WO2022217664A1

WO2022217664A1 - Blowing-suction type electromagnetic vibration precision seeding device and control method therefor

Info

Publication number: WO2022217664A1
Application number: PCT/CN2021/091370
Authority: WO
Inventors: 陈进; 廖彩淇; 李耀明; 乔祥山; 张志巧
Original assignee: 江苏大学
Priority date: 2021-04-14
Filing date: 2021-04-30
Publication date: 2022-10-20
Also published as: CN113287392B; CN113287392A

Abstract

A blowing-suction type electromagnetic vibration precision seeding device, comprising a multi-air-chamber partial pressure seed suction plate (2), a blowing-vibration type vibration seed plate device (5), and electromagnetic vibrators (4). The multi-air-chamber partial pressure seed suction plate (2) is composed of a plurality of small air chambers, suction plate holes (25) in the bottom are provided with conical suction nozzle components (26), and the multi-air-chamber partial pressure seed suction plate (2) is connected to a two-degree-of-freedom manipulator (3); the blowing-vibration type vibration seed plate device (5) comprises a vibration seed plate (51), a hollow tray (52), and an open three-layer air-blowing chamber (53) which are fixedly provided in sequence from top to bottom, and the tray (52) is fixed to the electromagnetic vibrators (4); and each electromagnetic vibrator (4) comprises an adjusting shaft (41), a coil (43), and an armature (46), the armature (46) and the adjusting shaft (41) are coaxially provided in the coil (43), the coil (43) is provided in a coil fixing base (45), the adjusting shaft (41) is located above the armature (46), and a gap is formed between the adjusting shaft and the armature. The device can improve the phenomenon of population segregation in the seed plate, better increases the dispersion among the populations, enables a seed suction airflow to be uniform and stable, and increases the seed suction rate. The present invention further relates to a control method for the blowing-suction type electromagnetic vibration precision seeding device.

Description

A blowing-sucking electromagnetic vibration precision seeding device and its control method

technical field

The invention belongs to the technical field of agricultural mechanization seeding, and particularly relates to a blow-suction type electromagnetic vibration precision seeding device and a control method thereof.

Background technique

The seedling raising and sowing link is one of the most critical links in the industrialized seedling raising. The qualified rate, missed seeding rate and reseeding rate of the seeding effect will directly affect the cost of seedling raising and the rate of successful seedlings and strong seedlings, and also have an impact on the final rice yield. Significantly affected. The vibrating air-suction precision seeding device adopts the working principle of the combination of vibration and air-suction. It has the advantages of simple structure, strong adaptability to the shape of seeds, germination seeds, and no damage to the seeds. It can also meet the requirements of 2±1 It is widely used in the field of precision seedlings to meet the requirements of grain/hole precision seedling sowing. The air-vibration precision seeder, which is composed of the existing sucker-type seed metering device and the eccentric mechanical vibration table, can achieve a seeding qualification rate of 1-2 seeds per hole of more than 90%, and can simultaneously suck seeds 434 holes, which is a high productivity. High precision seeding device.

Due to the use of eccentric mechanical structure to achieve the effect of seed "boiling", the vibration noise is large, the vibration working conditions are complex, and the adjustment of vibration parameters is difficult. The new vibration method improves the design of the vibration parts of the precision seeding device. The existing electromagnetic vibration adjusts the vibration parameters by adjusting the frequency and amplitude of the applied voltage or current, which is easy to realize computer control and adjustment, easy to operate, wide range of parameter selection, simple structure design and manufacture, easy to install, and is a mechanical structure type. Vibration improvements provide a reference. However, compared with the mechanical structure, the amplitude of the electromagnetic vibration structure is significantly reduced, which makes it difficult for the seeds in the seed tray to achieve the "boiling" effect, which makes it difficult for the suction cup type seed meter to achieve a satisfactory seed suction effect. At the same time, the existing precision seeding device The working parameters are single and fixed, and there is a lack of automatic adjustment and adaptive control under different working conditions.

SUMMARY OF THE INVENTION

In view of the deficiencies in the prior art, the present invention provides a blowing-suction type electromagnetic vibration precision seeding device and a control method thereof, which can achieve the effect of "boiling" the seeds under the condition of electromagnetic excitation of small amplitude, while maintaining or to a certain extent. Improve the qualification rate of suction cups.

The present invention achieves the above technical purpose through the following technical means.

