Integrated taro planter

Abstract

The invention discloses an integrated taro planting machine which comprises a frame module used for supporting and driving an integrated machine to walk; the pit digging, digging and shoveling module is positioned at the front part of the frame module and is used for digging seed pits in the to-be-planted area; the seeding module is positioned in the middle of the frame module, comprises a taro planting cup capable of being opened and closed, and is used for feeding seed taro into the seed pit; the fertilizing module is positioned in the middle of the frame module and is used for feeding fertilizers and insect repellents into the taro planting cups; the watering module is located in the middle of the whole machine and used for watering the seed taros placed in the seed pits; the soil covering and film mulching module is positioned at the rear part of the whole machine and is used for shoveling soil into the seed pits to finish soil covering and film mulching of the seed pits; and the control module is mounted on the frame module and is connected with the frame module, the pit digging and digging shovel module, the seeding module, the fertilization module, the watering module and the soil covering and film mulching module. The taro planting machine has the advantages that sowing and fertilizing distances and equipment speed can be automatically regulated and controlled, starting and stopping at any time are achieved, it is ensured that uniform and attractive taro seedlings are planted, and planting efficiency and quality are improved.

Description

Technical Field

[0001] The present application belongs to the field of taro planting, and specifically relates to an integrated taro planting machine. Background Art

[0002] With the continuous advancement of technology, intelligent and diversified mechanical equipment has gradually penetrated into all aspects of our lives. In large-scale industrial production, mechanical automation is gradually replacing jobs that do not require human intelligence. This shift not only releases a large number of human resources, enabling them to turn to the development of high-tech industries; it also reduces production costs, improves production efficiency, and reduces production errors caused by human factors. The agricultural sector has particularly benefited from the widespread application of mechanization.

[0003] Taro, as a perennial crop, is often cultivated as an annual crop and belongs to the genus Colocasia in the family Araceae. It is the fourth largest tuber crop in the world, second only to cassava, potato and sweet potato, and has significant edible and medicinal value. The global consumption of taro ranks second among tuber crops, and its survival rate is closely related to factors such as plant spacing and seed pit depth.

[0004] Taro planting is a labor-intensive work with strong seasonality and high timeliness. In China, taro planting in most areas still relies on traditional manual labor. This model is not only labor-intensive, labor-intensive, and costly, but also difficult to meet the needs of modern production in terms of efficiency. Therefore, it is particularly important to promote the mechanization and intelligence of taro planting. The use of mechanized seeding equipment can solve these problems to a large extent, allowing growers to personally experience the benefits and profits brought by mechanized and intelligent agriculture. This is not only an inevitable trend in the development of global agriculture, but also a manifestation of human wisdom.

[0005] At present, the taro sowing machinery market is relatively unpopular, the existing equipment has many shortcomings, and the application scenarios are not perfect. The taro planting process is complicated, involving multiple steps such as digging holes, sowing, fertilizing, applying pesticides, watering, covering soil, covering film, etc., which is time-consuming and laborious, and requires the cooperation of many people. At present, taro sowing mainly relies on manual labor, livestock or hand tractors for ridge making, and then manual fertilization and spot planting, which is labor-intensive and inefficient.

[0006] Therefore, there is an urgent need for an integrated taro sowing and management machine that can be operated with one click, can automatically complete all planting processes according to vehicle speed and distance, is easy to operate, and is suitable for farmers. Summary of the invention

[0007] In view of the shortcomings of the prior art described above, the purpose of the present application is to provide an integrated taro planting machine. The purpose of the present invention is to solve the problem of the shortcomings of the existing taro planting machinery. The present invention integrates each key step of taro planting into an intelligent device to realize the full process automation from digging, sowing, fertilizing, applying medicine, watering to covering soil and covering film. The design of the device focuses on the simplicity of operation and wide applicability, aiming to significantly improve the work efficiency of farmers in planting taro. By integrating modern agricultural technology and intelligent control, the present invention not only reduces the labor intensity of farmers, but also improves the planting survival rate and yield of taro through precise planting management, thereby bringing greater economic benefits to farmers. In addition, the intelligent design of the device also helps to reduce planting errors caused by human factors, ensure the uniformity and consistency of taro planting, and further improve the modernization level of agricultural production.

[0008] To solve the above problems, the technical solution adopted in this application is: The integrated taro planting machine of the present invention is characterized by comprising: The frame module is used to support and drive the all-in-one machine to move; The pit digging and shoveling module is installed at the front of the frame module and is used to dig a seed pit in the area to be planted; The seeding module is installed in the middle of the frame module, and includes an openable and closable taro planting cup for feeding taro seeds into the seeding pit; The fertilization module is located in the middle of the frame module and is used to deliver fertilizer and insect repellent into the taro cup; The watering module is located in the middle of the whole machine and is used to water the seed taro placed in the seed pit; A soil covering and film covering module is located at the rear of the whole machine and is used to shovel soil into the seed pit to complete the soil covering of the seed pit; and / or The control module is installed on the frame module and connected to the frame module, the digging and shoveling module, the planting module, the fertilizing module, the watering module and the soil and film covering module, and is used to control the status and action of the frame module, the digging and shoveling module, the planting module, the fertilizing module, the watering module and / or the soil and film covering module.

[0009] As a preferred embodiment of the present application, the frame module includes wheels, a counting mechanism, and a frame. The wheels are self-driven and are installed on both sides of the frame in a left-right symmetrical manner; the counting mechanism includes a counting wheel and a counting limit switch. The counting wheel is arranged on the wheel, and a counting tooth is arranged in the wheel rim of the counting wheel. The counting limit switch is connected to the control module and is used to transmit the collision signal generated by periodic collision with the counting tooth to the control module. When the wheel rotates and drives the counting wheel to rotate, the counting tooth in the wheel rim of the counting wheel collides with the counting limit switch, and the travel distance is calculated with the number of collisions as a mark. The frame is placed in a left-right symmetrical manner, so that the all-in-one machine has good balance.

[0010] As a preferred embodiment of the present application, the signal transmitted by the counting limit switch in the counting mechanism can enable the control system to record the moving distance, and at the same time start the digging and shoveling module and the planting module to enter the next working cycle.

[0011] As a preferred embodiment of the present application, the pit digging and shoveling module includes a shovel transmission mechanism, a shovel lifting mechanism and a shovel actuator. The shovel actuator includes a first crank, a first connecting rod hinged to the first crank, and a second connecting rod. The shovel is installed on the lower end of the first connecting rod, and the upper end of the first connecting rod is hinged to the frame through the second connecting rod; the shovel transmission mechanism is connected to the first crank to drive the shovel to swing up and down; the movable part of the shovel lifting mechanism is connected to the first connecting rod to adjust the digging angle of the shovel, and cooperate with the shovel to swing up and down periodically to complete the pit digging action.

