Chinese yam planting machine

Abstract

The invention relates to the technical field of Chinese yam planting, in particular to a Chinese yam planting machine. A ditching assembly, a film laying assembly, a fertilizing assembly, a seeding assembly and an earthing assembly of the Chinese yam planter are sequentially connected with a main frame in a preset direction; the ditching assembly is used for forming a groove in the ground in the preset direction. The film laying assembly is used for laying a mulching film into the groove in the preset direction; the fertilizing assembly is used for uniformly applying a fertilizer to the surface of the mulching film; the seeding assembly is used for seeding Chinese yam seeds into the grooves, and the Chinese yam seeds extend in the preset direction and are arranged at intervals; the soil covering assembly is used for filling soil on the two sides of the groove into the groove. According to the Chinese yam planting machine, manual operation is replaced by mechanical operation for seeding, the seeding quality and the seeding efficiency can be improved, the labor intensity and the labor cost are reduced, traditional vertical planting is replaced by longitudinal planting in a horizontal plane, the harvesting difficulty of mature oxtail Chinese yams is reduced, and the harvesting quality and the yield are improved.

Description

Technical Field

[0001] The invention relates to the technical field of yam planting, in particular to a yam planting machine. Background Art

[0002] Oxtail yam (also known as poisonous yam, halberd leaf yam, etc.) is a natural edible and medicinal plant that mainly grows in subtropical areas. The traditional planting method is similar to other yam crops, which are planted vertically on the ground, and the growth direction of the seeds is vertical to the ground.

[0003] The national planting area of ​​yam is more than 81,100 hectares. Due to the special growth environment and growth characteristics of yam, the development of mechanized planting has always been at a bottleneck. The traditional manual sowing method is inefficient and has high planting and harvesting costs. The axial size of mature yams is large, and the vertically planted yams grow deep underground, which makes it difficult to ensure the complete harvest of yam fruits, affecting the harvesting quality and economic benefits, and cannot meet the market demand. Although some domestic companies have made some progress in the mechanized planting of yams in recent years, the method is limited to manual sowing after the machine opens the grooves, and true mechanization has not been achieved. There are too large mechanical equipment on the market, which is only suitable for the plains in the north and is only used for the harvest of yams. In the southern hilly and mountainous areas where yam is planted, the situation of mechanized operation is severe. At present, the yam planting market urgently needs a special yam sowing machine with a compact size, easy operation and integrated functions.

[0004] However, due to differences in terrain, planting patterns and agronomy, there are no multifunctional agricultural machinery for yam planting in hilly and mountainous areas such as Yunnan, Sichuan and Hubei. At present, the yam planting machine market urgently needs a special yam sowing machine with compact size, easy operation, integrated functions and strong adaptability. Summary of the invention

[0005] The purpose of the present invention includes providing a yam planting machine, which realizes the functions of furrowing, film laying, fertilizing, sowing and covering with soil by mechanized operation, instead of manual operation for sowing, and has significant advantages in improving sowing quality, sowing efficiency, reducing labor intensity and labor costs, etc., and replaces traditional vertical planting with longitudinal planting in a horizontal plane, which is more conducive to reducing the difficulty of harvesting mature oxtail yams and improving the harvest quality and yield.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] The present invention provides a yam planting machine, which comprises a main frame, a walking wheel set, a ditching assembly, a film laying assembly, a fertilizing assembly, a seed planting assembly and a soil covering assembly;

[0008] The walking wheel set is connected to the main frame to drive the main frame to move along a preset direction; the ditching assembly, the film laying assembly, the fertilizing assembly, the seeding assembly and the soil covering assembly are connected to the main frame in sequence along the preset direction;

[0009] Among them, the trenching component is used to open a trench on the ground along a preset direction; the film laying component is used to lay the ground film in the trench along a preset direction; the fertilization component is used to evenly apply fertilizer to the surface of the ground film; the seeding component is used to plant yam seeds in the trench, and the yam seeds extend along the preset direction and are arranged at intervals; the soil covering component is used to fill the soil on both sides of the trench into the trench.

[0010] In an optional embodiment, the traveling wheel assembly includes traveling units distributed around the main frame, and each traveling unit includes a roller frame, a roller, and a traveling motor;

[0011] The roller frame is connected to the main frame, the roller is rotatably connected to the roller frame, and the travel motor is connected to the roller frame and is used to drive the roller frame to rotate.

[0012] In an optional embodiment, the roller frame includes a motor connection seat, a bottom guard plate, a side plate, a first elastic member and four suspension plates;

[0013] The travel motor is connected to the motor connection seat; the bottom guard plate is hinged to the motor connection seat and the side plate; the two ends of the first elastic member are respectively hinged to the motor connection seat and the side plate; the two suspension plates are distributed on both sides of the bottom guard plate, and the two suspension plates on the same side are arranged in parallel and at intervals;

[0014] The connecting seat, the side plate and the suspension plate together form a quadrilateral connecting rod mechanism.

[0015] In an optional embodiment, each walking unit further includes walking unit guard plates arranged on both sides thereof, and the walking unit guard plates are connected to the bottom guard plate and the side plates;

[0016] Among them, an arc-shaped connecting hole is configured at the connection between the walking unit guard plate and the side plate, and the arc-shaped connecting hole is used to accommodate a connecting piece connecting the walking unit guard plate and the side plate.

[0017] In an optional embodiment, the trenching assembly includes a first connecting rod, a second connecting rod, a third connecting rod, a trenching knife, a trenching motor and a worm drive unit;

[0018] The first connecting rod and the second connecting rod are both hinged to the main frame, and the first connecting rod and the second connecting rod are spaced apart along a preset direction at a hinge on the main frame;

[0019] The two ends of the third connecting rod are respectively hinged to the end of the first connecting rod and the middle of the second connecting rod; the trenching knife is connected to the second connecting rod;

[0020] The trenching motor is connected to the main frame and is connected to the first connecting rod through a worm gear unit. The trenching motor is used to drive the first connecting rod to rotate relative to the main frame through the worm gear unit, and then drive the second connecting rod to rotate relative to the main frame through the third connecting rod.

[0021] In an optional embodiment, the film laying assembly includes a film rolling frame and a film pressing frame; the film rolling frame is connected to the main frame and is used to roll up or release the ground film;

[0022] The film pressing frame comprises a rotating shaft, a first connecting clamp, a guide shaft, a movable shaft, a film pressing shaft, a second connecting clamp, a film pressing wheel and a second elastic member;

[0023] The rotating shaft is rotatably connected to the main frame; the guide shaft is connected to the rotating shaft through a first connecting clamp, and the axis of the guide shaft is perpendicular to the rotating shaft; the movable shaft is movably connected to the guide shaft along the axis of the guide shaft; the film pressing shaft is connected to the movable shaft through a second connecting clamp, and the axis of the film pressing shaft is parallel to the axis of the rotating shaft; the film pressing wheel is connected to the film pressing shaft and is used to press the ground film in the direction of the ground or the groove;

[0024] The second elastic member is sleeved on the guide shaft and is used to make the movable shaft have a tendency to move along the axial direction of the guide shaft toward one side of the film pressing shaft to press the ground film.

