A fully automatic integrated yam sowing device and control method thereof

Abstract

A fully automatic integrated yam sowing device and a control method thereof, the sowing device comprises a base frame and a side frame, the base frame is arranged horizontally, the side frame is vertically connected to the front side of the base frame, a moving mechanism is connected to the lower side of the base frame, a loosening mechanism is connected to the front side of the side frame, a ridging mechanism is connected to the rear side of the base frame, a sowing mechanism is connected to the upper side of the base frame, an output end of the sowing mechanism is arranged relative to the soil layer, a control system is installed in the base frame and connected to the loosening mechanism, the ridging mechanism, the sowing mechanism, the moving mechanism, and the conveying mechanism, and the output end of the conveying mechanism is arranged relative to the input end of the sowing mechanism. In the forward movement, the design continuously cuts the hard soil layer and loosens it through the loosening mechanism, ensures the ridging height and the trough height through the ridging mechanism, continuously sows the original yam seeds through the sowing mechanism, and can control the number of seeds and the spacing between plants at the same time, and realizes the regionalized and large-scale automatic planting of yam by mutual cooperation between multiple structures, thereby ensuring high yam sowing efficiency and high sowing quality.

Description

Technical Field

[0001] The invention belongs to the field of yam sowing equipment, and in particular relates to a fully automatic integrated yam sowing equipment and a control method thereof. Background Art

[0002] Chinese yam, also known as Dioscorea batatas, is a vine plant. The planting conditions of Chinese yam are strict. The soil loosening depth needs to be about 0.8 meters. The planting spacing and row spacing need to be strictly controlled, and the harvesting process is also extremely cumbersome. Therefore, local soil loosening is often used to control the direction of the yam during planting. After it matures, agricultural machinery is used to dig the soil and then it is manually peeled off from the soil. During planting, it is necessary to strictly control the direction of the yam row arrangement to ensure it is flat. At present, domestic yam planting mainly involves mechanized soil loosening, ridge formation, manual sowing and covering, but manual control of agricultural machinery can easily lead to uneven direction of the loosening trough and relatively poor sowing quality, which will greatly increase the difficulty of the later harvesting process, resulting in a high fruit loss rate during the harvesting process and a lot of waste. At the same time, manual sowing is costly and inefficient. Summary of the invention

[0003] The purpose of the present invention is to overcome the defects and problems of low yam sowing efficiency and poor sowing quality in the prior art, and to provide a fully automatic integrated yam sowing equipment with high yam sowing efficiency and high sowing quality and a control method thereof.

[0004] To achieve the above objectives, the technical solution of the present invention is: a fully automatic integrated yam sowing equipment, including a base frame, a side frame, a soil loosening mechanism, a ridging mechanism, a sowing mechanism, a moving mechanism, a conveying mechanism, and a control system, wherein the base frame is horizontally arranged, the side frame is vertically connected to the front side of the base frame, the moving mechanism is connected to the lower side of the base frame, the soil loosening mechanism is connected to the front side of the side frame, the ridging mechanism is connected to the rear side of the base frame, the sowing mechanism is connected to the upper side of the base frame, the output end of the sowing mechanism is arranged relative to the soil layer, the control system is installed in the base frame and connected to the soil loosening mechanism, the ridging mechanism, the sowing mechanism, the moving mechanism, and the conveying mechanism, and the output end of the conveying mechanism is arranged relative to the input end of the sowing mechanism;

[0005] The loosening mechanism is used to cut and loosen the soil layer;

[0006] The ridging mechanism is used to ridge and dig grooves in the soil layer;

[0007] The moving mechanism is used to drive the frame to move;

[0008] The conveying mechanism is used to convey the original yam seeds to the sowing mechanism;

[0009] The control system is used to control the operation of the soil loosening mechanism, the ridging mechanism, the sowing mechanism, the moving mechanism and the conveying mechanism.

[0010] A drive assembly is connected inside the side frame;

[0011] The loosening mechanism includes a loosening frame and two support plates. The two support plates are arranged vertically. A mudguard is connected to the upper side of the loosening frame. The two support plates are symmetrically arranged on the inner side of the loosening frame. The support plate is triangular in shape. Mounting holes are provided at the three vertices of the support plate. Mounting columns are sleeved in the mounting holes. Sprockets are connected to the two ends of the mounting columns. Connecting shafts are sleeved at the centers of the two mounting columns. The two connecting shafts are arranged parallel to each other up and down and both ends are connected to the inner side of the loosening frame. The outer peripheral surfaces of the three sprockets on the same side are meshed. A chain is connected to the soil loosening frame, a plurality of cutting plates are arranged at intervals along the circumferential direction on the outer side of the chain, and the plurality of cutting plates are connected to the links of the chain one by one, and a plurality of cutting teeth are connected at intervals along the length direction on the outer side of the cutting plate, a rotating shaft is connected to the upper side of the soil loosening frame, a driving roller is sleeved on the outer circumference of the rotating shaft, a driven roller is sleeved on the outer circumference of the connecting column located on the upper side, a belt is wound around the outer circumference of the driving roller and the driven roller, the output end of the driving assembly is respectively connected to the soil loosening frame and the driving roller, and the driving assembly is connected to the control system;

[0012] The driving assembly is used to drive the loosening frame to move up and down, and drive the active roller to rotate.

