Posture and working height automatic adjusting device and method for a transplanting machine

Abstract

The application discloses a posture and working height automatic adjusting device and method of a transplanting machine, which comprises a transplanting machine body, a first rotating seat is rotatably arranged on one side of the transplanting machine body, a second rotating seat is rotatably arranged on the other side of the transplanting machine body, a hinged frame is hinged between the first rotating seat and the second rotating seat, an electric driving system, a horizontal posture adjusting system, a height adjusting system and a hydraulic system are arranged between the hinged frame and the transplanting machine body. The application can adapt to complex terrains and bare seedling transplanting operation scenes, has automatic height adjusting and horizontal posture control functions, thereby not only can improve the precision and operation efficiency of the transplanting operation, but also reduces the dependence on manual operation; meanwhile, through the cooperative work of various systems, precise and efficient transplanting operation can be realized under complex terrain conditions, the planting mechanism can maintain the preset planting depth and horizontal posture, the survival rate and operation efficiency of crops are improved, and thereby the operation quality is improved.

Description

Technical Field

[0001] This application relates to the technical field of transplanters, and in particular to an automatic adjustment device and method for the posture and working height of a transplanter. Background Technology

[0002] Transplanting crops is a crucial step in modern agricultural production, especially for bare-seedling crops like sweet potatoes, where transplanting quality directly impacts growth and yield. Traditional transplanting techniques in many regions still rely heavily on manual labor, resulting in low efficiency and high labor intensity. While mechanized transplanting is becoming increasingly prevalent as agriculture modernizes, existing machinery exhibits limitations in complex terrain and uneven soil conditions.

[0003] Most current transplanters rely on chain or gear drives for planting. While this method is efficient on flat terrain, it becomes difficult to precisely control planting depth and angle when the terrain varies significantly. Furthermore, most existing equipment lacks posture adjustment capabilities, failing to automatically adjust the height and horizontal angle of the planting mechanism according to terrain undulations and inclinations. This can easily lead to inconsistent planting depths and unstable seedling planting. Particularly in bare-root seedling planting, where the seedlings lack substrate protection, even slight carelessness can damage them, affecting survival rates.

[0004] In related technologies, with the increasing demand for mechanization in agricultural development in complex terrain areas such as hills and mountains, the limitations of traditional transplanters are becoming increasingly apparent. In these complex terrains, the ground elevation changes frequently, and if the planting mechanism cannot automatically adjust its height and horizontal position, the planting effect will be affected. Existing technologies have attempted to introduce height and horizontal position adjustment functions into transplanters, but their accuracy and automation level are insufficient to meet operational requirements. Furthermore, current chain-driven planting mechanisms lack flexibility in adjusting planting speed and plant spacing, making precise control impossible according to operational requirements. Summary of the Invention

[0005] The purpose of this application is to provide an automatic posture and working height adjustment device and method for a transplanter, to address the problem that while some existing devices have attempted to introduce height and horizontal posture adjustment functions into transplanters, their accuracy and automation levels are insufficient, making it difficult to meet operational requirements. Furthermore, current chain-driven planting mechanisms lack flexibility in adjusting planting speed and plant spacing, failing to provide precise control according to operational requirements.

[0006] On the one hand, the automatic posture and working height adjustment device and method for a transplanter provided in this application adopts the following technical solution: An automatic posture and working height adjustment device for a transplanter includes a transplanter body, a first rotating seat rotatably disposed on one side of the transplanter body, a second rotating seat rotatably disposed on the other side of the transplanter body, a hinge frame hinged between the first rotating seat and the second rotating seat, and an electric drive system, a horizontal posture adjustment system, a height adjustment system and a hydraulic system disposed between the hinge frame and the transplanter body. The electric drive system includes a stepper motor mounted on the articulated frame, and the output end of the stepper motor is provided with a linkage structure that is hinged to the articulated frame. The linkage structure is provided with a planting mechanism. The horizontal attitude adjustment system includes a reduction motor mounted on the transplanter body, the output end of the reduction motor is connected to a drive rod, and one end of the drive rod is connected to one side of the second rotating seat; The height adjustment system includes a single-acting hydraulic cylinder hinged to one side of the hinge frame, the output end of the single-acting hydraulic cylinder being hinged to the other side of the hinge frame, a one-way solenoid valve being provided on the single-acting hydraulic cylinder, and the single-acting hydraulic cylinder being connected to the hydraulic system.

[0007] Furthermore, the hydraulic system includes a hydraulic oil tank disposed on one side of the transplanter body, a hydraulic pump disposed on one side of the hydraulic oil tank, the input end of the hydraulic pump being connected to the hydraulic oil tank, and the output end of the hydraulic pump being connected to the input end of the single-acting cylinder through a hydraulic pipeline.

[0008] Furthermore, the horizontal attitude adjustment system also includes a horizontal gyroscope, which is mounted on the transplanter body and works in conjunction with the planting mechanism to detect the left and right tilt status of the planting mechanism in real time.

