A mobile intermittent seeding device for a pneumatic vibrating disc precision seeder and a control method thereof

Abstract

The application discloses a kind of air vibration disc type precision seeding machine movable intermittent seed adding device and control method, belong to the field of agricultural precision seeding.It includes seed adding mechanism, seed supply transmission mechanism, photoelectric sensor detection mechanism and main control unit.Seed adding mechanism mainly includes seed adding motor, screening device, seed bin and seed drop plate;Seed supply transmission mechanism is connected by screw rod motor and screw rod;Photoelectric sensor detection mechanism is installed at the both sides of seeding flow line entrance for detecting seedling tray, and the detected signal is sent to single-chip microcomputer, and the number of seedling tray is automatically added 1;Control system includes single-chip microcomputer, motor drive module and display part.Control system controls the rotation of each motor and photoelectric sensor, and sends the signal to single-chip microcomputer according to the signal detected by photoelectric sensor when seedling tray passes, calculates the number of seedling tray passing, and further infers the number of seed population in seed tray to determine the amount of seed adding, which provides favorable conditions for improving seed suction rate and seeding qualification rate.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural seeding technology, in particular to a kind of intermittent moving and seeding device of air vibration disc and control method. BACKGROUND

[0002] Seeding is an important link in the process of agricultural production, with the high-speed development of economic society, the continuous progress of agricultural science and technology, the implementation of precision agriculture, higher requirements are put forward for seeding quality.Seeding machine is the main means to realize mechanized precision seeding technology, and its performance directly affects the seeding quality and the growth condition and yield of crops.The present application is a kind of air suction vibration type precision seeding machine matched with the precision seeding machine for seedling raising, which makes the seed in "boiling" movement state through vibration, and the inside of suction seed disc is vacuum negative pressure in the process of seed suction, and the seed is adsorbed by air suction force, and the suction disc is moved to a certain position above the seedling raising disc (17) by six-axis mechanical hand, and a group of electromagnetic valves are controlled by industrial computer to realize positive and negative air pressure switching, and the seed is precisely seeded under the action of gravity.It can overcome many shortcomings of mechanical seeding device, and has the advantages of high operation speed, small seed damage rate and the like.The number of seeds in the vibration seed disc changes constantly during the seeding process of air suction vibration type precision seeding machine, in order to keep the population in a good "boiling" state under the action of vibration and reduce the occurrence of holes caused by the fact that the suction seed disc does not suck the seed, a precise quantitative seeding device is needed to keep the number of seeds in the seed disc within the required range in one seeding cycle, so that the population in the vibration seed disc of the seeding machine keeps the ideal "boiling" movement state.However, the single fixed seeding device is easy to cause the seed to accumulate in the seed disc, and thus affects the movement state of the seed in the seed disc during vibration, leading to the generation of holes after seed suction, and further affecting the precision of seeding. SUMMARY

[0003] In view of the deficiencies in the prior art, the present application provides an intermittent moving and seeding device for air vibration disc type precision seeding machine and control method, which can keep the seeds in the seed disc in a uniform and flat state in one seeding cycle, keep the seeds in the seed disc in an ideal "boiling" movement state, ensure the precision seeding requirements of air suction vibration type precision seeding machine, realize automatic quantitative seeding, solve the problem that the seeds are gathered in a block and the local population is too thick, and the population "boiling" movement is not ideal when a large amount of seeds are added at one time, and provide conditions for further realizing air suction vibration disc type field seedling precision seeding automation and improving the seeding qualification rate.

[0004] The present application realizes the above technical purposes through the following technical means.

[0005] A kind of air vibration disc type precision seeder mobile intermittent seeding device, including seeding mechanism, seed supply transmission mechanism and photoelectric sensor (15) detection mechanism;

[0006] The seeding mechanism includes seed bin (2), screen (3), seeding motor (14), baffle (4), seed plate (c), support (8) and seed plate motor (5);The output shaft of the screen (3) is connected with the output shaft coupling (13) of the seeding motor (14) by a chain wheel;The output shaft of the seed plate motor (5) is fixed with the seed plate (c) by the coupling (13), and there are two small sleeves below the baffle (4), and the seed plate (c) and the baffle (4) are connected by the sleeve;

