A sugarcane ratoon zone replanting device and method

Abstract

This invention relates to the field of sugarcane planting technology, specifically a device and method for replanting sugarcane in ratoon areas. The device includes a replanting cart with a storage compartment fixed to its top surface. A binocular vision camera is mounted on the bottom surface of one end of the cart. A guide rail is fixed to the cart, and a removal component is slidably connected to the guide rail. The removal component includes a first slider with a T-shaped block slidably connected to it. A support block is fixed to the outer wall of the T-shaped block, and two pins are fixed to the lower end of the support block. Removal claws are rotatably connected to the outer peripheral walls of the pins. A first movable frame is fixed to the support block, and two first connecting blocks are fixed to the side wall of the first slider. The removal claws further pull the old seedlings out of the soil, ensuring the accuracy of sugarcane removal, improving removal efficiency, helping to maintain a healthy growing environment for the entire sugarcane field, and increasing sugarcane yield and quality.

Description

Technical Field

[0001] This invention relates to the field of sugarcane planting technology, and in particular to a device and method for replanting sugarcane in ratoon areas. Background Technology

[0002] As an important economic crop, sugarcane is favored in continuous planting, and the cultivation method of ratoon sugarcane (that is, sugarcane that grows again after the sugarcane is harvested in the soil in the previous year) is favored because of its low cost and relatively stable yield. As the foundation for sugarcane growth, the health of the sugarcane stalks directly affects the yield and quality of sugarcane.

[0003] A search revealed a Chinese patent with publication number CN118765606A, which provides an automatic identification and replanting device for sugarcane ratoon seedlings. The device uses clamps to transport sugarcane segments into a feeding trough. During the transport process, the feeding rollers continuously compress the sugarcane segments through the clamps, causing them to be pushed into the second storage bin. The device identifies whether there are gaps between the partitions and automatically replants seedlings based on these gaps, thus achieving precise planting of sugarcane segments.

[0004] However, during use, it was found that the device only replants in areas with missing seedlings, and it is difficult to deal with some necrotic or poorly growing sugarcane stalks. This wastes land resources, turns the area into a breeding ground for pests and diseases, and threatens the healthy growth of the entire sugarcane field. It also increases the risk of the spread of pests and diseases and is not conducive to replanting in sugarcane ratooning areas. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a sugarcane ratooning area replanting device and method. The removal claw pulls the old seedlings out of the soil through further action, ensuring the accuracy of sugarcane removal, improving removal efficiency, helping to maintain a healthy growth environment for the entire sugarcane field, and improving sugarcane yield and quality.

[0006] To solve the above technical problems, the present invention provides the following technical solution: a sugarcane ratooning area replanting device, including a replanting cart, a storage compartment fixedly provided on the top surface of the replanting cart, a binocular vision camera installed on the bottom surface of one end of the replanting cart, a guide rail fixedly provided on the replanting cart, a pulling component slidably connected on the guide rail, the pulling component including a first slider, a T-shaped block slidably connected on the first slider, a support block fixedly provided on the outer wall of the T-shaped block, two pins fixedly provided at the lower end of the support block, a pulling claw rotatably connected to the outer peripheral wall of the pins, and a first movable frame fixedly provided on the support block;

[0007] Two first connecting blocks are fixedly provided on the side wall of the first slider. A driving component is installed on the top surface of one of the first connecting blocks. The driving component includes a driving disk. A push rod is fixedly provided on the outer surface of the driving disk. There are two driving disks. One of the push rods is located inside the first moving frame.

[0008] Another push rod is provided with a drilling assembly, which includes a drill rod. A round tube is slidably connected to the outer peripheral wall of the drill rod. An arc-shaped sleeve is slidably connected to the outer peripheral wall of the round tube. A push block is fixed to the lower outer peripheral wall of the round tube. The push block is slidably connected to the seedling cart. A sowing component is fixed to one end of the push block. Electric drive wheels are installed at the four corners of the seedling cart.

[0009] Preferably, the removal assembly includes a first cylinder, which is fixed to the upper end of the support block by a mounting frame. A limiting block is fixed in the middle of the support block, and a Y-shaped block is slidably connected to the limiting block. The lower end of the Y-shaped block has two through slots with a symmetrical structure. Two round rods are slidably connected inside the through slots. One end of the round rod is fixedly connected to the upper end of the removal claw. The removal claw is arc-shaped, and multiple inclined teeth are fixed on the inner wall of the removal claw. A mud discharge groove is opened on the outer wall of the removal claw.

[0010] Using the above technical solution, the removal claw rotates around the pin shaft, and uses the inclined teeth on the inner wall of the claw to hold the roots of the old seedling. Then, the first moving frame drives the support block and the removal claw to move upward to remove the seedling.