[0025] In an optional embodiment, the fertilization assembly includes a fixed platform, a fertilizer storage bin, a crank movable mechanism, and a working motor;

[0026] The fixed platform is connected to the main frame, and the fixed platform is provided with a guide groove in a direction perpendicular to the preset direction; the bottom of the fertilizer storage bin is movably connected to the guide groove through a roller rotatably connected to the bottom of the bin, and the bottom of the fertilizer storage bin is provided with a fertilizer outlet in an array;

[0027] The working motor is connected to the main frame and is connected to the fertilizer storage bin through a crank movable mechanism. The working motor is used to drive the bottom of the fertilizer storage bin to reciprocate relative to the guide groove in a direction perpendicular to a preset direction through the crank movable mechanism, thereby evenly applying fertilizer to the ground film below.

[0028] In an optional embodiment, the seed placement assembly includes a seed storage bin, a gear box, and at least one seed placement roller;

[0029] The seed storage bin and the gear box are connected to the main frame, and the gear box is connected to the working motor by transmission;

[0030] The unloading roller is rotatably connected to the main frame, is located directly below the seed outlet of the seed storage bin, and is transmission-connected to the gear box;

[0031] The working motor is used to drive the unloading roller to rotate through the gear box, and then the yam seeds in the seed storage bin are discharged in sequence.

[0032] In an optional embodiment, the seeding assembly includes two feeding rollers arranged side by side, both feeding rollers are connected to the gear box in a transmission manner, and the two feeding rollers obtain different rotation speeds through different transmission routes under the driving action of the working motor, and the rotation directions are opposite;

[0033] Among them, the outer periphery of each feeding roller is provided with two receiving grooves spaced around its axial direction. The receiving groove is used to receive the yam seeds discharged from the seed outlet when it rotates to a position opposite to the seed outlet, and to plant the received yam seeds into the groove when it rotates to a position facing the ground.

[0034] In an optional embodiment, the covering assembly includes a mounting frame, a rotating rod, a covering seat, a push rod motor, and two covering discs;

[0035] The mounting frame is connected to the main frame, the rotating rod is rotatably connected to the mounting frame, the soil covering seat is hinged to the rotating rod, two soil covering plates are connected to the soil covering seat at intervals, the push rod motor is connected to the mounting frame, and its movable end is connected to the driving shaft with the rotating rod, and the driving shaft is slidably matched with the strip hole opened on the rotating rod;

[0036] The push rod motor is used to drive the rotating rod to rotate through the driving shaft, thereby making the two covering plates contact with the ground or leave the ground.

[0037] The beneficial effects of the yam planting machine provided by the embodiment of the present invention include:

[0038] The yam planting machine includes a main frame, a walking wheel group, a trenching assembly, a film-laying assembly, a fertilizing assembly, a seeding assembly and a soil covering assembly; the walking wheel group is connected to the main frame to drive the main frame to move along a preset direction; the trenching assembly, the film-laying assembly, the fertilizing assembly, the seeding assembly and the soil covering assembly are sequentially connected to the main frame along the preset direction; wherein the trenching assembly is used to open a trench on the ground along a preset direction; the film-laying assembly is used to lay ground film in the trench along the preset direction; the fertilizing assembly is used to evenly apply fertilizer to the surface of the ground film; the seeding assembly is used to plant yam seeds in the trench, and the yam seeds extend along the preset direction and are arranged at intervals; the soil covering assembly is used to fill the soil on both sides of the trench into the trench. The yam planting machine uses mechanized operations to realize functions such as furrowing, film laying, fertilizing, sowing and soil covering, replacing manual sowing operations. It has significant advantages in improving sowing quality, sowing efficiency, reducing labor intensity and labor costs, etc. Moreover, it replaces traditional vertical planting with longitudinal planting in a horizontal plane, which is more conducive to reducing the difficulty of harvesting mature oxtail yams and improving the harvest quality and yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of the structure of the yam planting machine provided in this embodiment from a first perspective;

[0041] Figure 2 A schematic diagram of the structure of the yam planting machine provided in this embodiment from a second viewing angle;

[0042] Figure 3 A schematic diagram of the structure of the yam planting machine provided in this embodiment from a third viewing angle;

[0043] Figure 4 A schematic diagram of the structure of the roller frame, roller and travel motor provided in this embodiment;

[0044] Figure 5 A schematic diagram of the structure of the walking unit guard plate provided in this embodiment;

[0045] Figure 6 A schematic diagram of the structure of the main frame and the trenching assembly provided in this embodiment;

[0046] Figure 7 A schematic diagram of the structure of the trenching assembly provided in this embodiment;

[0047] Figure 8 A schematic diagram of the structure of the main frame and film laying assembly provided in this embodiment;

[0048] Fig. 9 A schematic diagram of the structure of the membrane laying assembly provided in this embodiment;

[0049] Fig.10 A schematic diagram of the structure of the main frame and the fertilization assembly provided in this embodiment;

[0050] Fig.11 A schematic diagram of the structure of the fertilization assembly provided in this embodiment;

[0051] Fig.12 A schematic diagram of the structure of the main frame and the following components provided in this embodiment;

[0052] Fig.13 A schematic diagram of the structure of the seed storage bin and the gear box provided in this embodiment;

[0053] Fig.14 A schematic diagram of the structure of the unloading roller provided in this embodiment;

[0054] Fig.15 A schematic diagram of the structure of the unloading roller, main gear and transmission gear set provided in this embodiment;

[0055] Fig.16 A schematic diagram of the structure of the soil covering assembly provided in this embodiment from a first viewing angle;

[0056] Fig.17 A schematic structural diagram of the soil covering assembly provided in this embodiment from a second viewing angle.

