A tobacco ridge contouring mechanism for a tobacco transplanter and its control method

Abstract

This invention discloses a tobacco row contouring mechanism and its control method for a flue-cured tobacco transplanter, comprising: a contouring unit including a first contouring plate, a second contouring plate, a fixed shaft, and an angle adjustment mechanism; the second contouring plate is hinged to one edge of the first contouring plate, the fixed shaft is fixed to the second contouring plate, and the angle adjustment mechanism is installed between the first and second contouring plates; a connection unit including a fixed connector and a pitch adjustment mechanism; the fixed connector is rotatably mounted on the fixed shaft, and the pitch adjustment mechanism is installed between the fixed connector and the fixed shaft; a detection unit including a transmission plate, an elastic element, a fixed frame, and pressure sensors; the transmission plate is laterally sleeved on the fixed shaft, the elastic elements are symmetrically arranged on both sides of the transmission plate, the fixed frame is mounted on the fixed connector, and the pressure sensors are symmetrically installed on both sides of the bottom of the fixed frame. This invention enables the flue-cured tobacco transplanter to adaptively follow the contours of the tobacco row, effectively reducing the operating cost of the tobacco transplanter.

Description

Technical Field

[0001] This invention relates to a tobacco ridge contouring mechanism and its control method for a flue-cured tobacco transplanter, belonging to the technical field of flue-cured tobacco transplanters. Background Technology

[0002] In the tobacco cultivation process, an essential step is transplanting the seedlings, which have reached a certain stage of development in greenhouses, through holes to ordinary fields. To save manpower and resources and improve production efficiency, numerous tobacco transplanting machines and related inventions have been developed for this process. While these machines can replace manual transplanting to some extent, achieving the goals of saving manpower and resources and improving production efficiency, several problems prevent them from completely replacing manual labor and hinder their widespread adoption. The main reasons are as follows.

[0003] First, the current level of automation in tobacco transplanters is low. Besides necessary actions like drilling holes and placing seedlings, a crucial but challenging aspect of tobacco transplanters is correcting their course. Due to real-time requirements in the field, manual observation and timely adjustments to the transplanter's direction are necessary during operation, significantly increasing labor intensity and reducing the practicality of the machines.

[0004] Secondly, current tobacco transplanters have poor adaptability. Different regions and fields have different working environments, such as varying ridge sizes and inconsistent ridge straightness. Tobacco transplanters need good environmental adaptability to meet operational quality requirements. Current tobacco transplanters still lack consideration in this aspect, greatly limiting their practicality.

[0005] Third, the current manufacturing cost of flue-cured tobacco transplanters is relatively high. To effectively address various problems encountered in practice, these transplanters are equipped with various specialized devices, such as sensors and lasers. The use of these expensive devices increases the manufacturing cost of the transplanters, hindering their effective promotion.

[0006] Based on the above, it is necessary to study new technical solutions to address these issues. Summary of the Invention

[0007] Based on the above, the present invention provides a tobacco ridge contouring mechanism and its control method for a flue-cured tobacco transplanter, which can realize the adaptive following of the tobacco ridge contouring by the flue-cured tobacco transplanter, thereby overcoming the shortcomings of the prior art.

[0008] The technical solution of this invention is: a tobacco ridge contouring mechanism for a flue-cured tobacco transplanter, comprising:

[0009] The contouring unit includes a first contouring plate, a second contouring plate, a fixed shaft, and an angle adjustment mechanism. The second contouring plate is hinged to one side edge of the second contouring plate, the fixed shaft is fixed to the second contouring plate, and the angle adjustment mechanism is installed between the first contouring plate and the second contouring plate.

[0010] The connecting unit includes a fixed connector and a pitch adjustment mechanism. The fixed connector is rotatably mounted on the fixed shaft, and the pitch adjustment mechanism is installed between the fixed connector and the fixed shaft.

