Intelligent rhizome bare seedling rapid transplanting device, transplanting machine and method

Abstract

The invention discloses an intelligent rootstock bare seedling rapid transplanting device, a transplanting machine and a method, and relates to the technical field of agricultural machinery, the intelligent rootstock bare seedling rapid transplanting device comprises a seedling feeding mechanism, a special-shaped slider-crank mechanism and a missing rate detection module, the seedling feeding mechanism comprises a seedling feeding plate, and a plurality of seedling clamps are uniformly distributed on the seedling feeding plate along the circumferential direction; the special-shaped slider-crank mechanism comprises a fixed shaft and a driving shaft, one end of the driving shaft is connected with a seedling planting rod through a driving crank, one end of the seedling planting rod is provided with a guide groove, and the other end is provided with a seedling insertion port; one end of the fixed shaft penetrates through the guide groove and is connected with the seedling feeding plate; when the driving crank rotates, the seedling planting rod moves up and down and swings along the fixed shaft at the same time; the missing rate detection module comprises an ultrasonic radar and a color sensor, the ultrasonic radar is used for identifying the driving crank to obtain the seedling planting operation times, and the color sensor is used for identifying bare seedlings on the seedling planting rods. According to the method, seedlings can be directly planted, and the rhizome bare seedling planting procedure is reduced; and the real-time monitoring of the missing rate is realized by detecting the seedling planting times and the times of separating the seedlings from the seedling clamp.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an intelligent root and tuber bare seedling quick-insertion device, a transplanter and a method. Background Art

[0002] At present, the work of transplanting bare seedlings of rhizomes has gradually been replaced by semi-automatic or automated machinery from the traditional complex manual operation. This type of transplanting machinery is mainly clamp-type, chain-clamp-type, finger-clamp-type and duckbill-type. When transplanting bare seedlings of rhizomes, these devices realize planting by manually swinging the seedlings and picking up the seedlings with fingers. However, it takes time to pick up the seedlings after picking them up, and the risk of missing picking rate is increased, so it is impossible to achieve fast planting and high-quality cuttings at the same time. Summary of the invention

[0003] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an intelligent device, a transplanter and a method for rapid insertion of bare rhizome seedlings, which can directly plant seedlings without clamping the seedlings, thereby reducing the number of planting steps for bare rhizome seedlings; and by detecting the number of seedling planting times and the number of seedlings escaping from the seedling clamps, real-time monitoring of the leakage rate can be achieved.

[0004] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0005] In a first aspect, an embodiment of the present invention provides an intelligent root and tuber seedling rapid planting device, comprising:

[0006] The seedling delivery mechanism comprises a seedling delivery plate, wherein a plurality of seedling clips are evenly distributed along the circumference of the seedling delivery plate;

[0007] The special-shaped crank slider mechanism comprises a fixed shaft and a driving shaft parallel to each other, one end of the driving shaft is connected to a seedling planting rod through a driving crank, one end of the seedling planting rod is provided with a guide groove, and the other end is provided with a seedling insertion port; one end of the fixed shaft passes through the guide groove and is rotatably connected to the seedling feeding plate; when the driving crank rotates, the seedling planting rod simultaneously moves up and down and swings along the fixed shaft, so that the seedling insertion port can insert the bare seedlings on the seedling clamp;

[0008] The leakage rate detection module includes an ultrasonic radar and a color sensor. The ultrasonic radar is used to identify the driving crank to obtain the number of seedling planting operations, and the color sensor is used to identify the bare seedlings on the seedling planting rod to obtain the number of seedlings escaping from the seedling clamps.

[0009] As a further implementation, the stationary shaft and the driving shaft are connected via a fixing plate, wherein the stationary shaft is fixedly connected to the fixing plate, and the driving shaft is rotatably connected to the fixing plate.

[0010] As a further implementation manner, the ultrasonic radar is installed on a fixed plate.

[0011] As a further implementation, the length of the guide groove is a set multiple of the length of the driving crank.

[0012] As a further implementation method, the seedling planting opening has a V-shaped opening structure.

[0013] As a further implementation, a side wall of the seedling insertion port is provided with a mounting port, and the color sensor is installed in the mounting port through a spring.

[0014] As a further implementation, the seedling delivery plate includes a main body portion, the main body portion is circumferentially connected to a plurality of mounting portions, and the seedling clip is fixed to the end of the mounting portion.

