Intelligent navigation four-row rice transplanter and transplanter method thereof

Abstract

This invention discloses an intelligent navigation four-row rice transplanter and its transplanting method. The invention includes a chassis, a seedling box device, a seedling picking device, and an auxiliary seedling delivery device. The invention plans the global operation path through a controller and uses a GPS navigation module for positioning, achieving unmanned operation. The seedling picking device's lifting mechanism drives its elevation to adapt to different planting depth requirements. Furthermore, the longitudinal movement device of the seedling box device drives the elevation of the seedling box assembly, adjusting the height difference between the seedling box assembly and the seedling picking mechanism, thereby adjusting the amount of seedlings picked by the picking claws in the seedling picking mechanism to adapt to different transplanting agronomic requirements. The auxiliary seedling delivery device assists in delivering seedlings to the seedling box assembly. This invention achieves unmanned operation with intelligent navigation along the rice crop row path, adaptive elevation of the seedling box assembly and seedling picking arm for different paddy fields, rice seedling picking, and fully automated rice transplanting, effectively improving the level of intelligence in rice transplanting.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to an intelligent navigation four-row rice transplanter and its transplanting method. Background Technology

[0002] As a crucial piece of machinery for rice cultivation, the research and improvement of rice transplanters are essential for enhancing transplanting efficiency and quality, achieving reasonable planting density, and reducing farmers' labor intensity. With the development of rice transplanters, more and more are being put into use in the agricultural field. Traditional rice transplanters mostly use diesel engines as their sole power source, with other components operating through transmission parts according to the required transmission ratios between their structures. This presents problems such as complex equipment debugging and difficulty in changing the transmission ratios. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and propose an intelligent navigation four-row rice transplanter and its transplanting method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A smart navigation four-row rice transplanter includes a chassis, a seedling box device, a seedling picking device, an auxiliary seedling delivery device, a sensor one, and a sensor two.

[0006] The chassis includes a traveling mechanism and a frame. The frame is equipped with a traveling mechanism at each of its four corners, and each traveling mechanism synchronously drives the frame to move. The seedling box device includes a longitudinal moving device, a transverse moving device, and a seedling box assembly. The seedling box assembly includes a seedling box body, a seedling box base, a rotating shaft, a fixing rod, and a seedling pressing rod. The two inclined and spaced seedling box bases are fixed to the seedling box body. Each seedling box base has three parallel and equidistant partitions fixed on it. The gap between each pair of adjacent partitions on each seedling box base forms a seedling feeding channel. Each seedling box base has an opening at each seedling feeding channel position, and each opening is equipped with a conveying mechanism. Each driven roller with a conveying mechanism is hinged to the corresponding seedling box base. Each driving roller is fixed to a horizontally arranged rotating shaft. The rotating shaft is located below each seedling box base and forms a rotating pair with the seedling box body, and is driven by a driving component. The fixing rod, parallel to the rotating shaft, is located above each seedling box base, and both ends of the fixing rod are fixed to the outer edges of the two seedling box bases. Several parallel and spaced seedling pressing rods are fixed on the fixing rod at each seedling feeding channel position. Sensor 1 and Sensor 2 are installed at the bottom and middle of one of the seedling box bases, respectively.

[0007] The longitudinal moving device includes a linear module one, a long shaft, a clamping cylinder, and a guide rail one. The long shaft, parallel to the rotating shaft, forms a vertical sliding pair with the machine frame and is driven to move up and down by the linear module one. The clamping cylinder forms a sliding pair with the long shaft and is fixed to each seedling box base. Each seedling box base forms a sliding pair with the guide rail one, which is parallel to the rotating shaft, and the guide rail one forms a vertical sliding pair with the machine frame. The transverse moving device includes a linear module two and a pressure plate frame. One end of the pressure plate frame has a through groove, and the other end is hinged to a nut block one of the linear module two on the machine frame. The linear module two drives the pressure plate frame to translate in a direction parallel to the rotating shaft. The clamping cylinder passes through the through groove and forms a slot-pin pair with the through groove. The clamping cylinder has integrally formed protrusions on both sides of the pressure plate frame, and the two protrusions restrict the movement of the pressure plate frame along the axial direction of the clamping cylinder.

[0008] The frame is equipped with two seedling-picking devices arranged at intervals in front of the seedling box device. Each seedling-picking device includes a lifting mechanism, a connecting plate, and a seedling-picking mechanism. The lifting mechanism drives the connecting plate to rise and fall. The seedling-picking mechanism includes a connecting frame and seedling-picking arms. The connecting frame is fixed to the connecting plate, and two seedling-picking arms are symmetrically arranged at both ends of the connecting frame. The central shafts and planetary frames of the two seedling-picking arms form a rotating pair with the connecting frame. The first central non-circular gears of the two seedling-picking arms are fixed to the connecting frame, and the two central shafts are synchronously driven by a servo motor.

[0009] The auxiliary seedling delivery device includes a mounting frame, a seedling delivery mechanism with a conveyor belt, and a transfer assembly. The mounting frame and the machine frame form a sliding pair parallel to the rotating shaft and are fixed to a nut block via a connecting rod. The seedling delivery mechanism with a conveyor belt is mounted on the mounting frame, and the seedling box assembly is located at the output end of the seedling delivery mechanism. Five baffles are fixed on the mounting frame and are equidistantly arranged perpendicular to the conveying direction of the seedling delivery mechanism. The gap between each pair of adjacent baffles forms a seedling delivery channel, and each seedling delivery channel is aligned with a seedling delivery channel. A transfer assembly is provided between each seedling delivery channel and the corresponding seedling delivery channel. The transfer assembly consists of several inclined and stacked transfer plates. Each pair of adjacent transfer plates forms a sliding pair. The upper end of the uppermost transfer plate and the lower end of the lowermost transfer plate are hinged to the mounting frame and the corresponding seedling box base, respectively.