A blow-suction type electromagnetic vibration precision seeding device, comprising:

The multi-chamber partial pressure seed suction plate is equipped with 8 small air chambers of the same size. The small air chambers are all provided with air outlets. Every 4 air outlets are combined into a general air outlet, and the general air outlet is connected to the vacuum pump. ; There are suction cup suction holes on the suction cup bottom plate of the multi-air chamber partial pressure seed suction cup, the suction cup suction holes correspond to the number of holes in the matching seedling tray, and the bottom end of the suction cup suction holes is connected to the conical suction nozzle part; Fixed connection with the manipulator; the manipulator can move in the up, down, left and right directions;

The blowing type vibrating seed plate device includes a vibrating seed plate fixedly arranged from top to bottom, a hollow tray and an open three-layer air blowing chamber, and a number of blowing holes of the vibration plate are arranged on the bottom of the vibration seed plate; three The interior of the layered blowing chamber is provided with a guiding layer, a dispersing layer and a convective layer in sequence from top to bottom. A guiding pipe is arranged in the guiding layer. , the two ends of the guide tube are connected, and the top is provided with an air leakage port;

The electromagnetic vibrator includes an adjusting shaft, a nut, a coil and an armature; the armature and the adjusting shaft are coaxially arranged inside the coil, and the coil is fixed inside the coil fixing seat; the adjusting shaft is located above the armature, and there is a gap between the two; After passing through the coil fixing seat, the bottom end is provided with an armature fixing seat, and the armature fixing seat is fixed with the tray; the top of the adjusting shaft passes through the coil fixing seat and is locked and fixed with the coil fixing seat.

In the above technical solution, the guide pipe is composed of a straight pipe and two curved pipes, and one end of the straight pipe extends to the outside of the three-layer air blowing chamber as the air inlet of the three-layer air blowing chamber; The other end of the straight pipe inside the diversion layer is provided with a straight pipe cover, the straight pipe cover is provided with several air leakage ports, and one end of the straight pipe close to the straight pipe cover is connected with one end of the two curved pipes.

In the above technical scheme, the guide layer, the dispersion layer and the convective layer are separated by a layered baffle plate of the air chamber and a layered baffle plate of the air chamber inside the three-layer air chamber. The first layered partition plate and the second layered partition plate of the air blowing chamber are provided with air flow holes corresponding to the blowing holes of the vibrating plate.

In the above technical solution, a plurality of plastic pellets are built in the dispersion layer.

The above technical solution also includes a seedling tray conveyor belt, the seedling tray conveyor belt is located on one side of the precision seeding device, the seedling tray conveyor belt is fixed and supported by the side plate of the conveyor belt fixed on the bracket, and the side plate of the conveyor belt is fixed with one end of two parallel beams The other end of the beam is fixed on the bracket, the beam is fixed with two electromagnetic vibrator support poles, and each electromagnetic vibrator support pole is connected with an electromagnetic vibrator.

The above technical solution also includes two seed boxes symmetrically arranged on the support.

In the above technical solution, the bottom end of the tray is fastened to one end of the connection spring, and the other end of the spring is mounted on the beam.

A control method of a blow-suction electromagnetic vibration precision seeding device, specifically:

The electromagnetic vibrator vibrates at a low frequency, which drives the vibrating seed tray, tray and three-layer air chamber to vibrate. At the same time, the three-layer air chamber provides a certain positive pressure to make the population vibrate evenly. When the disk reaches the seed suction position, the electromagnetic vibrator is at the best vibration frequency, and the vacuum pump connected to the multi-air chamber partial pressure seed suction disk works, so that the negative pressure in the multi-air chamber partial pressure seed suction disk instantly reaches the best seed suction vacuum degree. Conditions, the conical suction nozzle part starts to suck seeds; the manipulator leaves the seed suction position, the interior of the multi-air chamber partial pressure seed suction tray keeps a constant and optimal seed suction negative pressure, and the electromagnetic vibrator switches to low-frequency vibration again; The multi-air chamber partial pressure seed suction tray of the seeds is placed on the unloading position of the seedling tray conveyor belt, and the air pressure in the multi-air chamber partial pressure seed suction tray is converted into positive pressure, and the seeds fall into the corresponding holes of the seedling tray on the seedling tray conveyor belt. , the unloading is completed, and the manipulator returns to the origin; repeat the above operation for repeated seeding.

Further, the vibration seed plate can realize amplitude adjustment, specifically: 1) make the adjustment shaft contact the end face of the armature, and take the position of the coil holder as the reference point at this time, record the coil holder and the electromagnetic vibrator support pole at this time. relative position; 2) slide the coil holder in the direction away from the vibrating seed plate, and measure the distance relative to the reference point, and stop moving when the distance is equal to the to-be-set amplitude between the adjustment shaft and the armature; or It is to directly add a standard amplitude block between the armature and the coil holder to achieve the purpose of amplitude modulation.

Further, when repeated sowing, the PLC automatically counts the number of sown trays, the precision seeding device completes the setting of the number of sowing trays, and the seeding box performs automatic seeding operation; The optimal vibration frequency is recalculated, and the vibration frequency of the vibrating seed disc is adjusted by adjusting the energization frequency of the coil.

The beneficial effects of the present invention are:

(1) The present invention is convenient to realize the adjustment of the amplitude and frequency of the vibrating seed disc, and has a wide selection range and high precision of the amplitude and frequency, which is easier to realize precise control, improves the seeding effect, improves the seeding qualification rate, and reduces the seeding void rate, Reduce offset and improve the stability of equipment operation.

