Multi-mechanism linkage automatic planting device and method

Abstract

The invention relates to a multi-mechanism linkage automatic planting device and method. The device comprises a vehicle body, and a seed conveying mechanism, a seed feeding and discharging mechanism, a ditching mechanism and a soil covering mechanism which are arranged on the vehicle body, the seed conveying mechanism comprises a tooth-shaped seed conveying groove and a connecting rod, and tubers to be planted on the tooth-shaped seed conveying groove can be conveyed to the outlet end through the connecting rod; the seed feeding and discharging mechanism comprises a seed feeding groove and a seed discharging groove, the seed feeding groove is formed below the outlet end of the tooth-shaped seed conveying groove, and the seed discharging groove is formed below the outlet end of the seed feeding groove; the ditching mechanism and the soil covering mechanism are arranged at the front end and the rear end of the vehicle body respectively, and the seed conveying mechanism and the seed feeding and discharging mechanism are located on the vehicle body between the ditching mechanism and the soil covering mechanism. Compared with the prior art, the tuber planting efficiency can be improved, and the labor cost can be saved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an automatic planting device and method with multi-mechanism linkage. Background Art

[0002] Due to the downward growth characteristics and irregular shape of yam, the current cultivation of yam still requires a lot of manpower, which will cause a shortage of labor. Therefore, the cultivation of yam and other tubers urgently needs to be mechanized to reduce labor costs and expand the market. Summary of the invention

[0003] The purpose of the present invention is to provide a multi-mechanism linked automatic planting device and method to improve the efficiency of tuber planting and save labor costs.

[0004] The object of the present invention can be achieved by the following technical scheme: an automatic planting device with multiple mechanisms linked together, comprising a vehicle body and a seed transport mechanism, a seed delivery and seed discharge mechanism, a furrowing mechanism and a soil covering mechanism arranged on the vehicle body;

[0005] The seed transport mechanism comprises a toothed seed transport trough and a connecting rod, and the tubers to be planted on the toothed seed transport trough can be transported to the outlet end through the connecting rod;

[0006] The seed delivery and seed discharging mechanism comprises a seed delivery slot and a seed discharging slot, wherein the seed delivery slot is arranged below the outlet end of the toothed seed delivery slot, and the seed discharging slot is arranged below the outlet end of the seed delivery slot;

[0007] The trenching mechanism and the soil covering mechanism are respectively arranged at the front and rear ends of the vehicle body, and the seed transport mechanism and the seed delivery and discharge mechanism are located on the vehicle body between the trenching mechanism and the soil covering mechanism.

[0008] Preferably, the connecting rod comprises a rod body and a plurality of arc-shaped grooves spaced apart on the top of the rod body, and the rod body is connected to a connecting rod driving member;

[0009] The rod body can drive the tubers to be planted to move along the toothed seed transport groove toward the outlet end through the arc groove.

[0010] Further preferably, the top of the arc-shaped groove is an arc-shaped structure that is concave downward.

[0011] In the present invention, the connecting rod driving member can drive the connecting rod to reciprocate, so that the arc-shaped groove can move the tubers to be planted along the toothed seed transport groove toward the outlet end.

[0012] Further preferably, the connecting rod driving member is a servo motor, and the main shaft of the motor is connected to the rod body.

[0013] More preferably, the servo motor is a DC motor.

[0014] Further preferably, the connecting rod driving member is connected to a lifting assembly for driving the connecting rod driving member to rise and fall.

[0015] In the present invention, the lifting assembly can drive the connecting rod driving member to lift, thereby driving the connecting rod to lift and contact the tubers to be planted, and driving the tubers to be planted to move along the toothed seed transport groove toward the outlet end through the arc groove.

[0016] More preferably, the connecting rod driving member is connected to the lifting assembly on the vehicle body through a fixing member.

[0017] More preferably, the lifting assembly includes an electric lifting platform.

[0018] Preferably, the toothed seed transport trough comprises a pair of symmetrically arranged side plates, a plurality of top arc-shaped stoppers are arranged at intervals in a toothed shape on the top of the side plates, and a connecting rod is arranged between the two side plates.

[0019] Further preferably, the top of the stopper is an arc-shaped structure protruding upward.

[0020] Preferably, a downwardly inclined guide piece is provided at the outlet end of the toothed seed trough, and the tubers to be planted on the toothed seed trough can be transported to the outlet end of the toothed seed trough through a connecting rod and fall into the seed trough along the guide piece under the action of gravity.

[0021] Further preferably, a shielding plate is provided on the outer side of the guide member to prevent the tubers to be planted from scattering.

