JP7055490B2 - Gas suction vibration tray type precision cultivation sowing single sink device and its control method - Google Patents

Description

The present invention belongs to the technical field of agricultural sowing machines, and particularly relates to a gas suction vibration tray type precision cultivation sowing single sink device and a control method thereof.

Rice cultivation is widely distributed all over the world, and there are rice cultivation in each state of the world, such as Asia, Europe, America, Africa and Oceania. The world's paddy rice is one of the main cereal crops in the area of Asia, with its area and about 90% of the total production concentrated in Asia. As for the cultivation method, the cultivation method has been changed from manual cultivation to mechanized cultivation, and the work method has also been changed from a single process to a single flow work. In the field of mechanized cultivation, the mechanical type, the external generator type, and the cell feed wheel type are often used, but the sowing accuracy is low and the seed damage rate is relatively high. Gas suction type sowing can significantly reduce the seed damage rate and increase the survival rate, and its precision is high, and it is applied to the sowing requirement of cultivating 1 to 2 grains per hole of super rice. .. However, in front of you, the work of gas suction tray type sowing has the characteristic that the cultivation tray needs to wait for sowing at the sowing position, so the single-sowing work has not yet been realized, and the current sowing is also done. As for the machine, none of them realize the self-appropriateness of the sowing process.

Therefore, the present invention provides a gas suction vibration tray type precision cultivation sowing single-sowing device and a control method, and is suitable for precision sowing. In particular, the gas suction vibration tray type sowing can realize automation of the entire sowing process. Appropriate sowing with a multi-degree-of-freedom mechanical hand can be achieved and the vibration parameters of the seed vibrating tray can be controlled to self-adapt according to the sowing process and changes in the seed amount.

The technical means adopted in the present invention are as follows.

The gas suction vibration tray type precision cultivation sowing single sink uses the structure of a three-stage conveyor belt, and along the operating direction, for each stage of the conveyor belt, soil laying / hole pressing mechanism, sowing mechanism, and soil, respectively. A covering / sprinkling mechanism is provided, the seeding mechanism is equipped with a seeding machine hand and an electromagnetic shaking table, a seed suction tray is connected to the lower end of the seeding machine hand, a seed vibration tray is fixed on the electromagnetic shaking table, and seed vibration is performed. The gas suction hole of the tray is connected to the vacuum pump,
It is further equipped with a PLC controller, a signal sampling sensor, and a touch panel, and controls the work by the soil laying / hole pressing mechanism, the sowing mechanism, and the soil covering / sprinkling mechanism based on the specific position in the single sinking device of the cultivation tray. Then, when the cultivation tray reaches the sowing position, the seed feed operation is executed, and in the process of cultivation operation, the output vibration frequency of the electromagnetic shaking table is controlled based on the vibration frequency of the seed vibration tray.

In the technical means, the hole presser is provided with a second support screw, the second support screw being connected to the hole presser roller holder.

In the technical means, the bottom soil sweeper comprises a first support screw, the first support screw being connected to a brush holder.

In the above technical means, the bottom soil laying device includes a soil storage tank, and a soil stirring shaft is fixed to the upper end of the soil storage tank.

In the above technical means, the first conveyor belt is composed of a first conveyor belt A portion and a first conveyor belt B portion transmitted and connected by a chain, and the operating speed of the first conveyor belt B portion is the first. It is larger than the conveyor belt A part.

In the above technical means, the third conveyor belt is composed of a third conveyor belt A portion and a third conveyor belt B portion transmitted and connected by a chain, and the third conveyor belt A portion and the third conveyor belt B. The operating speeds of the parts match.

The control method of the gas suction vibration tray type precision cultivation sowing single sink device is
Detects the specific position of the single sink of the cultivation tray and controls to start / stop the corresponding operating member.
The hole presser is automatically adapted to the speed of the first conveyor belt and pressed according to the cultivation tray to make a hole.
At the time of sowing, after the limit switch is triggered, perform the seed feed work,
Control the output vibration frequency of the electromagnetic shaking table based on the vibration frequency of the seed vibration tray,
The rotation speeds of the bottom soil laying device, topsoil covering device, first conveyor belt, second conveyor belt, and third conveyor belt are detected, and the detection results are displayed on the touch panel, and at the same time, each is displayed by PLC based on the detection results. Control the moving members so that they operate in cooperation.