[0010] Preferably, the walking mechanism includes a drive motor, a steering motor, a wheel frame, and wheels. The wheel frame and the mechanism form a rotating pair and are driven by the steering motor. The wheels and the wheel frame form a rotating pair and are driven by the drive motor.

[0011] Preferably, the driving component includes a rotating plate, a seedling-pulling rod, and a mounting shaft. The seedling-pulling rod is fixed on the rotating plate, and the rotating plate is supported on the rotating shaft by a one-way bearing and connected to the rotating shaft by a torsion spring. The mounting shaft, parallel to the rotating shaft, is located below each seedling box base and forms a rotating pair with the seedling box body. It is driven by a servo motor. The striking rod is fixed on the mounting shaft.

[0012] Preferably, the linear module one includes a lead screw one, a nut block two, and a servo motor three. The vertically arranged lead screw one forms a rotating pair with the frame and is driven by the servo motor three. The nut block two and the lead screw one form a ball screw pair through ball bearings. One end of the long shaft is fixed to the nut block two, and the other end is fixed to the slider one. The slider one and the guide rail two, which is vertically fixed on the frame, form a sliding pair.

[0013] Preferably, the linear module two includes a lead screw two, a nut block one, and a servo motor four. The lead screw two, which is parallel to the long axis, forms a rotating pair with the frame and is driven by the servo motor four. The nut block one and the lead screw two form a ball screw pair through balls.

[0014] Preferably, both ends of the guide rail one are fixed with slider two, and the two slider two and the two guide rails three vertically fixed on the frame respectively form a sliding pair.

[0015] Preferably, the seedling conveying mechanism includes a second active roller, a second driven roller, a support roller, a synchronous belt, an active shaft, a driven shaft, a support shaft, and a conveyor belt. The second active roller is coaxially fixed with the active shaft, and the outer ends of both the second active roller and the active shaft form a rotating pair with the mounting frame. The second active roller is driven by a second drive motor. The second driven roller is coaxially fixed with the driven shaft, and the outer ends of both the second driven roller and the driven shaft form a rotating pair with the mounting frame. The support roller is coaxially fixed with the support shaft, and the outer ends of both the support roller and the support shaft form a rotating pair with the mounting frame. The active shaft, the support shaft, and the driven shaft are arranged in parallel, with the support shaft located between the active shaft and the driven shaft. The active shaft and the driven shaft are connected by a conveyor belt. The second active roller and the support roller, as well as the second support roller and the second driven roller, are respectively connected by two synchronous belts.

[0016] Preferably, the rack is equipped with an alarm device, and the signal input terminal of the alarm device is connected to a controller located inside the electrical cabinet on the rack.

[0017] More preferably, the frame is equipped with a GPS navigation module, and the signal output terminal of the GPS navigation module is connected to the controller; the controller plans the global operation path and controls the drive motors and steering motors of the four walking mechanisms to drive each wheel to walk according to the global operation path. During the walking process, the GPS navigation module is used for positioning, and the camera is used to track the rice crop rows and ridges.

[0018] The present invention discloses a rice transplanting method for an intelligent navigation four-row rice transplanter, as detailed below:

[0019] Workers placed rice seedling mats in each of the seedling delivery channels of the seedling box assembly, and each pressing rod pressed the rice seedling mats onto the conveyor mechanism in the corresponding seedling delivery channel; initially, the seedling box assembly and the seedling taking mechanism were both at their highest positions.

[0020] Each walking mechanism drives the frame down into the field. After the frame is down into the field, each lifting mechanism drives two connecting plates to drive two seedling taking mechanisms to descend synchronously, so that each seedling taking mechanism descends to a preset height. The transplanting depth of each seedling taking mechanism is adjusted by changing the distance between each seedling taking mechanism and the ground.

[0021] Next, the linear module one drives the long shaft to descend. The long shaft drives the pressure plate frame to rotate downward through the clamping cylinder, and causes the clamping cylinder to move along the through groove towards the linear module two. The long shaft also drives the seedling box assembly to descend through the clamping cylinder, so that the seedling box assembly descends to the preset height two. The seedling picking amount of each seedling picking mechanism is adjusted by changing the height difference between the seedling box assembly and each seedling picking mechanism. When the seedling box assembly descends, it also drives each transfer assembly to rotate downward, and each transfer plate located in the middle of each transfer assembly moves outward, thereby lengthening each transfer assembly.

