An integrated taro planter

Abstract

The application discloses an integrated taro planter, which comprises a frame module for supporting and driving the integrated machine to walk; a hole digging and spade module located at the front of the frame module and used for digging a planting hole in a region to be planted; a seed planting module located at the middle of the frame module and comprising an openable and closable taro planting cup used for feeding a taro seedling into the planting hole; a fertilization module located at the middle of the frame module and used for feeding fertilizer and insect repellent into the taro planting cup; a watering module located at the middle of the whole machine and used for irrigating the taro seedling put into the planting hole; a soil covering and mulching module located at the rear of the whole machine and used for shoveling soil into the planting hole to complete soil covering and mulching of the planting hole; and / or a control module installed on the frame module and connected with the frame module, the hole digging and spade module, the seed planting module, the fertilization module, the watering module and the soil covering and mulching module. The application has the beneficial effects that the planting, fertilization distance, equipment speed can be automatically controlled, the machine can be started and stopped at any time, the uniform and beautiful taro seedlings can be ensured, and the planting efficiency and quality are improved.

Description

Technical Field

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

[0002] With the continuous advancement of technology, intelligent and diversified machinery has gradually permeated every aspect of our lives. In large-scale industrial production, automated machinery is gradually replacing jobs that do not require human intelligence. This shift not only frees up a significant amount of human resources, enabling them to move into high-tech industries, but also reduces production costs, improves efficiency, and reduces production errors caused by human error. The agricultural sector has particularly benefited from the widespread use of mechanization.

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

[0004] Taro cultivation is a labor-intensive, seasonal, and time-sensitive activity. In most areas of China, taro cultivation still relies on traditional manual labor. This model is not only labor-intensive, labor-intensive, and costly, but also inefficient in meeting the demands of modern production. Therefore, promoting mechanized and intelligent taro planting is crucial. The use of mechanized seeding equipment can largely address these challenges, allowing growers to experience the benefits and profits of mechanized and intelligent farming firsthand. This is not only an inevitable trend in global agricultural development but also a reflection of human ingenuity.

[0005] Currently, the taro seeding machinery market is relatively unpopular. Existing equipment has numerous shortcomings, and its application scenarios are limited. The taro planting process is complex, involving multiple steps such as digging holes, sowing, fertilizing, applying pesticides, watering, covering with soil, and mulching. This is time-consuming, labor-intensive, and requires the collaboration of multiple people. Currently, taro seeding primarily relies on manual labor, livestock, or hand tractors for ridge formation, followed by manual fertilization and seeding. This 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 to use. Summary of the Invention

[0007] In view of the shortcomings of the above-mentioned prior art, the purpose of this application is to provide an integrated taro planting machine, the purpose of this invention is to solve the problem of the shortcomings of existing taro planting machinery, the present invention integrates each key step of taro planting into an intelligent device, and realizes the full process automation from digging, sowing, fertilizing, applying pesticides, watering to covering soil and covering film. The design of this device focuses on the simplicity of operation and wide applicability, and is intended 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 accurate planting management, thereby bringing greater economic benefits to farmers. In addition, the intelligent design of this device also helps to reduce the planting errors caused by human factors, ensures the uniformity and consistency of taro planting, and further improves the modernization level of agricultural production.

[0008] To solve the above problems, the technical solution adopted in this application is:

[0009] The integrated taro planting machine of the present invention is characterized by comprising:

[0010] The frame module is used to support and drive the all-in-one machine to move;

[0011] The digging and shoveling module is installed at the front of the frame module and is used to dig seed holes in the area to be planted;

[0012] 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;

[0013] The fertilizing module is located in the middle of the frame module and is used to deliver fertilizer and insect repellent into the taro cup;

[0014] The watering module is located in the middle of the machine and is used to water the taro seeds placed in the seed pit;

[0015] The soil and film covering module is located at the rear of the machine and is used to shovel soil into the seed pit to complete the soil covering of the seed pit; and / or

[0016] The control module is installed on the frame module and is connected to the frame module, the digging and shoveling module, the seeding 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 seeding module, the fertilizing module, the watering module and / or the soil and film covering module.