Further, frequency change control is adopted for the electromagnetic shaking table, and as a specific control process, the seed vibration tray is vibrated at a low frequency when the single flow device is started, and the electromagnetic shaking table is used during seed suction work. The seed vibration tray is vibrated at a high frequency with the seed vibration tray, and when the seed suction is completed, the electromagnetic shaking table returns to the vibration at a low frequency, and the seed amount in the seed vibration tray is gradually reduced as the seeding is performed. When the vibration frequency of the shaking table is increased and the seed amount in the seed vibration tray is reduced to a certain amount, seeds are added, the vibration frequency of the electromagnetic shaking table is adjusted, and the seeding speed is controlled by the PLC controller. , Give enough time for the uniform distribution of seeds by the seed vibration tray.

The present invention has the following advantages and positive effects as compared with the prior art.
(1) As the hole pressing device in the gas suction vibration tray type precision cultivation single sink according to the present invention, a hole pressing roller that can be adjusted up and down is adopted to realize adjustment to the hole depth of the cultivation tray, and the cultivation effect is realized. Was effectively enhanced.

(2) Frequency change control is adopted as the electromagnetic shaking table in the gas suction vibration tray type precision cultivation seeding single flow device according to the present invention, and the frequency is adjusted based on different operating states. Specifically, During the seed suction work, the electromagnetic shaking table takes the seed vibration tray and vibrates it at a high frequency, and when the seed suction is completed, the electromagnetic shaking table returns to the vibration at a low frequency, and when adding seeds, the electromagnetic shaking table Will adjust the vibration frequency of. The frequency of the seed vibrating tray was automatically adjusted, the effect of "boiling" of the seed group of the vibrating tray was improved, the sowing pass rate was improved, and the sowing hole rate was reduced.

(3) In the present invention, seed suction and seed feed can be further executed by a multi-degree-of-freedom mechanical hand, the position of the cultivation tray can be detected by a photoelectric sensor, and appropriate start / stop of each operating member can be realized, and precision sowing can be realized. The degree of automation of the single-flow operation has been effectively improved, and the level of intelligence in paddy rice cultivation has been improved by adopting system control based on the touch panel.

Schematic diagram of the whole structure of the gas suction vibration tray type precision cultivation sowing single sink device according to the present invention. Top view of the structure of the gas suction vibration tray type precision cultivation seeding single sink device according to the present invention. It is a structural schematic diagram of the bottom soil laying device and the topsoil covering device which concerns on this invention. It is a structural schematic diagram of a bottom soil sweeping apparatus and a hole pressing apparatus which concerns on this invention, FIG. 4A is an equiaxed front view of the bottom soil sweeping apparatus and a hole pressing apparatus, and FIG. It is a figure. It is a structural schematic diagram of the 2nd conveyor belt holder which concerns on this invention. It is a structural schematic diagram of the sprinkler device which concerns on this invention. It is a structural schematic diagram of the horizontal adjustment wheel which concerns on this invention. It is a flowchart of the single flow sowing process which concerns on this invention. It is a hardware structure diagram of the one-piece flow control system which concerns on this invention. The circuit diagram of the frequency control system of the seed vibration tray which concerns on this invention. It is a mechanism diagram of the frequency control system of the electromagnetic shaking table which concerns on this invention, and FIG. 11A is the mechanism diagram which controls the frequency of the electromagnetic shaking table based on the change of the seed amount in the seed vibration tray, and is FIG. 11 (a). b) is a mechanism diagram for controlling the frequency of the electromagnetic shaking table based on the change in the number of seeding trays. It is a flowchart of the self-adaptive control calculation method of the seeding process which concerns on this invention. It is a schematic diagram of the touch panel control interface which concerns on this invention. It is a control flowchart of the one-piece flow work process of this invention.

Hereinafter, the specific technical means of the present invention will be further described with reference to the accompanying drawings, but the scope of protection of the present invention is not limited thereto.