[0009] Furthermore, the height adjustment system also includes an infrared rangefinder and a follow-up reflector. The infrared rangefinder and the follow-up reflector are respectively set at the bottom of the transplanter body. The infrared rangefinder is used to measure the distance between the planting mechanism and the ground surface in real time. The follow-up reflector cooperates with the infrared rangefinder, and the follow-up reflector is attached to the ground surface and automatically adjusts the reflection height according to the terrain.

[0010] Furthermore, the transplanter body is also equipped with a PLC controller, which is connected to the stepper motor, the geared motor, the one-way solenoid valve, the horizontal gyroscope, and the infrared rangefinder.

[0011] On the other hand, the automatic adjustment method for the posture and working height of a transplanter provided in this application adopts the following technical solution: A method for automatically adjusting the posture and working height of a transplanter, comprising the following steps: S1: During the start-up phase, the power system of the transplanter body is activated first, and the power supply provides power support for the stepper motor, geared motor, single-acting hydraulic cylinder, one-way solenoid valve and PLC controller. S2: The stepper motor starts and drives the planting mechanism to run along the predetermined planting path and speed through the linkage structure, so that the planting mechanism maintains continuous planting action during the transplanting process. S3: Single-acting cylinder starts. The hydraulic pump delivers hydraulic oil from the hydraulic oil tank to the single-acting cylinder through the hydraulic pipeline. The flow of hydraulic oil is controlled by a one-way solenoid valve, which controls the lifting and lowering of the single-acting cylinder. Under the drive of the single-acting cylinder, the articulated frame drives the planting mechanism to lift and lower, thereby ensuring the accuracy of height adjustment. S4: The geared motor starts, causing the output end of the geared motor to drive the second rotating seat to rotate. Then, under the action of the first rotating seat, the hinge frame drives the planting mechanism to swing left and right, thereby adjusting the left and right height difference of the planting mechanism. S5: After the operation is completed, the stepper motor stops running, the planting mechanism returns to the initial position, the hydraulic pump stops working, the hydraulic oil flows back into the hydraulic oil tank, the hydraulic system stops operating, the single-acting cylinder resets; the infrared rangefinder and horizontal gyroscope stop transmitting data respectively, the PLC controller stops issuing adjustment commands, and the entire system enters standby mode.

[0012] Furthermore, during the operation in step S2, the infrared rangefinder is activated and begins to measure the distance between the planting mechanism and the ground surface. The infrared rangefinder emits infrared rays and receives the reflected infrared signals to measure the height of the planting mechanism from the ground surface.

[0013] Furthermore, the measurement results from the infrared rangefinder are transmitted to the PLC controller via a data cable. The PLC controller compares the actual measurement data with the set height parameters to determine whether the height of the planting mechanism meets the requirements. When the PLC controller determines that there is a height deviation, it will issue a control command to instruct the one-way solenoid valve and the single-acting hydraulic cylinder to adjust the height of the planting mechanism.

[0014] Furthermore, during the operation in step S3, when the ground height changes, the follow-up reflector provides a stable reflective surface to the infrared rangefinder through close contact with the ground, ensuring that the reflected infrared rays can accurately return to the infrared rangefinder. The change in ground height will cause the follow-up reflector to automatically adjust its contact position with the ground, ensuring that the infrared rays can be continuously reflected, thereby ensuring the accuracy of the distance measurement. At the same time, by using the cooperation between the infrared rangefinder and the follow-up reflector, the real-time height adjustment of the planting mechanism can be realized.

[0015] Furthermore, during the operation in step S4, the horizontal gyroscope is activated. The horizontal gyroscope is used to monitor the left and right horizontal state of the planting mechanism. That is, the task of the horizontal gyroscope is to detect the attitude change of the planting mechanism when the ground is tilted and to monitor the height difference between the left and right sides of the planting mechanism. When the planting mechanism tilts, the horizontal gyroscope feeds back its left and right tilt angle to the PLC controller. The PLC controller judges the degree of tilt on the left and right sides based on the data fed back by the horizontal gyroscope and issues an adjustment command to control the start of the reduction motor.

[0016] Compared with the prior art, the beneficial effects of this application are as follows: By incorporating an electric drive system, a horizontal attitude adjustment system, a height adjustment system, and a hydraulic system, this structure can adapt to complex terrain and bare seedling transplanting scenarios. It features automatic height adjustment and horizontal attitude control, thereby improving the accuracy and efficiency of transplanting operations and reducing reliance on manual operation.

[0017] Meanwhile, the electric drive system improves the flexibility of planting speed and plant spacing adjustment, thus avoiding the limitations of traditional chain drives. The horizontal attitude adjustment system, utilizing precise control of a geared motor, automatically adjusts the horizontal state of the planting mechanism under left and right tilt conditions, ensuring consistent seedling planting angles and improving crop survival rates. The hydraulic system, controlled by a PLC controller, achieves automatic adjustment of the planting mechanism's height and attitude, reducing manual intervention and improving transplanting efficiency.

[0018] In addition, the combination of infrared rangefinder and follow-up reflector ensures the accuracy of height adjustment, enabling the planting mechanism to adapt to different terrain changes and maintain a stable planting depth.