[0057] Icons: 100-yam planting machine; 110-main frame; 120-walking wheel group; 130-ditching assembly; 140-film laying assembly; 150-fertilization assembly; 160-seeding assembly; 170-soil covering assembly; 121-walking unit; 122-roller frame; 123-roller; 124-walking motor; 1221-motor connecting seat; 1222-bottom guard plate; 1223-side plate; 1224-first elastic member; 1225-suspension plate; 125-quadrilateral connecting rod mechanism; 126-travel unit guard plate; 127-arc-shaped connecting hole; 131-first connecting rod; 132-second connecting rod; 133-third connecting rod; 134-grooving knife; 135-grooving motor; 136-worm gear transmission unit; 141-film rolling frame; 142-film pressing frame; 1421-rotating shaft; 142 2-first connecting clip; 1423-guide shaft; 1424-movable shaft; 1425-film pressing shaft; 1426-second connecting clip; 1427-film pressing wheel; 1428-second elastic member; 1429-latch pin; 151-fixed platform; 152-fertilizer storage bin; 153-crank movable mechanism; 154-working motor; 155-guide groove; 156-fertilizer outlet; 161-seed storage bin; 16 11-seed outlet; 162-gear box; 163-feeding roller; 1631-receiving trough; 164-first pulley; 165-second pulley; 1621-main gear; 1622-transmission gear set; 1623-gear; 171-mounting frame; 172-rotating rod; 173-soil covering seat; 174-push rod motor; 175-soil covering plate; 176-driving shaft; 177-strip hole. DETAILED DESCRIPTION

[0058] The national planting area of ​​yam is more than 81,100 hectares. Due to the different growth environments and growth characteristics of yam, the development of planting mechanization has always been at a bottleneck. The traditional manual sowing method is inefficient and costly, and cannot meet the needs of the market. Although some domestic companies have made some progress in mechanized ditching of yam in recent years, the method is limited to manual sowing after ditching, and true mechanization has not been achieved. There are agricultural machinery equipment on the market that is too large in size, which is only suitable for northern plains with a large planting area such as Shandong, and is only used for yam harvesting. However, in the southern hilly and mountainous areas where yam is planted in a large area, the situation of mechanized operation is severe. In yam planting, ditching machinery is mainly used, and multi-functional integration is not achieved. However, due to terrain differences, planting patterns and agronomy, there are no multi-functional yam planting agricultural machinery available in hilly and mountainous areas such as Yunnan, Sichuan and Hubei. For the development of special planting methods and agricultural machinery for Niuwei yam, my country is basically at a standstill. At present, the yam planting machine market urgently needs a special yam sowing machine with a compact size, easy operation and integrated functions.

[0059] Please refer to Figure 1-Figure 17 The yam planting machine 100 is different from the traditional yam planting method of planting vertically. It adopts a method of planting vertically in a horizontal plane. Moreover, the yam planting machine 100 integrates five key steps of planting into one, and can automatically perform the five processes of furrowing, film laying, fertilizing, planting and covering soil, replacing manual operations;

[0060] Moreover, the depth and width of the furrowing can be adjusted by adjusting the lifting and lowering of the furrowing knife 134 and replacing the knife; the second elastic member 1428 is used to adjust the film pressing wheel 1427 to position the ground film; the crank movable mechanism 153 is used to evenly sprinkle the straw and other crop growth auxiliary materials and fertilizers in the film groove formed by the ground film in the furrow; the seeds are placed by two differentially rotating reverse feeding rollers 163, which not only eliminate each other's arches, but also can conveniently adjust the seeding quantity and beat through electronic control; finally, the soil is covered by the soil covering component 170 to complete the entire sowing process;

[0061] Moreover, the yam planting machine 100 can be controlled by stm32f407, can be remotely controlled by a Bluetooth module and a voice module, and can realize the operation of the whole machine through intelligent communication connection technology. The yam planting machine 100 has significant advantages in improving the quality and efficiency of planting and reducing labor costs, and the vertical planting in the horizontal plane is conducive to reducing the difficulty of harvesting mature oxtail yams, improving the harvest quality and yield, and is particularly suitable for hilly and mountainous areas in Yunnan, Sichuan and other places.

[0062] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0063] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0065] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0066] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0067] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0068] Please refer to Figure 1-Figure 17 The present embodiment provides a yam planting machine 100, which includes a main frame 110, a walking wheel set 120, a furrowing assembly 130, a film laying assembly 140, a fertilizing assembly 150, a seeding assembly 160 and a soil covering assembly 170;

[0069] Please refer to Figure 1-Figure 3 The walking wheel assembly 120 is connected to the main frame 110 to drive the main frame 110 to move along a preset direction; the trenching assembly 130, the film laying assembly 140, the fertilizing assembly 150, the seeding assembly 160 and the soil covering assembly 170 are sequentially connected to the main frame 110 along the preset direction;

[0070] Among them, the trenching component 130 is used to open a trench on the ground along a preset direction; the film laying component 140 is used to lay the ground film in the trench along a preset direction; the fertilization component 150 is used to evenly apply fertilizer to the surface of the ground film; the seeding component 160 is used to plant yam seeds in the trench, and the yam seeds extend along the preset direction and are arranged at intervals; the soil covering component 170 is used to fill the soil on both sides of the trench into the trench.

[0071] Please refer to Figure 1-Figure 17 The working principle of the yam planting machine 100 is:

[0072] The yam planting machine 100 includes a main frame 110, a walking wheel set 120, a furrowing assembly 130, a film laying assembly 140, a fertilizing assembly 150, a seeding assembly 160 and a soil covering assembly 170;

[0073] The traveling wheel set 120 is connected to the main frame 110 to drive the main frame 110 to move along a preset direction; the preset direction is the planned planting path of the yam planting machine 100, that is, the moving direction of the whole vehicle, and its purpose is to drive the yam planting machine 100 to move along the planned planting path by the traveling wheel set 120, so as to complete the yam planting work;

[0074] The furrowing assembly 130, the film laying assembly 140, the fertilizing assembly 150, the seeding assembly 160 and the soil covering assembly 170 are sequentially connected to the main frame 110 along a preset direction; such a setting method aims to sequentially complete the actions of furrowing, film laying, fertilizing, seeding and soil covering during the movement of the yam planting machine 100 along the preset direction, so that the furrowing, film laying, fertilizing, seeding and soil covering planting processes are carried out sequentially, that is, the planting efficiency is improved, and the planting quality can also be improved;

[0075] Specifically, the trenching component 130 of the yam planting machine 100 is used to open a trench on the ground along a preset direction; the film laying component 140 is used to lay the ground film in the trench along a preset direction; the fertilization component 150 is used to evenly apply fertilizer to the surface of the ground film; the seeding component 160 is used to plant yam seeds in the trench, and the yam seeds extend along the preset direction and are arranged at intervals; the soil covering component 170 is used to fill the soil on both sides of the trench into the trench, wherein the soil on both sides of the trench is the soil raised by the trenching.