(2) Each small air chamber in the multi-chamber partial pressure seed suction cup designed by the present invention corresponds to an air outlet of the suction cup, and the air outlet of each suction cup is only for conveying air flow in the corresponding small air chamber, and the air flow in each air chamber does not affect each other. , which can effectively improve the stability of the airflow inside the air chamber and the uniformity of the airflow distribution at each conical suction nozzle part, and at the same time can effectively reduce the air loss caused by the inside of the air chamber; the additional conical suction nozzle parts can reduce the required The maximum seed suction height reduces the electromagnetic vibration amplitude requirements, and at the same time effectively reduces the seed injury rate.

(3) The present invention adds a three-layer air blowing chamber under the vibrating seed plate, and the three-layer air blowing chamber can uniformly flow out the air flow intensity from each bottom hole of the vibrating seed plate; the air pressure blowing force is matched with the vibration of the electromagnetic vibrator. , while the seeds move up and down with the vibrating seed plate, they are also subjected to a certain upward blowing force of the air flow, which increases the speed of the upward movement of the seeds and the maximum vertical distance that can be achieved. The airflow flows between the boiling seeds, which can better Increase the dispersion between populations and improve the seed absorption rate.

(4) The control method of the blowing-suction electromagnetic vibration precision seeding device of the present invention can be based on the position of different working conditions (seed suction, seeding and unloading) where the multi-air chamber partial pressure seed suction tray is located and the population in the vibrating seed tray Weight (inversely proportional to the number of sowing discs), automatically adjust the optimal vibration frequency of the vibrating seed disc and the air pressure state of the seed suction disc and the three-layer air blowing chamber, which is more in line with the actual working conditions and saves energy.

Description of drawings

1 is a schematic structural diagram of a blowing-suction electromagnetic vibration precision seeding device according to the present invention;

Fig. 2 is the top view of the blow-suction type electromagnetic vibration precision seeding device according to the present invention;

Figure 3 (a) is a schematic structural diagram of the multi-partial pressure air chamber suction cup according to the present invention;

Fig. 3(b) is a partial enlarged view of Fig. 3(a);

4 is a schematic diagram of the internal structure of the air chamber of the multi-partial pressure air chamber suction tray according to the present invention;

5 is a schematic diagram of the dispersion structure of the blowing chamber vibrating seed disk device according to the present invention;

6 is a schematic diagram of the cross-sectional structure of the three-layer blowing chamber according to the present invention;

FIG. 7 is a schematic structural diagram of the guide tube according to the present invention;

8 is a schematic diagram of the internal airflow flow structure of the three-layer air blowing chamber according to the present invention;

9 is a schematic structural diagram of the electromagnetic vibrator according to the present invention;

10 is an internal cross-sectional view of the electromagnetic vibrator according to the present invention;

Fig. 11 is the assembly schematic diagram of the electromagnetic vibrator according to the present invention and the blowing type vibrating seed plate device;

12 is a flow chart of the control method of the blow-suction electromagnetic vibration precision seeding device according to the present invention;

Fig. 13 is the optimal vibration frequency dynamic control calculation circuit diagram of the vibrating seed disc according to the present invention;

In the picture: 1- Seed box, 2- Multi-chamber partial pressure seed suction tray, 3- Manipulator, 4- Electromagnetic vibrator, 5- Blow vibration type vibration seed tray device, 6- Bracket, 7- Seedling tray conveyor belt , 8-level adjustment wheel, 9-vacuum pump two, 10-vacuum pump one, 11-vacuum pump three, 12-rack top beam, 13-top beam, 14-spring, 15-beam, 16-electromagnetic vibrator support pole , 17- Vertical rod strip hole, 18- Damping gasket, 19- Conveyor belt side plate, 20- Suction cup shell, 21- Suction cup partition, 22- Suction cup bottom plate, 23- Sealant, 24- Suction cup Bolt hole, 25-suction cup suction hole, 26-conical suction nozzle part, 27-suction cup top cover, 28- suction cup total air outlet 1, 29- suction cup total air outlet 2, 2a- small air chamber 1, 2b- small air Chamber two, 2c-small air chamber three, 2d-small air chamber four, 2e-small air chamber five, 2f-small air chamber six, 2g-small air chamber seven, 2h-small air chamber eight, 2A-suction cup outlet 1, 2B- suction cup outlet 2, 2C- suction cup outlet 3, 2D- suction cup outlet 4, 2E- suction cup outlet 5, 2F- suction cup outlet 6, 2G- suction cup outlet 7, 2H- suction cup outlet 8 , 30-disc connectors, 31-screw slide table one, 32-screw slide table two, 41-adjustment shaft, 42-nut, 43-coil, 44-rear sealing plate, 45-coil fixing seat, 46 -armature, 47-armature fixing seat, 48-coil fixing seat strip hole, 50-three-layer blowing chamber air inlet, 51-vibrating seed plate, 52-tray, 53-three-layer blowing chamber, 54 -Blowing hole of vibrating plate, 55-Tray extension fixing seat, 56-Tray bolt hole, 57-Guide layer, 58-Dispersion layer, 59-Convection layer, 60-Blowing chamber layered partition one, 61-Blowing chamber Layer 2, 62-guide pipe, 63-straight pipe, 64-elbow pipe, 65-straight pipe cover, 66-air leakage port, 67-plastic ball, 68-straight pipe bolt fixing plate.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