[0011] Preferably, the driving assembly includes a fixed block, the bottom surface of which is fixedly connected to the top surface of one of the first connecting blocks. Two rotating shafts are rotatably connected to the fixed block. A first gear is sleeved on the outer peripheral wall of the rotating shaft. A transmission toothed belt is provided on one side of the fixed block. The two first gears are respectively meshed with the transmission toothed belt. A first servo motor is mounted on the outer wall of the first slider through a mounting base. The output shaft of the first servo motor is coaxially connected to the rotating shaft at the lower end. The outer peripheral walls of both ends of the rotating shaft at the upper end are respectively fixedly connected to the middle of the driving disk.

[0012] With the above technical solution, one push rod pushes the first moving frame to move up and down, while another drive disk pushes another push rod and the second moving frame to move up and down, which facilitates the simultaneous adjustment of the height of the removal component and the drilling component.

[0013] Preferably, a second cylinder is mounted on the rear end of the seedling replanting vehicle via a mounting base. 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-shaped sleeve. A drilling motor is mounted on the top surface of the arc-shaped sleeve via a mounting base. 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-shaped sleeve and its outer peripheral wall. The inner wall of the second movable frame is slidably connected to the outer peripheral wall of another push rod.

[0014] With the above technical solution, while the second moving frame moves, the arc-shaped sleeve 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.

[0015] Preferably, the sowing assembly includes an adjusting block that is slidably connected to the seedling replenishment 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 a push block. The upper end of the discharge pipe is connected to a storage chamber. The bottom surface of the storage chamber is inclined. A circular shaft is rotatably connected to the discharge pipe. Multiple material distribution blocks are fixedly arranged in a ring array on the outer peripheral wall of the circular shaft. The material distribution blocks are slidably connected to the discharge pipe. A discharge motor is mounted on the outer peripheral wall of the discharge pipe via a mounting base.

[0016] With the above technical solution, the discharge motor drives the circular shaft to rotate, and the material distribution block slides inside the discharge pipe, pushing the sugarcane seedlings out of the discharge pipe one by one, and finally falling into the drill hole.

[0017] Preferably, a U-shaped block is fixed at one end of the discharge pipe, and two anti-blocking blocks are fixed on the inner wall of the U-shaped block. The bottom surface of the anti-blocking block is inclined, and two limiting grooves are opened on the material distribution block. The outer peripheral wall of the anti-blocking block is slidably connected to the groove wall of the limiting groove.

[0018] The above technical solution promotes and discharges the sugarcane seedlings stuck between the two material distribution blocks, reducing the occurrence of sugarcane seedling jamming.

[0019] Preferably, the system further includes a soil covering assembly, which includes a trapezoidal positioning block fixedly connected to the outer wall of the storage bin. A third cylinder is mounted on the outer wall of the storage bin via a mounting base. A lifting block is slidably connected to the trapezoidal positioning block. The piston bottom surface of the third cylinder is fixedly connected to the top surface of the lifting block. A C-shaped block is fixedly mounted on the outer bottom surface of the lifting block. A fine crushing roller is rotatably connected to the C-shaped block. A second servo motor is mounted on the outer wall of the C-shaped block via a mounting base. The output shaft of the second servo motor is coaxially connected to the fine crushing roller.

[0020] The above-mentioned technical solution uses a fine crushing roller to break up the soil around the drill hole, making it easier to cover the sugarcane seedlings later.

[0021] Preferably, a guide block is fixed on the lifting block, and two second sliders are slidably connected on the guide block. A dual-axis motor is mounted on the top surface of the lifting block through a mounting base. A lead screw is sleeved on the output shaft of the dual-axis motor. The second sliders are threadedly connected to the lead screw through threaded holes. Two inclined blocks are fixed on the bottom surface of the second sliders respectively. A conveyor belt is fixed between the two inclined blocks. Multiple pry blocks are fixed on the outer peripheral wall of the conveyor belt.

[0022] Preferably, the conveyor belt has two second gears meshing inside, and a connecting shaft is fixed in the middle of the second gear. The outer peripheral walls of the two ends of the connecting shaft are respectively rotatably connected to two inclined blocks. A third servo motor is mounted on the outer peripheral wall of one of the inclined blocks through a mounting base. The third servo motor is rotatably connected to one of the connecting shafts.

[0023] Through the above technical solution, multiple blocks on the outer wall of the conveyor belt are used to grab the finely crushed soil and transport it above the drilling position. As the conveyor belt continues to move, the blocks evenly cover the sugarcane seedlings with soil.

[0024] A method for replanting sugarcane in a ratooning area includes the following steps:

[0025] Removal: When the old seedlings that need to be removed are detected by the binocular vision camera, the seedling replanting cart stops moving. The removal component slides to the designated position via the guide rail. The drive component causes one of the drive discs to push the first moving frame via the push rod, which in turn drives the removal claw to rotate around the pin shaft, locking the roots of the old seedling. The removal claw then pulls the old seedling out of the soil through further action.

