Intelligent seedling transplanting and transplanting machine with row spacing detection and adjustment operation state

Abstract

The application discloses an intelligent tobacco transplanting and trenching composite machine with plant row spacing detection and operation state adjustment, relates to a tobacco planting device technical field, and aims to provide a tobacco transplanting device which meets the adaptability to the terrain and has good performance. The machine comprises a rack, a walking power system, a walking support system, a trenching device, a transplanting device, a fertilizing device and a driving device. The application is equipped with a generator to provide power, and walking and operation motors which can independently operate are arranged. In addition, a plant row spacing detection and operation state adjustment device is arranged, corresponding positioning length measurement and angle deviation detection mechanisms are arranged, and a device for transmitting information is arranged. When angle deviation or distance deviation occurs, a signal is transmitted to a walking control mechanism, so that the advancing direction and speed of the transplanting machine are adjusted, unified control of plant spacing and row spacing for tobacco seedlings is realized, the adaptability to the environment terrain can be met, and the overall purchase cost, use cost and maintenance cost of the device are low, and the reliability is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flue-cured tobacco planting device, in particular to an intelligent hill-forming and transplanting compound machine with plant row spacing detection and operation state adjustment. BACKGROUND

[0002] In the process of crop planting, reasonable plant row spacing is an important indicator of agricultural modernization, which directly affects the yield and quality of crops, especially in the field of flue-cured tobacco planting. With the progress of agricultural science and technology, current flue-cured tobacco planting has basically realized mechanization and partial automation on suitable land, and the seeding technology mainly adopts precision hole seeding.

[0003] Most transplanting equipment relies on manned operation, and a small part of the transplanting equipment with remote communication function relies on satellite positioning to realize automatic driving operation. However, whether the manned or unmanned equipment can efficiently and high-quality complete the transplanting of tobacco seedlings under the conditions of suitable soil and gentle slope, but the advancing speed and direction of the transplanting equipment will inevitably be affected in relatively complex terrain, such as large slope and uneven terrain, resulting in changes in parallel and vertical degrees of the advancing, and further affecting the row spacing and plant spacing of the transplanted tobacco seedlings. The manned equipment can avoid or reduce the influence of the above-mentioned situation by adjusting the operation state of the equipment on site, but the accuracy and effect of the adjustment are affected by human factors, and the effect is not good. The automatic driving adjusts through the pre-set route or real-time collection of environmental parameters by various photoelectric sensing devices, which has relatively high accuracy in theory, but the purchase cost, use cost and maintenance cost of the equipment are high, and various photoelectric devices are more easily affected by dust, debris and other factors in the field, so the reliability is not high.

[0004] In the related field of planting preparation, the planting equipment with excellent transmission and walking performance, accurate transmission and planting capacity, and the diversity of working environment has always been the direction of related practitioners. SUMMARY

[0005] To solve the above problems, the present application discloses an intelligent hill-forming and transplanting compound machine with plant row spacing detection and operation state adjustment.

[0006] The intelligent hill-forming and transplanting compound machine with plant row spacing detection and operation state adjustment adopts the following technical scheme, which comprises a rack 2, a walking power system, a walking support system, a hill-forming device, a transplanting device, a fertilizing device and a driving device, and is characterized in that:

[0007] The walking power system adopts two sets of independently running variable frequency motors 1 and their supporting reducers 3 connected with the driving wheels 4 on both sides, and drives the caterpillar tracks on both sides; the hill flattening device and the transplanting device share a set of electric drive device 11 independent of the walking power system;

[0008] The two sets of independently running variable frequency motors 1 of the walking power system are respectively fixed symmetrically below the middle beam of the frame 2, each variable frequency motor 1 is connected with its supporting reducer 3, and then connected to the driving wheel 4 through the driving wheel shaft; the driving wheel 4, the guide wheel 5 at the front end, the balance wheel 6 at the top, the floating bogie set 7 below, the support frame 8 and the guide fork 9 constitute a walking support system, which is connected with the side beam of the frame 2 through the connecting plate 10; in addition, a control handle is arranged and connected with the two variable frequency motors 1 of the walking power system through wires, and personnel control the operation of the transplanting machine in real time, or switch to automatic control mode; or, a signal receiver is arranged on the transplanting machine, and a single-chip microcontroller is used to realize remote control; in addition, it also includes a plant spacing detection mechanism installed on the seedling placing device 13, and a running state adjusting mechanism installed on the frame 2.