[0022] Then, each walking mechanism drives the frame to move forward in the field. At the same time, the linear module two drives the pressure plate frame to move back and forth intermittently laterally. The pressure plate frame drives the seedling box assembly to move back and forth intermittently laterally synchronously through the clamp. The controller controls the rotation of the central shaft of each servo motor one corresponding to the two seedling picking arms, thereby driving one seedling picking claw of each seedling picking arm to pick up seedlings from the corresponding seedling delivery channel synchronously, and driving the other seedling picking claw of each seedling picking arm to plant seedlings into the ground synchronously. When the linear module two drives the pressure plate frame to move back and forth intermittently laterally, it also drives the connecting rod one to move back and forth intermittently laterally synchronously. The connecting rod one drives the auxiliary seedling delivery device to move back and forth intermittently laterally synchronously. As the frame moves forward, each time a seedling-grabbing claw of each seedling-grabbing arm simultaneously picks up a seedling from the corresponding seedling delivery channel, the seedling box assembly moves laterally a preset distance. Whenever the sensor detects that there are no seedlings at the bottom of the corresponding seedling box base, the row of seedlings at the bottom of each seedling delivery channel is completely picked up. The drive unit drives the rotating shaft to work, and the conveyor belts of each conveyor belt work. Through the friction between the conveyor belts of each conveyor belt and the corresponding rice seedlings, the rice seedlings in each seedling delivery channel are transported vertically downward once. After a seedling-grabbing claw of each seedling-grabbing arm simultaneously picks up a seedling from the corresponding seedling delivery channel, the seedling box assembly moves laterally intermittently in the opposite direction. In coordination with the seedling-grabbing arms and transplanting, the seedling box assembly moves laterally intermittently in both directions to realize the transplanting work. During the rice transplanting process, when sensor 2 detects that there are no rice seedlings in the center of the corresponding seedling box base, and there are insufficient rice seedlings in each seedling delivery channel, the staff will place rice seedlings in each seedling delivery channel of the auxiliary seedling delivery device, and the conveyor seedling delivery mechanism will work to transport each rice seedling along the corresponding transfer component to the corresponding seedling delivery channel.

[0023] The present invention has the following beneficial effects:

[0024] 1. This invention plans the global operation path through a controller, locates the machine through a GPS navigation module, tracks rice crop rows and ridges using a camera, and avoids obstacles. It moves along the planned path, and through various walking mechanisms, it can achieve straight-line movement and turning, thus achieving autonomous movement. Upon reaching the field edge, it can change lanes using the steering motors of each walking mechanism. This invention adjusts the lifting mechanism to drive the seedling-collecting mechanism to rise and fall, adapting to different planting depth requirements on different ground surfaces. The adjustment range for the planting depth is 10mm-35mm. Furthermore, this invention uses a longitudinal moving device to drive the seedling box assembly to rise and fall, adjusting the height difference between the seedling box assembly and the seedling-collecting mechanism, thereby adjusting the seedling-collecting amount by the seedling-collecting claws in the seedling-collecting mechanism to adapt to different transplanting agronomic requirements. The adjustment range for the seedling-collecting amount is 8mm-18mm. Furthermore, in this invention, the seedling feeding, lateral and longitudinal movement of the seedling box assembly, as well as the longitudinal movement and seedling transplanting of the seedling picking mechanism, are controlled by their respective motor assemblies via a controller. This avoids the problems of complex equipment debugging and difficulty in changing transmission ratios in existing rice transplanters where each component is driven by a single transmission mechanism, reducing the difficulty of later debugging and making the equipment more intelligent. Therefore, this invention achieves unmanned driving and intelligent navigation along the rice crop row path, adaptive lifting and lowering of the seedling box assembly and seedling picking arm for different paddy fields, and full automation of rice seedling picking and transplanting. It effectively improves the intelligence level of rice transplanting, enables precise and efficient seedling picking and transplanting, maintains consistent plant spacing and transplanting depth, improves seedling survival rate, reduces labor costs, and enhances the intelligence level of the rice transplanter.

[0025] 2. The auxiliary seedling delivery device in this invention can move synchronously with the seedling box assembly, and the length of each connecting component in the auxiliary seedling delivery device can change with the raising and lowering of the seedling box assembly, so that each seedling delivery channel and each rice seedling delivery channel are always aligned. Before the auxiliary seedling delivery device replenishes rice seedlings to the seedling box assembly, there is no need to repeatedly align the seedling box assembly and the auxiliary seedling delivery device. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the chassis, drive components, and lifting mechanism in this invention;

[0028] Figure 3 This is a schematic diagram of the walking mechanism in this invention;

[0029] Figure 4This is a schematic diagram of the structure of the present invention after removing the top plate and the auxiliary seedling delivery device. Figure 1 ;

[0030] Figure 5 This is a schematic diagram of the seedling taking device and the seedling box device after removing the seedling box body in this invention;

[0031] Figure 6 This is a schematic diagram of the structure of the long shaft, clamp, and seedling box assembly after removing the seedling box body in this invention;

[0032] Figure 7 This is a schematic diagram of the structure of the present invention after removing the top plate and the auxiliary seedling delivery device. Figure 2 ;

[0033] Figure 8 This is a schematic diagram of the seedling-taking mechanism in this invention;

[0034] Figure 9 This is a schematic diagram of the structure of the present invention after removing the top plate and the seedling-taking mechanism;

[0035] Figure 10 This is a schematic diagram of the auxiliary seedling delivery device in this invention. Detailed Implementation

[0036] The present invention will now be further described with reference to the accompanying drawings.

[0037] like Figure 1 As shown, the present invention provides an intelligent navigation four-row rice transplanter, comprising a chassis 1, a seedling box device 2, a seedling picking device 3, an auxiliary seedling delivery device 4, a sensor 1, and a sensor 2.

[0038] like Figure 2 As shown, the chassis 1 includes a walking mechanism 101 and a frame 102. The frame 102 is provided with a walking mechanism 101 at each of its four corners, and each walking mechanism 101 synchronously drives the frame 102 to move.