[0007] The seed supply transmission mechanism includes lead screw (6), lead screw motor (12) and two sleeves protruding on the base;

[0008] The photoelectric sensor (16) detection mechanism is installed on the seeding line (16)

[0009] The seeding motor (14), lead screw motor (12) and photoelectric sensor (15) are controlled by the main control unit;

[0010] The screen (3) stores and transports seeds by gear-shaped groove (b), and the output shaft of the screen (3) is connected with the belt (1) by the coupling (13), and the other end of the belt (1) is connected with the output shaft coupling (13) of the seeding motor (14), which drives the rotation of the screen (3) by controlling the rotating speed of the motor;The baffle (4) is fixed with the seed inlet (a) at the lower end of the seed bin by two cover plates and bolts, and the gear at the top of the screen (3) is installed at the lower end of the seed inlet (a) of the two cover plates, and the soft brush (d) is arranged at the connecting port, and the soft brush (d) is adhered to the tangent position of the cover plate connecting port and the gear at the top of the screen (3) by universal adhesive;

[0011] The seed plate motor (5) is arranged at the connecting position of the baffle (4) and the seed plate (c), and the size of the opening between the two seed plates (c) is controlled by the rotation of the seed plate motor (5);

[0012] The lead screw motor (12) of the seed supply transmission mechanism is installed at the tail end of the lead screw (6), and the movement of the seeding mechanism is driven by adjusting the rotating speed of the lead screw motor (13), and the two sleeves protruding on the base (11) below the seeding motor (14) are connected with the lead screw (6);

[0013] The photoelectric sensor (15) is installed on both sides of the second section of the flow line, when the seedling tray (18) enters the flow line, the photoelectric sensor (15) detects the passing of the seedling tray, and sends the detected signal to the single-chip microcomputer control unit, the counter in the single-chip microcomputer counts the detected seedling trays (17), and the number of seedling trays (17) is automatically increased by 1, when the number of seedling trays (18) accumulates to the set number of seedling trays (17), the main control unit controls the movement of the seed adding motor (14), the lead screw motor (12) and the seed falling plate motor (5), drives the output shaft of the sifter (3) to rotate through the chain transmission, the sifter (3) is provided with gear grooves (b), and the seeds in the grooves fall onto the seed falling plate (c) and fall into the vibrating seed tray (10), the size of the opening is adjusted to facilitate the falling of the seeds, and the lead screw motor (12) is started to move the whole seed supply mechanism, the rotation speed of the seed adding motor (14) and the lead screw motor (12) is adjusted to control the seed adding amount to be just added in one cycle, and the number of seedling trays (17) detected by the single-chip microcomputer is automatically cleared after the seed adding is completed, and the next seed adding is waited.

[0014] The flow line is provided with three sections, the first section of the flow line mainly comprises a bottom soil laying device, a bottom soil sweeping device and a hole pressing device, the second section of the flow line comprises a photoelectric sensor, and the third section of the flow line mainly comprises a surface soil covering device and a water spraying device.

[0015] Based on the above-mentioned device of the application, the seed adding control algorithm is as follows:

[0016] The seed layer thickness C in the ideal state is obtained through gas-solid coupling calculation, the ideal corresponding relationship between the seed layer thickness and the seed population quality is obtained, and then the number of seeds in the seed tray in the ideal state is inferred, and the specific formula is:

[0017] C=N mD / (1000Aρ)

[0018] Wherein: the seed population quality is defined as Nm / 1000, ρ is the seed density (kg / m 3 ), m is the mass of one thousand seeds (kg), D is the seed population density, D=1.67; A is the bottom area of the vibrating seed tray (10) (m 2 ), and N is the number of seeds;

[0019] According to the ideal corresponding relationship between the seed layer thickness and the seed population quality in the ideal state, combined with the number of sown trays g detected by the photoelectric sensor (15) on the seeding flow line (16), assuming that the number of holes in the seedling tray (17) is y, the number of remaining seeds N1 in the vibrating seed tray (10) is calculated, and the amount of seed adding is determined, and the specific formula is:

[0020] N-N1=gy

[0021] Through experimental calibration, the seeds in a gear groove (b) are weighed and recorded as M (kg), and the number of seeds in each gear groove (b) is combined, and the number of gear grooves (b) is 8; the specific formula of the required seed adding amount and the number of gear groove (b) rotation n is calculated as:

[0022] n=(N-N1)m / (8000M)

[0023] The rotating speed of the seed adding motor (15) is set as V (rad / s), and the seed adding time t (s) is calculated, and the specific formula is:

[0024] t=n*2π / V

[0025] Assuming that the motion speed V1 (m / s) of the seed adding mechanism, the bottom length of the vibrating seed disc is X (m), according to the seed adding time t (s), the length of the seed supply transmission mechanism is set as X, the time for the seed supply transmission mechanism to run from the origin to the seed adding end is a period, the lead screw motor (12) stops rotating, and after the seed adding is completed, the lead screw motor (12) reverses, and the seed supply transmission mechanism returns to the origin, and the specific formula is:

[0026] V1=8000MVX / [2π(N-N1)m]

[0027] According to the signal of the seedling tray (17) detected by the photoelectric sensor (15) on the seeding line, the single-chip microcomputer is sent, the internal counter of the single-chip microcomputer is automatically added by 1, when the preset value is reached, the seed adding motor and the lead screw motor (12) are started, the rotating speed of the seed adding motor (14) is adjusted, the seed adding time is controlled to be exactly the time for the seed supply transmission mechanism to run from the origin to the seed adding end, that is, a period, after the seed adding is completed, the number of seedling trays (17) accumulated by the internal counter of the single-chip microcomputer is cleared, and the next seed adding period is waited;

[0028] Through gas-solid coupling calculation, the seed layer thickness C in the ideal state is obtained, the ideal corresponding relationship between the seed layer thickness and the seed population quality is obtained, the number of seeds in the vibrating seed disc (10) in the ideal state is obtained, the number of remaining seeds in the vibrating seed disc (10) is calculated combined with the number of sown trays detected by the photoelectric sensor (15) on the seeding line, the amount of seed adding is determined, the seeds in the gear groove (b) are weighed through experimental calibration, the number of rotations of the sifter (3) is determined, the seed adding time is determined according to the rotating speed of the seed adding motor (14), and the motion speed of the seed adding mechanism and the rotating speed of the lead screw motor are calculated according to the length of the seed supply transmission mechanism.

[0029] The beneficial effects of the present application are:

[0030] 1. The traditional manual seed adding operation has high labor intensity, and the automatic seed adding operation mode can improve the operation efficiency and liberate the labor.

[0031] 2. The use of mobile intermittent seeding device to carry out seeding, which liberates the uneven vibration caused by the local seed layer thickness over-thickness of single fixed seeding device, and realizes the uniform and flat state of the seed tray.

[0032] 3. The number of seedling trays (17) is detected by photoelectric sensor to determine the amount of seeding, the speed of lead screw motor is adjusted to control the seeding in a period, and the seeding mechanism is just operated to the original point, which realizes automatic quantitative seeding and meets the requirement of keeping the seed layer in the precision seeder within a precise range of seed suction. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the present application;

[0034] Figure 2 It is a structural sectional view of the seeding mechanism;

[0035] Figure 3 It is a photoelectric sensor detection device;

[0036] Figure 4 It is a schematic diagram of the sifter structure;

[0037] Figure 5 It is a working principle diagram.

[0038] Figure 6 It is a working process flow chart.

[0039] The reference signs are as follows:

[0040] 1-belt; 2-seed bin; 3-sifter; 4-baffle; 5-seed falling plate motor; 6-lead screw; 7-bottom plate; 8-bracket; 9-seed tray base; 10-seed tray; 11-base; 12-lead screw motor; 13-coupling; 14-seeding motor; 15-photoelectric sensor; 16-seeding line; 17-seedling tray; a-seed inlet; b-gear groove; c-seed falling plate; d-soft brush; DETAILED DESCRIPTION

[0041] The present application will be further described below in conjunction with the drawings.

