WO2021134817A1 - 一种气吸振动盘式精密育秧播种流水线装置及其控制方法 - Google Patents

一种气吸振动盘式精密育秧播种流水线装置及其控制方法 Download PDF

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Publication number
WO2021134817A1
WO2021134817A1 PCT/CN2020/071059 CN2020071059W WO2021134817A1 WO 2021134817 A1 WO2021134817 A1 WO 2021134817A1 CN 2020071059 W CN2020071059 W CN 2020071059W WO 2021134817 A1 WO2021134817 A1 WO 2021134817A1
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WIPO (PCT)
Prior art keywords
seeding
conveyor belt
vibrating
assembly line
seed
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Ceased
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PCT/CN2020/071059
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English (en)
French (fr)
Inventor
陈进
韦运余
李耀明
杨铭
乔祥山
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Jiangsu University
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Jiangsu University
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Priority to GB2019526.9A priority Critical patent/GB2587736B/en
Priority to JP2020570963A priority patent/JP7055490B2/ja
Priority to CH01572/20A priority patent/CH717531B1/de
Publication of WO2021134817A1 publication Critical patent/WO2021134817A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/002—Dibble seeders
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
    • A01G9/085—Devices for setting seeds in pots
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C19/00—Arrangements for driving working parts of fertilisers or seeders
    • A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
    • A01C5/06—Machines for making or covering drills or furrows for sowing or planting
    • A01C5/062—Devices for making drills or furrows
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed

Definitions

  • the invention belongs to the technical field of agricultural planters, and in particular relates to an air suction vibrating disc type precision seedling raising and seeding assembly line device and a control method thereof.
  • Rice cultivation is widely distributed around the world, and there are rice cultivation in all continents of the world, Asia, Europe, America, Africa and Oceania. About 90% of the world's rice area and total output are concentrated in Asia, as one of the main food crops in Asia; for its seedling raising method, it has gradually changed from artificial seedling raising to mechanized seedling raising, and the operation mode has also changed from a single link to a streamlined operation.
  • mechanized seedling breeding most of them adopt mechanical, outer groove wheel and socket wheel type, which have low seeding accuracy and high injury rate.
  • the use of air suction seeding can greatly reduce the injury rate and improve the survival rate. High precision, suitable for seedling requirements of 1-2 grains per hole for super rice seedlings.
  • the seedling trays are required to wait for seeding at the seeding station, so the assembly line operation has not yet been realized, and the existing seeders have not achieved the adaptability of the seeding link.
  • the present invention provides an air-suction vibrating disc type precision seedling raising and seeding assembly line device and its control method, which is suitable for precision seeding, especially air-suction vibrating disc type seeding, which can automate the entire seeding process and realize multiple freedoms at the same time
  • the high-speed manipulator sowings flexibly, and the vibration parameters of the vibrating seed disk realize adaptive control with the change of the seeding process and the amount of seed.
  • An air suction vibrating disc type precision seedling raising and seeding assembly line device adopts a three-section conveyor belt structure. According to the working direction, each section of the conveyor belt is respectively provided with a soil-laying hole pressing mechanism, a seeding mechanism, and a soil-covering sprinkler mechanism.
  • the seeding mechanism includes Seeding manipulator and electromagnetic vibrating table, the lower end of the seeding manipulator is connected with a seed disk, the vibrating seed disk is fixed on the electromagnetic vibrating table, and the suction hole of the vibrating seed disk is connected with a vacuum pump;
  • It also includes a PLC controller, signal acquisition sensor, and touch screen.
  • a PLC controller controls the operation of the soil pressing mechanism, the seeding mechanism and the soil sprinkling mechanism; the seedling tray reaches the seeding position, and the seeding operation is carried out; the seedling operation In the process, the output vibration frequency of the electromagnetic vibrating table is controlled according to the vibration frequency of the vibrating seed disc.
  • the cavity pressing device includes a second supporting threaded rod, and the second supporting threaded rod is connected to the cavity pressing roller frame.
  • the subsoil sweeping device includes a first supporting threaded rod, and the first supporting threaded rod is connected to the brush holder.
  • the subsoil paving device includes a soil storage box, and a soil mixing shaft is fixed at the upper end of the soil storage box.
  • the first conveyor belt is composed of the first conveyor belt A part and the first conveyor belt B part connected by a chain drive, and the running speed of the first conveyor belt B part is greater than the first conveyor belt A part.
  • the third conveyor belt is composed of a third conveyor belt part A and a third conveyor belt part B connected by a chain drive, and the running speeds of the third conveyor belt part A and the third conveyor belt part B are the same.
  • the hole pressing device automatically adapts to the speed of the first conveyor belt, and aligns the holes of the seedling trays with the holes;
  • the speed of the subsoil laying device, the overburden device, the first conveyor belt, the second conveyor belt, and the third conveyor belt are detected.
  • the detection results are displayed on the touch screen.
  • the PLC controls the coordinated operation of various working components according to the detection results.
  • the electromagnetic vibrating table adopts frequency conversion control, and the specific control process is: when the assembly line device is started, the vibrating seed disc vibrates at low frequency; during seed suction operation, the electromagnetic vibrating table drives the vibrating seed disc to vibrate at high frequency, and the seed suction ends, and the electromagnetic vibration The table restores low-frequency vibration; as the seeding progresses, the amount of seeds in the vibrating seed disk gradually decreases, and the vibration frequency of the electromagnetic vibrating table increases; when the amount of seeds in the vibrating seed disk decreases to a certain amount, increase the seeds, and the magnetic vibrating table The vibration frequency is adjusted, the PLC controller controls the seeding speed to slow down, and the time is reserved for the vibrating seed disk to evenly seed.
  • the hole pressing device in the air suction vibrating disc type precision seedling raising and seeding assembly line device of the present invention adopts an up and down adjustable hole pressing roller to realize the adjustment of the depth of the holes in the seedling tray, and effectively improve the seedling raising effect.
  • the electromagnetic vibrating table in the air-suction vibrating disc type precision seedling raising and seeding assembly line device of the present invention adopts frequency conversion control, and the frequency is adjusted according to different working conditions, specifically: when the seed is sucked, the electromagnetic vibrating table drives the height of the vibrating seed pan. Frequency vibration; when the seeds are sucked, the electromagnetic vibrating table resumes low-frequency vibration; when adding seeds, the vibration frequency of the magnetic vibrating table is adjusted. Realize the automatic adjustment of the frequency of the vibrating seed disk, improve the "boiling" effect of the vibrating disk population, increase the seeding qualification rate, and reduce the seeding cavity rate.