[0022] Preferably, the multi-mechanism-linked automatic planting device also includes a seed storage mechanism.

[0023] Further preferably, the seed storage mechanism is arranged at the inlet end of the toothed seed transport trough, and is used for storing and outputting the tubers to be planted to the toothed seed transport trough.

[0024] In the present invention, the tubers to be planted stored in the seed storage mechanism can naturally fall onto the toothed seed transport trough by gravity.

[0025] More preferably, the outlet end of the seed storage mechanism is provided with a slide groove structure for orderly outputting the tubers to be planted to the toothed seed transport trough.

[0026] Preferably, one end of the seed delivery trough is connected to an angle adjustment member for adjusting the angle between the seed delivery trough and the horizontal plane, and the other end is connected to a seed discharge trough having an arc structure.

[0027] Further preferably, the angle adjustment member is a motor.

[0028] Further preferably, the seed delivery and discharging mechanism further includes a translation drive member;

[0029] The translation driving member can drive the seed delivery slot, the seed discharge slot and the angle adjustment member to reciprocate in the horizontal direction.

[0030] More preferably, the translation drive member comprises two screw rods arranged in parallel and screw rod nuts slidably arranged on the screw rods;

[0031] One end of the seed delivery slot is slidably arranged on one of the screw rods through an angle adjustment member and a screw nut, and the other end is slidably arranged on another screw rod together with the seed discharging slot through a screw nut, and one of the screw rods is connected to a screw motor. After the seed delivery is completed, the planting step is completed through the operation of the motor and the action of gravity.

[0032] Preferably, the seed delivery trough and the seed discharge trough are made of 3D printed materials.

[0033] Preferably, the multi-mechanism-linked automatic implantation device further includes an implantation positioning mechanism.

[0034] Further preferably, the planting positioning mechanism comprises an eccentric wheel, a positioning guide rod and a scribing plate;

[0035] The eccentric wheel can rotate under the drive of the eccentric wheel driving member, thereby driving the positioning guide rod to move up and down, and finally performing a marking operation through the marking plate at the bottom of the positioning guide rod.

[0036] Further preferably, the implant positioning mechanism includes an ultrasonic ranging module.

[0037] Preferably, the vehicle body comprises a box body and wheels, and the wheels are arranged at the bottom of the box body.

[0038] Further preferably, the wheel is connected to a wheel drive.

[0039] More preferably, the wheel driving member is a wheel motor, preferably a WHCD36GP-555 model DC planetary reducer.

[0040] Preferably, a power source for supplying power is provided on the vehicle body.

[0041] Preferably, the trenching mechanism is a single-core plowshare type soil turning and trenching mechanism.

[0042] Preferably, the soil covering mechanism comprises a glass fiber connecting rod and a soil covering plate.

[0043] Preferably, the multi-mechanism-linked automatic planting device further comprises a control mechanism, and the control mechanism is connected to the vehicle body, the seed transport mechanism, and the seed delivery and discharge mechanism.

[0044] Further preferably, the control mechanism is connected to the implantation positioning mechanism.

[0045] More preferably, the control mechanism includes a PLC controller.

[0046] More preferably, the control mechanism main control chip adopts STM32FA07VET6 main control chip.

[0047] A multi-mechanism linkage automatic planting method, using the above method, comprises the following steps:

[0048] S1: During the movement of the vehicle, the planting ridges are plowed out by the furrowing mechanism;

[0049] S2: The tubers to be planted are transported to the seed delivery and seed discharging mechanism through the seed delivery mechanism;

[0050] S3: The tubers to be planted are sent into the planting ridges through the seed sending and seed discharging mechanism;

[0051] S4: The vehicle body continues to move forward and is covered with soil by the soil covering mechanism.

[0052] Preferably, the automatic planting method comprises the following steps:

[0053] S1: During the movement of the vehicle, the planting ridges are plowed out by the furrowing mechanism;

[0054] S2: The vehicle body returns to the planting ridge, and the tubers to be planted are transported to the seed delivery and seed discharge mechanism through the seed delivery mechanism;

[0055] S3: The tubers to be planted are sent into the planting ridges through the seed sending and seed discharging mechanism;

[0056] S4: The vehicle body continues to move forward and is covered with soil by the soil covering mechanism.

[0057] Further preferably, when the vehicle body plows out the planting ridges through the furrowing mechanism, the planting positioning mechanism marks and positions the ridges.

[0058] Compared with the prior art, the present invention has the following beneficial effects:

[0059] 1. The present invention can improve the efficiency of tuber planting and save labor costs.