[0042] As shown in the drawings, the present application includes a seeding mechanism, a seed supply transmission mechanism, and a photoelectric sensor detection mechanism. Figure 1

[0043] ​The coupling 13 connected to the output shaft of the adding machine makes the transmission belt 1 drive the coupling 13 of the output shaft of the sifter to rotate, thereby driving the sifter 3 to rotate; the seeds in the seed bin 2 fall into the gear groove b of the sifter 3; in order to prevent the seeds outside the groove b from rubbing against the tip of the seed cover when the sifter 3 rotates and causing damage to the seeds, a row of soft brushes d are adhered to the interface, thereby protecting the seeds;

[0044] As shown in Figure 4 , by controlling the rotation of the sifter 3, the seeds in each groove b can fall onto the seed falling plate c; the upper end of the seed falling baffle 4 is connected to the seed falling plate motor 5; by controlling the rotation of the seed falling plate motor 5, the angle of the seed falling plate c is controlled, thereby preventing the seeds from gathering at the seed falling port and causing seed jamming; the seed falling plate c is connected to the baffle 4 above through two small sleeves;

[0045] As shown in Figure 1 , the two baffles 4 are also tightly attached to the seed inlet a through bolts; the side of the seed inlet a of the seed bin 2 is also fixed to the support 8 through bolts; the lower end of the support 8 is connected to the bottom plate; in addition, the bottom plate is also connected to the base 11 of the adding machine 14; the adding machine 14 is placed on the upper end of the base 11;

[0046] The output shaft of the lead screw motor 12 is tightly connected to the lead screw 6 to control the rotation of the lead screw 6; the lead screw 6 is connected to the lead screw sleeve protruding from the base 11; when adding seeds is needed, the lead screw 6 makes the lead screw sleeve move back and forth, thereby realizing mobile seed adding; the seed adding origin is recorded, which is the position of the lead screw sleeve when the seed falling port is aligned with one end of the side of the seed tray 10 below; the seed adding end is the position of the opposite side.

[0047] The photoelectric sensor 15 is installed on both sides of the support of the seeding line 16 to detect the number of seedling trays 17; according to the relationship between the number of seedling trays 17 and the seed layer thickness, the amount of seed adding is determined; the system is controlled by the main control unit stm32 single-chip microcomputer; the wires of each motor and sensor are connected to the serial port of the single-chip microcomputer; the controller is installed on the base 11 below the adding machine 14;

[0048] The weight of the seeds in the seed tray 10 under the ideal state of normal vibration and the weight of the seeds under the state of needing to add seeds are set through the display; according to the number of holes of the seedling tray 17 and the weight of a single seed, the cumulative number of seedling trays is calculated; when the internal counter of the single-chip microcomputer reaches the set number of seedling trays 17, a signal is sent to the adding machine 14 and the lead screw motor 12 to add seeds to the seed tray 10; when the weight of the seeds in the seed tray 10 reaches the preset value, the seed adding is stopped; after the seed adding is completed, the number of seedling trays 17 detected by the single-chip microcomputer is automatically cleared, and the next seed adding is waited for; the automatic quantitative seed adding can be realized;

[0049] The combination of theFigure 3 The photoelectric sensor 15 detects the passing of the pipeline and sends the detected signal to the single-chip microcomputer control unit. The single-chip microcomputer counts the detected seedling trays, and the number of seedling trays 17 is automatically incremented by 1. When the number of seedling trays 17 reaches a certain cumulative value, the photoelectric sensor 15 detection circuit sends a signal to the main control unit stm32 single-chip microcomputer. The sowing motor drives the sifter 3 to move at a set speed, calculates the weight of the seeds in a groove b, controls the number of revolutions of the sifter 3, and realizes quantitative sowing. The specific mathematical formula is:

[0050] N-N1=gy

[0051] n=(N-N1)m / (8000M)

[0052] Where g is the number of sowed trays detected by the photoelectric sensor 15, y is the number of holes in the seedling tray 17, N1 is the number of remaining seeds in the vibrating seed tray 10, M (kg) is the weight of the seeds in a gear groove b, m is the mass of a thousand seeds (kg), and n is the number of revolutions of the gear groove b.

[0053] The rotational speed of the sowing motor 14 is set to V (rad / s), and the sowing time t (s) is calculated. The specific formula is:

[0054] t=n*2π / V

[0055] Assuming the movement speed V1 (m / s) of the sowing mechanism, the length of the bottom surface of the vibrating seed tray 10 is X (m), and the length of the seed supply transmission mechanism is set to X according to the sowing time t (s). The time for the seed supply transmission mechanism to run from the origin to the end of sowing is one period, and the lead screw motor 12 stops rotating. After sowing is completed, the lead screw motor 12 reverses, and the seed supply transmission mechanism returns to the origin. The specific formula is:

[0056] V1=8000MVX / [2π(N-N1)m]

[0057] The working process is as shown in Figure 6 .

