Multi-mechanism linked automatic planting device and method

Abstract

The present application relates to a kind of automatic planting device and method of multi-mechanism linkage, device includes vehicle body and be set on vehicle body and send seed mechanism, send seed and seed mechanism, ditching mechanism and soil covering mechanism;The seed conveying mechanism includes dentiform seed conveying groove and connecting rod, and the tuber to be planted on dentiform seed conveying groove can be transported to export end by connecting rod;The send seed and seed mechanism includes seed delivery groove and seed delivery groove, and seed delivery groove is set below the export end of dentiform seed conveying groove, and seed delivery groove is set below the export end of seed delivery groove;The ditching mechanism and soil covering mechanism are respectively set in the front and rear ends of vehicle body, and seed conveying mechanism and send seed and seed mechanism are located on the vehicle body between ditching mechanism and soil covering mechanism.Compared with prior art, the present application can improve the efficiency of tuber planting and save labor cost.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an automatic planting device and method with multiple interconnected mechanisms. Background Technology

[0002] Due to the downward growth habit and irregular shape of yams, their cultivation still requires a significant amount of manual labor, leading to a labor shortage. Therefore, mechanization is urgently needed in the cultivation of tubers such as yams to reduce labor costs and expand markets. Summary of the Invention

[0003] The purpose of this invention is to provide an automated planting device and method with multiple mechanisms working together, which improves the efficiency of tuber planting and saves labor costs.

[0004] The objective of this invention can be achieved through the following technical solution: an automatic planting device with multiple linkage mechanisms, including a vehicle body and a seed conveying mechanism, a seed feeding and discharging mechanism, a ditching mechanism and a soil covering mechanism installed on the vehicle body;

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

[0006] The seed delivery and dispensing mechanism includes a seed delivery trough and a seed dispensing trough. The seed delivery trough is located below the outlet end of the toothed seed delivery trough, and the seed dispensing trough is located below the outlet end of the seed delivery trough.

[0007] The ditching mechanism and the soil covering mechanism are respectively located at the front and rear ends of the vehicle body, while the seed conveying mechanism and the seed delivery and dispensing mechanism are located on the vehicle body between the ditching mechanism and the soil covering mechanism.

[0008] Preferably, the connecting rod includes a rod body and a plurality of arc-shaped grooves spaced apart at the top of the rod body, and the rod body is connected to a connecting rod drive component;

[0009] The rod can drive the tuber to be planted to move along the toothed seed delivery groove towards the outlet end through the arc-shaped groove.

[0010] More preferably, the top of the arc-shaped groove has a downwardly concave arc-shaped structure.

[0011] In this invention, the connecting rod drive can drive the connecting rod to reciprocate, so that the arc-shaped groove can move the tuber to be planted along the toothed seed delivery groove toward the outlet end.

[0012] More preferably, the linkage drive component is a servo motor, and the motor's main shaft is connected to the linkage body.

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

[0014] More preferably, the linkage drive member is connected to a lifting assembly for driving its lifting and lowering.

[0015] In this invention, the lifting assembly can drive the connecting rod drive to lift and lower, thereby causing the connecting rod to lift and lower to contact the tuber to be planted, and through the arc groove, the tuber to be planted moves along the toothed seed delivery groove towards the outlet end.

[0016] More preferably, the linkage drive component is connected to the lifting assembly on the vehicle body via a fixing component.

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

[0018] Preferably, the toothed seed delivery trough includes a pair of symmetrically arranged side plates, with multiple top arc-shaped stops spaced at the top of the side plates in a toothed manner, and a connecting rod located between the two side plates.

[0019] More preferably, the top of the stop has an upwardly protruding arc-shaped structure.

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

[0021] More preferably, the outer side of the guide member is provided with a shield to prevent the tubers to be planted from falling off.

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

[0023] More preferably, the seed storage mechanism is located at the inlet end of the toothed seed delivery trough, and is used to store and output the tubers to be planted to the toothed seed delivery trough.

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

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

[0026] Preferably, one end of the seed delivery trough is connected to an angle adjustment component for adjusting its angle with the horizontal plane, and the other end is connected to a seed metering trough with an arc-shaped structure.

[0027] More preferably, the angle adjustment component is a motor.