  • the present invention also adopts a multi-degree-of-freedom manipulator to suck and discharge seeds, detect the position of seedling trays through photoelectric sensors, and realize flexible start and stop of various working parts, effectively improve the automation degree of precision seeding assembly line, and adopt a touch screen-based System control improves the intelligent level of rice seedling raising.
  • Figure 1 is a schematic diagram of the overall structure of an air-suction vibrating disc type precision seedling raising and sowing line device of the present invention
  • Figure 2 is a top view of the structure of an air-suction vibrating disc type precision seedling raising and seeding assembly line device of the present invention
  • Figure 3 is a schematic diagram of the structure of the subsoil paving device and the topsoil covering device of the present invention
  • Figure 4 is a schematic diagram of the structure of the subsoil sweeping device and the cavitation pressing device of the present invention
  • Figure 4 (a) is an isometric view of the subsoil sweeping device and the cavitation pressing device
  • Figure 4 (b) is a cross-sectional view of the cavitation pressing device
  • Figure 5 is a schematic view of the structure of the second conveyor belt support of the present invention.
  • Figure 6 is a schematic diagram of the structure of the sprinkler of the present invention.
  • Figure 7 is a schematic diagram of the structure of the level adjustment wheel of the present invention.
  • Figure 8 is a flow chart of the assembly line seeding process of the present invention.
  • Figure 9 is a hardware structure diagram of the pipeline control system of the present invention.
  • Figure 10 is a circuit diagram of the frequency control system of the vibration seed disk of the present invention.
  • Figure 11 is a schematic diagram of the frequency control system of the electromagnetic vibrating table of the present invention. among them, Figure 11 (a) is the principle diagram of controlling the frequency of the electromagnetic vibrating table according to the change of the seed quantity in the vibrating seed disk, and Figure 11 (b) is the change according to the number of seeding disks Schematic diagram of controlling the frequency of electromagnetic vibrating table;
  • Fig. 12 is a flowchart of an adaptive control algorithm for the seeding link of the present invention.
  • Figure 13 is a schematic diagram of the touch screen control interface of the present invention.
  • Fig. 14 is a control flow chart of the assembly line operation process of the present invention.
  • an air-suction vibrating disc type precision seedling seedling planting line device of the present invention includes a first conveyor belt support 1, a subsoil spreading device 2, a subsoil sweeping device 3, a cavitation device 4, and a second conveyor belt Support 5, seeding manipulator 6, seed suction disk 7, electromagnetic vibrating table 8, vibrating seed disk 9, cover soil device 10, surface soil sweeping device 11, sprinkler device 12, third conveyor belt support 13, and vacuum pump 14.
  • One end of the first conveyor belt support 1, the second conveyor belt support 5 and the third conveyor belt support 13 are all provided with a conveyor belt tension adjustment groove.
  • the subsoil paving device 2 includes an integrally fixed earth storage box 2b and an earth hopper 2a.
  • the earth hopper 2a is located at the upper end of the earth storage box 2b.
  • the earth storage box 2b is a hollow structure with an open upper end and a half front end. Closed; the front end of the soil storage box 2b is fixed with two studs and a wing nut to fix the paving amount adjustment plate 2d, and the height of the paving amount adjustment plate 2d can be adjusted up and down by loosening the wing nut to control the thickness of the paving soil; Inside 2b, the first crawler shaft 2f and the second crawler shaft 2g are fixed on the same horizontal line.
  • the first crawler shaft 2f and the second crawler shaft 2g fix the paving crawler 2e, and the paving crawler 2e is located under the paving volume adjustment plate 2d.
  • the middle position of the upper end of the soil storage box 2b is fixed with a soil mixing shaft 2c to prevent the soil matrix in the soil storage box 2b from agglomerating due to extrusion.
  • the soil storage tank 2b is also provided with a first rotational speed sensor 41 for measuring the rotational speed of the first crawler shaft 2f.
  • the structure of the overburden device 10 is the same as that of the subterranean device 2, and a fourth rotation speed sensor 44 is provided on the overburden device 10 for measuring the rotation speed of the crawler shaft of the overburden device.
  • the subsoil sweeping device 3 includes a first supporting threaded rod 3e, the first supporting threaded rod 3e is fixed on the first conveyor belt bracket 1 by bolts, and the first supporting threaded rod 3e is passed through a nut and a brush
  • the frame 3a is connected, the brush 3d is fixed on the brush frame 3a, one end of the brush frame 3a is bolted to the first motor frame 3b, and the first motor frame 3b fixes the first stepping motor 3c; the first stepping motor shaft and the brush shaft It is connected by the first coupling 3f.
  • the structure of the surface soil sweeping device 11 is the same as that of the subsoil sweeping device 3.
  • the rotation direction of the brush 3d is opposite to the running direction of the first conveyor belt 24.
  • the height of the brush holder 3a can be adjusted, so that the surface of the seedling tray on which the subsoil is spread is flat and even.
  • the cavitation device 4 includes a second supporting threaded rod 4e, the second supporting threaded rod 4e is fixed on the first conveyor belt bracket 1 by bolts, and the second supporting threaded rod 4e is connected to the pressure hole by a nut.
  • the roller frame 4a is connected, the cavity pressing roller frame 4a is connected to the cavity pressing roller 4d through a nut, one end of the cavity pressing roller frame 4a is bolted to the second motor frame 4b, the second motor frame 4b fixes the second stepping motor 4c, and the second stepping
  • the motor shaft and the pressure roller shaft are connected by a second coupling 4f.
  • the rotation direction of the cavity pressing roller 4d is the same as the running direction of the first conveyor belt 24.
  • the height of the hole-pressing roller frame 4a can be adjusted up and down, so that the surface of the seedling raising tray on which the subsoil has been paved is sequentially pressed out of the holes.
  • a soil cleaning brush 4g is fixed on the inner wall of the cavity pressing roller frame 4a to brush away the adhered soil on the surface of the cavity pressing roller 4d in time.
  • the first conveyor belt support 1 and the second conveyor belt support 5 are bridged by a first bridge plate 22, and the second conveyor belt support 5 and the third conveyor belt support 13 are bridged by a second bridge plate 23.