[0012] As a preferred embodiment of the present application, there are two sets of pit digging and shoveling modules, and the two shovels of the pit digging and shoveling modules are staggered in phase, ensuring that the pits can be accurately staggered and quickly returned to the working state of the next pit. The worm gear structure design has a stable transmission. Compared with other transmissions, this transmission can effectively reduce the impact between the rods and extend the service life of the shovel. At the same time, its output torque is large, which can prevent the situation where hard soil cannot be dug.

[0013] As a preferred embodiment of the present application, the planer shovel transmission mechanism includes a first motor, a planer shovel gear group connected to the first motor, a planer shovel worm connected to the planer shovel gear group, and a planer shovel worm wheel meshing with the planer shovel worm. The first motor drives the planer shovel gear group to rotate, and the planer shovel gear group drives the planer shovel worm to rotate. Since the planer shovel worm is meshed with the planer shovel worm wheel, the planer shovel worm wheel is rotatably mounted on the frame, and a planer shovel lifting mechanism is provided on the planer shovel worm wheel, which is used to drive the planer shovel lifting mechanism to rotate together with the planer shovel worm wheel.

[0014] As a preferred embodiment of the present application, the planer shovel lifting mechanism includes a second motor, a lifting output gear, a first lifting gear group, a second lifting gear group, a lead screw, and a lead screw slider. The output shaft of the second motor is connected to the lifting output gear, the first lifting gear group is coaxially connected to the lifting output gear through a connecting shaft, the first lifting gear group is meshed with the second lifting gear group, the second lifting gear group is connected to the lead screw through the end transmission teeth, the lead screw slider is sleeved on the lead screw and cooperates with the lead screw thread, the second motor drives the lifting output gear to rotate, the lifting output gear drives the first lifting gear group to rotate synchronously, the first lifting gear group drives the second lifting gear group to rotate, thereby driving the lead screw to rotate, so that the lead screw slider moves on the lead screw.

[0015] As a preferred embodiment of the present application, one end of the first crank is hinged on the planer worm gear and rotates with the planer turbine; the other end of the first crank is hinged to the first connecting rod, the planer is installed on the lower end of the first connecting rod, the upper end of the first connecting rod is hinged to the second connecting rod, the first connecting rod is hinged to the lead screw slider, and the second connecting rod is hinged to the frame. The angle of the first connecting rod can be adjusted by the lead screw slider, and then the digging angle of the planer can be adjusted. The up and down swing of the first crank can realize the digging action of the planer.

[0016] As a preferred embodiment of the present application, the planting module includes a taro clamping device for conveying seed taro and a first-level opening and closing door assembly and a second-level opening and closing door assembly that can be opened and closed. The taro clamping device is provided with a taro releasing pipe and a crank slider mechanism for controlling the opening and closing of the taro releasing pipe. The taro releasing pipe is connected to the first-level opening and closing door assembly and the second-level opening and closing door assembly in sequence. The crank slider mechanism, the first-level opening and closing door assembly and the second-level opening and closing door assembly are all connected to the control module for delivering the seed taro in the taro planting cup into the planting pit dug by the pit digging and shoveling module.

[0017] As a preferred embodiment of the present application, the taro clamping device includes a centrally placed taro placing pipe, a crank slider mechanism and a pair of clamping blocks arranged on both sides of the taro placing pipe for clamping the taro placing pipe, the crank slider mechanism connects the clamping blocks, and is used to drive the two clamping blocks to move closer or farther away to achieve alternating movements of loosening and clamping; the taro placing pipe is made of soft material and has a rough inner wall, so that when the two clamping blocks are loosened or clamped, the taro placing pipe located between the two clamping blocks is deformed, so that the seed taro in the taro placing pipe will not fall when clamped and will fall when relaxed; the inner diameter of the taro placing pipe is slightly larger than that of a single seed taro, so that the seed taro with the pointed end facing upward after manual screening will not flip over during the falling process.

[0018] As a preferred embodiment of the present application, the crank slider mechanism includes a third motor, and the third motor is connected to the crank through a crank gear set; the lower end of the crank is connected to the first slider, and the upper end of the crank is connected to the second slider, together forming a crank slider mechanism, the third motor drives the crank gear set to drive the crank to move, and then drives the first slider and the second slider to reciprocate, so that the taro clamping device can be clamped and released.

[0019] As a preferred embodiment of the present application, the first-level opening and closing door assembly includes a fourth motor, a first-level rack box connected to the fourth motor, a first-level slide rail connected to the first-level rack box, and a first-level funnel arranged at the end of the first-level slide rail and capable of opening and closing left and right. The first-level funnel is driven by the fourth motor to drive the first-level rack box to drive the left and right first-level slide rails to open and close.

[0020] As a preferred embodiment of the present application, the first-level funnel is similar in height and diameter to a seed taro, and there is a certain gap between the first-level funnel and the bottom end of the taro clamping assembly, so that the first-level funnel can accommodate seed taro of different sizes in a single planting, and can only accommodate one seed taro, and there will not be a situation where multiple seed taro are placed in one planting pit; the bottom end of the first-level funnel is a pointed cone, so that the seed taro falls into the second-level opening and closing door assembly with the pointed end facing upwards.

[0021] As a preferred embodiment of the present application, the first-level funnel is composed of a left half of the funnel and a right half of the funnel, and the left half of the funnel and the right half of the funnel are each connected to a first-level slide rail, the first-level slide rail is meshed with a first-level rack box, the first-level rack box is connected to the output shaft of the fourth motor, the fourth motor drives the first-level rack box to rotate, and the first-level rack box drives the first-level slide rail to move to realize the opening and closing of the first-level funnel.

[0022] As a preferred embodiment of the present application, the secondary opening and closing door assembly includes a crossbeam, a secondary slide rail arranged on the crossbeam, at least one pair of secondary rack boxes slidably arranged on the secondary slide rail, a fifth motor connected to the secondary rack box and driving the secondary rack box to move left and right, and a taro planting cup connected to the secondary rack box and capable of opening and closing left and right. The taro planting cup is located in the middle position of the secondary opening and closing door assembly, and a second limit switch for left end limiting is provided on the left side of the taro planting cup, and a third limit switch for right end limiting is provided on the left side of the taro planting cup; the taro planting cup moves and opens and closes alternately to the left and right under the drive of the fifth motor, so that the taro seed falls into the left and right planting pits alternately dug by the pit digging and shoveling module. The fifth motor drives the secondary rack box to move in the same direction on the secondary slide rail; when the secondary rack box moves to the left, the taro cup opens at the left extreme of the secondary opening and closing door assembly, the right end of the taro cup touches the third limit switch below, and the left end of the taro cup touches the first limit switch above; when the secondary rack box moves to the right, the taro cup opens at the right extreme of the secondary opening and closing door assembly, the left end of the taro cup touches the third limit switch above, and the right end of the taro cup touches the first limit switch below. The taro cup moves to the left and right alternately and opens and closes under the drive of the fifth motor.