As shown in Figures 1 and 2, a blowing-sucking electromagnetic vibration precision seeding device includes a seeding box 1, a multi-chamber partial pressure seed-sucking plate 2, a manipulator 3, an electromagnetic vibrator 4, and a blowing-vibrating vibration seeding plate device 5. Support 6, seedling tray conveyor belt 7, leveling wheel 8, and vacuum pump (vacuum pump two 9, vacuum pump one 10, vacuum pump three 11). The bracket 6 is in the shape of a cuboid as a whole, and the four corners of the bottom end of the bracket 6 are respectively equipped with horizontal adjustment wheels 8 for adjusting the horizontal position of the entire planting device; a pair of parallel top beams 13 are installed between the two rack top beams 12 , the top beam 13 is installed with the seeding box 1; the lower end of the bracket 6 is equipped with a vacuum pump two 9, a vacuum pump one 10 and a vacuum pump three 11; the middle position of the bracket 6 is installed with two parallel beams 15, the other side bracket 6 opposite the beam 15 The seedling tray conveyor belt 7 is installed on it; the other end of the beam 15 is fixed on the side plate 19 of the conveyor belt, and two electromagnetic vibrator support rods 16 are respectively fixed on the two parallel beams 15, and each electromagnetic vibrator support rod 16 is connected with a An electromagnetic vibrator 4, the electromagnetic vibrator 4 is fixed with the blowing vibration type vibrating seed plate device 5, and above the blowing vibration type vibration seed plate device 5 is the multi-air chamber partial pressure seed suction plate 2, and the multi-air chamber partial pressure seed suction plate 2 It is fixed with the manipulator 3, and the manipulator 3 is located between the two seeding boxes 1.

As shown in Figures 3(a), 3(b) and 4, a suction cup partition 21 is welded inside the multi-chamber partial pressure seed suction cup 2, and the suction cup spacer 21 divides the seed suction cup shell 20 into a small air chamber. 2a, small air chamber two 2b, small air chamber three 2c, small air chamber four 2d, small air chamber five 2e, small air chamber six 2f, small air chamber seven 2g and small air chamber eight 2h, 8 small air chambers of the same size The 8 small air chambers share the suction cup bottom plate 22. A layer of sealant 23 is added between the suction cup bottom plate 22 and the suction cup shell 20 to ensure the air tightness of the air chamber. The suction cup shell 20 and the suction cup The bottom plate 22 is provided with suction cup bolt holes 24, and the suction cup shell 20 and the suction cup base plate 22 are connected together by bolt fasteners; the suction cup base plate 22 is provided with suction cup suction holes 25 corresponding to the number of holes of the matching seedling tray, The suction cup suction hole 25 is connected with a conical suction nozzle part 26 in a spiral manner, and the conical suction nozzle part 26 is evenly distributed on the suction cup bottom plate 22 corresponding to the eight small air chambers; the eight small air chambers share the suction cup top cover 27. There are air outlets corresponding to each small air chamber on the public top cover 27, specifically: suction cup air outlet 1 2A, suction cup air outlet 2 2B, suction cup air outlet 3 2C, suction cup air outlet 4 2D, suction cup air outlet 5 2E , suction cup outlet 6 2F, suction cup outlet 7 2G and suction cup outlet 8 2H, suction cup outlet 1 2A, suction cup outlet 2 2B, suction cup outlet 3 2C and suction cup outlet 4 2D integrated into suction cup total outlet 1 28 , the suction cup outlet five 2E, the suction cup outlet six 2F, the suction cup outlet seven 2G and the suction cup outlet eight 2H are combined into the suction cup total air outlet two 29; the suction cup top cover 27 is provided with a kind of disk connecting piece 30 to realize multiple air chambers The connection between the partial pressure air chamber suction cup 2 and the manipulator 3.

As shown in FIG. 1 and FIG. 2 , the manipulator 3 includes a lead screw slide table 1 31 and a lead screw slide table two 32 in two dimensional directions. The sliding table 2 32 realizes the left and right movement of the manipulator 3, and the left and right movement of the manipulator 3 can traverse the vibrating seed tray device 5 and the seedling tray conveyor belt 7 to realize the position transfer of the manipulator when the vibrating seed tray position sucks seeds and the conveyor belt unloads seeds.