[0076] It should be noted that, in the present embodiment, during the planting process, the yam seeds planted in the groove by the planting assembly 160 extend in a preset direction, that is, compared with the vertical planting method in the prior art, the present embodiment adopts a method of planting yam seeds in the horizontal grooves along the longitudinal direction of the grooves instead of the traditional vertical planting method, the purpose of which is to enable the planted yam seeds to be planted longitudinally on the ground film and the nutrient matrix such as straw, fertilizer and auxiliary materials thereon on the basis of the aforementioned steps of trenching, film laying and fertilizing, the purpose of which is to harvest by lifting the ground film, reducing the difficulty of harvesting mature oxtail yams, and improving the harvest quality and yield;

[0077] In summary, the yam planting machine 100 uses mechanized operations to realize functions such as furrowing, film laying, fertilizing, sowing and covering with soil, replacing manual operations for sowing. It has significant advantages in improving sowing quality, sowing efficiency, reducing labor intensity and labor costs, etc. Moreover, it replaces traditional vertical planting with longitudinal planting in a horizontal plane, which is more conducive to reducing the difficulty of harvesting mature oxtail yams and improving the harvest quality and yield.

[0078] It should also be noted that in the above content, when implementing the above-mentioned furrowing, film laying, fertilizing, sowing and covering the soil, the five processes of furrowing, film laying, fertilizing, sowing and covering the soil are performed in sequence and continuously, with the purpose of completing the planting process of yam planting according to the planting process. And fertilizing and sowing have inherent speed requirements, so the same motor drive is set; no motor is set for film laying; in order to avoid interference and disturbance of the five working modules and the travel of the whole vehicle, and to ensure that the planting steps are executed according to the planting process, furrowing, covering and walking are each set with a separate motor, and the electric control part is used to ensure that the planting process is coordinated, complete and smooth.

[0079] For further information, please refer to Figure 1-Figure 5 In this embodiment, when the walking wheel group 120 is configured, its function is to walk along the planned planting path, so as to complete the corresponding planting work. Therefore, this embodiment adopts the configuration of four walking units 121, which are distributed around the main frame 110, that is, the walking wheel group 120 includes walking units 121 distributed around the main frame 110, and each walking unit 121 includes a roller frame 122, a roller 123 and a walking motor 124;

[0080] The roller frame 122 is connected to the main frame 110 , the roller 123 is rotatably connected to the roller frame 122 , and the travel motor 124 is connected to the roller frame 122 and is used to drive the roller frame 122 to rotate.

[0081] Such a configuration enables each walking unit 121 to play a driving role, thereby improving the walking ability of the yam planting machine 100; when configuring the roller frame 122, in order to enable it to meet the walking requirements of different grounds, that is, to improve its ability to walk and adapt to different ground environments, the roller frame 122 includes a motor connecting seat 1221, a bottom guard plate 1222, a side plate 1223, a first elastic member 1224 and four suspension plates 1225;

[0082] The travel motor 124 is connected to the motor connection seat 1221; the bottom guard plate 1222 is hinged to the motor connection seat 1221 and the side plate 1223; the two ends of the first elastic member 1224 are respectively hinged to the motor connection seat 1221 and the side plate 1223; the two suspension plates 1225 are distributed on both sides of the bottom guard plate 1222, and the two suspension plates 1225 on the same side are arranged in parallel and at intervals;

[0083] The connecting seat, the side plate 1223 and the suspension plate 1225 together form a quadrilateral connecting rod mechanism 125 .

[0084] The above-mentioned connecting seat, side plate 1223 and suspension plate 1225 together form a quadrilateral link mechanism 125, and then in the process of walking, the quadrilateral link mechanism 125 can be deformed and the first elastic member 1224 is set to play a role in buffering and shock absorption. In addition, on this basis, in order to protect the walking motor and control part of the walking unit 121, each walking unit 121 also includes a walking unit guard plate 126 arranged on both sides thereof, and the walking unit guard plate 126 is connected to the bottom guard plate 1222 and the side plate 1223;

[0085] Among them, the walking unit guard plate 126 is configured with an arc-shaped connecting hole 127 corresponding to the connection with the side plate 1223, and the arc-shaped connecting hole 127 is used to accommodate the connecting parts connecting the walking unit guard plate 126 and the side plate 1223; such a setting method can make the walking unit guard plate 126 follow the buffering and shock absorption of the vehicle, so that when the above-mentioned quadrilateral linkage mechanism 125 follows the buffering and shock absorption of the vehicle, the walking unit guard plate 126 plays a role in protecting the electronic control part.

[0086] It should be noted that in this embodiment, the selected travel motor 124 is a stepper motor 86BYG120 with a torque of 8N·m, sufficient power, and can provide precise position control and repeatability, which is very suitable for the power source of the planting machine. Moreover, according to the requirements of torque and speed, the main motor power is calculated to be 100W, which ensures that the motor can remain stable and efficient during long-term operation and meets the power requirements of the planting machine.

[0087] For further information, please refer to Figure 1-Figure 7In this embodiment, when the trenching assembly 130 is configured, its function is to open a trench for planting yam on the ground along a preset direction; thus, the trenching assembly 130 may include a first connecting rod 131, a second connecting rod 132, a third connecting rod 133, a trenching knife 134, a trenching motor 135 and a worm gear transmission unit 136;

[0088] The first link 131 and the second link 132 are both hinged to the main frame 110, and the first link 131 and the second link 132 are spaced apart along a preset direction at the hinge on the main frame 110; the two ends of the third link 133 are respectively hinged to the end of the first link 131 and the middle of the second link 132; the trenching knife 134 is connected to the second link 132;

[0089] The trenching motor 135 is connected to the main frame 110 and is connected to the first connecting rod 131 through a worm gear unit 136. The trenching motor 135 is used to drive the first connecting rod 131 to rotate relative to the main frame 110 through the worm gear unit 136, and then drive the second connecting rod 132 to rotate relative to the main frame 110 through the third connecting rod 133.

[0090] Among them, the above-mentioned worm transmission unit 136 is based on the structural setting of the worm wheel and the worm, so that the power of the trenching motor 135 can be transmitted to the first connecting rod 131 through the worm transmission unit 136. Since the first connecting rod 131 and the second connecting rod 132 are both hinged to the main frame 110, the two ends of the third connecting rod 133 are respectively hinged to the end of the first connecting rod 131 and the middle of the second connecting rod 132, and then the movement of the first connecting rod 131 can drive the third connecting rod 133 to rotate relative to the main frame 110, thereby driving the trenching knife 134 connected to the second connecting rod 132 to move relative to the main frame 110, and then adjusting the position of the trenching knife 134 so that it can move toward or away from the ground, completing the working state conversion and adjusting the trenching depth. It should be noted that, based on the setting of the worm transmission unit 136, the yam planting machine 100 can be reversely self-locked by the worm transmission unit 136 during operation, ensuring that the trenching knife 134 maintains the working position unchanged during the trenching process; and the trenching motor 135 drives the trenching knife 134 during the lifting process, and the worm transmission unit 136 can effectively prevent the first connecting rod 131 from reversing, ensuring that the lifting function is effective. The trenching assembly 130 is connected to the frame through a connecting rod mechanism, and as the vehicle body moves forward, it continuously shovels forward, and the shoveled soil is discharged to both sides of the trench.