[0028] More preferably, the seed delivery and metering mechanism further includes a translation drive component;

[0029] The translation drive can drive the seed delivery slot, seed discharge slot and angle adjustment component to move back and forth in the horizontal direction.

[0030] More preferably, the translation drive includes two parallel lead screws and a lead screw nut slidably disposed on the lead screws;

[0031] One end of the seed delivery trough is slidably mounted on one of the lead screws via an angle adjustment component and a lead screw nut, while the other end, together with the seed discharging trough, is slidably mounted on another lead screw via a lead screw nut. One of the lead screws is connected to a lead screw motor. After seed delivery is completed, the planting step is completed by the operation of the motor and gravity.

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

[0033] Preferably, the multi-mechanism linkage automatic planting device further includes a planting positioning mechanism.

[0034] More preferably, the planting positioning mechanism includes an eccentric wheel, a positioning guide rod, and a marking plate;

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

[0036] More preferably, the planting positioning mechanism includes an ultrasonic ranging module.

[0037] Preferably, the vehicle body includes a box and wheels, with the wheels located at the bottom of the box.

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

[0039] More preferably, the wheel drive component is a wheel motor, and preferably a WHCD36GP-555 DC planetary reducer.

[0040] Preferably, the vehicle body is equipped with a power supply for powering the vehicle.

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

[0042] Preferably, the soil covering mechanism includes a fiberglass connecting rod and a soil covering disc.

[0043] Preferably, the multi-mechanism linkage automatic planting device further includes a control mechanism, which is connected to the vehicle body, the seed conveying mechanism, and the seed delivery and metering mechanism.

[0044] More preferably, the control mechanism is connected to the planting positioning mechanism.

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

[0046] More preferably, the main control chip of the control mechanism is an STM32FA07VET6 main control chip.

[0047] An automated planting method involving multiple mechanisms, using the above method, includes the following steps:

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

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

[0050] S3: The tubers to be planted are fed into the planting ridges through the seed delivery and metering mechanism;

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

[0052] Preferably, the automated planting method includes the following steps:

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

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

[0055] S3: The tubers to be planted are fed into the planting ridges through the seed delivery and metering mechanism;

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

[0057] More preferably, when the vehicle body plows out planting ridges through the ditching mechanism, it is positioned by marking lines through the planting positioning mechanism.

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

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

[0060] 2. The present invention, through the coordinated design of the seed conveying mechanism and the seed delivery and metering mechanism, can realize the transport of tubers between the two mechanisms by means of gravity, which can reduce energy consumption and lower costs.

[0061] 3. The seed conveying mechanism of the present invention, through the combined design of the toothed seed conveying trough and the connecting rod, can regularly convey tubers to the discharge port, and the connecting rod is set between the two side plates of the toothed seed conveying trough, which can also support and convey tubers with slightly shorter lengths.

[0062] 4. The present invention achieves precise marking of the soil through the above-mentioned marking mechanism, reduces sowing errors, improves seedling emergence rate and growth uniformity, thereby improving sowing accuracy.

[0063] 5. The seed delivery trough, seed feeding trough and seed metering trough of this invention constitute a multi-level tuber distribution system, which greatly accelerates the sowing speed and efficiency, reduces manual intervention, and can significantly shorten the sowing cycle and improve work efficiency, especially in large-scale planting.

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

[0065] 7. Compared with existing technologies, this invention is more suitable for large-scale planting. This invention uses a multi-mechanism linkage method for planting positioning, seed conveying, and seed distribution, achieving automated planting with simple operation.

[0066] 8. This invention can be pre-installed with solar panels for power replenishment, achieving a cleaner effect by reducing carbon emissions. Compared with existing technologies, it utilizes driving power more efficiently, reducing energy consumption and lowering costs.

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

[0068] 10. This invention allows for adjustment of the vehicle's movement and incorporates interactive operation. The touchscreen and mobile phone design make it convenient for users to carry, and compared to existing technologies, it eliminates the need for a dedicated controller, making it more suitable for widespread use.

[0069] 11. Compared with existing tuber planters for yams and other tubers, this invention has a higher level of automation in its overall design, significantly improving planting accuracy, efficiency and effectiveness, and providing effective technical support for the large-scale and standardized production of tuber crops such as yams.

