Tobacco blanket seedling transplanting device

Abstract

The invention provides a tobacco blanket seedling transplanting device, and belongs to the technical field of tobacco blanket seedling transplanting.The tobacco blanket seedling transplanting device comprises a transplanter body and a transplanting mechanism, the transplanting mechanism is arranged on one side of the transplanter body and rotationally connected with the transplanter body, and the transplanting mechanism is arranged on the other side of the transplanter body and rotationally connected with the transplanter body. The transplanter body is used for providing rotary support for the planting mechanism, and the planting mechanism is used for taking down seedlings from tobacco blanket-shaped seedlings and then planting the seedlings into a farmland; the planting mechanism comprises a planting arm, a planet wheel, a middle wheel, a sun wheel, a planet carrier and a seedling needle; the middle wheel and the planet wheel are sequentially fixed on two sides of the sun wheel; the invention provides a tobacco blanket seedling transplanting device which can solve the problems that according to an existing transplanting device, tobacco seedlings inserted into farmland planting seams are prone to being low in upright degree, planted tobacco seedlings are prone to being knocked over when a planting mechanism rotates, and the survival rate of the tobacco seedlings is low.

Description

Technical Field

[0001] The invention belongs to the technical field of tobacco blanket seedling transplanting, and in particular relates to a tobacco blanket seedling transplanting device. Background Art

[0002] Tobacco is an important economic crop in my country, and the seedling raising link of flue-cured tobacco is the most important link in flue-cured tobacco production. Tobacco blanket seedling raising is a new seedling raising method that matches high-speed mechanical transplanting. It uses flat trays to cultivate tobacco seedlings. After the seedlings are mature, the root system is coiled into a blanket and connected together. The ultimate goal of its seedling raising is to use the operating principle of the rice high-speed transplanter to realize the mechanical transplanting of tobacco seedlings, solve the problems of high cost, low efficiency, and high labor intensity in the tobacco transplanting link, and improve the mechanization level of tobacco transplanting in my country. The earliest use of blanket seedling raising in my country for agricultural production originated from rice. In the 1970s, my country introduced rice tray seedling raising production lines and rice transplanters from Japan, and then developed a series of transplanters on this basis, which solved the technical matching problems of rice seedling raising and transplanting, and played an important role in promoting the development of rice planting mechanization technology in my country. Tobacco blanket seedling raising is similar to rice seedling raising technology. After raising seedlings, transplanting is carried out through a transplanting device to improve planting efficiency.

[0003] The existing transplanting device easily causes the tobacco seedlings inserted into the planting gaps in the farmland to have low uprightness, and the planting mechanism easily knocks down the planted tobacco seedlings when rotating, resulting in a low survival rate of the tobacco seedlings. Summary of the invention

[0004] In view of this, the present invention provides a transplanting device for tobacco blanket seedlings, which can solve the problems that the existing transplanting device easily causes the tobacco seedlings inserted into the planting gaps in the farmland to have low uprightness, the planting mechanism easily knocks down the planted tobacco seedlings when rotating, and the tobacco seedlings have a low survival rate.

[0005] The present invention is achieved in that:

[0006] The present invention provides a transplanting device for tobacco blanket seedlings, which includes a transplanting machine body and a planting mechanism, wherein the planting mechanism is arranged at one side of the transplanting machine body and is rotatably connected to the transplanting machine body, the transplanting machine body is used to provide rotation support for the planting mechanism, and the planting mechanism is used to take seedlings from the tobacco blanket seedlings and plant them in farmland;

[0007] The transplanter body includes a frame, a seedling box, a seedling supporter, a soil covering and pressing assembly, and a trenching wheel. The frame is a frame structure. The seedling box is tilted on the side of the frame close to the planting mechanism and is correspondingly arranged between the planting mechanism. The seedling supporter is fixed to the bottom of the seedling box. The seedling supporter is an arc-shaped structure, including multiple ones corresponding to the number and rotation trajectory of the planting mechanism, and is used to provide support for the seedling removal process during the transplantation of tobacco blanket seedlings to avoid the blanket seedlings from being scattered when they are not in contact with the soil. The structure of the seedling supporter includes three metal sheets at the bottom and both sides. The three-piece structure is integrally connected and fixed to form a closed structure, which is used to adapt to the low-density characteristics of the tobacco blanket seedlings; ditching wheels are fixed on both sides of the middle position of the frame, and the position where the ditching wheels contact the soil is set to a corrugated structure, which is used to widen the width of the ditch to adapt to the characteristics of the large size of the tobacco seedlings; the bracket at the extension of one side of the frame close to the planting mechanism is rotatably connected to the planting mechanism; the other side of the bracket is provided with the soil covering and suppressing assembly, which is used to cover and suppress the soil after the tobacco seedlings are planted to make the planting of the tobacco seedlings more stable;

[0008] The planting mechanism includes a planting arm, a planetary wheel, an intermediate wheel, a sun wheel, a planetary frame and a seedling needle, the sun wheel is sleeved on a rotating shaft extending from the transplanter body to the planting mechanism, the intermediate wheel and the planetary wheel are fixed in sequence at the positions on both sides of the sun wheel, and two groups of the intermediate wheels and the planetary wheels are correspondingly arranged along the center position of the sun wheel; the planting arm is fixed on one side of the planetary wheel, and the seedling needle is fixed on the side of the planting arm away from the planetary wheel; the planetary frame is fixed on the intermediate wheel and the sun wheel on the other side, and the planting arm and the seedling needle are fixed in sequence on the side of the planetary frame away from the intermediate wheel and the sun wheel, the planting arm, the planetary wheel, the intermediate wheel, the sun wheel and the planetary frame are used to drive the two seedling needles to rotate on the same vertical plane so that the seedling needles can realize the operations of taking seedlings and planting; the seedling needle is provided with a groove for taking tobacco blanket seedlings in sequence; the width of the groove is 2.5 cm, which is suitable for the low density characteristics of tobacco blanket seedlings.