[0013] The driving assembly includes a screw motor and a ball screw. The screw motor is installed at the bottom of the side frame. One end of the ball screw is connected to the output shaft of the screw motor, and the other end of the ball screw is rotatably connected to the top of the side frame. The ball screw is threadedly connected to the loosening frame. The upper side of the base frame, the upper side of the side frame, and the outer circumference of the rotating shaft are all rotatably connected with auxiliary sprockets. The outer circumference of the auxiliary sprocket is meshed with an auxiliary chain. The auxiliary sprocket located on the rotating shaft is coaxially connected to one side of the active roller.

[0014] The ridging mechanism includes a ridging motor, a ridging wire rod, a driving arm, a ridging rod, and a ridging frame. The ridging motor is installed on the upper side of the base frame, one end of the ridging wire rod is connected to the output end of the ridging motor, and the other end is rotatably connected to the base frame, the outer peripheral surface of the ridging wire rod is threadedly connected with a rear end slider, one end of the ridging rod is hinged to the base frame, and the other end is connected to the top of the ridging frame, one end of the driving arm is hinged to the rear end slider, and the other end is hinged to the ridging rod, the left and right sides of the ridging frame are connected with ridging cutting heads, and the middle part of the ridging frame is connected with a grooving knife.

[0015] The ridging cutting head includes a mounting frame and two ridging knives. The mounting frame is connected to the lower side of the ridging frame. The two ridging knives are symmetrically arranged on the left and right sides of the mounting frame. One side of the two ridging knives is hinged to the mounting frame, and the other side of the two ridging knives is hinged with an adjustment plate. The mounting frame is provided with a mounting hole, and the adjustment plate is provided with a plurality of adjustment holes along the length direction that cooperate with the mounting holes.

[0016] The sowing mechanism includes a box frame, an infrared receiver and a plurality of silos, the upper and lower ends of the silos are open, and the plurality of silos are connected to the upper side of the box frame. A plurality of servo motors are installed in the box frame, and the output shafts of the plurality of servo motors are connected to baffles, and the plurality of baffles are arranged horizontally and arranged one-to-one with respect to the lower ends of the plurality of silos. The inner bottom wall of the box frame is connected to a plurality of conveyor belts, and the conveyor belts are arranged obliquely, and the inner side of the conveyor belts is meshedly connected to a transmission shaft, and the transmission shaft is rotatably connected to the box frame, and one end of one of the transmission shafts A conveying motor is connected, a plurality of pallets are arranged at intervals along the circumferential direction on the outer circumferential surface of the conveyor belt, and the spacing between two adjacent pallets matches the diameter of the yam original seed. A discharge port is opened on one side of the box frame, and a material storage box is connected to the inner bottom wall of the box frame. The upper end of the material storage box is arranged relative to the output end of the conveyor belt. A clamping claw for clamping the yam original seed is slidably connected in the box frame. The infrared receiver is installed in the box frame and arranged relative to the conveyor belt. The control system is connected to the infrared receiver, the plurality of servo motors, the conveying motor, and the clamping claw;

[0017] The infrared receiver is used to determine the number of yam seeds entering the conveyor belt.

[0018] The mobile mechanism includes a front axle, a rear axle, an engine, and a steering gear. The front axle and the rear axle are both rotatably connected to the chassis, and both ends of the front axle and the rear axle are rotatably connected to track wheels. The engine is connected to the upper side of the chassis, and the output end of the engine is connected to a transmission shaft, one end of the transmission shaft is connected to a gear box, and the output end of the gear box is connected to a driving gear. The outer peripheral surface of the rear axle is connected to a driven gear, and the driven gear is meshed and connected to the driving gear. The steering gear is connected to the upper side of the chassis, and the output end of the steering gear is connected to a steering gear arm, one end of the steering gear arm is hinged to a steering gear plate, and one end of the steering gear plate is hinged to the front axle.

[0019] The conveying mechanism includes a drone, a stepper motor is connected to the lower side of the drone, a hook is connected to the output end of the stepper motor, a filling bin is connected to the lower side of the hook, the lower end of the filling bin is open, the filling bin is filled with yam seeds, a bin door is hinged at the open end of the filling bin, a switch port controller is arranged in the drone, and the switch port controller is connected to the control system;

[0020] The switch port controller is used to control the stepper motor to drive the filling bin to move and open the bin door.

[0021] A control method for a fully automatic integrated yam sowing device, the control method comprising the following steps:

[0022] Step 1: The control system controls the moving mechanism to work, so that the sowing equipment moves forward as a whole;

[0023] Step 2: The control system controls the loosening mechanism to work, and the loosening mechanism goes deep into the soil layer to loosen the soil. At the same time, the control system controls the ridging mechanism to work, and the ridging mechanism will ridge and dig grooves on the loosened soil layer to form soil grooves.

[0024] Step three, the control system controls the sowing mechanism to start the operation to clamp the yam seeds and transport them to the soil trough opened at the rear, and repeat this operation. At the same time, the control system controls the conveying mechanism to continuously convey the yam seeds to the sowing mechanism until the yam sowing is completed.

[0025] The specific sowing steps of the sowing mechanism in step 3 are:

[0026] The control system controls the transmission motor and multiple servo motors to work together, so that the baffle and the conveyor belt start together. When the baffle rotates two circles, the control system controls the servo motor to stop working. At the same time, the infrared counter detects the number of yam seeds at the conveyor belt outlet. If the number reaches 2, the control system controls the transmission motor to stop working.