[0009] Preferably, the electric drive device 11 for driving the hill flattening device and the transplanting device is arranged above the middle beam of the frame 2, and the structure is that the motor is above and the gearbox is below; wherein the output end of the gearbox is connected with the front crank connecting rod mechanism and the rear crank connecting rod mechanism through the transmission chain respectively to drive the hill flattening device and the transplanting device respectively; the front crank connecting rod mechanism is connected with the hill flattening harrow 12 in the hill flattening device through the front parallel rocker arm, and the rear crank connecting rod mechanism is connected with the seedling placing device 13 in the transplanting device through the rear parallel rocker arm; the battery 14 is arranged at the right lower position of the upper surface of the frame 2, and is connected with the walking power system and the electric drive device 11 to supply power for them.

[0010] Preferably, the generator set 15 is arranged at the right upper position of the upper surface of the frame 2, next to the front of the battery 14, and is connected with the battery 14, the walking power system and the electric drive device 11 to supply power for the walking power system and the electric drive device 11, or charge the battery 14.

[0011] Preferably, the plant spacing detection mechanism includes a plant spacing detection mechanism and a row spacing detection mechanism.

[0012] The plant spacing detection mechanism comprises a drive box 16 fixed at the front end of the seedling placing device 13, the seedling placing device 13 is driven by the electric power driving device 11 to move up and down; the drive box 16 and its attached components move synchronously with the seedling placing device 13; two groups of micro winch shafts 17 are symmetrically arranged inside the drive box 16, an independent one-way contraction spring is arranged inside each winch shaft 17, and a flexible pulling rope 18 is wound around the surface of each winch shaft 17; a vertical strip-shaped opening 19 is arranged on the drive box 16 opposite to the winch shaft 17, a hollow elastic telescopic rod 20 is arranged at the position of the opening 19, the rear end of the elastic telescopic rod 20 is clamped in the opening 19 and movably connected with the inner wall of the drive box 16; the other end of the elastic telescopic rod 20 is exposed outside the opening 19, the maximum elongation length of the elastic telescopic rod 20 can be adjusted, a vertical steel rod 21 is fixed at the front end of the elastic telescopic rod 20, the flexible pulling rope 18 is connected with the steel rod 21, the other end of the flexible pulling rope 18 passes through the hollow inside of the elastic telescopic rod 20 and the opening 19 on the drive box 16 and is wound around the surface of the winch shaft 17; in addition, a square hole clamping plate 22 is arranged between the end of the elastic telescopic rod 20 and the inner wall of the drive box 16, the square hole clamping plate 22 is independent of the inner wall of the drive box 16 and is sleeved on the end of the elastic telescopic rod 20, the upper edge of the square hole clamping plate 22 is movably connected with the telescopic rod of the air cylinder 23 fixed on the upper surface of the drive box 16, so that the square hole clamping plate 22 is driven to slide up and down along the inside of the opening 19 in the vertical direction, thereby driving the lifting and pressing of the rear end of the elastic telescopic rod 20, and the pressing and lifting of the steel rod 21 fixed on the end of the elastic telescopic rod 20 is realized through the lever action; when the rear end of the elastic telescopic rod 20 is lifted, the steel rod 21 at the end of the elastic telescopic rod 20 is pressed into the soil, the square hole clamping plate 22 maintains the lifting state and continuously generates downward pressure on the steel rod 21, so that the steel rod 21 remains in place during the lifting and forward movement of the seedling placing device 13, as a starting point of a standard plant spacing.

[0013] In addition, an encoder 24 is arranged at any end of the rotating shaft of each winch shaft 17, and an electromagnetic brake 25 is arranged at the opposite end; the signal output end of the encoder 24 is connected with a digital-analog converter through wires, the digital-analog converter is connected with the electromagnetic brake 25, the electric power driving device 11 of the seedling placing device 13 and the air cylinder 23 on the upper surface of the drive box 16 through wires.