[0011] The detection unit includes a transmission plate, an elastic element, a fixing frame, and a pressure sensor. The transmission plate is laterally sleeved on the fixing shaft. The elastic element is symmetrically arranged on both sides of the transmission plate and connected to the second contour plate. The fixing frame is installed on the fixing connector and located above the transmission plate. The pressure sensor is symmetrically installed on both sides of the bottom of the fixing frame.

[0012] In one example, one end of the fixed shaft extends above the side of the first contour plate. The angle adjustment mechanism includes a first adjusting rod and an adjusting seat. The adjusting seat is provided with a ball joint groove. One end of the first adjusting rod is movably mounted in the ball joint groove via a hinged ball. The other side of the first adjusting rod is threadedly connected to the end of the fixed shaft. The opening angle between the first contour plate and the second contour plate is changed by rotating the first adjusting rod.

[0013] In one example, the fixed shaft is fixed to the end face of the second profile plate by two supports, and the axial direction of the fixed shaft is perpendicular to the connection side between the second profile plate and the first profile plate.

[0014] In one example, the pitch adjustment mechanism includes a first movable connector, a second movable connector, an adjusting screw rod, and a second adjusting rod. The first and second movable connectors are spaced apart and sleeved on the fixed shaft. The end of the fixed connector is rotatably connected to the first movable connector. The adjusting screw rod is rotatably connected to the second movable connector. The fixed connector has a strip-shaped first adjusting opening. The second adjusting rod passes through the first adjusting opening, and the end of the second adjusting rod is threadedly connected to the adjusting screw rod.

[0015] In one example, limiting teeth are provided on both sides of the upper side of the first adjustment port at intervals.

[0016] In one example, the fixing frame is trapezoidal in shape, and the top of the fixing frame is connected to an ear plate. A second adjustment port in the shape of a strip is opened on the corresponding fixing connection. The ear plate is detachably fixed in the second adjustment port by bolts and nuts.

[0017] In one example, the elastic element is a compression spring, and corresponding cylindrical bosses are connected to both sides of the transmission plate, with one end of the compression spring mounted on the cylindrical boss.

[0018] In one example, a circular groove is machined in the center of the transmission plate near the fixed shaft, allowing it to slide relative to the fixed shaft.

[0019] The present invention also provides a control method for the tobacco ridge contouring mechanism of the tobacco transplanter, characterized by comprising the following steps:

[0020] 1) Based on the size characteristics of the tobacco ridge, adjust the angles of the first and second contour plates so that the first contour plate is parallel to the top of the tobacco ridge, while the second contour plate is parallel to the side of the tobacco ridge.

[0021] 2) When the tobacco transplanter deflects to the right relative to the tobacco ridge, it drives the contouring mechanism to deflect to the right relative to the tobacco ridge. Due to the reaction force of the soil, one end of the second contouring plate is subjected to pressure, so the contouring plate of the contouring mechanism rotates around the fixed axis and transmits the pressure to a pressure sensor. The pressure sensor transmits the signal to the control system. The control system controls the tobacco transplanter to turn to the left by a predetermined angle according to the preset control relationship.

[0022] 3) When the tobacco transplanter deflects to the left relative to the tobacco ridge, it drives the contouring mechanism to deflect to the left relative to the tobacco ridge. Due to the reaction force of the soil, one end of the second contouring plate is subjected to pressure, so the contouring plate of the contouring mechanism rotates around the fixed axis and transmits the pressure to another pressure sensor. The pressure sensor transmits the signal to the control system. The control system controls the tobacco transplanter to turn to the right by a predetermined angle according to the preset control relationship.

[0023] The control relationship is as follows:

[0024] F = aθ + b;

[0025] In the formula, F is the pressure value corresponding to the pressure sensor, θ is the angle value of the deflection of the contouring mechanism, and a and b are fitting constants.

[0026] In one example, when the deflection angle of the contouring mechanism is less than the set angle, the control system does not output the direction of the tobacco transplanter; when the contouring mechanism deflects to the right, the angle is taken as positive θ, and when the contouring mechanism deflects to the left, the angle is taken as negative -θ. Correspondingly, the pressure value input by one pressure sensor is taken as positive, and the pressure value input by the other pressure sensor is taken as negative.