[0023] As a preferred embodiment of the present application, the taro planting cup includes a taro planting area at the front end and a fertilizer and medicine area at the rear end, the taro planting area is similar in height and diameter to a taro planting area and has a pointed cone-shaped bottom end, so that the taro planting area falls into the planting pit with the pointed end facing upward; when the fertilizer and medicine area is in the middle position of the secondary opening and closing door assembly, the fertilization module delivers the proportioned fertilizer and anthelmintic into the fertilizer and medicine area through the feeding conduit in the fertilization module; the bottom end of the fertilizer and medicine area is a pointed cone-shaped, so that the proportioned fertilizer and anthelmintic are concentrated when they are lowered into the planting pit.

[0024] As a preferred embodiment of the present application, the fertilizer and pesticide area has a certain horizontal distance from the taro seed area, so that the proportioned fertilizer and anthelmintic have a certain distance from the taro seed when they are put into the seed pit, so that the possibility of burning the seedlings is greatly reduced.

[0025] As a preferred embodiment of the present application, the inner cavity of the seed taro area is a conical cavity that is larger at the top and smaller at the bottom, so that the seed taro always falls into the seed pit with the tip facing upward.

[0026] As a preferred embodiment of the present application, the feeding mechanism can achieve different feeding rates by adjusting the speed of the sixth motor. In the same time interval, the speed ratio of the Archimedean screw at the fertilizer end and the pesticide end is controlled to control the fertilizer-pesticide ratio.

[0027] As a preferred embodiment of the present application, the fertilization module includes a feeding mechanism, a storage bin, a Y-shaped pipe, and a feeding conduit. The feeding mechanism includes an Archimedes screw, a connecting rod, a sixth motor, a fertilizer rack box, and a fertilizer gear set. The sixth motor is plugged in front of the storage bin, and the Archimedes screw is driven to rotate through the transmission of the fertilizer rack box, the fertilizer gear set and the connecting rod. Fertilizers and medicines are quantitatively output through the Archimedes screw and then fall into the fertilizer and medicine area of ​​the taro cup through the Y-shaped pipe and the feeding conduit.

[0028] As a preferred embodiment of the present application, the watering module includes a water inlet pipe, a water pump, and a water outlet pipe connected in sequence, the water inlet pipe is connected to an external water source, and the outlet of the water outlet pipe is located near the taro planting cup for watering the taro in the seed pit.

[0029] As a preferred embodiment of the present application, the soil covering and film covering module includes a first roller connected to a storage bin, a second roller connected to a soil covering shovel, a soil covering shovel and a soil covering and film covering movement mechanism; the first roller is located above the storage bin, the second roller is located above the soil covering shovel, and the first roller and the second roller always remain relatively stationary; the soil covering shovel is connected to the soil covering and film covering movement mechanism.

[0030] As a preferred embodiment of the present application, the soil covering shovel and the soil covering movement mechanism include an eighth motor, a soil covering and filming worm gear, and a soil covering and filming gear set. The eighth motor is connected to the soil covering and filming worm gear through the soil covering and filming gear set, and the soil covering and filming worm gear is connected to the soil covering shovel. The eighth motor drives the soil covering and filming gear set to rotate, and drives the soil covering shovel to rise or fall through the soil covering and filming worm gear, so as to complete the soil covering action of the seed pit.

[0031] As a preferred embodiment of the present application, the second roller and the covering shovel in the soil covering module rise and fall together. When not in operation, the second roller and the covering shovel rise and are in a storage state. When in operation, the second roller and the covering shovel descend, and soil covering and film covering are completed simultaneously with the movement of the machine.

[0032] Compared with the prior art, the beneficial effects of this application are: 1. The present invention can realize the automated operation of the whole process of taro planting, including but not limited to the key steps of digging holes, planting seeds, fertilizing, watering, covering with soil and covering with film, and these processes are all integrated into the mechanical structure.

[0033] 2. The taro planting machine of the present invention is optimized in operation design, so that after the machine is started, the operator only needs to perform the basic actions of pushing the machine forward and placing the taro seeds, without the need for complicated button operations, which greatly simplifies the operation process and is suitable for use by all types of farmer users.

[0034] 3. The taro planting machine of the present invention adopts a modular design, and each functional module is independent of each other, which is convenient for maintenance and replacement, reducing the difficulty and cost of maintenance.

[0035] 4. The taro planting machine of the present invention has a compact structure and high space utilization, which not only improves the operating efficiency but also enhances the safety and stability of the machine.

[0036] 5. The seeding module of the present invention realizes the separation of individual seed taro by alternately opening and cooperating with the taro clamping device, the primary door assembly and the secondary door assembly. There is a certain error tolerance range for different sizes of seed taro, and both larger and smaller seed taro can be successfully separated individually, so that only one seed taro can be placed in one seed pit.

[0037] 6. The taro placing pipe, the first-level funnel, and the taro planting cup in the seeding module of the present invention realize the composite functions of separating a single seed taro and keeping the tip of the seed taro bud facing upward through reasonable shape design, position arrangement, and material selection. Among them, the taro planting cup is also linked to the fertilization module, which not only solves the problem of seeding and feeding in an integrated manner, but also controls the distance between fertilizers, anthelmintics and seed taro, avoiding the phenomenon of burning seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of the present invention.

[0039] Figure 2 It is a structural schematic diagram of the frame module of the present invention.

[0040] Figure 3 It is a schematic structural diagram of the counting mechanism in the frame module of the present invention.

[0041] Figure 4 It is a structural schematic diagram of the pit digging and shoveling module of the present invention.

[0042] Figure 5 It is a structural schematic diagram of the shovel transmission mechanism in the pit digging and shovel module of the present invention.

[0043] Figure 6 It is a structural schematic diagram of the actuator in the pit digging and shoveling module of the present invention.

[0044] Figure 7 It is a structural schematic diagram of the shovel lifting mechanism in the pit digging shovel module of the present invention.

[0045] Figure 8 It is a structural schematic diagram of the digging and shoveling module of the present invention in which the shovel lifting mechanism rises to the highest point.

[0046] Fig. 9 It is a structural schematic diagram of the digging and shoveling module of the present invention when the shovel lifting mechanism is lowered to the lowest point.

[0047] Fig.10 It is a structural schematic diagram of the next seeding module of the present invention.

[0048] Fig.11 It is a structural schematic diagram of the taro clamping assembly in the seeding module of the present invention.

[0049] Fig.12 It is a schematic diagram of the structure of the crank slider mechanism in the taro clamping assembly in the seeding module of the present invention.

[0050] Fig.13 It is a schematic structural diagram of the first-level opening and closing door assembly in the next module of the present invention.

[0051] Fig.14 It is a schematic diagram of the first-level funnel structure in the first-level opening and closing door assembly in the next-level module of the present invention.

[0052] Fig.15 It is a structural schematic diagram of the secondary opening and closing door assembly in the lower module of the present invention.

[0053] Fig.16 It is a schematic diagram of the structure of the taro planting cup in the secondary opening and closing door assembly in the planting module of the present invention.

[0054] Fig.17 It is a schematic diagram of the structure of the fertilization module of the present invention.