[0015] As a further implementation method, the seedling clamp is provided with a protrusion, and the protrusion is used to insert the seedling mouth to drive the seedling clamp to rotate around the fixed axis.

[0016] In a second aspect, an embodiment of the present invention further provides a transplanter, comprising a frame, on which the intelligent root and tuber seedling rapid transplanting device is installed.

[0017] In a third aspect, an embodiment of the present invention further provides an intelligent method for rapid planting of bare rhizome seedlings, using the intelligent device for rapid planting of bare rhizome seedlings, comprising:

[0018] The driving shaft rotates to drive the driving crank to rotate, so that the planting rod moves up and down and swings relative to the fixed shaft at the same time, the planting rod inserts the bare seedlings on the seedling clip corresponding to the planting rod, and the seedling delivery plate is rotated to the next seedling clip corresponding to the planting rod;

[0019] Every time the driving crank rotates one circle and passes the ultrasonic radar, the corresponding number of seedling planting operations is obtained; every time the color sensor detects the color of the bare seedlings, the corresponding number of seedlings escaping from the seedling clamps is obtained; the seedling retrieval success rate is obtained based on the ratio of the number of seedlings escaping from the seedling clamps to the number of seedling loading operations.

[0020] The beneficial effects of the present invention are as follows:

[0021] (1) The present invention realizes rapid cutting without removing seedlings by cooperating with a plurality of seedling clips in a seedling-planting rod and a seedling-feeding mechanism; and monitors the number of seedling-planting operations by an ultrasonic radar and the number of times the seedlings are separated from the seedling clips by a color sensor, and calculates the success rate of seedling removal, thereby providing a basis for determining the cause of seedling leakage in the planting of bare rhizome seedlings.

[0022] (2) The seedling planting rod of the present invention has a V-shaped seedling insertion opening, which can smoothly insert the bare seedlings clamped by the seedling clamp into the ridge body; because the seedling clamp has a raised portion, during the insertion process, the seedling planting rod drives the seedling feeding plate to rotate to insert the bare seedlings at the next workstation, thereby improving the insertion efficiency.

[0023] (3) The seedling planting rod of the present invention has a guide groove and is connected to a driving crank, so that the seedling planting rod can move up and down along the fixed axis while swinging, so that the bare seedlings are planted in the soil along the planting track, thereby improving the quality of cuttings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0025] Figure 1 is a three-dimensional diagram of the working process of the present invention according to one or more embodiments;

[0026] Figure 2 is a front view of the working process of the present invention according to one or more embodiments;

[0027] Figure 3 It is a schematic diagram of the structure of a special-shaped crank slider mechanism according to one or more embodiments of the present invention;

[0028] Figure 4 is a schematic structural diagram of a seedling delivery mechanism according to one or more embodiments of the present invention;

[0029] Figure 5 is a schematic diagram of the structure of a seedling planting rod according to one or more embodiments of the present invention;

[0030] Figure 6 is a schematic diagram of the structure of a seedling clamp according to one or more embodiments of the present invention;

[0031] Figure 7 is a schematic diagram of the working principle of a leakage rate detection module according to one or more embodiments of the present invention;

[0032] FIG8( a ) and FIG8 ( b ) are schematic diagrams of special-shaped interface structures according to one or more embodiments of the present invention.

[0033] Among them, 1. ridge body, 2. planting track, 3. driving sprocket, 4. fixed shaft, 5. ultrasonic radar, 6. fixed plate, 7. seedling delivery plate, 8. bare seedlings, 9. seedling clamp, 10. driving crank, 11. seedling planting rod, 12. driving shaft, 13. bolt assembly, 14. color sensor, 15. sleeve, 16. connecting shaft, 17. spring, 18. main body, 19. mounting part, 20. raised part, 21. guide groove, 22. seedling insertion port. DETAILED DESCRIPTION

[0034] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0035] Embodiment 1:

[0036] This embodiment provides an intelligent root seedling rapid planting device. Figure 1 and Figure 2 As shown, it includes a seedling delivery mechanism, a special-shaped crank slider mechanism and a leakage rate detection module. The seedling delivery mechanism is connected to the special-shaped crank slider mechanism, and the seedling delivery mechanism is activated under the action of the driving mechanism. The special-shaped crank slider mechanism includes a seedling planting rod 11, and the bare seedlings 8 transported by the seedling delivery mechanism are planted through the seedling planting rod 11; the leakage rate detection module is used to detect the number of seedling planting times and the number of seedlings escaping from the seedling clamps, so as to realize real-time monitoring of the leakage rate.