[0091] Please refer to Figure 1-Figure 9 In this embodiment, the film laying assembly 140 includes a film rolling frame 141 and a film pressing frame 142; the film rolling frame 141 is connected to the main frame 110 and is used to roll up or release the ground film;

[0092] The laminating frame 142 includes a rotating shaft 1421, a first connecting clamp 1422, a guide shaft 1423, a movable shaft 1424, a laminating shaft 1425, a second connecting clamp 1426, a laminating wheel 1427 and a second elastic member 1428;

[0093] The rotating shaft 1421 is rotatably connected to the main frame 110; the guide shaft 1423 is connected to the rotating shaft 1421 through a first connecting clamp 1422, and the axis of the guide shaft 1423 is perpendicular to the rotating shaft 1421; the movable shaft 1424 is movably connected to the guide shaft 1423 along the axis of the guide shaft 1423; the film pressing shaft 1425 is connected to the movable shaft 1424 through a second connecting clamp 1426, and the axis of the film pressing shaft 1425 is parallel to the axis of the rotating shaft 1421; the film pressing wheel 1427 is connected to the film pressing shaft 1425, and is used to press the ground film in the direction toward the ground or the groove;

[0094] The second elastic member 1428 is sleeved on the guide shaft 1423 through the spring seat on the first connecting clamp 1422 and the spring seat on the movable shaft 1424, so that the movable shaft 1424 drives the film pressing shaft 1425 and the two film pressing wheels 1427 thereon to move toward the ground through the second connecting clamp 1426 to hold the ground film.

[0095] Among them, the purpose of the film laying assembly 140 is to cover the groove with a layer of ground film, so that the vertical growth of the yam is restricted, so that it grows longitudinally along the trenching direction; in order to ensure that the ground film is close to the bottom of the trench, a film pressing device consisting of a guide shaft 1423, a movable shaft 1424, a film pressing shaft 1425, a second connecting clamp 1426, a film pressing wheel 1427 and a second elastic member 1428 is provided. The film pressing wheel 1427 is close to the ground film, and effective film pressing is completed through the elastic force of the second elastic member 1428.

[0096] Specifically, through the above-mentioned structural arrangement, the ground film can be pressed and held in the groove by the film pressing wheel 1427 during the movement of the yam planting machine 100, and as the yam planting machine 100 continues to move in the same direction, the film rolling frame 141 is driven to rotate and release the ground film; wherein, by the above-mentioned horn pin at the end of the rotating shaft 1421, it is rotated relative to the main frame 110, and the latch 1429 is moved to fix the horn pin, that is, the position of the rotating shaft 1421, so that the position of the film pressing wheel 1427 can be adjusted to lift it upward, thereby stopping the film pressing; and in the process of its film pressing, since the film pressing wheel 142 7 is connected to the film pressing shaft 1425, and the film pressing shaft 1425 is connected to the movable shaft 1424 through the second connecting clamp 1426, and the second elastic member 1428 is sleeved on the guide shaft 1423, and is used to make the movable shaft 1424 have a tendency to move along the axial direction of the guide shaft 1423 toward the film pressing shaft 1425, and then when the film pressing wheel 1427 contacts with the ground film, through the setting of the second elastic member 1428, a certain pressure can be applied to the film pressing wheel 1427, so that the ground film can be attached to the groove, and the bubbling during the film laying process can be reduced, thereby improving the film laying quality.

[0097] For further information, please refer to Figure 1-Figure 12 In this embodiment, the fertilization assembly 150 includes a fixed platform 151, a fertilizer storage bin 152, a crank movable mechanism 153 and a working motor 154;

[0098] The fixed platform 151 is fixedly connected to the main frame 110, and a guide groove 155 is opened on the fixed platform 151 in a direction perpendicular to the preset direction of the wheel travel. The fertilizer storage bin 152 is designed as a structure with a bin body and a bin bottom separated. The roller arranged at the lower part of the bin bottom of the fertilizer storage bin 152 can move along the guide groove 155, driving the bin bottom of the fertilizer storage bin 152 and the upper fertilizer to be screened along the direction of the guide groove 155, and the bin bottom of the fertilizer storage bin 152 is array-arranged with a fertilizer outlet 156;

[0099] The working motor 154 is connected to the main frame 110 and is transmission-connected to the fertilizer storage bin 152 through the crank movable mechanism 153. The working motor 154 is used to drive the bottom of the fertilizer storage bin 152 to reciprocate relative to the guide groove 155 in a direction perpendicular to a preset direction through the crank movable mechanism 153, thereby evenly applying fertilizer to the ground film below.

[0100] Through the above-mentioned structural arrangement, the working motor 154 can drive the bottom of the fertilizer storage bin 152 to reciprocate relative to the guide groove 155 in a direction perpendicular to the preset direction through the crank movable mechanism 153, thereby continuously adjusting the position of the fertilizer outlet 156 at the bottom of the fertilizer storage bin 152, and then the position of the fertilizer outlet 156 can be changed to evenly apply fertilizer to the ground film below.

[0101] Therefore, in order to ensure that the yam has sufficient nutrition for growth, after the film pressing is completed, a layer of nutrient matrix such as straw, fertilizer and auxiliary materials should be covered on the top of the ground film. Through the above-mentioned structural setting, the working motor 154 can drive the bottom of the fertilizer storage bin 152 to reciprocate relative to the guide groove 155 in a direction perpendicular to the preset direction, thereby continuously adjusting the position of the fertilizer outlet 156 at the bottom of the fertilizer storage bin 152, and then the position of the fertilizer outlet 156 can be changed to evenly apply fertilizer to the ground film below, that is, the nutrient matrix such as straw, fertilizer and auxiliary materials in the fertilizer storage bin 152 falls continuously and evenly from the fertilizer outlet 156 and falls on the surface of the ground film in the groove.

[0102] When configuring the next component 160, please refer to Figure 1-Figure 15 In this embodiment, the seeding assembly 160 and the fertilizing assembly 150 share a power source; in other embodiments of the present invention, the two may also use independent power sources.