As shown in FIG. 5 , the blowing type vibrating seed disc device 5 includes a vibrating seed disc 51, a tray 52 and a three-layer air blowing chamber 53. The bottom of the vibrating seed disc 51 is provided with several vibrating disc blowing holes 54. The vibrating seed disc 51 There are two layers of fine wire mesh (not marked) on the inner bottom plate, and the two layers of fine wire mesh are partially staggered. The vibrating seed plate 51 is placed above the tray 52; Corresponding to 54, four tray extension fixing seats 55 are provided on the left and right sides of the tray 52, and a plurality of tray bolt holes 56 are provided on the four sides of the tray 52 for connecting with the vibration seed tray 51 and the three-layer air blowing chamber 53; as shown in Figure 6 As shown, the top of the three-layer air blowing chamber 53 is open, and the interior of the three-layer air blowing chamber 53 is separated by a layered partition plate 60 of the air chamber and a layered partition plate 261 of the air chamber to form a diversion layer. 57. The dispersion layer 58 and the convective layer 59, the air blowing chamber layered partition 1 60 and the air blowing chamber layered partition 2 61 are provided with air flow holes corresponding to the blowing holes 54 of the vibrating disc; The flow pipe 62, the guide pipe 62 is composed of a straight pipe 63 and two curved pipes 64, one end of the straight pipe 63 extends to the outside of the three-layer blowing chamber 53, and serves as the air intake of the three-layer blowing chamber 53 50, the straight pipe 63 is fixedly connected to the casing of the guide layer 57 through the straight pipe bolt fixing plate 68; as shown in Figure 7, the other end of the straight pipe 63 placed in the guide layer 57 is provided with a straight pipe cover 65, The pipe cover 65 is provided with a number of air leakage ports 66, one end of the straight pipe 63 close to the straight pipe cover 65 is connected with one end of the two elbows 64, and the other end of the elbow 64 has an opening parallel to the direction close to the air inlet 50; The layer 58 is built with a number of plastic balls 67; the four air inlets 50 of the three-layer air blowing chamber 53, each two is a group, and a group of air inlets 50 are connected by a three-way pipe to form a total air inlet (not marked), and then connected to the air outlet of the vacuum pump one 10 by a soft gas pipe, and the vacuum pump one 10 provides the blowing force from the bottom to the top.

As shown in FIG. 8 , the working principle of the uniform air flow of the three-layer air blowing chamber 53 is as follows: the air pump provides a positive pressure of a certain strength, and the air inlet 50 flows through the straight pipe 63 of the guide pipe, and after encountering the cover 65 of the straight pipe, the Part of the airflow flows into the elbow 64 connected on both sides, a small part of the airflow flows out from the air leak 66 on the straight pipe cover 65, and the airflow from the elbow 64 is directly blown to the bottom plate of the three-layer blowing chamber 53, and passes through the bottom plate. When the wall is impacted, the airflow will bounce back from all directions, pass through the guide layer 57 to reach the layered partition 1 60 of the blowing chamber, and flow into the dispersion layer 58 from the airflow holes of the layered partition 1 60 of the blowing chamber, thereby realizing airflow guidance as a whole. Dispersion effect; the dispersion layer 58 is built with a number of plastic balls 67 with free positions, and the airflow flowing into the dispersion layer 58 will bypass the numerous plastic balls 67, pass through the gaps of the plastic balls 67, and then reach the blowing chamber. The second partition plate 61 flows into the convective layer 59 from the air flow holes on the second layered partition plate 61 of the blowing chamber. The disordered freedom between the plastic balls 67 will make the air flow position around the plastic balls 67 uncertain. There are no obstructions in the convective layer 59, so that the airflow flowing out of the dispersion layer 58 will reach the bottom plate of the vibrating seed disc 51 along a straight distance, and flow out from the blowing hole 54 of the vibrating disc.

As shown in Figures 8 and 9, the electromagnetic vibrator 4 includes an adjusting shaft 41, a nut 42, a coil 43, a rear sealing plate 44, a coil fixing seat 45 and an armature 46; the armature 46 and the adjusting shaft 41 are coaxially arranged inside the coil 43, The coil 43 is placed inside the coil fixing seat 45 and connected to it; a gap is provided between the armature 46 and the adjusting shaft 41, and the adjusting shaft 41 is located above the armature 46; The bottom end of the armature 46 is provided with an armature fixing seat 47. The top end of the adjusting shaft 41 passes through the coil fixing seat 45 and is fixedly connected with the rear sealing plate 44 at the top of the coil fixing seat 45. The adjusting shaft 41 passes through the nut 42 and the rear sealing plate 44. The nut 42 is a locking nut, and the nut 42 is provided with an anti-loose component to prevent it from loosening; the coil fixing seat 45 is provided with a coil fixing seat strip hole 48 on one side, and the coil fixing seat strip hole 48 and The rod-shaped holes 17 are opposite to each other (the rod-shaped holes 17 are arranged on the upper end of the electromagnetic vibrator support rods 16 ) and are fixed by bolts. The coil fixing seat rod-shaped holes 48 and the vertical rod-shaped holes 17 are in the vertical direction. The overlapping area can be adjusted as needed.

