Sugarcane perennial root area seedling supplementing device and method

Abstract

The invention relates to the technical field of sugarcane planting, in particular to a sugarcane perennial root area seedling supplementing device and method.The sugarcane perennial root area seedling supplementing device comprises a seedling supplementing vehicle, a storage bin is fixedly arranged on the top face of the seedling supplementing vehicle, a binocular vision camera is installed on the bottom face of one end of the seedling supplementing vehicle, a guide rail is fixedly arranged on the seedling supplementing vehicle, and a pulling-out assembly is slidably connected to the guide rail; the pulling-out assembly comprises a first sliding block, a T-shaped block is slidably connected to the first sliding block, a supporting block is fixedly arranged on the outer wall of the T-shaped block, two pin shafts are fixedly arranged at the lower end of the supporting block, pulling-out clamping jaws are rotatably connected to the peripheral walls of the pin shafts, and a first moving frame is fixedly arranged on the supporting block. And two first connecting blocks are fixedly arranged on the side wall of the first sliding block. The old seedlings are pulled out from the soil through further actions by the pulling claws, so that the accuracy of pulling out the sugarcane pockets is ensured, the pulling efficiency is improved, the healthy growth environment of a whole sugarcane field is favorably maintained, and the yield and the quality of sugarcanes are improved.

Description

Technical Field

[0001] The invention relates to the technical field of sugarcane planting, in particular to a device and method for supplementing seedlings in a sugarcane perennial root zone. Background Art

[0002] Sugarcane is an important economic crop. During the continuous planting process, the cultivation method of ratoon sugarcane (i.e. sugarcane pods left in the soil after the sugarcane was harvested last year) is favored because of its low cost and relatively stable yield. As the basis of sugarcane growth, the health of sugarcane pods directly affects the yield and quality of sugarcane. After searching, the Chinese patent with the announcement number CN118765606A provides a device for automatically identifying and supplementing sugarcane ratoon seedlings. The sugarcane segments are transported to the guide trough through the clamping plate. During the process of the feeding roller conveying the sugarcane segments through the clamping plate, the clamping plate continuously squeezes the sugarcane segments so that the sugarcane segments are squeezed into the second storage bin, and whether there is a gap between the partitions is identified. According to the gap between the partitions, the device automatically supplements the seedlings and realizes the accuracy of planting the sugarcane segments. However, during use, it was found that the device only replenished seedlings in places where seedlings were missing, and it was difficult to deal with some necrotic and poorly growing sugarcane pods, which wasted land resources and became a breeding ground for pests and diseases, posing a threat to the healthy growth of the entire sugarcane field, increasing the risk of disease and pest transmission, and was not conducive to the use of seedlings in the sugarcane perennial area. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a device and method for supplementing seedlings in the perennial root area of ​​sugarcane. The pulling claws pull out the old seedlings from the soil through further actions, ensuring the accuracy of pulling out the sugarcane pods, improving the pulling efficiency, and helping to maintain a healthy growth environment for the entire sugarcane field, thereby improving the yield and quality of sugarcane.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: a sugarcane perennial root area seedling supplement device, comprising a seedling supplement vehicle, a storage bin is fixedly arranged on the top surface of the seedling supplement vehicle, a binocular vision camera is installed on the bottom surface of one end of the seedling supplement vehicle, a guide rail is fixedly arranged on the seedling supplement vehicle, a plucking assembly is slidably connected to the guide rail, the plucking assembly comprises a first slider, a T-shaped block is slidably connected to the first slider, a support block is fixedly arranged on the outer wall of the T-shaped block, two pins are fixedly arranged on the lower end of the support block, a plucking claw is rotatably connected to the outer peripheral wall of the pin, and a first moving frame is fixedly arranged on the support block; Two first connecting blocks are fixedly arranged on the side wall of the first sliding block, a driving assembly is installed on the top surface of one of the first connecting blocks, the driving assembly includes a driving disk, a push rod is fixedly arranged on the outer surface of the driving disk, the driving disk is provided with two, one of the push rods is located inside the first moving frame; The other push rod is provided with a drilling assembly, which includes a drill rod, a circular tube is slidably connected to the outer circumferential wall of the drill rod, an arc-shaped sleeve is slidably connected to the outer circumferential wall of the circular tube, a push block is fixedly provided on the outer circumferential wall of the lower end of the circular tube, the push block is slidably connected to the seedling replacement vehicle, a sowing assembly is fixedly provided at one end of the push block, and electric drive wheels are respectively installed at the four corners of the seedling replacement vehicle.

[0005] Preferably, the extraction assembly includes a first cylinder, which is fixed to the upper end of the support block through a mounting frame, a limit block is fixedly provided in the middle of the support block, a Y-shaped block is slidably connected to the limit block, the lower end of the Y-shaped block is symmetrically structured with two through grooves, two round rods are slidably connected inside the through grooves, one end of the round rod is fixedly connected to the upper end of the extraction claw, the extraction claw is arc-shaped, a plurality of inclined teeth are fixedly provided on the inner wall of the extraction claw, and a mud discharge groove is provided on the outer wall of the extraction claw.

[0006] Through the above technical solution, the extraction claw rotates around the pin shaft, and the inclined teeth on the inner wall of the claw are used to clamp the roots of the old seedlings, and then the support block and the extraction claw are driven upward by the first moving frame to remove the old seedlings.

[0007] Preferably, the driving assembly includes a fixed block, the bottom surface of the fixed block is fixedly connected to the top surface of one of the first connecting blocks, the fixed block is rotatably connected to two rotating shafts, the outer peripheral wall of the rotating shaft is sleeved with a first gear, a transmission toothed belt is provided on one side of the fixed block, the two first gears are respectively meshed and connected with the inside of the transmission toothed belt, a first servo motor is installed on the outer wall of the first slider through a mounting seat, the output shaft of the first servo motor is coaxially connected to the rotating shaft located at the lower end, and the outer peripheral walls at both ends of the rotating shaft located at the upper end are respectively fixedly connected to the middle of the driving disk.