[0039] like Figure 4 , Figure 5 and Figure 6As shown, the seedling box device 2 includes a longitudinal moving device 201, a transverse moving device 202, and a seedling box assembly 203. The seedling box assembly 203 includes a seedling box body, a rotating shaft 20311, a seedling box base 20313, a fixing rod, and a seedling pressing rod. Two inclined and spaced seedling box bases 20313 are fixed to the seedling box body. Each seedling box base 20313 has three parallel and equidistantly arranged partitions fixed on it. A seedling feeding channel is formed between every two adjacent partitions on each seedling box base 20313. Each seedling box base 20313 has an opening at the location of each seedling feeding channel, and each opening is equipped with a belt conveyor mechanism 20312. Each belt conveyor mechanism 203... Each driven roller 12 is hinged to its corresponding seedling box base 20313, and each driven roller 1 20310 is fixed to a horizontally arranged rotating shaft 20311. The rotating shaft 20311 is located below each seedling box base 20313 and forms a rotating pair with the seedling box body, and is driven by a drive component. A fixed rod parallel to the rotating shaft 20311 is located above each seedling box base 20313, and both ends of the fixed rod are fixed to the outer edges of the two seedling box bases 20313. Several parallel and spaced seedling pressing rods are fixed on the fixed rod at each seedling feeding channel position. Sensor 1 and Sensor 2 are respectively installed at the bottom and middle part of one of the seedling box bases 20313.

[0040] The longitudinal moving device 201 includes a linear module 1, a long shaft 20103, a clamping cylinder 20109, and a guide rail 20111. The long shaft 20103, which is parallel to the rotating shaft 20311, forms a vertical sliding pair with the frame 102 and is driven to move up and down by the linear module 1. The clamping cylinder 20109 forms a sliding pair with the long shaft 20103 and is fixed to each seedling box base 20313. Each seedling box base 20313 forms a sliding pair with the guide rail 20111, which is parallel to the rotating shaft 20311, and the guide rail 20111 forms a vertical sliding pair with the frame 102. The lateral moving device 202 includes a linear module two and a pressure plate frame 20205; one end of the pressure plate frame 20205 is provided with a through groove, and the other end is hinged to the nut block 20204 of the linear module two on the frame 102, and the linear module two drives the pressure plate frame 20205 to translate in a direction parallel to the rotating shaft 20311; the clamping cylinder 20109 passes through the through groove and forms a slot pin pair with the through groove, and the clamping cylinder 20109 is provided with integrally formed protrusions on both sides of the pressure plate frame 20205, and the two protrusions restrict the pressure plate frame 20205 from moving in the axial direction of the clamping cylinder 20109.

[0041] like Figure 7 and Figure 8As shown, two seedling-taking devices 3 are arranged at intervals on the frame 102 directly in front of the seedling box device 3. The seedling-taking device 3 includes a lifting mechanism 301, a connecting plate 302, and a seedling-taking mechanism 303. The lifting mechanism 301 (which can be a linear module) drives the connecting plate 302 to rise and fall. The seedling-taking mechanism 303 includes a connecting frame and seedling-taking arms 30306. The connecting frame is fixed on the connecting plate 302. Two seedling-taking arms 30306 are symmetrically arranged at both ends of the connecting frame. The central shafts and planetary frames of the two seedling-taking arms 30306 form a rotating pair with the connecting frame. The first central incomplete non-circular gears of the two seedling-taking arms 30306 are fixed to the connecting frame (i.e., the connecting frame replaces the frame that fixes the first central incomplete non-circular gears). The two central shafts are synchronously driven by a servo motor 30301. The seedling arm 30306 can be a combination of incomplete non-circular-elliptical gear planetary rice transplanting mechanism disclosed in the patent application number 201620158673.4, or other existing technologies.

[0042] like Figure 9 and Figure 10 As shown, the auxiliary seedling delivery device 4 is located directly behind the seedling box device 3, and includes a mounting frame, a seedling delivery mechanism 401 with a conveyor belt, and a transfer component 402. The mounting frame and the machine frame 102 form a sliding pair parallel to the rotating shaft 20311, and are fixed to the nut block 20204 via a connecting rod 1 (not shown in the figure); the seedling conveying mechanism 401 is mounted on the mounting frame, and the seedling box assembly 203 is located at the output end of the seedling conveying mechanism 401; five baffles are fixed on the mounting frame and are equidistantly arranged along the conveying direction perpendicular to the seedling conveying mechanism 401. The gap between each two adjacent baffles forms a seedling conveying channel, and each seedling conveying channel is aligned with a seedling conveying channel. A transfer assembly 402 is provided between each seedling conveying channel and the corresponding seedling conveying channel; the transfer assembly 402 is composed of several inclined and stacked transfer plates. Each two adjacent transfer plates form a sliding pair. The upper end of the uppermost transfer plate and the lower end of the lowermost transfer plate are respectively hinged to the mounting frame and the corresponding seedling box base 20313.

[0043] As a preferred embodiment, such as Figure 3 As shown, the walking mechanism 101 includes a drive motor 1011, a steering motor 1015, a wheel frame and wheels. The wheel frame and the frame 102 form a rotating pair and are driven by the steering motor 1015. The wheels and the wheel frame form a rotating pair and are driven by the drive motor 1011.

[0044] More preferably, the housing of drive motor 1011 is fixed to a mounting frame via the housing of reducer 1012, the mounting frame is fixed to a wheel frame, the output shaft of drive motor 1011 is fixed to the input shaft of reducer 1012, a sprocket is fixed to the output shaft of reducer 1012, the wheel forms a rotating pair with the wheel frame via a wheel axle, a sprocket 2 1013 is fixed to the wheel axle, and sprocket 1 and sprocket 2 1013 are connected by chain 1014.