  • Adjustable universal wheels 20 are connected with bolts at the bottom ends of the first conveyor belt bracket 1 and the third conveyor belt bracket 13.
  • a first conveyor belt 24 is installed on the first conveyor belt bracket 1.
  • the first conveyor belt 24 is connected by the first conveyor belt A part 24a and the first conveyor belt B part 24b by two sprockets through a chain drive.
  • the first conveyor belt B part The running speed of 24b is higher than that of the first conveyor belt A portion 24a, so that the seedling trays can form an appropriate interval when they are placed continuously, and prevent the subsoil sweeping device 2 from dropping the subsoil from the previous tray on the next tray.
  • the subsoil paving device 2, the subsoil sweeping device 3 and the cave-pressing device 4 are bolted to the top of the first conveyor belt support 1 in order in the working direction.
  • the subsoil paving device 2 is located in the first conveyor belt A section 24a, the subsoil sweeping device 3 and the cave-pressing device 4 Located in the first conveyor belt B part 24b; the first conveyor belt support 1 is also fixed with a first drive motor 15 and a second drive motor 16, the first drive motor 15 is used to provide power to the subsoil paving device 2, and the second drive motor 16 is used to provide power to the first conveyor belt 24; the first conveyor belt support 1 is also provided with a second rotational speed sensor 42 for measuring the rotational speed of the first conveyor belt 24.
  • a third conveyor belt 26 and a fifth rotational speed sensor 45 are installed on the third conveyor belt support 13, and the fifth rotational speed sensor 45 is used to measure the rotational speed of the third conveyor belt 26.
  • the third conveyor belt 26 is connected by the third conveyor belt A part 26a and the third conveyor belt B part 26b by two sprockets through a chain drive.
  • the third conveyor belt A part 26a and the third conveyor belt B part 26b run at the same speed,
  • the sprinkling link can be separated from the overburden and sweeping links to prevent the soil matrix scattered on the third conveyor belt A part 26a from adhering to the third conveyor belt B part 26b after encountering water, causing the entire conveyor belt to be muddy.
  • the upper part of the third conveyor belt bracket 13 is bolted to the topsoil device 10, the topsoil sweeping device 11, and the sprinkler 12 in order in the working direction; the third conveyor belt bracket 13 is also fixed with a fourth drive motor 18, a fifth drive motor 19, and a fourth drive motor.
  • the drive is used to power the motor 18 for the overburden device 10, and the fifth drive motor 19 is used to power the third conveyor belt 26.
  • the second conveyor belt support 5 includes a second conveyor belt support beam 5a and a first support plate 5b and a second support plate 5c arranged on one side of the support.
  • the lower end of the second conveyor belt support 5 is equipped with a horizontal adjustment wheel. 21.
  • the seeding manipulator 6 and the third drive motor 17 are fixedly connected to the first support plate 5b.
  • the seeding manipulator 6 is a five-axis manipulator; the lower end of the seeding manipulator 6 is connected with a seed disk 7, and the electromagnetic vibrating table 8 and the second support plate 5c are fixed
  • the vacuum pump 14, the electromagnetic vibrating table 8 is fixed with a bolt on the vibrating seed disc 9, the suction hole of the vibrating seed disc 9 is connected to the vacuum pump 14 through a hose; the bottom of the vibrating seed disc 9 is provided with a frequency sensor 46 for measuring the vibrating seed disc 9
  • the second conveyor belt support beam 5a is equipped with a second conveyor belt 25 and a third rotational speed sensor 43 for measuring the rotational speed of the second conveyor belt 25.
  • the end of the second conveyor belt support beam 5a is also provided with a limit switch 40 and a positioning stop 47, and in the sowing position, the limit switch 40 is located at the corner of the seed sucker 7 to control the seed sucker 7 and the seedling raising For the seeding distance between the trays, the positioning stopper 47 is located at the front end of the seedling tray.
  • a second photoelectric sensor 28 and a first photoelectric sensor 27 are respectively provided at the front and rear ends of the subsoil paving device 2, and a third photoelectric sensor 29 and a fourth photoelectric sensor are respectively provided at the front and rear ends of the subsoil sweeping device 3 30.
  • a fifth photoelectric sensor 31 and a sixth photoelectric sensor 32 are respectively provided at the front and rear end of the cavitation pressing device 4, a seventh photoelectric sensor 33 is provided at the end of the first conveyor belt 24, and the front and rear ends of the overburden device 10 are respectively
  • An eighth photoelectric sensor 34 and a ninth photoelectric sensor 35 are provided.
  • the front and rear ends of the surface sweeping device 11 are respectively provided with a tenth photoelectric sensor 36 and an eleventh photoelectric sensor 37.
  • the front and rear ends of the sprinkler device 12 are respectively provided with a tenth photoelectric sensor.
  • the sprinkler device 12 includes two rectangular sprinkler racks 12a.
  • the bottom ends of the two rectangular sprinkler racks 12a are fixed on the third conveyor belt support 13, and the two sprinkler racks 12a are fixed with several water pipes 12b.
  • the water pipes 12b are evenly arranged with mist.
  • An adjustable solenoid valve 12d is provided on the pipe connecting the chemical spray head 12c, the water pipe 12b and the water source. By adjusting the opening of the adjustable solenoid valve 12d, the sprinkling amount can be controlled.
  • the horizontal adjustment wheel 21 includes an adjustment threaded rod 21a, an auxiliary threaded rod 21b, a supporting top plate 21c, a supporting bottom plate 21d, and a wheel 21e.
  • the supporting top plate 21c and the supporting bottom plate 21d are connected by the adjusting threaded rod 21a and the auxiliary threaded rod 21b.
  • the wheels 21e are fixed below the supporting bottom plate 21d.
  • the seedling raising tray is manually placed at the beginning of the first conveyor belt 24, and the seedling raising tray passes through the subsoil spreading device 2 and sweeping the subsoil in turn Device 3, hole pressing device 4, second conveyor belt support 5, overburden device 10, surface sweeping device 11, sprinkler 12, for subsoil paving, subsoil sweeping, hole pressing, seeding, oversoil covering, sweeping Surface soil operations, watering operations, and finally the seedling trays are manually removed.
  • the present invention is a schematic diagram of the hardware structure of the control system of an air-suction vibrating disc type precision seedling raising and seeding assembly line device.
