A uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas

Abstract

The invention relates to the technical field of agricultural sowing machinery, and discloses a uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas. The device comprises a static platform, a dynamic platform, a mounting frame, a centrifugal seeding device, a pitch leveling driving mechanism, a roll leveling driving mechanism, a dual-axis angle sensor and a controller; the centrifugal seeding device and the dual-axis angle sensor are fixed on the mounting frame, the mounting frame is rotatably connected to the dynamic platform, and the dynamic platform is rotatably connected to the static platform; when the centrifugal seeding device tilts, the controller can automatically control the pitch leveling driving mechanism to drive the dynamic platform to rotate relative to the static platform, and the roll leveling driving mechanism to drive the mounting frame to rotate relative to the dynamic platform, so as to keep the central axis of the centrifugal seeding device vertically arranged through real-time adjustment, thereby ensuring uniform seeding during operation in hilly and mountainous areas.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural sowing machinery, in particular to a uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas. Background Art

[0002] The seed meter is one of the core components of the seeder and is also the technical key to the seeding of the seeder. Existing field Chinese medicinal material seeders usually use pneumatic pressure hole type seed meters, which use the positive and negative air pressures generated by the airflow to achieve negative pressure seed suction and positive pressure seed discharge. It has the advantages of low requirements on seed size, strong adaptability, and high sowing accuracy at medium and low speeds; but it has high requirements on air pressure and high energy consumption at high speeds, and the missed seeding rate is high when the air pressure is unstable. At the same time, since the fan equipped with the pneumatic seed meter is heavy, the overall seeder is heavy, resulting in excessive compaction of the soil, affecting the emergence rate of Chinese medicinal materials, and affecting the root and stem growth and yield of Chinese medicinal materials. It is not suitable for the light and energy-saving design requirements that need to be met for understory operations in hilly and mountainous areas.

[0003] In the selection of the seeding device structure of the automatic seeder, the centrifugal seeding device is a relatively light and energy-saving seeding device. The basic principle of the centrifugal seeding device is to generate centrifugal force through the continuous rotation of its inner cone, so that the seed population in the inner cone rises to the seeding layer under the action of centrifugal force, and the seeds are then discharged from several seeding tubes evenly distributed on the outer circumference of the seeding layer. In order to ensure the uniformity of the seeding of the centrifugal seeding device, the forces (centrifugal force, gravity, collision force with other seeds, etc.) to which the seeds are subjected when entering each seeding tube should be basically consistent, which requires the centrifugal seeding device to always maintain its vertical posture when used; however, when used for planting in hilly and mountainous areas, most of the machines are operated in a sloped environment, and the uneven surface and vibration of the machine during operation affect the posture of the centrifugal seeding device, making it difficult to ensure the uniformity of its seeding. In addition, when the existing centrifugal seeding device is in operation, the number of seeds in its inner cone will gradually decrease as the seeding process progresses. As the seeding process proceeds, the seeding accuracy is difficult to control, and it is difficult to achieve precise seeding. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas, comprising a static platform, a dynamic platform, a mounting frame, a centrifugal seeding device, a pitch leveling drive mechanism, a roll leveling drive mechanism, a dual-axis angle sensor and a controller;

[0007] The centrifugal seed metering device is fixedly mounted on a mounting frame, the bottom end of the mounting frame is rotatably connected to the moving platform, one end of the moving platform is rotatably connected to one end of the static platform, and the rotation axis of the mounting frame relative to the moving platform, the rotation axis of the moving platform relative to the static platform, and the central axis of the centrifugal seed metering device are perpendicular to each other;

[0008] The pitch adjustment drive mechanism is used to drive the moving platform to rotate relative to the static platform, and the roll adjustment drive mechanism is used to drive the mounting frame to rotate relative to the moving platform. The dual-axis angle sensor is fixedly installed on the mounting frame, and the pitch adjustment drive mechanism, roll adjustment drive mechanism and dual-axis angle sensor are all electrically connected to the controller.

[0009] Specifically, the pitch leveling drive mechanism includes a pitch leveling motor, a pitch leveling transmission shaft and two crank slider mechanisms, the crank slider mechanism includes a pitch leveling crank and a pitch leveling block, the two crank slider mechanisms are symmetrically arranged on both sides of the rotation axis of the mounting frame rotating relative to the moving platform; the pitch leveling transmission shaft is rotatably connected to the moving platform, the pitch leveling transmission shaft is parallel to the rotation axis of the moving platform relative to the static platform, the pitch leveling motor is used to drive the pitch leveling transmission shaft to rotate, the controller is electrically connected to the pitch leveling motor, one end of the pitch leveling crank is fixedly sleeved on the pitch leveling transmission shaft, the other end of the pitch leveling crank is rotatably connected to the pitch leveling block, the pitch leveling block is slidably connected to the static platform, and the sliding direction of the pitch leveling block on the static platform is perpendicular to the rotation axis of the moving platform relative to the static platform.

[0010] Specifically, the roll leveling drive mechanism includes a roll leveling motor, a roll leveling transmission shaft and two gear sets; the roll leveling transmission shaft is rotatably connected to the moving platform, the roll leveling transmission shaft is parallel to the rotation axis of the mounting frame rotating relative to the moving platform, the roll leveling motor is used to drive the roll leveling transmission shaft to rotate, the controller is electrically connected to the roll leveling motor, the gear set includes gear A, gear B and gear C meshing in sequence, the gear A is fixedly mounted on the roll leveling transmission shaft, the gear B is rotatably connected to the moving platform, the gear C is fixedly connected to the mounting frame, and the two gear sets are symmetrically arranged on both sides of the rotation axis of the moving platform rotating relative to the static platform.