[0055] Fig.18 It is a schematic diagram of the structure of the feeding mechanism in the fertilization module of the present invention.

[0056] Fig.19 It is a road map of the fertilizer and medicine of the present invention.

[0057] Fig. 20 It is a structural schematic diagram of the watering module of the present invention.

[0058] Fig.21 It is a schematic diagram of the structure of the soil-covering and film-covering module of the present invention.

[0059] Fig. 22 It is a schematic structural diagram of the soil-covering and film-covering movement mechanism in the soil-covering and film-covering module of the present invention.

[0060] Fig.23 It is the work flow chart of the present invention. DETAILED DESCRIPTION

[0061] The following describes the implementation of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application.

[0062] It should be noted that the process equipment or devices not specifically specified in the following embodiments are all conventional equipment or devices in the art.

[0063] In addition, it should be understood that one or more method steps mentioned in this application do not exclude the existence of other method steps before or after the combination step or the insertion of other method steps between these explicitly mentioned steps, unless otherwise specified; it should also be understood that the combination connection relationship between one or more devices / apparatuses mentioned in this application does not exclude the existence of other devices / apparatuses before or after the combination device / apparatus or the insertion of other devices / apparatuses between these two explicitly mentioned devices / apparatuses, unless otherwise specified. Moreover, unless otherwise specified, the numbering of each method step is only a convenient tool for identifying each method step, and is not intended to limit the order of arrangement of each method step or the scope of implementation of this application. Changes or adjustments in their relative relationships shall also be regarded as the scope of implementation of this application without substantial changes in the technical content.

[0064] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0065] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "inner", "outer", "axial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0066] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0067] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0068] The present application is further described below in conjunction with specific embodiments, but the protection scope of the present application is not limited thereto.

[0069] like Figure 1 As shown, the integrated taro planting machine of the present invention comprises: The frame module 1 is used to support and drive the all-in-one machine to move; The pit digging and shoveling module 2 is located at the front of the frame module 1 and is used to dig a seed pit in the area to be planted; The seeding module 3 is located in the middle of the frame module 1 and includes an openable and closable taro planting cup 334 for feeding taro seeds into the seeding pit; The fertilization module 4 is located in the middle of the frame module 1 and is used to feed fertilizer and anthelmintic into the taro cup 334; The watering module 5 is located in the middle of the whole machine and is used to water the seed taro placed in the seed pit; The soil covering and film covering module 6 is located at the rear of the whole machine and is used to shovel soil into the seed pit to complete the soil covering of the seed pit; and / or The control module 7 is installed on the frame module 1 and is connected to the frame module 1, the digging and shoveling module 2, the planting module 3, the fertilizing module 4, the watering module 5 and the soil and film covering module 6, and is used to control the state and action of the frame module 1, the digging and shoveling module 2, the planting module 3, the fertilizing module 4, the watering module 5 and / or the soil and film covering module 6.

[0070] like Figure 1As shown, in the integrated taro planting machine described in the present invention: the frame module 1 is located on the left and right sides of the bottom of the whole machine; the digging and shoveling module 2 is located in the front of the frame module 1; the digging and shoveling module 2 is plugged into the planting module 3 front and back; the fertilization module 4 is plugged into the planting module 3 front and back; the fertilization module 4 is plugged into the watering module 5 up and down; the soil covering and film covering module is plugged into the fertilization module 6 front and back; the planting module 3, the fertilization module 4, and the watering module 5 are located in the middle of the whole machine; the soil covering and film covering module 6 is located at the rear of the whole machine.

[0071] like Figures 2 to 3 As shown, the frame module 1 includes a wheel 11, a counting mechanism 12, and a frame 13. The wheel 11 is self-driven and symmetrically installed on both sides of the frame 13; the counting mechanism 12 includes a counting wheel 121 and a counting limit switch 122. The counting wheel 121 is arranged on the wheel 11, and a counting tooth is arranged in the wheel rim of the counting wheel 121. The counting limit switch 122 is connected to the control module 7 and is used to transmit the collision signal generated by periodic collision with the counting tooth to the control module 7. When the wheel 11 rotates and drives the counting wheel 121 to rotate, the counting tooth in the wheel rim of the counting wheel 121 collides with the counting limit switch 122, and the travel distance is calculated with the number of collisions as a mark. The frame 13 is placed symmetrically on the left and right to give the machine a good balance.

[0072] like Figures 2 to 3 As shown, the signal transmitted by the counting limit switch 122 in the counting mechanism can enable the control system to record the moving distance, and at the same time start the digging and shoveling module 2 and the planting module 3 to enter the next working cycle.

[0073] like Figures 4 to 9 As shown, the pit digging and shoveling module 2 includes a shovel transmission mechanism 21, a shovel lifting mechanism 22 and a shovel actuator 23. The shovel actuator 23 includes a first crank 232, a first connecting rod 231 hinged to the first crank 232, and a second connecting rod 233 hinged to the first connecting rod 231. The above-mentioned hinge can be simplified into a crank rocker mechanism. The shovel transmission mechanism 21 is connected to the first crank 232 to drive the shovel to swing up and down; the shovel lifting mechanism 22 is connected to the first connecting rod 231 and the second connecting rod 233 to cause a change in the crank length in the crank rocker mechanism to achieve adjustment of the shovel length, that is, control of the pit digging depth, and cooperate with the shovel to swing up and down periodically to complete the pit digging action.

[0074] like Figures 4 to 9 As shown, there are two sets of pit digging and shoveling modules, and the two shovels of the pit digging and shoveling modules are staggered in phase, ensuring that the pits can be accurately staggered and quickly returned to the working state of the next pit. The worm gear structure design has a stable transmission. Compared with other transmissions, this transmission can effectively reduce the impact between rods and extend the service life of the shovel. At the same time, its output torque is large, which can prevent the situation where hard soil cannot be dug.

[0075] like Figures 4 to 9 As shown, the shovel transmission mechanism 21 includes a first motor 211, a shovel gear set 213 connected to the first motor 211, a shovel worm 212 connected to the shovel gear set 213, and a shovel worm wheel 214 meshing with the shovel worm 212. The first motor 211 drives the shovel gear set 213 to rotate, and the shovel gear set 213 drives the shovel worm 212 to rotate. Since the shovel worm 212 is meshed with the shovel worm wheel 214, the shovel worm wheel 214 is rotatably mounted on the frame 13, and a shovel lifting mechanism 22 is provided on the shovel worm wheel 214, which is used to drive the shovel lifting mechanism 22 to rotate together with the shovel worm wheel 214.