[0009] On the basis of the above technical solution, the transplanting device of a tobacco blanket seedling of the present invention can also be improved as follows:

[0010] Wherein, along the rotation direction of the planting mechanism, the center points of one of the planetary wheels, one of the intermediate wheels, the sun wheel, another intermediate wheel and another planetary wheel are all located on the same straight line and are arranged obliquely.

[0011] Furthermore, a seedling pushing rod is provided inside the planting arm, and the seedling pushing rod moves inside the planting arm along the direction of the planting arm to push the tobacco blanket-shaped seedling block from the planting arm to be planted in the farmland;

[0012] A cylinder is arranged inside the planting arm, and an output shaft of the cylinder is fixedly connected to the seedling pushing rod for driving the seedling pushing rod to move.

[0013] Furthermore, the movement process of the planting mechanism and the seedling block during the transplanting of the tobacco blanket seedlings includes five stages:

[0014] The first stage: the migration stage of the seedling block carried by the seedling needle;

[0015] The second stage: the seedling block moves along the seedling pusher;

[0016] The third stage: the seedling block enters the soil stage; from the separation of the seedling block and the seedling push rod to the contact with the soil, during this process, the seedling block moves toward the bottom of the seedling gap along the movement direction of the seedling push rod;

[0017] The fourth stage: the stage of collision and contact between seedlings and soil;

[0018] The fifth stage: the movement stage of seedlings in the planting gaps in the farmland.

[0019] Furthermore, during the transplanting of the tobacco blanket seedlings, the planting mechanism and the seedling blocks move.

[0020] In the first stage, the speed of the seedling mass gradually decreases;

[0021] In the second and third stages, the speed of the seedling block increases rapidly when the seedling pusher is ejected, and the seedling pusher drives the seedling block to move;

[0022] In the fourth stage, when the pushing rod separates from the seedling block, the speed of the seedling block reaches the maximum, and the pushing force disappears. At this time, part of the seedling block is already in the seedling gap, and the seedling block is subject to the friction of the soil on both sides of the planting gap, and the speed decreases rapidly.

[0023] In the fifth stage, the seedling piece continues to move toward the bottom of the seedling gap until it contacts the soil at the bottom of the planting gap. During the contact and collision process between the seedling piece and the soil, the speed of the seedling piece becomes 0.

[0024] Furthermore, after the seedling block collides with the soil, the seedling block rotates around the contact point between the bottom and the soil surface in the planting gap. The seedling block is subjected to the friction resistance formed by the soil on both sides of the planting gap. When the friction resistance is greater than the driving force, the speed of the tobacco seedling gradually decreases to 0 and the tobacco seedling becomes stationary.

[0025] Furthermore, after the seedlings are taken, the angle between the seedling needle and the tobacco seedlings in the tobacco blanket-like seedling block is between 25° and 35°, and the seedling pushing rod pushes the seedlings when the angle between the tobacco seedlings in the taken tobacco blanket-like seedling block is between 55° and 65° inside the planting mechanism.

[0026] Furthermore, the forward speed of the transplanter body is less than 1 m / s, which is used to reduce the horizontal speed of the seedling block to prevent the seedling block from tipping over.

[0027] Furthermore, the forward speed of the transplanter body is 0.713 m / s.

[0028] Furthermore, the angle between the seedling needle and the tobacco seedlings in the tobacco blanket-shaped seedling block is 23.98°, and the seedling pushing rod pushes the tobacco seedlings in the removed tobacco blanket-shaped seedling block at an angle of 63.94° inside the planting mechanism.

[0029] Compared with the prior art, the tobacco blanket seedling transplanting device provided by the present invention has the following beneficial effects:

[0030] Transplanter body: provides rotation support.

[0031] Planting mechanism: installed on one side of the transplanter body, responsible for removing seedlings from the tobacco blanket seedlings and planting them in the farmland.

[0032] Planting arm: used to support the seedling needles and push the seedling blocks.

[0033] Sun gear: It is mounted on the rotating shaft of the transplanter body and provides the center axis for the rotating system.

[0034] Intermediate gear: fixed on both sides of the sun gear and cooperates with the planetary gear for transmission.

[0035] Planetary gear: One side fixes the planting arm, and the other side cooperates with the planetary frame.

[0036] Planetary frame: fixed on the middle wheel on the other side, cooperating with the planting arm and seedling needle to realize the removal and planting of seedling blocks.

[0037] Along the rotation direction of the planting mechanism, the center points of the planetary gear, the intermediate gear and the sun gear are arranged on the same straight line and tilted, thereby optimizing the transmission efficiency and the planting stability.