[0037] Specifically, Figure 3 As shown, the special-shaped crank slider mechanism includes a fixed shaft 4, a driving shaft 12, a driving crank 10, a seedling rod 11, etc. The fixed shaft 4 and the driving shaft 12 are parallel to each other. When in use, the fixed shaft 4 and the driving shaft 12 are horizontally arranged, and the fixed shaft 4 is located above the driving shaft 12; the fixed shaft 4 is used to connect the frame of the transplanter, and the driving shaft 12 is connected to the fixed shaft 4 through a fixed plate 6, and the fixed plate 6 plays a supporting role for the driving shaft 12. Among them, the fixed shaft 4 and the fixed plate 6 are fixedly connected, and the driving shaft 12 and the fixed plate 6 are rotatably connected. This connection method can be achieved by the following structure: a through hole is opened on the fixed plate 6, and a sleeve 15 is installed in the through hole. The driving shaft 12 passes through the sleeve 15, and there is a clearance fit between the two to achieve relative rotation. Of course, the driving shaft 12 and the fixed plate 6 can also be rotatably connected by bearings and the like.

[0038] The drive shaft 12 is used as a power input and is connected to a drive mechanism, which can be selected according to actual needs. In this embodiment, the drive mechanism adopts a sprocket chain structure driven by a motor, and a drive sprocket 3 is installed on the drive shaft 12; it can be understood that in other embodiments, the drive mechanism can also adopt a pulley mechanism driven by a motor, and a pulley is installed on the drive shaft 12 accordingly.

[0039] like Figure 3 As shown, one end of the drive shaft 12 on which the drive sprocket 3 is installed is the input end, and the other end is the output end; the output end of the drive shaft 12 is fixedly connected to one end of the drive crank 10, and the other end of the drive crank 10 is rotatably connected to the seedling rod 11. In this embodiment, one end of the drive crank 10 is connected to the drive shaft 12 through a special-shaped interface, as shown in Figures 8(a) and 8(b). The special-shaped interface refers to a cutout or a pair of symmetrical cutouts on the circular shaft and the corresponding circular hole, thereby achieving simple positioning and power transmission.

[0040] The driving crank 10 is hinged to the seedling planting rod 11 through the connecting shaft 16. When the driving shaft 12 rotates, the seedling planting rod 11 can move together with the driving crank 10 due to the connecting effect of the driving crank 10.

[0041] In order to make the bare seedlings 8 enter the soil along the planting track 2 under the action of the planting rod 11, it is necessary to limit the movement of the planting rod 11 so that it can move up and down and swing; Figure 5 As shown, a guide groove 21 of a certain length is provided on the planting rod 11, and one end of the fixed shaft 4 passes through the guide groove 21 and is connected to the seedling delivery mechanism. The cooperation between the guide groove 21 and the fixed shaft 4 enables the planting rod 11 to move up and down. In order to ensure the planting track 2 of the bare seedlings 8, the length of the guide groove 21 is twice the length of the driving crank 10. The planting track 2 is shown in FIG. Figure 1 and Figure 2 As shown, the entire planting trajectory 2 of the naked seedling 8 is a closed curve, including a curve segment before entering the soil and a curve segment after entering the soil. The apex of the curve segment before entering the soil is the highest point, and the apex of the curve segment after entering the soil is the lowest point. Moreover, both curve segments are asymmetric structures.

[0042] The bottom end of the seedling planting rod 11 is provided with a seedling insertion port 22, through which the seedling insertion port 22 is inserted downward to plant the bare seedlings 8 on the seedling clip 9 into the soil. Figure 5 As shown, the head of the seedling insertion port 22 is a V-shaped opening structure, which can guide the bare seedlings 8 so that the bare seedlings 8 can smoothly enter the seedling insertion port 22; the rear part of the seedling insertion port 22 is a strip groove structure of a certain length, which can accommodate a single bare seedling 8.

[0043] The seedling delivery mechanism includes a plurality of seedling delivery positions, which correspond to the seedling planting rods 11 in sequence to realize the sequential seedling planting operation. Each seedling delivery position corresponds to a seedling clamp 9, specifically, Figure 4 As shown, the seedling delivery mechanism includes a seedling delivery plate 7 and a seedling clamp 9, and the seedling clamp 9 is fixedly connected to the seedling delivery plate 7; wherein the seedling delivery plate 7 includes a main body 18 and a mounting portion 19 connected as one body, and a plurality of mounting portions 19 are evenly distributed along the circumference of the main body 18, and a seedling clamp 9 is connected to the end of each mounting portion 19.