[0019] Therefore, through the coordinated work of various systems, precise and efficient transplanting operations can be achieved under complex terrain conditions, enabling the planting mechanism to maintain the preset planting depth and horizontal posture, thereby improving the survival rate of crops and operational efficiency, and thus enhancing the quality of operations. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the automatic posture and working height adjustment device of the transplanter according to an embodiment of this application.

[0021] Figure 2 This is a schematic diagram of the structure of the electric drive system, horizontal attitude adjustment system, and height adjustment system according to embodiments of this application.

[0022] Explanation of reference numerals in the attached figures: 1. Transplanter body; 2. First rotating seat; 3. Second rotating seat; 4. Hinge frame; 5. Stepper motor; 6. Linkage structure; 7. Planting mechanism; 8. Gear motor; 9. Drive rod; 10. Single-acting cylinder; 12. Hydraulic oil tank; 13. Hydraulic pump; 14. Hydraulic pipeline; 15. Horizontal gyroscope; 16. Infrared rangefinder; 17. Follow-up reflector; 18. PLC controller. Detailed Implementation

[0023] The following is in conjunction with the appendix Figure 1-2 This application will be described in further detail.

[0024] On one hand, embodiments of this application disclose an automatic adjustment device for the posture and working height of a transplanter, referring to... Figure 1 and Figure 2 In this embodiment, the automatic posture and working height adjustment device of the transplanter includes a transplanter body 1, a first rotating seat 2, a second rotating seat 3, a hinge frame 4, an electric drive system, a horizontal posture adjustment system, a height adjustment system, and a hydraulic system. The first rotating seat 2 is rotatably mounted on one side of the transplanter body 1, and the second rotating seat 3 is rotatably mounted on the other side of the transplanter body 1. The first rotating seat 2 and the second rotating seat 3 correspond to each other, and both have a concave shape. The hinge frame 4 consists of four hinge rods hinged together to form a rectangular structure, and the two corners of the hinge frame 4 are respectively hinged between the first rotating seat 2 and the second rotating seat 3. When the first rotating seat 2 and the second rotating seat 3 rotate in the same direction, they can drive the entire hinge frame 4 to rotate.

[0025] Meanwhile, the electric drive system, height adjustment system, horizontal attitude adjustment system, and hydraulic system are respectively installed between the articulated frame 4 and the transplanter body 1; and a PLC controller 18 is also installed on the transplanter body 1. The PLC controller 18 is electrically connected to the electric drive system, horizontal attitude adjustment system, height adjustment system, and hydraulic system, and the PLC controller 18 serves as the central control unit of the entire device, which can effectively control the electric drive system, horizontal attitude adjustment system, height adjustment system, and hydraulic system at the same time.

[0026] The following is a detailed description of the structure of the electric drive system, horizontal attitude adjustment system, height adjustment system, and hydraulic system: Specifically, refer to Figure 1 and Figure 2In this embodiment, the electric drive system includes a stepper motor 5, a linkage structure 6, and a planting mechanism 7. The stepper motor 5 is mounted on the hinge frame 4 and is powered by a battery or vehicle power supply. The stepper motor 5 is electrically connected to the PLC controller 18. The linkage structure 6 consists of multiple hinged linkages, with one end connected to the output end of the stepper motor 5 and the other end hinged to a corner of the hinge frame 4.

[0027] The planting mechanism 7 is installed on the linkage structure 6. The planting mechanism 7 uses finger clamps to simulate human hands to plant seedlings, which is the key to realizing the boat bottom-shaped planting. Specifically, the planting mechanism 7 consists of planting rods and seedling clamping components. The planting rods are composed of a frame, crank, connecting rod, rocker arm and other structures, while the seedling clamping components are composed of a drive cam, clamping finger I, clamping finger II, guide rail, spring and other structures. They are installed on the connecting rod through a rotating shaft and bracket, so that they move with the connecting rod.

[0028] During the operation of planting mechanism 7, the crank rotates counterclockwise, driving the connecting rod and seedling clamping assembly to move along the boat-shaped planting trajectory into the soil. Then, clamping fingers I and II close to pick up the seedling or open to open it under the action of the drive cam. Clamping fingers I and II can rotate around a rotating axis mounted on the support, achieving scissor-like opening and closing. When the two clamping fingers engage with the high point of the drive cam, they open; when they engage with the low point of the drive cam, they close. Simultaneously, the opening and closing process of the clamping fingers is constrained by guide rails and springs, ensuring stable movement perpendicular to the connecting rod direction and preventing spatial displacement. Furthermore, it should be noted that the structure of this planting mechanism 7 is existing technology and will not be elaborated upon here.

[0029] When the PLC controller 18 controls the stepper motor 5 to run according to preset operating parameters, the stepper motor 5 has high-precision speed control capability. When the stepper motor 5 is started, the output end of the stepper motor 5 drives the linkage structure 6 to rotate. Under the hinged driving action of the linkage structure 6, the planting mechanism 7 can maintain continuous planting action during the transplanting process. In this way, by using the stepper motor 5 to drive the planting mechanism 7, the traditional chain drive is replaced by electric drive, which can accurately control the running position and speed of the planting mechanism 7. Therefore, the solution of this application has higher flexibility than the traditional chain drive system by using the stepper motor 5. It can then accurately adjust the planting speed and planting spacing at any time according to different operating needs and conditions to adapt to different operating terrains and crop requirements.