  • the photoelectric sensor, the rotational speed sensor, the limit switch 40, and the frequency sensor 46 are all connected to the signal input terminal of the PLC controller. Connection, the output end of the PLC controller is connected with the stepper motor driver, the frequency converter of the driving motor, the frequency converter of the vacuum pump 14, the frequency converter of the electromagnetic vibrating table 8, and the adjustable solenoid valve 12d, and the PLC controller communicates with the industrial touch screen.
  • the PLC controller is responsible for the overall operation of the assembly line device, and controls the operation of each component of the assembly line device by receiving signals, performing logical operations and issuing instructions.
  • the frequency converter is the driving unit of the drive motor, the electromagnetic vibrating table and the vacuum pump. It is responsible for the speed adjustment of the motor, the vibration frequency of the electromagnetic vibrating table and the vacuum pump negative pressure.
  • the rotational speed sensor monitors the speed of each operating device, and the photoelectric sensor collects the specific position of the seedling tray on the assembly line and sends it to the PLC controller. After the PLC controller performs logic processing, the corresponding instruction is sent to the corresponding equipment to realize the start and stop of the equipment.
  • the adjustable solenoid valve is responsible for controlling the sprinkling volume of the nozzle.
  • the circuit diagram of the frequency control system of the vibrating seed disk 9 uses the decrease of the seed amount in the vibrating seed disk 9 as a feedback signal to adjust the vibration frequency of the electromagnetic vibrating table 8.
  • the principle diagram of the frequency control system of the electromagnetic vibrating table takes the amount of the vibrating seed disc as the detection object, and adjusts the vibrating seed disc 9 as shown in Figure 11(b) As shown, the change of the seed quantity of the vibrating seed disk is converted into the number of seeding disks, which is used as the input signal for the vibration frequency control of the vibrating seed disk 9.
  • the electromagnetic vibrating table 8 adopts a frequency conversion control method.
  • the vibrating seed disc 9 vibrates at a set low frequency after power on.
  • the seeding manipulator 6 drives the seed sucker 7 to perform seed suction operations
  • the table 8 drives the vibrating seed disk 9 to perform high-frequency vibration.
  • the electromagnetic vibrating table 8 resumes low-frequency vibration; at the same time, as the seeding process proceeds, the amount of seeds in the vibrating seed disk 9 gradually decreases.
  • the vibration frequency of the vibrating table 8 during seed suction operation will also increase according to the amount of seed change in the vibrating seed plate 9, so as to achieve the best "boiling" effect of the population, ensure the seed suction rate of the seed suction plate 7, and ensure the seeding qualification rate Reach the maximum; finally, when the amount of seeds in the vibrating seed disk 9 is reduced to a certain amount (20 disks to 30 disks), it needs to be added. After the seeds are added, the electromagnetic vibrating table 8 will immediately adjust the vibration frequency according to the amount of seeds added.
  • the control flow chart of the assembly line operation process of the present invention after the assembly line device is powered on, the touch screen lights up and enters the mode selection interface.
  • manual control mode click "Manual Mode” on the “Mode Selection” interface, the interface will jump to the "Manual Mode” control interface, and then you can select each part under the "Working Parts” column, click a button each time, and then click Set the working parameters of each component under the “Settings” column. After each parameter is set, click “Confirm”, and then each component will run according to the set parameters. Click the component button under the "Working component” column again, and the corresponding The working part stops running.
  • the parameter setting options under the "Settings” column will be adjusted according to the selected work parts in the "Working Parts” column.
  • the setting options are highlighted, and other options are grayed out and cannot be set.
  • the electromagnetic vibrating table 8 and the vacuum pump 14 will start; when the seedling tray is put into the assembly line device, the front end of the seedling tray is triggered first The first photoelectric sensor 27, at this time, the signal is sent to the first conveyor belt 24 via the PLC controller, and then the first conveyor belt 24 carries the seedling tray and starts to run; the front end of the seedling tray triggers the second photoelectric sensor installed at the front end of the subsoil paving device 2 At 2800, the subsoil spreading device 2 starts to operate; the seedling tray continues to be transported forward, the front end of the seedling tray triggers the third photoelectric sensor 29, and the subsoil sweeping device 3 starts to operate; then the front end of the seedling tray touches the fifth photoelectric sensor 31, and then the hole pressing device 4 Start running; when the end of the seedling tray triggers the second photoelectric sensor 28, the subsoil spreading device 2 stops; when the end of the
  • the PLC controller determines whether the eighth photoelectric sensor 34 is in the triggered state, and if so, the first conveyor belt 24 Stop running, otherwise the first conveyor belt 24 will continue to run, and the second conveyor belt 25 will start at the same time, the seed suction tray 7 starts to suck seeds, and the positioning stopper 47 is pushed out; the front end of the seedling tray is blocked by the positioning stopper 47 and triggers the eighth photoelectric sensor 34.