[0044] In this embodiment, the main body 18 is a hexagonal structure, and each side is connected to a mounting portion 19. It can be understood that in other embodiments, the main body 18 can also be other shapes, such as circular; and the mounting portions 19 can also be other numbers.

[0045] The seedling clamp 9 is connected to the mounting portion 19 through a bolt assembly 13. Figure 6As shown, the end of the seedling clamp 9 is a clamping structure, which can clamp the bare seedling 8 and hold it therein; the seedling clamp 9 is provided with a protrusion 20 on the side facing the seedling planting rod 11, and the protrusion 20 cooperates with the strip groove of the seedling insertion port 22, so that the seedling planting rod 11 can move the seedling clamp 9 during the process of inserting the bare seedling 8, so that the seedling delivery plate 7 can rotate around the fixed axis 4; the seedling delivery plate 7 rotates 60° each time, so that the seedling clamp 9 of the next station corresponds to the seedling planting rod 11.

[0046] In this embodiment, the protrusion 20 is a cylindrical structure, and its axis direction is parallel to the fixed shaft 4.

[0047] The leakage rate detection module includes an ultrasonic radar 5 and a color sensor 14. The ultrasonic radar 5 is installed on a fixing plate 6. The driving crank 10 collects a signal each time it rotates to the installation position of the ultrasonic radar 5. The color sensor 14 is installed on the seedling rod 11. Figure 5 As shown, a mounting opening is provided on the side wall of the seedling planting rod 11 corresponding to the seedling insertion opening 22 , and a vertically arranged spring 17 is connected in the mounting opening. The end of the spring 17 is connected to a color sensor 14 , and the color sensor 14 can collect the green color of the naked seedling 8 .

[0048] The color sensor 14 of this embodiment is flexibly connected by a spring 17. This is because when a rigid connection is used, the seedlings of fragile varieties are easily damaged when passing through the color sensor 14. The use of the spring 17 can reduce such damage.

[0049] like Figure 7 As shown, the ultrasonic radar 5 and the color sensor 14 are connected to the controller through the data acquisition device. When the driving crank 10 rotates one circle and passes through the ultrasonic radar 5, it is recorded as the number of seedling planting operations. When the seedling planting rod 11 is planting seedlings, each time the color sensor 14 detects green, it is recorded as the number of seedlings escaping from the seedling clamps. The percentage of the number of seedlings escaping from the seedling clamps to the number of seedling planting operations is recorded as the seedling retrieval success rate, and the number of seedlings escaping from the seedling clamps, the number of seedling planting operations and the seedling retrieval success rate are displayed on the monitoring value display, thereby realizing real-time monitoring and display of the missed retrieval rate, so as to determine whether the seedling missed planting has occurred during the seedling retrieval or occurred during the planting process.

[0050] In this embodiment, a seedling delivery plate 7, a seedling clamp 9 and a seedling planting rod 11 are arranged. The seedling planting rod 11 can insert the bare seedlings 8 clamped by the seedling clamp 9 into the ridge body 1, so as to realize fast cutting without taking out the seedlings (without removing the bare seedlings). The number of seedling taking operations is monitored by ultrasonic radar, the number of times the seedlings are separated from the seedling clamp is monitored by the color sensor 14, and the success rate of seedling taking is calculated, so as to provide a basis for determining the cause of seedling leakage in the planting of bare rhizome seedlings.

[0051] Embodiment 2:

[0052] The present embodiment provides a transplanter, including a frame, on which the intelligent root tuber bare seedling quick-insertion device described in Embodiment 1 is installed, wherein a fixed shaft 4 of the intelligent root tuber bare seedling quick-insertion device is connected to the frame.

[0053] Embodiment 3:

[0054] The present embodiment provides an intelligent method for fast insertion of root and stem seedlings, which uses the intelligent fast insertion device for root and stem seedlings described in Example 1. Taking sweet potato transplanting on film as an example, during operation, the intelligent fast insertion device for root and stem seedlings moves forward along the ridge body 1 with the whole machine, and at the same time drives the sprocket wheel 3 to obtain power from the outside to rotate clockwise, driving the driving shaft 12 to rotate, so that the driving crank 10 obtains rotational power; when the driving crank 10 rotates, it drives the planting rod 11 to move up and down while swinging along the fixed shaft 4. When the planting rod 11 moves, the seedling insertion port 22 moves the seedling clamp 9 to make the seedling delivery plate 7 rotate clockwise, and each rotation is 60°, so that the bare seedlings 8 at different stations are inserted in sequence.