[0060] 2. The present invention uses the coordinated design of the seed transport mechanism and the seed delivery and seed discharge mechanism to realize the transportation of tubers between the two mechanisms with the help of gravity, which can reduce energy consumption and lower costs.

[0061] 3. The seed transport mechanism of the present invention can regularly transport tubers to the discharge port through the coordinated design of the toothed seed transport trough and the connecting rod, and the connecting rod is arranged between the two side plates of the toothed seed transport trough, which can also support and transport tubers of slightly shorter length.

[0062] 4. The present invention realizes accurate marking of the soil through the marking mechanism, reduces sowing errors, improves germination rate and growth consistency, and thus improves sowing accuracy.

[0063] 5. The seed transport trough, seed delivery trough and seed discharge trough of the present invention constitute a multi-level tuber distribution system, which greatly accelerates the sowing speed and sowing efficiency and reduces manual intervention. Especially for large-scale planting, it can significantly shorten the sowing cycle and improve work efficiency.

[0064] 6. The present invention uses electric power and gravity to complete part of the work, reducing the consumption of energy and manpower.

[0065] 7. Compared with the prior art, the present invention is more suitable for large-scale planting. The present invention adopts a multi-mechanism linkage method to carry out planting positioning, seed transport, seed arrangement and seed delivery, and automates planting with simple operation.

[0066] 8. The present invention can be pre-installed with solar panels for electric energy supplementation, which can achieve a clean effect of reducing carbon emissions. Compared with the existing technology, it more efficiently utilizes the driving power, reduces energy consumption and reduces costs.

[0067] 9. The present invention has a simple structure, low cost, relatively strong adaptability to various varieties, high economic value and practical value, and can save labor costs.

[0068] 10. The present invention can adjust the motion state of the car and designs interactive operation. The touch screen and mobile phone are convenient for users to carry, and compared with the prior art, no special controller is required, which is more suitable for popularization and use.

[0069] 11. Compared with the existing tuber seeders such as yam, the overall design of the present invention has a high level of automation, which significantly improves the sowing accuracy, efficiency and effect, and provides effective technical support for the scale and standardization of tuber crops such as yam.

[0070] 12. The present invention can achieve high-efficiency planting of tubers of different types (including categories, heights, widths and thinness) to a certain extent, thus realizing truly applied agricultural machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 It is a structural schematic diagram of an automatic planting device of the present invention;

[0072] Figure 2 It is a structural schematic diagram of a seed delivery mechanism of the present invention;

[0073] Figure 3 It is a structural schematic diagram of the seed delivery and seed discharge mechanism of the present invention;

[0074] Figure 4 It is a structural schematic diagram of the implantation positioning mechanism of the present invention;

[0075] Figure 5 It is a schematic diagram of the structure of the seed storage mechanism of the present invention and another seed transport mechanism;

[0076] Figure 6 The structure of another automatic planting device of the present invention is shown in FIG. Figure 1 ;

[0077] Figure 7 The structure of another automatic planting device of the present invention is shown in FIG. Figure 2 ;

[0078] Figure 8 It is a schematic diagram of the single chip microcomputer of the present invention;

[0079] Fig. 9 This is a schematic diagram of the Bluetooth communication principle of the present invention;

[0080] Fig.10 This is an operation interface diagram of the relevant APP on the mobile phone of the present invention;

[0081] In the figure: 1-vehicle body, 11-box body, 12-wheel, 2-seed transport mechanism, 21-toothed seed transport trough, 22-connecting rod, 221-rod body, 222-arc groove, 223-connecting rod driving member, 23-guide member, 24-shielding plate, 3-seed delivery and seed discharging mechanism, 31-seed delivery trough, 32-seed discharging trough, 33-angle adjustment member, 34-translational driving member, 341-screw rod, 342-screw rod motor, 4-ditching mechanism, 5-soil covering mechanism, 6-seed storage mechanism, 7-planting positioning mechanism, 71-eccentric wheel, 72-positioning guide rod, 73-marking plate, 74-eccentric wheel driving member, 8-fixing member, 9-tuber. DETAILED DESCRIPTION

[0082] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0083] Example 1

[0084] An automatic implantation device with multiple mechanisms linked together, such as Figure 1 As shown, it includes a vehicle body 1, a seed transport mechanism 2, a seed delivery and seed discharge mechanism 3, a furrowing mechanism 4 and a soil covering mechanism 5.

[0085] Specifically, the furrowing mechanism 4 is arranged at the front end of the vehicle body 1 , and can plow out planting ridges when the vehicle body 1 moves.