[0030] Meanwhile, the high-precision control capability of the stepper motor 5 is achieved through the PLC controller 18, enabling it to accurately execute planting actions according to set operating parameters, ensuring the stability of planting quality. Especially in complex terrain scenarios, the stepper motor 5 can quickly respond to changes in the work, ensuring transplanting accuracy and operational flexibility. Furthermore, the use of the stepper motor 5 reduces wear and tear on traditional mechanical transmission systems, lowers maintenance costs, and extends the equipment's lifespan.

[0031] Specifically, refer to Figure 1 and Figure 2 In this embodiment, the height adjustment system includes a single-acting hydraulic cylinder 10 and a one-way solenoid valve. One end of the single-acting hydraulic cylinder 10 is hinged to a hinge rod on the left side of the hinge frame 4, and the output end of the single-acting hydraulic cylinder 10 is hinged to a hinge rod on the top side of the hinge frame 4. The single-acting hydraulic cylinder 10 is a hydraulic cylinder. The one-way solenoid valve is mounted on the single-acting hydraulic cylinder 10 and is electrically connected to a PLC controller 18. The PLC controller 18 controls the opening and closing of the one-way solenoid valve, thereby controlling the compression and extension of the single-acting hydraulic cylinder 10. Simultaneously, the single-acting hydraulic cylinder 10 is also connected to a hydraulic system, allowing the hydraulic system to deliver hydraulic oil to the single-acting hydraulic cylinder 10, thus realizing the opening and closing of the single-acting hydraulic cylinder 10.

[0032] The height adjustment system also includes an infrared rangefinder 16 and a follow-up reflector 17. The infrared rangefinder 16 and the follow-up reflector 17 are respectively installed at the bottom of the transplanter body 1, and they correspond to and cooperate with each other. More specifically, the infrared rangefinder 16 is electrically connected to the PLC controller 18, and is used to measure the distance between the planting mechanism 7 and the ground surface in real time; the follow-up reflector 17 is attached to the ground surface and automatically adjusts its reflection height according to changes in terrain.

[0033] During operation, the infrared rangefinder 16 reflects infrared signals through the follow-up reflector 17 and measures the actual distance between the planting mechanism 7 and the ground surface based on the round-trip time of the infrared light. Then, the PLC controller 18 adjusts the action of the one-way solenoid valve based on the distance data fed back by the infrared rangefinder 16, so that the one-way solenoid valve controls the extension and retraction of the single-acting cylinder 10. Under the extension and retraction of the single-acting cylinder 10, the height of the planting mechanism 7 on the articulated frame 4 is automatically controlled and adjusted, thereby ensuring that the planting depth meets the preset requirements.

[0034] This structure, employing an infrared rangefinder 16 and a follower reflector 17 working in tandem, ensures that infrared light is stably reflected into the infrared rangefinder 16 by automatically adjusting the height of the reflector surface according to changes in the ground surface. This avoids the impact of terrain changes on measurement accuracy. The infrared rangefinder 16 then measures the height distance between the planting mechanism 7 and the ground surface and transmits this data to the PLC controller 18. This ensures that the infrared rangefinder 16 can obtain accurate distance measurement data even under complex terrain conditions, thereby ensuring the accuracy of the height adjustment of the planting mechanism 7 under different terrain conditions. This avoids inconsistent planting depth caused by terrain changes and improves planting accuracy.

[0035] Furthermore, real-time height control of the planting mechanism 7 is achieved through the coordinated operation of the infrared rangefinder 16 and the single-acting hydraulic cylinder 10. The infrared rangefinder 16 measures the height distance between the planting mechanism 7 and the ground surface and transmits this data to the PLC controller 18. The PLC controller 18 automatically adjusts the single-acting hydraulic cylinder 10 by comparing the preset planting depth target with the actual measured value, thereby ensuring that the planting mechanism 7 always remains within the set height range. When the infrared rangefinder 16 detects a height deviation, the PLC controller 18 controls the lifting and lowering action of the single-acting hydraulic cylinder 10 to adjust the height of the planting mechanism 7. The entire height adjustment process is fully automatic and can be adjusted in real time according to changes in terrain, ensuring that each seedling is planted into the soil at a precise depth and avoiding fluctuations in planting depth.

[0036] Specifically, refer to Figure 1 and Figure 2 In this embodiment, the horizontal attitude adjustment system includes a geared motor 8 and a drive rod 9. The geared motor 8 is mounted on the transplanter body 1 and is electrically connected to a PLC controller 18, allowing the PLC controller 18 to control the rotation and stopping of the geared motor 8. One end of the drive rod 9 is fixedly connected to the output end of the geared motor 8, and the other end is fixedly connected to the side of the second rotating seat 3 opposite to the first rotating seat 2. When the geared motor 8 is started under the control of the PLC controller 18, the output end of the geared motor 8 drives the drive rod 9 to rotate, which in turn drives the second rotating seat 3 to rotate. Then, under the action of the first rotating seat 2 and the hinge frame 4, the planting mechanism 7 can be adjusted horizontally and vertically.