[0017] 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 symmetrically mounted on either side of the frame. The counting mechanism includes a counting wheel and a counting limit switch. The counting wheel is mounted on the wheel, and counting teeth are provided within the rim of the counting wheel. The counting limit switch is connected to the control module and is used to transmit collision signals generated by periodic collisions with the counting teeth to the control module. When the wheel rotates, the counting wheel rotates, and the counting teeth within the rim of the counting wheel collide with the counting limit switch. The number of collisions is used as a marker to calculate the travel distance. The frame is positioned symmetrically, which can ensure good balance of the all-in-one machine.

[0018] 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 simultaneously start the digging and shoveling module and the planting module to enter the next working cycle.

[0019] As a preferred embodiment of the present application, the pit digging shovel 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 at 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 for driving the shovel to swing up and down; the movable part of the shovel lifting mechanism is connected to the first connecting rod for adjusting the digging angle of the shovel, and cooperating with the shovel to swing up and down periodically to complete the pit digging action.

[0020] As a preferred embodiment of this application, the digging and shoveling modules are equipped with two sets of blades, and the two blades of the digging and shoveling modules are staggered in phase, ensuring precise digging and quick return to the next pit. The worm gear structure design provides stable transmission. Compared with other transmissions, this transmission can effectively reduce the impact between the rods and extend the service life of the blades. At the same time, its high output torque can prevent the problem of being unable to dig hard soil.

[0021] 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 engaged 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 engaged 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.

[0022] As a preferred embodiment of the present application, the planer shovel lifting mechanism includes a second motor, a lifting output gear, a lifting first gear group, a lifting second gear group, a screw, and a screw slider. The output shaft of the second motor is connected to the lifting output gear, the lifting first gear group is coaxially connected to the lifting output gear through a connecting shaft, the lifting first gear group is meshed with the lifting second gear group, the lifting second gear group is connected to the screw through the end transmission teeth, the screw slider is sleeved on the screw and cooperates with the screw thread, the second motor drives the lifting output gear to rotate, the lifting output gear drives the lifting first gear group to rotate synchronously, the lifting first gear group drives the lifting second gear group to rotate, thereby driving the screw to rotate, so that the screw slider moves on the screw.

[0023] As a preferred embodiment of the present application, one end of the first crank is hinged to 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 at 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 digging action of the planer can be realized by coordinating the up and down swinging of the first crank.

[0024] As the preferred embodiment of the present application, the seeding 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 seed pit dug by the pit digging and shoveling module.

[0025] 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 loosening and clamping movements; 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 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.

[0026] As a preferred embodiment of the present application, the crank slider mechanism includes a third motor, which 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, and 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 is clamped and released.

[0027] 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 first-level slide rails to open and close on the left and right sides.

[0028] 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 device, 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 be no 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.

[0029] 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. 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 engaged with the 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.

[0030] 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 limitation is provided on the left side of the taro planting cup, and a third limit switch for right end limitation is provided on the right side of the taro planting cup; the taro planting cup moves alternately to the left and right and opens and closes 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 and 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 and 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. Driven by the fifth motor, the taro cup moves alternately left and right and opens and closes.

[0031] 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 pointed cone-shaped, so that the proportioned fertilizer and anthelmintic are concentrated when they are dropped into the planting pit.

[0032] 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 are at a certain distance from the taro seed when they are put into the seed pit, which greatly reduces the possibility of burning the seedlings.

[0033] 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.

[0034] As a preferred embodiment of the present invention, the feeding mechanism can achieve different feeding rates by adjusting the speed of the sixth motor. Within 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.

[0035] 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 the front of the storage bin, and is driven to rotate by the fertilizer rack box, the fertilizer gear set and the connecting rod. Fertilizers and medicines are quantitatively output through the Archimedes screw and fall into the fertilizer and medicine area of ​​the taro cup through the Y-shaped pipe and the feeding conduit.