As shown in FIGS. 1 and 2, the gas suction vibration tray type precision cultivation seeding single sink device according to the present invention includes a first conveyor belt holder 1, a bottom soil laying device 2, a bottom soil sweeping device 3, and a hole pressing device. 4, the second conveyor belt holder 5, the seeding machine hand 6, the seed suction tray 7, the electromagnetic shaking table 8, the seed vibration tray 9, the surface soil covering device 10, the surface soil sweeping device 11, and the sprinkler. 12, a third conveyor belt holder 13, and a vacuum pump 14 are provided. Among them, a conveyor belt tension adjusting slot is provided at one end of the first conveyor belt holder 1, the second conveyor belt holder 5, and the third conveyor belt holder 13.

As shown in FIG. 3, the bottom soil laying device 2 includes a soil storage tank 2b and a soil feed hopper 2a fixed as a unit, the soil feed hopper 2a is located at the upper end of the soil storage tank 2b, and the soil storage tank 2b is hollow. The structure was open at the top and semi-sealed at the front. The soil laying amount adjustment plate 2d is fixed to the front end of the soil storage tank 2b by two bolts and a wing nut, and by loosening the wing nut, the height of the soil laying amount adjustment plate 2d is adjusted up and down, and the thickness of the bottom soil laying. Can be controlled. Inside the soil storage tank 2b, the first caterpillar shaft 2f and the second caterpillar shaft 2g on the same horizon are fixed, and the earthen caterpillar 2e is fixed to the first caterpillar shaft 2f and the second caterpillar shaft 2g. The soil-laid caterpillar 2e is below the soil-laying amount adjusting plate 2d. The soil stirring shaft 2c is fixed at the intermediate position of the upper end of the soil storage tank 2b to prevent the soil substrate in the soil storage tank 2b from being pressed and agglomerated. The soil storage tank 2b is further provided with a first rotation speed sensor 41 for measuring the rotation speed of the first caterpillar shaft 2f. The structure of the topsoil covering device 10 is the same as that of the bottom soil laying device 2, and the topsoil covering device 10 is provided with a fourth rotation speed sensor 44 for measuring the rotation speed of the topsoil covering device caterpillar shaft.

As shown in FIG. 4A, the bottom soil sweeping device 3 includes a first support screw 3e, the first support screw 3e is fixed to the first conveyor belt holder 1 by screwing, and the first support screw The 3e is connected to the brush holder 3a by a nut, the brush 3d is fixed to the brush holder 3a, one end of the brush holder 3a is connected to the first motor holder 3b by screwing, and the first motor holder 3b is connected to the first motor holder 3b. The step motor 3c is fixed. The first step motor shaft and the brush shaft are connected by the first shaft joint 3f. The structure of the topsoil sweeping device 11 is the same as that of the bottom soil sweeping device 3. The rotation direction of the brush 3d is opposite to the operation direction of the first conveyor belt 24, and the height of the brush holder 3a is adjusted by rotating the first support screw 3e, so that the surface of the cultivation tray on which the bottom soil is laid is surfaced. Can be flat and uniform.

As shown in FIG. 4A, the hole pressing device 4 includes a second support screw 4e, and the second support screw 4e is fixed to the first conveyor belt holder 1 by screwing to provide a second support. The screw 4e is connected to the hole presser roller holder 4a by a nut, the hole presser roller holder 4a is connected to the hole presser roller 4d by a nut, and one end of the hole presser roller holder 4a is connected to the second motor holder 4b by screwing. , The second step motor 4c is fixed to the second motor holder 4b, and the second step motor shaft and the hole pressing roller shaft are connected by the second shaft joint 4f. The rotation direction of the hole pressing roller 4d is the same as the operating direction of the first conveyor belt 24. By rotating the second support screw 4e, the height of the hole pressing roller holder 4a can be adjusted up and down, and the surface of the cultivation tray on which the bottom soil is laid can be pressed to form holes in order. As shown in FIG. 4B, the soil removing brush 4g is fixed to the inner wall of the hole pressing roller holder 4a so as to immediately remove the soil attached to the surface of the hole pressing roller 4d.