[0026] Drilling: While the second moving frame moves, the arc-shaped sleeve 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;

[0027] Planting: The discharge motor drives the circular shaft to rotate, and the material distribution block slides inside the discharge pipe, pushing the sugarcane seedlings out of the discharge pipe one by one, and finally falling into the drill hole;

[0028] Covering with soil: The second servo motor starts, driving the fine crushing roller to rotate. The fine crushing roller breaks down the soil around the drill hole. The third servo motor drives the connecting shaft and the second gear to rotate, which in turn drives the conveyor belt to circulate. Multiple blocks on the outer wall of the conveyor belt evenly cover the sugarcane seedlings with soil.

[0029] The beneficial effects of this invention are:

[0030] When a binocular vision camera detects an old seedling that needs to be removed, the seedling removal vehicle stops moving. The removal component slides to the designated position via a guide rail. The drive component then causes one of the drive discs to push the first moving frame via a push rod, which in turn causes the removal claws to rotate around a pin, locking the roots of the old seedling. The removal claws then pull the old seedling out of the soil, ensuring the accuracy of sugarcane removal, improving removal efficiency, helping to maintain a healthy growing environment for the entire sugarcane field, and increasing sugarcane yield and quality.

[0031] The replanting vehicle moves within the sugarcane ratooning area via electrically driven wheels. A binocular vision camera captures real-time ground images to identify the location of old seedlings that need to be removed. The removal component moves downwards by moving the first moving frame, pushing the support block and the removal claws below it. After the removal claws insert into both sides of the old seedling to be removed, the first cylinder pushes the Y-shaped block to slide on the limiting block. As the removal claws approach the roots of the old seedlings, the first cylinder continues to push, causing the removal claws to rotate around the pin. The inclined teeth on the inner wall of the claws hold the roots of the old seedlings in place. Then, the first moving frame moves the support block and the removal claws upwards to remove the seedlings. After removal, the first slider moves the removed old seedlings to both ends. This reduces damage to the surrounding healthy sugarcane stalks, protects the soil structure, reduces soil erosion, and facilitates the subsequent collection and processing of old seedlings.

[0032] One pusher pushes the first moving frame up and down, while another drive disc pushes another pusher and the second moving frame up and down. This allows for simultaneous adjustment of the height of the removal and drilling components, improving work efficiency and reducing potential damage to the surrounding sugarcane stalks. As the second moving frame moves, the pusher drives the arc-shaped sleeve to slide along the round tube, while the drilling motor drives the drill rod to rotate and drill holes, facilitating replanting operations.

[0033] The pusher blocks move the discharge pipe to the position after drilling, allowing the sugarcane seedlings to fall from the storage bin into the discharge pipe. The discharge motor drives the shaft to rotate, and the dividing blocks slide inside the discharge pipe, pushing the sugarcane seedlings out one by one and finally into the drilled hole. The dividing blocks ensure that the sugarcane seedlings fall into the drilled hole evenly and orderly, avoiding blockages or omissions. The anti-blocking blocks push and discharge 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.

[0034] The second servo motor starts, driving the fine crushing roller to rotate. The fine crushing roller breaks down the soil around the borehole. The output shaft of the dual-axis motor drives the lead screw to rotate. The lead screw drives 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. Multiple paddles on the outer wall of the conveyor belt are used to grab the finely crushed soil and transport it above the borehole. As the conveyor belt continues to move, the paddles evenly cover the sugarcane seedlings with soil, making the soil cover the sugarcane seedlings more evenly, improving the covering efficiency and quality, providing necessary protection and support for the sugarcane seedlings, and helping them grow healthily. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 This is a bottom-view perspective view of the overall structure of the present invention;

[0037] Figure 3 This is a schematic diagram of the removal component structure of the present invention;

[0038] Figure 4 This is a schematic diagram of the first movable frame structure of the present invention;

[0039] Figure 5 This is a schematic diagram of the drive component structure of the present invention;

[0040] Figure 6 This is a schematic diagram of the drilling assembly structure of the present invention;

[0041] Figure 7 This is a schematic diagram of the seeding component structure of the present invention;

[0042] Figure 8 This is a schematic diagram of the internal structure of the discharge pipe of the present invention;

[0043] Figure 9 This is a schematic diagram of the soil covering component structure of the present invention;

[0044] Figure 10 This is a schematic diagram of the toggle block structure of the present invention.

[0045] In the diagram: 1. Seedling replenishment cart; 2. Storage binoculars; 3. Binocular vision camera; 4. Guide rail; 5. Removal assembly; 501. First slider; 502. Support block; 503. Pin; 504. Removal claw; 505. First moving frame; 506. First cylinder; 507. Mounting frame; 508. Limiting block; 509. Y-shaped block; 510. Through groove; 511. Round rod; 512. Inclined tooth; 513. Mud discharge trough; 514. T-shaped block; 6. First connecting block; 7. Drive assembly; 701. Drive disc; 702. Push rod; 703. Fixing block; 704. Rotating shaft; 705. First gear; 706. Transmission toothed belt; 707. First servo motor; 8. Drilling assembly; 801. Drill rod; 802. Round tube; 803. Arc-shaped sleeve; 804. Push block; 80 5. Drilling motor; 806. Second moving frame; 9. Seeding assembly; 901. Adjusting block; 902. Discharge pipe; 903. Round shaft; 904. Material distribution block; 905. Discharge 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. Dual-axis motor; 1110. Lead screw; 1111. Inclined block; 1112. Conveyor belt; 1113. Second gear; 1114. Coupling shaft; 1115. Pulley; 1116. Third servo motor; 12. Second cylinder. Detailed Implementation