As shown in Figures 1 and 2, the seedling tray conveyor belt 7 is placed on one side of the overall precision seeding device, the rotating shaft of the seedling tray conveyor belt 7 is fixed by the conveyor belt side plates 19 on both sides, and the conveyor belt side plates 19 are fixed on the bracket 6. , to prevent the deviation of the conveying belt; the multi-chamber partial pressure air chamber suction tray 2 is connected to the manipulator 3 through the seed tray connector 30, the manipulator 3 is placed on the top beam 12 of the frame, and the top beam 12 of the frame is provided with a top beam 13 is used to support and install the seeding box 1, and the seeding box 1 is placed above both sides of the vibrating seed tray 51; as shown in FIG. The spring 14 is supported, and the top of the tray extension fixing base 55 is aligned and connected to the armature base 47, thereby fixing the position of the armature 46. The other end of the spring 14 is installed on the beam 15, and the side of the beam 15 is connected to the electromagnetic vibrator supporting pole 16, and the electromagnetic vibrator supports the vertical pole 16. The rod 16 is provided with a vertical rod strip hole 17 for installing and fixing the coil fixing seat 45; The general air outlet 1 28 and the general air outlet 2 29 on the multi-chamber partial pressure air chamber suction plate 2 are respectively connected to the air inlets of the vacuum pump 2 9 and the vacuum pump 3 11 through the air supply pipeline, and two vacuum pumps are used to provide the suction plate. required vacuum pressure.

The working principle of the electromagnetic vibration of the precision seeding device is as follows: a periodic intermittent current is passed through the coil 43. When the current is turned on, the adjusting shaft 41 and the armature 46 made of a magnetically conductive medium are pulled together under the action of the induced magnetic field, and the tray 52 The vibrating seed disc 51 and the three-layer blowing chamber 53 move toward one end of the adjusting shaft 41 along the axis of the armature 46 , and the spring 14 is elastically deformed to generate an elastic force opposite to the moving direction of the vibrating seed disc 51 . When the current in the coil 43 is disconnected, the magnetic field disappears, and the vibrating seed disc 51 , the tray 52 and the three-layer blowing chamber 53 return to the initial equilibrium position under the elastic force of the spring 14 . Since the current of the coil 43 is periodically turned on and off, the blowing vibration type vibration seed disk device 5 can realize the reciprocating periodic vibration near its equilibrium position to realize the vibration effect.

The vibration seed disc 51 can realize amplitude adjustment, and the adjustment steps are: 1) Adjust the adjustment shaft 41 to be close to the armature 46 through the nut 42 until the adjustment shaft 41 contacts the end face of the armature 46, and take the position of the coil fixing seat 45 as the reference point at this time, Record the relative position of the coil holder 45 and the electromagnetic vibrator support rod 16 at this time; 2) slide the coil holder 45 along the direction of the rod bar hole 17 away from the vibration seed plate 51 (adjust the coil holder bar hole 48 and the The overlapping area of the vertical rod hole 17), and measure the distance from the reference point, stop moving when the distance is equal to the amplitude to be adjusted between the adjustment shaft 41 and the armature 46, or directly connect the armature 46 and the coil A standard amplitude block is added between the fixed bases 45 , and the coil fixed base 45 is fixed on the electromagnetic vibrator support pole 16 after the position is adjusted.

The invention also provides a control system of a blow-suction electromagnetic vibration precision seeding device, which is composed of a PLC, an industrial touch screen, a frequency converter, a limit photoelectric sensor (arranged on the manipulator 3) and a vacuum pump. control. In the overall control system, PLC, as the main control unit, is responsible for the overall operation of the system equipment, and controls the operation of each component of the precision seeding device by receiving signals, performing logical operations and issuing instructions. The frequency converter is the driving unit that drives the electromagnetic vibrator 4 and the vacuum pump, and is responsible for adjusting the pressure of the vacuum pump and adjusting the vibration frequency of the electromagnetic vibrator 4 . The PLC receives the status signal fed back by the limit photoelectric sensor, determines the current working position of the manipulator 3, and after logical processing, sends the corresponding command to the corresponding equipment (vacuum pump and electromagnetic vibrator 4) to control the operation state of the equipment.

The precision seeding device realizes the method of population blowing and vibration boiling. Under the condition that the adjusting shaft 41 and the armature 46 have a certain distance, the electromagnetic vibrator 4 is driven by the frequency converter to make the adjusting shaft 41 and the armature 46 attract and disconnect at a certain working frequency. , drive the vibrating seed plate 51, the tray 52 and the three-layer air blowing chamber 53 to vibrate in the up and down direction. At the same time, the frequency converter drives the vacuum pump 10 to provide a certain intensity of positive pressure to the three-layer air blowing chamber 53, and the air flow will eventually The blowing hole 54 of the vibrating disc flows out, and a blowing force in an upward direction is generated. When the seeds are thrown upward with the up and down movement of the vibrating seed disc 51, they are also subjected to a certain upward blowing force of the air flow, which increases the speed of the upward movement of the seeds and the achievable The maximum vertical distance, the airflow flows between the boiling seeds, can better increase the dispersion between the populations and improve the seed absorption rate.