[0058] Step one: When the initial state, add a certain amount of seeds to the seed bin 2, the seeds fall into the seed inlet a, the sowing motor 14 drives the sifting shaft to move, and the soft brush d can prevent the seeds from being damaged by friction with the inner wall of the baffle 4 below the seed inlet during rotation. When the seeds fall, the seed falling plate motor 5 is set to control the angle of the seed falling plate c to make the seeds fall smoothly.

[0059] Step two: when the mobile seeding mechanism receives the signal, the lead screw motor 12 starts to drive the lead screw 6 to rotate, and the control seeding mechanism moves back and forth on the lead screw 6, from the initial state (origin) to the end of the seeding, which is a cycle. The lead screw motor 12 stops rotating, and the lead screw motor 12 reverses after the seeding is completed. Adjust the speed of the lead screw motor 12 and the seeding motor 14, and move the seed supply device back to the origin;

[0060] Step three: when the 16 photoelectric sensor 15 detects the signal sent by the seedling tray 17 to the single-chip microcomputer reaches the preset cumulative value of the counter, the main control unit stm32 single-chip microcomputer sends a signal to make the seeding motor 14 and the lead screw motor 12 run at the same time, and control the increase of the seeds in a cycle to be the number of seeds sown by the seedling tray 17 on the seeding line 16;

[0061] Step four: repeat the working process of step one to step three, which can realize the mobile automatic quantitative seeding.

[0062] The series of detailed descriptions listed above are only specific descriptions of the feasible implementation of the present application, and are not intended to limit the protection scope of the present application. Any equivalent means or changes that do not deviate from the technology of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile intermittent seed feeding device for a precision air-seed-metering planter, characterized in that, The seed adding mechanism, the seed supply transmission mechanism and the detection mechanism are included. The seed adding mechanism includes a seed bin, a sifter, a seed adding motor, a baffle, a seed dropping plate, a support and a seed dropping plate motor; the output shaft of the sifter is connected to the output shaft of the seed adding motor through a chain wheel and a shaft coupling; the output shaft of the seed dropping plate motor is fixed to the seed dropping plate through a shaft coupling; two small sleeves are arranged below the baffle, and the seed dropping plate and the baffle are connected through the sleeves; the lower end of the seed bin is connected to the sifter, the outside of the sifter is the baffle, the seed dropping plate is below the baffle, the size of the opening of the seed dropping plate is adjusted by the seed dropping plate motor, the seed adding motor drives the seed adding mechanism to vibrate, the seed adding mechanism is connected to the bottom plate through the support, and the seed adding motor is connected to the support through a belt. The seed supply transmission mechanism includes a lead screw, a lead screw motor and two sleeves protruding from the base; the base is arranged on the bottom plate, the seed adding motor is arranged on the base, the lead screw motor drives the lead screw to move linearly, and then drives the base and the seed adding mechanism to move horizontally. The detection mechanism is installed on the seeding flow line and is used for detecting the seedling tray; the seed adding motor, the lead screw motor, the seed dropping plate motor and the detection mechanism are controlled by the main control unit. The main control unit is provided with a seed adding control algorithm: the seed layer thickness C in the ideal state is obtained through gas-solid coupling calculation, the ideal corresponding relationship between the seed layer thickness and the seed population quality is obtained, and then the number of seeds in the seed tray in the ideal state is inferred, and the specific formula is: C=N mD / (1000Aρ) where: p is the seed density (kg / m 3 ), m is the mass of a thousand seeds (kg), D is the population density; A is the bottom area of the vibrating seed tray (m 2 ), N is the number of seeds; the population mass is defined as Nm / 1000; Combined with the number of sown trays g detected by the photoelectric sensor on the seeding flow line, the number of remaining seeds in the vibrating seed tray N1 is calculated, the amount of seed to be added is determined, and the specific formula is: N-N1=gy Through experimental calibration, the weight of the seeds in a gear groove is recorded as M (kg), combined with the number of seeds in each gear groove, and the number of gear grooves is s; the specific formula for calculating the amount of seed to be added and the number of rotations n of the gear groove is: n=(N-N1)m / (s*1000*M) The rotational speed of the seed adding motor is set as V (rad / s), the seed adding time t (s) is calculated, and the specific formula is: t=n*2π / V Assuming that the movement speed of the lead screw mechanism is V1 (m / s) and the bottom surface length of the seed tray is X, the length of the seed supply transmission mechanism is X, according to the seed adding time t, the movement of the seed supply transmission mechanism from the origin to the end of the seed adding is defined as a period t, and the movement speed formula of the lead screw mechanism is: V1=X / t According to the movement speed of the lead screw mechanism, the rotational speed of the lead screw motor is calculated, and one seed adding is completed, when the seed adding is completed, the lead screw motor stops rotating and reverses, and the seed supply transmission mechanism returns to the original position.