  • Seed suction tray 7 performs seeding, and at the same time, the seed suction tray 7 triggers the limit switch 40, the positioning stop 47 is retracted, and the third conveyor belt 26 starts; the end of the seedling tray touches the eighth photoelectric sensor 34 and the second conveyor belt 25 Stop; the front end of the seedling tray triggers the ninth photoelectric sensor 35, and the topsoil device 10 starts; the front end of the seedling tray triggers the tenth photoelectric sensor 36, and the surface sweeping device 11 starts; the front end of the seedling tray triggers the twelfth photoelectric sensor 38, and the sprinkler 12 starts; The end of the seedling tray triggers the ninth photoelectric sensor 35, and the overburden device 10 stops; the front end of the seedling tray triggers the eleventh photoelectric sensor 37, and the surface sweeping device 11 stops; the end of the seedling tray triggers the thirteenth photoelectric sensor 39, and the sprinkler device 12 stops. Water is sprayed, and the third conveyor belt 26 stops. At this point, the entire seeding assembly line has been

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Abstract

一种气吸振动盘式精密育秧播种流水线装置，依次包括铺底土装置（2）、扫底土装置（3）、压穴装置（4）、播种装置、覆表土装置（10）、扫表土装置（11）和洒水装置（12），还包括三段式输送带及其支架、动力系统和控制系统。该流水线装置通过PLC控制，既可手动控制也可自动控制，且每个工作环节均独立控制；自动控制时由光电传感器和限位开关发送信号给PLC，PLC再发送指令给各驱动器、变频器，控制各工作部件的启停。采用上下可调的压穴滚筒（4d）实现对育秧盘穴孔深浅的调节，保证播种精度；并且播种环节还具有自动调节功能，由输送带速度和播种速度的变化控制振动种盘频率，提高吸种率，从而提高播种合格率。还提供了这种气吸振动盘式精密育秧播种流水线装置的控制方法。

Description

一种气吸振动盘式精密育秧播种流水线装置及其控制方法 技术领域
本发明属于农业播种机技术领域，特别是涉及一种气吸振动盘式精密育秧播种流水线装置及其控制方法。
背景技术
水稻种植在全球分布非常广泛，世界各大洲，亚洲、欧洲、美洲、非洲和大洋洲都有水稻种植。世界水稻面积和总产量约90％集中在亚洲，作为亚洲地区主要的粮食作物之一；针对其育秧方式，从人工育秧到机械化育秧逐渐转变，作业方式也由单一环节到流水化作业转变。在机械化育秧领域，大部分采用机械式、外槽轮式以及窝眼轮式，其播种精度低、伤种率较高，采用气吸式播种可大大降低伤种率，提高存活率，且其精密性高，适用于超级稻的育秧每穴1-2粒的播种要求。但目前针对气吸盘式播种的作业特点，需要育秧盘在播种工位等待播种，故尚未实现流水线作业，且现有播种机均未实现播种环节的自适应性。
发明内容
因此，本发明提供了一种气吸振动盘式精密育秧播种流水线装置及其控制方法，适用于精密播种，特别是气吸振动盘式播种，可以使整个播种过程实现自动化，同时实现了多自由度机械手灵活播种，振动种盘的振动参数随着播种过程及种量的变化实现自适应控制。
本发明所采用的技术方案如下：
一种气吸振动盘式精密育秧播种流水线装置，采用三段式输送带结构，按工作方向每段输送带分别依次设有铺土压穴机构、播种机构和覆土洒水机构，所述播种机构包括播种机械手和电磁振动台，播种机械手下端连接吸种盘，电磁振动台上固定振动种盘，振动种盘的吸气孔与真空泵相连；
还包括PLC控制器、信号采集传感器、触摸屏，根据育秧盘在流水线装置的具体位置，控制铺土压穴机构、播种机构和覆土洒水机构作业；育秧盘到达播种位，进行排种作业；育秧作业过程中，根据振动种盘的振动频率控制电磁振动台的输出振动频率。
上述技术方案中，所述压穴装置包括第二支撑螺纹杆，第二支撑螺纹杆与压穴滚筒架连接。
上述技术方案中，所述扫底土装置包括第一支撑螺纹杆，第一支撑螺纹杆与毛刷架连接。
上述技术方案中，所述铺底土装置包括储土箱，储土箱上端固定搅土轴。
上述技术方案中，所述第一输送带由链传动连接的第一输送带A部分和第一输送带B部分组成，第一输送带B部分的运行速度大于第一输送带A部分。
上述技术方案中，所述第三输送带由链传动连接的第三输送带A部分和第三输送带B部分组成，第三输送带A部分和第三输送带B部分的运行速度一致。
一种气吸振动盘式精密育秧播种流水线装置的控制方法，
检测育秧盘在流水线装置的具体位置，控制相应的工作部件起停；
压穴装置自动适应第一输送带速度，对育秧盘穴孔进行对准压穴；
播种时，当限位开关被触发后进行排种作业；
根据振动种盘的振动频率控制电磁振动台的输出振动频率；
检测铺底土装置、覆表土装置、第一输送带、第二输送带、第三输送带的转速，检测结果通过触摸屏显示，同时，PLC根据检测结果控制各工作部件协调运行。
进一步，所述电磁振动台采用变频控制，具体的控制过程为：流水线装置启动时，振动种盘低频振动；吸种作业时，电磁振动台带动振动种盘高频振动，吸种结束，电磁振动台恢复低频振动；随着播种的进行，振动种盘中的种量逐渐减少，电磁振动台振动频率提高；当振动种盘中的种量减少到一定量时，进行加种，磁振动台的振动频率做出调整，PLC控制器控制播种速度减慢，预留时间给振动种盘匀种。