[0037] Meanwhile, the horizontal attitude adjustment system also includes a horizontal gyroscope 15 installed on the transplanter body 1. The horizontal gyroscope 15 works in conjunction with the planting mechanism 7, and the horizontal gyroscope 15 is located on one side of the PLC controller 18 and is electrically connected to the PLC controller 18. By setting the horizontal gyroscope 15, the left and right tilt status of the planting mechanism 7 can be detected in real time, and these tilt data are fed back to the PLC controller 18. The PLC controller 18 then controls the action of the reduction motor 8 according to the tilt data fed back by the horizontal gyroscope 15 in real time, so as to dynamically adjust the horizontal attitude of the planting mechanism 7, thereby ensuring that the planting mechanism 7 always maintains a horizontal state during operation to adapt to changes in ground tilt.

[0038] When the planting mechanism 7 tilts to the left or right, the PLC controller 18 controls the rotation direction and speed of the reduction motor 8 based on the data fed back by the horizontal gyroscope 15, automatically adjusting the left and right height difference of the planting mechanism 7 to restore its horizontal posture. This ensures that the planting mechanism 7 can cope with changes in complex terrain during operation, ensuring that the planting angle and depth of each seedling are consistent, and improving the survival rate of the seedlings.

[0039] Specifically, refer to Figure 1 and Figure 2 In this embodiment, the hydraulic system includes a hydraulic oil tank 12, a hydraulic pump 13, and a hydraulic pipeline 14. The hydraulic oil tank 12 is installed on one side of the transplanter body 1, and stores hydraulic oil. The hydraulic pump 13 is installed on one side of the hydraulic oil tank 12, and its input end is connected to the hydraulic oil tank 12 to facilitate the extraction of hydraulic oil from the tank. One end of the hydraulic pipeline 14 is connected to the output end of the hydraulic pump 13, and the other end is connected to the input end of the single-acting cylinder 10.

[0040] By using a hydraulic pump 13 to power the hydraulic oil, the hydraulic oil flows through the hydraulic pipeline 14 in the single-acting cylinder 10. The PLC controller 18 controls the opening and closing of the one-way solenoid valve, thereby realizing the height adjustment and attitude control of the planting mechanism 7. This ensures that the planting mechanism 7 can operate stably and respond quickly to the needs of height and attitude adjustment under complex terrain conditions.

[0041] Therefore, by setting up a structure in which the electric drive system, horizontal attitude adjustment system, height adjustment system and hydraulic system work together, it can adapt to complex terrain and bare seedling transplanting operation scenarios. It has automatic height adjustment and horizontal attitude control functions, which not only improves the accuracy and efficiency of transplanting operations, but also reduces the reliance on manual operation.

[0042] Meanwhile, under the control of the PLC controller 18, the height adjustment system and the horizontal attitude adjustment system can be controlled simultaneously. By receiving real-time data from the infrared rangefinder 16 and the horizontal gyroscope 15, the height and left and right horizontal attitude of the planting mechanism 7 can be automatically adjusted. This not only ensures that the seedlings are planted at the same angle, thereby improving the survival rate of the crops, but also reduces manual intervention and improves the efficiency of transplanting operations to adapt to changes in different terrains and operating conditions.

[0043] Furthermore, the coordinated operation of the infrared rangefinder 16 and the follow-up reflector 17 ensures the accuracy of height adjustment, enabling the planting mechanism 7 to adapt to changes in different terrains and maintain a stable planting depth. Through the coordinated work of these systems, precise and efficient transplanting operations can be achieved under complex terrain conditions. This allows the planting mechanism 7 to maintain the preset planting depth and horizontal posture, improving crop survival rate and operational efficiency, thereby enhancing the quality of the operation.

[0044] On the other hand, the automatic adjustment method for the posture and working height of a transplanter provided in this application adopts the following technical solution: A method for automatically adjusting the posture and working height of a transplanter, comprising the following steps: S1: During the startup phase, the power system of the transplanter body 1 is first activated, providing power to the stepper motor 5, geared motor 8, single-acting hydraulic cylinder 10, one-way solenoid valve, and PLC controller 18. Specifically, the stepper motor 5 is powered by a battery or vehicle power supply, and is connected to the planting mechanism 7 to control its operation. The hydraulic pump 13 starts working, and the hydraulic oil in the hydraulic tank 12 is delivered to various hydraulic components of the entire device through the hydraulic pipeline 13, mainly including the single-acting hydraulic cylinder 10. These components provide power for subsequent height adjustment and horizontal attitude control.

[0045] S2: Stepper motor 5 starts, driving planting mechanism 7 via linkage structure 6 to begin operating along the predetermined planting path and speed, ensuring continuous planting action during transplanting. Simultaneously, the operation of stepper motor 5 is controlled by PLC controller 18. The operating parameters of planting mechanism 7 are preset by PLC controller 18, including speed and plant spacing. PLC controller 18 then controls the speed and frequency of stepper motor 5 in real time according to operational requirements, ensuring that planting mechanism 7 performs the operation according to the set parameters.