[0011] Furthermore, it also includes a locking mechanism, which includes a locking push rod, a locking slider, and a locking rocker rod. The middle part of the locking rocker rod is rotatably connected to the moving platform, both ends of the locking rocker rod are rotatably connected to a locking link, the other ends of the two locking links are rotatably connected to a locking slide rod, the locking slide rod is slidably connected to the moving platform, two locking holes are fixedly provided on the static platform, one end of the two locking slide rods away from the locking link rod is respectively adapted to the two locking holes, the locking slide rod is fixedly connected to one of the locking slide rods, the locking push rod is used to push the locking slide rod to slide, and the locking push rod is electrically connected to the controller.

[0012] Furthermore, it also includes machinery and tools, and lifting rods are fixedly arranged at the four corners of the static platform, and the lifting rods are slidably connected to the machinery and tools.

[0013] Furthermore, the centrifugal seed metering device includes a seed metering mechanism and a seed filling mechanism; the seed metering mechanism includes a cover plate, a seed metering ring, an inner cone and an outer cone, the outer cone is fixedly mounted on the mounting frame, the cover plate, the seed metering ring and the outer cone are coaxially arranged from top to bottom and are fixedly connected in sequence, the large diameter end of the outer cone is open and arranged upward, the inner cone is coaxially and rotatably arranged in the outer cone, the large diameter end of the inner cone is open and arranged upward, the large diameter end of the inner cone is matched with the seed metering ring, a plurality of seed outlet holes are evenly distributed on the circumference of the seed metering ring, and the cover plate is fixed A plurality of seed outlet tubes are arranged, one end of each of the seed outlet tubes is connected with each of the seed outlet holes, and a pressure film sensor is arranged on the inner wall of the seed discharge ring; the seed filling mechanism comprises a seed box, a seed filling tube, and a seed filling amount adjusting device, the seed box is arranged above the cover plate, the top end of the seed filling tube is connected with the bottom end of the seed box, a seed filling hole is opened in the center of the cover plate, the bottom end of the seed filling tube is connected with the seed filling hole, and the seed filling amount adjusting device is used to adjust the size of the flow channel in the seed filling tube; the pressure film sensor and the seed filling amount adjusting device are both electrically connected with the controller.

[0014] Furthermore, the center line of the seed outlet tube is a quasi-parallel curve, and the design curve of the center line of the seed outlet tube is designed to simulate the natural movement trajectory of the seeds when they fly out of the seed outlet hole only under the action of gravity.

[0015] Specifically, the seed filling amount adjustment device includes a seed filling motor, a seed filling screw, a seed filling slider, and a seed filling baffle. The seed filling screw is rotatably connected to the outer wall of the seed box, the seed filling slider is slidably connected to the outer wall of the seed box, the seed filling slider is threadedly connected to the seed filling screw, one end of the seed filling baffle passes through the side wall of the seed filling tube and is slidably connected to the seed filling tube, the other end of the seed filling baffle is fixedly connected to the seed filling slider, the seed filling motor is used to drive the seed filling screw to rotate, and the seed filling motor is electrically connected to the controller.

[0016] Furthermore, the seed-discharging mechanism also includes a frustum, which is coaxially arranged in the inner cone, and the large-diameter end of the frustum is fixedly connected to the small-diameter end of the inner cone.

[0017] Furthermore, the seed-drilling mechanism also includes a seed-drilling motor, which is used to drive the inner cone to rotate, and the seed-drilling motor is electrically connected to the controller.

[0018] The beneficial effects of the present invention are:

[0019] The uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas includes a static platform, a dynamic platform, a mounting frame, a centrifugal seeding device, a pitch leveling drive mechanism, a roll leveling drive mechanism, a dual-axis angle sensor and a controller. The centrifugal seeding device is fixedly mounted on the mounting frame, the bottom end of the mounting frame is rotatably connected to the dynamic platform, one end of the dynamic platform is rotatably connected to one end of the static platform, and the rotation axis of the mounting frame relative to the dynamic platform, the rotation axis of the dynamic platform relative to the static platform, and the central axis of the centrifugal seeding device are mutually perpendicular. When applied to the seeding operation in hilly and mountainous areas, the dual-axis angle sensor can monitor the tilt angle of the centrifugal seeding device in the pitch and roll directions in real time, and transmit the data to the controller, which controls the pitch leveling drive mechanism and the roll leveling drive mechanism in real time, and adjusts the attitude of the mounting frame so that the seeding layer of the centrifugal seeding device is always in a horizontal state, which can effectively ensure the seeding uniformity of the centrifugal seeding device.

[0020] The uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas is provided with a locking mechanism, which can realize the automatic locking function when the machine is transported and the pitch angle does not need to be adjusted, so as to reduce the static load of the pitch leveling motor and improve the stability and automation of the machine; the static platform is connected to the machine through a lifting rod, which can realize the lifting function of the static platform to cope with certain working environments blocked by trees, shade sheds, etc., and improve the environmental adaptability.