[0086] The seed transport mechanism 2 is arranged at the middle top of the vehicle body 1 , and comprises a toothed seed transport trough 21 and a connecting rod 22 for transporting the tubers 9 to be planted on the toothed seed transport trough 21 to the outlet end of the toothed seed transport trough 21 .

[0087] The seed delivery and seed discharging mechanism 3 is arranged on the vehicle body 1 and below the seed transport mechanism 2, and includes a seed delivery trough 31 and a seed discharging trough 32. The seed delivery trough 31 is arranged below the outlet end of the toothed seed transport trough 21, and the seed discharging trough 32 is arranged below the outlet end of the seed delivery trough 31. The tubers 9 to be planted at the outlet end fall into the seed discharging trough 32 by gravity, and then fall into the planting ridge through the seed discharging trough 32.

[0088] The soil covering mechanism 5 is arranged at the rear end of the vehicle body 1, and can turn over the soil on both sides of the planting ridge for backfilling when the vehicle body 1 is moving.

[0089] Example 2

[0090] An automatic implantation device with multiple mechanisms linked together, such as Figure 2 As shown, the seed transport mechanism 2 includes a toothed seed transport groove 21, a connecting rod 22 and a guide member 23.

[0091] The toothed seed transport trough 21 includes a pair of symmetrically arranged side plates, and a plurality of top arc-shaped stoppers are arranged at intervals on the top of the side plates in a toothed shape. The connecting rod 22 is arranged between the two side plates, and includes a rod body 221 arranged along the conveying direction of the tubers 9, a plurality of arc-shaped grooves 222 arranged at intervals on the top of the rod body 221, and a connecting rod driving member 223 for driving the rod body 221.

[0092] Moreover, in this embodiment, the top of the stopper protrudes upward in an arc shape, the top of the arc groove 222 is recessed downward, and a downwardly inclined guide member 23 is provided at the outlet end of the toothed seed delivery groove 21. In this embodiment, the guide member 23 is a downwardly inclined guide rod provided on the side plate. The tuber 9 slides from the inlet end to the toothed seed delivery groove 21, and is transported to the outlet end through the connecting rod 22, and falls into the seed delivery groove 31 along the guide member 23 under the action of gravity.

[0093] like Figure 3 As shown, the seed delivery and seed discharge mechanism 3 also includes an angle adjustment member 33. The angle adjustment member 33 is connected to the side of the seed delivery groove 31 away from the outlet end. The angle adjustment member 33 can adjust the angle between the seed delivery groove 31 and the horizontal plane, so that the tubers 9 in the seed delivery groove 31 slide into the seed discharge groove 32.

[0094] The rest is the same as Example 1.

[0095] Example 3

[0096] An automatic planting device with multiple mechanisms linked, the seed delivery and seed discharging mechanism 3 also includes a translation drive member 34. In this embodiment, the translation drive member 34 includes two parallel screw rods 341 and screw nuts slidably arranged on the screw rods 341. One end of the seed delivery slot 31 is slidably arranged on one of the screw rods through an angle adjustment member 33 and a screw nut, and the other end is slidably arranged on another screw rod together with the seed discharging slot 32 through a screw nut, and one of the screw rods is connected to a screw motor 342. Through the setting of the translation drive member 34, the seed delivery slot 31, the seed discharging slot 32 and the angle adjustment member 33 can be driven to reciprocate in the horizontal direction, and the dislocation planting effect can be achieved by adjusting the horizontal positions of the seed delivery slot 31, the seed discharging slot 32 and the angle adjustment member 33.

[0097] In addition, in this embodiment, a planting positioning mechanism 7 is also provided on the vehicle body 1. Figure 4 As shown, the planting positioning mechanism 7 includes an eccentric wheel 71, a positioning guide rod 72, a marking plate 73 and an eccentric wheel driving component 74. The positioning guide rod 72 is vertically arranged, one end of which is connected to the eccentric wheel 71, and the other end is connected to the marking plate 73. The eccentric wheel 71 can drive the positioning guide rod 72 to move up and down under the drive of the eccentric wheel driving component 74, and then perform marking operations through the marking plate 73 at the bottom of the positioning guide rod 72.

[0098] The rest is the same as Example 2.

[0099] Example 4

[0100] An automatic implantation device with multiple mechanisms linked together, such as Figures 5 to 7 As shown, a seed storage mechanism 6 is provided at the inlet end of the seed transport mechanism 2 , in which tubers 9 are stored. The tubers 9 can be output from the seed storage mechanism 6 to the seed transport mechanism 2 .