[0070] 12. This invention can, to a certain extent, achieve highly efficient planting of tubers of different types (including varieties, height, width, and slenderness), realizing a truly applied agricultural machinery. Attached Figure Description

[0071] Figure 1 This is a schematic diagram of the structure of an automatic planting device according to the present invention;

[0072] Figure 2 This is a schematic diagram of the structure of a seed delivery mechanism according to the present invention;

[0073] Figure 3 This is a schematic diagram of the seed delivery and metering mechanism of the present invention;

[0074] Figure 4 This is a schematic diagram of the planting positioning mechanism of the present invention;

[0075] Figure 5 This is a schematic diagram of the seed storage mechanism and another seed conveying mechanism of the present invention;

[0076] Figure 6 This is a schematic diagram of another automatic planting device according to the present invention. Figure 1 ;

[0077] Figure 7 This is a schematic diagram of another automatic planting device according to the present invention. Figure 2 ;

[0078] Figure 8 This is a schematic diagram of the microcontroller used in this invention;

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

[0080] Figure 10 This is a diagram of the user interface of the relevant APP on the mobile phone of this invention;

[0081] In the diagram: 1-Vehicle body, 11-Box body, 12-Wheel, 2-Seed conveying mechanism, 21-Toothed seed conveying trough, 22-Connecting rod, 221-Rib body, 222-Arc groove, 223-Connecting rod drive component, 23-Guide component, 24-Baffle plate, 3-Seed feeding and discharging mechanism, 31-Seed feeding trough, 32-Seed discharging trough, 33-Angle adjustment component, 34-Translation drive component, 341-Screw, 342-Screw 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 drive component, 8-Fixing component, 9-Tuber. Detailed Implementation

[0082] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0083] Example 1

[0084] An automated planting device with multiple interconnected mechanisms, such as Figure 1 As shown, it includes a vehicle body 1, a seed conveying mechanism 2, a seed delivery and discharging mechanism 3, a ditching mechanism 4, and a soil covering mechanism 5.

[0085] Specifically, the ditching mechanism 4 is located at the front end of the vehicle body 1, and can plow out planting ridges while the vehicle body 1 is moving.

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

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

[0088] The soil covering mechanism 5 is located at the rear end of the vehicle body 1, which can turn over the soil on both sides of the planting ridge for backfilling during the movement of the vehicle body 1.

[0089] Example 2

[0090] An automated planting device with multiple interconnected mechanisms, such as Figure 2 As shown, the seed conveying mechanism 2 includes a toothed seed conveying groove 21, a connecting rod 22, and a guide member 23.

[0091] The toothed seed delivery trough 21 includes a pair of symmetrically arranged side plates, with multiple arc-shaped stops spaced at the top of the side plates in a toothed pattern. The connecting rod 22 is disposed between the two side plates and includes a rod body 221 arranged along the tuber 9 delivery direction, multiple arc-shaped grooves 222 spaced at the top of the rod body 221, and a connecting rod drive component 223 for driving the rod body 221.

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

[0093] like Figure 3 As shown, the seed feeding and metering mechanism 3 also includes an angle adjustment component 33. The angle adjustment component 33 is connected to the side of the seed feeding trough 31 away from the outlet end. The angle adjustment component 33 can adjust the angle between the seed feeding trough 31 and the horizontal plane, so that the tuber 9 in the seed feeding trough 31 slides into the metering trough 32.

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

[0095] Example 3

[0096] An automated planting device with multiple interconnected mechanisms includes a seed feeding and metering mechanism 3 that further comprises a translation drive 34. In this embodiment, the translation drive 34 includes two parallel lead screws 341 and a lead screw nut slidably mounted on the lead screws 341. One end of the seed feeding trough 31 is slidably mounted on one of the lead screws via an angle adjustment component 33 and the lead screw nut, while the other end, together with the seed metering trough 32, is slidably mounted on the other lead screw via the lead screw nut. One of the lead screws is connected to a lead screw motor 342. The translation drive 34 enables the seed feeding trough 31, the seed metering trough 32, and the angle adjustment component 33 to reciprocate horizontally, achieving a staggered planting effect by adjusting their horizontal positions.

[0097] Furthermore, in this embodiment, the vehicle body 1 is also equipped with a planting positioning mechanism 7, such as... 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 drive component 74. The positioning guide rod 72 is vertically arranged, with one end connected to the eccentric wheel 71 and the other end 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 drive 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 in Example 2.