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] Example 1: As Figures 1-5 As shown, this embodiment provides a sugarcane ratooning area replanting device and method, including a replanting vehicle 1, a storage compartment 2 fixed on the top surface of the replanting vehicle 1, a binocular vision camera 3 installed on the bottom surface of one end of the replanting vehicle 1, a guide rail 4 fixed on the replanting vehicle 1, a removal component 5 slidably connected on the guide rail 4, the removal component 5 including a first slider 501, a T-shaped block 514 slidably connected on the first slider 501, a support block 502 fixed on the outer wall of the T-shaped block 514, two pins 503 fixed at the lower end of the support block 502, a removal claw 504 rotatably connected to the outer peripheral wall of the pins 503, and a first movable frame 505 fixed on the support block 502;

[0048] Two first connecting blocks 6 are fixedly provided on the side wall of the first slider 501. A drive assembly 7 is installed on the top surface of one of the first connecting blocks 6. The drive assembly 7 includes a drive disk 701. A push rod 702 is fixedly provided on the outer surface of the drive disk 701. There are two drive disks 701. One of the push rods 702 is located inside the first moving frame 505.

[0049] Another push rod 702 is provided with a drilling assembly 8, which includes a drill rod 801. A round tube 802 is slidably connected to the outer peripheral wall of the drill rod 801. An arc-shaped sleeve 803 is slidably connected to the outer peripheral wall of the round tube 802. A push block 804 is fixedly provided on the lower outer peripheral wall of the round tube 802. The push block 804 is slidably connected to the seedling replenishment vehicle 1. A sowing assembly 9 is fixedly provided at one end of the push block 804. Electric drive wheels 10 are installed at the four corners of the seedling replenishment vehicle 1.

[0050] The removal assembly 5 includes a first cylinder 506, which is fixed to the upper end of the support block 502 via a mounting frame 507. A limiting block 508 is fixed in the middle of the support block 502, and a Y-shaped block 509 is slidably connected to the limiting block 508. The lower end of the Y-shaped block 509 has two through slots 510 with a symmetrical structure. Two round rods 511 are slidably connected inside the through slots 510. One end of the round rods 511 is fixedly connected to the upper end of the removal claw 504. The removal claw 504 is arc-shaped, and multiple inclined teeth 512 are fixed on the inner wall of the removal claw 504. A mud discharge groove 513 is opened on the outer wall of the removal claw 504. The removal claw 504 rotates around the pin 503, and uses the inclined teeth 512 on the inner wall of the claw to grab the roots of the old seedling. Then, the support block 502 and the removal claw 504 are moved upward by the first moving frame 505 to remove the seedling.

[0051] When removing sugarcane stalks, when the binocular vision camera 3 detects old seedlings that need to be removed, the seedling replanting vehicle 1 stops moving. The removal component 5 slides to the designated position via the guide rail 4. The drive component 7 causes one of the drive discs 701 to push the first moving frame 505 via the push rod 702, which in turn drives the removal claw 504 to rotate around the pin 503, locking the roots of the old seedling. The removal claw 504 then pulls the old seedling out of the soil through further action, ensuring the accuracy of removing sugarcane stalks, improving removal efficiency, helping to maintain a healthy growth environment for the entire sugarcane field, and improving the yield and quality of sugarcane.

[0052] The replanting vehicle 1 moves within the sugarcane ratooning area via electric drive wheels 10. A binocular vision camera 3 captures real-time ground images to identify the locations of old seedlings that need to be removed. The removal component 5, through the movement of the first moving frame 505, pushes the support block 502 and its lower removal claws 504 downwards. After the removal claws 504 insert into both sides of the old seedling to be removed, the first cylinder 506 pushes the Y-shaped block 509 to slide on the limiting block 508, bringing the removal claws 504 close to the roots of the old seedling. The first cylinder 506 continues to push, causing the removal claw 504 to rotate around the pin 503. The inclined teeth 512 on the inner wall of the claw hold the root of the old seedling. Then, the first moving frame 505 drives the support block 502 and the removal claw 504 to move upward to remove the seedling. After removal, the first slider 501 moves the removed old seedling to both ends, which reduces damage to the surrounding healthy sugarcane stalks, protects the soil structure, reduces soil erosion, and facilitates the subsequent collection and treatment of the old seedling.

[0053] After the removal is completed, another drive disc 701 pushes the drilling assembly 8 along the seedling replanting cart 1 to the vicinity of the removal position through its push rod 702. The drill rod 801 in the drilling assembly 8 is lowered into the soil under the guidance of the arc sleeve 803 and the round tube 802 to prepare for the subsequent sowing operation.