[0008] Through the above technical solution, one of the push rods pushes the first movable frame to move up and down, and at the same time another driving disk pushes another push rod and the second movable frame to move up and down, so as to facilitate the height adjustment of the extraction component and the drilling component at the same time.

[0009] Preferably, a second cylinder is installed at the rear end of the seedling replacement vehicle through a mounting seat, the piston rod of the second cylinder is fixedly connected to the outer wall of the push block, the outer peripheral wall of the upper end of the drill rod is rotatably connected to the upper end of the arc sleeve, a drilling motor is installed on the top surface of the arc sleeve through the mounting seat, the output shaft of the drilling motor is coaxially connected to the drill rod, a second movable frame is fixedly provided on the upper end of the arc sleeve and the outer peripheral wall, and the inner wall of the second movable frame is slidably connected to the outer peripheral wall of another push rod.

[0010] Through the above technical solution, the arc-shaped sleeve is driven to slide along the round tube by the push rod while the second movable frame moves, and the drilling motor drives the drill rod to rotate to perform drilling.

[0011] Preferably, the sowing component includes an adjusting block, which is slidably connected to the seedling replacement vehicle, a discharge pipe is connected to the middle of the adjusting block, the outer peripheral wall of the discharge pipe is fixedly connected to the push block, the upper end of the discharge pipe is connected to the storage bin, the inner bottom surface of the storage bin is inclined, a circular shaft is rotatably connected to the discharge pipe, the outer peripheral wall of the circular shaft is in a ring array structure with a plurality of dividing blocks fixed thereon, the dividing block is slidably connected to the discharge pipe, and a discharge motor is installed on the outer peripheral wall of the discharge pipe through a mounting seat.

[0012] Through the above technical solution, the discharging motor drives the circular shaft to rotate, and the dividing block slides inside the discharging pipe, pushing the sugarcane seedlings out of the discharging pipe one by one, and finally falling into the drilled hole.

[0013] Preferably, a U-shaped block is fixedly provided at one end of the discharge pipe, two anti-blocking blocks are fixedly provided on the inner wall of the U-shaped block, the bottom surface of the anti-blocking block is inclined, two limiting grooves are provided on the dividing block, and the outer peripheral wall of the anti-blocking block is slidably connected to the wall of the limiting groove.

[0014] Through the above technical solution, the anti-blocking block pushes and discharges the sugarcane seedlings stuck between the two material dividing blocks, thereby reducing the occurrence of sugarcane seedlings being stuck.

[0015] Preferably, it also includes a soil covering component, which includes a trapezoidal positioning block, which is fixedly connected to the outer wall of the storage bin, a third cylinder is installed on the outer wall of the storage bin through a mounting seat, a lifting block is slidably connected to the trapezoidal positioning block, the bottom surface of the piston of the third cylinder is fixedly connected to the top surface of the lifting block, a C-shaped block is fixedly provided on the bottom surface of the outer end of the lifting block, a fine crushing roller is rotatably connected to the C-shaped block, a second servo motor is installed on the outer wall of the C-shaped block through a mounting seat, and the output shaft of the second servo motor is coaxially connected to the fine crushing roller.

[0016] Through the above technical solution, the crushing roller crushes the soil around the drill hole so that it is easier to cover the sugarcane seedlings later.

[0017] Preferably, a guide block is fixedly provided on the lifting block, and two second sliders are slidably connected to the guide block, a dual-axis motor is installed on the top surface of the lifting block through a mounting seat, a screw rod is sleeved on the output shaft of the dual-axis motor, and the second slider is threadedly connected to the screw rod through a threaded hole, and two tilting blocks are respectively fixedly provided on the bottom surface of the second slider, a conveyor belt is fixedly provided between the two tilting blocks, and a plurality of shifting blocks are fixedly provided on the outer peripheral wall of the conveyor belt.

[0018] Preferably, the conveyor belt is internally meshed with two second gears, a connecting shaft is fixedly provided in the middle of the second gears, the outer peripheral walls at both ends of the connecting shaft are rotatably connected to two inclined blocks respectively, a third servo motor is installed on the outer peripheral wall of one of the inclined blocks through a mounting seat, and the third servo motor is rotatably connected to one of the connecting shafts.

[0019] Through the above technical solution, a plurality of shifting blocks on the outer peripheral wall of the conveyor belt are used to grab the crushed soil and transport it to above the drilling position. As the conveyor belt continues to move, the shifting blocks evenly cover the soil on the sugarcane seedlings.

[0020] A method for a sugarcane perennial root zone seedling supplement device comprises the following steps: Pulling out: When the old seedlings that need to be pulled out are detected by the binocular vision camera, the seedling replacement vehicle stops moving, the pulling out component slides to the specified position through the guide rail, and the driving component causes one of the driving disks to push the first moving frame through the push rod, thereby driving the pulling out claws to rotate around the pin shaft to clamp the roots of the old seedlings. The pulling out claws pull the old seedlings out of the soil through further actions; Drilling: When the second moving frame moves, the push rod drives the arc-shaped casing to slide along the round tube, and the drilling motor drives the drill rod to rotate to drill holes; Planting: The discharging motor drives the circular shaft to rotate, and the dividing block slides inside the discharging pipe, pushing the sugarcane seedlings out of the discharging pipe one by one, and finally falling into the drilled hole; Soil covering: The second servo motor starts to drive the crushing roller to rotate, and the crushing roller crushes the soil around the drill hole. The third servo motor drives the connecting shaft and the second gear to rotate, and then drives the conveyor belt to circulate. The multiple shifting blocks on the outer wall of the conveyor belt evenly cover the soil on the sugarcane seedlings.