[0099] Example 4

[0100] An automated planting device with multiple interconnected mechanisms, such as Figures 5-7 As shown, a seed storage mechanism 6 is provided at the inlet end of the seed conveying mechanism 2. The seed storage mechanism 6 stores tubers 9, and the tubers 9 can be output from the seed storage mechanism 6 to the seed conveying mechanism 2.

[0101] In this embodiment, the seed delivery mechanism 2 includes a toothed seed delivery groove 21, a connecting rod 22, and a guide member 23. The toothed seed delivery groove 21 includes a pair of symmetrically arranged side plates, and the top of the side plates is provided with multiple top arc-shaped stops at intervals in a toothed manner. The connecting rod 22 is disposed between the two side plates and includes a rod body 221 arranged along the tuber 9 delivery direction, multiple arc-shaped grooves 222 spaced apart on the top of the rod body 221, and a connecting rod drive member 223 for driving the rod body 221.

[0102] Furthermore, in this embodiment, the top of the stop block protrudes upward in an arc shape, and the top of the arc-shaped groove 222 is recessed downward. A downwardly inclined guide 23 is provided at the outlet end of the toothed seed conveying groove 21. In this embodiment, the guide 23 is a downwardly inclined guide plate set on the side plate. A baffle 24 for preventing the tubers 9 from scattering is also provided on the outside of the guide 23. The tubers 9 output by the seed storage mechanism 6 slide from the inlet end onto the toothed seed conveying groove 21 and are conveyed to the outlet end through the connecting rod 22. Under the action of gravity, they fall into the seed delivery groove 31 along the guide 23.

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

[0104] Example 5

[0105] An automated yam planting device includes wheels, a wheel drive mechanism, a stepping automatic seed conveying mechanism, a seed feeding and metering mechanism, a box connection mechanism, a ditching 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 microcontroller.

[0106] The ditching mechanism, soil covering mechanism, and stepping automatic seed conveying mechanism are connected to the box-type mechanism. The seed delivery and metering mechanism and the wheel power drive mechanism are each connected to their respective control units.

[0107] This structure consists of a single box-like enclosure. The enclosure is supported by aluminum tubes installed at its four corners. The trolley can be controlled via a mobile app. Initially, all mechanisms of the device are closed. Upon startup, the planting positioning mechanism below, along with the stepping automatic seed conveying mechanism and the seed delivery and metering mechanism, work together to stagger the placement of yam seedlings into the field ridges. Simultaneously, the mobile app-controlled planting significantly reduces labor costs compared to traditional manual planting.

[0108] Example 6

[0109] An automated yam planting cart includes a linkage mechanism (link 22), a toothed seed delivery trough 21, a seed feeding trough 31, an eccentric wheel 71, a ditching mechanism 4, wheels 12, a positioning guide rod 72, a seed discharging trough 32, a soil covering mechanism 5, a housing 11, and a 3D-printed fixing component 8. The ditching mechanism 4 and the soil covering mechanism 5 are installed at the front and rear ends of the housing 11. A stepping seed delivery mechanism 2 is installed on top of the housing 11, which includes the linkage mechanism (link 22), a servo motor (link drive component 223), and the toothed seed delivery trough 21, and is connected to the housing 11 via the 3D-printed fixing component 8. A planting positioning mechanism 7 is installed at the bottom of the housing 11, which includes a motor (eccentric wheel drive component 74), an eccentric wheel 71, a positioning guide rod 72, and the fixing component 8. The eccentric wheel drive component 74 drives the positioning guide rod 72 to perform a marking operation through the operation of the eccentric wheel 71, completing the planting positioning action. The middle of the housing 11 is equipped with a seed feeding and metering mechanism 3, which includes a seed feeding trough 31, a motor (angle adjustment component 33), a seed metering trough 32, an end lead screw (lead screw 341), and a fixing component 8. The fixing component 8 is connected to the housing 11 by bolts.

[0110] After operation begins, the eccentric wheel drive component 74 controls the rotation of the eccentric wheel 71, which in turn drives the positioning guide rod 72 to move up and down, performing a marking operation and thus achieving the planting positioning function. The planting positioning mechanism 7 receives and feeds back information to the mechanical control structure via a data cable.