[0054] Example 2: Figure 1 , Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, this embodiment is based on the previous embodiment, but differs in that the driving component 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. Two rotating shafts 704 are rotatably connected to the fixed block 703. A first gear 705 is sleeved on the outer peripheral wall of the rotating shaft 704. 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 transmission toothed belt 706. A first servo motor 707 is mounted on the outer wall of the first slider 501 through a mounting base. The output shaft of the first servo motor 707 is coaxially connected to the rotating shaft 704 at the lower end. The outer peripheral walls of both ends of the rotating shaft 704 at 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, while the other driving disk 701 pushes the other push rod 702 and the second moving frame 806 up and down, which facilitates the simultaneous adjustment of the height of the removal component 5 and the drilling component 8.

[0055] The rear end of the seedling replanting vehicle 1 is equipped with a second cylinder 12 via a mounting base. The piston rod of the second cylinder 12 is fixedly connected to the outer wall of the push block 804. The upper outer peripheral wall of the drill rod 801 is rotatably connected to the upper end of the arc-shaped sleeve 803. The top surface of the arc-shaped sleeve 803 is equipped with a drilling motor 805 via a mounting base. The output shaft of the drilling motor 805 is coaxially connected to the drill rod 801. The upper end of the arc-shaped sleeve 803 is fixedly provided with a second moving frame 806 on its outer peripheral wall. The inner wall of the second moving frame 806 is slidably connected to the outer peripheral wall of another push rod 702. While the second moving frame 806 moves, the push rod 702 drives the arc-shaped sleeve 803 to slide along the round tube 802. At the same time, the drilling motor 805 drives the drill rod 801 to rotate and drill holes.

[0056] During driving, the first servo motor 707 drives the lower shaft 704 to rotate. Since the two shafts 704 are internally meshed through the transmission toothed belt 706, the upper shaft 704 will also rotate synchronously. The rotation of the upper shaft 704 drives the drive disk 701 to rotate, which in turn pushes the first moving frame 505 up and down through one of the push rods 702. At the same time, the other drive disk 701 pushes the other push rod 702 and the second moving frame 806 up and down, which facilitates the simultaneous adjustment of the height of the removal component 5 and the drilling component 8, improves work efficiency, and reduces the potential damage of the removal component 5 and the drilling component 8 to the surrounding sugarcane stalks.

[0057] While the second moving frame 806 moves, the arc-shaped sleeve 803 is driven to slide along the round tube 802 by the push rod 702. At the same time, the drilling motor 805 drives the drill rod 801 to rotate to make holes, which facilitates the replanting operation.

[0058] Example 3: Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, this embodiment is based on the previous embodiment, but differs in that the sowing component 9 includes an adjusting block 901, which is slidably connected to the seedling replenishment cart 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 chamber 2. The bottom surface of the storage chamber 2 is inclined. A circular shaft 903 is rotatably connected to the discharge pipe 902. Multiple material distribution blocks 904 are fixedly arranged in a ring array on the outer peripheral wall of the circular shaft 903. The material distribution blocks 904 are slidably connected to the discharge pipe 902. 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 material distribution 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 drill hole.

[0059] A U-shaped block 906 is fixedly installed at one end of the discharge pipe 902. Two anti-blocking blocks 907 are fixedly installed on the inner wall of the U-shaped block 906. The bottom surface of the anti-blocking block 907 is inclined. Two limiting grooves 908 are opened on the distribution block 904. The outer peripheral wall of the anti-blocking block 907 is slidably connected to the groove wall of the limiting groove 908. The anti-blocking block 907 pushes and discharges the sugarcane seedling stuck between the two distribution blocks 904, reducing the occurrence of sugarcane seedling jamming.

[0060] During sowing, the pusher block 804 moves the discharge pipe 902 to the position after drilling, allowing the sugarcane seedlings to fall from the storage bin 2 into the discharge pipe 902. The discharge motor 905 drives the round shaft 903 to rotate, and the dividing block 904 slides inside the discharge pipe 902, pushing the sugarcane seedlings out one by one and finally 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 jamming and further improving the accuracy and reliability of sowing.

[0061] Example 4: Figure 1 , Figure 2 , Figure 9 and Figure 10 As shown, this embodiment is based on the previous embodiment, but differs in that it also includes a soil covering component 11. The soil covering component 11 includes a trapezoidal positioning block 1101, which is fixedly connected to the outer wall of the storage bin 2. A third cylinder 1106 is mounted on the outer wall of the storage bin 2 via a mounting base. A lifting block 1102 is slidably connected to the trapezoidal positioning block 1101. The piston bottom surface of the third cylinder 1106 is fixedly connected to the top surface of the lifting block 1102. A C-shaped block 1103 is fixedly provided on the bottom surface of the outer end of the lifting block 1102. A fine crushing roller 1104 is rotatably connected to the C-shaped block 1103. A second servo motor 1105 is mounted on the outer wall of the C-shaped block 1103 via a mounting base. The output shaft of the second servo motor 1105 is coaxially connected to the fine crushing roller 1104. The fine crushing roller 1104 finely crushes the soil around the borehole so that it can be more easily covered on the sugarcane seedlings later.