[0076] like Figures 4 to 9 As shown, the shovel lifting mechanism 22 includes a second motor 221, a lifting output gear 222, a lifting first gear set 223, a lifting second gear set 224, a lead screw 225, and a lead screw slider 226. The output shaft of the second motor 221 is connected to the lifting output gear 222. The lifting first gear set 223 is coaxially connected to the lifting output gear 222 through a connecting shaft. The lifting first gear set 223 is meshed with the lifting second gear set 224. The lifting second gear set 224 is connected to the lead screw 225 through end transmission teeth. The lead screw slider 226 is sleeved on the lead screw 225 and threadedly matched with the lead screw 225. The second motor 221 drives the lifting output gear 222 to rotate, and the lifting output gear 222 drives the lifting first gear set 223 to rotate synchronously. The lifting first gear set 223 drives the lifting second gear set 224 to rotate, thereby driving the lead screw 225 to rotate, so that the lead screw slider 226 moves on the lead screw 225.

[0077] like Figures 4 to 9 As shown, one end of the first crank 232 is hinged on the planer worm gear 214 and rotates with the planer turbine 214; the other end of the first crank 232 is hinged to the first connecting rod 231, the planer is installed at the lower end of the first connecting rod 231, the upper end of the first connecting rod 231 is hinged to the second connecting rod 233, the first connecting rod 231 is hinged to the screw slider 226, and the second connecting rod 233 is hinged to the frame 13. The angle of the first connecting rod 231 can be adjusted by the screw slider 226, and then the digging angle of the planer can be adjusted. In conjunction with the up and down swing of the first crank 232, the digging action of the planer can be realized.

[0078] like Figures 10 to 16As shown, the planting module 3 includes a taro clamping device 31 for conveying taro seeds, and a first-level opening and closing door assembly 32 and a second-level opening and closing door assembly 33 that can be opened and closed. The lower end of the taro clamping device 31 is connected to the first-level opening and closing door assembly 32 through a connecting piece, and the lower end of the first-level opening and closing door 32 is connected to the frame 13 through a connecting piece, and the second-level opening and closing door assembly 33 is connected below the frame 13; the center of the structure is aligned; the taro clamping device 31 is provided with a taro placing pipeline 311 and a crank slider mechanism 312 for controlling the opening and closing of the taro placing pipeline 311, the taro placing pipeline 311 is connected to the first-level opening and closing door assembly 32 and the second-level opening and closing door assembly 33 in sequence, the crank slider mechanism 312, the first-level opening and closing door assembly 32, and the second-level opening and closing door assembly 33 are all connected to the control module 7, and are used to send the taro seeds in the taro planting cup 334 into the seed pit dug by the pit digging and shoveling module 2.

[0079] When the taro clamping device 31 is opened, the first-level opening and closing door assembly 32 is in a closed state, so that the several seed taro in the taro placing pipe 311 will not fall directly into the second-level opening and closing door assembly 33; after the taro clamping device 31 is clamped, the first-level opening and closing door assembly 32 is opened, so that a seed taro falls into the second-level opening and closing door assembly 33. At this time, the taro clamping device 31 is in a clamped state, so that the several seed taro in the taro placing pipe 311 will not fall; the first-level opening and closing door assembly 32 is closed, and the taro clamping device 31 is opened, so that the several seed taro in the taro placing pipe 311 fall into the first-level opening and closing door assembly 32, and a seed taro is accommodated by a first-level funnel 324 between the first-level opening and closing door assembly 32 and the taro clamping device 31, so that the seed taro will not be clamped when the taro clamping device 31 is clamped, and the seed taro falls into the second-level opening and closing door assembly 33 when the first-level opening and closing door assembly 32 is opened; The seed taro is separated so that there is only one seed taro in one seed pit; when the seed taro falls into the taro planting cup 334 of the secondary opening and closing door assembly 33, the fertilizer and anthelmintic in the fertilizing module 4 also fall into the taro planting cup 334 of the secondary opening and closing door assembly 33; the secondary opening and closing door assembly 33 moves to the top of the seed pit and opens, and the seed taro, fertilizer and anthelmintic in the taro planting cup 334 fall into the seed pit; the secondary opening and closing door assembly 33 will move and open and close alternately to the left and right, so that the seed taro falls into the left and right seed pits dug alternately by the pit digging and shoveling module 2.

[0080] As shown in the figure, the taro clamping device 31 includes a centrally placed taro placing pipe 311, which is connected to a crank slider mechanism 312 at the rear; a clamping block 313 is connected to the slider extension rod of the crank slider mechanism 312; the crank slider mechanism 312 drives the clamping block 313 to relax and clamp alternately.

[0081] As shown in the figure, the taro placing pipe 311 is made of soft material and has a rough inner wall, so that when the clamping block 313 is relaxed or clamped, the taro placing pipe 311 is deformed, so that the seed taro in the taro placing pipe 311 will not fall when clamped and will fall when relaxed; the inner diameter of the taro placing pipe is slightly larger than a single seed taro, so that the seed taro with the pointed end facing upward after manual screening will not flip over during the falling process.

[0082] As shown in the figure, the crank slider mechanism 312 includes a third motor 3125 placed vertically; the lower end of the third motor 3125 is connected to a gear, and the left end of the gear is additionally connected to an equal-sized gear, which is then connected to a large gear, driving the crank 3123 on the large gear, and the lower ends of the cranks 3123 on the left and right sides are connected to the first slider 3121, and the upper ends are connected to the second slider 3122; so that the crank slider mechanism 312 formed moves symmetrically on the left and right sides, and when the third motor 3125 is driven, it drives the first slider 3121 and the second slider 3122 to reciprocate, so that the taro clamping device 31 is clamped and relaxed. When the third motor rotates a certain number of times, the crank slider mechanism 312 can be controlled to move symmetrically, forming a relaxed state when the left and right sliders are at the far end, and a clamped state when the left and right sliders are at the near end.

[0083] As shown in the figure, the first-level opening and closing door assembly 32 includes a fourth motor 321, a first-level rack box 322 connected to the fourth motor 321, a first-level slide rail 323 connected to the first-level rack box 322, and a first-level funnel 324 arranged at the end of the first-level slide rail 323 and capable of opening and closing left and right. The first-level funnel 324 is driven by the fourth motor 321 to drive the first-level rack box 322 to drive the left and right first-level slide rails 323 to open and close.

[0084] As shown in the figure, the upper end of the first-level opening and closing door assembly 32 of the seeding module 3 is connected to the taro clamping device 31, the front end is connected to the frame 13, and the lower end is connected to the second-level opening and closing door assembly 33. The fourth motor 321 is fixedly connected to both ends of the first-level opening and closing door assembly 32, and cooperates with a pair of first-level rack boxes 322; and the first-level rack box 322 is connected to a pair of first-level slide rails 323, and the first-level funnel 324 that can be opened left and right is fixed at the end of the first-level slide rail 323. When the fourth motor 321 rotates forward or reverse, it controls the relative movement of the slide rail to open or close the first-level funnel 324 fixed to the slide rail.

[0085] As shown in the figure, the first-level funnel 324 is similar in height and diameter to a seed taro, and there is a certain gap between the first-level funnel 324 and the bottom end of the taro clamping assembly 31, so that the first-level funnel 324 can accommodate seed taro of different sizes in a single planting, and can only accommodate one seed taro, and there will not be a situation where multiple seed taro are placed in one planting pit; the bottom end of the first-level funnel 324 is a pointed cone, so that the seed taro falls into the second-level opening and closing door assembly 33 with the pointed end facing upward.