[0021] Beneficial effects of the present invention: When the binocular vision camera detects the old seedlings that need to be pulled out, the seedling replacement vehicle stops moving, the pulling component slides to the specified position through the guide rail, and the driving component causes one of the driving disks to push the first moving frame through the push rod, thereby driving the pulling claw to rotate around the pin shaft to clamp the roots of the old seedlings. The pulling claw pulls the old seedlings out of the soil through further actions, ensuring the accuracy of pulling out the sugarcane bag and improving the pulling efficiency, which helps to maintain a healthy growth environment for the entire sugarcane field and improve the yield and quality of sugarcane. The seedling replacement vehicle moves in the sugarcane perennial root area through electric drive wheels, and the binocular vision camera captures ground images in real time to identify the position of the old seedlings that need to be pulled out. The pulling out component pushes the support block and the pulling out claws below it downward through the movement of the first moving frame, so that the pulling out claws are inserted into the two sides of the old seedlings that need to be pulled out. Then, the first cylinder pushes the Y-shaped block to slide on the limit block, and the pulling out claws approach the roots of the old seedlings. The first cylinder continues to push, so that the pulling out claws rotate around the pin shaft, and the roots of the old seedlings are clamped by the inclined teeth on the inner wall of the claws. Then, the support block and the pulling out claws are driven upward by the first moving frame for pulling out. After pulling out, the pulled out old seedlings can be moved to both ends through the first slider, which reduces damage to the surrounding healthy sugarcane bags, protects the soil structure, reduces soil erosion, and facilitates the subsequent collection and treatment of the old seedlings.

[0022] The first moving frame is pushed up and down by one of the push rods, and at the same time, the other drive disk pushes the other push rod and the second moving frame up and down, so that the height of the pulling component and the drilling component can be adjusted at the same time, which improves the work efficiency and reduces the potential damage of the pulling component and the drilling component to the surrounding sugarcane bags; while the second moving frame moves, the arc casing is driven to slide along the round tube by the push rod, and at the same time, the drilling motor drives the drill rod to rotate to drill holes, which is convenient for the seedling replacement operation.

[0023] The push block moves the discharge pipe to the position after drilling, and the sugarcane seedlings fall from the storage bin into the discharge pipe. The discharge motor drives the circular shaft to rotate, and the dividing block slides inside the discharge pipe to push the sugarcane seedlings out of the discharge pipe one by one and finally fall into the drilled hole. The dividing block ensures that the sugarcane seedlings fall into the drilled hole evenly and orderly, avoiding blockage or omission. The anti-blocking block pushes and discharges the sugarcane seedlings stuck between the two dividing blocks, reducing the occurrence of sugarcane seedling jamming and further improving the accuracy and reliability of sowing.

[0024] The second servo motor starts, driving the crushing roller to rotate, and the crushing roller crushes the soil around the drill hole. The output shaft of the dual-axis motor drives the lead screw to rotate, and the lead screw drives the two second sliders to slide on the guide block through a threaded connection, thereby adjusting the position of the two tilting blocks and the conveyor belt. The third servo motor drives the connecting shaft and the second gear to rotate, thereby driving the conveyor belt to circulate. The multiple shifting blocks on the outer wall of the conveyor belt are used to grab the crushed soil and transport it to above the drilling position. As the conveyor belt continues to move, the shifting blocks evenly cover the soil on the sugarcane seedlings, so that the soil covers the sugarcane seedlings more evenly, thereby improving the covering efficiency and quality, providing the necessary protection and support for the sugarcane seedlings, and contributing to their healthy growth. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a bottom-up stereoscopic schematic diagram of the overall structure of the present invention; Figure 3 It is a schematic diagram of the structure of the removal component of the present invention; Figure 4 It is a schematic diagram of the first moving frame structure of the present invention; Figure 5 It is a schematic diagram of the structure of the driving assembly of the present invention; Figure 6 It is a schematic diagram of the structure of the drilling assembly of the present invention; Figure 7 It is a structural schematic diagram of the sowing assembly of the present invention; Figure 8 It is a schematic diagram of the internal structure of the discharge pipe of the present invention; Fig. 9It is a schematic diagram of the structure of the soil covering assembly of the present invention; Fig.10 It is a schematic diagram of the structure of the shifting block of the present invention.