[0021] In the uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas, the centrifugal seeding device includes a seeding mechanism, a seed filling mechanism and a controller. The seed filling mechanism includes a seed box and a seed filling tube. The seeding mechanism includes a cover plate, a seeding ring, an inner cone and an outer cone. The cover plate, the seeding ring and the outer cone are fixedly connected in sequence, and the inner cone is rotatably arranged in the outer cone; a seed filling hole is opened in the center of the cover plate, one end of the seed filling tube is connected to the bottom end of the seed box, and the other end of the seed filling tube is connected to the seed filling hole; a plurality of seed outlet holes are evenly distributed on the circumference of the seeding ring, and a plurality of seed outlet tubes are fixedly arranged on the cover plate, and one end of the seed outlet tube is connected to the seed outlet hole. The seeds in the seed box enter the inner cone through the seed filling tube. As the inner cone continues to operate, the seed population in the inner cone rises along the inner wall of the inner cone to the position in the seeding ring under the action of centrifugal force, and then is discharged outward through each seed outlet hole and seed outlet tube, completing the centrifugal seeding process. On this basis, a pressure film sensor is arranged on the inner wall of the seed ring, which can monitor in real time the collision force value generated by the collision between the seed population and the inner wall of the seed ring during the operation of the centrifugal seed metering device; a seed filling amount adjusting device is also arranged in the seed filling mechanism, and the seed filling amount adjusting device can adjust the size of the flow channel in the seed filling tube; the pressure film sensor and the seed filling amount adjusting device are both electrically connected to the controller, which can realize dynamic regulation of the seed filling amount under different seeding speeds, thereby improving the seeding uniformity, stability and ability of the centrifugal seed metering device to adapt to a variety of crops and complex environments.

[0022] In the centrifugal seed metering device, the center line of the seed tube is a quasi-parabolic curve, and its design curve simulates the natural movement trajectory of the seeds when they fly out of the seed hole under the action of gravity alone. It can reduce the collision of seeds in the seed tube, reduce the damage to the seed flow, and improve the orderliness and implantation uniformity of the seeds; at the same time, it avoids the seeds from being retained in the seed tube, especially at the seed hole position at the end of the seed tube, so as to avoid unnecessary mutual collisions between the seeds at this position and affect the monitoring force value of the pressure film sensor.

[0023] In general, the uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas has a light and simple overall structure and can ensure uniform seeding and high seeding accuracy during seeding operations in hilly and mountainous areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of a uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas according to the present invention;

[0025] Figure 2 It is a structural schematic diagram of the pitch leveling drive mechanism in the present invention;

[0026] Figure 3 It is a structural schematic diagram of the roll leveling drive mechanism in the present invention;

[0027] Figure 4 It is a structural schematic diagram of the locking mechanism in the present invention;

[0028] Figure 5 It is a structural schematic diagram of the centrifugal seed metering device in the present invention;

[0029] Figure 6 It is a schematic diagram of the internal structure of the centrifugal seed metering device in the present invention;

[0030] Figure 7 for Figure 5 An exploded schematic diagram of a seed-metering mechanism in a centrifugal seed-metering device is shown;

[0031] Figure 8 for Figure 5 The structural schematic diagram of the seed filling mechanism in the centrifugal seed metering device shown;

[0032] Fig. 9 It is a schematic diagram of the position of the space coordinate system in the horizontal plane established when the centrifugal seed metering device of the present invention designs the seed tube curve;

[0033] Fig.10 It is a schematic diagram of analyzing the horizontal movement trajectory of seeds when the centrifugal seed metering device of the present invention designs a seed tube curve;

[0034] Fig.11 It is a schematic diagram of the position of the space coordinate system in the vertical plane established when the centrifugal seed metering device in the present invention designs the seed tube curve;

[0035] Fig.12 A schematic diagram of the analysis of the vertical movement trajectory of seeds when the centrifugal seed metering device of the present invention is designed to produce a seed tube curve;

[0036] In the figure, 1-machine, 2-centrifugal seeding device, 10-seeding mechanism, 11-cover plate, 12-seeding ring, 13-inner cone, 14-outer cone, 15-seed hole, 16-seed tube, 17-seeding motor, 18-cone, 20-seed filling mechanism, 21-seed box, 22-seed filling tube, 23-seed filling motor, 24-seed filling screw, 25-seed filling slider, 26-seed filling baffle, 30-static platform, 31-dynamic platform, 32-mounting frame, 33-double shaft Angle sensor, 34-lifting rod, 40-pitch leveling drive mechanism, 41-pitch leveling motor, 42-pitch leveling transmission shaft, 43 pitch leveling crank, 44-pitch leveling block, 50-roll leveling drive mechanism, 51-roll leveling motor, 52-roll leveling transmission shaft, 53-gear A, 54-gear B, 55-gear C, 61-locking rocker arm, 62-locking connecting rod, 63-locking slide bar, 64-locking slide bar, 65-locking push rod. DETAILED DESCRIPTION

[0037] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following.

[0038] like Figure 1 As shown, a uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas includes a static platform 30, a dynamic platform 31, a mounting frame 32, a centrifugal seeding device 2, a pitch leveling drive mechanism 40, a roll leveling drive mechanism 50, a dual-axis angle sensor 33 and a controller. The centrifugal seeding device 2 is fixedly mounted on the mounting frame 32, the bottom end of the mounting frame 32 is rotatably connected to the dynamic platform 31, one end of the dynamic platform 31 is rotatably connected to one end of the static platform 30, and the rotation axis of the mounting frame 32 relative to the dynamic platform 31, the rotation axis of the dynamic platform 31 relative to the static platform 30, and the central axis of the centrifugal seeding device 2 are perpendicular to each other. The pitch leveling drive mechanism 40 is used to drive the dynamic platform 31 to rotate relative to the static platform 30, and the roll leveling drive mechanism 50 is used to drive the mounting frame 32 to rotate relative to the dynamic platform 31. The dual-axis angle sensor 33 is fixedly mounted on the mounting frame 32 , and the pitch leveling drive mechanism 40 , the roll leveling drive mechanism 50 and the dual-axis angle sensor 33 are all electrically connected to the controller.