[0101] In this embodiment, the seed transport mechanism 2 includes a toothed seed transport trough 21, a connecting rod 22 and a guide member 23. The toothed seed transport trough 21 includes a pair of symmetrically arranged side plates, and a plurality of top arc-shaped stoppers are arranged at intervals on the top of the side plates in a toothed shape. The connecting rod 22 is arranged between the two side plates, and includes a rod body 221 arranged along the conveying direction of the tubers 9, a plurality of arc-shaped grooves 222 arranged at intervals on the top of the rod body 221, and a connecting rod driving member 223 for driving the rod body 221.

[0102] Moreover, in this embodiment, the top of the block protrudes upward in an arc shape, the top of the arc groove 222 is recessed downward, and a downwardly inclined guide member 23 is provided at the outlet end of the toothed seed delivery groove 21. In this embodiment, the guide member 23 is a downwardly inclined guide plate provided on the side plate. A shielding plate 24 is also provided on the outside of the guide member 23 to prevent the tubers 9 from scattering. The tubers 9 output by the seed storage mechanism 6 slide from the inlet end to the toothed seed delivery groove 21, and are transported to the outlet end through the connecting rod 22, and fall into the seed delivery groove 31 along the guide member 23 under the action of gravity.

[0103] The rest is the same as Example 3.

[0104] Example 5

[0105] An automatic yam planting device includes wheels, a wheel power driving mechanism, a step-by-step automatic seed feeding mechanism, a seed feeding and discharging mechanism, a box connecting mechanism, a furrowing mechanism, a soil covering mechanism, a planting positioning mechanism, a mechanical control mechanism and an electronic control unit. The mechanical control mechanism is connected to a single-chip microcomputer.

[0106] The furrowing mechanism, the soil covering mechanism, and the step-by-step automatic seed feeding mechanism are connected with the box mechanism. The seed feeding and discharging mechanism and the wheel power driving mechanism are connected with their respective control units.

[0107] This structure consists of a box. The box is supported by aluminum tubes installed at the four corners. The trolley can be controlled by a mobile phone APP. In the initial state, the various mechanisms of the device are closed. After startup, the distance measurement and marking of the planting positioning mechanism below, the step-by-step automatic seed delivery mechanism and the seed delivery and seeding mechanism work together to displace the yam seedlings into the field ridges. At the same time, compared with traditional manual sowing, the labor cost is greatly reduced by controlling the trolley planting through a mobile phone.

[0108] Example 6

[0109] A trolley for automatic planting of yam comprises a connecting rod mechanism (connecting rod 22), a toothed seed feeding groove 21, a seed feeding groove 31, an eccentric wheel 71, a furrowing mechanism 4, a wheel 12, a positioning guide rod 72, a seed discharging groove 32, a soil covering mechanism 5, a box body 11, and a 3D printed fixing part 8. The furrowing mechanism 4 and the soil covering mechanism 5 are installed at the front and rear ends of the box body 11. A step-type seed feeding mechanism 2 is installed above the box body 11, and the mechanism includes a connecting rod mechanism (connecting rod 22), a servo motor (connecting rod driving part 223), and a toothed seed feeding groove 21, and is connected to the box body 11 through a 3D printed fixing part 8. A planting positioning mechanism 7 is installed at the bottom of the box body 11, and the mechanism includes a motor (eccentric wheel driving part 74), an eccentric wheel 71, a positioning guide rod 72, and a fixing part 8. The eccentric wheel driving part 74 drives the positioning guide rod 72 to perform a marking operation through the operation of the eccentric wheel 71 to complete the planting positioning action. The middle part of the box body 11 is provided with a seed delivery mechanism 3, which includes a seed delivery slot 31, a motor (angle adjustment member 33), a seed delivery slot 32, a terminal lead screw (screw rod 341) and a fixing member 8. The fixing member 8 and the box body 11 are both connected by bolts.

[0110] After the operation starts, the eccentric wheel driving member 74 controls the eccentric wheel 71 to rotate, and the eccentric wheel 71 drives the positioning guide rod 72 to move up and down to perform a marking operation, thereby achieving the planting positioning function. The planting positioning mechanism 7 receives and feeds back information to the mechanical control structure by laying a data line.

[0111] After the planting positioning action is completed, the connecting rod mechanism rotates to input the seedlings into the upper toothed seed feeding groove 21, and then drives the connecting rod mechanism through the connecting rod driving member 223 to regularly input the yam seedlings into the discharge port. At the discharge port, the yam seedlings fall into the seed feeding and discharging mechanism 3 by gravity, and the yam is input into the connecting rod mechanism through the material transport port above the mechanism, and the yam is sent into the guide mechanism through the connecting rod.