[0027] The control system controls the clamping claw to move to the top of the yam seed to clamp the yam seed and transport the yam seed to the soil trough opened at the rear;

[0028] The control system controls the conveying motor and the plurality of servo motors to work together again, and repeats the above operation until the yam sowing is completed.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. In a fully automatic integrated yam sowing device and a control method thereof, a loosening structure, a ridging structure, a sowing structure and a moving mechanism are provided, and a loosening mechanism is used to continuously cut the hard soil layer and loosen it when the device moves forward, and the ridging height and the trough height are ensured by the rear ridging mechanism, and the original yam seeds are continuously sown by the sowing mechanism, and the number of seeds and the spacing between the plants can be controlled by the control system at the same time, and the regionalized and large-scale automatic planting of yam is realized by the mutual cooperation between multiple structures, so as to ensure that the yam sowing efficiency is high, the sowing quality is high, the difficulty of the later harvesting process is greatly reduced, and the fruit loss rate of the harvesting process is low. Therefore, the sowing efficiency of the present invention is high and the sowing quality is good.

[0031] 2. In a fully automatic integrated yam sowing device and control method thereof of the present invention, the driving force of the mobile mechanism when advancing is transmitted to the auxiliary sprocket by the transmission box, the active roller is driven to rotate by the auxiliary chain, the driven roller is driven to rotate by the belt, and then the sprocket is driven to rotate, the chain is driven to rotate by the sprocket, and the chain moves along the trajectory of the triangular shape of the support plate so that the bevel teeth continuously cut the soil layer to achieve preliminary loosening of the soil, and while loosening the soil, the ball screw is driven to rotate by the screw motor, and then the loosening frame is driven to press down to achieve overall loosening of the soil, because the power of loosening the soil comes from the mobile mechanism, so when the mobile mechanism stops moving, the loosening mechanism also stops loosening the soil, and the mobile mechanism can loosen the soil synchronously while advancing, so as to avoid loosening the soil too much and affect subsequent sowing. Therefore, the present invention has high reliability, stable working process, and good loosening effect.

[0032] 3. In the fully automatic integrated yam sowing equipment and control method thereof of the present invention, a screw transmission method is adopted. When the ridging motor is working, it will drive the ridging screw to rotate, thereby driving the slider to move, thereby driving the ridging frame to move up and down, thereby controlling the ridging height and the groove height, and the loosened soil layer is grooved by the groove cutter, and ridging is performed by two ridging cutting heads. By moving the distance of the adjustment plate on the mounting frame, the spacing and angle between the two ridging knives can be adjusted, thereby controlling the ridging width. Therefore, the present invention has high reliability and high ridging and groove quality.

[0033] 4. In the fully automatic integrated yam sowing equipment and control method thereof of the present invention, the yam original seeds can be continuously conveyed by the conveyor belt. When the yam original seeds fall into the storage box, the number of the current yam original seeds is obtained by the infrared receiver to avoid the clamping claws clamping multiple yam original seeds at one time. At the same time, in the process of the clamping claws clamping the yam original seeds, the baffle is used to block the silo, thereby preventing the yam from piling up on the conveyor belt. Through the mutual cooperation of the clamping claws, the conveyor belt and the baffle, the batch conveying of the yam original seeds can be realized, so as to control the number of seeds and the spacing between plants of the yam original seeds and ensure the sowing quality. Therefore, the present invention has high reliability and good sowing quality.

[0034] 5. In the fully automatic integrated yam sowing equipment and control method thereof of the present invention, the driving force of the engine is transmitted to the rear axle through the gear box, thereby driving the track wheel to rotate, so as to realize the forward movement of the equipment, and the steering gear drives the steering gear arm to rotate, so that the front axle can move left and right, and then the track wheel at the front can be driven to turn, so that the forward movement process is relatively stable, and the quality of subsequent sowing can be guaranteed. Therefore, the working process of the present invention is stable and the sowing quality is good.

[0035] 6. In the fully automatic integrated yam sowing equipment and control method of the present invention, by setting up a drone, it can be supplemented when the stock of yam original seeds is small, so as to avoid the need to suspend the equipment due to the need to supplement the yam original seeds. The automatic control method can make the sowing process uninterrupted, and the sowing efficiency is high. By pulling the filling bin, the bin door can be opened, so that the yam original seeds fall into the bin. Therefore, the sowing efficiency of the present invention is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of a fully automatic integrated yam sowing device of the present invention.

[0037] Figure 2 It is a structural schematic diagram of the loosening mechanism and the driving assembly in the present invention.

[0038] Figure 3 It is a schematic diagram of the structure of the driving component in the present invention.

[0039] Figure 4 It is a partial structural schematic diagram of the soil loosening mechanism in the present invention.

[0040] Figure 5 It is a structural schematic diagram of the ridging mechanism in the present invention.

[0041] Figure 6 It is a structural schematic diagram of the ridging and cutting head in the present invention.

[0042] Figure 7 It is a structural schematic diagram of the seeding mechanism in the present invention.

[0043] Figure 8 It is a structural schematic diagram of the box frame, material storage box and conveyor belt in the present invention.

[0044] Fig. 9 It is a structural schematic diagram of the servo motor, the silo and the baffle in the present invention.

[0045] Fig.10 It is a structural schematic diagram of the mobile mechanism in the present invention.

[0046] Fig.11 It is a structural schematic diagram of the steering gear, the steering gear arm and the steering gear plate in the present invention.

[0047] Fig.12 It is a structural schematic diagram of the conveying mechanism in the present invention.

[0048] Fig.13 It is a structural block diagram of the control system in the present invention.