[0014] Preferably, the row spacing detection mechanism comprises elastic connecting rods 26 arranged on both sides of the first telescopic joint of the elastic telescopic rod 20 close to the drive box 16, and the elastic connecting rods 26 are two, symmetrically arranged on both sides of the seedling placing device 13 shell, one end of each elastic connecting rod 26 is connected with the outer surface of the drive box 16 box body on the corresponding side, and the other end is connected with the two side walls of the first telescopic joint of the elastic telescopic rod 20; the connecting parts of the two ends of the elastic connecting rod 26 are provided with spherical universal joints 27, which can realize the deflection in the up-down and left-right directions; the elastic connecting rod 26 is a two-section elastic piston structure, one section is sleeved with a pressure ring 28, and the other section is provided with a plurality of pressure sensing switches 29 corresponding to the pressure ring 28, and the pressure sensing switches 29 are connected with the controller arranged on the variable frequency motor 1 through wires and can individually receive the signal transmitted by the pressure sensing switches 29; during the movement of the transplanting machine, the elastic telescopic rod 20 is deflected, the two-section piston structure of the elastic connecting rod 26 is contracted, the pressure ring 28 and the pressure sensing switch 29 installed thereon are close to each other, when the deflection exceeds the preset value, the two are extruded, the pressure sensing switch 29 transmits the signal to the controller, and the moving direction of the transplanting machine is adjusted through the controller, so that the crops in different rows are parallel to each other and the row spacing is maintained consistent.

[0015] Preferably, after the controller is switched to the automatic control mode on the operating handle, the signal transmitted by the pressure sensing switch 29 is received according to the longitudinal deflection of the transplanting machine, the two sets of independently operated variable frequency motors 1 are controlled to adjust the rotating speed, and the moving direction of the transplanting machine is adjusted.

[0016] Preferably, the elastic telescopic rod 20 is provided with movable hinges 30 on both sides of the rear end portion, the width of the hinge 30 is greater than the width of the opening 19, the inner side of the hinge 30 is movably connected with the rear end portion of the elastic telescopic rod 20, and the outer side is connected with the anti-derailing tracks 31 arranged on the inner sides of both sides of the opening 19; the anti-derailing tracks 31 are fixed on the inner wall of the drive box 16 box body and are parallel to the opening 19, the hinges 30 of the rear end portion of the elastic telescopic rod 20 are respectively clamped in the anti-derailing tracks 31 and slide up and down along the anti-derailing tracks 31, the anti-derailing tracks 31 protrude from the inner wall of the box body, and the end face of the anti-derailing tracks 31 is spaced from the inner wall of the box body; at the same time, the inner space of the anti-derailing tracks 31 is reserved in the horizontal direction and the vertical direction to accommodate the movement of the part of the hinge 30 clamped therein. Beneficial effects

[0017] The application can realize remote control and vehicle handle control, and in the case of complex working environment, the operator can get off the vehicle to control, which greatly improves the safety production capacity; the application is equipped with a generator to provide power, and a walking motor and a working motor which can be independently operated are arranged to improve the production efficiency and control accuracy; in addition, the application is also equipped with a plant spacing detection and running state adjusting device which can work in a harsh working environment, a corresponding positioning length measuring and angle deviation detection mechanism is arranged on the seedling placing device 13 responsible for digging and placing seedling tray on the transplanter, and a device for transmitting information is arranged, when angle deviation or distance deviation occurs, the signal is transmitted to the walking control mechanism, so as to adjust the advancing direction and speed of the transplanter, realize unified control of the plant spacing and row spacing of the tobacco seedlings, and meet the adaptability to the environment terrain, the overall purchase cost, use cost and maintenance cost of the device are low, and the reliability is high. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a front view of the multifunctional transplanter.

[0019] Figure 2 is a right view of the multifunctional transplanter.

[0020] Figure 3 is a perspective structural view of the multifunctional transplanter.

[0021] Figure 4 is a structure and installation schematic view of the plant spacing detection and running state adjusting device in embodiment 1.