[0027] The beneficial effects of the present invention are as follows: The present invention is designed as a tobacco ridge contouring mechanism for a flue-cured tobacco transplanter by combining a first contouring plate, a second contouring plate, a fixed shaft, an angle adjustment mechanism, a fixed connecting piece, a pitch adjustment mechanism, a transmission plate, an elastic piece, a fixed frame, and a pressure sensor. It can achieve adaptive following of the tobacco ridge contouring by the flue-cured tobacco transplanter without the need for various special equipment, which can effectively reduce the operating cost of the flue-cured tobacco transplanter and has strong practicality. Attached Figure Description

[0028] Figure 1 A schematic diagram of the tobacco ridge contouring mechanism of a flue-cured tobacco transplanter from one perspective;

[0029] Figure 2 Another perspective schematic diagram of the tobacco ridge contouring mechanism of a flue-cured tobacco transplanter;

[0030] Figure 3 This is a schematic diagram of a contouring unit;

[0031] Figure 4 This is a schematic diagram of the connection unit and the detection unit;

[0032] Figure 5 This is a schematic diagram of the detection unit;

[0033] Figure 6 A control strategy diagram for the tobacco row contouring mechanism of a flue-cured tobacco transplanter;

[0034] Explanation of reference numerals in the attached figures:

[0035] 1 First contour plate, 2 Second contour plate, 3 Fixed shaft, 4 First adjusting rod, 5 Adjusting seat, 6 Fixed connector, 7 First movable connector, 8 Second movable connector, 9 Adjusting screw rod, 10 Second adjusting rod, 11 First adjusting port, 12 Limiting tooth, 13 Transmission plate, 14 Elastic element, 15 Fixed frame, 16 Pressure sensor, 17 Cylindrical boss, 18 Ear plate, 19 Bolt and nut, 20 Second adjusting port, 21 Support. Detailed Implementation

[0036] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] Please see Figures 1 to 6 This embodiment provides a tobacco ridge contouring mechanism for a flue-cured tobacco transplanter, comprising a contouring unit, a connecting unit, and a detection unit.

[0038] The contouring unit includes a first contouring plate 1, a second contouring plate 2, a fixed shaft 3, and an angle adjustment mechanism. The second contouring plate 2 is hinged to one edge. The fixed shaft 3 is fixed to the end face of the second contouring plate 2 via two supports 21. The axis of the fixed shaft 3 is perpendicular to the connection side between the second contouring plate 2 and the first contouring plate 1, and one end of the fixed shaft 3 extends above the side of the first contouring plate 1. The angle adjustment mechanism is installed between the first contouring plate 1 and the second contouring plate 2, and includes a first adjusting rod 4 and an adjusting seat 5. The adjusting seat 5 is installed on the first contouring plate 1 and has a strip-shaped ball joint groove. One end of the first adjusting rod 4 is movably installed in the ball joint groove via a hinged ball joint, allowing the first adjusting rod 4 to rotate and move relative to the ball joint groove. The other side of the first adjusting rod 4 is threadedly connected to the end of the fixed shaft 3. The opening angle between the first contouring plate 1 and the second contouring plate 2 is adjusted by rotating the first adjusting rod 4.

[0039] The connecting unit includes a fixed connector 6 and a pitch adjustment mechanism. One end of the fixed connector 6 is rotatably mounted on the fixed shaft 3, and the other end is used to connect to the body of the transplanter. The pitch adjustment mechanism is installed between the fixed connector 6 and the fixed shaft 3 to adjust the angle between them. Specifically, the pitch adjustment mechanism includes a first movable connector 7, a second movable connector 8, an adjusting screw rod 9, and a second adjusting rod 10. The first movable connector 7 and the second movable connector 8 are spaced apart and sleeved on the fixed shaft 3. The end of the fixed connector 6 is rotatably connected to the first movable connector 7, and the adjusting screw rod 9 is rotatably connected to the second movable connector 8. The fixed connector 6 has a strip-shaped first adjusting opening 11. The second adjusting rod 10 passes through the first adjusting opening 11, and the end of the second adjusting rod 10 is threadedly connected to the adjusting screw rod 9, while the other end extends out of the first adjusting opening 11. By rotating the second adjusting rod 10, the overall length of the second adjusting rod 10 and the adjusting screw rod 9 is changed, thereby changing the angle between the fixed shaft 3 and the fixed connector 6. Limiting teeth 12 are provided at intervals on both sides of the upper side of the first adjustment port 11 to ensure the tightness of the second adjustment rod 10 and the fixed connector 6.