[0039] The uniform seeding device is installed on the machine 1 and applied to seeding operations in hilly and mountainous areas. When the machine 1 is driving in a slope environment, an uneven ground environment, or when vibration occurs during driving, the dual-axis angle sensor 33 can monitor the posture of the mounting frame 32 in real time and transmit the posture data to the controller, which controls the pitch leveling drive mechanism 40 and the roll leveling drive mechanism 50 in real time to adjust the posture of the mounting frame 32. Since the rotation axis of the mounting frame 32 relative to the moving platform 31, the rotation axis of the moving platform 31 relative to the static platform 30, and the central axis of the centrifugal seed metering device 2 are perpendicular to each other, when the centrifugal seed metering device 2 tends to tilt due to terrain conditions or vibration and other factors, the central axis of the centrifugal seed metering device 2 can always be kept in a vertical state under the real-time adjustment of the pitch leveling drive mechanism 40 and the roll leveling drive mechanism 50, so that the seeding layer of the centrifugal seed metering device 2 is in a horizontal state when the centrifugal seed metering device 2 is working, and the seeds inside the centrifugal seed metering device 2 are subjected to basically the same force when entering each seed outlet tube driven by centrifugal force, which can effectively ensure the seeding uniformity of the centrifugal seed metering device 2.

[0040] In specific implementation:

[0041] like Figure 2As shown, the pitch leveling drive mechanism 30 includes a pitch leveling motor 41, a pitch leveling transmission shaft 42 and two crank slider mechanisms. The pitch leveling transmission shaft 42 is rotatably connected to the moving platform 31, and the pitch leveling transmission shaft 42 is parallel to the rotation axis of the moving platform 31 relative to the static platform 30. The pitch leveling motor 41 is used to drive the pitch leveling transmission shaft 42 to rotate, and the controller is electrically connected to the pitch leveling motor 41. The above-mentioned crank slider mechanism includes a pitch leveling crank 43 and a pitch leveling slider 44. One end of the pitch leveling crank 43 is fixedly sleeved on the pitch leveling transmission shaft 42, and the other end of the pitch leveling crank 43 is rotatably connected to the pitch leveling slider 44. The pitch leveling slider 44 is slidably connected to the static platform 30, and the sliding direction of the pitch leveling slider 44 on the static platform 30 is perpendicular to the rotation axis of the moving platform 31 relative to the static platform 30. When the dual-axis angle sensor 33 detects that the mounting frame 32 has an angle deflection in the pitch direction, the controller controls the pitch leveling motor 41 to start, driving the pitch leveling transmission shaft 42 to rotate, thereby causing the pitch leveling crank 43 sleeved on the pitch leveling transmission shaft 42 to swing, and driving the pitch leveling block 44 to slide on the static platform 30. In this process, the pitch leveling crank 43, the static platform 30 and the dynamic platform 31 form a triangular support structure. As the pitch leveling crank 43 swings, the angle between the static platform 30 and the dynamic platform 31 can be adjusted, thereby achieving the adjustment of the pitch angle of the mounting frame 32, i.e., the centrifugal seed metering device 2; at the same time, since the triangular support structure is formed in this process, a relatively stable support can be obtained, reducing the torque load of the pitch leveling motor 41, which is conducive to improving the stability of the mechanism and ensuring accuracy in real-time adjustment. In the specific design, the axis of the rotating shaft connecting the moving platform 31 and the static platform 30 is located directly below the overall center of gravity of the moving platform 31 (including all components such as the pitch leveling motor 41, the roll leveling drive mechanism 60, the mounting frame 32, the centrifugal seed metering device 2, etc. installed on the moving platform 31) to further reduce the torque load of the pitch leveling motor 41 and improve the stability and accuracy of the adjustment process. Two crank slider mechanisms are provided, and the two crank slider mechanisms are symmetrically arranged on both sides of the rotating shaft of the mounting frame 32 rotating relative to the moving platform 31. The two crank slider mechanisms act synchronously, which is further conducive to ensuring the accuracy of the adjustment process and the stability of the structure after adjustment.

[0042] like Figure 3As shown, the roll leveling drive mechanism 50 includes a roll leveling motor 51, a roll leveling transmission shaft 52 and two gear sets. The roll leveling transmission shaft 52 is rotatably connected to the moving platform 31, and the roll leveling transmission shaft 52 is parallel to the rotation axis of the mounting frame 32 relative to the moving platform 31. The roll leveling motor 51 is used to drive the roll leveling transmission shaft 52 to rotate, and the controller is electrically connected to the roll leveling motor 51. The gear set includes gear A53, gear B54 and gear C55 that are meshed in sequence. Gear A53 is fixedly sleeved on the roll leveling transmission shaft 52, gear B54 is rotatably connected to the moving platform 31, and gear C55 is fixedly connected to the mounting frame 32. The two gear sets are symmetrically arranged on both sides of the rotation axis of the moving platform 31 relative to the static platform 30. When the dual-axis angle sensor 33 detects that the mounting frame 32 has an angle deflection in the rolling direction, the controller controls the rolling leveling motor 51 to start, driving the rolling leveling transmission shaft 52 and the gear A53 to rotate. Under the meshing action, the gears B54 and C55 rotate together, thereby realizing the adjustment of the rolling angle of the mounting frame 32, i.e., the centrifugal seed metering device 2. Similarly, in the specific design, the axis of the rotating shaft connecting the mounting frame 32 and the moving platform 31 is located directly below the overall center position of the mounting frame 32 (including all components such as the centrifugal seed metering device 2 installed on the mounting frame 32) to reduce the torque load of the rolling leveling motor 51 and improve the stability and accuracy of the adjustment process; setting two sets of gear sets and setting them symmetrically is conducive to ensuring the stability and accuracy of the adjustment process.