The first conveyor belt holder 1 and the second conveyor belt holder 5 are cross-linked by the first cross-linking board 22, and the second conveyor belt holder 5 and the third conveyor belt holder 13 are cross-linked by the second cross-linking board 23. Will be done. A swivel caster 20 adjustable by screwing is connected to the bottom end of the first conveyor belt holder 1 and the third conveyor belt holder 13. The first conveyor belt 24 is mounted on the first conveyor belt holder 1, and the first conveyor belt 24 is a two chain wheel of the first conveyor belt A portion 24a and the first conveyor belt B portion 24b. Is transmitted and connected by a chain, and the operating speed of the first conveyor belt B portion 24b is higher than that of the first conveyor belt A portion 24a. Therefore, an appropriate interval can be formed when the cultivation trays are continuously set, and it is possible to prevent the bottom soil of the previous tray from being swept to the next tray by the bottom soil sweeping device 2. The bottom soil laying device 2, the bottom soil sweeping device 3, and the hole pressing device 4 are connected in order above the first conveyor belt holder 1 along the operating direction by screwing, and the bottom soil laying device 2 is the first conveyor belt. The bottom soil sweeping device 3 and the hole pressing device 4 are located in the A portion 24a, and the bottom soil sweeping device 3 and the hole pressing device 4 are located in the first conveyor belt B portion 24b. The first conveyor belt holder 1 further includes a first drive motor 15 for supplying power to the bottom soil laying device 2, and a second drive motor 16 for supplying power to the first conveyor belt 24. It is fixed. The first conveyor belt holder 1 is further provided with a second rotation speed sensor 42 for measuring the rotation speed of the first conveyor belt 24. A third conveyor belt 26 and a fifth rotation speed sensor 45 for measuring the rotation speed thereof are attached to the third conveyor belt holder 13. The third conveyor belt 26 is formed by connecting two chains of the third conveyor belt A portion 26a and the third conveyor belt B portion 26b by a chain, and the third conveyor belt A portion 26a and the third conveyor belt 26 are connected. The operating speeds of the conveyor belt B portion 26b of the above are the same. Therefore, the watering process and the topsoil covering / sweeping process can be separated, and the soil substrate scattered from the third conveyor belt A portion 26a is attached to the third conveyor belt B portion 26b with water so that the entire conveyor belt is wetted. Can be prevented. The topsoil covering device 10, the topsoil sweeping device 11, and the watering device 12 are sequentially connected above the third conveyor belt holder 13 by screwing along the operating direction. The third conveyor belt holder 13 further includes a fourth drive motor 18 for supplying power to the topsoil covering device 10, and a fifth drive motor 19 for supplying power to the third conveyor belt 26. It is fixed.

As shown in FIG. 5, the second conveyor belt holder 5 includes a second conveyor belt holder beam 5a, and a first support plate 5b and a second support plate 5c provided on one side of the holder. A horizontal adjustment wheel 21 is attached to the lower end of the second conveyor belt holder 5, and a connection seeding machine hand 6 which is a 5-axis machine hand and a third drive motor 17 are fixed to the first support plate 5b. The seed suction tray 7 is connected to the lower end of the seeding machine hand 6, the electromagnetic shaking table 8 and the vacuum pump 14 are fixed on the second support plate 5c, and the seed vibration tray 9 is screwed to the electromagnetic shaking table 8. It is fixed and the gas suction hole of the seed vibration tray 9 is connected to the vacuum pump 14 by a hose. A frequency sensor 46 for measuring the frequency of the seed vibration tray 9 is provided at the bottom of the seed vibration tray 9. A second conveyor belt 25 and a third rotation speed sensor 43 for measuring the rotation speed thereof are attached to the second conveyor belt holder beam 5a. A limit switch 40 and a positioning stopper 47 are further provided at the end of the second conveyor belt holder beam 5a, and the limit switch 40 is located at the corner of the seed suction tray 7 in the sowing position, and the seed suction tray 7 and the cultivation tray are provided. The positioning stopper 47 is located at the front end of the cultivation tray to control the sowing distance between the two.

A second photoelectric sensor 28 and a first photoelectric sensor 27 are provided at the front end and the rear end of the bottom soil laying device 2 along the transmission direction of the conveyor belt, and a third photoelectric sensor 28 is provided at the front end and the rear end of the bottom soil sweeping device 3, respectively. The photoelectric sensor 29 and the fourth photoelectric sensor 30 are provided, and the fifth photoelectric sensor 31 and the sixth photoelectric sensor 32 are provided at the front end and the rear end of the hole pressing device 4, respectively, and the first conveyor belt 24 is provided. A seventh photoelectric sensor 33 is provided at the end, an eighth photoelectric sensor 34 and a ninth photoelectric sensor 35 are provided at the front end and the rear end of the surface soil covering device 10, respectively, and the front end and the rear end of the surface soil sweeping device 11 are provided. A tenth photoelectric sensor 36 and an eleventh photoelectric sensor 37 are provided, respectively, and a twelfth photoelectric sensor 38 and a thirteenth photoelectric sensor 39 are provided at the front end and the rear end of the sprinkler device 12, respectively.