As shown in Figure 12, the present invention adopts the control method of the blowing and suction type electromagnetic vibration precision seeding device, when the precision seeding device starts to work, the frequency converter drives the electromagnetic vibrator 4 to be in a low frequency vibration state, and the electromagnetic vibrator 4 drives the vibrating seed disc 51, The tray 52 and the three-layer air blowing chamber 53 start to vibrate, and at the same time the three-layer air blowing chamber 53 provides a certain positive pressure, so that the population starts to vibrate evenly under the vibration state of the electromagnetic vibrator 4 and the airflow guidance state. According to the limit photoelectric sensor Determine whether the manipulator 3 carries the multi-chamber partial pressure suction disc 2 to the seed suction position. If not, the vibrating seed disc 51 will continue to vibrate at a low frequency, and the three-layer air blowing chamber 53 will maintain a positive pressure state. If so, the inverter will drive The electromagnetic vibrator 4 is in the best vibration frequency state, and drives the vacuum pump 2 9 and the vacuum pump 3 11 connected to the multi-chamber partial pressure seed suction plate 2 to work, so that the negative pressure in the multi-air chamber partial pressure seed suction plate 2 can instantly achieve the best suction. Under a vacuum condition, a pressure difference is formed between the inner and outer sides of the conical suction nozzle part 26, and the conical suction nozzle part 26 completes the seed suction process at close range; the PLC judges whether the manipulator 3 leaves the seed suction position; If yes, the inside of the multi-chamber partial pressure seed sucking plate 2 maintains a constant optimal seed suction negative pressure, while the three-layer air blowing chamber 53 no longer provides continuous positive pressure, and the electromagnetic vibrator 4 is also adjusted to a low-frequency vibration state; PLC Determine whether the manipulator 3 carries the multi-air chamber partial pressure seed suction tray 2 with the seeds adsorbed to the seed unloading position of the seedling tray conveyor belt 7, if not, continue to maintain the current state; The air valve change-over switch, which converts the negative pressure in the multi-chamber partial pressure seed suction tray 2 into positive pressure, makes the seeds fall into the corresponding holes of the seedling tray on the tray conveyor belt 7 under the action of positive pressure and gravity, and the unloading is completed. This function is to judge whether the seed unloading is completed. If not, continue to maintain the positive pressure state in the multi-air chamber partial pressure seed suction tray 2. If yes, the manipulator 3 will carry the multi-air chamber partial pressure seed suction tray 2 after seeding and leave the seed unloading tray 2. At this time, the multi-chamber partial pressure seed suction disc 2 is connected to vacuum pump 2 9, vacuum pump 3 11 is turned off, and the multi-air chamber partial pressure seed suction disc 2 has no air pressure in the air chamber, and the seeding process is completed once. the above operation. The PLC judges whether the manipulator 3 reaches the seed suction position, whether it reaches the seed unloading position, and whether the seed unloading is completed, which are all in the prior art.

As shown in FIG. 13 , during the repeated sowing operation, the weight of the seeds in the vibrating seed tray 51 decreases with the increase of the number of sowings. The PLC automatically counts the number of sown trays, and can drive the seeding box 1 to complete a certain number of sowing trays. After the number (set according to actual needs), the automatic seeding operation is carried out to the vibrating seed disc 51, and at the same time, the PLC recalculates the optimal vibration frequency of the vibrating seed disc 51 according to the current amount of seeds in the vibrating seed disc 51 (as the prior art). ), adjust the energization frequency of the coil 43 by driving the frequency converter, so as to achieve the effect of adjusting the vibration frequency of the vibrating seed plate 51, adapt to the movement state of the population, and ensure that the qualified rate of seed suction and sowing is optimal.

The embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above-mentioned embodiments, and any obvious improvement, replacement or All modifications belong to the protection scope of the present invention.

Claims

A blow-suction type electromagnetic vibration precision seeding device, characterized in that it comprises:

The multi-chamber partial pressure seed suction tray (2) is provided with 8 small air chambers of the same size, and the small air chambers are all provided with air outlets. connected with the vacuum pump; the suction cup bottom plate (22) of the multi-air chamber partial pressure seed suction cup (2) is provided with suction cup suction holes (25), the suction cup suction holes (25) correspond to the number of holes in the matching seedling tray, and the suction cup suction holes (25 ) The bottom end is connected with the conical suction nozzle part (26); the multi-air chamber partial pressure seed suction disc (2) is fixedly connected with the manipulator (3); the manipulator (3) can move along the up, down, left and right directions;

A blowing-type vibrating seed tray device (5), comprising a vibrating seed tray (51) fixedly arranged in sequence from top to bottom, a hollow tray (52), and an open three-layer air blowing chamber (53), the vibrating seed tray (53) The bottom of the disk (51) is provided with a plurality of blowing holes (54) of the vibrating disk; the interior of the three-layer blowing chamber (53) is sequentially provided with a guide layer (57), a dispersion layer (58) and a convection layer (59) from top to bottom ), a guide pipe (62) is provided in the guide layer (57), and the bottom end of the guide pipe (62) is located outside the three-layer blowing chamber (53) and communicated with the vacuum pump one (10). (62) both ends are connected, and the top is provided with an air leakage port (66);