[0086] As shown in the figure, the first-level funnel 324 is composed of a left half of the funnel and a right half of the funnel. The left half of the funnel and the right half of the funnel are each connected to a first-level slide rail 323. The first-level slide rail 323 is engaged with a first-level rack box 322. The first-level rack box 322 is connected to the output shaft of the fourth motor 321. The fourth motor 321 drives the first-level rack box 322 to rotate, and the first-level rack box 322 drives the first-level slide rail 323 to move to realize the opening and closing of the first-level funnel 324.

[0087] As shown in the figure, the taro placing pipe 311 of the taro clamping device 31 is aligned with the first-level funnel 324 in the first-level opening and closing door assembly 32 and the taro planting area 3342 of the taro planting cup 334 in the second-level opening and closing door assembly 33.

[0088] As shown in the figure, the secondary opening and closing door assembly 33 of the planting module 3 is suspended below the frame 13, and the secondary opening and closing door assembly 33 includes a crossbeam, a secondary slide rail 337 arranged on the crossbeam, at least one pair of secondary rack boxes 336 slidably arranged on the secondary slide rail 337, a fifth motor 332 connected to the secondary rack box 336 and driving the secondary rack box 336 to move left and right, and a taro planting cup 334 connected to the secondary rack box 336 and capable of opening and closing left and right, the taro planting cup 334 is located in the middle position of the secondary opening and closing door assembly 33, and a second limit switch 333 for left end limiting is provided on the left side of the taro planting cup 334, and a third limit switch 335 for right end limiting is provided on the left side of the taro planting cup 334; the taro planting cup 334 is driven by the fifth motor 332 to move left and right and open and close alternately, so that the taro seeds fall into the left and right planting pits alternately dug by the pit digging and shoveling module 2.

[0089] As shown in the figure, when the taro planting cup 334 is located in the middle position of the secondary opening and closing door assembly 33, the left end touches the upper second limit switch 333, and the right end touches the lower second limit switch 334; the fifth motor 332 drives the secondary rack box 336 to move in the same direction on the secondary slide rail 337; when the secondary rack box 336 moves to the left, the right end of the taro planting cup 334 stops moving when it touches the lower second limit switch 334, and the left end of the taro planting cup 334 continues to move to the left, and stops moving when the left end of the taro planting cup 334 touches the upper first limit switch 331, so that the taro planting cup 334 opens at the left extreme of the secondary opening and closing door assembly 33, and the taro seeds, fertilizers and anthelmintics therein fall into the pit at the left end; after a short time, the left and right ends of the taro planting cup 334 move in the same direction. When moving to the right, the taro planting cup 334 stops moving when the left end touches the third limit switch 335 above, and the taro planting cup 334 continues to move to the right, and stops moving when the right end of the taro planting cup 334 touches the first limit switch 331 below, so that the taro planting cup 334 opens at the right extreme of the secondary opening and closing door assembly 33, and the taro seeds, fertilizers and anthelmintics therein fall into the pit at the right end; after a short time, the left and right ends of the taro planting cup 334 move to the left at the same time, and are reset in the middle position of the secondary opening and closing door assembly 33; the taro planting cup 334 moves and opens and closes alternately to the left and right under the drive of the fifth motor 332, so that the taro seeds fall into the left and right seed pits alternately dug by the pit digging and shoveling module 2.

[0090] As shown in the figure, the taro planting cup 334 includes a taro planting area 3342 at the front end and a fertilizer and medicine area 3341 at the rear end. The taro planting area 3342 is similar in height and diameter to a taro planting area and has a pointed cone at the bottom, so that the taro planting area falls into the planting pit with the tip facing upward; when the fertilizer and medicine area 3341 is in the middle position of the secondary opening and closing door assembly 33, the fertilization module 4 delivers the proportioned fertilizer and anthelmintic into the fertilizer and medicine area 3341 through the feed conduit 44 in the fertilization module 4; the bottom of the fertilizer and medicine area 3341 is a pointed cone, so that the proportioned fertilizer and anthelmintic are concentrated when they are lowered into the planting pit.

[0091] As shown in the figure, the fertilizer and pesticide area 3341 and the taro seed area 3342 have a certain horizontal distance, so that the proportioned fertilizer and anthelmintic have a certain distance from the taro seed when they are put into the seed pit, which greatly reduces the possibility of burning the seedlings.

[0092] As shown in the figure, the inner cavity of the seed taro area 3342 is a conical cavity that is larger at the top and smaller at the bottom, so that the seed taro always falls into the seed pit with the tip facing upward.

[0093] As shown in the figure, the feeding mechanism 41 can achieve different feeding rates by adjusting the speed of the sixth motor 413. In the same time interval, the speed ratio of the Archimedean screw 411 at the fertilizer end and the pesticide end is controlled to control the fertilizer-pesticide ratio.

[0094] As shown in the figure, the fertilization module 4 includes a feeding mechanism 41, a storage bin 42, a Y-shaped pipe 43, and a feeding conduit 44. The feeding mechanism 41 includes an Archimedes screw 411, a connecting rod 412, a sixth motor 413, a fertilizer rack box 414, and a fertilizer gear set 415. The sixth motor 413 is plugged in front of the storage bin 42, and the Archimedes screw 411 is driven to rotate through the fertilizer rack box 414, the fertilizer gear set 415 and the connecting rod 412. After passing through the Y-shaped pipe 43 and the feeding conduit 44, the fertilizer and the medicine are accurately delivered to the fertilizer and medicine area 3341 of the taro cup 334. In addition, the present invention also provides a regulating mechanism, and the feeding rate of the feeding mechanism 41 can be changed by adjusting the rotation speed of the sixth motor 413. In a fixed time period, by adjusting the rotation speed ratio of the Archimedean screw 411 at the fertilizer end and the pesticide end, the mixing ratio of fertilizer and pesticide can be accurately controlled to meet different fertilization requirements. This design not only improves the accuracy of fertilization, but also enhances the adaptability and operational flexibility of the equipment, meeting the needs of efficient and precise agriculture.

[0095] like Fig. 20 As shown, the watering module 5 includes an inlet pipe 51, a water pump 52, and an outlet pipe 53 connected in sequence. The inlet pipe 51 is connected to an external water source, and the outlet of the outlet pipe 53 is located near the taro cup 334, which is used to water the taro in the seed pit. The watering module 5 of the present invention is intended to provide an efficient and uniform irrigation solution for taro planting. By accurately controlling the operation of the water pump 52, the module can irrigate in a timely and appropriate amount according to the actual water demand of the taro, optimize the use efficiency of water resources, and promote the healthy growth of the taro.