As shown in FIG. 6, the sprinkler 12 includes two rectangular sprinkler frames 12a, the bottom ends of the two rectangular sprinkler frames 12a being fixed to a third conveyor belt holder 13, and a plurality of sprinkler frames 12a. The water pipe 12b is fixed, the spray nozzle 12c is uniformly distributed to the water pipe 12b, and an adjustable solenoid valve 12d is provided in the duct connecting the water pipe 12b and the water source to adjust the opening degree of the adjustable solenoid valve 12d. This makes it possible to control the amount of water sprinkled.

As shown in FIG. 7, the leveling adjustment wheel 21 includes an adjustment screw 21a, an assist screw 21b, a support top plate 21c, a support bottle plate 21d, and a wheel 21e, and the support top plate 21c and the support bottle plate 21d have an adjustment screw 21a. It is connected by an assist screw 21b and the wheel 21e is fixed below the support bottle plate 21d.

As shown in FIG. 8, it is a flowchart of the sowing process by the gas suction vibration tray type precision cultivation sowing single-sink device according to the present invention, and the cultivation tray is manually set at the start end of the first conveyor belt 24 and the cultivation tray is set. Bottom soil laying device 2, bottom soil sweeping device 3, hole pressing device 4, second conveyor belt holder 5, topsoil covering device 10, topsoil sweeping device 11, watering device 12, bottom soil laying work, bottom soil sweeping work, holes in order. Perform presser work, sowing work, topsoil covering work, topsoil sweeping work, watering work, and finally manually remove the cultivation tray.

As shown in FIG. 9, it is a schematic diagram of the hardware structure of the control system of the gas suction vibration tray type precision cultivation seeding single flow device according to the present invention, and any of the photoelectric sensor, the rotation speed sensor, the limit switch 40, and the frequency sensor 46 Is also connected to the signal input end of the PLC controller, and the output end of the PLC controller is the driver of the step motor, the frequency converter of the drive motor, the frequency converter of the vacuum pump 14, the frequency converter of the electromagnetic shaking table 8, and the adjustable solenoid valve 12d. Connected to, the PLC controller communicates with the industrial touch panel. As the main control unit, the PLC controller is responsible for the operation of the entire single-flow device, and by receiving a signal, it executes logic calculation and command issuance, and controls the operation of each member in the single-flow device. The frequency converter is the drive unit of the drive motor, the electromagnetic shaking table, and the vacuum pump, and helps to adjust the speed of the motor, the vibration frequency of the electromagnetic shaking table, and the magnitude of the negative pressure of the vacuum pump. The rotation speed sensor monitors the speed of each operating device, the photoelectric sensor collects the specific position in the single-flow device of the cultivation tray, sends it to the PLC controller, and after the logic processing by the PLC controller, the corresponding command is issued. Send to the corresponding device to start / stop the device. The amount of water sprayed on the nozzle is controlled by an adjustable solenoid valve.

As shown in FIG. 10, it is a circuit diagram of the frequency control system of the seed vibration tray, and the vibration frequency of the electromagnetic shaking table 8 is adjusted by using the reduction amount of the seed amount in the seed vibration tray 9 as a feedback signal.

As shown in FIG. 11, it is a mechanism diagram of the frequency control system of the electromagnetic shaking table, and as shown in FIG. 11A, the seed vibrating tray 9 is adjusted with the seed amount of the seed vibrating tray as the detection target. As shown in 11 (b), the change in the seed amount of the seed vibration tray is converted into the number of seeding trays, and is used as an input signal for controlling the vibration frequency of the seed vibration tray 9.