[0049] In the figure: base frame 1, side frame 2, loosening mechanism 3, loosening frame 31, support plate 32, mud guard 33, mounting hole 34, mounting column 35, sprocket 36, connecting shaft 37, chain 38, cutting plate 39, cutting tooth 310, rotating shaft 311, driving roller 312, driven roller 313, belt 314, driving assembly 4, screw motor 41, ball screw 42, auxiliary sprocket 43, auxiliary chain 44, transmission box 45, ridging mechanism 5, ridging motor 51, ridging screw rod 52, driving arm 53, ridging rod 54, ridging frame 55, rear end slider 56, ridging cutting head 57, mounting frame 571, ridging knife 572, connecting hole 573, Adjustment hole 574, adjustment plate 575, slotting knife 58, sowing mechanism 6, box frame 61, silo 62, servo motor 63, baffle 64, conveyor belt 65, transmission shaft 66, transmission motor 67, card plate 68, storage box 69, infrared receiver 610, discharge port 611, moving mechanism 7, front axle 71, rear axle 72, engine 73, steering gear 74, track wheel 75, transmission shaft 76, gear box 77, driving gear 78, driven gear 79, steering gear arm 710, steering gear plate 711, conveying mechanism 8, drone 81, stepping motor 82, hook 83, filling bin 84, bin door 85, switch port controller 86, control system 9. DETAILED DESCRIPTION

[0050] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0051] Embodiment 1:

[0052] See also Figures 1 to 13 , a fully automatic integrated yam sowing equipment, comprising a base frame 1, a side frame 2, a loosening mechanism 3, a ridging mechanism 5, a sowing mechanism 6, a moving mechanism 7, a conveying mechanism 8, and a control system 9, wherein the base frame 1 is horizontally arranged, the side frame 2 is vertically connected to the front side of the base frame 1, the moving mechanism 7 is connected to the lower side of the base frame 1, the loosening mechanism 3 is connected to the front side of the side frame 2, the ridging mechanism 5 is connected to the rear side of the base frame 1, the sowing mechanism 6 is connected to the upper side of the base frame 1, the output end of the sowing mechanism 6 is arranged relative to the soil layer, the control system 9 is installed in the base frame 1 and is connected to the loosening mechanism 3, the ridging mechanism 5, the sowing mechanism 6, the moving mechanism 7, and the conveying mechanism 8, and the output end of the conveying mechanism 8 is arranged relative to the input end of the sowing mechanism 6;

[0053] The loosening mechanism 3 is used to cut and loosen the soil layer;

[0054] The ridging mechanism 5 is used for ridging and grooving the soil layer;

[0055] The moving mechanism 7 is used for moving forward and turning;

[0056] The conveying mechanism 8 is used to convey the yam seeds to the sowing mechanism 6;

[0057] The control system 9 is used to control the operation of the loosening mechanism 3, the ridging mechanism 5, the sowing mechanism 6, the moving mechanism 7, and the conveying mechanism 8.

[0058] A control method for a fully automatic integrated yam sowing device, the control method comprising the following steps:

[0059] Step 1: The control system 9 controls the moving mechanism 7 to work, so that the sowing equipment moves forward as a whole;

[0060] Step 2: The control system 9 controls the loosening mechanism 3 to work, and the loosening mechanism 3 goes deep into the soil layer to loosen the soil. At the same time, the control system 9 controls the ridging mechanism 5 to work, and the ridging mechanism 5 ridges and digs the loosened soil layer to form soil grooves;

[0061] Step three, the control system 9 controls the sowing mechanism 6 to start the operation to clamp the yam seeds and transport them to the soil trough opened at the rear, and repeat this operation. At the same time, the control system 9 controls the conveying mechanism 8 to continuously convey the yam seeds to the sowing mechanism 6 until the yam sowing is completed.

[0062] Embodiment 2:

[0063] The basic content is the same as that of Example 1, except that:

[0064] See also Figures 2 to 4The loosening mechanism 3 includes a loosening frame 31 and two support plates 32. The two support plates 32 are arranged vertically. A fender 33 is connected to the upper side of the loosening frame 31. The two support plates 32 are symmetrically arranged on the inner side of the loosening frame 31. The support plate 32 is triangular. Mounting holes 34 are opened at the three vertices of the support plate 32. Mounting columns 35 are sleeved in the mounting holes 34. Sprocket wheels 36 are connected to both ends of the mounting columns 35. Connecting shafts 37 are sleeved at the centers of the two mounting columns 35. The two connecting shafts 37 are arranged in parallel up and down and both ends are connected to the inner side of the loosening frame 31. The outer peripheral surfaces of the three sprocket wheels 36 on the same side are meshed and connected. A chain 38, wherein a plurality of cutting plates 39 are arranged at intervals along the circumferential direction on the outer side of the chain 38, wherein the plurality of cutting plates 39 are connected to the links of the chain 38 in a one-to-one correspondence, wherein a plurality of cutting teeth 310 are connected at intervals along the length direction on the outer side of the cutting plates 39, wherein a rotating shaft 311 is connected to the upper side of the loosening frame 31, wherein the outer circumferential surface of the rotating shaft 311 is sleeved with a driving roller 312, wherein the outer circumferential surface of the connecting shaft 37 located at the upper side is sleeved with a driven roller 313, wherein the outer circumferential surfaces of the driving roller 312 and the driven roller 313 are wound with a belt 314, wherein the output end of the driving assembly 4 is respectively connected to the loosening frame 31 and the driving roller 312, and wherein the driving assembly 4 is connected to the control system 9;