[0036] 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 seeds in the seed pit.

[0037] As a preferred embodiment of the present application, the soil covering and film covering module includes a first roller connected to the storage bin, a second roller connected to the 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.

[0038] 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.

[0039] As a preferred embodiment of the present application, the second roller and the covering shovel in the soil covering and film 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 working, the second roller and the covering shovel fall, and the soil covering and film covering are completed simultaneously with the movement of the machine.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] 1. The present invention can realize the automation operation of the whole process of taro planting, including but not limited to key steps such as digging holes, planting seeds, fertilizing, watering, covering soil and covering with film, and these processes are all integrated into the mechanical structure.

[0042] 2. The taro planting machine of the present invention has been 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 all types of farmers.

[0043] 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 maintenance difficulty and cost.

[0044] 4. The taro planting machine of the present invention has a compact structure and high space utilization, which not only improves the working efficiency but also enhances the safety and stability of the machine.

[0045] 5. The seeding module of the present invention separates individual seed taro through the alternating opening and coordination of the taro clamping device, the primary and secondary door assemblies. Furthermore, a certain tolerance is maintained for the different sizes of seed taro, allowing both large and small seed taro to be successfully separated, ensuring that only one seed taro is placed in each seeding pit.

[0046] 6. The taro placement pipe, primary funnel, and taro planting cup in the seeding module of the present invention achieve multiple functions such as separating individual taro seeds and keeping the taro sprout tips facing upward through reasonable shape design, location arrangement, and material selection. The taro planting cup also works in conjunction with the fertilization module, which not only solves the problems of seeding and feeding in an integrated manner, but also controls the distance between fertilizer, anthelmintics, and the taro seeds, avoiding seedling burning. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural schematic diagram of the present invention.

[0048] Figure 2 It is a structural schematic diagram of the frame module of the present invention.

[0049] Figure 3 It is a structural schematic diagram of the counting mechanism in the frame module of the present invention.

[0050] Figure 4 It is a structural schematic diagram of the pit digging and shoveling module of the present invention.

[0051] Figure 5 It is a structural schematic diagram of the digging and shoveling transmission mechanism in the pit digging and shoveling module of the present invention.

[0052] Figure 6 It is a structural schematic diagram of the actuator in the pit digging and shoveling module of the present invention.

[0053] Figure 7 It is a structural schematic diagram of the digging shovel lifting mechanism in the pit digging shovel module of the present invention.

[0054] Figure 8 It is a structural schematic diagram of the digging shovel module of the present invention when the shovel lifting mechanism rises to the highest point.

[0055] Figure 9 It is a structural schematic diagram of the digging shovel module of the present invention when the shovel lifting mechanism is lowered to the lowest point.

[0056] Figure 10 It is a structural schematic diagram of the seeding module of the present invention.

[0057] Figure 11 It is a structural schematic diagram of the taro clamping device in the seeding module of the present invention.

[0058] Figure 12 It is a structural schematic diagram of the crank slider mechanism in the taro clamping device in the seeding module of the present invention.

[0059] Figure 13 This is a schematic structural diagram of the first-level opening and closing door assembly in the next module of the present invention.

[0060] Figure 14 This 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.

[0061] Figure 15 This is a schematic structural diagram of the secondary opening and closing door assembly in the lower module of the present invention.

[0062] Figure 16 This is a schematic diagram of the taro planting cup structure in the secondary opening and closing door assembly in the planting module of the present invention.

[0063] Figure 17 It is a structural schematic diagram of the fertilization module of the present invention.

[0064] Figure 18 It is a structural schematic diagram of the feeding mechanism in the fertilizing module of the present invention.

[0065] Figure 19 This is a roadmap for the fertilizers and medicines of the present invention.

[0066] Figure 20 It is a structural schematic diagram of the watering module of the present invention.

[0067] Figure 21 It is a structural schematic diagram of the soil and film covering module of the present invention.

[0068] Figure 22 It is a structural schematic diagram of the soil and film covering movement mechanism in the soil and film covering module of the present invention.