2. The mobile intermittent seed feeding device of the air vibration disc type precision seeder according to claim 1, characterized in that, The surface of the sifter is a gear-shaped groove structure, which stores and conveys seeds through the gear-shaped groove; the output shaft of the sifter is connected to the belt through a shaft coupling; the other end of the belt is connected to the output shaft coupling of the seed adding motor; the rotational speed of the sifter is driven by controlling the rotational speed of the motor.

3. The mobile intermittent seed feeding device of the air vibration disc type precision seeder according to claim 1, characterized in that, The two cover plates of the baffle are fixed to the seed inlet at the lower end of the seed bin through bolts; the gears at the top of the sifter are installed at the lower end of the seed inlet of the two cover plates.

4. The mobile intermittent seed feeding device of the air vibration disc type precision seeder according to claim 3, characterized in that, The soft brush is adhered to the gear tangent position of the cover plate connecting port and the top of the screen by universal adhesive.

5. The mobile intermittent seed feeding device for a precision seed planter with air shaker plates of claim 1, wherein, The screw motor of the seed supply transmission mechanism is installed at the tail end of the screw rod, and the movement of the seed adding mechanism is driven by adjusting the rotating speed of the screw motor.

6. The mobile intermittent seed feeding device for a precision seed planter with air shaker plates of claim 1, wherein, The detection mechanism adopts photoelectric sensors which are installed on both sides of the entrance of the seeding flow line. When the seedling tray enters the flow line, the photoelectric sensor detects the passing of the seedling tray and sends the detected signal to the main control unit. The counter in the main control unit counts the detected seedling trays, and the number of seedling trays is automatically increased by one. When the number of seedling trays accumulates to the set number of seedling trays, the main control unit controls the movement of the seed adding motor, the screw motor and the seed falling plate motor. The chain transmission drives the output shaft of the screen to rotate. The seeds in the gear groove of the screen fall onto the seed falling plate and then into the seed tray. Adjusting the size of the opening of the seed falling plate facilitates the falling of the seeds. At the same time, the screw motor is started to move the whole seed supply mechanism. The whole process is controlled by adjusting the rotating speed of the seed adding motor and the screw motor to control the seed adding amount to be just added in one cycle. After the seed adding is completed, the main control unit clears the detected number of seedling trays and waits for the next seed adding.

7. The mobile intermittent seeding device of a gas vibration disc type precision seeder according to claim 1 or 6, characterized in that, The flow line is divided into three sections. The first section mainly includes a bottom soil laying device, a bottom soil sweeping device and a hole pressing device. The second section includes a photoelectric sensor. The third section mainly includes a surface soil covering device and a watering device. The movable intermittent seed adding device is located on the side of the second section.

8. A method for controlling the intermittent feeding of seeds in a mobile precision seed feeding device according to any one of claims 1 to 7, characterized in that, According to the signal of the seedling tray detected by the photoelectric sensor on the seeding flow line, the single-chip microcomputer is sent. The internal counter of the single-chip microcomputer automatically increases by one. When the preset value is reached, the seed adding motor and the screw motor are started. The rotating speed of the seed adding motor is adjusted to control the seed adding time to be just the time for the seed supply transmission mechanism to run from the origin to the end of seed adding, that is, one cycle. After the seed adding is completed, the number of seedling trays accumulated by the internal counter of the single-chip microcomputer is cleared, and the next seed adding cycle is waited.

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