[0046] In addition, during the operation in step S2, the infrared rangefinder 16 is activated and begins to measure the distance between the planting mechanism 7 and the ground surface. The infrared rangefinder 16 measures the height of the planting mechanism 7 from the ground surface by emitting infrared rays and receiving the reflected infrared signals. The measurement results of the infrared rangefinder 16 are transmitted to the PLC controller 18 via a data cable. The PLC controller 18 compares the actual measurement data with the set height parameters to determine whether the height of the planting mechanism 7 meets the requirements. When the PLC controller 18 determines that there is a height deviation, it will issue a control command to instruct the one-way solenoid valve and the single-acting hydraulic cylinder 10 to adjust the height of the planting mechanism 7.

[0047] S3: Based on feedback from the infrared rangefinder 16, the PLC controller 18 controls the opening and closing of the one-way solenoid valve to regulate the flow of hydraulic oil in the single-acting cylinder 10. If the infrared rangefinder 16 measures that the planting mechanism 7 is too high above the ground, the PLC controller 18 will control the one-way solenoid valve to open, depressurize the hydraulic oil, and the planting mechanism 7 will descend under gravity until it reaches the set height. If the planting mechanism 7 is measured to be too low above the ground, the PLC controller 18 will close the one-way solenoid valve and fill the single-acting cylinder 10 with hydraulic oil through the hydraulic pump 13, pushing the planting mechanism 7 upward until the height meets the set standard. The entire height adjustment process is monitored in real time by the PLC controller 18, which continuously receives data from the infrared rangefinder 16 to ensure that the height of the planting mechanism 7 is always maintained within a reasonable range.

[0048] Meanwhile, during operation, when the ground height changes, the follow-up reflector 17 provides a stable reflective surface to the infrared rangefinder 16 through close contact with the ground, ensuring that the reflected infrared rays can accurately return to the infrared rangefinder 16; and the change in ground height will cause the follow-up reflector 17 to automatically adjust its contact position with the ground, ensuring that the infrared rays can be continuously reflected, thereby ensuring the accuracy of the distance measurement; at the same time, by using the cooperation between the infrared rangefinder 16 and the follow-up reflector 17, the real-time height adjustment of the planting mechanism 7 can be realized.

[0049] Specifically, when the single-acting cylinder 10 is started, the hydraulic pump 13 delivers hydraulic oil from the hydraulic oil tank 12 to the single-acting cylinder 10 through the hydraulic pipeline 14. The flow of hydraulic oil is controlled by a one-way solenoid valve, which controls the lifting and lowering of the single-acting cylinder 10. Under the driving action of the single-acting cylinder 10, the articulated frame 4 drives the planting mechanism 7 to lift and lower, thereby ensuring the accuracy of height adjustment.

[0050] S4: During the operation of step S4, the horizontal gyroscope 15 is activated. The horizontal gyroscope 15 is used to monitor the left and right horizontal state of the planting mechanism 7. That is, the task of the horizontal gyroscope 15 is to detect the attitude change of the planting mechanism 7 when it is tilted on the ground and monitor the height difference between the left and right sides of the planting mechanism 7. When the planting mechanism 7 tilts, the horizontal gyroscope 15 feeds back its left and right tilt angle to the PLC controller 18. The PLC controller 18 judges the degree of tilt on the left and right sides based on the data fed back by the horizontal gyroscope 15 and issues an adjustment command to control the geared motor 8 to start.

[0051] The horizontal orientation adjustment in this application is achieved through a geared motor 8. Specifically, the PLC controller 18 controls the rotation direction and speed of the geared motor 8 based on feedback from the horizontal gyroscope 15, thereby adjusting the left-right height difference of the planting mechanism 7. If the planting mechanism 7 tilts to the left, the PLC controller 18 controls the geared motor 8 to rotate, causing the left side of the planting mechanism 7 to rise and the right side to fall until the planting mechanism 7 returns to a horizontal position; if the planting mechanism 7 tilts to the right, the PLC controller 18 will operate in the opposite direction, causing the right side to rise and the left side to fall, restoring the horizontal orientation. This allows the geared motor 8 to achieve precise adjustment through its reduction gear, ensuring that the planting mechanism 7 can return to a horizontal position even under conditions of left-right tilted ground.

[0052] More specifically, the geared motor 8 starts, and under the control of the PLC controller 18, the rotation direction and speed of the geared motor 8 are controlled, so that the output end of the geared motor 8 drives the second rotating seat 3 to rotate. Then, under the action of the first rotating seat 2, the hinge frame 4 drives the planting mechanism 7 to swing left and right, thereby adjusting the left and right height difference of the planting mechanism 7.