与现有技术相比，本发明的优点和积极效果为：
(1)本发明一种气吸振动盘式精密育秧播种流水线装置中的压穴装置采用上下可调的压穴滚筒实现对育秧盘穴孔深浅的调节，有效提高育秧效果。
(2)本发明一种气吸振动盘式精密育秧播种流水线装置中的电磁振动台采用变频控制，根据不同工作状态进行频率调整，具体为：吸种作业时，电磁振动台带动振动种盘高频振动；吸种结束，电磁振动台恢复低频振动；加种时，磁振动台的振动频率做出调整。实现振动种盘频率的自动调节，改善振动盘种群“沸腾”效果，提高播种合格率，减少播种空穴率。
(3)本发明还采用多自由度机械手进行吸种、排种，通过光电传感器检测育秧盘位置，可以实现各个工作部件灵活启动与停止，有效提高精密播种流水线作业自动化程度，并采用基于触摸屏的系统控制，提高了水稻育秧的智能化水平。
附图说明
图1为本发明一种气吸振动盘式精密育秧播种流水线装置的总体结构示意图；
图2为本发明一种气吸振动盘式精密育秧播种流水线装置的结构俯视图；
图3为本发明铺底土装置、覆表土装置的结构示意图；
图4为本发明扫底土装置和压穴装置的结构示意图，图4(a)为扫底土装置和压穴装置的正等轴视图，图4(b)为压穴装置的截面图；
图5为本发明第二输送带支架的结构示意图，
图6为本发明洒水装置的结构示意图；
图7为本发明水平调节轮的结构示意图；
图8为本发明流水线播种工艺流程图；
图9为本发明流水线控制系统硬件结构图；
图10为本发明振动种盘频率控制系统回路图；
图11为本发明电磁振动台频率控制系统原理图；其中，图11(a)为根据振动种盘内种量变化控制电磁振动台频率的原理图，图11(b)为根据播种盘数变化控制电磁振动台频率的原理图；
图12为本发明播种环节自适应控制算法的流程图；
图13为本发明触摸屏控制界面示意图；
图14为本发明流水线作业过程控制流程图。
图中：1-第一输送带支架，2-铺底土装置，2a-进土斗，2b-储土箱，2c-搅土轴，2d-铺土量调节板，2e-铺土履带，2f-第一履带轴，2g-第二履带轴，3-扫底土装置，3a-毛刷架，3b-第一电机架，3c-第一步进电机，3d-毛刷，3e-第一支撑螺纹杆，3f-第一联轴器，4-压穴装置，4a-压穴滚筒架，4b-第二电机架，4c-第二步进电机，4d-压穴滚筒，4e-第二支撑螺纹杆，4f-第二联轴器，4g-清土毛刷，5-第二输送带支架，5a-第二输送带支架横梁，5b-第一支撑板，5c-第二支撑板，6-播种机械手，7-吸种盘，8-电磁振动台，9-振动种盘，10-覆表土装置，11-扫表土装置，12-洒水装置，12a-洒水架，12b-水管，12c-雾化喷头，12d-可调电磁阀，13-第三输送带支架，14-真空泵，15-第一驱动电机，16-第二驱动电机，17-第三驱动电机，18-第四驱动电机，19-第五驱动电机，20-可调万向轮，21-水平调节轮，21a-调节螺纹杆，21b-辅助螺纹杆，21c-支撑顶板，21d-支撑底板，21e-轮子，22-第一桥接板，23-第二桥接板，24-第一输送带，24a-第一输送带A部分，24b-第一输送带B部分，25-第二输送带，26-第三输送带，26a-第三输送带A部分，26b-第三输送带B部分，27-第一光电传感器，28-第二光电传感器，29-第三光电传感器，30-第四光电传感器，31-第五光电传感器，32-第六光电传感器，33-第七光电传感器，34-第八光电传感器，35-第九 光电传感器，36-第十光电传感器，37-第十一光电传感器，38-第十二光电传感器，39-第十三光电传感器，40-限位开关，41-第一转速传感器，42-第二转速传感器，43-第三转速传感器，44-第四转速传感器，45-第五转速传感器，46-频率传感器，47-定位挡块。
具体实施方式
下面将结合附图对本发明的具体技术方案作进一步的说明，但是本发明的保护范围并不限于此。
如图1、2所示，本发明一种气吸振动盘式精密育秧播种流水线装置，包括第一输送带支架1、铺底土装置2、扫底土装置3、压穴装置4、第二输送带支架5、播种机械手6、吸种盘7、电磁振动台8、振动种盘9、覆表土装置10、扫表土装置11、洒水装置12、第三输送带支架13和真空泵14。其中第一输送带支架1、第二输送带支架5和第三输送带支架13的一端均设有输送带张紧调节槽。
如图3所示，铺底土装置2包括固定为一体的储土箱2b和进土斗2a，进土斗2a位于储土箱2b上端，储土箱2b为中空结构，其上端敞开，前端半封闭；储土箱2b前端通过两个螺柱与蝶形螺母固定铺土量调节板2d，通过松动蝶形螺母可以上下调节铺土量调节板2d的高度，从而控制铺底土厚度；储土箱2b内部在同一水平线上固定有第一履带轴2f和第二履带轴2g，第一履带轴2f和第二履带轴2g固定铺土履带2e，铺土履带2e位于铺土量调节板2d的下方；储土箱2b上端中间位置固定搅土轴2c，防止储土箱2b内土壤基质因挤压结块。储土箱2b上还设有第一转速传感器41，用于测定第一履带轴2f的转速。覆表土装置10的结构同铺底土装置2，且覆表土装置10上设有第四转速传感器44，用于测定覆表土装置履带轴的转速。
如图4(a)所示，扫底土装置3包括第一支撑螺纹杆3e，第一支撑螺纹杆3e通过螺栓固定在第一输送带支架1上，第一支撑螺纹杆3e通过螺母与毛刷架3a连接，毛刷架3a上固定毛刷3d，毛刷架3a一端螺栓连接第一电机架3b，第一电机架3b固定第一步进电机3c；第一步进电机轴与毛刷轴通过第一联轴器3f连接。扫表土装置11的结构与扫底土装置3相同。毛刷3d的旋转方向与第一输送带24运行方向相反，通过旋转第一支撑螺纹杆3e，可以调节毛刷架3a的高度，使得铺完底土的育秧盘表面平整均匀。
如图4(a)所示，压穴装置4包括第二支撑螺纹杆4e，第二支撑螺纹杆4e通过螺栓固定在第一输送带支架1上，第二支撑螺纹杆4e通过螺母与压穴滚筒架4a连接，压穴滚筒架4a通过螺母与压穴滚筒4d连接，压穴滚筒架4a一端螺栓连接第二电机架4b，第二电机架4b固定第二步进电机4c，第二步进电机轴与压穴滚筒轴通过第二联轴器4f 连接。压穴滚筒4d的旋转方向与第一输送带24运行方向相同。通过旋转第二支撑螺纹杆4e，可以上下调节压穴滚筒架4a的高度，使得铺完底土的育秧盘表面依次压出穴孔。如图4(b)所示，压穴滚筒架4a内壁固定有清土毛刷4g，及时刷去压穴滚筒4d表面粘连的土壤。