[0045] More preferably, the housing of the steering motor 1015 is fixed to the frame 102 via the housing of the reducer 2 1016, the output shaft of the steering motor 1015 is fixed to the input shaft of the reducer 2 1016, the output shaft of the reducer 2 1016 is fixed to the wheel frame, and is supported on the frame 102 via the bearing 1017.

[0046] In a preferred embodiment, the driving component includes a rotating plate, a seedling-pulling rod 20309, and a mounting shaft 20308. The seedling-pulling rod 20309 is fixed on the rotating plate. The rotating plate is supported on the rotating shaft 20311 by a one-way bearing and connected to the rotating shaft 20311 by a torsion spring. The mounting shaft 20308, which is parallel to the rotating shaft 20311, is located below each seedling box base 20313 and forms a rotating pair with the seedling box body (not shown in the figure). It is driven by a servo motor 20301. The striking rod 20307 is fixed on the mounting shaft 20308.

[0047] More preferably, the housing of servo motor 20301 is fixed to the seedling box body, and the output shaft of servo motor 20301 is fixed to drive shaft 20303 through coupling 20302. Drive shaft 20303 and seedling box body form a rotating pair, and sprocket 3 20304 and sprocket 4 20306 are fixed on drive shaft 20303 and mounting shaft 20308 respectively. Sprocket 3 20304 and sprocket 4 20306 are connected by chain 20305.

[0048] In a preferred embodiment, the linear module one includes a lead screw one 20102, a nut block two, and a servo motor three 20101. The vertically arranged lead screw one 20102 forms a rotary pair with the frame 102 and is driven by the servo motor three 20101. The nut block two and the lead screw one 20102 form a ball screw pair through ball bearings. One end of the long shaft 20103 is fixed to the nut block two, and the other end is fixed to the slider one 20106. The slider one 20106 and the guide rail two 20105, which is vertically fixed on the frame 102, form a sliding pair.

[0049] More preferably, the housing of the servo motor 3 20101 is fixed on the frame 102, and the output shaft of the servo motor 3 20101 is fixed to the lead screw 1 20102 through the coupling 2.

[0050] In a preferred embodiment, the long shaft 20103 is provided with an integrally formed convex strip along the axial direction, and the inner side of the clamp 20109 is provided with a groove along the axial direction. The clamp 20109 is sleeved on the long shaft 20103, and the convex strip is embedded in the groove, forming a sliding pair with the groove.

[0051] In a preferred embodiment, both ends of the clamp 20109 are fixed with connecting rods 20110, both connecting rods 20110 are fixed to the crossbeam 20104, and the crossbeam 20104 is fixed to each seedling box base 20313.

[0052] In a preferred embodiment, both ends of the guide rail 20111 are fixed with sliders 20108, and the two sliders 20108 and the two guide rails 20107 vertically fixed on the frame 102 respectively form sliding pairs.

[0053] As a preferred embodiment, the linear module two includes a lead screw two 20203, a nut block one 20204 and a servo motor four 20201. The lead screw two 20203, which is parallel to the long axis 20103, forms a rotating pair with the frame 102 and is driven by the servo motor four 20201. The nut block one 20204 and the lead screw two 20203 form a ball screw pair through balls.

[0054] More preferably, the housing of the servo motor 4 20201 is fixed on the frame 102, and the output shaft of the servo motor 4 20201 is fixed to the lead screw 2 20203 through the coupling 3 20202.

[0055] In a preferred embodiment, the housing of servo motor 30301 is fixed on the connecting frame. The output shaft of servo motor 30301 is fixed to drive shaft 30302 via coupling 4. Drive shaft 30302 and the connecting frame form a rotating pair. Bevel gear 30303 is fixed on drive shaft 30302. Bevel gear 30304 and bevel gear 30305 are fixed on the central shafts of the two seedling arms 30306 respectively. Both bevel gear 30304 and bevel gear 30305 mesh with bevel gear 30303.

[0056] In a preferred embodiment, the seedling conveying mechanism 401 includes a second driving roller 4011, a second driven roller 4012, a support roller 4013, a synchronous belt 4014, a driving shaft, a driven shaft, a support shaft, and a conveyor belt 4015. The second driving roller 4011 is coaxially fixed with the driving shaft, and the outer ends of both the second driving roller 4011 and the driving shaft form a rotating pair with the mounting frame. The second driving roller 4011 is driven by a second drive motor. The second driven roller 4012 is coaxially fixed with the driven shaft, and the second driven roller 4013... The outer ends of the driven shaft and the driven shaft are both rotated with the mounting frame. The support roller 4013 is fixed coaxially with the support shaft, and the outer ends of the support roller 4013 and the support shaft are both rotated with the mounting frame. The drive shaft, support shaft and driven shaft are arranged in parallel, and the support shaft is located between the drive shaft and the driven shaft. The drive shaft and the driven shaft are connected by the conveyor belt 4015. The drive roller 4011 and the support roller 4013, as well as the support roller 4013 and the driven roller 4012, are respectively connected by two synchronous belts 4014.

[0057] In a preferred embodiment, a top plate 103 is fixed on the frame 102. The top plate 103 is used to protect the seedling box device 2, the seedling taking device 3, and the auxiliary seedling delivery device 4.

[0058] In a preferred embodiment, a touch screen 105 is provided on the rack 102. The touch screen 105 is provided with multiple buttons. The touch screen is connected to the controller inside the electrical cabinet 5 located on the rack 102. It can be used for real-time monitoring, data recording, and adjustment of the speed of each motor. The buttons have multiple functions for controlling the start, stop, restart, and emergency stop protection of each motor.

[0059] In a preferred embodiment, the frame 102 is provided with an alarm device 104. The signal input terminal of the alarm device 104 is connected to the controller and can be used for fault alarm, navigation deviation alarm and seedling shortage alarm.