[0026] In the figure: 1. Seedling filling vehicle; 2. Storage bin; 3. Binocular vision camera; 4. Guide rail; 5. Extraction assembly; 501. First slider; 502. Support block; 503. Pin shaft; 504. Extraction claw; 505. First moving frame; 506. First cylinder; 507. Mounting frame; 508. Limit block; 509. Y-shaped block; 510. Through groove; 511. Round rod; 512. Inclined tooth; 513. Mud discharge groove; 514. T-shaped block; 6. First connecting block; 7. Driving assembly; 701. Driving disk; 702. Push rod; 703. Fixed block; 704. Rotating shaft; 705. First gear; 706. Transmission tooth belt; 707. First servo motor; 8. Drilling assembly; 801. Drill rod; 802. Round tube; 803. Arc sleeve; 804. Push block; 80 5. Drilling motor; 806. Second moving frame; 9. Sowing assembly; 901. Adjusting block; 902. Discharging pipe; 903. Round shaft; 904. Distributing block; 905. Discharging motor; 906. U-shaped block; 907. Anti-blocking block; 908. Limiting groove; 10. Electric drive wheel; 11. Soil covering assembly; 1101. Trapezoidal positioning block; 1102. Lifting block; 1103. C-shaped block; 1104. Fine crushing roller; 1105. Second servo motor; 1106. Third cylinder; 1107. Guide block; 1108. Second slider; 1109. Double-axis motor; 1110. Screw; 1111. Tilting block; 1112. Conveyor belt; 1113. Second gear; 1114. Coupling; 1115. Shifting block; 1116. Third servo motor; 12. Second cylinder. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0028] Embodiment 1: Figures 1 to 5 As shown, the present embodiment provides a device and method for seedling replacement in a perennial root area of ​​sugarcane, comprising a seedling replacement vehicle 1, a storage bin 2 is fixedly arranged on the top surface of the seedling replacement vehicle 1, a binocular vision camera 3 is installed on the bottom surface of one end of the seedling replacement vehicle 1, a guide rail 4 is fixedly arranged on the seedling replacement vehicle 1, a plucking assembly 5 is slidably connected to the guide rail 4, the plucking assembly 5 comprises a first slider 501, a T-shaped block 514 is slidably connected to the first slider 501, a support block 502 is fixedly arranged on the outer wall of the T-shaped block 514, two pins 503 are fixedly arranged on the lower end of the support block 502, a plucking claw 504 is rotatably connected to the outer peripheral wall of the pin 503, and a first moving frame 505 is fixedly arranged on the support block 502; Two first connecting blocks 6 are fixedly arranged on the side wall of the first sliding block 501, and a driving assembly 7 is installed on the top surface of one of the first connecting blocks 6. The driving assembly 7 includes a driving disk 701, and a push rod 702 is fixedly arranged on the outer surface of the driving disk 701. There are two driving disks 701, and one of the push rods 702 is located inside the first moving frame 505; A drilling assembly 8 is provided on the other push rod 702, and the drilling assembly 8 includes a drill rod 801, and a circular tube 802 is slidably connected to the outer peripheral wall of the drill rod 801, and an arc sleeve 803 is slidably connected to the outer peripheral wall of the circular tube 802, and a push block 804 is fixedly provided on the outer peripheral wall of the lower end of the circular tube 802, and the push block 804 is slidably connected to the seedling-replenishing vehicle 1, and a sowing assembly 9 is fixedly provided at one end of the push block 804, and electric drive wheels 10 are respectively installed at the four corners of the seedling-replenishing vehicle 1.

[0029] The plucking assembly 5 includes a first cylinder 506, which is fixed to the upper end of the support block 502 through a mounting frame 507. A limit block 508 is fixed in the middle of the support block 502. A Y-shaped block 509 is slidably connected to the limit block 508. The lower end of the Y-shaped block 509 is symmetrically structured and has two through grooves 510. Two round rods 511 are slidably connected inside the through grooves 510. One end of the round rod 511 is fixedly connected to the upper end of the plucking claw 504. The plucking claw 504 is arc-shaped, and a plurality of inclined teeth 512 are fixed on the inner wall of the plucking claw 504. A mud discharge groove 513 is provided on the outer wall of the plucking claw 504. The plucking claw 504 rotates around the pin 503, and the inclined teeth 512 on the inner wall of the claw are used to clamp the root of the old seedling, and then the support block 502 and the plucking claw 504 are driven by the first moving frame 505 to move upward for plucking.

[0030] When pulling out the sugarcane bag, when the binocular vision camera 3 detects the old seedlings that need to be pulled out, the seedling replacement vehicle 1 stops moving, the pulling component 5 slides to the specified position through the guide rail 4, and the driving component 7 makes one of the driving disks 701 push the first moving frame 505 through the push rod 702, thereby driving the pulling claw 504 to rotate around the pin 503 to clamp the root of the old seedling. The pulling claw 504 pulls the old seedling out of the soil through further actions, ensuring the accuracy of pulling out the sugarcane bag, improving the pulling efficiency, helping to maintain a healthy growth environment for the entire sugarcane field, and improving the yield and quality of sugarcane; The seedling replacement vehicle 1 moves in the sugarcane perennial root area through the electric drive wheel 10, and the binocular vision camera 3 captures the ground image in real time to identify the position of the old seedlings to be pulled out. The pulling component 5 pushes the support block 502 and the pulling claw 504 below it to move downward through the movement of the first moving frame 505, so that the pulling claw 504 is inserted into the two sides of the old seedlings to be pulled out, and then the first cylinder 506 pushes the Y-shaped block 509 to slide on the limit block 508, and the pulling claw 504 approaches the root of the old seedling. , the first cylinder 506 continues to push, so that the removal claw 504 rotates around the pin shaft 503, and the inclined clamping teeth 512 on the inner wall of the claw clamp the root of the old seedling, and then the first moving frame 505 drives the support block 502 and the removal claw 504 to move upward to remove the old seedling. After the removal, the removed old seedling is moved to both ends by the first slider 501, which reduces the damage to the surrounding healthy sugarcane bags, protects the soil structure, reduces soil erosion, and facilitates the subsequent collection and treatment of the old seedlings; After the pulling is completed, another driving disk 701 pushes the drilling assembly 8 to slide along the seedling filling vehicle 1 to the vicinity of the pulling position through its push rod 702. The drill rod 801 in the drilling assembly 8 is guided by the arc sleeve 803 and the round tube 802 and descends into the soil to prepare for the subsequent sowing operation.

[0031] Embodiment 2: Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, this embodiment is based on the previous embodiment, and is different from the previous embodiment in that the driving assembly 7 includes a fixed block 703, the bottom surface of the fixed block 703 is fixedly connected to the top surface of one of the first connecting blocks 6, and two rotating shafts 704 are rotatably connected to the fixed block 703. The outer peripheral wall of the rotating shaft 704 is sleeved with a first gear 705, and a transmission toothed belt 706 is provided on one side of the fixed block 703. The two first gears 705 are respectively meshed with the inside of the transmission toothed belt 706. A first servo motor 707 is installed on the outer wall of the first slider 501 through a mounting seat, and the output shaft of the first servo motor 707 is coaxially connected to the rotating shaft 704 at the lower end, and the outer peripheral walls of the rotating shaft 704 at both ends of the upper end are respectively fixedly connected to the middle of the driving disk 701; the first moving frame 505 is pushed up and down by one of the push rods 702, and at the same time, the other driving disk 701 pushes the other push rod 702 and the second moving frame 806 to move up and down, so as to facilitate the height adjustment of the extraction assembly 5 and the drilling assembly 8 at the same time.