[0069] Figure 23 It is the workflow diagram of the present invention. DETAILED DESCRIPTION

[0070] The following describes the embodiments of the present application through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present application from the disclosure herein. The present application may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present application.

[0071] It should be noted that the process equipment or device not specifically mentioned in the following examples is the conventional equipment or device in the art.

[0072] Furthermore, it should be understood that the connection between one or more devices / apparatuses mentioned in the present application does not exclude that other devices / apparatuses can be present before or after the mentioned combination of devices / apparatuses or that other devices / apparatuses can be interposed between these two mentioned devices / apparatuses, unless otherwise specified. Moreover, unless otherwise specified, the numbering of the method steps is merely intended to identify the respective method steps and does not indicate a specific execution order of the method steps or limit the scope of the present application to the described execution order. Changes or modifications of the relative positions of the method steps, when not substantially altering the technical content of the present application, are also deemed to be within the scope of the present application.

[0073] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are examples for explaining the present application and should not be understood as limiting the present application.

[0074] In the description of the present application, it should be understood that the terms "upper", "lower", "left", "right", "inner", "outer", "axial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely intended to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified.

[0075] In the description of the present application, it should be noted that unless otherwise specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium; can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0076] Throughout this specification, reference to terms such as "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 illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0077] The present application is further described below in conjunction with specific embodiments, but the protection scope of the present application is not limited thereto.

[0078] like Figure 1 As shown, the integrated taro planting machine of the present invention comprises:

[0079] Frame module 1, used to support and drive the all-in-one machine to move;

[0080] The digging and shoveling module 2 is located in the front of the frame module 1 and is used to dig a seed pit in the area to be planted;

[0081] 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;

[0082] The fertilizing module 4 is located in the middle of the frame module 1 and is used to feed fertilizer and anthelmintics into the taro cup 334;

[0083] The watering module 5 is located in the middle of the whole machine and is used to water the taro seeds placed in the seed pit;

[0084] The soil 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

[0085] 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 seeding module 3, the fertilizing module 4, the watering module 5 and the soil and film covering module 6, and is used to control the status and action of the frame module 1, the digging and shoveling module 2, the seeding module 3, the fertilizing module 4, the watering module 5 and / or the soil and film covering module 6.

[0086] like Figure 1 As shown, in the integrated taro planter 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 fertilizing module 4 is plugged into the planting module 3 front and back; the fertilizing module 4 is plugged into the watering module 5 up and down; the soil covering and film covering module 6 is plugged into the fertilizer module 4 front and back; the planting module 3, the fertilizing 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.

[0087] like Figures 2 to 3 As shown, the frame module 1 comprises wheels 11, a counting mechanism 12, and a frame 13. Wheels 11 are self-driven and symmetrically mounted on either side of the frame 13. The counting mechanism 12 comprises a counting wheel 121 and a counting limit switch 122. The counting wheel 121 is mounted on the wheel 11 and has counting teeth within its rim. The counting limit switch 122 is connected to the control module 7 and transmits collision signals generated by periodic collisions with the counting teeth to the control module 7. When the wheel 11 rotates, the counting wheel 121 rotates, and the counting teeth within its rim collide with the counting limit switch 122. The number of collisions serves as a marker for calculating travel distance. The frame 13 is positioned symmetrically to ensure good balance.

[0088] 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 simultaneously start the digging and shoveling module 2 and the planting module 3 to enter the next working cycle.

[0089] 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 chain 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, thereby realizing the adjustment of the shovel length, that is, the control of the digging depth, and cooperating with the shovel to swing up and down periodically to complete the digging action.

[0090] like Figures 4 to 9 As shown, the digging and shoveling modules comprise two sets, each with its shovels staggered in phase, ensuring precise digging and quick return to the next pit. The worm gear design provides a stable transmission, effectively reducing impact between components and extending the shovel's service life compared to other transmissions. Furthermore, its high output torque prevents problems with digging hard soil.