[0065] A driving assembly 4 is connected inside the side frame 2, and the driving assembly 4 includes a screw motor 41, a ball screw 42 and a transmission box 45. The screw motor 41 is installed at the bottom of the side frame 2, one end of the ball screw 42 is connected to the output shaft of the screw motor 41, and the other end of the ball screw 42 is rotatably connected to the top of the side frame 2, and the ball screw 42 is threadedly connected to the loosening frame 31. The upper side of the base frame 1, the upper side of the side frame 2, and the outer peripheral surface of the rotating shaft 311 are all rotatably connected with auxiliary sprockets 43, and the outer peripheral surface of the auxiliary sprocket 43 is meshedly connected with an auxiliary chain 44. The auxiliary sprocket 43 located on the rotating shaft 311 is coaxially connected to one side of the active roller 312, and the transmission box 45 is installed on the base frame 1, and the input end of the transmission box 45 is connected to the output end of the moving mechanism 7, and the output end of the transmission box 45 is connected to one of the auxiliary sprockets 43.

[0066] In this embodiment, the driving component 4 is powered by the moving mechanism 7, and the transmission box 45 can select a gear reduction group, which uses the gear reduction group to reduce the speed and transmit it to the auxiliary sprocket 43, and transmits the power to the loosening mechanism 3 at the outer end through the triangularly distributed auxiliary chain 44. The loosening mechanism 3 drives the cutting plate 39 to rotate continuously through the triangularly distributed chain 38, and multiple cutting teeth 310 cut the soil layer at the same time. At the same time, the soil layer is continuously and slowly cut as the equipment moves forward to achieve the loosening effect. The ball screw 42 adopts a low-lead screw design, and the screw motor 41 is selected as a stepping motor. The ball screw 42 is controlled to rotate by the screw motor 41, and then the loosening frame 31 is controlled to move down and penetrate into the soil layer.

[0067] Embodiment 3:

[0068] The basic content is the same as that of Example 1, except that:

[0069] See also Figure 5 and Figure 6 The ridging mechanism 5 includes a ridging motor 51, a ridging wire rod 52, a driving arm 53, a ridging rod 54, and a ridging frame 55. The ridging motor 51 is installed on the upper side of the base frame 1. One end of the ridging wire rod 52 is connected to the output end of the ridging motor 51, and the other end is rotatably connected to the base frame 1. The outer peripheral surface of the ridging wire rod 52 is threadedly connected with a rear end slider 56. One end of the ridging rod 54 is hinged to the base frame 1, and the other end is connected to the top of the ridging frame 55. One end of the driving arm 53 is hinged to the rear end slider 56, and the other end is hinged to the ridging rod 54. The left and right sides of the ridging frame 55 are connected with ridging cutting heads 57, and the middle part of the ridging frame 55 is connected with a grooving knife 58.

[0070] The ridging cutting head 57 includes a mounting frame 571 and two ridging knives 572. The mounting frame 571 is connected to the lower side of the ridging frame 55. The two ridging knives 572 are symmetrically arranged on the left and right sides of the mounting frame 571. One side of the two ridging knives 572 is hinged to the mounting frame 571, and the other side of the two ridging knives 572 is hinged with an adjustment plate 575. A connecting hole 573 is provided on the mounting frame 571, and a plurality of adjustment holes 574 that cooperate with the connecting hole 573 are provided on the adjustment plate 575 along the length direction.

[0071] In this embodiment, the ridging knife 572 adopts a plow knife, and ridging is performed by two ridging knives 572. Before ridging, the distance between the two ridging knives 572 is adjusted by pulling the adjustment plate 575. After the distance is determined, the connecting hole 573 and the adjustment hole 574 are connected by bolts to fix the ridging knife 572. When in use, the rear end slider 56 is driven to move by the ridging motor 51, and then the ridging frame 55 is driven to move up and down to control the ridging height and the grooving depth.

[0072] Embodiment 4:

[0073] The basic content is the same as that of Example 1, except that:

[0074] See also Figures 7 to 9 The sowing mechanism 6 includes a box frame 61, an infrared receiver 610 and a plurality of silos 62. The upper and lower ends of the silos 62 are both open. The plurality of silos 62 are connected to the upper side of the box frame 61. A plurality of servo motors 63 are installed in the box frame 61. The output shafts of the plurality of servo motors 63 are connected to baffles 64. The plurality of baffles 64 are arranged horizontally and arranged one by one with respect to the lower ends of the plurality of silos 62. The inner bottom wall of the box frame 61 is connected to a plurality of conveyor belts 65. The conveyor belts 65 are arranged obliquely. The inner side of the conveyor belts 65 is meshedly connected to a transmission shaft 66. The transmission shaft 66 is rotatably connected to the box frame 61. One of the transmission shafts 66 One end is connected with a conveying motor 67, the outer peripheral surface of the conveyor belt 65 is provided with a plurality of pallets 68 at intervals in the circumferential direction, the spacing between two adjacent pallets 68 matches the diameter of the yam original seed, a discharge port 611 is provided on one side of the box frame 61, a storage box 69 is connected to the inner bottom wall of the box frame 61, the upper end of the storage box 69 is arranged relative to the output end of the conveyor belt 65, a clamp for clamping the yam original seed is slidably connected in the box frame 61, the infrared receiver 610 is installed in the box frame 61 and arranged relative to the conveyor belt 65, the control system 9 is connected with the infrared receiver 610, the plurality of servo motors 63, the conveying motor 67, and the clamp;

[0075] The infrared receiver 610 is used to determine the number of yam seeds entering the conveyor belt 65;

[0076] The specific sowing steps of the sowing mechanism 6 in step 3 are:

[0077] The control system 9 controls the conveying motor 67 and the plurality of servo motors 63 to work together, so that the baffle 64 and the conveyor belt 65 start working together. When the baffle 64 rotates two circles, the control system 9 controls the servo motor 63 to stop working. At the same time, the infrared receiver 610 detects the number of yam seeds at the outlet of the conveyor belt 65. If the number reaches 2, the control system 9 controls the conveying motor 67 to stop working.