[0043] Further, such as Figure 4As shown, a locking mechanism is also provided, which includes a locking push rod 65, a locking slider 64, and a locking swing rod 61. The middle part of the locking swing rod 61 is rotatably connected to the moving platform 31, and both ends of the locking swing rod 61 are rotatably connected to the locking link 62. The other ends of the two locking links 62 are rotatably connected to the locking slide rod 63, and the locking slide rod 63 is slidably connected to the moving platform 31. The locking slide rod 64 is fixedly connected to one of the locking slide rods, and the locking push rod 65 is used to push the locking slide rod 64 to slide. The locking push rod 65 can be an electric push rod, which can drive the locking slide rod 64 and the locking slide rod 63 connected thereto to slide when it is working, and then drive the locking swing rod 61 to rotate through the locking link 62, so that the other locking slide rod 63 slides synchronously under the drive of the other locking link 62, that is, when the locking push rod 65 is working, it can simultaneously drive the two fixed slide rods 63 to slide in opposite directions. Two locking holes are fixedly provided on the static platform 30, and the ends of the two locking slide bars 63 away from the locking link 62 are respectively matched with the two locking holes, and the locking push rod 65 is electrically connected to the controller. When the machine is transported and the pitch angle does not need to be adjusted, the ends of the two locking slide bars 63 can be respectively inserted into the two locking holes under the control of the controller, thereby realizing the automatic locking function, so as to reduce the static load of the pitch leveling motor 41 in this application environment and improve the stability and automation degree of the machine.

[0044] Further, such as Figure 1 As shown, lifting rods 34 are fixedly provided at the four corners of the static platform 30, and the lifting rods 34 are slidably connected to the machine 1. The lifting function of the static platform 30 can be realized by sliding the lifting rods 34 to cope with certain working environments blocked by trees, shade sheds, etc., and improve the environmental adaptability.

[0045] Further, such as Figures 5 to 8As shown, the centrifugal seed metering device 2 includes a seed metering mechanism 10 and a seed filling mechanism 20. The seed metering mechanism 10 includes a cover plate 11, a seed metering ring 12, an inner cone 13 and an outer cone 14. The outer cone 14 is fixedly mounted on a mounting frame 32. The cover plate 11, the seed metering ring 12 and the outer cone 14 are coaxially arranged from top to bottom (the coaxial axis is the central axis of the centrifugal seed metering device 2) and are fixedly connected in sequence. The large diameter end of the outer cone 14 is open and arranged upward; the inner cone 13 is coaxially rotatably arranged in the outer cone 14, and the large diameter end of the inner cone 13 is open and arranged upward. The large diameter end of the inner cone 13 is matched with the bottom end of the seed metering ring 12, so that a seed metering cavity is formed between the inner cavity of the inner cone 13, the inner cavity of the seed metering ring 12 and the cover plate 11. There are a number of seed holes 15 evenly distributed on the circumference of the seeding ring 12, and a number of seeding tubes 16 are fixedly arranged on the cover plate 11, and one end of the number of seeding tubes 16 is respectively connected to the number of seeding holes 15. The seed filling mechanism 20 includes a seed box 21 and a seed filling tube 22. The seed box 21 is arranged above the cover plate 11, and the top of the seed filling tube 22 is connected to the bottom of the seed box 21. A seed filling hole is opened in the center of the cover plate 11, and the bottom end of the seed filling tube 22 is connected to the seed filling hole. When the seeds are discharged, the seeds stored in the seed box 21 fall into the above-mentioned seeding cavity through the seed filling tube 22. As the inner cone 13 continues to operate, the seeds in the seeding cavity are thrown to the inner wall of the inner cone 13 under the action of centrifugal force, and then the seed flow rises spirally along the inner wall of the inner cone 13 to the seeding layer (the position of the seeding ring 12). When the seed flow leaves the upper end of the inner cone 13, it still has inertia. The seeds located at the seed hole 15 enter the seed tube 16 and are discharged, thereby realizing the centrifugal seeding process; other seeds fall into the seeding cavity after colliding with the inner wall of the seeding ring 12, and enter the next cycle as the inner cone 13 rotates.

[0046] On this basis, a pressure film sensor is provided on the inner wall of the seeding ring 12, which can monitor in real time the collision force value generated by the collision between the seed population and the inner wall of the seeding ring 12 during the operation of the centrifugal seeding device; a seed filling amount adjustment device is also provided in the seed filling mechanism 20, and the seed filling amount adjustment device can adjust the size of the flow channel in the seed filling tube 22. The pressure film sensor and the seed filling amount adjustment device are both electrically connected to the controller, and the collision force value data monitored by the pressure film sensor is fed back to the controller in real time, and the controller controls the seed filling amount adjustment device according to the set value. When in use, first set the seeding speed (the speed of the inner cone 13) and the corresponding seed filling amount at the speed, that is, set the theoretical pressure value of the pressure film sensor during the working process, and compare the collision force value detected in real time by the pressure film sensor with the set theoretical value. When the detected collision force value is less than the theoretical value, the controller controls the seed filling amount adjustment device to work, increase the flow channel in the seed filling tube 22, and increase the seed filling speed from the seed box 21 to the seed filling cavity. The seed filling speed is greater than the seeding speed, which will increase the number of seeds in the seeding cavity. At the same time, more seeds act on the pressure film sensor to increase the collision force value detected by it until the collision force value increases to the set theoretical value; conversely, when the detected collision force value is greater than the theoretical value, the controller controls the seed filling amount adjustment device to work, so that the flow channel in the seed filling tube 22 becomes smaller, and the seed filling speed from the seed box 21 to the seed filling cavity is reduced, thereby realizing dynamic regulation, so that the seed filling amount is relatively constant at the set seeding speed, and the seeding is more uniform.