[0103] Specifically, in this embodiment, the seed placing assembly 160 includes a seed storage bin 161, a gear box 162, and at least one seed placing roller 163;

[0104] The seed storage bin 161 and the gear box 162 are both connected to the main frame 110, and the gear box 162 is in driving connection with the working motor 154;

[0105] The unloading roller 163 is rotatably connected to the main frame 110, and is located directly below the seed outlet 1611 of the seed storage bin 161, and is transmission-connected to the gear box 162;

[0106] The working motor 154 is used to drive the unloading roller 163 to rotate through the gear box 162, thereby sequentially exporting the yam seeds in the seed storage bin 161.

[0107] Therefore, through the above-mentioned structure, the working motor 154 can drive the discharge roller 163 to rotate through the gear box 162 during the rotation, and then the yam seeds in the seed storage bin 161 can be sequentially discharged through the rotation of the discharge roller 163; it should be noted that the rotation speed of the discharge roller 163 and the travel speed of the yam planting machine 100 can be adjusted and coordinated through the electronic control part. The purpose is to match or adapt the rotation speed of the discharge roller 163 with the travel speed of the yam planting machine 100, so as to adjust the interval between the planted yam seeds.

[0108] In the process of seeding, in order to improve the efficiency of seeding, the present embodiment adopts a method in which the seeding assembly 160 includes two feeding rollers 163 arranged side by side, wherein the rotation speeds of the two feeding rollers 163 are different, and there is a time difference in the feeding action;

[0109] Moreover, the two unloading rollers 163 are both connected to the gear box 162 in a transmission manner, and the rotation directions of the two unloading rollers 163 are opposite;

[0110] Among them, the outer periphery of each feeding roller 163 is provided with a plurality of receiving grooves 1631 spaced around its axial direction. The receiving grooves 1631 are used to receive the yam seeds discharged from the seed outlet 1611 when rotating to a position directly opposite to the seed outlet 1611, and to plant the received yam seeds into the groove when rotating to a position facing the ground.

[0111] When configuring the feeding roller 163, in order to enable the yam planting machine 100 to plant in the longitudinal direction, that is, to enable the planted yams to extend in the groove along a preset direction, therefore, when configuring the receiving trough 1631, its function is to receive the yam seeds guided out from the seed outlet 1611, and when it moves to a position opposite to or near the seed outlet 1611, it can enable the yam seeds to be planted in the groove along the preset direction.

[0112] Specifically, through the structure of the above-mentioned seeding assembly 160, after the straw is laid, the yam seeds can be continuously planted on the straw at intervals to ensure that the seeds have sufficient nutrition and growth space; the motor used for seeding and the motor used for fertilization are the same power source; and the working motor 154 is connected to the gear box 162 through a coupling and a pulley. It should be noted that in this embodiment, the speed and direction are different by configuring the transmission route of the gear box 162, and in other embodiments of the present invention, other types of structures can also be used to achieve transmission and speed control;

[0113] When the working motor 154 is connected to the gear box 162, a belt drive is adopted, that is, a first pulley 164 connected to the working motor 154 and a second pulley 165 connected to the gear box 162 are configured, and the first pulley 164 and the second pulley 165 are connected by a transmission belt, thereby transmitting the power generated by the working motor 154 to the gear box 162 to drive the two unloading rollers 163 to rotate;

[0114] In the gear box 162, there are two main gears 1621 connected to the two unloading rollers 163, and a transmission gear set 1622 meshing with the two main gears 1621; wherein, one gear in the transmission gear set 1622 is arranged to be coaxial with the second pulley 165, and the two gears in the transmission gear set 1622 are meshed, driving the gear 1623 coaxial with the other gear to rotate, and the gear 1623 drives the other one of the unloading rollers 163 to rotate. By setting the number of gear teeth and the number of gears on the transmission route of the two unloading rollers 163, the rotation speed and direction are different, thereby realizing the opposite unloading of seeds and eliminating the arch of the yam seeds blocked near the unloading port, thereby ensuring smooth seeding.

[0115] When configuring the cover assembly 170, please refer to Figure 1-Figure 17 , the present embodiment adopts a soil covering assembly 170 including a mounting frame 171, a rotating rod 172, a soil covering seat 173, a push rod motor 174 and two soil covering plates 175;

[0116] The mounting frame 171 is connected to the main frame 110, the rotating rod 172 is rotatably connected to the mounting frame 171, the soil covering seat 173 is hinged to the rotating rod 172, two soil covering plates 175 are connected to the soil covering seat 173 at intervals, the push rod motor 174 is connected to the mounting frame 171, and its movable end is connected to the rotating rod 172 to the driving shaft 176, and the driving shaft 176 is slidably matched with the bar-shaped hole 177 opened on the rotating rod 172; the two ends of the push rod motor 174 are respectively connected to the rotating rod 172 and the soil covering seat 173;

[0117] The push rod motor 174 is used to drive the rotating rod 172 to rotate through the driving shaft 176, thereby making the two covering plates 175 contact with the ground or leave the ground.

[0118] Thus, through the above-mentioned structural setting, the yam planting machine 100 can drive the two soil covering plates 175 in contact with the ground to move during the process of moving, so as to fill the soil on both sides of the groove into the groove, that is, to cover the soil and form ridges, which are higher than the ground of the trench and cover the yam seeds. Therefore, after the planting is completed, the soil covering component 170 pushes the soil pushed out by the trenching component 130 back into the trench and completes the ridge formation; the up and down movement of the push rod motor 174 in the soil covering component 170 drives the soil covering plate 175 to rise and fall. When working, the push rod moves upward, and the soil covering plate 175 contacts the ground downward. When retracting, the push rod moves downward, and the soil covering plate 175 is out of contact with the ground upward.

[0119] It should be noted that, since the trenching assembly 130, the film laying assembly 140, the fertilizing assembly 150, the seeding assembly 160 and the soil covering assembly 170 are sequentially connected to the main frame 110 along a preset direction, the trenching assembly 130 in this embodiment is located at the front of the machine, so that in the process of traveling, the trench is first opened in front of other components; the film laying assembly 140 is located behind the trenching assembly 130 to complete the film laying and pressing; the fertilizing assembly 150 is located behind the film covering assembly, and the nutrient fertilizers such as the crushed straw are placed in the material box for screening and spreading; the seeding assembly 160 is located at the fertilizing assembly Between the fertilizer assembly 150 and the soil covering assembly 170, after fertilization, the two feeding rollers 163 rotate to discharge the yam seeds. After sowing, the soil covering assembly 170 covers the soil and forms ridges. The ridges are higher than the ground where the furrows are dug, which can cover the yam seeds well. The main frame 110 is equipped with a shock absorbing device to effectively reduce vibration. The seven motors are distributed, and each of the four walking units 121 is equipped with a motor. A furrowing motor 135 is installed in the furrowing assembly 130. The fertilization assembly 150 and the seeding assembly 160 share a working motor 154. A push rod motor 174 is installed in the soil covering assembly 170.