[0038] Seedling pushing rod: installed inside the planting arm, moves along the direction of the planting arm, and is used to push the seedlings from the planting arm to the farmland.

[0039] Cylinder: connected with the seedling pushing rod, the output shaft of the cylinder drives the seedling pushing rod to move, ensuring the smooth planting of the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0041] Figure 1 It is a structural schematic diagram of a transplanting device for tobacco blanket seedlings;

[0042] Figure 2 A schematic diagram of the specific structure distribution of a tobacco blanket seedling transplanting device;

[0043] Figure 3 It is a structural diagram of the planting mechanism;

[0044] Figure 4 It is a virtual prototype model of the planting mechanism of the tobacco blanket seedling transplanter;

[0045] Figure 5 It is a curve diagram of the horizontal speed of tobacco seedlings in a tobacco blanket-shaped seedling block;

[0046] Figure 6 The effect of different seedling pushing angles on the horizontal velocity of the center of mass of the substrate;

[0047] Figure 7 The effect of different seedling pushing angles on the horizontal velocity of the centroid of tobacco seedlings;

[0048] Figure 8 The influence of different seedling pushing angles on the angle of the seedling block;

[0049] Fig. 9 is the effect of different forward speeds on the horizontal velocity of the center of mass of the substrate;

[0050] Fig.10 The effect of different forward speeds on the horizontal speed of the center of mass of the tobacco seedlings;

[0051] Fig.11 The effect of different forward speeds on the angle of the seedling block;

[0052] Fig.12 It is a schematic diagram of parameter design for early seedling pushing;

[0053] Fig.13 The effect of different seedling pushing timing on the horizontal displacement of the substrate block;

[0054] Fig.14 The influence of different seedling pushing timing on the angle of the seedling block;

[0055] Fig.15 The effect of different seedling pushing timings on the horizontal velocity of the substrate center of mass;

[0056] Fig.16 The effect of different seedling pushing timings on the vertical velocity of the center of mass of the substrate;

[0057] Fig.17 The effect of different seedling pushing timing on the horizontal velocity of the centroid of tobacco seedlings;

[0058] Fig.18 The influence of different seedling pushing timing on the vertical velocity of the centroid of tobacco seedlings;

[0059] Fig.19 It is a relationship diagram between the planting trajectory and the relative position of the planted seedling blocks at different seedling pushing times;

[0060] Fig. 20 It is a schematic diagram of the static trajectory and dynamic trajectory of the planting and dividing mechanism;

[0061] Fig.21 Design an auxiliary analysis system for tobacco blanket seedling planting institutions;

[0062] Fig. 22 This is a schematic diagram of the structural parameters of the mechanism for pushing the seedlings 10 degrees in advance;

[0063] Fig.23 This is a schematic diagram of the structural parameters of the lowest point seedling pushing and planting mechanism;

[0064] Fig.24 Trajectory diagram for simulation analysis;

[0065] Fig.25 This is the actual planting trajectory map;

[0066] Fig.26 This is a comparison chart between the simulation analysis and the actual planting trajectory;

[0067] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0068] 10. Transplanter body; 11. Machine frame; 12. Seedling box; 13. Seedling supporter; 14. Soil covering and pressing assembly; 15. Ditching wheel; 20. Planting mechanism; 21. Planting arm; 22. Planetary gear; 23. Intermediate gear; 24. Sun gear; 25. Planetary frame; 26. Seedling needle. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0070] like Figure 1-3, which is a schematic diagram of the structure of a transplanting device for tobacco blanket seedlings provided by the present invention, includes a transplanting machine body 10 and a planting mechanism 20. The planting mechanism 20 is arranged at one side of the transplanting machine body 10 and is rotatably connected to the transplanting machine body 10. The transplanting machine body 10 is used to provide a rotation support for the planting mechanism 20. The planting mechanism 20 is used to take the seedlings from the tobacco blanket seedlings and plant them in the farmland.

[0071] The transplanter body 10 includes a frame 11, a seedling box 12, a seedling supporter 13, a soil covering and pressing assembly 14, and a trenching wheel 15. The frame 11 is a frame structure. The seedling box 12 is tilted and arranged on one side of the frame 11 close to the planting mechanism 20, and is arranged correspondingly between the planting mechanism 20; the seedling supporter 13 is fixed to the bottom of the seedling box 12. The seedling supporter 13 is an arc-shaped structure, including a plurality of them, corresponding to the number and rotation trajectory of the planting mechanism 20, and is used to provide support for the seedling removal process of the tobacco blanket seedlings during transplantation to avoid the blanket seedlings from being scattered when they are not in contact with the soil; the structure of the seedling supporter 13 includes a bottom and two sides together Three metal sheets are integrally connected and fixed to form a closed structure, which is used to adapt to the low-density characteristics of tobacco blanket seedlings; trenching wheels 15 are fixed on both sides of the middle position of the frame 11, and the position where the trenching wheels 15 contact the soil is set to a corrugated structure, which is used to widen the width of the trench to adapt to the characteristics of the large size of the tobacco seedlings; the frame 11 is extended near the planting mechanism 20, and the bracket is rotatably connected to the planting mechanism 20; the other side of the bracket is provided with a soil covering and suppressing component 14, which is used to cover and suppress the soil after the tobacco seedlings are planted to make the planting of the tobacco seedlings more stable;