[0078] The control system 9 controls the clamping claw to move to the top of the yam seed to clamp the yam seed and transport the yam seed to the soil trough opened at the rear;

[0079] The control system 9 controls the conveying motor 67 and the plurality of servo motors 63 to work together again, and repeats the above operation until the yam sowing is completed.

[0080] In this embodiment, the baffle 64 adopts an arc-shaped design, and the rotation of the baffle 64 is controlled by the servo motor 63 to form an intermittent opening and closing of the material port of the silo 62, thereby controlling a small number of yam seeds to fall into the conveyor belt 65. By controlling the spacing of the card plates 68 and the outlet height of the conveyor belt 65, the number of yam seeds can be effectively controlled to 1 or 0. An infrared counter is installed to provide real-time feedback on the number of yam seeds, and cooperates with the forward movement distance of the moving mechanism 7 to ensure that the number of yam seeds entering the soil during the sowing process is controllable.

[0081] Embodiment 5:

[0082] The basic content is the same as that of Example 1, except that:

[0083] See also Fig.10 and Fig.11 The mobile mechanism 7 includes a front axle 71, a rear axle 72, an engine 73, and a steering gear 74. The front axle 71 and the rear axle 72 are both rotatably connected to the chassis 1. Both ends of the front axle 71 and the rear axle 72 are rotatably connected with track wheels 75. The engine 73 is connected to the upper side of the chassis 1. The output end of the engine 73 is connected to a transmission shaft 76. One end of the transmission shaft 76 is connected to a gear box 77. The output end of the gear box 77 is connected to a driving gear 78. The outer peripheral surface of the rear axle 72 is connected to a driven gear 79. The driven gear 79 is meshed and connected to the driving gear 78. The steering gear 74 is connected to the upper side of the chassis 1. The output end of the steering gear 74 is connected to a steering gear arm 710. One end of the steering gear arm 710 is hinged to a steering gear plate 711. One end of the steering gear plate 711 is hinged to the front axle 71.

[0084] In this embodiment, the engine 73 adopts a methane engine, which is decelerated through the gear box 77 and transmitted to the driving gear 78, and then transmitted to the rear axle 72 through gear meshing. The rotation of the rear axle 72 drives the track wheel 75 to rotate, driving the equipment forward. The steering gear 74 drives the steering gear arm 710 to rotate, and then drives the front axle 71 to move left and right to achieve steering. At the same time, a connecting shaft is connected to one side of the gear box 77, and the connecting shaft is connected to the transmission box 45. While the equipment moves forward, it provides driving force to the loosening mechanism 3 to loosen the soil.

[0085] Embodiment 6:

[0086] The basic content is the same as that of Example 1, except that:

[0087] See also Fig.12The conveying mechanism 8 includes a drone 81, a stepper motor 82 is connected to the lower side of the drone 81, a hook 83 is connected to the output end of the stepper motor 82, a filling bin 84 is connected to the lower side of the hook 83, the lower end of the filling bin 84 is open, the filling bin 84 is filled with yam seeds, a bin door 85 is hinged at the open end of the filling bin 84, a switch port controller 86 is arranged in the drone 81, and the switch port controller 86 is connected to the control system 9;

[0088] The opening and closing port controller 86 is used to control the stepping motor 82 to drive the filling bin 84 to move and open or close the bin door 85 .

[0089] Embodiment 7:

[0090] The basic content is the same as that of Example 1, except that:

[0091] See also Fig.13 The control system 9 includes a main control chip 91, a gyroscope 92, an electronic compass 93, a laser ranging module 94, and a digital radio 95. The laser ranging module 94 is installed at the front of the top of the device. The gyroscope 92 and the electronic compass 93 are installed on the lower side of the chassis 1. The main control chip 91 adopts STM32F405RGT6, which has 12 PWM outputs, 6 Uart serial ports, 1 IIC bus, and 4 ADCs. Among them, PWM1, 2, 3, 4, 5, 6, 7, 8 outputs are divided into Separately control the engine 73 oil pump power, steering gear 74, lead screw motor 41, transmission motor 67, ridging motor 51, and three servo motors 63; the steering gear 74 uses an 80kg high-torque steering gear to ensure that the front track wheel 75 has sufficient steering force. The lead screw motor 41, transmission motor 67, and ridging motor 51 all use stepper motors. The stepper motors are driven by A4988 chips to ensure control accuracy and high torque to avoid equipment jamming due to sediment. Uart serial ports 1 and 2 are connected to RTK respectively. GPS and digital radio 95, RTK GPS can ensure the positioning accuracy within 3cm outdoors and ensure the accurate routing of equipment. Digital radio 95 adopts 433MHz digital transmission for communication with terminal equipment. The use of 433MHz avoids the mainstream 2.4GHz and 5.8GHz with serious channel occupancy, further improving the system's anti-interference ability. At the same time, 433MHz digital transmission can fully meet the bandwidth of data transmission. The use of long wave further enhances the signal propagation range. The IIC bus connects the electronic compass 93. The gyroscope 92 adopts the BMI280 model, which can realize acceleration detection, thereby detecting collisions, and detecting the posture of the equipment, detecting whether the equipment is overturned, and also allowing the equipment to have certain automatic adjustment functions (straight line correction, etc.), making the equipment run more stable and ensuring the safety of the equipment.