[0062] A guide block 1107 is fixedly mounted on the lifting block 1102. 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 base. A lead screw 1110 is sleeved on the output shaft of the dual-axis motor 1109. The second sliders 1108 are threadedly connected to the lead screw 1110 via threaded holes. Two inclined blocks 1111 are fixedly mounted on the bottom surface of the second sliders 1108. A conveyor belt 1112 is fixedly mounted between the two inclined blocks 1111. Multiple levers 1115 are fixedly mounted on the outer peripheral wall of the conveyor belt 1112. The conveyor belt 1112 is internally meshed. There are two second gears 1113, and a connecting shaft 1114 is fixed in the middle of the second gear 1113. The outer peripheral walls of the two ends of the connecting shaft 1114 are rotatably connected to two inclined blocks 1111 respectively. A third servo motor 1116 is mounted on the outer peripheral wall of one of the inclined blocks 1111 through a mounting base. The third servo motor 1116 is rotatably connected to one of the connecting shafts 1114. Multiple paddles 1115 on the outer peripheral wall of the conveyor belt 1112 are used to grab the finely crushed soil and transport it above the drilling position. As the conveyor belt 1112 continues to move, the paddles 1115 evenly cover the sugarcane seedlings with soil.

[0063] When covering the soil, the third cylinder 1106 pushes the lifting block 1102 and its C-shaped block 1103 and fine crushing roller 1104 downward until the fine crushing roller 1104 contacts the soil around the drill hole. At this time, the second servo motor 1105 starts and drives the fine crushing roller 1104 to rotate. The fine crushing roller 1104 breaks up the soil around the drill hole so that it can be more easily covered on the sugarcane seedlings later.

[0064] While the fine crushing roller 1104 is working, the output shaft of the dual-shaft motor 1109 drives the lead screw 1110 to rotate. The lead screw 1110 drives two second sliders 1108 to slide on the guide block 1107 through a threaded connection, thereby adjusting the position 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. Multiple pry blocks 1115 on the outer peripheral wall of the conveyor belt 1112 are used to grab the finely crushed soil and transport it above the drilling position. As the conveyor belt 1112 continues to move, the pry blocks 1115 evenly cover the sugarcane seedlings with soil, making the soil cover the sugarcane seedlings more evenly, improving the covering efficiency and quality, providing necessary protection and support for the sugarcane seedlings, and helping them to grow healthily.

[0065] Working principle: When the binocular vision camera 3 detects old seedlings that need to be removed, the seedling replanting cart 1 stops moving. The removal component 5 slides to the designated position via the guide rail 4. The drive component 7 causes one of the drive discs 701 to push the first moving frame 505 via the push rod 702, which in turn drives the removal claw 504 to rotate around the pin 503, locking the roots of the old seedling. The removal claw 504 then pulls the old seedling out of the soil through further action, ensuring the accuracy of sugarcane removal, improving removal efficiency, helping to maintain a healthy growth environment for the entire sugarcane field, and improving the yield and quality of sugarcane.

[0066] The replanting vehicle 1 moves within the sugarcane ratooning area via electric drive wheels 10. A binocular vision camera 3 captures real-time ground images to identify the locations of old seedlings that need to be removed. The removal component 5, through the movement of the first moving frame 505, pushes the support block 502 and its lower removal claws 504 downwards. After the removal claws 504 insert into both sides of the old seedling to be removed, the first cylinder 506 pushes the Y-shaped block 509 to slide on the limiting block 508, bringing the removal claws 504 close to the roots of the old seedling. The first cylinder 506 continues to push, causing the removal claw 504 to rotate around the pin 503. The inclined teeth 512 on the inner wall of the claw hold the root of the old seedling. Then, the first moving frame 505 drives the support block 502 and the removal claw 504 to move upward to remove the seedling. After removal, the first slider 501 moves the removed old seedling to both ends, which reduces damage to the surrounding healthy sugarcane stalks, protects the soil structure, reduces soil erosion, and facilitates the subsequent collection and treatment of the old seedling.

[0067] After the removal is completed, another drive disc 701 pushes the drilling assembly 8 along the seedling replanting cart 1 to the vicinity of the removal position through its push rod 702. The drill rod 801 in the drilling assembly 8 is lowered into the soil under the guidance of the arc sleeve 803 and the round tube 802 to prepare for the subsequent sowing operation.

[0068] During driving, the first servo motor 707 drives the lower shaft 704 to rotate. Since the two shafts 704 are internally meshed through the transmission toothed belt 706, the upper shaft 704 will also rotate synchronously. The rotation of the upper shaft 704 drives the drive disk 701 to rotate, which in turn pushes the first moving frame 505 up and down through one of the push rods 702. At the same time, the other drive disk 701 pushes the other push rod 702 and the second moving frame 806 up and down, which facilitates the simultaneous adjustment of the height of the removal component 5 and the drilling component 8, improves work efficiency, and reduces the potential damage of the removal component 5 and the drilling component 8 to the surrounding sugarcane stalks.