[0072] The planting mechanism 20 includes a planting arm 21, a planetary gear 22, an intermediate gear 23, a sun gear 24, a planetary frame 25 and a seedling needle 26. The sun gear 24 is sleeved on a rotating shaft extending from the transplanter body 10 to the planting mechanism 20. The intermediate gear 23 and the planetary gear 22 are fixed to the two sides of the sun gear 24 in sequence. Two sets of intermediate gears 23 and planetary gears 22 are correspondingly arranged along the center of the sun gear 24. A planting arm 21 is fixed on one side of the planetary gear 22, and a seedling needle 26 is fixed on the side of the planting arm 21 away from the planetary gear 22; the intermediate gear 23 and the planetary gear 22 are fixed on the other side of the sun gear 24. A planet carrier 25 is fixed on the intermediate wheel 23 and the sun wheel 24. A planting arm 21 and a seedling needle 26 are fixed in sequence on the side of the planet carrier 25 away from the intermediate wheel 23 and the sun wheel 24. The planting arm 21, the planetary wheel 22, the intermediate wheel 23, the sun wheel 24 and the planet carrier 25 are used to drive the two seedling needles 26 to rotate on the same vertical plane so that the seedling needles 26 can perform seedling picking and planting operations; the seedling needle 26 is provided with a groove for picking the tobacco blanket seedlings in sequence; the width of the groove is 2.5 cm, which is suitable for the low density characteristics of the tobacco blanket seedlings.

[0073] During the planting process of tobacco blanket seedlings, the seedlings are controlled throughout the whole process. During the transportation stage, the seedlings are clamped and move along the movement trajectory of the seedling needles. For this purpose, a kinematic model of the planting mechanism is established to explore the movement trajectory, speed and acceleration change laws of the seedling needles, providing a theoretical basis for the subsequent analysis of the interaction mechanism of the seedling needles clamping the seedlings and the movement state of the seedlings during the transportation stage.

[0074] The relative motion velocity equation of the tip E of the seedling needle 26 is:

[0075]

[0076] The motion acceleration equation of the tip E of the seedling needle 26 is:

[0077]

[0078] The displacement equation of the motion trajectory of the tip E of the seedling needle 26 is:

[0079]

[0080] The motion velocity equation of the tip E of the seedling needle 26 is:

[0081]

[0082] The motion acceleration equation of the tip E of the seedling needle 26 is:

[0083]

[0084] Static trajectory parameters of the tip E of the seedling needle 26:

[0085]

[0086] Where i represents the radius of the major axis of the elliptical gear pitch curve, mm;

[0087] α H represents the initial installation angle of the planet carrier 25 (with respect to the x-axis), rad;

[0088] represents the rotation angle of the planet carrier 25, rad;

[0089] Indicates the swing angle of the planetary gear, rad;

[0090] represents the rotation angle of the sun gear, rad;

[0091] α0 represents the installation angle between the planting arm 21 and the planetary frame 25, rad;

[0092] S-the length between the tip E of the seedling needle 26 and the rotation center of the planetary gear, mm;

[0093] i 3H Express the transmission ratio of the planetary gear to the planetary carrier:

[0094] m represents the gear module;

[0095] z represents the number of gear teeth;

[0096] k represents the eccentricity of the gear;

[0097] w represents the planet carrier speed;

[0098] H represents the planting distance;

[0099] Table 1: Parameters affecting the static trajectory of the planting mechanism

[0100] Parameter variables meaning k Gear eccentricity m Gear module z Number of gear teeth S The length between the tip E of the seedling needle 26 and the center of rotation of the planetary gear 22 is <![CDATA[α H ]]> Installation angle of planet carrier 25 (with x-axis) H Plant spacing <![CDATA[α0]]> Installation angle of planting arm 21 and planetary frame 25 w Planet carrier 25 speed

[0101] like Figure 3 As shown in the figure, the rigid-flexible coupling dynamic simulation modeling is carried out, and the planetary frame speed is set to 20 rad / s and the plant spacing is 16 cm. After the seedlings are taken, the matrix block fills the inside of the seedling needle. During the movement of the seedling block with the seedling needle, there is adhesion and friction between the seedling needle and the matrix block. The matrix block is flexibly processed by RecurDyn, and Fsurface-Surface contact is applied between the seedling push rod, the seedling needle and the matrix block. The surface load between the matrix block, the seedling push rod and the seedling needle is set by Pressure to simulate adhesion and friction. When the seedling needle moves to the lowest point of the trajectory, the seedling push rod pops out to push the seedling block into the planting gap. Fsurface-Surface contact is applied between the matrix block and the soil. The surface load between the matrix block and the soil is set by Pressure to simulate lateral pressure to form friction between the soil in the planting gap and the matrix block. The parameter settings of the tobacco blanket seedlings, matrix blocks, seedling needles and seedling push rods of the planting mechanism are shown in Table 2.

[0102] Table 2: Material property settings

[0103]

[0104] Among them, in the above technical solution, along the rotation direction of the planting mechanism 20, the center points of one planetary gear 22, one intermediate gear 23, the sun gear 24, another intermediate gear 23 and another planetary gear 22 are all located on the same straight line and are inclined.