[0047] It should be noted that the collision force value monitored by the pressure film sensor is the sum of the centrifugal forces of the seeds colliding with the pressure film sensor at the same time. The detected collision force value reflects the seed density of the centrifugal movement to the seeding layer area, but the collision force value is directly related to the seeding speed. It should be understood that the relative constancy of the above-mentioned seed filling amount does not mean that the seed filling speed is the same as the seeding speed so that the number of seeds in the seeding cavity is always constant. If the seeding speed can always remain unchanged, the constant number of seeds in the seeding cavity can ensure uniform seeding. However, in actual applications, the seeding speed cannot remain unchanged. Depending on the working conditions, the seeding speed will vary within a certain range. When the seeding speed changes, the centrifugal force will also change. Even if the number of seeds in the seeding cavity is constant, uniform seeding cannot be guaranteed.

[0048] When implementing:

[0049] The seeding mechanism 10 also includes a seeding motor 17, which is used to drive the inner cone 13 to rotate. The rotation speed of the seeding motor 17 is the above-mentioned seeding speed. The seeding motor 17 is electrically connected to the controller, and can monitor the seeding speed in real time, and dynamically set different aforementioned theoretical pressure values ​​according to the different monitored seeding speeds, thereby realizing dynamic regulation of the seed filling amount at different seeding speeds, so as to improve the seeding uniformity, stability and ability of the centrifugal seeding device to adapt to a variety of crops and complex environments.

[0050] The seed filling amount adjustment device includes a seed filling motor 23, a seed filling screw 24, a seed filling slider 25 and a seed filling baffle 26. The seed filling screw 24 is rotatably connected to the outer wall of the seed box 21, the seed filling slider 25 is slidably connected to the outer wall of the seed box 21, and the seed filling slider 25 is threadedly connected to the seed filling screw 24, which constitutes a screw nut mechanism. When the seed filling screw 24 rotates, it can drive the seed filling slider 25 to slide. One end of the seed filling baffle 26 passes through the side wall of the seed filling tube 22 and is slidably connected to the seed filling tube 22, and the other end of the seed filling baffle 26 is fixedly connected to the seed filling slider 25. The seed filling motor 23 is electrically connected to the controller. Under the control of the controller, the seed filling motor 23 can drive the seed filling screw 24 to rotate, and then drive the seed filling baffle 26 to slide through the seed filling slider 25 to adjust the length of one end of the seed filling baffle 26 extending into the seed filling tube 22, that is, to achieve the aforementioned adjustment of the size of the flow channel in the seed filling tube 22.

[0051] The seeding mechanism 10 also includes a cone 18, which is coaxially arranged in the inner cone 13, and the large diameter end of the cone 18 is fixedly connected to the small diameter end of the inner cone 13. Since the central area of ​​the inner cone 13 has a relatively small rotational centrifugal force, seeds tend to accumulate in the central area; the cone 18 occupies the central area of ​​the inner cone 13, and the top of the cone 18 is arranged opposite to the seed filling hole of the cover plate 11, which can guide the fallen seeds to spread rapidly around, and after obtaining a relatively large centrifugal force, they quickly spirally rise along the inner wall of the inner cone 13 to the seeding layer (the position of the seeding ring 12) to complete the seeding process, which can avoid accumulation and reduce the occurrence of seed breakage caused by the interaction force of the seeds in the inner cone 13.

[0052] On the seeding ring 12, the seeding hole 15 is designed to be a round hole, and its shape and size are adapted to the shape and size of the Chinese medicinal material seeds to be seeded, so that only one Chinese medicinal material seed can be discharged from the seeding hole 15 at the same time. Different seeding rings 12 can be replaced during application to be suitable for Chinese medicinal material seeds of different types and sizes.

[0053] Furthermore, the center line of the seed tube 16 is a quasi-parabolic curve, and the design curve of the center line of the seed tube 16 is designed to simulate the natural movement trajectory of the seeds under the action of gravity when they fly out of the seed hole 15, so as to reduce the collision of the seeds in the seed tube 16, reduce the damage to the seed flow, and improve the orderliness and implantation uniformity of the seeds; at the same time, it is prevented that the seeds are retained in the seed tube 16, especially in the seed hole 15 at the end of the seed tube 16, so as to avoid unnecessary mutual collisions between the seeds at this position and affect the monitoring force value of the pressure film sensor. Specifically, according to the dynamic analysis, as the inner cone 13 continues to rotate, the seeds in the inner cone 13 move to the seed row layer and fly out of the seed hole 15 naturally, and the movement trajectory of the seeds is a quasi-parabolic curve, which is a synthesis of horizontal movement and vertical movement. In the horizontal direction, due to the interaction between seeds in the population and the collision between the population and the seed metering device, the speed and angle of the seeds when they fly out of the seed hole 15 are changed. When the seeds fly out of the seed hole 15, they are not along the tangent direction of the seed ring 12, but there is a certain angle. The horizontal speed and angle cannot be calculated, and the horizontal motion trajectory needs to be determined by discrete element simulation analysis; in the vertical direction, the seeds are only affected by their own gravity after leaving the seed hole, and the vertical motion trajectory can be calculated. By synthesizing the above-mentioned horizontal motion trajectory and vertical motion trajectory, the natural flight trajectory of the seeds after flying out of the seed hole 15 under the action of only their own weight can be obtained. Designing the seed tube 16 with this synthetic trajectory as the design curve can reduce the collision or retention of seeds in the seed tube 16.