[0022] Figure 5 is a schematic view of the plant spacing detection and running state adjusting device in embodiment 1 in the pressing working state.

[0023] Figure 6 is a schematic view of the plant spacing detection and running state adjusting device in embodiment 1 in the stretching working state.

[0024] Figure 7 is a schematic view of the plant spacing detection and running state adjusting device in embodiment 1 in the lifting working state.

[0025] Figure 8 is a schematic view of the plant spacing detection and running state adjusting device in embodiment 1 in the reset working state.

[0026] Figure 9 is a side view structural schematic view of the plant spacing detection mechanism.

[0027] Figure 10 is Figure 9 a schematic view of the plant spacing detection mechanism in the pressing and stretching state.

[0028] Figure 11is a schematic view of the top structure of the plant spacing detection mechanism.

[0029] Figure 12 is a schematic view of the pressed and stretched state of the plant spacing detection mechanism.

[0030] Figure 13 is a schematic view of the offset state of the plant spacing detection mechanism.

[0031] Figure 14 is a schematic view of the offset state of the elastic connecting rod in the row spacing detection mechanism.

[0032] Figure 15 is a schematic view of the opening position of the drive box body in the plant spacing detection mechanism.

[0033] In the figure: variable frequency motor 1, rack 2, speed reducer 3, drive wheel 4, guide wheel 5, balance wheel 6, floating group of supporting wheels 7, supporting frame 8, guide fork 9, connecting plate 10, electric drive device 11, potato raking machine 12, seedling placing device 13, storage battery 14, generator set 15, drive box 16, winch shaft 17, flexible pulling rope 18, opening 19, elastic telescopic rod 20, steel drill 21, square hole clamping plate 22, air cylinder 23, encoder 24, electromagnetic brake 25, elastic connecting rod 26, universal joint 27, pressure ring 28, pressure sensitive switch 29, hinge 30, anti-derailment track 31. DETAILED DESCRIPTION

[0034] The application will be further described below in combination with the drawings and examples. EXAMPLE

[0035] As Figures 1-8 shown, the present embodiment describes an intelligent potato raking and transplanting composite machine with plant and row spacing detection and adjustment running state, including rack 2, walking power system, walking support system, potato raking device, transplanting device, fertilizing device, driving device;

[0036] The walking power system adopts two sets of independently running variable frequency motors 1 and their supporting reducers 3 connected with the driving wheels 4 on both sides, and drives the caterpillar tracks on both sides; the planting device and the transplanting device share a set of electric drive device 11 independent of the walking power system; the two sets of independently running variable frequency motors 1 of the walking power system are respectively fixed symmetrically below the middle beam of the frame 2, each variable frequency motor 1 is connected with its supporting reducer 3, and then connected to the driving wheel 4 through the driving wheel shaft; the driving wheel 4 is connected with the front guide wheel 5, the upper balance wheel 6, the lower floating supporting wheel set 7, the supporting frame 8 and the guide fork 9 to form a walking support system, and the walking support system is connected with the side beam of the frame 2 through the connecting plate 10; in addition, a control handle is arranged and connected with the two variable frequency motors 1 of the walking power system through wires, and the personnel controls the operation of the transplanting machine in real time, or switches to an automatic control mode; or, a signal receiver is arranged on the transplanting machine, and a single-chip microcontroller is used to realize remote control; in addition, it also includes a plant spacing detection mechanism installed on the seedling placing device 13, and a running state adjusting mechanism installed on the frame 2.

[0037] The electric drive device 11 for driving the planting device and the transplanting device is arranged above the middle beam of the frame 2, and the structure is that the motor is above and the gearbox is below; wherein the output end of the gearbox is connected with the front crank connecting rod mechanism and the rear crank connecting rod mechanism through the transmission chain to drive the planting device and the transplanting device respectively; the front crank connecting rod mechanism is connected with the planting harrow 12 in the planting device through the front parallel rocker arm, and the rear crank connecting rod mechanism is connected with the seedling placing device 13 in the transplanting device through the rear parallel rocker arm; the right lower position on the upper surface of the frame 2 is provided with a storage battery 14 connected with the walking power system and the electric drive device 11 for power supply.