[0105] Further, in the above technical solution, a seedling pushing rod is provided inside the planting arm 21, and the seedling pushing rod moves inside the planting arm 21 along the direction of the planting arm 21, and is used to push the tobacco blanket seedling block from the planting arm 21 to be planted in the farmland;

[0106] A cylinder is arranged inside the planting arm 21, and an output shaft of the cylinder is fixedly connected to the seedling pushing rod for driving the seedling pushing rod to move.

[0107] Furthermore, in the above technical solution, the movement process of the planting mechanism 20 and the seedling block during the transplanting of the tobacco blanket seedlings includes five stages:

[0108] The first stage: the migration stage of the seedling block carried by the seedling needle 26;

[0109] The second stage: the seedling block moves along the seedling pusher;

[0110] The third stage: the seedling block enters the soil stage; from the separation of the seedling block and the seedling push rod to the contact with the soil, during this process, the seedling block moves toward the bottom of the seedling gap along the movement direction of the seedling push rod;

[0111] The fourth stage: the stage of collision and contact between seedlings and soil;

[0112] The fifth stage: the movement stage of seedlings in the planting gaps in the farmland.

[0113] The movement of the tobacco seedlings is expressed by the changes in movement in the horizontal direction. Therefore, the horizontal velocity of the center of mass of the tobacco seedlings in the simulation is mainly extracted, and the horizontal velocity of the center of mass of the matrix block (force point) is combined to study the movement change law of the seedling block. The angle between the seedling block and the horizontal direction during the movement is measured to study the posture change law of the seedling block, and the screenshots of the nodes in each stage are extracted to compare and analyze the movement differences of the seedling block.

[0114] like Figure 4 As shown, further, in the above technical solution, during the movement of the planting mechanism 20 and the seedling block during the transplanting of the tobacco blanket seedlings,

[0115] In the first stage, the speed of the seedling mass gradually decreases;

[0116] In the second and third stages, the speed of the seedling block increases rapidly when the seedling pusher is ejected, and the seedling pusher drives the seedling block to move;

[0117] In the fourth stage, when the pushing rod separates from the seedling block, the speed of the seedling block reaches the maximum, and the pushing force disappears. At this time, part of the seedling block is already in the seedling gap, and the seedling block is subject to the friction of the soil on both sides of the planting gap, and the speed decreases rapidly.

[0118] In the fifth stage, the seedling piece continues to move toward the bottom of the seedling gap until it contacts the soil at the bottom of the planting gap. During the contact and collision process between the seedling piece and the soil, the speed of the seedling piece becomes 0.

[0119] Furthermore, in the above technical scheme, after the seedling block collides with the soil, the seedling block rotates around the contact point between the bottom and the soil surface in the planting gap. The seedling block is subjected to the friction resistance formed by the soil on both sides of the planting gap. When the friction resistance is greater than the driving force, the speed of the tobacco seedling gradually decreases to 0 and the tobacco seedling becomes stationary.

[0120] Before the seedling block is separated from the seedling needle, the seedling block is in fully controlled motion. The planting mechanism can change the motion (speed) and posture (angle) of the seedling block before pushing the seedling. Therefore, the influence of different motions and postures of the seedling block before pushing the seedling on the motion of the seedling block in the planting seam is studied through simulation, and an optimization strategy for the trajectory and operating parameters of the planting mechanism is proposed.

[0121] A simulation test of tobacco blanket seedling planting at different seedling pushing angles in the range of 50° to 80° was carried out. In the test, the seedling block was set to deviate from the seedling needle by 30°, and the angles between the seedling block and the ground were 80°, 90°, 100°, and 110°, respectively. The movement process of the seedling block obtained by simulation was used to analyze the movement of the seedling block after it was pushed into the soil in different postures. The horizontal velocity change curves of the center of mass of the substrate block and the center of mass of the tobacco seedlings during the planting process, as well as the angle change curve of the seedling block, were measured.

[0122] like Figure 5-7 As shown in the figure, the angle change curve of the seedling block shows that when the seedlings are pushed at 50-60 degrees, the final angle between the seedling block and the ground is about 90 degrees ± 5 degrees. As the pushing angle increases, the angle between the seedling block and the ground decreases, and the more it tilts forward, the seedling block will overturn when the seedlings are pushed at 80 degrees. Summarizing the analysis results: The posture of the seedling block when pushing the seedlings has an important influence on the final upright effect after entering the soil. The more backward the seedling block posture is when pushing the seedlings, the less likely it is to overturn forward after entering the soil, but the stability of the seedling block is worse. The angle of the seedling block when entering the soil should be less than 90 degrees, and the more vertical it is to the ground, the better. The larger the contact area with the soil when entering the soil, the better the upright effect. Since the angle between the tobacco seedlings and the seedling needles is about 25-35 degrees after taking the seedlings, the pushing angle should be between 55-65 degrees.

[0123] like Figure 8-10 As shown in the figure, the speed of the seedling block in the horizontal direction increases before pushing the seedlings. The faster the speed of the seedling block changes during pushing, the greater the peak speed after pushing. The speed of the matrix block drops to 0 after contacting the soil, and a small forward slip occurs when the forward speed is the largest. The greater the speed of the seedling block in the horizontal direction before pushing the seedling, the greater the speed of the tobacco seedling when contacting the soil, and the greater the increase in the speed of the tobacco seedling during the collision. When the forward speed is greater than 1m / s, the seedling block turns over. This shows that when designing the planting trajectory, it is necessary to consider the speed of the seedling block in the horizontal direction when pushing the seedling. The greater the speed of the seedling block in the horizontal direction, the easier it is for the seedling block to turn over. The smaller the forward speed, the better.