[0069] While the second moving frame 806 moves, the arc-shaped sleeve 803 is driven to slide along the round tube 802 by the push rod 702. At the same time, the drilling motor 805 drives the drill rod 801 to rotate to make holes, which facilitates the replanting operation.

[0070] During sowing, the pusher block 804 moves the discharge pipe 902 to the position after drilling, allowing the sugarcane seedlings to fall from the storage bin 2 into the discharge pipe 902. The discharge motor 905 drives the round shaft 903 to rotate, and the dividing block 904 slides inside the discharge pipe 902, pushing the sugarcane seedlings out one by one and finally 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 jamming and further improving the accuracy and reliability of sowing.

[0071] When covering the soil, the third cylinder 1106 pushes the lifting block 1102 and its C-shaped block 1103 and fine crushing roller 1104 downward until the fine crushing roller 1104 contacts the soil around the drill hole. At this time, the second servo motor 1105 starts and drives the fine crushing roller 1104 to rotate. The fine crushing roller 1104 breaks up the soil around the drill hole so that it can be more easily covered on the sugarcane seedlings later.

[0072] While the fine crushing roller 1104 is working, the output shaft of the dual-shaft motor 1109 drives the lead screw 1110 to rotate. The lead screw 1110 drives two second sliders 1108 to slide on the guide block 1107 through a threaded connection, thereby adjusting the position 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. Multiple pry blocks 1115 on the outer peripheral wall of the conveyor belt 1112 are used to grab the finely crushed soil and transport it above the drilling position. As the conveyor belt 1112 continues to move, the pry blocks 1115 evenly cover the sugarcane seedlings with soil, making the soil cover the sugarcane seedlings more evenly, improving the covering efficiency and quality, providing necessary protection and support for the sugarcane seedlings, and helping them to grow healthily.

[0073] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A sugarcane ratooning replanting device, comprising a replanting vehicle (1) and a soil covering assembly (11), wherein a storage compartment (2) is fixedly mounted on the top surface of the replanting vehicle (1), characterized in that: A binocular vision camera (3) is installed on the bottom surface of one end of the seedling replanting cart (1). A guide rail (4) is fixedly provided on the seedling replanting cart (1). A removal component (5) is slidably connected on the guide rail (4). The removal component (5) includes a first slider (501). A T-shaped block (514) is slidably connected on the first slider (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). 3) The outer peripheral wall is rotatably connected to a removal claw (504), the support block (502) is fixedly provided with a first moving frame (505), the removal assembly (5) includes a first cylinder (506), the support block (502) is fixedly provided with a limiting block (508) in the middle, the limiting block (508) is slidably connected with a Y-shaped block (509), the inner wall of the removal claw (504) is fixedly provided with a plurality of inclined teeth (512), and the outer wall of the removal claw (504) is provided with a mud discharge groove (513). Two first connecting blocks (6) are fixedly provided on the side wall of the first slider (501). A drive assembly (7) is installed on the top surface of one of the first connecting blocks (6). The drive assembly (7) includes a drive disk (701). A push rod (702) is fixedly provided on the outer surface of the drive disk (701). There are two drive disks (701). One of the push rods (702) is located inside the first moving frame (505). The drive assembly (7) includes a fixing block (703). A transmission toothed belt (706) is provided on one side of the fixing block (703). Another push rod (702) is provided with a drilling assembly (8), which includes a drill rod (801). A round tube (802) is slidably connected to the outer peripheral wall of the drill rod (801). An arc-shaped sleeve (803) is slidably connected to the outer peripheral wall of the round tube (802). A push block (804) is fixedly provided on the lower outer peripheral wall of the round tube (802). The push block (804) is slidably connected to the seedling cart (1). A sowing assembly (9) is fixedly provided at one end of the push block (804). The sowing assembly (9) includes an adjusting block (901). The middle part of the adjusting block (901) is connected to the discharge pipe (902), and the discharge pipe (902) is rotatably connected to the round shaft (903). The outer peripheral wall of the round shaft (903) is fixed with multiple material distribution blocks (904) in a ring array structure. One end of the discharge pipe (902) is fixed with a U-shaped block (906). The inner wall of the U-shaped block (906) is fixed with two anti-blocking blocks (907). The material distribution block (904) has two limiting grooves (908). The four corners of the seedling replenishment vehicle (1) are respectively equipped with electric drive wheels (10). The soil covering component (11) includes a trapezoidal positioning block (1101), on which a lifting block (1102) is slidably connected. A C-shaped block (1103) is fixedly mounted on the bottom surface of the outer end of the lifting block (1102). A fine crushing roller (1104) is rotatably connected to the C-shaped block (1103). A second servo motor (1105) is mounted on the outer wall of the C-shaped block (1103) via a mounting base. The output shaft of the second servo motor (1105) is coaxially connected to the fine crushing roller (1104). A guide block (1107) is fixedly mounted on the lifting block (1102). Two second sliders (1108) are slidably connected to the block (1107). A dual-axis motor (1109) is mounted on the top surface of the lifting block (1102) via a mounting base. A lead screw (1110) is sleeved on the output shaft of the dual-axis motor (1109). The second sliders (1108) are threadedly connected to the lead screw (1110) through threaded holes. Two inclined blocks (1111) are fixedly provided on the bottom surface of the second sliders (1108). A conveyor belt (1112) is fixedly provided between the two inclined blocks (1111). Multiple pry blocks (1115) are fixedly provided on the outer peripheral wall of the conveyor belt (1112).