[0038] In addition, the generator set 15 is arranged at the right upper position on the upper surface of the frame 2, next to the front of the storage battery 14, and the generator set 15 is connected with the storage battery 14, the walking power system and the electric drive device 11 for power supply of the walking power system and the electric drive device 11, or charging the storage battery 14.

[0039] The plant spacing detection mechanism includes a plant spacing detection mechanism and a row spacing detection mechanism.

[0040] The plant spacing detection mechanism comprises a drive box 16 fixed at the front end of the seedling placing device 13, the seedling placing device 13 is driven by the electric power driving device 11 to move up and down; the drive box 16 and its attached components move synchronously with the seedling placing device 13; two groups of micro winch shafts 17 are symmetrically arranged inside the drive box 16, an independent one-way contraction spring is arranged inside each winch shaft 17, and a flexible pulling rope 18 is wound around the surface of each winch shaft 17; a vertical strip-shaped opening 19 is arranged on the drive box 16 opposite to the winch shaft 17, a hollow elastic telescopic rod 20 is arranged at the position of the opening 19, the rear end of the elastic telescopic rod 20 is clamped in the opening 19 and movably connected with the inner wall of the drive box 16; the other end of the elastic telescopic rod 20 is exposed outside the opening 19, the maximum elongation length of the elastic telescopic rod 20 can be adjusted, a vertical steel rod 21 is fixed at the front end of the elastic telescopic rod 20, the flexible pulling rope 18 is connected with the steel rod 21, the other end of the flexible pulling rope 18 passes through the hollow inside of the elastic telescopic rod 20 and the opening 19 on the drive box 16 and is wound around the surface of the winch shaft 17; in addition, a square hole clamping plate 22 is arranged between the end of the elastic telescopic rod 20 and the inner wall of the drive box 16, the square hole clamping plate 22 is independent of the inner wall of the drive box 16 and is sleeved on the end of the elastic telescopic rod 20, the upper edge of the square hole clamping plate 22 is movably connected with the telescopic rod of the air cylinder 23 fixed on the upper surface of the drive box 16, so that the square hole clamping plate 22 is driven to slide up and down along the inside of the opening 19 in the vertical direction, thereby driving the lifting and pressing of the rear end of the elastic telescopic rod 20, and the pressing and lifting of the steel rod 21 fixed on the end of the elastic telescopic rod 20 is realized through the lever action; when the rear end of the elastic telescopic rod 20 is lifted, the steel rod 21 at the end of the elastic telescopic rod 20 is pressed into the soil, the square hole clamping plate 22 maintains the lifting state and continuously generates downward pressure on the steel rod 21, so that the steel rod 21 remains in place during the lifting and forward movement of the seedling placing device 13, as a starting point of a standard plant spacing.

[0041] In addition, an encoder 24 is arranged at any end of the rotating shaft of each winch shaft 17, and an electromagnetic brake 25 is arranged at the opposite end; the signal output end of the encoder 24 is connected with a digital-analog converter through wires, the digital-analog converter is connected with the electromagnetic brake 25, the electric power driving device 11 of the seedling placing device 13 and the air cylinder 23 on the upper surface of the drive box 16 through wires.

[0042] The row spacing detection mechanism comprises elastic connecting rods 26 arranged on both sides of the first telescopic joint of the elastic telescopic rod 20 close to the drive box 16, the elastic connecting rods 26 are two, and are symmetrically arranged on both sides of the seedling placing device 13 shell, one end of each elastic connecting rod 26 is connected with the outer surface of the drive box 16 box body on the corresponding side, and the other end is connected with the two side walls of the first telescopic joint of the elastic telescopic rod 20; the two end connecting parts of the elastic connecting rod 26 are all provided with spherical universal joints 27, which can realize deflection in the up-down and left-right directions; the elastic connecting rod 26 is a two-section elastic piston structure, a pressure ring 28 is sleeved on one section, a plurality of pressure sensing switches 29 corresponding to the pressure ring 28 are arranged on the other section, and the pressure sensing switches 29 are connected with the controller arranged on the variable frequency motor 1 and capable of individually receiving the signal transmitted by the pressure sensing switches 29 through wires; during the running of the transplanting machine, the elastic telescopic rod 20 is deflected due to route deviation, the two-section piston structure of the elastic connecting rod 26 is contracted, the pressure ring 28 and the pressure sensing switches 29 mounted thereon are close to each other, when the deflection exceeds the preset value, the two are extruded, the pressure sensing switches 29 transmit the signal to the controller, the running direction of the transplanting machine is adjusted through the controller, and it is ensured that the crops in different rows are parallel to each other and the row spacing is consistent.