[0054] like Figures 9 to 12 As shown, when designing the seeding tube 16, a seeding device with a radius of the seeding ring 12 of 92 mm, a seeding rotation speed of 120 r / min-200 r / min, and 14 seeding tubes 16 simultaneously discharging seeds is taken as an example.

[0055] By using EDEM discrete element simulation software, the seeding speed of the seed metering device was set to 120r / min, 160r / min and 200r / min, and the motion trajectory of the seeds after leaving the seed hole 15 was analyzed respectively, and it was found that the seeds performed a quasi-parallel motion after leaving the seed hole 15. Among them, at the three speeds of 120r / min, 160r / min and 200r / min, the angles β between the plane where the parallel motion was located and the plane where the center axis of the seed metering device and the center of the seed hole 15 on the seeding ring were 15.6°, 18.5° and 20.4° respectively. The comprehensive average value was taken to determine that at the speed range of 120r / min-200r / min, the angle β between the plane where the parallel motion was located and the plane where the center axis of the seed metering device and the center of the seed hole 15 on the seeding ring were 18.17°.

[0056] Since the theoretically calculated speed of the seeds when leaving the seed hole 15 does not take into account the interaction between the seed population and the seed ring 12 and the interaction between the seeds, resulting in kinetic energy loss, the curve obtained by the theoretical calculation does not match the actual seed movement curve. Here, through the simulation results, the speeds of the seeds when leaving the seed hole 15 at three speeds of 120r / min, 160r / min and 200r / min are 135.83mm / s, 225.79mm / s and 315.68mm / s respectively. The comprehensive average value is taken to determine that the average speed of the seeds when leaving the seed hole 15 in the speed range of 120r / min-200r / min is 225.77mm / s.

[0057] Based on this, the curve of the seed discharge tube 16 is designed to relatively effectively reduce the collision or retention of seeds in the seed discharge tube 16 at a seed discharge speed of 120 r / min-200 r / min.

[0058] Specifically, the intersection of the central axis of the seeding ring 12 and the plane where the centers of the seeding holes 15 are located is taken as the origin of the coordinates, the direction from the origin of the coordinates to the center of one of the seeding holes 15 is taken as the positive direction of the x-axis, the upward direction is taken as the positive direction of the z-axis, and the y-axis direction perpendicular to the x-axis and the z-axis is taken as the direction to establish a spatial coordinate system, then:

[0059] like Fig.10 As shown, in the horizontal movement, after the seed leaves the seed hole 15, it moves at a speed v from point A (x0, y0) to point B (x, y) at a constant speed over a period of time t. Then:

[0060] ,

[0061] Where:

[0062] x0=rcosɵ, y0=rsinɵ, r is the radius of the seed ring 12, r=92mm;

[0063] v is the speed of the seed when it leaves the seed hole 15. When designing a seed meter with a seeding speed of 120 r / min-200 r / min and a radius of the seeding ring 12 of 92 mm, the above average value v=225.77 mm / s is taken;

[0064] ɵ is the angle between the line connecting the seed hole 15 and the coordinate origin and the positive direction of the x-axis;

[0065] β is the angle between the plane where the center of the seed hole 15 and the central axis of the seed ring 12 are located, and the plane where the seed moves horizontally when leaving the seed hole 15. When designing a seeding device with a seeding speed of 120r / min-200r / min and a radius of the seed ring 12 of 92mm, the above average value β=18.17° is taken.

[0066] like Fig.12 As shown, in the vertical motion, after the seed leaves the seed hole 15, it moves uniformly accelerated from point A (x0, 0) to point B (x, z) after a period of time t. Then:

[0067] z=-gt 2 / 2

[0068] Where:

[0069] g is the acceleration due to gravity, which is 9806.65 mm / s 2 ;

[0070] t is the time that the seeds move in the seed tube 16, which is the design parameter of the length of the seed tube 16. <t<0.0664s。

[0071] By synthesizing the above horizontal movement and vertical movement, the center line curve equation of the 14 seed tubes 16 can be obtained as follows:

[0072] ,

[0073] Where:

[0074] r=92mm, v=225.77mm / s, β=18.17°, g=9806.65mm / s 2 ; The ɵ values ​​of the 14 seed tubes 16 are 0°, 25.71°, 51.43°, 77.14°, 102.86°, 128.57°, 154.29°, 180°, 205.71°, 231.43°, 257.14°, 282.86°, 308.57°, and 334.29°, respectively; t is a design parameter, 0 <t<0.0664s。