[0032] A second cylinder 12 is installed at the rear end of the seedling-replenishing vehicle 1 through a mounting seat, and the piston rod of the second cylinder 12 is fixedly connected to the outer wall of the push block 804, the outer peripheral wall of the upper end of the drill rod 801 is rotatably connected to the upper end of the arc sleeve 803, and a drilling motor 805 is installed on the top surface of the arc sleeve 803 through a mounting seat, and the output shaft of the drilling motor 805 is coaxially connected to the drill rod 801, and a second moving frame 806 is fixedly provided at the upper end and the outer peripheral wall of the arc sleeve 803, and the inner wall of the second moving frame 806 is slidably connected to the outer peripheral wall of another push rod 702; when the second moving frame 806 moves, the arc sleeve 803 is driven to slide along the circular tube 802 through the push rod 702, and at the same time, the drilling motor 805 drives the drill rod 801 to rotate to punch holes.

[0033] When driving, the first servo motor 707 drives the lower end shaft 704 to rotate. Since the two shafts 704 are connected by internal meshing of the transmission toothed belt 706, the upper end shaft 704 will also rotate synchronously. The rotation of the upper end shaft 704 drives the driving disk 701 to rotate, and then one of the push rods 702 drives the first moving frame 505 to move up and down. At the same time, the other driving disk 701 drives the other push rod 702 and the second moving frame 806 to move up and down, so as to facilitate the height adjustment of the plucking assembly 5 and the drilling assembly 8 at the same time, thereby improving the work efficiency and reducing the potential damage of the plucking assembly 5 and the drilling assembly 8 to the surrounding sugarcane bags; When the second moving frame 806 moves, the push rod 702 drives the arc sleeve 803 to slide along the round tube 802, and at the same time, the drilling motor 805 drives the drill rod 801 to rotate to drill holes, which facilitates the seedling replacement operation.

[0034] Embodiment 3: Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, this embodiment is based on the previous embodiment, and is different from the previous embodiment in that the sowing component 9 includes an adjusting block 901, which is slidably connected to the seedling replacement vehicle 1, a discharge pipe 902 is connected to the middle of the adjusting block 901, the outer peripheral wall of the discharge pipe 902 is fixedly connected to the push block 804, the upper end of the discharge pipe 902 is connected to the storage bin 2, the inner bottom surface of the storage bin 2 is inclined, and a circular shaft 903 is rotatably connected to the discharge pipe 902, and a plurality of dividing blocks 904 are fixedly arranged on the outer peripheral wall of the circular shaft 903 in an annular array structure, and the dividing blocks 904 are slidably connected to the discharge pipe 902, and a discharge motor 905 is installed on the outer peripheral wall of the discharge pipe 902 through a mounting seat; the discharge motor 905 drives the circular shaft 903 to rotate, and the dividing blocks 904 slide inside the discharge pipe 902, pushing the sugarcane seedlings out of the discharge pipe 902 one by one, and finally falling into the drilled hole.

[0035] A U-shaped block 906 is fixedly provided at one end of the discharge pipe 902, and two anti-blocking blocks 907 are fixedly provided on the inner wall of the U-shaped block 906. The bottom surface of the anti-blocking block 907 is inclined, and two limiting grooves 908 are provided on the dividing block 904. The outer peripheral wall of the anti-blocking block 907 is slidably connected with the groove wall of the limiting groove 908; the anti-blocking block 907 pushes and discharges the sugarcane seedlings stuck between the two dividing blocks 904, thereby reducing the occurrence of sugarcane seedlings getting stuck.

[0036] During sowing, the push block 804 is moved to push the discharge pipe 902 to the position after drilling, and the sugarcane seedlings fall from the storage bin 2 into the discharge pipe 902. The discharge motor 905 drives the circular shaft 903 to rotate, and the dividing block 904 slides inside the discharge pipe 902 to push the sugarcane seedlings out of the discharge pipe 902 one by one and finally fall into the drilled hole. The dividing block 904 ensures that the sugarcane seedlings fall into the drilled hole evenly and orderly, avoiding blockage or omission. The anti-blocking block 907 pushes and discharges the sugarcane seedlings stuck between the two dividing blocks 904, reducing the occurrence of sugarcane seedling jams and further improving the accuracy and reliability of sowing.

[0037] Embodiment 4: Figure 1 , Figure 2 , Fig. 9 and Fig.10 As shown, this embodiment is based on the previous embodiment, and differs from the previous embodiment in that it also includes a soil covering component 11, which includes a trapezoidal positioning block 1101, which is fixedly connected to the outer wall of the storage bin 2, and a third cylinder 1106 is installed on the outer wall of the storage bin 2 through a mounting seat, a lifting block 1102 is slidably connected to the trapezoidal positioning block 1101, and the bottom surface of the piston of the third cylinder 1106 is fixedly connected to the top surface of the lifting block 1102, and a C-shaped block 1103 is fixedly provided on the bottom surface of the outer end of the lifting block 1102, and a fine crushing roller 1104 is rotatably connected to the C-shaped block 1103, and a second servo motor 1105 is installed on the outer wall of the C-shaped block 1103 through a mounting seat, and the output shaft of the second servo motor 1105 is coaxially connected to the fine crushing roller 1104; the fine crushing roller 1104 crushes the soil around the borehole so that it can be more easily covered on the sugarcane seedlings later.