[0060] In a preferred embodiment, a GPS navigation module 106 is provided on the frame 102. The signal output terminal of the GPS navigation module 106 is connected to the controller. The controller plans the global operation path and controls the drive motors 1011 and steering motors 1015 of the four walking mechanisms 101 to drive each wheel to walk along the global operation path. During the walking process, the GPS navigation module is used for positioning, and the camera is used to track the rice crop rows and ridges.

[0061] Among them, the lifting mechanism 301, servo motor 20301, servo motor 30101, servo motor 40201, drive motor 2, each servo motor 1 30301, each drive motor 1 1011, and each steering motor 1015 are all controlled by the controller, and the signal output terminals of sensor 1 and sensor 2 are connected to the controller.

[0062] The present invention discloses a rice transplanting method for an intelligent navigation four-row rice transplanter, as detailed below:

[0063] Workers place rice seedling mats in each delivery channel of the seedling box assembly 203, and each pressing rod presses the rice seedling mats onto the conveyor mechanism 20312 in the corresponding delivery channel. Initially, the seedling box assembly 203 and the seedling picking mechanism 303 are at their highest positions to prevent them from hitting the ground when the walking mechanism 101 drives the frame 102 into the field. Each walking mechanism 101 drives the frame 102 into the field. After the frame 102 is in the field, each lifting mechanism 301 drives two connecting plates 302 to simultaneously lower the two seedling picking mechanisms 303 to a preset height. By changing the distance between each seedling picking mechanism 303 and the ground, the transplanting depth of each seedling picking mechanism 303 can be adjusted.

[0064] Next, the linear module 1 drives the long shaft 20103 to descend. The long shaft 20103 drives the pressure plate frame 20205 to rotate downward through the clamp 20109, and causes the clamp 20109 to move along the through groove towards the linear module 2. The long shaft 20103 also drives the seedling box assembly 203 to descend through the clamp 20109, so that the seedling box assembly 203 descends to the preset height 2. By changing the height difference between the seedling box assembly 203 and each seedling picking mechanism 303, the seedling picking amount of each seedling picking mechanism 303 can be adjusted. When the seedling box assembly 203 descends, it also drives each transfer assembly 402 to rotate downward, and each transfer plate located in the middle of each transfer assembly 402 moves outward, thereby lengthening each transfer assembly 402.

[0065] Then, each walking mechanism 101 drives the frame 102 to move forward in the field. At the same time, the linear module 2 drives the pressure plate frame 20205 to reciprocate laterally intermittently. The pressure plate frame 20205 drives the seedling box assembly 203 to reciprocate laterally intermittently through the clamp 20109. The controller controls each servo motor 30301 to drive the central axis of the corresponding two seedling picking arms 30306 to rotate, thereby driving one seedling picking claw of each seedling picking arm 30306 to synchronously pick up seedlings from the corresponding seedling delivery channel, and driving the other seedling picking arm 30306 to move. The seedling pickers simultaneously insert seedlings into the ground; when the linear module 2 drives the pressure plate frame 20205 to reciprocate intermittently, it also drives the connecting rod 1 to reciprocate intermittently. The connecting rod 1 drives the auxiliary seedling delivery device 4 to reciprocate intermittently, thereby ensuring that each seedling delivery channel of the auxiliary seedling delivery device 4 is always aligned with each seedling delivery channel of the seedling box assembly 203. This eliminates the need to repeatedly align the seedling box assembly 203 and the auxiliary seedling delivery device 4 before the auxiliary seedling delivery device 4 replenishes rice seedlings to the seedling box assembly 203. As the frame 102 moves forward, each time a seedling picking claw of each seedling picking arm 30306 simultaneously picks up a seedling from the corresponding seedling delivery channel, the seedling box assembly 203 moves laterally a preset distance. Whenever the sensor detects that there are no seedlings at the bottom of the corresponding seedling box base 2010, the row of seedlings at the bottom of each seedling delivery channel is completely picked up. The drive unit drives the rotating shaft 20311 to drive each belt conveyor mechanism 20312 to work. Through the friction between the conveyor belt of each belt conveyor mechanism and the corresponding rice seedling, the rice seedling in each seedling delivery channel is transported longitudinally downward once. After each seedling picking claw of each seedling picking arm 30306 simultaneously picks up a seedling from the corresponding seedling delivery channel, the seedling box assembly 203 moves laterally in the opposite direction intermittently. This process is repeated to pick up seedlings and transplant them, thus realizing the transplanting work. During rice transplanting, when sensor 2 detects that there are no seedlings in the center of the corresponding seedling box base 2010, there are insufficient rice seedlings in each seedling delivery channel. Workers place rice seedlings in each seedling delivery channel of the auxiliary seedling delivery device 4, and the conveyor seedling delivery mechanism 401 works to transport each rice seedling along the corresponding transfer assembly 402 to the corresponding seedling delivery channel. The process of the drive unit driving the rotating shaft 20311 is as follows: servo motor 20301 drives the mounting shaft 20308 to rotate the striking rod 20307. When the striking rod 20307 strikes the seedling-pulling rod 20309, the seedling-pulling rod 20309 drives the rotating plate to rotate. The rotating plate drives the rotating shaft 20311 to rotate synchronously through a one-way bearing, compressing the torsion spring. When the striking rod 20307 no longer contacts the seedling-pulling rod 20309, the rotating plate resets under the restoring force of the torsion spring, but does not drive the rotating shaft 20311 to rotate.