[0040] The detection unit includes a transmission plate 13, an elastic element 14, a fixing frame 15, and a pressure sensor 16. The transmission plate 13 is laterally sleeved on the fixing shaft 3. A circular groove is machined in the center of the transmission plate 13 near the fixing shaft 3, allowing it to slide relative to the fixing shaft 3. Cylindrical bosses 17 are symmetrically connected to the bottom of both sides of the transmission plate 13, and elastic elements 14, which can be compression springs, are installed on the cylindrical bosses 17. The other end of the compression spring abuts against the end face of the second contour plate 2. The fixing frame 15 is trapezoidal in shape, and an ear plate 18 is connected to the top of the fixing frame 15. A strip-shaped second adjustment port 20 is opened on the corresponding fixing connection. The ear plate 18 is detachably fixed in the second adjustment port 20 by bolts and nuts 19. Pressure sensors 16 are symmetrically installed on both sides of the bottom of the fixing frame 15, and the pressure sensors 16 are located above and in contact with the transmission plate 13.

[0041] The control method for the tobacco ridge contouring mechanism of the above-mentioned tobacco transplanter includes the following steps:

[0042] 1) Based on the size characteristics of the tobacco ridge, adjust the angles of the first contour plate 1 and the second contour plate 2 using an angle adjustment mechanism, so that the first contour plate 1 is parallel to the top of the tobacco ridge, and the second contour plate 2 is parallel to the side of the tobacco ridge. For better contouring effect, the distance between the first contour plate 1, the second contour plate 2 and the tobacco ridge should not be too large. At the same time, to avoid damaging the tobacco ridge during the contouring process, the distance between the first contour plate 1, the second contour plate 2 and the tobacco ridge should not be too small, with 2-3 cm being optimal.

[0043] 2) When the tobacco transplanter deflects to the right relative to the tobacco ridge, it drives the contouring mechanism to deflect to the right relative to the tobacco ridge. Due to the reaction force of the soil, one end of the second contouring plate 2 is subjected to pressure, so the contouring plate of the contouring mechanism rotates around the fixed shaft 3 and transmits the pressure to a pressure sensor 16. The pressure sensor 16 transmits the signal to the control system. The control system controls the tobacco transplanter to turn to the left by a predetermined angle according to the preset control relationship, thereby maintaining the relative position of the tobacco transplanter and the tobacco ridge.

[0044] 3) When the tobacco transplanter deflects to the left relative to the tobacco ridge, it drives the contouring mechanism to deflect to the left relative to the tobacco ridge. Due to the reaction force of the soil, one end of the second contouring plate 2 is subjected to pressure, so the contouring plate of the contouring mechanism rotates around the fixed shaft 3 and transmits the pressure to another pressure sensor 16. The pressure sensor 16 transmits the signal to the control system. The control system controls the tobacco transplanter to turn to the right by a predetermined angle according to the preset control relationship, thereby maintaining the relative position of the tobacco transplanter and the tobacco ridge.

[0045] In order to design a control system and meet the control requirements, the deflection angle of the contouring mechanism and the corresponding pressure were measured, and the numerical relationship between the deflection angle and the pressure was found by using linear fitting.

[0046] F = aθ + b;

[0047] In the formula, F is the pressure value corresponding to pressure sensor 16, θ is the angle value of the contouring mechanism deflection, and a and b are fitting constants.