[0124] By changing the forward speed of the machine, different horizontal speeds of the seedling block before pushing the seedlings are obtained, and the other movement and posture parameters of the seedling block remain unchanged. Based on the walking speed of the machine in actual production, the dynamic simulation of the planting process at different forward speeds of 0.6m / s to 1.2m / s was carried out to study the influence of the speed of the seedling block before pushing the seedlings on the movement and posture of the seedling block.

[0125] Furthermore, in the above technical solution, after the seedlings are taken, the angle between the seedling needle 26 and the tobacco seedlings in the tobacco blanket-like seedling block is between 25° and 35°, and the seedling pushing rod pushes the seedlings inside the planting mechanism 20 when the angle between the tobacco seedlings in the tobacco blanket-like seedling block that has been taken is between 55° and 65°.

[0126] Furthermore, in the above technical solution, the forward speed of the transplanter body 10 is less than 1 m / s, which is used to reduce the speed of the seedling block in the horizontal direction to prevent the seedling block from tipping over.

[0127] Furthermore, in the above technical solution, the forward speed of the transplanter body 10 is 0.713 m / s.

[0128] Furthermore, in the above technical solution, the angle between the seedling needle 26 and the tobacco seedlings in the tobacco blanket-like seedling block is 23.98°, and the seedling pushing rod pushes the tobacco seedlings in the removed tobacco blanket-like seedling block at an angle of 63.94° inside the planting mechanism 20.

[0129] Since tobacco seedlings begin to branch from the main root stem at a height of about 1 cm on the seedling piece, the seedling needle is more likely to contact the root neck of the planted tobacco seedlings during the return journey, causing the tobacco seedlings to fall over. Therefore, it is proposed to change the timing of pushing the seedlings, that is, to push the seedlings in advance to increase the horizontal distance between the return seedling needle 26 and the planted tobacco seedlings to avoid interference between the seedling needle and the seedling block. The influence of the seedling pushing timing on the movement and posture of the seedling block is studied through simulation. Based on the rotation angle of the planetary frame 25 at the lowest point of the trajectory, the planetary frame 25 is pushed 10° and 20° in advance respectively. The velocity change curves of the center of mass of the matrix block and the center of mass of the tobacco seedlings in the x and y directions, the change curve of the angle between the seedling block and the ground, and the change curve of the horizontal movement trajectory of the seedling block are measured and calculated.

[0130] like Figure 11-18As shown in the figure, through simulation test analysis, when the seedlings are pushed 10° and 20° in advance, the horizontal distance between the seedling block and the seedling needle increases by 6mm and 4mm respectively. When the seedlings are pushed 10° in advance, the horizontal speed of the tobacco seedling mass center increases slightly, and the final angle between the seedling block and the ground is about 83°. When the seedlings are pushed 20° in advance, the horizontal speed of the tobacco seedling mass center increases significantly. After entering the soil, the seedling block flips forward to the next seedling retrieval, and the angle between the seedling block and the ground is about 75.7°. It is found through the simulation process that if the seedlings are pushed too early, the seedling needle continues to move downward after the seedling block falls into the planting gap, causing secondary squeezing of the seedling piece. Therefore, the horizontal distance between the seedling block and the return seedling needle can be increased by pushing the seedlings in advance, so that the seedling needle does not touch the root neck of the tobacco seedlings during the return, and the interference between the seedling needle and the tobacco seedlings during the return is reduced.

[0131] The plant spacing for transplanting tobacco blanket seedlings is generally 400mm-500mm, and the most commonly used are 450mm and 550mm. In this paper, H=3300mm, w=14rad / s, and the relationship between the forward speed of the machine, plant spacing, and rotation speed is calculated to be v=H*w / π, and v=0.713m / s is calculated.

[0132] like Fig.19 As shown in the figure, based on the biological characteristics of tobacco seedlings, it is proposed that the tobacco blanket seedling transplanting and planting mechanism must meet the following kinematic objectives: seedling picking angle, seedling pushing angle, interference between seedling needles and planted tobacco seedlings, interference between the planetary frame and planted tobacco seedlings, trajectory height difference, return ring position, return slope, and trajectory shape.

[0133] like Fig. 20 As shown in the figure, the GUI in MATLAB software constructs the design auxiliary analysis system of the planting mechanism of the elliptical gear planetary gear system of the tobacco blanket seedling. The system can draw the static trajectory and dynamic trajectory of the planting mechanism by adjusting the parameters that affect the trajectory of the planting mechanism, dynamically display the walking process of the seedling needle, display the seedling picking angle, seedling pushing angle, seedling pushing angle difference, trajectory height, seedling needle angle, return trajectory and the status of the planted tobacco seedlings and other index parameters, and can also be used to study the speed of each position of the tobacco seedlings during the migration process and the angle change of the tobacco seedlings.

[0134] like Figure 21-22 As shown in the figure, based on the trajectory of the rice transplanter's planting mechanism, the planting mechanism trajectory was optimized through the human-computer interaction method, and a motion trajectory suitable for the transplanting of tobacco blanket seedlings was designed.