[0096] like Figures 21 to 22 As shown, the soil covering and film covering module 6 includes a first roller 61 connected to the storage bin 42, a second roller 62 connected to the soil covering shovel 63, the soil covering shovel 63 and a soil covering and film covering movement mechanism 64; the first roller 61 is located above the storage bin 42, the second roller 62 is located above the soil covering shovel 63, and the first roller 61 and the second roller 62 always remain relatively stationary; the soil covering shovel 63 is connected to the soil covering and film covering movement mechanism 64.

[0097] As shown in the figure, the soil covering shovel and soil covering movement mechanism 64 include an eighth motor 641, a soil covering and filming worm gear 642, and a soil covering and filming gear set 643. The eighth motor 641 is connected to the soil covering and filming worm gear 642 through the soil covering and filming gear set 643. The soil covering and filming worm gear 642 is connected to the soil covering shovel 63. The eighth motor 641 drives the soil covering and filming gear set 643 to rotate, and drives the soil covering shovel 63 to rise or fall through the soil covering and filming worm gear 642, so as to complete the soil covering action of the seed pit.

[0098] like Figures 21 to 22 As shown, the second roller 62 and the covering shovel 63 in the soil covering and film covering module 6 rise and fall together. When not in operation, the second roller 62 and the covering shovel 63 rise and are in a storage state. When in operation, the second roller 62 and the covering shovel 63 descend, and the soil covering and film covering are completed simultaneously as the machine moves forward.

[0099] The technical solution of the present invention is described in detail below in conjunction with specific embodiments: 1) The whole machine is placed on the field, and the start button is pressed to start the machine. When the machine moves forward, the counting teeth in the rim of the counting wheel 121 collide with the counting limit switch 122. Every time the machine moves the same distance, a signal is transmitted back to the control module. At this time, the digging and shoveling module 2 performs a digging operation, and the planting module 3 performs a planting operation.

[0100] 2) The pit digging and shoveling module 2 is started. Whenever the control module detects that the machine advances to the set seed spacing distance, the first motor 211 is started, driving the shoveling gear set 213 to drive the shoveling worm 212, so that the shoveling worm gear 214 and the first crank 232 rotate one circle, and the lead screw slider 226 on the first crank 232 drives the first connecting rod 231 and the second connecting rod 233 to rotate, thereby driving the shovel to swing up and down to dig pits. This module is symmetrically distributed on the left and right sides of the machine, and the two work alternately. For example, when the left pit digging and shoveling module 2 completes a pit digging, the next time the counting mechanism 12 sends back a signal, the right pit digging and shoveling module 2 will be started, and the pit digging operation will be performed in sequence, so that the machine can dig equally spaced and staggered seed pits on the ridges.

[0101] 3) When the machine moves forward, several seed taro sprouts are put upward into the taro placing pipe 311 by manual screening. When the taro clamping device 31 is opened, the first-level opening and closing door assembly 32 is in a closed state, so that the several seed taro in the taro placing pipe 311 will not fall directly into the second-level opening and closing door assembly 33; as the machine moves forward, the counting wheel 121 of the counting mechanism 12 touches the counting limit switch 122 several times to record the travel distance. After traveling a certain distance, the third motor 3125 in the taro clamping device 31 drives The crank slider mechanism 312 is moved to a certain phase to clamp the taro clamping device 31, and the left and right fourth motors 321 in the first-level opening and closing door assembly 32 drive the left and right first-level rack boxes 322 to transmit the left and right first-level slide rails 323 to open, so that a seed taro falls into the seed taro area 3342 in the taro planting cup 334 in the second-level opening and closing door assembly 33; the fertilizer and anthelmintic in the fertilizing module 4 also fall into the fertilizer and medicine area 3341 in the taro planting cup 334 in the second-level opening and closing door assembly 33. At this time, the taro clamping device 31 is in a clamping state, so that the several taro seeds in the taro placing pipe 311 will not fall down; after a short time, the first-level opening and closing door assembly 32 is closed, and the taro clamping device 31 is opened, so that the several taro seeds in the taro placing pipe 311 fall into the first-level funnel 324 in the first-level opening and closing door assembly 32. After traveling a certain distance, the counting mechanism 12 detects that the second-level opening and closing door assembly 33 moves to a horizontal position close to a pit dug by the pit digging and shoveling module 2, and the second-level opening and closing door assembly 33 starts to move toward the pit, and stops moving when the end of the taro planting cup 334 away from the pit touches the third limit switch 335, and the taro planting cup 334 close to the pit continues to move toward the pit. When one end near the pit touches the first limit switch 331, it stops moving, so that the taro planting cup 334 opens at one extreme end of the secondary opening and closing door assembly 33, and the taro seeds, fertilizers and anthelmintics therein fall into the pit. The fertilizer and medicine area 3341 is at a certain distance from the taro seeding area 3342, so that the proportioned fertilizer and anthelmintics are at a certain distance from the taro seeds when they are put into the seed pit; after a short time, the left and right ends of the taro planting cup 334 move toward the center at the same time and reset at the middle position of the secondary opening and closing door assembly 33; at this time, the left end of the taro planting cup 334 touches the upper second limit switch 333, and the right end touches the lower second limit switch 333; the secondary opening and closing door assembly 33 will move and open and close alternately to the left and right, so that the taro seeds fall into the left and right seed pits alternately dug by the pit digging and shoveling module 2.

[0102] 4) The fertilization module and the watering module are started at the same time, and the sixth motor 413 is connected to the connecting rod 412 through the fertilization rack box 414 and the fertilization gear set 415 to drive the Archimedean screw 411 to rotate, so as to achieve the quantitative output of fertilizers and medicines. The fertilizers and medicines are accurately delivered to the fertilizer and medicine area 3341 of the taro cup 334 after passing through the Y-shaped pipe 43 and the feeding pipe 44. At the same time, the water pump 52 draws water from the water source through the water inlet pipe 51, and then transports the water to the taro planting area through the water outlet pipe 53 to complete the precise irrigation operation. At the same time, the soil is fertilized, moistened and insecticidal.

[0103] 5) Before the machine starts working, the film required for covering is rolled onto the first roller 61; when the machine starts working, the eighth motor 641 in the soil covering and film covering movement mechanism 64 drives the soil covering and film covering gear set 643 to rotate, and the soil covering and film covering worm gear 642 drives the soil covering shovel 63 to complete the descent, and the film is bypassed by the second roller 62 and installed on the edge of the soil ridge; when the machine moves forward, the soil covering shovel 63 will push the soil shoveled out by the planing shovel back into the pit to bury the taro, and then the film will be automatically torn open and covered on the soil ridge.

[0104] The above examples are for the purpose of illustrating the embodiments disclosed in the present application and should not be construed as limiting the present application. In addition, the various modifications listed herein and the variations of methods and compositions in the invention are obvious to those skilled in the art without departing from the scope and spirit of the present application. Although the present application has been specifically described in conjunction with various specific preferred embodiments of the present application, it should be understood that the present application should not be limited to these specific embodiments. In fact, various modifications obvious to those skilled in the art as described above to obtain inventions should be included within the scope of the present application.