[0053] S5: After the operation is completed, the stepper motor 5 stops running, the planting mechanism 7 returns to its initial position, the hydraulic pump 13 stops working, the hydraulic oil flows back into the hydraulic oil tank 12, the hydraulic system stops operating, and the single-acting cylinder 10 resets; the infrared rangefinder 16 and the horizontal gyroscope 15 stop transmitting data, the PLC controller 18 stops issuing adjustment commands, and the entire system enters standby mode. Through this collaborative working method of this application, the planting mechanism 7 can automatically complete height and attitude adjustments under complex terrain conditions, thereby ensuring the smooth progress of the planting operation.

[0054] Therefore, in the entire operation process, the device of this application uses a stepper motor 5 to continuously drive the planting mechanism 7 to insert seedlings; the speed and operating frequency of the stepper motor 5 are controlled by the PLC controller 18, and each step of the stepper motor 5 drives the planting mechanism 7 to insert seedlings at the set plant spacing; unlike traditional chain drives, the speed and frequency of the stepper motor 5 can be adjusted at any time, and the PLC controller 18 can flexibly control the running speed and planting spacing of the stepper motor 5 according to changes in operating conditions; the planting mechanism 7 runs according to the preset trajectory and speed, and the stepper motor 5 controls the rhythm of seedling insertion according to the settings of the PLC controller 18 to ensure that the seedlings are planted in the soil at the set depth and plant spacing.

[0055] Simultaneously, the stepper motor 5 works in conjunction with the height adjustment system and the horizontal attitude adjustment system to ensure that the planting mechanism 7 maintains the preset height and attitude during the seedling insertion process. When terrain conditions change, the infrared rangefinder 16 monitors the height of the planting mechanism 7 in real time, and the PLC controller 18 controls the hydraulic system to adjust the height, ensuring that the planting depth always meets the set requirements. The horizontal gyroscope 15 monitors the left and right tilt status of the planting mechanism 7. When the ground tilts, causing a change in the posture of the planting mechanism 7, the PLC controller 18 controls the action of the reduction motor 8 to restore the horizontal state of the planting mechanism 7.

[0056] In addition, the hydraulic system drives the single-acting cylinder 10 to work through the pressure provided by the hydraulic pump 13. The hydraulic pump 13 delivers hydraulic oil stored in the hydraulic oil tank 12 to the single-acting cylinder 10 through the hydraulic pipeline 14, and the flow of hydraulic oil is controlled by a one-way solenoid valve. The one-way solenoid valve controls the lifting and lowering of the single-acting cylinder 10, ensuring the accuracy of height adjustment; the geared motor 8 is responsible for adjusting the left and right horizontal posture. In this way, the design of the hydraulic system and the geared motor 8 ensures that the planting mechanism 7 can stably complete the height and posture adjustment during operation. The power provided by the hydraulic pump 13 enables the single-acting cylinder 10 and the geared motor 8 to quickly respond to terrain changes according to the instructions of the PLC controller 18, thereby realizing the adjustment of the position of the planting mechanism 7.

[0057] Furthermore, throughout the entire operation, the PLC controller 18, acting as the central control unit of the entire device, receives data in real time from sensors such as the infrared rangefinder 16 and the horizontal gyroscope 15, analyzes the current height and attitude status, and issues corresponding control commands based on this data. The PLC controller 18 controls the on / off state of the one-way solenoid valve, regulates the flow of hydraulic oil in the single-acting cylinder 10, and controls the height and attitude changes of the planting mechanism 7. Simultaneously, the PLC controller 18 also controls the operating frequency and speed of the stepper motor 5 to ensure continuous planting operations. Through the centralized management of the PLC controller 18, the entire device can automatically adjust according to actual operational needs, ensuring that the planting mechanism 7 can complete stable operations under different terrain conditions.

[0058] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automatic posture and working height adjustment device for a transplanter, characterized in that: The transplanter includes a transplanter body (1), a first rotating seat (2) is rotatably provided on one side of the transplanter body (1), a second rotating seat (3) is rotatably provided on the other side of the transplanter body (1), a hinge frame (4) is hinged between the first rotating seat (2) and the second rotating seat (3), and an electric drive system, a horizontal attitude adjustment system, a height adjustment system and a hydraulic system are provided between the hinge frame (4) and the transplanter body (1). The electric drive system includes a stepper motor (5) mounted on the articulated frame (4), the output end of the stepper motor (5) is provided with a linkage structure (6) hinged to the articulated frame (4), and a planting mechanism (7) is provided on the linkage structure (6); the horizontal attitude adjustment system includes a reduction motor (8) mounted on the transplanter body (1), the output end of the reduction motor (8) is connected to a drive rod (9), one end of the drive rod (9) is connected to one side of the second rotating seat (3); the height adjustment system includes a single-acting cylinder (10) hinged to one side of the articulated frame (4), the output end of the single-acting cylinder (10) is hinged to the other side of the articulated frame (4), the single-acting cylinder (10) is also provided with a one-way solenoid valve, and the single-acting cylinder (10) is also connected to the hydraulic system; The hydraulic system includes a hydraulic oil tank (12) disposed on one side of the transplanter body (1), a hydraulic pump (13) disposed on one side of the hydraulic oil tank (12), the input end of the hydraulic pump (13) being connected to the hydraulic oil tank (12), and the output end of the hydraulic pump (13) being connected to the input end of the single-acting cylinder (10) through a hydraulic pipeline (14); The horizontal attitude adjustment system also includes a horizontal gyroscope (15), which is mounted on the transplanter body (1). The horizontal gyroscope (15) works in conjunction with the planting mechanism (7) to detect the left and right tilting state of the planting mechanism (7) in real time. The height adjustment system also includes an infrared rangefinder (16) and a follow-up reflector (17). The infrared rangefinder (16) and the follow-up reflector (17) are respectively set at the bottom of the transplanter body (1). The infrared rangefinder (16) is used to measure the distance between the planting mechanism (7) and the ground surface in real time. The follow-up reflector (17) cooperates with the infrared rangefinder (16), and the follow-up reflector (17) is attached to the ground surface and automatically adjusts the reflection height according to the terrain. The transplanter body (1) is also equipped with a PLC controller (18), which is connected to the stepper motor (5), the geared motor (8), the one-way solenoid valve, the horizontal gyroscope (15), and the infrared rangefinder (16).