[0135] It can be seen from the static trajectory that the bottom ring curve is rounded, and the seedling pushing timing is set to the lowest point trajectory with the planetary frame angle rotated forward 10° as the seedling pushing position point. Under this parameter, the seedling pushing angle is 63.94° and the seedling taking angle is 23.98°. Figure 21-22It can be seen that the objective functions all meet the design requirements. Under the condition of 330mm plant spacing, the return loop bypasses the tobacco seedlings and necks, which is not easy to damage the roots of the tobacco seedlings and will not knock down the planted tobacco seedlings. Compared with the rice transplanting trajectory, the uprightness of the return trajectory is greatly increased, which is suitable for the transplanting of tobacco blanket seedlings. However, the only shortcoming is that due to the limitation of the shell and the size of the planting arm, the optimized trajectory is more likely to knock down the planted tobacco seedlings when the planetary frame rotates when the plant spacing is greater than 350mm and the seedlings are planted at a small plant spacing.

[0136] The optimized gears were assembled and subjected to dynamic simulation in ADAMS. After processing, indoor tests were conducted, and a video of the planting mechanism rotating for one cycle was recorded. The walking trajectory of the seedling needle tip was drawn using ProAnalyst high-speed photography analysis software and compared with the trajectory obtained by theoretical analysis. Figure 23-25 It can be seen that the MATLAB theoretical analysis trajectory curve is highly consistent with the actual curve, thus verifying the correctness of the designed model.

[0137] Table 3: Parameters affecting the static trajectory of the planting mechanism

[0138]

[0139] According to the operational requirements of high-speed mechanical transplanting of tobacco seedlings, as well as the complex operating scenarios and diverse soil types of tobacco mechanical transplanting, and in accordance with the principles of reducing working procedures, high-speed transplanting, and efficient survival, we have researched and innovated the tobacco seedling transplanting method of "rotary cutting to open the seam, protecting the seedlings in the seam, and closing the seam to suppress it", and designed a motor-driven vertical and horizontal seedling delivery system with a large seedling quantity and a small seedling retrieval error; optimized the parameters of the driven ridge-contacting corrugated disk and the wedge-shaped seedling protector, so that the tobacco seedlings are controlled throughout the process and the seedling standing performance is better; constructed transplanting technology models such as ridge-type furrow film covering transplanting and flat ridge film-free transplanting to achieve deep planting in the trough and mulching.

[0140] Specifically, the principle of the present invention is: when in use, adjust the angle and position of the planting mechanism to ensure that the contact angle with the seedling block is between 25° and 35°; set the angle of the seedling pushing rod between 55° and 65° to smoothly push the seedling block; set the forward speed to ensure that the forward speed of the transplanter is less than 1m / s, generally 0.713m / s.

[0141] Start the transplanter body and check whether the forward speed and rotation system are operating normally. Place the tobacco blanket seedlings in the designated area of ​​the planting mechanism to ensure that the seedling blocks can enter the device smoothly. Start the transplanting program and the device will start to remove the seedlings from the seedling blanket. The planting mechanism will remove the seedling blocks through the seedling needles and push them to the planting position through the seedling pusher. According to the set angle and speed changes, ensure that the seedling blocks can enter the soil smoothly and finally stop in the planting gap.

Claims

1. A tobacco blanket seedling transplanting device, characterized in that: The invention comprises a transplanter body (10) and a planting mechanism (20), wherein the planting mechanism (20) is arranged at one side of the transplanter body (10) and is rotatably connected to the transplanter body (10), the transplanter body (10) is used to provide rotation support for the planting mechanism (20), and the planting mechanism (20) is used to remove seedlings from tobacco blanket seedlings and plant them in farmland; The transplanter body (10) comprises a frame (11), a seedling box (12), a seedling supporter (13), a soil covering and pressing assembly (14) and a furrowing wheel (15); the frame (11) is a frame structure; the seedling box (12) is arranged obliquely on a side of the frame (11) close to the planting mechanism (20) and is arranged correspondingly between the planting mechanism (20); the seedling supporter (13) is fixed to the bottom of the seedling box (12); the seedling supporter (13) is an arc-shaped structure, comprising a plurality of devices corresponding to the number and rotation trajectory of the planting mechanism (20), and is used to provide support for the seedling removal process of the tobacco blanket seedlings during transplantation to prevent the blanket seedlings from being scattered when they are not in contact with the soil; the seedling supporter (13) The structure comprises three metal sheets at the bottom and two sides, the three sheets being connected and fixed as a whole to form a closed structure, which is used to adapt to the low-density characteristics of the tobacco blanket seedlings; groove opening wheels (15) are fixed on both sides of the middle position of the frame (11), and the position where the groove opening wheels (15) contact the soil is set as a corrugated structure, which is used to widen the width of the groove to adapt to the characteristics of the large size of the tobacco seedlings; the frame (11) is extended at one side close to the planting mechanism (20) and is rotatably connected to the planting mechanism (20); the other side of the bracket is provided with the soil covering and suppressing assembly (14), which is used to cover and suppress the soil after the tobacco seedlings are planted so as to make the planting of the tobacco seedlings more stable; The planting mechanism (20) comprises a planting arm (21), a planetary gear (22), an intermediate gear (23), a sun gear (24), a planetary frame (25) and a seedling needle (26); the sun gear (24) is sleeved on a rotating shaft extending from the transplanter body (10) to the planting mechanism (20); the intermediate gear (23) and the planetary gear (22) are fixed in sequence at positions on both sides of the sun gear (24); two groups of the intermediate gear (23) and the planetary gear (22) are correspondingly arranged along the center position of the sun gear (24); the planting arm (21) is fixed on one side of the planetary gear (22); the seedling needle (26) is fixed on the side of the planting arm (21) away from the planetary gear (22); and the seedling needle (26) is fixed on the other side of the planting arm (21) The planet carrier (25) is fixed on the intermediate wheel (23) and the sun wheel (24) on the side thereof; the planting arm (21) and the seedling needle (26) are fixed in sequence on the side of the planet carrier (25) away from the intermediate wheel (23) and the sun wheel (24); the planting arm (21), the planet wheel (22), the intermediate wheel (23), the sun wheel (24) and the planet carrier (25) are used to drive the two seedling needles (26) to rotate on the same vertical plane so that the seedling needles (26) can perform seedling picking and planting operations; the seedling needles (26) are provided with slots for picking tobacco blanket seedlings in sequence; the slots have a width of 3.5 cm and are used to adapt to the low density characteristics of tobacco blanket seedlings.