[0043] When working, the transplanting machine normally travels, the two groups of plant spacing detection mechanisms installed on the seedling placing device 13 are in the state of being shrunk and being attached to the shell of the seedling placing device 13, the seedling placing device 13 starts to descend and place the seedling tray, for the convenience of description, the plant spacing detection mechanism on the left side is designated to act first, the telescopic rod of the cylinder 23 on the left side starts to shrink, drives the square hole clamping plate 22 in the box body of the corresponding side driving box 16 to start to rise, and drives the rear end of the opposite side elastic telescopic rod 20 to be lifted upward, at the same time, under the action of the lever, the steel drill 21 at the end is pressed into the soil to be temporarily anchored, the seedling placing device 13 completes the seedling tray placing and burying, is lifted upward to reset at the same time, and the transplanting machine continues to travel, in this process, the cylinder 23 on the left side keeps shrinking, drives the square hole clamping plate 22 to continuously rise, and further keeps the steel drill 21 fixed in the soil, in this process, the steel drill 21 of the plant spacing detection mechanism on the left side keeps being fixed, the elastic telescopic rod 20 is elongated, the flexible pulling rope 18 passing through the inside is pulled to rotate the winch shaft 17 to be unwound, the clockwork spring in the winch shaft 17 is stretched, has the tendency of being shrunk, and the flexible pulling rope 18 is pulled tightly; while the encoder 24 installed on the winch shaft 17 detects the number of revolutions of the winch shaft 17, that is, the length of the flexible pulling rope 18 unwound by the winch shaft 17, and further obtains the elongation length of the elastic telescopic rod 20, when the elongation length of the elastic telescopic rod 20 reaches the preset value, that is, the standard plant spacing, the encoder 24 sends a signal, the signal is transmitted to the electromagnetic brake 25, the electromagnetic brake 25 acts, and the winch shaft 17 stops unwinding, while the signal of the encoder 24 passes through the digital-analog converter to drive the device of the seedling placing device 13 and the cylinder 23 on the left side, the telescopic rod of the cylinder 23 on the left side is elongated, drives the square hole clamping plate 22 and the rear end of the elastic telescopic rod 20 to descend, under the action of the lever, the steel drill 21 at the end of the elastic telescopic rod 20 is lifted up, and under the action of the clockwork spring in the winch shaft 17, the winch shaft 17 is rotated to wind the flexible pulling rope 18, and the elastic telescopic rod 20 is pulled back to the initial state;

[0044] At the same time, the driving device of the seedling placing device 13 receiving the signal of the encoder 24 drives it to descend, drives the plant spacing detection mechanism on the right side to repeat the action of the plant spacing detection mechanism on the left side, and the distance of the seedling placing device 13 falling and placing the seedling tray each time, that is, the plant spacing is consistent with the elongation length of the elastic telescopic rod 20, so that the same plant spacing is ensured.

[0045] In addition, after the steel drill 21 on the left side is inserted into the soil, the elastic connecting rods 26 on both sides of the first telescopic joint close to the driving box 16 of the elastic telescopic rod 20 start to detect the angle deviation in the traveling process of the transplanting machine, if the elastic telescopic rod 20 deviates more than the preset value, the two sections of the piston structure of the elastic connecting rod 26 on the side where the angle is reduced are shrunk, the pressure ring 28 and the pressure sensing switch 29 installed thereon are extruded, the pressure sensing switch 29 transmits a signal to the running state adjusting mechanism, drives the steering shaft or the steering wheel to adjust the traveling direction of the transplanting machine, so that the crops in the adjacent rows are parallel to each other and the row spacing is maintained. Embodiment

[0046] Reference Figures 1-3 , and Figures 9-15 The intelligent transplanting and ditching combined machine with plant row spacing detection and operation state adjustment has the same structure as that of the embodiment 1, and the difference lies in that the elastic telescopic rods 20 are provided with movable hinges 30 on the two sides of the rear end portions, the width of the hinges 30 is greater than that of the opening 19, the inner sides of the hinges 30 are movably connected with the rear end portions of the elastic telescopic rods 20, and the outer sides are connected with the anti-derailing tracks 31 arranged on the inner sides of the opening 19.