[0055] At the same time, the leakage rate detection module is powered on and operates. Every time the driving crank 10 rotates one circle and passes the ultrasonic radar 5, it is recorded as the number of seedling planting operations. When the seedling planting rod 11 is planting seedlings, every time the color sensor 14 detects green, it is recorded as the seedlings escaping from the seedling clamp once. The ratio of the number of times the seedlings escaping from the seedling clamp to the number of seedling planting operations is recorded as the seedling retrieval success rate, and the number of times the seedlings escaping from the seedling clamp, the number of seedling planting operations and the seedling retrieval success rate are displayed on the monitoring value display.

[0056] This embodiment adopts the method of direct seedling planting, which reduces the planting process of bare rhizome seedlings.

[0057] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent rapid planting device for bare rhizome seedlings, characterized in that: include: The seedling delivery mechanism comprises a seedling delivery plate, wherein a plurality of seedling clips are evenly distributed along the circumference of the seedling delivery plate; The special-shaped crank slider mechanism comprises a fixed shaft and a driving shaft parallel to each other, one end of the driving shaft is connected to a seedling planting rod through a driving crank, one end of the seedling planting rod is provided with a guide groove, and the other end is provided with a seedling insertion port; one end of the fixed shaft passes through the guide groove and is rotatably connected to the seedling feeding plate; when the driving crank rotates, the seedling planting rod simultaneously moves up and down and swings along the fixed shaft, so that the seedling insertion port can insert the bare seedlings on the seedling clamp; The leakage rate detection module includes an ultrasonic radar and a color sensor. The ultrasonic radar is used to identify the driving crank to obtain the number of seedling planting operations, and the color sensor is used to identify the bare seedlings on the seedling planting rod.

2. The intelligent root tuber bare seedling rapid planting device according to claim 1, characterized in that: The fixed shaft and the driving shaft are connected via a fixed plate, wherein the fixed shaft is fixedly connected to the fixed plate, and the driving shaft is rotatably connected to the fixed plate.

3. The intelligent root tuber bare seedling rapid planting device according to claim 2, characterized in that: The ultrasonic radar is installed on a fixing plate.

4. The intelligent root tuber bare seedling rapid planting device according to claim 1, characterized in that: The length of the guide groove is a set multiple of the length of the driving crank.

5. The intelligent rapid root and tuber seedling planting device according to claim 1, characterized in that: The seedling insertion opening has a V-shaped opening structure.

6. The intelligent rapid root and tuber seedling planting device according to claim 1 or 5, characterized in that: The side wall of the seedling insertion port is provided with an installation port, and the color sensor is installed in the installation port through a spring.

7. The intelligent rapid root and tuber seedling planting device according to claim 1, characterized in that: The seedling delivery plate comprises a main body portion, the main body portion is circumferentially connected to a plurality of mounting portions, and the seedling clip is fixed to the end of the mounting portion.

8. The intelligent rapid root and tuber seedling planting device according to claim 1 or 7, characterized in that: The seedling clamp is provided with a protrusion, and the protrusion is used for inserting the seedling mouth to drive the seedling clamp to rotate around the fixed axis.

9. A transplanter, characterized in that: It comprises a frame, on which is installed the intelligent rhizome bare seedling quick-transplanting device as described in any one of claims 1-8.

10. An intelligent method for rapid planting of bare rhizome seedlings, characterized in that: The intelligent root tuber bare seedling rapid planting device as claimed in any one of claims 1 to 8 comprises: The driving shaft rotates to drive the driving crank to rotate, so that the planting rod moves up and down and swings relative to the fixed shaft at the same time, the planting rod inserts the bare seedlings on the seedling clip corresponding to the planting rod, and the seedling delivery plate is rotated to the next seedling clip corresponding to the planting rod; Every time the driving crank rotates one circle and passes the ultrasonic radar, the corresponding number of seedling planting operations is obtained; every time the color sensor detects the color of the bare seedlings, the corresponding number of seedlings escaping from the seedling clamps is obtained; the seedling retrieval success rate is obtained based on the ratio of the number of seedlings escaping from the seedling clamps to the number of seedling planting operations.

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