Claims

1. An intelligent navigation four-row rice transplanter, comprising a chassis, a seedling box assembly, and a seedling receiving device, characterized in that: It also includes an auxiliary seedling delivery device, sensor one, and sensor two; the chassis includes a walking mechanism and a frame, with walking mechanisms at each of the four corners of the frame, and each walking mechanism synchronously drives the frame to move; the seedling box device includes a longitudinal moving device, a lateral moving device, and a seedling box assembly; the seedling box assembly includes a seedling box body, a seedling box base, a rotating shaft, a fixing rod, and a seedling pressing rod; two inclined and spaced seedling box bases are fixed to the seedling box body, and each seedling box base has three parallel and equidistantly arranged partitions fixed on it. The gap between each pair of adjacent partitions on each seedling box base forms a seedling delivery channel, and each seedling box base has three partitions at each seedling delivery channel. Each channel has an opening, and each opening contains a conveying mechanism. Each driven roller of the conveying mechanism is hinged to the corresponding seedling box base, and each driving roller is fixed to a horizontally arranged rotating shaft. The rotating shaft is located below each seedling box base and forms a rotating pair with the seedling box body, and is driven by a drive component. A fixed rod parallel to the rotating shaft is located above each seedling box base, and both ends of the fixed rod are fixed to the outer edges of the two seedling box bases. Several parallel and spaced seedling pressing rods are fixed on the fixed rod at each seedling delivery channel position. Sensor 1 and Sensor 2 are installed at the bottom and middle of one of the seedling box bases, respectively. The longitudinal moving device includes a linear module one, a long shaft, a clamping cylinder, and a guide rail one; the long shaft, parallel to the rotating shaft, forms a vertical sliding pair with the machine frame and is driven to move up and down by the linear module one; the clamping cylinder forms a sliding pair with the long shaft and is fixed to each seedling box base; each seedling box base forms a sliding pair with the guide rail one, parallel to the rotating shaft, and the guide rail one forms a vertical sliding pair with the machine frame; the transverse moving device includes a linear module two and a pressure plate frame; one end of the pressure plate frame has a through groove, and the other end is hinged to a nut block one of the linear module two on the machine frame, and the linear module two drives the pressure plate frame to translate in a direction parallel to the rotating shaft; the clamping cylinder passes through the through groove and forms a slot-pin pair with the through groove, and the clamping cylinder has integrally formed protrusions on both sides of the pressure plate frame, the two protrusions restricting the movement of the pressure plate frame along the axial direction of the clamping cylinder; The frame is provided with two seedling picking devices arranged at intervals in front of the seedling box device. The seedling picking device includes a lifting mechanism, a connecting plate and a seedling picking mechanism. The lifting mechanism drives the connecting plate to rise and fall. The seedling picking mechanism includes a connecting frame and seedling picking arms. The connecting frame is fixed to the connecting plate. Two seedling picking arms are symmetrically arranged at both ends of the connecting frame. The central shaft and planetary frame of the two seedling picking arms form a rotating pair with the connecting frame. The first central non-circular gear of the two seedling picking arms is fixed to the connecting frame. The two central shafts are synchronously driven by a servo motor. The auxiliary seedling delivery device includes a mounting frame, a seedling delivery mechanism with a conveyor belt, and a transfer assembly. The mounting frame and the machine frame form a sliding pair parallel to the rotating shaft and are fixed to a nut block via a connecting rod. The seedling delivery mechanism with a conveyor belt is mounted on the mounting frame, and the seedling box assembly is located at the output end of the seedling delivery mechanism. Five baffles are fixed on the mounting frame and are equidistantly arranged along the conveying direction perpendicular to the conveying direction of the seedling delivery mechanism. The seedling delivery mechanism forms a seedling delivery channel in the gap between every two adjacent baffles, and each seedling delivery channel is aligned with a seedling delivery channel. A transfer assembly is provided between each seedling delivery channel and the corresponding seedling delivery channel. The adapter assembly consists of several adapter plates arranged in an inclined and stacked manner. Each pair of adjacent adapter plates forms a sliding pair. The upper end of the uppermost adapter plate and the lower end of the lowermost adapter plate are respectively hinged to the mounting frame and the corresponding seedling box base.

2. The intelligent navigation four-row rice transplanter according to claim 1, characterized in that: The walking mechanism includes a drive motor, a steering motor, a wheel frame, and wheels. The wheel frame and the mechanism form a rotating pair and are driven by the steering motor. The wheels and the wheel frame form a rotating pair and are driven by the drive motor.

3. The intelligent navigation four-row rice transplanter according to claim 1, characterized in that: The driving component includes a rotating plate, a seedling-pulling rod, and a mounting shaft. The seedling-pulling rod is fixed on the rotating plate, and the rotating plate is supported on the rotating shaft by a one-way bearing and connected to the rotating shaft by a torsion spring. The mounting shaft, parallel to the rotating shaft, is located below the base of each seedling box and forms a rotating pair with the seedling box body. It is driven by a servo motor. The striking rod is fixed on the mounting shaft.

4. The intelligent navigation four-row rice transplanter according to claim 1, characterized in that: The linear module includes a lead screw, a nut block, and a servo motor. The vertically arranged lead screw forms a rotating pair with the frame and is driven by the servo motor. The nut block and the lead screw form a ball screw pair through ball bearings. One end of the long shaft is fixed to the nut block, and the other end is fixed to the slider. The slider and the guide rail, which is vertically fixed on the frame, form a sliding pair.