[0047] In addition, the operation state adjustment mechanism is installed on the frame 2 of the transplanting machine, and for the driving structure that a single motor is directly connected with a single driving wheel 4, a mechanism for adjusting the direction by adjusting the rotating speed of different motors according to the signal transmitted by the pressure sensitive switch 29 is arranged.

Claims

1. Intelligent hill making and transplanting compound machine with plant row spacing detection and operation state adjustment, comprising a frame (2), a walking power system, a walking support system, a hill making device, a transplanting device, a fertilizing device and a driving device, characterized in that: the walking power system is connected with two driving wheels (4) on both sides through two sets of independently operated variable frequency motors (1) and their matched reducers (3), and drives the two driving wheels (4) to walk through caterpillar belts; the hill making device and the transplanting device share a power drive device (11) independent of the walking power system; the two sets of independently operated variable frequency motors (1) of the walking power system are respectively fixed symmetrically below the middle beam of the frame (2), each variable frequency motor (1) is connected with its matched reducer (3), and then connected with the driving wheel (4) through a driving wheel shaft; the driving wheel (4) is connected with a front guide wheel (5), an upper balance wheel (6), a lower floating group of supporting wheels (7), a supporting frame (8) and a guide fork (9) to form a walking support system, the walking support system is connected with the side beam of the frame (2) through a connecting plate (10); in addition, a control handle is arranged and connected with the two variable frequency motors (1) of the walking power system through wires, a person controls the operation of the transplanting machine in real time, or switches to an automatic control mode; or, a signal receiver is arranged on the transplanting machine, and a single-chip microcontroller is used to realize remote control; in addition, a plant row spacing detection mechanism and an operation state adjustment mechanism installed on the frame (2) are further included; the plant row spacing detection mechanism comprises a plant spacing detection mechanism and a row spacing detection mechanism; The plant spacing detection mechanism comprises a drive box (16) fixed at the front end of the seedling placing device (13), the seedling placing device (13) is driven by the electric power driving device (11) to move up and down; the drive box (16) and its accessory components move synchronously with the seedling placing device (13); two groups of micro winch shafts (17) are symmetrically arranged inside the drive box (16), an independent one-way contraction clock spring is arranged inside each winch shaft (17), and a flexible pulling rope (18) is wound around the surface of each winch shaft (17); a vertical strip-shaped opening (19) is arranged on the drive box (16) opposite to the winch shaft (17), a hollow elastic telescopic rod (20) is arranged at the position of the opening (19), the rear end of the elastic telescopic rod (20) is clamped in the opening (19) and movably connected with the inner wall of the drive box (16) box body; the other end of the elastic telescopic rod (20) is exposed outside the opening (19), the maximum elongation length thereof can be adjusted, a vertical steel drill (21) is fixed at the front end, the steel drill (21) is connected with the flexible pulling rope (18), the other end of the flexible pulling rope (18) passes through the hollow inside of the elastic telescopic rod (20) and the opening (19) on the drive box (16) box body and is wound around the surface of the winch shaft (17) shaft body; in addition, a square hole clamping plate (22) is arranged between the end of the elastic telescopic rod (20) and the inner wall of the box body in the drive box (16) box body, the square hole clamping plate (22) is independent of the inner wall of the drive box (16) box body and is sleeved on the end of the elastic telescopic rod (20), the upper edge of the square hole clamping plate (22) is movably connected with the telescopic rod of the air cylinder (23) fixed on the upper surface of the drive box (16) box body, so as to drive the square hole clamping plate (22) to slide up and down along the inside of the opening (19) in the vertical direction, and then drive the lifting and pressing of the rear end of the elastic telescopic rod (20), and realize the pressing and lifting of the steel drill (21) fixed on the end of the elastic telescopic rod (20) through the lever effect; In addition, an encoder (24) is installed at any end of the rotating shaft of each winch shaft (17), and an electromagnetic brake (25) is arranged at the opposite end; the signal output end of the encoder (24) is connected with a digital-analog converter through wires, the digital-analog converter is connected with the electromagnetic brake (25), the electric power driving device (11) of the seedling placing device (13) and the air cylinder (23) on the upper surface of the drive box (16) box body through wires respectively. The row spacing detection mechanism comprises elastic connecting rods (26) arranged on both sides of the first telescopic section of the elastic telescopic rod (20) close to the drive box (16), the elastic connecting rods (26) are two, and are symmetrically arranged on both sides of the seedling placing device (13) shell, one end of each elastic connecting rod (26) is connected with the outer surface of the drive box (16) box body on the corresponding side, and the other end is connected with the two side walls of the first telescopic section of the elastic telescopic rod (20); the two end connecting parts of the elastic connecting rod (26) are all provided with spherical universal joints (27), which can realize deflection in the up-down and left-right directions; the elastic connecting rod (26) is a two-section elastic piston structure, one section is sleeved with a pressure ring (28), and a plurality of pressure sensing switches (29) corresponding to the pressure ring (28) are arranged on the other section, and the pressure sensing switches (29) are connected with the controller arranged on the variable frequency motor (1) through wires and can individually receive the signal transmitted by the pressure sensing switches (29).