第一输送带支架1与第二输送带支架5通过第一桥接板22桥接，第二输送带支架5与第三输送带支架13通过第二桥接板23桥接。第一输送带支架1、第三输送带支架13底端螺栓连接有可调万向轮20。第一输送带支架1上安装第一输送带24，第一输送带24由第一输送带A部分24a和第一输送带B部分24b由两链轮通过链传动连接，第一输送带B部分24b的运行速度大于第一输送带A部分24a，使得育秧盘在连续放置时可形成适当间隔，防止扫底土装置2将前一盘扫落的底土落在下一盘上。第一输送带支架1上方按工作方向依次螺栓连接铺底土装置2、扫底土装置3和压穴装置4，铺底土装置2位于第一输送带A部分24a，扫底土装置3和压穴装置4位于第一输送带B部分24b；第一输送带支架1上还固定有第一驱动电机15、第二驱动电机16，第一驱动电机15用于给铺底土装置2提供动力，第二驱动电机16用于给第一输送带24提供动力；第一输送带支架1上还设有第二转速传感器42，用于测定第一输送带24的转速。第三输送带支架13上安装第三输送带26和第五转速传感器45，第五转速传感器45用于测定第三输送带26的转速。第三输送带26由第三输送带A部分26a和第三输送带B部分26b由两链轮通过链传动连接，第三输送带A部分26a和第三输送带B部分26b的运行速度一致，可以使洒水环节与覆表土、扫表土环节隔离，防止第三输送带A部分26a上散落的土壤基质遇水后粘连到第三输送带B部分26b上，造成整段输送带泥泞。第三输送带支架13上方按工作方向依次螺栓连接覆表土装置10、扫表土装置11和洒水装置12；第三输送带支架13还固定有第四驱动电机18、第五驱动电机19，第四驱动用于给电机18覆表土装置10提供动力，第五驱动电机19用于给第三输送带26提供动力。
如图5所示，第二输送带支架5包括第二输送带支架横梁5a和设置在支架一侧的第一支撑板5b和第二支撑板5c，第二输送带支架5下端安装水平调节轮21，第一支撑板5b上固定连接播种机械手6和第三驱动电机17，播种机械手6为五轴机械手；播种机械手6下端连接吸种盘7，第二支撑板5c上固定电磁振动台8和真空泵14，电磁振动台8上通过螺栓固定振动种盘9，振动种盘9的吸气孔通过软管与真空泵14相连；振动种盘9底部设有频率传感器46，用于测定振动种盘9的频率；第二输送带支架横梁5a安装第二输送带25和第三转速传感器43，用于测定第二输送带25的转速。第二输送带支架横 梁5a的尾端还设有限位开关40和定位挡块47，且在播种位时，限位开关40位于吸种盘7的拐角处，用于控制吸种盘7与育秧盘之间的播种距离，定位挡块47位于育秧盘前端。
沿输送带传输方向，铺底土装置2前、后端分别设有第二光电传感器28和第一光电传感器27，扫底土装置3前、后端分别设有第三光电传感器29和第四光电传感器30，压穴装置4前、后端分别设有第五光电传感器31和第六光电传感器32，第一输送带24的尾端设有第七光电传感器33，覆表土装置10前、后端分别设有第八光电传感器34和第九光电传感器35，扫表土装置11前、后端分别设有第十光电传感器36和第十一光电传感器37，洒水装置12前、后端分别设有第十二光电传感器38和第十三光电传感器39。
如图6所示，洒水装置12包括两矩形洒水架12a，两矩形洒水架12a底端固定在第三输送带支架13上，两洒水架12a上固定数根水管12b，水管12b上均匀布置雾化喷头12c，水管12b与水源连接的管道上设有可调电磁阀12d，通过调节可调电磁阀12d的开度，可控制洒水量。
如图7所示，水平调节轮21包括调节螺纹杆21a、辅助螺纹杆21b、支撑顶板21c、支撑底板21d和轮子21e，支撑顶板21c与支撑底板21d通过调节螺纹杆21a和辅助螺纹杆21b相连，轮子21e固定在支撑底板21d下方。
如图8所示，本发明一种气吸振动盘式精密育秧播种流水线装置播种工艺流程图，人工将育秧盘放在第一输送带24起始端，育秧盘依次经过铺底土装置2、扫底土装置3、压穴装置4、第二输送带支架5、覆表土装置10、扫表土装置11、洒水装置12，进行铺底土作业、扫底土作业、压穴作业、播种作业、覆表土作业、扫表土作业、洒水作业，最后人工将育秧盘取下。
如图9所示，本发明一种气吸振动盘式精密育秧播种流水线装置控制系统的硬件结构示意图，光电传感器、转速传感器、限位开关40、频率传感器46均与PLC控制器的信号输入端连接，PLC控制器的输出端与步进电机的驱动器、驱动电机的变频器、真空泵14的变频器、电磁振动台8的变频器、可调电磁阀12d连接，PLC控制器与工业触摸屏通信。PLC控制器作为主控单元，负责流水线装置的统筹运行，通过接收信号，进行逻辑运算和指令发出，控制流水线装置各个部件的运行。变频器为驱动电机、电磁振动台和真空泵的驱动单元，负责电机的速度调节、电磁振动台振动频率调节和真空泵负压大小调节。转速传感器监测各个运转设备的速度，光电传感器采集育秧盘在流水线装置上的具体位置发送给PLC控制器，由PLC控制器进行逻辑处理后，发送对应指令给相应设备，实现设备启停。可调电磁阀负责控制喷头的洒水量。
如图10所示，振动种盘频率控制系统回路图，以振动种盘9中种量的减少量为反馈信号，调节电磁振动台8的振动频率。
如图11所示，电磁振动台频率控制系统原理图，如图11(a)所示，以振动种盘的种量为检测对象，对振动种盘9进行调节，如图11(b)所示，将振动种盘的种量变化转化为播种盘数，作为振动种盘9的振动频率控制的输入信号。
如图12所示，电磁振动台8采用变频控制方式，首先，振动种盘9在上电后按设定的低频进行振动，当播种机械手6带动吸种盘7进行吸种作业时，电磁振动台8带动振动种盘9进行高频振动，当吸种作业结束，电磁振动台8恢复低频振动；与此同时，随着播种过程的进行，振动种盘9中种量逐渐减少，此时电磁振动台8在吸种作业时振动的频率也会根据振动种盘9中种量变化量提高，以使种群达到最佳“沸腾”效果，保证吸种盘7的吸种率，确保播种合格率达到最大；最后，当振动种盘9中种量减少到一定量(20盘-30盘)时，需对其进行加种，加种后，电磁振动台8会根据加种量立即对振动频率做出适当调整，使种群快速均匀分布在振动种盘7内；同时，播种机械手6从上一次播种结束到本次吸种的运动过程也会做出调整，运动速度减慢，给振动种盘9适当时间进行种群的匀种，相应地，流水线装置的其他环节也会相应做出调整，从而实现整个播种流水线的自适应控制过程，以确保播种合格率达到最高，播种效率达到最大。