[0075] The above is only a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art shall not deviate from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas, characterized in that: It includes a static platform, a dynamic platform, a mounting frame, a centrifugal seed meter, a pitch leveling drive mechanism, a roll leveling drive mechanism, a dual-axis angle sensor and a controller; The centrifugal seed metering device is fixedly mounted on a mounting frame, the bottom end of the mounting frame is rotatably connected to the moving platform, one end of the moving platform is rotatably connected to one end of the static platform, and the rotation axis of the mounting frame relative to the moving platform, the rotation axis of the moving platform relative to the static platform, and the central axis of the centrifugal seed metering device are perpendicular to each other; The pitch leveling drive mechanism is used to drive the moving platform to rotate relative to the static platform, the roll leveling drive mechanism is used to drive the mounting frame to rotate relative to the moving platform, the dual-axis angle sensor is fixedly mounted on the mounting frame, and the pitch leveling drive mechanism, the roll leveling drive mechanism and the dual-axis angle sensor are all electrically connected to the controller; The pitch leveling drive mechanism comprises a pitch leveling motor, a pitch leveling transmission shaft and two crank slider mechanisms, the crank slider mechanism comprises a pitch leveling crank and a pitch leveling block, and the two crank slider mechanisms are symmetrically arranged on both sides of the rotation axis of the mounting frame rotating relative to the moving platform; The pitch leveling transmission shaft is rotatably connected to the moving platform, the pitch leveling transmission shaft is parallel to the rotation axis of the moving platform relative to the static platform, the pitch leveling motor is used to drive the pitch leveling transmission shaft to rotate, the controller is electrically connected to the pitch leveling motor, one end of the pitch leveling crank is fixedly sleeved on the pitch leveling transmission shaft, the other end of the pitch leveling crank is rotatably connected to the pitch leveling block, the pitch leveling block is slidably connected to the static platform, and the sliding direction of the pitch leveling block on the static platform is perpendicular to the rotation axis of the moving platform relative to the static platform; The roll leveling drive mechanism comprises a roll leveling motor, a roll leveling transmission shaft and two gear sets; The roll leveling transmission shaft is rotatably connected to the moving platform, the roll leveling transmission shaft is parallel to the rotation axis of the mounting frame relative to the moving platform, the roll leveling motor is used to drive the roll leveling transmission shaft to rotate, and the controller is electrically connected to the roll leveling motor. The gear set includes gear A, gear B and gear C that are meshed in sequence. Gear A is fixedly mounted on the roll leveling transmission shaft, gear B is rotatably connected to the moving platform, and gear C is fixedly connected to the mounting frame. The two gear sets are symmetrically arranged on both sides of the rotating axis of the moving platform rotating relative to the static platform.

2. A uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas according to claim 1, characterized in that: It also includes a locking mechanism, which includes a locking push rod, a locking slider, and a locking rocker rod. The middle part of the locking rocker rod is rotatably connected to the moving platform, both ends of the locking rocker rod are rotatably connected to a locking link, the other ends of the two locking links are rotatably connected to a locking slide rod, the locking slide rod is slidably connected to the moving platform, two locking holes are fixedly provided on the static platform, one end of the two locking slide rods away from the locking link rod is respectively adapted to the two locking holes, the locking slide rod is fixedly connected to one of the locking slide rods, the locking push rod is used to push the locking slide rod to slide, and the locking push rod is electrically connected to a controller.

3. The uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas according to claim 1 is characterized in that: It also includes a machine, and lifting rods are fixedly arranged at the four corners of the static platform, and the lifting rods are slidably connected with the machine.

4. The uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas according to claim 1, characterized in that: The centrifugal seed metering device includes a seed metering mechanism and a seed filling mechanism; The seeding mechanism comprises a cover plate, a seeding ring, an inner cone and an outer cone, the outer cone being fixedly mounted on the mounting frame, the cover plate, the seeding ring and the outer cone being coaxially arranged from top to bottom and fixedly connected in sequence, the large diameter end of the outer cone being open and arranged upward, the inner cone being coaxially rotatably arranged in the outer cone, the large diameter end of the inner cone being open and arranged upward, the large diameter end of the inner cone being matched with the seeding ring, a plurality of seeding holes being evenly distributed on the circumference of the seeding ring, a plurality of seeding tubes being fixedly mounted on the cover plate, one end of the plurality of seeding tubes being respectively connected with the plurality of seeding holes, and a pressure film sensor being arranged on the inner wall of the seeding ring; The seed filling mechanism includes a seed box, a seed filling tube, and a seed filling amount adjustment device. The seed box is arranged above the cover plate, the top end of the seed filling tube is connected to the bottom end of the seed box, a seed filling hole is opened in the center of the cover plate, the bottom end of the seed filling tube is connected to the seed filling hole, and the seed filling amount adjustment device is used to adjust the size of the flow channel in the seed filling tube; The pressure film sensor and the seed filling amount regulating device are both electrically connected to the controller.

5. The uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas according to claim 4, characterized in that: The center line of the seed outlet tube is a quasi-parallel curve, and the design curve of the center line of the seed outlet tube is designed to simulate the natural movement trajectory of the seeds when they fly out of the seed outlet hole only under the action of gravity.

6. The uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas according to claim 4, characterized in that: The seed filling amount adjustment device includes a seed filling motor, a seed filling screw rod, a seed filling slider, and a seed filling baffle. The seed filling screw rod is rotatably connected to the outer wall of the seed box. The seed filling slider is slidably connected to the outer wall of the seed box, and the seed filling slider is threadedly connected to the seed filling screw rod. One end of the seed filling baffle passes through the side wall of the seed filling tube and is slidably connected to the seed filling tube, and the other end of the seed filling baffle is fixedly connected to the seed filling slider. The seed filling motor is used to drive the seed filling screw to rotate, and the seed filling motor is electrically connected to the controller.

7. The uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas according to claim 4, characterized in that: The seed-discharging mechanism further comprises a frustum, which is coaxially arranged in the inner cone, and the large-diameter end of the frustum is fixedly connected to the small-diameter end of the inner cone.

8. The uniform seeding device suitable for planting Chinese medicinal materials in hilly and mountainous areas according to claim 4, characterized in that: The seeding mechanism also includes a seeding motor, which is used to drive the inner cone to rotate, and the seeding motor is electrically connected to the controller.

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