[0038] A guide block 1107 is fixedly arranged on the lifting block 1102, and two second sliders 1108 are slidably connected to the guide block 1107. A dual-axis motor 1109 is installed on the top surface of the lifting block 1102 through a mounting seat. A screw rod 1110 is sleeved on the output shaft of the dual-axis motor 1109. The second slider 1108 is threadedly connected to the screw rod 1110 through a threaded hole. Two tilting blocks 1111 are fixedly arranged on the bottom surface of the second slider 1108, and a conveyor belt 1112 is fixedly arranged between the two tilting blocks 1111. A plurality of shifting blocks 1115 are fixedly arranged on the outer peripheral wall of the conveyor belt 1112. The conveyor belt 1112 is internally meshed and connected. There are two second gears 1113, and a connecting shaft 1114 is fixedly arranged in the middle of the second gear 1113. The outer peripheral walls at both ends of the connecting shaft 1114 are rotatably connected with the two tilting blocks 1111 respectively. A third servo motor 1116 is installed on the outer peripheral wall of one of the tilting blocks 1111 through a mounting seat, and the third servo motor 1116 is rotatably connected with one of the connecting shafts 1114; a plurality of shifting blocks 1115 on the outer peripheral wall of the conveyor belt 1112 are used to grab the crushed soil and transport it to above the drilling position. As the conveyor belt 1112 continues to move, the shifting blocks 1115 evenly cover the soil on the sugarcane seedlings.

[0039] When covering the soil, the third cylinder 1106 pushes the lifting block 1102 and the C-shaped block 1103 and the crushing roller 1104 thereon to move downward until the crushing roller 1104 contacts the soil around the borehole. At this time, the second servo motor 1105 starts to drive the crushing roller 1104 to rotate. The crushing roller 1104 crushes the soil around the borehole so that it can be covered on the sugarcane seedlings more easily later. While the crushing roller 1104 is working, the output shaft of the dual-axis motor 1109 drives the screw rod 1110 to rotate. The screw rod 1110 drives the two second sliders 1108 to slide on the guide block 1107 through a threaded connection, thereby adjusting the positions of the two tilting blocks 1111 and the conveyor belt 1112. The third servo motor 1116 drives the connecting shaft 1114 and the second gear 1113 to rotate, thereby driving the conveyor belt 1112 to circulate. The multiple shifting blocks 1115 on the outer peripheral wall of the conveyor belt 1112 are used to grab the crushed soil and transport it to above the drilling position. As the conveyor belt 1112 continues to move, the shifting blocks 1115 evenly cover the soil on the sugarcane seedlings, so that the soil is more evenly covered on the sugarcane seedlings, thereby improving the covering efficiency and quality, providing the necessary protection and support for the sugarcane seedlings, and contributing to their healthy growth.

[0040] Working principle: When the binocular vision camera 3 detects the old seedlings that need to be pulled out, the seedling replacement vehicle 1 stops moving, the pulling component 5 slides to the specified position through the guide rail 4, and the driving component 7 makes one of the driving disks 701 push the first moving frame 505 through the push rod 702, thereby driving the pulling claw 504 to rotate around the pin 503 to clamp the roots of the old seedlings. The pulling claw 504 pulls the old seedlings out of the soil through further actions, ensuring the accuracy of pulling out the sugarcane bag, improving the pulling efficiency, helping to maintain a healthy growth environment for the entire sugarcane field, and improving the yield and quality of sugarcane; The seedling replacement vehicle 1 moves in the sugarcane perennial root area through the electric drive wheel 10, and the binocular vision camera 3 captures the ground image in real time to identify the position of the old seedlings to be pulled out. The pulling component 5 pushes the support block 502 and the pulling claw 504 below it to move downward through the movement of the first moving frame 505, so that the pulling claw 504 is inserted into the two sides of the old seedlings to be pulled out, and then the first cylinder 506 pushes the Y-shaped block 509 to slide on the limit block 508, and the pulling claw 504 approaches the root of the old seedling. , the first cylinder 506 continues to push, so that the removal claw 504 rotates around the pin shaft 503, and the inclined clamping teeth 512 on the inner wall of the claw clamp the root of the old seedling, and then the first moving frame 505 drives the support block 502 and the removal claw 504 to move upward to remove the old seedling. After the removal, the removed old seedling is moved to both ends by the first slider 501, which reduces the damage to the surrounding healthy sugarcane bags, protects the soil structure, reduces soil erosion, and facilitates the subsequent collection and treatment of the old seedlings; After the pulling is completed, another driving disk 701 pushes the drilling assembly 8 to slide along the seedling filling vehicle 1 to the vicinity of the pulling position through its push rod 702. The drill rod 801 in the drilling assembly 8 is guided by the arc sleeve 803 and the round tube 802 and descends into the soil to prepare for the subsequent sowing operation.

[0041] When driving, the first servo motor 707 drives the lower end shaft 704 to rotate. Since the two shafts 704 are connected by internal meshing of the transmission toothed belt 706, the upper end shaft 704 will also rotate synchronously. The rotation of the upper end shaft 704 drives the driving disk 701 to rotate, and then one of the push rods 702 drives the first moving frame 505 to move up and down. At the same time, the other driving disk 701 drives the other push rod 702 and the second moving frame 806 to move up and down, so as to facilitate the height adjustment of the plucking assembly 5 and the drilling assembly 8 at the same time, thereby improving the work efficiency and reducing the potential damage of the plucking assembly 5 and the drilling assembly 8 to the surrounding sugarcane bags; When the second moving frame 806 moves, the push rod 702 drives the arc sleeve 803 to slide along the round tube 802, and at the same time, the drilling motor 805 drives the drill rod 801 to rotate to drill holes, which facilitates the seedling replacement operation.