[0111] After the planting and positioning action is completed, the linkage mechanism rotates to feed the seedlings into the upper toothed seed delivery trough 21. Then, the linkage drive 223 drives the linkage mechanism to regularly feed the yam seedlings into the discharge port. At the discharge port, the yam seedlings fall into the seed delivery and metering mechanism 3 under gravity. The yams are fed into the linkage mechanism from above through the material conveying port, and then sent into the guide mechanism by the linkage.

[0112] The seed delivery and metering mechanism 3 mimics the movement principle of a human arm. A lead screw at the end fixes the longitudinal position of the end. When the front motor (angle adjustment component 33) starts working, it raises the seed delivery trough 31 to form a certain angle with the horizontal plane. The yam seeds then slide from the seed delivery trough 31 into the metering trough 32, and with the help of gravity, enter the field ridge through the low-lift metering trough 32, completing the planting task. Simultaneously, the seed delivery trough 31 can be adjusted to receive the seed by tightening bolts; and the planting position of the metering trough 32 can be adjusted during planting via the lead screw device, thus achieving staggered planting.

[0113] Example 7

[0114] An automated planting device with multiple interconnected mechanisms, suitable for yam cultivation, includes a mechanical control mechanism and a microcontroller, a housing connection mechanism, a stepping automatic seed conveying mechanism 2, a seed feeding and metering mechanism 3, a wheel-driven power mechanism, a ditching mechanism 4, a soil covering mechanism 5, and a planting positioning mechanism 7. The mechanical control mechanism is connected to the microcontroller. The ditching mechanism 4 and the soil covering mechanism 5 are connected to the housing 11. The planting positioning mechanism 7, the stepping seed conveying mechanism 2, the seed feeding and metering mechanism 3, and the wheel-driven power mechanism are each connected to their respective control units. The trolley consists of a single housing 11, with the ditching mechanism 4 and the soil covering mechanism 5 installed at the front and rear ends. The housing 11 internally contains the housing connection mechanism, the planting positioning mechanism 7, the wheel-driven power mechanism, the seed feeding and metering mechanism 3, the mechanical control mechanism, and the microcontroller. The ditching mechanism 4 and the soil covering mechanism 5 are located at both the front and rear ends of the trolley, connected to the housing 11 via fiberglass material. Based on all the mechanisms and their functions, a trapezoidal base is used at the bottom of the housing 11. Each of the four corners of the housing 11 has an independent wheel drive unit, which works in concert to propel the entire machine forward. Considering the practicality and automated operation of the trolley, more economical two-piece aluminum alloy rim wheels with small spokes are used. For ease of operation and feedback collection, such as... Figure 9As shown, this embodiment uses Bluetooth communication and includes a Bluetooth module, also called a Bluetooth serial port module. It uses serial port pass-through technology to transmit data wirelessly. Data can be obtained through serial port programming. RXD is the microcontroller's serial port input pin, connected to the Bluetooth module's TXD. TXD is the microcontroller's serial port output pin, connected to the Bluetooth module's RXD. Based on AT commands, the module supports bidirectional communication using full-duplex communication, eliminating the master / slave distinction after connection. Furthermore, a related app with user-friendly interactive features is available on the mobile phone. For ease of operation and feedback collection, this embodiment includes... Figure 10 As shown, using the HC Bluetooth Assistant APP from HC Company on a mobile phone, via serial communication, after pressing the start button on the HC-08, the trolley begins to move forward. The ditching mechanism 4 at the front plows a planting ridge 10-15 cm high, and the planting positioning mechanism 7 returns data to the mechanical control mechanism and microcontroller to automatically stop. Then, pressing "start planting" starts the stepping seed conveying mechanism 2 and the seed feeding and metering mechanism 3, continuously planting the yam seedlings in a staggered manner. Pressing "stop planting" stops the entire mechanism. This software also has an emergency stop button, which can be used to stop the operation in case of an emergency. The soil covering mechanism 5 completes the automatic planting task. First, the positioning line is marked, then the mechanism stops. After the trolley moves to the marked positioning line, the positioning mechanism stops, the trolley moves to the marked position, and then the seed feeding and metering are done. Compared with traditional manual planting, this saves a lot of labor costs.

[0115] Furthermore, the trolley is constructed primarily of aluminum tubing. Solar panels can also be installed above the seed delivery mechanism 2, with aluminum support columns at the four corners. Electrical wires are laid on these support columns to supply power to the battery.