[0048] To prevent oscillations caused by frequent control, a tolerable maximum deflection angle i of the contouring mechanism (tobacco transplanter) is set. When the deflection angle of the contouring mechanism (tobacco transplanter) is less than this angle, the control system does not need to output control.

[0049] To distinguish the direction of the deflection angle (relative to the tobacco row) of the contouring mechanism (tobacco transplanter), it is stipulated that the angle is positive (θ) when the contouring mechanism deflects to the right (relative to the tobacco row), and negative (-θ) when the contouring mechanism deflects to the left (relative to the tobacco row). Therefore, the tolerable angle range is set to (-i, i). Correspondingly, the pressure value input by pressure sensor 16a is set to positive, and the pressure value input by pressure sensor 16b is set to negative.

[0050] This contouring mechanism uses two pressure sensors 16 as detection devices. During operation, the control system uses the pressure signals collected in real time by the pressure sensors 16 as the input of the system, thereby calculating and controlling the forward direction of the tobacco transplanter.

[0051] The working principle of the tobacco ridge contouring mechanism of the above-mentioned tobacco transplanter is as follows: First, the angle position of the first contouring plate 1 and the second contouring plate 2 is adjusted according to the ridge shape and size requirements. This process is achieved by twisting the first adjusting rod 4 and the second adjusting rod 10. At the same time, the position of the fixing frame 15 is adjusted by the bolt and nut 19 so that the pressure sensor 16 can work normally. As shown in the figure above, rotating the first adjusting rod 4 changes the angle of the first contouring plate 1 relative to the second contouring plate 2 through the thread; rotating the second adjusting rod 10 changes the angle of the second contouring plate 2 relative to the tobacco ridge through the thread and the hole shaft; loosening the bolt and nut 19 allows the fixing frame 15 to move up and down and rotate relative to the fixing connector 6. Tightening the bolt and nut 19 keeps the fixing frame 15 and the fixing connector 6 in a fixed position. Secondly, during the operation of the contouring mechanism, if the contouring mechanism deflects relative to the tobacco ridge, the reaction force of the soil in the tobacco ridge causes the second contouring plate 2 to deflect around the axis of rotation. The pressure is then transmitted to the corresponding sensor through the elastic element 14 and the transmission plate 13.

[0052] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A tobacco ridge profiling mechanism for a tobacco transplanter, characterized by, include: The contouring unit includes a first contouring plate (1), a second contouring plate (2), a fixed shaft (3), and an angle adjustment mechanism. The first contouring plate (1) is hinged to one side edge of the second contouring plate (2). The fixed shaft (3) is fixed on the second contouring plate (2). The angle adjustment mechanism is installed between the first contouring plate (1) and the second contouring plate (2). One end of the fixed shaft (3) extends to the upper side of the first contouring plate (1). The angle adjustment mechanism includes a first adjustment rod (4) and an adjustment seat (5). The adjustment seat (5) is installed on the first contouring plate (1). The adjustment seat (5) is provided with a ball joint groove. One end of the first adjustment rod (4) is movably installed in the ball joint groove through a hinged ball. The other end of the first adjustment rod (4) is threadedly connected to the end of the fixed shaft (3). The opening angle between the first contouring plate (1) and the second contouring plate (2) is changed by rotating the first adjustment rod (4). The connecting unit includes a fixed connector (6) and a pitch adjustment mechanism. The fixed connector (6) is rotatably mounted on the fixed shaft (3), and the pitch adjustment mechanism is installed between the fixed connector (6) and the fixed shaft (3). The detection unit includes a transmission plate (13), an elastic element (14), a fixing frame (15), and a pressure sensor (16). The transmission plate (13) is horizontally sleeved on the fixing shaft (3). The elastic element (14) is symmetrically arranged on both sides of the transmission plate (13) and connected to the second contour plate (2). The fixing frame (15) is installed on the fixing connector (6) and located above the transmission plate (13). The pressure sensor (16) is symmetrically installed on both sides of the bottom of the fixing frame (15).