[0112] The seed delivery mechanism 3 imitates the movement principle of human arms, and the end longitudinal position is fixed by the end lead screw. When the front end motor (angle adjustment member 33) starts to work, the seed delivery slot 31 is lifted to form a certain angle with the horizontal plane, and the yam seeds slide from the seed delivery slot 31 into the seed discharging slot 32, and enter the field ridge through the seed discharging slot 32 at a low height from the ground by gravity, completing the planting task. At the same time, the seed delivery slot 31 can be adjusted to receive seedlings by plugging bolts; the planting position of the seed discharging slot 32 can be adjusted during planting by the end lead screw device, thereby achieving staggered planting.

[0113] Example 7

[0114] A multi-mechanism linkage automatic planting device can be used for yam planting, including a mechanical control mechanism and a single-chip microcomputer, a box connection mechanism, a step-by-step automatic seed feeding mechanism 2, a seed delivery and seed discharge mechanism 3, a wheel power drive mechanism, a furrowing mechanism 4, a soil covering mechanism 5, and a planting positioning mechanism 7. The mechanical control mechanism is connected to the single-chip microcomputer. The furrowing mechanism 4 and the soil covering mechanism 5 are connected to the box 11. The planting positioning mechanism 7, the step-by-step seed feeding mechanism 2, the seed delivery and seed discharge mechanism 3, and the wheel power drive mechanism are respectively connected to their respective control units. The trolley is composed of a single box 11, and the furrowing mechanism 4 and the soil covering mechanism 5 are installed at the front and rear ends of the box 11. The box 11 contains a box connection mechanism, a planting positioning mechanism 7, a wheel power drive mechanism, a seed delivery and seed discharge mechanism 3, a mechanical control mechanism, and a single-chip microcomputer. The front and rear ends of the vehicle body are provided with a furrowing mechanism 4 and a soil covering mechanism 5, which are connected to the box 11 through a glass fiber material. According to all the mechanisms and functions of the trolley, a trapezoidal chassis is selected at the bottom of the box 11. The four corners of the box 11 are equipped with independent wheel power drive devices, which drive the entire machine forward through coordinated operation. Considering the practicality and automatic operation characteristics of the trolley, a more economical and affordable small-spoke two-piece aluminum alloy rim wheel is adopted. In order to facilitate operation and collect feedback, such as Fig. 9As shown, this embodiment uses Bluetooth communication and sets a Bluetooth module, also called a Bluetooth serial port module. It uses serial port transparent transmission technology. During the data transmission process, data is transmitted wirelessly and data can be obtained through serial port programming. RXD is the serial port input pin of the single-chip microcomputer, which is connected to the TXD of the Bluetooth module. TXD is the serial port output pin of the single-chip microcomputer, which is connected to the RXD of the Bluetooth module. Based on AT instructions, the module supports two-way communication and uses full-duplex communication. After connection, it no longer distinguishes between the master and slave machines. In addition, a related APP is provided on the mobile phone, which is equipped with a good interactive program. In order to facilitate operation and collect feedback, in this embodiment, Fig.10 As shown, using the hc Bluetooth Assistant APP of hc company on the mobile phone, through serial communication, after pressing the start button with hc-08, the trolley starts to move forward. The ditching mechanism 4 in front plows out a planting ridge with a height of 10-15 cm, and the operation of the planting positioning mechanism 7 returns data to the mechanical control mechanism and the single-chip microcomputer to stop automatically. Then press the start planting button, the step-by-step seed feeding mechanism 2 and the seed delivery and seeding mechanism 3 start to run, and the yam seedlings are continuously planted in a staggered manner. Press the stop planting button and the entire mechanism stops. This software is also equipped with an emergency stop button, which can be stopped in case of emergency. The covering mechanism 5 completes the finishing of the automatic planting task. First, the line is marked and positioned, and then the mechanism stops. After the trolley moves to the line marking and positioning, the positioning mechanism stops, and the trolley moves to the line marking position and then the seeds are delivered and planted. Compared with traditional manual planting, a lot of labor costs are saved.

[0115] Furthermore, the trolley as a whole adopts an aluminum tube as the main structural support device. A solar panel can also be set up and placed above the seed delivery mechanism 2, with aluminum support columns at the four corners. Wires are laid on the support columns to supply additional power to the battery.