[0116] Furthermore, a planting positioning mechanism 7 is installed in the middle of the housing 11. The planting positioning mechanism 7 includes a 3D-printed fixing component 8, a planting guide rod (positioning guide rod 72), a synchronous wheel (eccentric wheel 71), and a motor. The motor and synchronous wheel are fixed to the bottom of the housing 11 by the fixing component 8, which controls the extension and retraction of the guide rod. Using the 3D-printed fixing component 8 reduces costs and allows for mass production. The fixing component 8 is connected to the bottom of the housing by bolts. The motor drives the synchronous wheel to adjust the height of the positioning guide rod to complete the extension and retraction measurement action, meeting the planting needs at different ridge heights. The synchronous wheel drives the guide rod to complete the extension and retraction marking action. After operation begins, the motor controls the eccentric wheel to rotate, and the eccentric wheel drives the positioning guide rod to perform up and down extension and retraction movements to mark the lines, thereby achieving the planting positioning function. The degree of rotation of the motor in the planting positioning mechanism 7 and the ultrasonic ranging module below it provide soil distance feedback and motor control feedback to the microcontroller via serial communication.

[0117] Specifically, after the soil is turned and the trenches are dug, the ultrasonic ranging module of the planting positioning mechanism 7 calculates and positions the planting location in the field ridges and returns the data to the mechanical control mechanism.

[0118] Furthermore, a stepping seed conveying mechanism 2 is installed directly above the housing 11. This includes a toothed seed conveying trough 21, a 3D-printed fixing component 8, a DC motor (connecting rod drive component 223), and a connecting rod mechanism. After the planting positioning action is completed, the crank-connecting rod mechanism (connecting rod 22) rotates to input the seedlings into the discharge port. The crank-connecting rod mechanism is located at the front end (inlet end) of the toothed seed conveying trough, and the DC motor is connected to the connecting rod mechanism and located below the toothed seed conveying trough. The toothed seed conveying trough is fixed to the top of the housing via the 3D-printed fixing component 8. After the planting positioning action is completed, the crank-connecting rod mechanism rotates to input the seedlings into the upper toothed seed conveying trough 21, and then the connecting rod drive component 223 drives the connecting rod mechanism 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 under gravity.

[0119] Furthermore, a seed delivery and metering mechanism 3 is installed in the center of the housing 11. This mechanism includes a seed delivery trough 31, a motor (angle adjustment component 33), a metering trough 32, and an end screw (screw 341). The seed delivery and metering mechanism 3 mimics the movement principle of a human arm. The end screw fixes the longitudinal position of the end. When the front motor (angle adjustment component 33) starts working, it raises the seed delivery trough 31 to form a certain angle with the horizontal plane. The yam seed slides from the seed delivery trough 31 into the metering trough 32, and with the help of gravity, enters the field ridge through the low-lift metering trough 32, completing the planting task. Simultaneously, bolts are used to fix the end of the seed delivery trough 31. When the tuber reaches the end of the seed delivery trough 31, the weight of the tuber can adjust the seed delivery trough 31 to receive the seedling due to the bolt fixing method. The end screw device adjusts the horizontal x-axis position of the metering trough 32. The upper end of the metering trough 32 is fixed to the slider of the screw, thereby adjusting the planting position of the metering trough 32, thus achieving staggered planting.

[0120] Furthermore, a trenching mechanism 4 for turning over soil and creating trenches is installed at the front end of the box body 11. The trenching mechanism 4 is a single-core moldboard type soil turning and trenching mechanism, including a fiberglass connecting rod and an aluminum core moldboard wing plate. The fiberglass connecting rod is connected to the front box body chassis at a right angle, and uses the driving power to create trenches forward.

[0121] Furthermore, a soil covering mechanism 5 is installed at the end of the box 11. This mechanism includes a fiberglass connecting rod and a soil covering disc. The fiberglass connecting rod forms an obtuse angle with the box. After the planting task is completed, the soil on both sides is turned over and backfilled using the trolley's movement.

[0122] like Figure 8As shown, the aforementioned microcontroller uses the STM32FA07VET6 as the main control chip, packaged in a QFP100, with redundant I / O ports routed to two rows of pin headers. The development board comes with two RS845 interface circuits and two CAN interface circuits, supporting the use of multiple RS845 and two CAN interfaces. It supports a TFT interface for local data display on a TFT display under SPI. Pin multiplexing provides more options, such as driving motors, LEDs, and reading sensors. The development board uses a wide voltage supply, supporting 9-24V, allowing users to use external power or DC power supply via the pin headers.