2. The sugarcane ratooning area replanting device as described in claim 1, characterized in that: The first cylinder (506) is fixed to the upper end of the support block (502) by the mounting frame (507). The lower end of the Y-shaped block (509) has two through slots (510) with a symmetrical structure. Two round rods (511) are slidably connected inside the through slots (510). One end of the round rod (511) is fixedly connected to the upper end of the pull-out claw (504). The pull-out claw (504) is arc-shaped.

3. The sugarcane ratooning area replanting device as described in claim 2, characterized in that: The bottom surface of the fixed block (703) is fixedly connected to the top surface of one of the first connecting blocks (6). Two rotating shafts (704) are rotatably connected to the fixed block (703). A first gear (705) is sleeved on the outer peripheral wall of the rotating shaft (704). The two first gears (705) are respectively meshed with the transmission belt (706). A first servo motor (707) is mounted on the outer wall of the first slider (501) through a mounting seat. The output shaft of the first servo motor (707) is coaxially connected to the rotating shaft (704) at the lower end. The outer peripheral walls at both ends of the rotating shaft (704) at the upper end are respectively fixedly connected to the middle part of the drive disk (701).

4. The sugarcane ratooning area replanting device as described in claim 3, characterized in that: The rear end of the seedling car (1) is equipped with a second cylinder (12) 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 upper outer peripheral wall of the drill rod (801) is rotatably connected to the upper end of the arc sleeve (803). The top surface of the arc sleeve (803) is equipped with a drilling motor (805) 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) is fixedly provided with a second moving frame (806) to the outer peripheral wall. The inner wall of the second moving frame (806) is slidably connected to the outer peripheral wall of another push rod (702).

5. The sugarcane ratooning area replanting device as described in claim 4, characterized in that: The adjusting block (901) is slidably connected to the seedling cart (1), 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 bottom surface of the storage bin (2) is inclined, the material distribution block (904) is slidably connected to the discharge pipe (902), and the discharge motor (905) is installed on the outer peripheral wall of the discharge pipe (902) through the mounting seat.

6. The sugarcane ratooning area replanting device as described in claim 5, characterized in that: The bottom surface of the anti-blocking block (907) is inclined, 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 ratooning area replanting device as described in claim 6, characterized in that: The trapezoidal positioning block (1101) is fixedly connected to the outer wall of the storage compartment (2). The outer wall of the storage compartment (2) is equipped with a third cylinder (1106) via a mounting seat. The piston bottom surface of the third cylinder (1106) is fixedly connected to the top surface of the lifting block (1102).

8. The sugarcane ratooning area replanting device as described in claim 7, characterized in that: The conveyor belt (1112) has two meshing second gears (1113) inside. A connecting shaft (1114) is fixed in the middle of the second gear (1113). The outer peripheral walls of the two ends of the connecting shaft (1114) are rotatably connected to two inclined blocks (1111). A third servo motor (1116) is mounted on the outer peripheral wall of one of the inclined blocks (1111) through a mounting base. The third servo motor (1116) is rotatably connected to one of the connecting shafts (1114).

9. A method for replanting sugarcane seedlings in a ratooning area, characterized in that, The sugarcane ratooning replanting device according to claim 8 includes the following steps: Removal: When the binocular vision camera (3) detects an old seedling that needs to be removed, the seedling replanting cart (1) stops moving, the removal component (5) slides to the designated position via the guide rail (4), and the drive component (7) causes one of the drive discs (701) to push the first moving frame (505) via the push rod (702), which in turn drives the removal claw (504) to rotate around the pin (503) to lock the roots of the old seedling. The removal claw (504) then pulls the old seedling out of the soil through further action. Drilling: While the second moving frame (806) moves, the arc sleeve (803) is driven to slide along the round tube (802) by the push rod (702), and at the same time the drilling motor (805) drives the drill rod (801) to rotate to drill. Planting: The discharge motor (905) drives the round shaft (903) to rotate, and the material distribution block (904) slides inside the discharge pipe (902), pushing the sugarcane seedlings out of the discharge pipe (902) one by one and finally falling into the drill hole; Covering with soil: The second servo motor (1105) starts and drives the fine crushing roller (1104) to rotate. The fine crushing roller (1104) breaks up the soil around the borehole. The third servo motor (1116) drives the connecting shaft (1114) and the second gear (1113) to rotate, which in turn drives the conveyor belt (1112) to circulate. Multiple paddles (1115) on the outer wall of the conveyor belt (1112) evenly cover the sugarcane seedlings with soil.

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