Claims

1. A fully automatic integrated yam sowing equipment, characterized by: The invention comprises a base frame (1), a side frame (2), a soil loosening mechanism (3), a ridging mechanism (5), a sowing mechanism (6), a moving mechanism (7), a conveying mechanism (8), and a control system (9); the base frame (1) is arranged horizontally; the side frame (2) is vertically connected to the front side of the base frame (1); the moving mechanism (7) is connected to the lower side of the base frame (1); the soil loosening mechanism (3) is connected to the front side of the side frame (2); the ridging mechanism (5) is connected to the rear side of the base frame (1); the sowing mechanism (6) is connected to the upper side of the base frame (1); the output end of the sowing mechanism (6) is arranged relative to the soil layer; the control system (9) is installed in the base frame (1) and is connected to the soil loosening mechanism (3), the ridging mechanism (5), the sowing mechanism (6), the moving mechanism (7), and the conveying mechanism (8); and the output end of the conveying mechanism (8) is arranged relative to the input end of the sowing mechanism (6); The ridging mechanism (5) comprises a ridging motor (51), a ridging wire rod (52), a driving arm (53), a ridging rod (54), and a ridging frame (55); the ridging motor (51) is mounted on the upper side of the base frame (1); one end of the ridging wire rod (52) is connected to the output end of the ridging motor (51), and the other end is rotatably connected to the base frame (1); a rear end slider (56) is threadedly connected to the outer peripheral surface of the ridging wire rod (52); one end of the ridging rod (54) is hinged to the base frame (1), and the other end is connected to the top of the ridging frame (55); one end of the driving arm (53) is hinged to the rear end slider (56), and the other end is hinged to the ridging rod (54); the left and right sides of the ridging frame (55) are connected to ridging cutting heads (57); and the middle part of the ridging frame (55) is connected to a slotting knife (58); The ridging cutting head (57) comprises a mounting frame (571) and two ridging knives (572), wherein the mounting frame (571) is connected to the lower side of the ridging frame (55), and the two ridging knives (572) are symmetrically arranged on the left and right sides of the mounting frame (571), one side of the two ridging knives (572) is hinged to the mounting frame (571), and the other side of the two ridging knives (572) is hinged with an adjustment plate (575), a connecting hole (573) is provided on the mounting frame (571), and a plurality of adjustment holes (574) are provided on the adjustment plate (575) along the length direction and are matched with the connecting holes (573); The loosening mechanism (3) is used to cut and loosen the soil layer; The ridging mechanism (5) is used to ridge and dig grooves in the soil layer; The moving mechanism (7) is used for moving forward and turning; The conveying mechanism (8) is used to convey the yam seeds to the sowing mechanism (6); The control system (9) is used to control the operation of the soil loosening mechanism (3), the ridging mechanism (5), the sowing mechanism (6), the moving mechanism (7) and the conveying mechanism (8).

2. The fully automatic integrated yam sowing equipment according to claim 1 is characterized in that: A driving assembly (4) is connected inside the side frame (2); The loosening mechanism (3) comprises a loosening frame (31) and two support plates (32). The two support plates (32) are arranged vertically. A mudguard (33) is connected to the upper side of the loosening frame (31). The two support plates (32) are symmetrically arranged on the inner side of the loosening frame (31). The support plate (32) is triangular in shape. Three vertices of the support plate (32) are provided with mounting holes (34). Mounting columns (35) are sleeved in the mounting holes (34). Chain wheels (36) are connected to the two ends of the mounting columns (35). A connecting shaft (37) is sleeved at the center of the two mounting columns (35). The two connecting shafts (37) are arranged in parallel up and down and are connected to the inner side of the loosening frame (31) at both ends. The outer peripheral surfaces of the three sprocket wheels (36) on the same side are meshed and connected with chains. (38), a plurality of cutting plates (39) are arranged at intervals along the circumferential direction on the outer side of the chain (38), and the plurality of cutting plates (39) are connected to the links of the chain (38) one by one, and a plurality of cutting teeth (310) are connected to the outer side of the cutting plates (39) at intervals along the length direction, a rotating shaft (311) is connected to the upper side of the loosening frame (31), and a driving roller (312) is sleeved on the outer circumference of the rotating shaft (311), and a driven roller (313) is sleeved on the outer circumference of the connecting shaft (37) located on the upper side, and a belt (314) is wound around the outer circumference of the driving roller (312) and the driven roller (313), and the output end of the driving component (4) is respectively connected to the loosening frame (31) and the driving roller (312), and the driving component (4) is connected to the control system (9); The driving assembly (4) is used to drive the loosening frame (31) to move up and down, and drive the active roller (312) to rotate.

3. The fully automatic integrated yam sowing equipment according to claim 2 is characterized in that: The driving assembly (4) comprises a screw motor (41), a ball screw (42) and a transmission box (45), wherein the screw motor (41) is installed at the bottom of the side frame (2), one end of the ball screw (42) is connected to the output shaft of the screw motor (41), and the other end of the ball screw (42) is rotatably connected to the top of the side frame (2), and the ball screw (42) is threadedly connected to the loosening frame (31). The upper side of the base frame (1), the upper side of the side frame (2), and the rotating shaft ( The outer circumference of the rotating shaft (311) is rotatably connected to an auxiliary sprocket (43), the outer circumference of the auxiliary sprocket (43) is meshingly connected to an auxiliary chain (44), the auxiliary sprocket (43) located on the rotating shaft (311) is coaxially connected to one side of the active roller (312), the transmission box (45) is installed on the base frame (1), the input end of the transmission box (45) is connected to the output end of the moving mechanism (7), and the output end of the transmission box (45) is connected to one of the auxiliary sprockets (43).