Claims

1. An integrated taro planting machine, characterized in that: include: A frame module (1) is used to support and drive the all-in-one machine to move; A pit digging and shoveling module (2), located at the front of the vehicle frame module (1), and used for digging a seed pit in the area to be planted; A seeding module (3) is located in the middle of the frame module (1), and comprises an openable and closable taro planting cup (334) for feeding taro seeds into the seeding pit; A fertilizing module (4), located in the middle of the frame module (1), for feeding fertilizer and anthelmintic into the taro cup (334); A watering module (5), located in the middle of the whole machine, is used to water the taro seeds placed in the seed pit; A soil covering and film covering module (6), located at the rear of the whole machine, is used to shovel soil into the seed pit to complete the soil covering and film covering of the seed pit; and / or The control module (7) is mounted on the vehicle frame module (1) and connected to the vehicle frame module (1), the pit digging and shoveling module (2), the planting module (3), the fertilizing module (4), the watering module (5) and the soil covering and film covering module (6), and is used to control the state and action of the vehicle frame module (1), the pit digging and shoveling module (2), the planting module (3), the fertilizing module (4), the watering module (5) and / or the soil covering and film covering module (6).

2. The integrated taro planting machine according to claim 1, characterized in that: The frame module (1) comprises a wheel (11), a counting mechanism (12), and a frame (13); the wheel (11) is self-driven and symmetrically mounted on both sides of the frame (13); the counting mechanism (12) comprises a counting wheel (121) and a counting limit switch (122); the counting wheel (121) is arranged on the wheel (11), and counting teeth are arranged in the wheel rim of the counting wheel (121); the counting limit switch (122) is connected to the control module (7) and is used for transmitting a collision signal generated by periodic collision with the counting teeth to the control module (7).

3. The integrated taro planting machine according to claim 1, characterized in that: The pit digging and shoveling module (2) comprises a shovel transmission mechanism (21), a shovel lifting mechanism (22) and a shovel actuator (23); the shovel actuator (23) comprises a first crank (232), a first connecting rod (231) hinged to the first crank (232) and a second connecting rod (233) hinged to the first connecting rod (231); a shovel is mounted on the lower end of the first connecting rod (231), and the upper end of the first connecting rod (231) is hinged to the vehicle frame (13) via the second connecting rod (233); the shovel transmission mechanism (21) is connected to the first crank (232) and is used to drive the shovel to swing up and down; the movable part of the shovel lifting mechanism (22) is connected to the first connecting rod (231) and is used to adjust the digging angle of the shovel and cooperate with the shovel to swing up and down periodically to complete the pit digging action.

4. The integrated taro planting machine according to claim 1, characterized in that: The seeding module (3) comprises a taro clamping device (31) for conveying seed taro, and a first-stage opening and closing door assembly (32) and a second-stage opening and closing door assembly (33) that can be opened and closed. The taro clamping device (31) is provided with a taro placing pipeline (311) and a crank slider mechanism (312) for controlling the opening and closing of the taro placing pipeline (311). The taro placing pipeline (311) is connected to the first-stage opening and closing door assembly (32) and the second-stage opening and closing door assembly (33) in sequence. The crank slider mechanism (312), the first-stage opening and closing door assembly (32) and the second-stage opening and closing door assembly (33) are all connected to the control module (7) and are used to convey the seed taro in the taro planting cup (334) into the seeding pit dug by the pit digging and shoveling module (2).

5. The integrated taro planting machine according to claim 4, characterized in that: The primary opening and closing door assembly (32) comprises a fourth motor (321), a primary rack box (322) connected to the fourth motor (321), a primary slide rail (323) connected to the primary rack box (322), and a primary hopper (324) arranged at the end of the primary slide rail (323) and capable of opening and closing left and right. The primary hopper (324) is driven by the fourth motor (321) to drive the primary rack box (322) to drive the left and right primary slide rails (323) to open and close.

6. The integrated taro planting machine according to claim 4, characterized in that: The secondary opening and closing door assembly (33) comprises a crossbeam, a secondary slide rail (337) arranged on the crossbeam, at least one pair of secondary rack boxes (336) slidably arranged on the secondary slide rail (337), a fifth motor (332) connected to the secondary rack box (336) and driving the secondary rack box (336) to move left and right, and a taro planting cup (334) connected to the secondary rack box (336) and capable of opening and closing left and right. The taro planting cup (334) is located in the middle of the secondary opening and closing door assembly (33), a second limit switch (333) for left end limit is arranged on the left side of the taro planting cup (334), and a third limit switch (335) for right end limit is arranged on the left side of the taro planting cup (334); the taro planting cup (334) is driven by the fifth motor (332) to move leftward and rightward and open and close alternately, so that the taro seed falls into the left and right seed pits alternately dug by the pit digging and shoveling module (2).

7. The integrated taro planting machine according to claim 6, characterized in that: The inner cavity of the taro planting cup (334) is a conical cavity that is larger at the top and smaller at the bottom, so that the taro seed always falls into the planting pit with the tip facing upward.

8. The integrated taro planting machine according to claim 1, characterized in that: The fertilizing module (4) comprises a feeding mechanism (41), a storage bin (42), a Y-shaped pipe (43), and a feeding conduit (44). The feeding mechanism (41) comprises an Archimedean screw (411), a connecting rod (412), a sixth motor (413), a fertilizing rack box (414), and a fertilizing gear set (415). The sixth motor (413) is plugged in front of the storage bin (42) and drives the Archimedean screw (411) to rotate through the transmission of the fertilizing rack box (414), the fertilizing gear set (415), and the connecting rod (412). After being discharged, the fertilizer and the medicine fall into the taro planting cup (334) through the Y-shaped pipe (43) and the feeding conduit (44).

9. The integrated taro planting machine according to claim 1, characterized in that: The watering module (5) comprises a water inlet pipe (51), a water pump (52), and a water outlet pipe (53) which are connected in sequence. The water inlet pipe (51) is connected to an external water source, and the outlet of the water outlet pipe (53) is located near the taro planting cup (334) and is used to water the taro in the planting pit.

10. The integrated taro planting machine according to claim 5, characterized in that: The soil covering and film covering module (6) comprises a first roller (61) connected to the material storage bin (42), a second roller (62) connected to the soil covering shovel (63), the soil covering shovel (63) and a soil covering and film covering movement mechanism (64); the first roller (61) is located above the material storage bin (42), the second roller (62) is located above the soil covering shovel (63), and the first roller (61) and the second roller (62) always remain relatively stationary; the soil covering shovel and the soil covering movement mechanism (64) comprise an eighth motor ( 641), a soil covering and film covering worm gear (642), and a soil covering and film covering gear set (643); the eighth motor (641) is connected to the soil covering and film covering worm gear (642) via the soil covering and film covering gear set (643); the soil covering and film covering worm gear (642) is connected to the soil covering shovel (63); the eighth motor (641) drives the soil covering and film covering gear set (643) to rotate, and drives the soil covering shovel (63) to rise or fall via the soil covering and film covering worm gear (642), so as to complete the soil covering action of the seed pit.

Images