As shown in FIG. 12, a frequency change control method is adopted for the electromagnetic shaking table 8. First, the seed vibration tray 9 vibrates at a predetermined low frequency after being energized, and the seed suction tray 7 is operated by the seeding machine hand 6. When the seed suction work is executed together, the seed vibration tray 9 is vibrated at a high frequency by the electromagnetic shaking table 8, and when the seed suction work is completed, the electromagnetic shaking table 8 returns to the vibration at a low frequency. At the same time, the seed amount in the seed vibration tray 9 is gradually reduced according to the execution of the sowing process, and at that time, the frequency at which the electromagnetic shaking table 8 vibrates in the seed suction operation is also based on the change amount of the seed amount in the seed vibration tray 9. The seed group reaches the optimum "boiling" effect, guarantees the seed suction rate by the seed suction tray 7, and ensures that the sowing pass rate is maximized. Finally, when the seed amount in the seed vibrating tray 9 is reduced to a certain amount (20 trays to 30 trays), it is necessary to add seeds. Immediately and appropriately adjust the vibration frequency based on the amount of seed added so that the seed vibration tray 9 is evenly distributed. At the same time, the sowing machine hand 6 is also adjusted in the movement process from the end of the previous sowing to the current seed suction, and the movement speed is reduced so that the seed group is evenly distributed in a sufficient time by the seed vibration tray 9. Correspondingly, the other processes of the single-sowing device are also responsively adjusted to realize the self-adaptive control process of the whole sowing single-sowing, maximizing the sowing pass rate and maximizing the sowing efficiency. Secure.

As shown in FIGS. 13 and 14, it is a control flowchart of the single sink work process according to the present invention, and after the single flow device is energized, the touch panel is turned on and the model selection interface is entered. For manually controlled models, you may click "Manual Model" in the "Model Selection" interface, the interface will move to the "Manual Model" control interface, and each member in the "Operating Parts" column will be selected individually. , Each time you click the button, you need to set the operation parameters of each member in the "Installation" column, and every time you set the parameters, you need to click "Confirm", and each member has the specified parameters. When the button of the member in the "moving member" column is clicked again, the operation of the corresponding operating member is stopped. Among them, the parameter installation options in the "Installation" column are adjusted based on the operating member selected in the "Operating member" column, the options that can be installed are displayed in high brightness, and the other options are gray. Is displayed and it becomes impossible to install. For example, when installing the operation of the bottom soil laying device 2, first click the "manual model" button in the "model selection" interface, and then click the "bottom soil laying device" button in the "operating member" column. Then, in the "Installation" field, enter the rotation speed value in the "Rotation speed" box, and you may make fine adjustments with the upper and lower triangles at the rear. After checking the values, click the "Confirm" button. do. In this case, the bottom soil laying device 2 starts to operate at a predetermined rotation speed.

For automatic control models, you may click "Automatic Model" in the "Model Selection" interface to move the interface to the "Automatic Model" control interface, and select each member in the "Operating Parts" column respectively. Each time you click the button, you need to set the operating parameters of each member in the "Installation" column, and every time you set the parameters, you need to click "Confirm", and the parameters of all the operating members. After installing the above in order, click the "Activate" button above the interface, and all the operating members will automatically operate with the specified operating parameters. For example, when sowing in one cultivation tray, when the "start" button is pressed after setting all the operating parameters, the electromagnetic shaking table 8 and the vacuum pump 14 are started. When the cultivation tray is set in the sink, the first photoelectric sensor 27 is first triggered by the front end of the cultivation tray, a command signal is transmitted from the PLC controller to the first conveyor belt 24, and then the first conveyor belt 24 is used. Carrying a cultivation tray and starting to operate. When the second photoelectric sensor 28 attached to the front end of the bottom soil laying device 2 is triggered by the front end of the cultivation tray, the bottom soil laying device 2 starts to operate. Then, when the cultivation tray is continuously transported forward and the third photoelectric sensor 29 is triggered by the front end of the cultivation tray, the bottom soil sweeping device 3 starts to operate. Then, when the fifth photoelectric sensor 31 is triggered by the front end of the cultivation tray, the hole pressing device 4 starts to operate. When the second photoelectric sensor 28 is triggered by the end of the cultivation tray, the bottom soil laying device 2 stops operating. When the fourth photoelectric sensor 30 is triggered by the end of the cultivation tray, the bottom soil sweeping device 3 stops operating. When the sixth photoelectric sensor 32 is triggered by the end of the cultivation tray, the hole pressing device 4 stops operating. When the seventh photoelectric sensor 33 is triggered by the front end of the cultivation tray, a signal is transmitted to the PLC controller, and the PLC controller determines whether the eighth photoelectric sensor 34 is in the triggered state. If Yes, the first conveyor belt 24 stops operating, if No, the first conveyor belt 24 continues to operate, and at the same time, the second conveyor belt 25 starts and the seed suction tray. 7 starts sucking the seed and pushes out the positioning stopper 47. The front end of the cultivation tray is blocked by the positioning stopper 47, the eighth photoelectric sensor 34 is triggered, the seed is fed by the seed suction tray 7, and at the same time, the limit switch 40 is triggered by the seed suction tray 7, and the positioning stopper 47 is used. Returns, and the third conveyor belt 26 is activated. When the eighth photoelectric sensor 34 is triggered by the end of the cultivation tray, the second conveyor belt 25 is stopped. When the ninth photoelectric sensor 35 is triggered by the front end of the cultivation tray, the topsoil covering device 10 is activated. When the tenth photoelectric sensor 36 is triggered by the front end of the cultivation tray, the topsoil sweeping device 11 is activated. When the twelfth photoelectric sensor 38 is triggered by the front end of the cultivation tray, the sprinkler 12 is activated. When the ninth photoelectric sensor 35 is triggered by the end of the cultivation tray, the topsoil covering device 10 is stopped. When the eleventh photoelectric sensor 37 is triggered by the end of the cultivation tray, the topsoil sweeping device 11 is stopped. When the thirteenth photoelectric sensor 39 is triggered by the end of the cultivation tray, the sprinkler 12 stops sprinkling and the third conveyor belt 26 stops. So far, the whole sowing operation is completed. In the automatic sowing model, the operating status of the sowing member can be immediately displayed on the industrial touch panel.