The electromagnetic vibrator (4) includes an adjustment shaft (41), a coil (43) and an armature (46); the armature (46) and the adjustment shaft (41) are coaxially arranged inside the coil (43), and the coil (43) is fixed on the wire Inside the coil fixing seat (45); the adjusting shaft (41) is located above the armature (46), and there is a gap between the two; after the bottom end of the armature (46) passes through the coil fixing seat (45), there is an armature fixing seat (47), the armature fixing seat (47) is fixed with the tray (52); the top end of the adjusting shaft (41) passes through the coil fixing seat (45), and is locked and fixed with the coil fixing seat (45).
The blow-suction type electromagnetic vibration precision seeding device according to claim 1, wherein the guide pipe (62) is composed of a straight pipe (63) and two curved pipes (64), the straight pipe (62). 63) One end extends to the outside of the three-layer blowing chamber (53) as the air inlet (50) of the three-layer blowing chamber (53); the straight pipe (63) placed inside the guide layer (57) has another One end is provided with a straight pipe cover (65), the straight pipe cover (65) is provided with a number of air leakage ports (66), one end of the straight pipe (63) close to the straight pipe cover (65) and two curved pipes (64) ) is connected at one end.
The blow-suction type electromagnetic vibration precision seeding device according to claim 1, wherein the diversion layer (57), the dispersion layer (58) and the convective layer (59) are formed by a three-layer blowing chamber (53) inside The air blowing chamber layered partition one (60) and the air blowing chamber layered partition two (61) are separated, the air blowing chamber layered partition one (60), the air blowing chamber layered partition two (61) is provided with airflow holes corresponding to the blowing holes (54) of the vibrating disc.
The blow-suction type electromagnetic vibration precision seeding device according to claim 1, wherein a plurality of plastic pellets (67) are built in the dispersion layer (58).
The blow-suction electromagnetic vibration precision seeding device according to claim 1, characterized in that it further comprises a seedling tray conveyor belt (7), the seedling tray conveyor belt (7) is located on one side of the precision seeding device, and the seedling tray conveyor belt (7) is located on one side of the precision seeding device. (7) The conveyor belt side plate (19) is fixed and supported by being fixed on the bracket (6). The conveyor belt side plate (19) is fixed to one end of the two parallel beams (15), and the other end of the beam (15) is fixed to the bracket (6). Two electromagnetic vibrator support rods (16) are fixed on the beam (15), and an electromagnetic vibrator (4) is connected to each electromagnetic vibrator support rod (16).
The blow-suction type electromagnetic vibration precision seeding device according to claim 1, characterized in that, it further comprises two seed feeding boxes (1) symmetrically arranged on the bracket (6).
The blow-suction electromagnetic vibration precision seeding device according to claim 5, wherein the bottom end of the tray (52) is fastened to one end of the spring (14), and the other end of the spring (14) is mounted on the beam (15) superior.
A method for controlling a blowing-sucking electromagnetic vibration precision seeding device according to any one of claims 1-7, characterized in that:

The electromagnetic vibrator (4) vibrates at a low frequency, which drives the vibrating seed plate (51), the tray (52) and the three-layer air blowing chamber (53) to vibrate, and at the same time the three-layer air blowing chamber (53) provides a certain positive pressure, To make the population vibrate evenly, when the manipulator (3) brings the multi-air chamber partial pressure seed suction tray (2) to the seed suction position, the electromagnetic vibrator (4) switches to the optimum vibration frequency, and the multi-air chamber partial pressure seed suction tray (2) The connected vacuum pump works, so that the negative pressure in the multi-chamber partial pressure seed suction tray (2) instantly reaches the optimum seed suction vacuum condition, and the conical suction nozzle part (26) starts to suck the seed; the manipulator (3) leaves At the seed suction position, the multi-air chamber partial pressure seed suction disc (2) maintains a constant optimal negative pressure for seed suction, and the electromagnetic vibrator (4) switches to low-frequency vibration again; The chamber partial pressure seed suction tray (2) to the seed unloading position of the seedling tray conveyor belt (7), the air pressure in the multi-air chamber partial pressure seed suction tray (2) is converted to positive pressure, and the seeds fall into the seedling tray conveyor belt (7). ) in the hole corresponding to the upper seedling tray, after the unloading of the seed is completed, the manipulator (3) returns to the origin; the above operation is repeated for repeated seeding.
The control method according to claim 8, characterized in that the vibration seed plate (51) can realize amplitude adjustment, specifically: 1) the adjustment shaft (41) is brought into contact with the end face of the armature (46), and the coil is fixed at this time The position of the seat (45) is the reference point, and record the relative position of the coil fixing seat (45) and the electromagnetic vibrator support rod (16) at this time; 2) Slide the coil fixing seat ( 45), and measure the distance relative to the reference point, when the distance is equal to the amplitude to be set between the adjustment shaft (41) and the armature (46), stop moving; or directly connect the armature (46) and the coil A standard amplitude block is added between the fixed seats (45) to achieve the purpose of amplitude modulation.
The control method according to claim 8, characterized in that, during repeated sowing, the PLC automatically counts the number of sown discs, and when the precision seeding device completes the setting of the number of sown discs, the seeding box (1) performs an automatic seeding operation; At the same time, according to the current amount of seeds in the vibrating seed disc (51), the optimal vibration frequency of the vibrating seed disc (51) is recalculated, and the vibration frequency of the vibrating seed disc (51) is adjusted by adjusting the electrification frequency of the coil (43). .