如图13、14所示，本发明流水线作业过程控制流程图，流水线装置上电后，触摸屏点亮，进入模式选择界面。手动控制模式时，在“模式选择”界面点击“手动模式”，界面跳转至“手动模式”控制界面，然后可以分别选择“工作部件”栏下的各个部件，每次点击一个按键，然后在“设置”栏下分别设置各部件工作参数，每设置完一个参数后均要点击“确认”，然后各部件会按照设定的参数运行，再次点击“工作部件”栏下的部件按键，相应的工作部件即停止运行。其中，“设置”栏下的参数设置选项会根据“工作部件”栏中选中的工作部件进行调整，可设置选项高亮显示，其他选项显示为灰色，并且不可设置。例如：设置铺底土装置2运行时，首先点击“模式选择”界面上的“手动模式”按键，接着点击“工作部件”栏下的“铺底土装置”按键，然后在“设置”栏下“转速”框内输入转速值，还可以通过后方的上、下三角进行微调，确认数值后点击“确认”按键，此时，铺底土装置2即按照设定转速开始运行。
自动控制模式时，在“模式选择”界面点击“自动模式”，界面跳转至“自动模式”控制界面，然后可以分别选择“工作部件”栏下的各个部件，每次点击一个按键，然后在“设置”栏下分别设置各部件工作参数，每设置完一个参数后均要点击“确认”，然后 依次将所有工作部件的参数均设置好，然后再点击界面上方的“启动”按键，所有工作部件将按照设定好的工作参数自动运行。例如：在播种一个育秧盘的情况下，在设置好所有工作参数后，按下“启动”按键，电磁振动台8和真空泵14启动；当育秧盘开始放入流水线装置时，育秧盘前端首先触发第一光电传感器27，此时信号经PLC控制器发送指令给第一输送带24，然后第一输送带24承载育秧盘开始运行；育秧盘前端触发安装在铺底土装置2前端的第二光电传感器28时，铺底土装置2开始运行；育秧盘继续向前输送，育秧盘前端触发第三光电传感器29，扫底土装置3开始运行；接着育秧盘前端触第五光电传感器31，然后压穴装置4开始运行；当育秧盘尾端触发第二光电传感器28时，铺底土装置2停止运行；育秧盘尾端触发第四光电传感器30时，扫底土装置3停止运行；育秧盘尾端触发第六光电传感器32时，压穴装置4停止运行；育秧盘前端触第七光电传感器33，信号发送给PLC控制器，PLC控制器判断第八光电传感器34是否为触发状态，若是，则第一输送带24停止运行，否则第一输送带24继续运行，同时第二输送带25启动，吸种盘7开始吸种，定位挡块47推出；育秧盘前端被定位挡块47阻挡，并触发第八光电传感器34，吸种盘7进行排种，同时吸种盘7触发限位开关40，定位挡块47收回，第三输送带26启动；育秧盘尾端触第八光电传感器34，第二输送带25停止；育秧盘前端触发第九光电传感器35，覆表土装置10启动；育秧盘前端触发第十光电传感器36，扫表土装置11启动；育秧盘前端触发第十二光电传感器38，洒水装置12启动；育秧盘尾端触发第九光电传感器35，覆表土装置10停止；育秧盘前端触发第十一光电传感器37，扫表土装置11停止；育秧盘尾端触发第十三光电传感器39，洒水装置12停止洒水，第三输送带26停止。至此，整个播种流水线工作完成。在自动播种模式下，工业触摸屏上可以实时显示播种部件的工作状况。
以上依据本发明的技术方案详细描述了具体实施方式。根据本发明的技术方案在不变更本发明的实质精神下，本领域的一般技术人员可以提出可相互替换的多种结构方式以及实现方式。因此，上文描述的具体实施方式以及附图仅是对本发明的技术方案的示例性说明，而不应当视为本发明的全部或者视为对本发明技术方案的限定或限制。

Claims (8)

  1. 一种气吸振动盘式精密育秧播种流水线装置，其特征在于：采用三段式输送带结构，按工作方向每段输送带分别依次设有铺土压穴机构、播种机构和覆土洒水机构，所述播种机构包括播种机械手(6)和电磁振动台(8)，播种机械手(6)下端连接吸种盘(7)，电磁振动台(8)上固定振动种盘(9)，振动种盘(9)的吸气孔与真空泵(14)相连；
    还包括PLC控制器、信号采集传感器、触摸屏，根据育秧盘在流水线装置的具体位置，控制铺土压穴机构、播种机构和覆土洒水机构作业；育秧盘到达播种位，进行排种作业；育秧作业过程中，根据振动种盘(9)的振动频率控制电磁振动台(8)的输出振动频率。
  2. 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置，其特征在于：所述压穴装置(4)包括第二支撑螺纹杆(4e)，第二支撑螺纹杆(4e)与压穴滚筒架(4a)连接。
  3. 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置，其特征在于：所述扫底土装置(3)包括第一支撑螺纹杆(3e)，第一支撑螺纹杆(3e)与毛刷架(3a)连接。
  4. 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置，其特征在于：所述铺底土装置(2)包括储土箱(2b)，储土箱(2b)上端固定搅土轴(2c)。
  5. 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置，其特征在于：所述第一输送带(24)由链传动连接的第一输送带A部分(24a)和第一输送带B部分(24b)组成，第一输送带B部分(24b)的运行速度大于第一输送带A部分(24a)。
  6. 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置，其特征在于：所述第三输送带(26)由链传动连接的第三输送带A部分(26a)和第三输送带B部分(26b)组成，第三输送带A部分(26a)和第三输送带B部分(26b)的运行速度一致。
  7. 一种根据权利要求1‐6任意一项权利要求所述的气吸振动盘式精密育秧播种流水线装置的控制方法，其特征在于：
    检测育秧盘在流水线装置的具体位置，控制相应的工作部件起停；
    压穴装置自动适应第一输送带速度，对育秧盘穴孔进行对准压穴；
    播种时，当限位开关(40)被触发后进行排种作业；
    根据振动种盘(9)的振动频率控制电磁振动台(8)的输出振动频率；
    检测铺底土装置(2)、覆表土装置(10)、第一输送带(24)、第二输送带(25)、第三输送带(26)的转速，检测结果通过触摸屏显示，同时，PLC根据检测结果控制各工作部件协调运行。
  8. 根据权利要求7所述的气吸振动盘式精密育秧播种流水线装置的控制方法，其特征在于：所述电磁振动台(8)采用变频控制，具体的控制过程为：流水线装置启动时，振动种盘(9)低频振动；吸种作业时，电磁振动台(8)带动振动种盘(9)高频振动，吸种结束，电磁振动台(8)恢复低频振动；随着播种的进行，振动种盘(9)中的种量逐渐减少，电磁振动台(8)振动频率提高；当振动种盘(9)中的种量减少到一定量时，进行加种，磁振动台(8)的振动频率做出调整，PLC控制器控制播种速度减慢，预留时间给振动种盘(9)匀种。
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