2. The tobacco transplanter ridge profiling mechanism of claim 1, wherein, The fixed shaft (3) is fixed to the end face of the second contour plate (2) by two supports (21), and the axial direction of the fixed shaft (3) is perpendicular to the connection side between the second contour plate (2) and the first contour plate (1).

3. The tobacco transplanter ridge profiling mechanism of claim 1, wherein, The pitch adjustment mechanism includes a first movable connector (7), a second movable connector (8), an adjusting screw rod (9), and a second adjusting rod (10). The first movable connector (7) and the second movable connector (8) are sleeved on the fixed shaft (3) at intervals. The end of the fixed connector (6) is rotatably connected to the first movable connector (7). The adjusting screw rod (9) is rotatably connected to the second movable connector (8). The fixed connector (6) has a first adjusting port (11) in the shape of a strip. The second adjusting rod (10) passes through the first adjusting port (11), and the end of the second adjusting rod (10) is threadedly connected to the adjusting screw rod (9).

4. The tobacco transplanter ridge profiling mechanism of claim 3, wherein, The first adjustment port (11) has limiting teeth (12) spaced apart on both sides of its upper side.

5. The tobacco ridge contouring mechanism of the tobacco transplanter according to claim 1, characterized in that, The fixing frame (15) is trapezoidal in shape, and the top of the fixing frame (15) is connected to an ear plate (18). The corresponding fixing connector (6) is provided with a strip-shaped second adjustment port (20). The ear plate (18) is detachably fixed in the second adjustment port (20) by bolts and nuts (19).

6. The tobacco ridge contouring mechanism of the tobacco transplanter according to claim 1, characterized in that, The elastic element (14) is a compression spring, and corresponding cylindrical bosses (17) are connected to both sides of the transmission plate (13). One end of the compression spring is mounted on the cylindrical boss (17).

7. The tobacco ridge contouring mechanism of the tobacco transplanter according to claim 1, characterized in that, The transmission plate (13) has a circular groove machined in the center near the fixed shaft (3), which slides relative to the fixed shaft (3).

8. A control method for the tobacco ridge contouring mechanism of a flue-cured tobacco transplanter according to any one of claims 1 to 7, characterized in that, Includes the following steps: 1) Based on the size characteristics of the tobacco ridge, adjust the angles of the first contour plate (1) and the second contour plate (2) so that the first contour plate (1) is parallel to the top of the tobacco ridge, while the second contour plate (2) is parallel to the side of the tobacco ridge. 2) When the tobacco transplanter deflects to the right relative to the tobacco ridge, it drives the contouring mechanism to deflect to the right relative to the tobacco ridge. Due to the reaction force of the soil, one end of the second contouring plate (2) is subjected to pressure, so the transmission plate (13) rotates around the fixed shaft (3) and transmits the pressure to a pressure sensor (16). The pressure sensor (16) transmits the signal to the control system. The control system controls the tobacco transplanter to turn to the left by a predetermined angle according to the preset control relationship. 3) When the tobacco transplanter deflects to the left relative to the tobacco ridge, it drives the contouring mechanism to deflect to the left relative to the tobacco ridge. Due to the reaction force of the soil, one end of the second contouring plate (2) is subjected to pressure, so the transmission plate (13) rotates around the fixed shaft (3) to transmit the pressure to another pressure sensor (16). The pressure sensor (16) transmits the signal to the control system. The control system controls the tobacco transplanter to turn to the right by a predetermined angle according to the preset control relationship. The control relationship is as follows: ； In the formula, F is the pressure value corresponding to the pressure sensor (16). Let be the angle value of the contouring mechanism deflection, and a and b be fitting constants.

9. The control method for the tobacco ridge contouring mechanism of the tobacco transplanter according to claim 8, characterized in that, When the deflection angle of the contouring mechanism is less than the set angle, the control system does not output the direction of the tobacco transplanter; when the contouring mechanism deflects to the right, the angle is set to positive. When the contouring mechanism deflects to the left, the angle is negative - Correspondingly, the pressure value input by one pressure sensor (16) is taken as positive, and the pressure value input by the other pressure sensor (16) is taken as negative.

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