[0120] In summary, please refer to Figure 1-Figure 17 When the yam planting machine 100 is started, as it moves along the planned path, a groove can be opened on the ground. As it moves and the groove is opened to a certain length, the subsequent film laying, fertilization, seeding and soil covering steps can be started, so that the walking wheel group 120, the trenching component 130, the film laying component 140, the fertilization component 150, the seeding component 160 and the soil covering component 170 move in sequence to complete the mechanically integrated "vertical" planting of oxtail yam; when the machine stops, the driving motor of the trenching component 130 stops, the driving motors of the fertilization component 150 and the seeding component 160 stop, the driving motor of the soil covering component 170 stops at the same time, the film laying component 140 stops as the vehicle stops moving, and the machine stops running.

[0121] The yam planting machine 100 is different from the traditional vertical planting of yam. The yam planting machine 100 provides a method of planting in a horizontal plane vertically, thereby improving the planting quality and efficiency, reducing the labor intensity and labor cost, reducing the difficulty of harvesting mature yams, and improving the harvest quality and yield.

[0122] Among them, it can complete the actions of trenching, film laying, fertilizing, sowing and covering soil, so that it can realize automated planting work based on its structure, and greatly improve the working efficiency in combination with the intelligent control system; by adjusting the trenching knife 134 to meet the requirements of trench depth and width, the yam seeds are sown evenly and the fertilizer is evenly contacted, which is conducive to growth and development, thereby ensuring the sowing quality; reducing labor intensity and time cost, reducing labor costs, and improving production efficiency and economic benefits; the vertical planting method improves the harvest yield and quality, thereby improving production efficiency; planting in a horizontal plane, lifting the ground film at one time to collect mature yams, reducing the difficulty of harvesting.

[0123] It has the following advantages:

[0124] 1. "Five-in-one" intelligent machine: The yam planting machine 100 integrates the five key steps of trenching, film laying, fertilization, seeding and soil covering into one. Through intelligent control, it changes the traditional vertical ground planting method, improves the efficiency and quality of planting, and at the same time, paves the way for yam harvesting by film lifting.

[0125] 2. The trenching assembly 130 combines the features of the trenching knife 134, a worm gear mechanism and a liftable floating mechanism: the depth of the trenching knife 134 can be raised and lowered to adapt to different soil conditions and planting requirements, thereby improving operational flexibility and applicability; during the trenching process, soil resistance reversely drives the worm gear mechanism to achieve reverse self-locking, thereby maintaining the trenching knife's working position unchanged and ensuring trenching quality.

[0126] 3. The film laying assembly 140 uses a film pressing wheel 1427, a spring, a guide shaft and a movable shaft structure to complete film pressing. The design of this structure ensures that the spring force can change with the change of the ground support reaction force, and automatically adjusts the force of the film pressing wheel 1427 on the ground film according to the surface quality of the trenching, thereby ensuring the film pressing effect and ensuring the effective horizontal growth space of the yam to ensure growth.

[0127] 4. The fertilizer storage bin 152 in the fertilization component 150 adopts a separate design of the bin body and the bin bottom, ensuring that when the bin bottom drives the upper fertilizer to sift along the slide groove of the fixed platform 151, the bin body and most of the fertilizer inside it remain stationary, reducing the moving weight, reducing power consumption, and increasing the stability of the entire vehicle. Through the action of the crank movable mechanism 153, the straw is scattered evenly and continuously on the ground film, providing a uniform nutrient layer for planting and providing nutrient conditions for the growth of yam.

[0128] 5. Through the design of the differential feeding roller 163, the seeds can be evenly sown in rhythm, and the problem of seed accumulation that may occur during the sowing process can be eliminated. Through the different ratios of the number of gear teeth, the different rotation speeds of the two feeding rollers can be ensured, differential arch elimination can be achieved, and the sowing rhythm and sowing smoothness can be guaranteed.

[0129] 6. By controlling the push rod motor 174 in the soil covering assembly, the two soil covering plates 175 can be raised and lowered, the soil covering thickness and compaction degree can be adjusted, and the floating lever lifting principle can be used to make the soil cover more uniform, improve the contact quality between the soil and the seeds, and be beneficial to the germination and growth of the yam seeds.

[0130] 7. The whole machine is equipped with four power sources and seven motors. The travel motor 124 drives the travel unit 121, the trenching motor 135 drives the trenching assembly 130, the working motor 154 drives the fertilization assembly 150 and the planting assembly 160, and the push rod motor 174 drives the soil covering assembly 170. The two actions of fertilization and planting have inherent transmission requirements, so a power source is set. The whole vehicle travel and soil covering are set with separate power sources to avoid interference and disturbance of the five working modules and travel, and effectively ensure the smooth progress of the planting process.

[0131] 8. An arc-shaped connecting hole 127 with a preset central angle is opened on the walking unit guard plate 126 of the walking component, so that the first elastic member 1224 of the walking unit 121 can normally play the buffering and shock-absorbing functions, while the walking unit guard plate 126 protects the walking motor and the control part, and the trajectory following is achieved through the arc-shaped hole without being locked.

[0132] It should also be noted that, in the present embodiment, the yam planting machine 100 of the above content can be controlled by configuring the control system, wherein the control system core can adopt the STM32F4 series single-chip microcomputer of the ARM core, and its crystal oscillator main frequency can reach 168MHZ, which ensures the code operation speed and allows the machine to operate normally under high intensity. The system adopts the FreeRTOS real-time operating system to realize multi-threaded operation, which significantly improves the running fluency of the machine. The control system adopts the CAN bus communication mode, which has the advantages of strong real-time performance, long transmission distance, strong anti-electromagnetic interference ability, and low cost. In addition, a two-wire serial communication mode is also adopted to enhance the error detection ability of the system, and it can work stably in a high noise interference environment.

[0133] The control system receives the current current, speed, and angle value of the motor encoder in real time through the CAN bus, and uses a single-stage speed loop PID control to adjust the output of the chassis and the seeding motor. In addition, the system also uses a cascade PID (outer ring angle loop, inner ring speed loop) method to control the angle of the ditching motor 135, thereby accurately controlling the ditching depth. In order to improve the accuracy of the output value, the system also filters and de-jitters the motor encoder value through a first-order low-pass filter.

[0134] The machine is equipped with a buzzer, which is used to determine whether the machine is in an abnormal state by reading the current value of each motor. If an abnormal state is detected, the main control unit will send PWM pulses through the buzzer thread using the timer to make the buzzer sound an alarm. In addition, the system also has a protection mechanism. When a current abnormality occurs, the current PID closed-loop control is used to proportionally reduce the output of the hardware current of the problem part. If necessary, the current input of all output devices can be forced to stop.