2. The intelligent transplanter compound machine with plant row spacing detection and adjustment operation state according to claim 1, characterized in that, The electric drive device (11) for driving the mud making device and the transplanting device is arranged above the middle beam of the frame (2), and the structure is that the motor is above and the gearbox is below; wherein the output end of the gearbox is connected with the front crank connecting rod mechanism and the rear crank connecting rod mechanism through a transmission chain respectively, so as to drive the mud making device and the transplanting device respectively; the front crank connecting rod mechanism is connected with the mud making harrow (12) in the mud making device through the front parallel rocker arm, and the rear crank connecting rod mechanism is connected with the seedling placing device (13) in the transplanting device through the rear parallel rocker arm; the storage battery (14) is arranged at the lower right position of the upper surface of the frame (2), and is connected with the walking power system and the electric drive device (11) to supply power.

3. The intelligent transplanting and combined machine with the row spacing detection and the adjustment operation state according to claim 2, characterized in that, The generator set (15) is arranged in front of the storage battery (14) at the upper right position of the upper surface of the frame (2), and is connected with the storage battery (14), the walking power system and the electric drive device (11) respectively.

4. The intelligent transplanter according to claim 1, wherein, After the controller is switched to the automatic control mode on the control handle, the signal transmitted by the pressure sensing switch (29) is received according to the longitudinal deflection of the transplanting machine, the two sets of independently operated variable frequency motors (1) are controlled to adjust the rotating speed, and the adjustment of the forward direction of the transplanting machine is realized.

5. The intelligent transplanter compound machine with row spacing detection and adjustment operation state according to claim 1, characterized in that, The movable hinge (30) is arranged on both sides of the rear end of the elastic telescopic rod (20), the width of the hinge (30) is greater than the width of the opening (19), the inner side of the hinge (30) is movably connected with the rear end of the elastic telescopic rod (20), and the outer side is connected on the anti-derailment track (31) arranged on the inner sides of both sides of the opening (19); the anti-derailment track (31) is fixed on the inner wall of the drive box (16) box body and is parallel to the opening (19), the hinge (30) of the rear end of the elastic telescopic rod (20) is respectively clamped in the anti-derailment track (31) and slides up and down along the anti-derailment track (31), the anti-derailment track (31) protrudes from the inner wall of the box body, and a space is reserved between the end face of the anti-derailment track (31) and the inner wall of the box body; meanwhile, the inner space of the anti-derailment track (31) is reserved in the horizontal direction and the vertical direction to accommodate the movement of the part clamped in the hinge (30).

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