4. The fully automatic integrated yam sowing equipment according to claim 1 is characterized in that: The sowing mechanism (6) comprises a box frame (61), an infrared receiver (610) and a plurality of silos (62), wherein the upper and lower ends of the silos (62) are both open, and the plurality of silos (62) are connected to the upper side of the box frame (61), a plurality of servo motors (63) are installed in the box frame (61), and the output shafts of the plurality of servo motors (63) are connected to baffles (64), and the plurality of baffles (64) are arranged horizontally and arranged one-to-one with respect to the lower ends of the plurality of silos (62), and the inner bottom wall of the box frame (61) is connected to a plurality of conveyor belts (65), and the conveyor belts (65) are arranged obliquely, and the inner side of the conveyor belts (65) is meshedly connected to a transmission shaft (66), and the transmission shaft (66) is rotatably connected to the box frame (61), and one of the transmission shafts (6 6) is connected to a transmission motor (67), the outer peripheral surface of the conveyor belt (65) is provided with a plurality of card plates (68) at intervals in the circumferential direction, the spacing between two adjacent card plates (68) matches the diameter of the yam original seed, a discharge port (611) is provided on one side of the box frame (61), the inner bottom wall of the box frame (61) is connected to a material storage box (69), the upper end of the material storage box (69) is arranged relative to the output end of the conveyor belt (65), a clamping claw for clamping the yam original seed is slidably connected in the box frame (61), the infrared receiver (610) is installed in the box frame (61) and arranged relative to the conveyor belt (65), the control system (9) is connected to the infrared receiver (610), the plurality of servo motors (63), the transmission motor (67), and the clamping claw; The infrared receiver (610) is used to determine the number of yam seeds entering the conveyor belt (65).

5. The fully automatic integrated yam sowing equipment according to claim 1, characterized in that: The moving mechanism (7) comprises a front axle (71), a rear axle (72), an engine (73), and a steering gear (74); the front axle (71) and the rear axle (72) are both rotatably connected to the chassis (1); both ends of the front axle (71) and the rear axle (72) are rotatably connected to track wheels (75); the engine (73) is connected to the upper side of the chassis (1); the output end of the engine (73) is connected to a transmission shaft (76); one end of the transmission shaft (76) is connected to a gear box (77); The output end of the gear box (77) is connected to a driving gear (78), the outer peripheral surface of the rear shaft (72) is connected to a driven gear (79), the driven gear (79) is meshedly connected to the driving gear (78), the steering gear (74) is connected to the upper side of the chassis (1), the output end of the steering gear (74) is connected to a steering gear arm (710), one end of the steering gear arm (710) is hinged to a steering gear plate (711), and one end of the steering gear plate (711) is hinged to the front shaft (71).

6. The fully automatic integrated yam sowing equipment according to claim 1, characterized in that: The conveying mechanism (8) comprises an unmanned aerial vehicle (81), the lower side of the unmanned aerial vehicle (81) is connected to a stepping motor (82), the output end of the stepping motor (82) is connected to a hook (83), the lower side of the hook (83) is connected to a filling bin (84), the lower end of the filling bin (84) is open, the filling bin (84) is filled with yam seeds, the opening end of the filling bin (84) is hinged with a bin door (85), and the unmanned aerial vehicle (81) is provided with a switch port controller (86), and the switch port controller (86) is connected to the control system (9); The opening and closing port controller (86) is used to control the stepping motor (82) to drive the filling bin (84) to move and open or close the bin door (85).

7. A control method for the fully automatic integrated yam sowing equipment according to claim 4, characterized in that: The control method comprises the following steps: Step 1: The control system (9) controls the moving mechanism (7) to work, so that the sowing equipment moves forward as a whole; Step 2: The control system (9) controls the soil loosening mechanism (3) to work, and the soil loosening mechanism (3) penetrates into the soil layer to loosen the soil. At the same time, the control system (9) controls the ridging mechanism (5) to work, and the ridging mechanism (5) ridges and digs the loosened soil layer to form soil grooves; Step 3: The control system (9) controls the sowing mechanism (6) to start the operation of clamping the yam original seeds and transporting them to the soil trough opened at the rear, and repeat this operation. At the same time, the control system (9) controls the conveying mechanism (8) to continuously transport the yam original seeds to the sowing mechanism (6) until the yam sowing is completed.

8. The control method of the fully automatic integrated yam sowing equipment according to claim 7 is characterized in that: The specific sowing steps of the sowing mechanism (6) in step 3 are: The control system (9) controls the conveying motor (67) and the plurality of servo motors (63) to work together, so that the baffle (64) and the conveyor belt (65) start working together. When the baffle (64) rotates two circles, the control system (9) controls the servo motor (63) to stop working. At the same time, the infrared counter detects the number of yam seeds at the outlet of the conveyor belt (65). If the number reaches 2, the control system (9) controls the conveying motor (67) to stop working. The control system (9) controls the clamping claw to move above the yam seed stock to clamp the yam seed stock and transport the yam seed stock to the soil trough opened at the rear; The control system (9) controls the conveying motor (67) and the plurality of servo motors (63) to work together again, and repeats the above operation until the yam sowing is completed.

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