[0135] The car is controlled by a remote controller, which sends commands to the machine through the main control USART and communicates with the remote controller using the DBUS protocol.

[0136] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A yam planting machine, characterized in that: The yam planting machine comprises a main frame, a walking wheel set, a ditching assembly, a film laying assembly, a fertilizing assembly, a seeding assembly and a soil covering assembly; The walking wheel set is connected to the main frame to drive the main frame to move along a preset direction; the trenching assembly, the film laying assembly, the fertilizing assembly, the seeding assembly and the soil covering assembly are sequentially connected to the main frame along the preset direction; Among them, the trenching component is used to open a trench on the ground along the preset direction; the film laying component is used to lay the ground film in the trench along the preset direction; the fertilization component is used to evenly apply fertilizer to the surface of the ground film; the seeding component is used to plant yam seeds in the trench, and the yam seeds extend along the preset direction and are arranged at intervals; the soil covering component is used to fill the soil on both sides of the trench into the trench.

2. The yam planting machine according to claim 1, characterized in that: The walking wheel group includes walking units distributed around the main frame, and each of the walking units includes a roller frame, a roller and a walking motor; The roller frame is connected to the main frame, the roller is rotatably connected to the roller frame, and the travel motor is connected to the roller frame and is used to drive the roller frame to rotate.

3. The yam planting machine according to claim 2, characterized in that: The roller frame comprises a motor connection seat, a bottom guard plate, a side plate, a first elastic member and four suspension plates; The travel motor is connected to the motor connection seat; the bottom guard plate is hinged to the motor connection seat and the side plate; the two ends of the first elastic member are respectively hinged to the motor connection seat and the side plate; the two suspension plates are distributed on both sides of the bottom guard plate, and the two suspension plates on the same side are arranged in parallel and at intervals; Wherein, the connecting seat, the side plate and the suspension plate together form a quadrilateral connecting rod mechanism.

4. The yam planting machine according to claim 3, characterized in that: Each of the walking units further includes walking unit guard plates arranged on both sides thereof, and the walking unit guard plates are connected to the bottom guard plate and the side plates; Wherein, the walking unit guard plate is provided with an arc-shaped connection hole corresponding to the connection position with the side plate, and the arc-shaped connection hole is used to accommodate a connecting piece connecting the walking unit guard plate and the side plate.

5. The yam planting machine according to claim 1, characterized in that: The trenching assembly includes a first connecting rod, a second connecting rod, a third connecting rod, a trenching knife, a trenching motor and a worm transmission unit; The first connecting rod and the second connecting rod are both hinged to the main frame, and the first connecting rod and the second connecting rod are spaced apart along the preset direction at the hinged joint on the main frame; The two ends of the third connecting rod are respectively hinged to the end of the first connecting rod and the middle of the second connecting rod; the trenching knife is connected to the second connecting rod; The trenching motor is connected to the main frame and is connected to the first connecting rod through the worm transmission unit. The trenching motor is used to drive the first connecting rod to rotate relative to the main frame through the worm transmission unit, and then drive the second connecting rod to rotate relative to the main frame through the third connecting rod.

6. The yam planting machine according to claim 1, characterized in that: The film laying assembly includes a film rolling frame and a film pressing frame; the film rolling frame is connected to the main frame and is used to roll up or release the ground film; The film pressing frame comprises a rotating shaft, a first connecting clamp, a guide shaft, a movable shaft, a film pressing shaft, a second connecting clamp, a film pressing wheel and a second elastic member; The rotating shaft is rotatably connected to the main frame; the guide shaft is connected to the rotating shaft through the first connecting clamp, and the axis of the guide shaft is perpendicular to the rotating shaft; The movable shaft is movably connected to the guide shaft along the axis of the guide shaft; the film pressing shaft is connected to the movable shaft through the second connecting clamp, and the axis of the film pressing shaft is parallel to the axis of the rotating shaft; the film pressing wheel is connected to the film pressing shaft and is used to press the ground film in the direction of the ground or the groove; The second elastic member is sleeved on the guide shaft and is used to enable the movable shaft to have a tendency to move along the axial direction of the guide shaft toward one side of the film pressing shaft so as to press the ground film.

7. The yam planting machine according to claim 1, characterized in that: The fertilization assembly includes a fixed platform, a fertilizer storage bin, a crank movable mechanism and a working motor; The fixed platform is connected to the main frame, and the fixed platform is provided with a guide groove in a direction perpendicular to the preset direction; the bottom of the fertilizer storage bin is movably connected to the guide groove via a roller rotatably connected to the bottom of the bin, and the bottom of the fertilizer storage bin is provided with a fertilizer outlet in an array; The working motor is connected to the main frame and is transmission-connected to the fertilizer storage bin through the crank movable mechanism. The working motor is used to drive the bottom of the fertilizer storage bin to reciprocate relative to the guide groove in a direction perpendicular to the preset direction through the crank movable mechanism, thereby evenly applying fertilizer to the ground film below.

8. The yam planting machine according to claim 7, characterized in that: The seed discharging assembly comprises a seed storage bin, a gear box and at least one discharging roller; The seed storage bin and the gear box are both connected to the main frame, and the gear box is drivingly connected to the working motor; The unloading roller is rotatably connected to the main frame, is located directly below the seed outlet of the seed storage bin, and is transmission-connected to the gear box; The working motor is used to drive the unloading roller to rotate through the gear box, thereby sequentially exporting the yam seeds in the seed storage bin.

9. The yam planting machine according to claim 8, characterized in that: The feeding assembly comprises two feeding rollers arranged side by side, both of which are connected to the gear box in a transmission manner, and the two feeding rollers obtain different rotation speeds through different transmission routes under the driving action of the working motor, and the rotation directions are opposite; Among them, the outer periphery of each of the feeding rollers is provided with two receiving grooves spaced apart around its axial direction. The receiving groove is used to receive the yam seeds discharged from the seed outlet when it rotates to a position directly opposite to the seed outlet, and to plant the received yam seeds into the groove when it rotates to a position facing the ground.

10. The yam planting machine according to claim 1, characterized in that: The soil covering assembly comprises a mounting frame, a rotating rod, a soil covering seat, a push rod motor and two soil covering plates; The mounting frame is connected to the main frame, the rotating rod is rotatably connected to the mounting frame, the soil covering seat is hinged to the rotating rod, the two soil covering plates are connected to the soil covering seat at intervals, the push rod motor is connected to the mounting frame, and its movable end is connected to the driving shaft with the rotating rod, and the driving shaft is slidably matched with the bar hole opened on the rotating rod; The push rod motor is used to drive the rotating rod to rotate through the driving shaft, thereby making the two covering plates contact with the ground or leave the ground.

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