[0116] Furthermore, a planting positioning mechanism 7 is installed in the middle of the box 11. The planting positioning mechanism 7 includes a 3D printed fixture 8, a planting guide rod (positioning guide rod 72), a synchronous wheel (eccentric wheel 71) and a motor. The motor and the synchronous wheel are fixed to the bottom of the box 11 by the fixture 8, which is responsible for controlling the extension and retraction of the guide rod. The use of the 3D printed fixture 8 can reduce costs and quantify production. The fixture 8 is connected to the bottom of the box by bolts. The motor drives the synchronous wheel to adjust the height of the positioning guide rod to complete the telescopic measurement action to meet the planting needs at different heights of the field ridge. The synchronous wheel drives the guide rod to complete the telescopic marking action. After the operation starts, the motor controls the eccentric wheel to rotate, and the eccentric wheel drives the positioning guide rod to move up and down to perform the marking operation, thereby realizing the planting positioning function. The degree of rotation of the motor in the planting positioning mechanism 7 and the ultrasonic ranging module below provide soil distance feedback and motor control feedback to the above-mentioned single-chip microcomputer through serial communication.

[0117] Specifically, after the tillage and ditching are completed, the ultrasonic distance measurement module of the planting positioning mechanism 7 measures and locates the planting position in the field ridge and returns the data to the mechanical control mechanism.

[0118] Furthermore, a step-by-step seed feeding mechanism 2 is installed just above the box body 11. It includes a toothed seed feeding trough 21, a 3D printed fixture 8, a DC motor (connecting rod driving member 223) and a connecting rod mechanism. After the planting positioning action is completed, the crank-connecting rod mechanism (connecting rod 22) inputs the seedlings into the discharge port through a rotation action. The crank-connecting rod mechanism is located at the front end (entrance end) of the toothed seed feeding trough, and the DC motor is connected to the connecting rod mechanism and is located below the toothed seed feeding trough. The toothed seed feeding trough is fixed to the top of the box body through the 3D printed fixture 8. After the planting positioning action is completed, the crank-connecting rod mechanism inputs the seedlings into the upper toothed seed feeding trough 21 through a rotation action, and then drives the connecting rod mechanism through the connecting rod driving member 223 to regularly input the yam seedlings into the discharge port. The yam seedlings at the discharge port fall into the seed delivery and seed discharging mechanism 3 by gravity.

[0119] Furthermore, a seed delivery and seed discharging mechanism 3 is installed in the middle of the box 11, and the mechanism includes a seed delivery slot 31, a motor (angle adjustment member 33), a seed discharging slot 32, a terminal lead screw (screw rod 341), etc. The seed delivery and seed discharging mechanism 3 imitates the principle of human arm movement, and the terminal lead screw fixes the terminal longitudinal position. When the front end motor (angle adjustment member 33) starts to work, the seed delivery slot 31 is lifted to form a certain angle with the horizontal plane, and the yam seeds slide from the seed delivery slot 31 into the seed discharging slot 32, and enter the field ridge through the seed discharging slot 32 at a low height from the ground by gravity, completing the planting task. At the same time, the plug bolt fixes the end of the seed delivery slot 31. When the tuber reaches the end of the seed delivery slot 31, due to the fixing method of the plug, the gravity of the tuber can adjust the seed delivery slot 31 to receive the seedling; through the terminal lead screw device, the horizontal x-axis direction of the seed discharging slot 32 is adjusted, and the upper end of the seed discharging slot 32 is fixed to the slider of the lead screw to adjust the planting position of the seed discharging slot 32, thereby realizing staggered planting.

[0120] Furthermore, a ditching mechanism 4 for digging soil and digging ditches is installed at the front end of the box body 11. The ditching mechanism 4 is a single-core plowshare type soil digging and digging mechanism, including a glass fiber connecting rod and an aluminum core plowshare wing plate. The glass fiber connecting rod is connected to the front end box chassis of the vehicle body at a right angle, and digs ditches forward with the help of walking power.

[0121] Furthermore, a soil covering mechanism 5 is installed at the end of the box 11. The mechanism includes a glass fiber connecting rod and a soil covering plate. The glass fiber connecting rod forms an obtuse angle with the box. After the planting task is completed, the soil on both sides is turned over by the walking power of the trolley for backfilling.

[0122] like Figure 8As shown, the aforementioned single-chip computer uses STM32FA07VET6 as the main control chip, QFP100 package, and the redundant IO ports are led out to 2 rows of pins. The development board comes with 2-way RS845 interface circuits and 2-way CAN interface circuits, which can support the use requirements of multiple 485 and 2-way CAN interfaces. Supporting TFT interface, the local data can be displayed on the TFT display under SPI. The pin multiplexing function provides more different options, such as driving motors, LEDs, reading sensors, etc. The development board uses a wide voltage power supply and supports 9-24V power supply. Users can use external power supply or DC power supply.