5. The intelligent navigation four-row rice transplanter according to claim 1, characterized in that: The linear module 2 includes a lead screw 2, a nut block 1, and a servo motor 4. The lead screw 2, which is parallel to the long axis, forms a rotating pair with the frame and is driven by the servo motor 4. The nut block 1 and the lead screw 2 form a ball screw pair through ball bearings.

6. The intelligent navigation four-row rice transplanter according to claim 1, characterized in that: Both ends of the guide rail one are fixed with slider two, and the two slider two and the two guide rails three that are vertically fixed on the frame respectively form a sliding pair.

7. The intelligent navigation four-row rice transplanter according to claim 1, characterized in that: The seedling conveying mechanism includes a second active roller, a second driven roller, a support roller, a synchronous belt, an active shaft, a driven shaft, a support shaft, and a conveyor belt. The second active roller is coaxially fixed with the active shaft, and the outer ends of both the second active roller and the active shaft form a rotating pair with the mounting frame. The second active roller is driven by a second drive motor. The second driven roller is coaxially fixed with the driven shaft, and the outer ends of both the second driven roller and the driven shaft form a rotating pair with the mounting frame. The support roller is coaxially fixed with the support shaft, and the outer ends of both the support roller and the support shaft form a rotating pair with the mounting frame. The active shaft, the support shaft, and the driven shaft are arranged in parallel, with the support shaft located between the active shaft and the driven shaft. The active shaft and the driven shaft are connected by a conveyor belt. The second active roller and the support roller, as well as the second support roller and the second driven roller, are connected by two synchronous belts respectively.

8. The intelligent navigation four-row rice transplanter according to claim 1, characterized in that: The rack is equipped with an alarm device, and the signal input terminal of the alarm device is connected to the controller located inside the electrical cabinet on the rack.

9. The intelligent navigation four-row rice transplanter according to claim 2, characterized in that: The frame is equipped with a GPS navigation module, and the signal output terminal of the GPS navigation module is connected to the controller. The controller plans the global operation path and controls the drive motors and steering motors of the four walking mechanisms to drive each wheel to walk according to the global operation path. During the walking process, the GPS navigation module is used for positioning, and the camera is used to track the rice crop rows and ridges.

10. A rice transplanting method for an intelligent navigation four-row rice transplanter according to any one of claims 1 to 9, characterized in that: Specifically as follows: Workers placed rice seedling mats in each of the seedling delivery channels of the seedling box assembly, and each pressing rod pressed the rice seedling mats onto the conveyor mechanism in the corresponding seedling delivery channel; initially, the seedling box assembly and the seedling taking mechanism were both at their highest positions. Each walking mechanism drives the frame down into the field. After the frame is down into the field, each lifting mechanism drives two connecting plates to drive two seedling taking mechanisms to descend synchronously, so that each seedling taking mechanism descends to a preset height. The transplanting depth of each seedling taking mechanism is adjusted by changing the distance between each seedling taking mechanism and the ground. Next, the linear module one drives the long shaft to descend. The long shaft drives the pressure plate frame to rotate downward through the clamping cylinder, and causes the clamping cylinder to move along the through groove towards the linear module two. The long shaft also drives the seedling box assembly to descend through the clamping cylinder, so that the seedling box assembly descends to the preset height two. The seedling picking amount of each seedling picking mechanism is adjusted by changing the height difference between the seedling box assembly and each seedling picking mechanism. When the seedling box assembly descends, it also drives each transfer assembly to rotate downward, and each transfer plate located in the middle of each transfer assembly moves outward, thereby lengthening each transfer assembly. Then, each walking mechanism drives the frame forward in the field. Simultaneously, the linear module two drives the pressure plate frame to reciprocate laterally intermittently. The pressure plate frame drives the seedling box assembly to reciprocate laterally intermittently through the clamps. The controller controls the rotation of the central shafts of the two corresponding seedling-picking arms of each servo motor, thereby driving one seedling-picking claw of each seedling-picking arm to simultaneously pick up seedlings from the corresponding seedling delivery channel, and driving the other seedling-picking claw of each seedling-picking arm to simultaneously plant seedlings into the ground. When the linear module two drives the pressure plate frame to reciprocate laterally intermittently, it also drives the connecting rod one to reciprocate laterally intermittently, and the connecting rod one drives the auxiliary seedling delivery device to reciprocate laterally intermittently. As the frame moves forward, each time one seedling-picking claw of each seedling-picking arm synchronously picks up a seedling from the corresponding seedling delivery channel, the seedling box assembly moves laterally a preset distance, and each time the sensor one detects that there is no seedling at the bottom of the corresponding seedling box base... When the seedlings are being transplanted, once the bottom row of seedlings in each seedling delivery channel is harvested, the drive unit drives the rotating shaft to operate the conveyor belt mechanism. Through the friction between the conveyor belt of each conveyor belt mechanism and the corresponding rice seedling, the rice seedling in each seedling delivery channel is transported vertically downward once. After one seedling picking claw of each seedling picking arm synchronously picks up a seedling from the corresponding seedling delivery channel, the seedling box assembly moves intermittently in the opposite direction. In coordination with the four seedling picking arms to pick up seedlings and transplant, the seedling box assembly moves intermittently in both forward and reverse directions to achieve the transplanting work. During the transplanting process, when sensor 2 detects that there are no seedlings in the middle of the corresponding seedling box base, there are not enough rice seedlings in each seedling delivery channel. The staff places rice seedlings in each seedling delivery channel of the auxiliary seedling delivery device, and the conveyor belt seedling delivery mechanism works to transport each rice seedling along the corresponding transfer assembly to the corresponding seedling delivery channel.

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