[0042] During sowing, the push block 804 is moved to push the discharge pipe 902 to the position after drilling, and the sugarcane seedlings fall from the storage bin 2 into the discharge pipe 902. The discharge motor 905 drives the circular shaft 903 to rotate, and the dividing block 904 slides inside the discharge pipe 902 to push the sugarcane seedlings out of the discharge pipe 902 one by one and finally fall into the drilled hole. The dividing block 904 ensures that the sugarcane seedlings fall into the drilled hole evenly and orderly, avoiding blockage or omission. The anti-blocking block 907 pushes and discharges the sugarcane seedlings stuck between the two dividing blocks 904, reducing the occurrence of sugarcane seedling jams and further improving the accuracy and reliability of sowing.

[0043] When covering the soil, the third cylinder 1106 pushes the lifting block 1102 and the C-shaped block 1103 and the crushing roller 1104 thereon to move downward until the crushing roller 1104 contacts the soil around the borehole. At this time, the second servo motor 1105 starts to drive the crushing roller 1104 to rotate. The crushing roller 1104 crushes the soil around the borehole so that it can be covered on the sugarcane seedlings more easily later. While the crushing roller 1104 is working, the output shaft of the dual-axis motor 1109 drives the screw rod 1110 to rotate. The screw rod 1110 drives the two second sliders 1108 to slide on the guide block 1107 through a threaded connection, thereby adjusting the positions of the two tilting blocks 1111 and the conveyor belt 1112. The third servo motor 1116 drives the connecting shaft 1114 and the second gear 1113 to rotate, thereby driving the conveyor belt 1112 to circulate. The multiple shifting blocks 1115 on the outer peripheral wall of the conveyor belt 1112 are used to grab the crushed soil and transport it to above the drilling position. As the conveyor belt 1112 continues to move, the shifting blocks 1115 evenly cover the soil on the sugarcane seedlings, so that the soil is more evenly covered on the sugarcane seedlings, thereby improving the covering efficiency and quality, providing the necessary protection and support for the sugarcane seedlings, and contributing to their healthy growth.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A sugarcane perennial root zone seedling supplement device, comprising a seedling supplement vehicle (1), wherein a storage bin (2) is fixedly provided on the top surface of the seedling supplement vehicle (1), and characterized in that: A binocular vision camera (3) is installed on the bottom surface of one end of the seedling replenishing vehicle (1); a guide rail (4) is fixedly provided on the seedling replenishing vehicle (1); a plucking assembly (5) is slidably connected to the guide rail (4); the plucking assembly (5) comprises a first sliding block (501); a T-shaped block (514) is slidably connected to the first sliding block (501); a support block (502) is fixedly provided on the outer wall of the T-shaped block (514); two pins (503) are fixedly provided at the lower end of the support block (502); a plucking claw (504) is rotatably connected to the outer peripheral wall of the pin (503); and a first moving frame (505) is fixedly provided on the support block (502); Two first connecting blocks (6) are fixedly provided on the side wall of the first sliding block (501), a driving assembly (7) is installed on the top surface of one of the first connecting blocks (6), the driving assembly (7) comprises a driving disk (701), a push rod (702) is fixedly provided on the outer surface of the driving disk (701), two driving disks (701) are provided, one of the push rods (702) is located inside the first moving frame (505); The other push rod (702) is provided with a drilling assembly (8), the drilling assembly (8) comprising a drill rod (801), the outer peripheral wall of the drill rod (801) is slidably connected to a circular tube (802), the outer peripheral wall of the circular tube (802) is slidably connected to an arc-shaped sleeve (803), a push block (804) is fixedly provided on the outer peripheral wall of the lower end of the circular tube (802), the push block (804) is slidably connected to the seedling replacement vehicle (1), a sowing assembly (9) is fixedly provided on one end of the push block (804), and electric drive wheels (10) are respectively installed at the four corners of the seedling replacement vehicle (1).

2. The sugarcane perennial root area seedling supplementing device according to claim 1, characterized in that: The extraction assembly (5) comprises a first cylinder (506), the first cylinder (506) being fixedly mounted on the upper end of a support block (502) via a mounting frame (507), a limit block (508) being fixedly mounted in the middle of the support block (502), a Y-shaped block (509) being slidably connected to the limit block (508), the lower end of the Y-shaped block (509) being symmetrically structured and having two through slots (510), the interior of the through slots (510) being slidably connected to two round rods (511), one end of the round rod (511) being fixedly connected to the upper end of an extraction claw (504), the extraction claw (504) being arc-shaped, a plurality of inclined teeth (512) being fixedly mounted on the inner wall of the extraction claw (504), and a mud discharge groove (513) being disposed on the outer wall of the extraction claw (504).

3. The sugarcane perennial root area seedling supplementing device according to claim 2, characterized in that: The driving assembly (7) comprises a fixed block (703), the bottom surface of the fixed block (703) being fixedly connected to the top surface of one of the first connecting blocks (6), the fixed block (703) being rotatably connected to two rotating shafts (704), the outer peripheral wall of the rotating shaft (704) being sleeved with a first gear (705), a transmission toothed belt (706) being provided on one side of the fixed block (703), the two first gears (705) being respectively meshedly connected with the inside of the transmission toothed belt (706), a first servo motor (707) being mounted on the outer wall of the first sliding block (501) via a mounting seat, the output shaft of the first servo motor (707) being coaxially connected to the rotating shaft (704) at the lower end, and the outer peripheral walls at both ends of the rotating shaft (704) at the upper end being respectively fixedly connected to the middle of the driving disk (701).