[0123] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any 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 invention should be within the protection scope of the present invention.

Claims

1. An automated planting device with multiple interconnected mechanisms, characterized in that, It includes a vehicle body (1) and a seed conveying mechanism (2), a seed delivery and dispensing mechanism (3), a ditching mechanism (4), and a soil covering mechanism (5) installed on the vehicle body (1); The seed conveying mechanism (2) includes a toothed seed conveying trough (21) and a connecting rod (22). The tubers to be planted on the toothed seed conveying trough (21) can be conveyed to the outlet end through the connecting rod (22). The seed delivery and metering mechanism (3) includes a seed delivery trough (31) and a seed metering trough (32). The seed delivery trough (31) is located below the outlet end of the toothed seed delivery trough (21), and the seed metering trough (32) is located below the outlet end of the seed delivery trough (31). The ditching mechanism (4) and the soil covering mechanism (5) are respectively set at the front and rear ends of the vehicle body (1), and the seed conveying mechanism (2) and the seed delivery and discharging mechanism (3) are located on the vehicle body (1) between the ditching mechanism (4) and the soil covering mechanism (5); The connecting rod (22) includes a rod body (221) and a plurality of arc-shaped grooves (222) spaced apart on the top of the rod body (221), and the rod body (221) is connected to a connecting rod drive component (223). The rod (221) can drive the tuber to be planted to move along the toothed seed delivery groove (21) to the outlet end through the arc groove (222); The toothed seed delivery trough (21) includes a pair of symmetrically arranged side plates, and the top of the side plates is provided with multiple top arc-shaped blocks at intervals in a toothed manner. The connecting rod (22) is located between the two side plates. The seed delivery and metering mechanism (3) is used to deliver the tubers to be planted into the planting ridge.

2. The automated planting device with multi-mechanism linkage according to claim 1, characterized in that, The toothed seed delivery trough (21) has a downwardly inclined guide (23) at its outlet end. The tubers to be planted on the toothed seed delivery trough (21) can be transported to the outlet end of the toothed seed delivery trough (21) through the connecting rod (22) and fall into the seed delivery trough (31) along the guide (23) under the action of gravity. The guide (23) is provided with a shield (24) on the outside to prevent the tubers to be planted from falling off.

3. The automated planting device with multi-mechanism linkage according to claim 1, characterized in that, It also includes seed storage institutions (6); The seed storage mechanism (6) is located at the entrance end of the toothed seed delivery trough (21) and is used to store and output the tubers to be planted to the toothed seed delivery trough (21).

4. The automated planting device with multi-mechanism linkage according to claim 1, characterized in that, One end of the seed delivery trough (31) is connected to an angle adjustment component (33) for adjusting the angle between it and the horizontal plane, and the other end is connected to a seed discharge trough (32) with an arc-shaped structure.

5. The automated planting device with multi-mechanism linkage according to claim 4, characterized in that, The seed delivery and metering mechanism (3) also includes a translation drive component (34). The translation drive (34) can drive the seed delivery trough (31), the seed discharge trough (32) and the angle adjustment component (33) to reciprocate in the horizontal direction.

6. The automated planting device with multi-mechanism linkage according to claim 1, characterized in that, It also includes a planting positioning mechanism (7), which includes 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 drive component (74), and then perform the marking operation through the marking plate (73) at the bottom of the positioning guide rod (72).

7. The automated planting device with multi-mechanism linkage according to claim 1, characterized in that, It also includes a control mechanism, which is connected to the vehicle body (1), the seed conveying mechanism (2), and the seed delivery and metering mechanism (3).

8. An automated planting method involving multiple mechanisms, characterized in that, Using the apparatus according to any one of claims 1 to 7, the steps include: S1: During the movement of the vehicle body (1), planting ridges are plowed out by the ditching mechanism (4); S2: The tubers to be planted are transported to the seed delivery and metering mechanism (3) through the seed delivery mechanism (2); S3: The tubers to be planted are sent into the planting ridge through the seed delivery and metering mechanism (3); S4: The vehicle body (1) continues to move forward and is covered with soil by the soil covering mechanism (5).

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