Hereinafter, specific embodiments have been described in detail based on the technical means of the present invention. According to the technical means of the present invention, one of ordinary skill in the art can submit a plurality of structural forms and realization forms which can be replaced with each other without changing the substantial spirit of the present invention. Therefore, the specific embodiments and the accompanying drawings described above are merely exemplary explanations of the technical means of the present invention and are understood as limitations or limitations to all of the present invention or the technical means of the present invention. Should not be.

1 1st conveyor belt holder, 2 bottom soil laying device, 2a soil feed hopper, 2b soil storage tank, 2c soil stirring shaft, 2d soil laying amount adjustment plate, 2e soil laying caterpillar, 2f first caterpillar shaft, 2g second Caterpillar shaft, 3 bottom soil sweeper, 3a brush holder, 3b first motor holder, 3c first step motor, 3d brush, 3e first support screw, 3f first shaft joint, 4 hole presser, 4a Hole presser roller holder, 4b 2nd motor holder, 4c 2nd step motor, 4d Hole presser roller, 4e 2nd support screw, 4f 2nd shaft joint, 4g soil removal brush, 5th conveyor belt holder 5, a 2nd conveyor belt holder beam, 5b 1st support plate, 5c 2nd support plate, 6 seeding machine hand, 7 seed suction tray, 8 electromagnetic shaking table, 9 seed vibration tray, 10 surface soil covering device, 11 Surface soil sweeper, 12 sprinkler, 12a sprinkler frame, 12b water pipe, 12c spray nozzle, 12d adjustable electromagnetic valve, 13 third conveyor belt holder, 14 vacuum pump, 15 first drive motor, 16 second drive Motor, 17 3rd drive motor, 18 4th drive motor, 19 5th drive motor, 20 adjustable swivel casters, 21 horizontal adjustment wheels, 21a adjustment screw, 21b assist screw, 21c support top plate, 21d support Bottle plate, 21e wheel, 22 1st bridge board, 23 2nd bridge board, 24 1st conveyor belt, 24a 1st conveyor belt A part, 24b 1st conveyor belt B part, 25 2nd conveyor Belt, 26 3rd conveyor belt, 26a 3rd conveyor belt A part, 26b 3rd conveyor belt B part, 27 1st photoelectric sensor, 28 2nd photoelectric sensor Sir, 29 3rd photoelectric sensor, 30 4th photoelectric sensor, 31 5th photoelectric sensor, 32 6th photoelectric sensor, 33 7th photoelectric sensor, 34 8th photoelectric sensor, 35 9th photoelectric sensor , 36 10th photoelectric sensor, 37 11th photoelectric sensor, 38 12th photoelectric sensor, 39 13th photoelectric sensor, 40 limit switch, 41 1st rotation speed sensor, 42 2nd rotation speed sensor, 43 3rd rotation speed sensor, 44 4th rotation speed sensor, 45 5th rotation speed sensor, 46 frequency sensor, 47 positioning stopper