[0123] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. An automatic planting device with multiple mechanisms linked together, characterized in that: It comprises a vehicle body (1) and a seed transport mechanism (2), a seed delivery and seed discharge mechanism (3), a furrowing mechanism (4) and a soil covering mechanism (5) arranged on the vehicle body (1); The seed transport mechanism (2) comprises a toothed seed transport trough (21) and a connecting rod (22), and the tubers to be planted on the toothed seed transport trough (21) can be transported to the outlet end through the connecting rod (22); The seed delivery and seed discharging mechanism (3) comprises a seed delivery groove (31) and a seed discharging groove (32), wherein the seed delivery groove (31) is arranged below the outlet end of the toothed seed delivery groove (21), and the seed discharging groove (32) is arranged below the outlet end of the seed delivery groove (31); The furrowing mechanism (4) and the soil covering mechanism (5) are respectively arranged at the front and rear ends of the vehicle body (1), and the seed transport mechanism (2) and the seed delivery and seed discharge mechanism (3) are located on the vehicle body (1) between the furrowing mechanism (4) and the soil covering mechanism (5).

2. The multi-mechanism linkage automatic planting device according to claim 1 is characterized in that: The connecting rod (22) comprises a rod body (221) and a plurality of arc-shaped grooves (222) arranged at intervals on the top of the rod body (221); the rod body (221) is connected to a connecting rod driving member (223); The rod body (221) can drive the tubers to be planted to move along the toothed seed transport groove (21) toward the outlet end through the arc-shaped groove (222).

3. The multi-mechanism linkage automatic planting device according to claim 1, characterized in that: The toothed seed transport trough (21) comprises a pair of symmetrically arranged side plates, a plurality of top arc-shaped stoppers are arranged at intervals in a toothed shape on the top of the side plates, and a connecting rod (22) is arranged between the two side plates.

4. The multi-mechanism linkage automatic planting device according to claim 1, characterized in that: The outlet end of the toothed seed transport trough (21) is provided with a downwardly inclined guide member (23), and the tubers to be planted on the toothed seed transport trough (21) can be transported to the outlet end of the toothed seed transport trough (21) through the connecting rod (22), and fall into the seed delivery trough (31) along the guide member (23) under the action of gravity; A shielding plate (24) is provided on the outer side of the guide member (23) for preventing the tubers to be planted from scattering.

5. The multi-mechanism linkage automatic planting device according to claim 1, characterized in that: Also included is a seed storage mechanism (6); The seed storage mechanism (6) is arranged at the inlet end of the toothed seed transport trough (21) and is used for storing and outputting tubers to be planted to the toothed seed transport trough (21).

6. The multi-mechanism linkage automatic planting device according to claim 1, characterized in that: One end of the seed delivery groove (31) is connected to an angle adjustment member (33) for adjusting the angle between the seed delivery groove (31) and the horizontal plane, and the other end is connected to a seed discharge groove (32) having an arc structure.

7. The multi-mechanism linkage automatic planting device according to claim 6, characterized in that: The seed delivery and discharging mechanism (3) also includes a translation driving member (34); The translation driving member (34) can drive the seed delivery slot (31), the seed discharge slot (32) and the angle adjustment member (33) to reciprocate in the horizontal direction.

8. The multi-mechanism linkage automatic planting device according to claim 1, characterized in that: It also includes a planting positioning mechanism (7), including an eccentric wheel (71), a positioning guide rod (72) and a marking plate (73); The eccentric wheel (71) can drive the positioning guide rod (72) to move up and down under the drive of the eccentric wheel driving member (74), and then perform a marking operation through the marking plate (73) at the bottom of the positioning guide rod (72).

9. The multi-mechanism linkage automatic planting device according to claim 1, characterized in that: It also includes a control mechanism, which is connected to the vehicle body (1), the seed transport mechanism (2), and the seed delivery and seed discharge mechanism (3).

10. A multi-mechanism linkage automatic planting method, characterized in that: The method is carried out using the device according to any one of claims 1 to 9, comprising the following steps: S1: During the movement of the vehicle body (1), a planting ridge is plowed out by a furrowing mechanism (4); S2: The tubers to be planted are transported to the seed delivery and seed discharging mechanism (3) through the seed delivery mechanism (2); S3: The tubers to be planted are delivered into the planting ridges by the seed delivery and seed discharging mechanism (3); S4: The vehicle body (1) continues to move forward and is covered with soil by the soil covering mechanism (5).

Images