4. The sugarcane perennial root area seedling supplementing device according to claim 3, characterized in that: A second cylinder (12) is installed at the rear end of the seedling replacement vehicle (1) via a mounting seat, the piston rod of the second cylinder (12) is fixedly connected to the outer wall of the push block (804), the outer peripheral wall of the upper end of the drill rod (801) is rotatably connected to the upper end of the arc sleeve (803), a drilling motor (805) is installed on the top surface of the arc sleeve (803) via a mounting seat, the output shaft of the drilling motor (805) is coaxially connected to the drill rod (801), the upper end of the arc sleeve (803) and the outer peripheral wall are fixedly provided with a second movable frame (806), and the inner wall of the second movable frame (806) is slidably connected to the outer peripheral wall of another push rod (702).

5. The sugarcane perennial root area seedling supplementing device according to claim 4, characterized in that: The sowing assembly (9) comprises an adjusting block (901), the adjusting block (901) being slidably connected to the seedling replacement vehicle (1), a discharge pipe (902) being connected in the middle of the adjusting block (901), the outer peripheral wall of the discharge pipe (902) being fixedly connected to the push block (804), the upper end of the discharge pipe (902) being connected to the storage bin (2), the inner bottom surface of the storage bin (2) being inclined, a circular shaft (903) being rotatably connected to the discharge pipe (902), the outer peripheral wall of the circular shaft (903) being fixedly provided with a plurality of dividing blocks (904) in a ring array structure, the dividing blocks (904) being slidably connected to the discharge pipe (902), and a discharge motor (905) being mounted on the outer peripheral wall of the discharge pipe (902) via a mounting seat.

6. The sugarcane perennial root area seedling supplementing device according to claim 5, characterized in that: A U-shaped block (906) is fixedly provided at one end of the discharge pipe (902), two anti-blocking blocks (907) are fixedly provided on the inner wall of the U-shaped block (906), the bottom surface of the anti-blocking block (907) is inclined, and two limiting grooves (908) are provided on the material distribution block (904), and the outer peripheral wall of the anti-blocking block (907) is slidably connected to the groove wall of the limiting groove (908).

7. The sugarcane perennial root area seedling supplementing device according to claim 6, characterized in that: The invention also comprises a soil covering component (11), the soil covering component (11) comprising a trapezoidal positioning block (1101), the trapezoidal positioning block (1101) being fixedly connected to the outer wall of the storage bin (2), the outer wall of the storage bin (2) being mounted with a third cylinder (1106) via a mounting seat, the trapezoidal positioning block (1101) being slidably connected with a lifting block (1102), the bottom surface of the piston of the third cylinder (1106) being fixedly connected to the top surface of the lifting block (1102), a C-shaped block (1103) being fixedly provided on the bottom surface of the outer end of the lifting block (1102), a fine crushing roller (1104) being rotatably connected to the C-shaped block (1103), a second servo motor (1105) being mounted on the outer wall of the C-shaped block (1103) via a mounting seat, and the output shaft of the second servo motor (1105) being coaxially connected to the fine crushing roller (1104).

8. The sugarcane perennial root area seedling supplementing device according to claim 7, characterized in that: The lifting block (1102) is fixedly provided with a guide block (1107), and two second sliders (1108) are slidably connected to the guide block (1107). A dual-axis motor (1109) is mounted on the top surface of the lifting block (1102) via a mounting seat. A screw rod (1110) is sleeved on the output shaft of the dual-axis motor (1109), and the second slider (1108) is threadedly connected to the screw rod (1110) via a threaded hole. Two tilting blocks (1111) are respectively fixedly provided on the bottom surface of the second slider (1108), and a conveyor belt (1112) is fixedly provided between the two tilting blocks (1111), and a plurality of shifting blocks (1115) are fixedly provided on the outer peripheral wall of the conveyor belt (1112).

9. The sugarcane perennial root area seedling supplementing device according to claim 8, characterized in that: The conveyor belt (1112) is internally meshed with two second gears (1113), a connecting shaft (1114) is fixedly provided in the middle of the second gear (1113), and the outer peripheral walls at both ends of the connecting shaft (1114) are respectively rotatably connected to two tilting blocks (1111), and a third servo motor (1116) is installed on the outer peripheral wall of one of the tilting blocks (1111) through a mounting seat, and the third servo motor (1116) is rotatably connected to one of the connecting shafts (1114).

10. A method for a sugarcane perennial root area seedling supplement device, characterized in that: The sugarcane perennial root area seedling supplement device according to claim 9 comprises the following steps: Pulling out: When the old seedlings to be pulled out are detected by the binocular vision camera (3), the seedling replacement vehicle (1) stops moving, the pulling out component (5) slides to a specified position via the guide rail (4), and the driving component (7) causes one of the driving disks (701) to push the first moving frame (505) via the push rod (702), thereby driving the pulling out claw (504) to rotate around the pin shaft (503) to clamp the roots of the old seedlings, and the pulling out claw (504) pulls the old seedlings out of the soil through further actions; Drilling: while the second moving frame (806) moves, the push rod (702) drives the arc sleeve (803) to slide along the round tube (802), and at the same time the drilling motor (805) drives the drill rod (801) to rotate to drill holes; Planting: the discharging motor (905) drives the circular shaft (903) to rotate, and the distributing block (904) slides inside the discharging pipe (902), pushing the sugarcane seedlings out of the discharging pipe (902) one by one, and finally dropping them into the drilled hole; Soil covering: the second servo motor (1105) is started, driving the crushing roller (1104) to rotate, the crushing roller (1104) crushes the soil around the drill hole, the third servo motor (1116) drives the connecting shaft (1114) and the second gear (1113) to rotate, thereby driving the conveyor belt (1112) to circulate, and the plurality of shifting blocks (1115) on the outer peripheral wall of the conveyor belt (1112) evenly cover the soil on the sugarcane seedlings.

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