Claims (8)

A three-stage conveyor belt structure is adopted, and a soil laying / hole pressing mechanism, a seeding mechanism, and a soil covering / watering mechanism are provided in order for each stage of the conveyor belt along the operating direction. A seed suction tray (7) is connected to the lower end of the seeding machine hand (6), including a seeding machine hand (6) and an electromagnetic shaking table (8), and a seed shaking tray (9) is placed on the electromagnetic shaking table (8). Is fixed, and the gas suction hole of the seed vibration tray (9) is connected to the vacuum pump (14).
It is further equipped with a PLC controller, a signal sampling sensor, and a touch panel, and controls the work by the soil laying / hole pressing mechanism, sowing mechanism, and soil covering / sprinkling mechanism based on the specific position in the single-flowing device of the cultivation tray. Then, when the cultivation tray reaches the sowing position, a seed feed operation is executed, and in the process of the sowing mechanism, the output vibration frequency of the electromagnetic shaking table (8) is controlled based on the seed change amount of the seed vibration tray (9). A gas suction vibration tray type precision cultivation sowing single sinking device. The first aspect of the present invention, wherein the hole pressing device (4) includes a second support screw (4e), and the second support screw (4e) is connected to the hole pressing roller holder (4a). Gas suction vibration tray type precision cultivation sowing single sink. The gas according to claim 1, wherein the bottom soil sweeping device (3) includes a first support screw (3e), and the first support screw (3e) is connected to a brush holder (3a). Suction vibration tray type precision cultivation sowing single sink. The gas suction according to claim 1, wherein the bottom soil laying device (2) includes a soil storage tank (2b), and a soil stirring shaft (2c) is fixed to the upper end of the soil storage tank (2b). Vibration tray type precision cultivation sowing single sink. The first conveyor belt (24) is composed of a first conveyor belt A portion (24a) and a first conveyor belt B portion (24b) transmitted and connected by a chain, and the first conveyor belt B portion (24b). The gas suction vibration tray type precision cultivation sowing single sink according to claim 1, wherein the operating speed of) is higher than that of the first conveyor belt A portion (24a). The third conveyor belt (26) is composed of a third conveyor belt A portion (26a) and a third conveyor belt B portion (26b) transmitted and connected by a chain, and the third conveyor belt A portion (26a). ) And the third conveyor belt B portion (26b) have the same operating speeds, the gas suction vibration tray type precision cultivation sowing single sink according to claim 1. Detects the specific position of the single sink of the cultivation tray and controls to start / stop the corresponding operating member.
The hole presser is automatically adapted to the speed of the first conveyor belt and pressed according to the hole in the cultivation tray to make a hole.
At the time of sowing, after the limit switch (40) is triggered, the seed feed work is executed and
The output vibration frequency of the electromagnetic shaking table (8) is controlled based on the seed change amount of the seed vibration tray (9).
The rotation speeds of the bottom soil laying device (2), the topsoil covering device (10), the first conveyor belt (24), the second conveyor belt (25), and the third conveyor belt (26) were detected, and the detection results were obtained. 1 Tray-type precision cultivation Sowing single-piece sinking device control method. Frequency change control is adopted for the electromagnetic shaking table (8), and as a specific control process thereof, the seed vibration tray (9) is vibrated at a low frequency when the single flow device is started, and the seed suction work is performed. At that time, the electromagnetic shaking table (8) vibrates the seed vibration tray (9) at a high frequency, and when the seed suction is completed, the electromagnetic shaking table (8) returns to the vibration at a low frequency, and according to the execution of seeding, The seed amount in the seed vibration tray (9) is gradually decreasing, the vibration frequency of the electromagnetic shaking table (8) is increased, and when the seed amount in the seed vibration tray (9) is reduced to a certain amount, seeds are added. , The vibration frequency of the electromagnetic shaking table (8) is adjusted, the seeding speed is controlled to be reduced by the PLC controller, and a sufficient time is given to the uniform distribution of seeds by the seed vibration tray (9). The method for controlling a gas suction vibration tray type precision cultivation seeding single sink device according to claim 7.

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