2. A tobacco blanket seedling transplanting device according to claim 1, characterized in that: Along the rotation direction of the planting mechanism (20), the center points of one of the planetary wheels (22), one of the intermediate wheels (23), the sun wheel (24), another intermediate wheel (23) and another planetary wheel (22) are all located on the same straight line and are arranged obliquely.

3. A tobacco blanket seedling transplanting device according to claim 2, characterized in that: A seedling pushing rod is arranged inside the planting arm (21), and the seedling pushing rod moves inside the planting arm (21) along the direction of the planting arm (21) to push the tobacco blanket-shaped seedling block from the planting arm (21) to be planted in the farmland; A cylinder is arranged inside the planting arm (21), and an output shaft of the cylinder is fixedly connected to the seedling pushing rod for driving the seedling pushing rod to move.

4. A tobacco blanket seedling transplanting device according to claim 3, characterized in that: The movement process of the planting mechanism (20) and the seedling block during the transplanting of the tobacco blanket seedlings includes five stages: The first stage: the migration stage of the seedling block carried by the seedling needle (26); The second stage: the seedling block moves along the seedling pusher; The third stage: the seedling block enters the soil stage; from the separation of the seedling block and the seedling push rod to the contact with the soil, during this process, the seedling block moves toward the bottom of the seedling gap along the movement direction of the seedling push rod; The fourth stage: the stage of collision and contact between seedlings and soil; The fifth stage: the movement stage of seedlings in the planting gaps in the farmland.

5. The tobacco blanket seedling transplanting device according to claim 4, characterized in that: During the transplanting process of the tobacco blanket seedlings, the planting mechanism (20) and the seedling blocks move. In the first stage, the speed of the seedling mass gradually decreases; In the second and third stages, the speed of the seedling block increases rapidly when the seedling pusher is ejected, and the seedling pusher drives the seedling block to move; In the fourth stage, when the pushing rod separates from the seedling block, the speed of the seedling block reaches the maximum, and the pushing force disappears. At this time, part of the seedling block is already in the seedling gap, and the seedling block is subject to the friction of the soil on both sides of the planting gap, and the speed decreases rapidly. In the fifth stage, the seedling piece continues to move toward the bottom of the seedling gap until it contacts the soil at the bottom of the planting gap. During the contact and collision process between the seedling piece and the soil, the speed of the seedling piece becomes 0.

6. A tobacco blanket seedling transplanting device according to claim 5, characterized in that: After the seedling block collides with the soil, it rotates around the contact point between the bottom and the soil surface in the planting gap. The seedling block is subjected to the friction resistance formed by the soil on both sides of the planting gap. When the friction resistance is greater than the driving force, the speed of the tobacco seedling gradually decreases to 0 and the tobacco seedling becomes stationary.

7. A tobacco blanket seedling transplanting device according to claim 6, characterized in that: After the seedlings are taken, the angle between the seedling needle (26) and the tobacco seedlings in the tobacco blanket-shaped seedling block is between 25° and 35°, and the seedling pushing rod pushes the seedlings inside the planting mechanism (20) when the angle between the tobacco seedlings in the taken tobacco blanket-shaped seedling block is between 55° and 65°.

8. The tobacco blanket seedling transplanting device according to claim 7, characterized in that: The forward speed of the transplanter body (10) is less than 1 m / s, and is used to reduce the speed of the seedling block in the horizontal direction to prevent the seedling block from tipping over.

9. The tobacco blanket seedling transplanting device according to claim 8, characterized in that: The forward speed of the transplanter body (10) is 0.713 m / s.

10. A tobacco blanket seedling transplanting device according to claim 9, characterized in that: The angle between the seedling needle (26) and the tobacco seedlings in the tobacco blanket-shaped seedling block is 23.98°, and the seedling pushing rod pushes the tobacco seedlings in the tobacco blanket-shaped seedling block that have been removed inside the planting mechanism (20) at an angle of 63.94°.

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