2. A method for automatically adjusting the posture and working height of a transplanter, as described in claim 1, characterized in that, Includes the following steps: S1: During the start-up phase, the power system of the transplanter body (1) is activated first, and the power supply provides power support for the stepper motor (5), the geared motor (8), the single-acting hydraulic cylinder (10), the one-way solenoid valve and the PLC controller (18). S2: The stepper motor (5) starts and drives the planting mechanism (7) to start running according to the predetermined planting path and speed through the linkage structure (6), so that the planting mechanism (7) maintains continuous planting action during the transplanting process. S3: When the single-acting cylinder (10) is started, the hydraulic pump (13) delivers the hydraulic oil in the hydraulic oil tank (12) to the single-acting cylinder (10) through the hydraulic pipeline (14). The flow of hydraulic oil is controlled by the one-way solenoid valve, which controls the lifting and lowering of the single-acting cylinder (10). Under the driving action of the single-acting cylinder (10), the articulated frame (4) drives the planting mechanism (7) to lift and lower, thereby ensuring the accuracy of height adjustment. S4: The geared motor (8) starts, causing the output end of the geared motor (8) to drive the second rotating seat (3) to rotate. Then, under the action of the first rotating seat (2), the hinge frame (4) drives the planting mechanism (7) to swing left and right, thereby adjusting the left and right height difference of the planting mechanism (7). S5: After the operation is completed, the stepper motor (5) stops running, the planting mechanism (7) returns to the initial position, the hydraulic pump (13) stops working, the hydraulic oil flows back into the hydraulic oil tank (12), the hydraulic system stops operating, the single-acting cylinder (10) resets; the infrared rangefinder (16) and the horizontal gyroscope (15) stop transmitting data respectively, the PLC controller (18) stops issuing adjustment commands, and the entire system enters standby mode.

3. The method for automatically adjusting the posture and working height of a transplanter according to claim 2, characterized in that: During the operation in step S2, the infrared rangefinder (16) is activated and begins to measure the distance between the planting mechanism (7) and the ground surface. The infrared rangefinder (16) emits infrared rays and receives the reflected infrared signals to measure the height of the planting mechanism (7) and the ground surface.

4. The method for automatically adjusting the posture and working height of a transplanter according to claim 3, characterized in that: The measurement results of the infrared rangefinder (16) are transmitted to the PLC controller (18) via the data line. The PLC controller (18) compares the actual measurement data with the set height parameters to determine whether the height of the planting mechanism (7) meets the requirements. When the PLC controller (18) determines that the height is deviated, it will issue a control command to direct the one-way solenoid valve and the single-acting cylinder (10) to adjust the height of the planting mechanism (7).

5. The method for automatically adjusting the posture and working height of a transplanter according to claim 2, characterized in that: During the operation of step S3, when the height of the ground changes, the follower reflector (17) provides a stable reflective surface to the infrared rangefinder (16) through close contact with the ground, ensuring that the reflection of infrared rays can accurately return to the infrared rangefinder (16); and the change in the height of the ground will cause the follower reflector (17) to automatically adjust its contact position with the ground, ensuring that infrared rays can be continuously reflected, thereby ensuring the accuracy of the distance measurement; at the same time, by using the cooperation between the infrared rangefinder (16) and the follower reflector (17), the real-time height adjustment of the planting mechanism (7) can be realized.

6. The method for automatically adjusting the posture and working height of a transplanter according to claim 2, characterized in that: During the operation in step S4, the horizontal gyroscope (15) is activated. The horizontal gyroscope (15) is used to monitor the left and right horizontal state of the planting mechanism (7). That is, the task of the horizontal gyroscope (15) is to detect the attitude change of the planting mechanism (7) when it is tilted on the ground and monitor the height difference between the left and right sides of the planting mechanism (7). When the planting mechanism (7) tilts, the horizontal gyroscope (15) feeds back its left and right tilt angle to the PLC controller (18). The PLC controller (18) judges the degree of tilt on the left and right sides based on the data fed back by the horizontal gyroscope (15) and issues an adjustment command to control the geared motor (8) to start.

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