1), and the mulching film mounting brackets (25) (6) are located in front of the rear wheels (27).
8. The vegetable transplanter according to claim 1, further comprising an earth covering mechanism, wherein the earth covering mechanism comprises earth covering wheels (28), the earth covering wheels (28) are connected with the planting mechanism, the two earth covering wheels (28) are symmetrically arranged on the left side and the right side of the machine body (1), the planting mechanism is positioned between the two earth covering wheels (28), the earth covering wheels (28) are positioned behind the planting mechanism, and the earth covering wheels (28) are inclined outwards, so that the distance between the front ends of the two earth covering wheels (28) is greater than the distance between the rear ends of the two earth covering wheels (28).
9. The control method of a vegetable transplanter according to any one of claims 1 to 8, comprising:
the planting depth is set through the central control console (3), the main controller receives signals, the signals are processed and transmitted to the lifting mechanism, the lifting mechanism drives the planting mechanism to ascend or descend, the displacement sensor detects the height of the planting mechanism and transmits the height to the main controller, and closed-loop control is achieved;
the planting distance is set according to the central control console (3), the main controller receives signals, the signals are processed and transmitted to the traveling device, and the moving speed of the traveling device is controlled.
10. The control method of a vegetable transplanter according to claim 9, further comprising:
hard ground detection, namely detecting the light reflection degree of the ground where the vegetable transplanting machine is located by a light reflection degree detection device, if the light reflection degree is greater than a set value, determining the ground as the hard ground, sending a lifting instruction by a central control console (3), receiving a signal by a main controller, processing the signal, transmitting the signal to a lifting mechanism, and driving the lifting mechanism to work to control a planting mechanism to move upwards; if the reflection degree is smaller than the set value, the original state is kept until the next instruction is issued.
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| CN202210676389.6A CN115053672A (en) | 2022-06-15 | 2022-06-15 | Vegetable transplanting machine and control method thereof |
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Cited By (1)
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| CN115362804A (en) * | 2022-09-23 | 2022-11-22 | 云南省农业科学院甘蔗研究所 | Sugarcane new planting and perennial root seedling supplementing and reseeding all-in-one machine, new sugarcane planting and reseeding method thereof, and perennial root sugarcane reseeding method |
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