[0091] like Figures 4 to 9As shown, the shovel transmission mechanism 21 includes a first motor 211, a shovel gear group 213 connected to the first motor 211, a shovel worm 212 connected to the shovel gear group 213, and a shovel worm wheel 214 engaged with the shovel worm 212. The first motor 211 drives the shovel gear group 213 to rotate, and the shovel gear group 213 drives the shovel worm 212 to rotate. Since the shovel worm 212 is engaged with the shovel worm wheel 214, the shovel worm wheel 214 is rotatably mounted on the frame 13. 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.

[0092] 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 screw 225, and a 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 screw 225 through the end transmission teeth, the screw slider 226 is sleeved on the screw 225 and threadedly matched with the screw 225, the second motor 221 drives the lifting output gear 222 to rotate, 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 screw 225 to rotate, so that the screw slider 226 moves on the screw 225.

[0093] like Figures 4 to 9 As shown, one end of the first crank 232 is hinged to 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 lower end of the first connecting rod 231 is installed with the planer, 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.

[0094] like Figures 10 to 16As shown, the seed planting module 3 includes a seed clamping device 31 for transporting seeds and a first open-close door assembly 32 and a second open-close door assembly 33 which can be opened and closed, the lower end of the seed clamping device 31 is connected to the first open-close door assembly 32 through a connecting member, the lower end of the first open-close door assembly 32 is connected to the vehicle frame 13 through a connecting member, and the second open-close door assembly 33 is connected below the vehicle frame 13; the structure is centrally aligned; the seed clamping device 31 is provided with a seed placing pipe 311 and a crank slider mechanism 312 for controlling the opening and closing of the seed placing pipe 311, the seed placing pipe 311 is sequentially connected to the first open-close door assembly 32 and the second open-close door assembly 33, and the crank slider mechanism 312, the first open-close door assembly 32 and the second open-close door assembly 33 are connected to the control module 7 for sending the seeds in the seed cup 334 into the seed hole dug by the hole digging and spade module 2.

[0095] When the seed clamping device 31 is opened, the first open-close door assembly 32 is in a closed state, so that the seeds in the seed placing pipe 311 will not directly fall into the second open-close door assembly 33; after the seed clamping device 31 is clamped, the first open-close door assembly 32 is opened, so that a seed falls into the second open-close door assembly 33. At this time, the seed clamping device 31 is in a clamped state, so that the seeds in the seed placing pipe 311 will not fall; the first open-close door assembly 32 is closed, and the seed clamping device 31 is opened, so that the seeds in the seed placing pipe 311 fall into the first open-close door assembly 32, and a seed is accommodated by the first funnel 324 between the first open-close door assembly 32 and the seed clamping device 31, so that the seed will not be clamped when the seed clamping device 31 is clamped, and the seed will fall into the second open-close door assembly 33 when the first open-close door assembly 32 is opened; the seed is separated, so that there is only one seed in one seed hole; when the seed falls into the seed cup 334 of the second open-close door assembly 33, the fertilizer and insect repellent in the fertilizing module 4 also fall into the seed cup 334 of the second open-close door assembly 33; the second open-close door assembly 33 moves above the seed hole and is opened, and the seed and the fertilizer and insect repellent in the seed cup 334 fall into the seed hole; the second open-close door assembly 33 moves alternately to the left and to the right, so that the seeds fall into the left and right seed holes alternately dug by the hole digging and spade module 2.

[0096] As shown, the seed clamping device 31 includes a seed placing pipe 311 centrally placed and a crank slider mechanism 312 connected 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 alternately move in a relaxed state and a clamped state.

[0097] 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 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.

[0098] As shown in the figure, the slider-crank mechanism 312 includes a vertically positioned third motor 3125. The lower end of the third motor 3125 is connected to a gear, and the left end of the gear is additionally connected to a gear of equal size, which is then connected to a large gear. This drives a crank 3123 on the large gear. The lower ends of the left and right cranks 3123 are both connected to the first slider 3121, and the upper ends are both connected to the second slider 3122. This creates symmetrical left-right movement for the slider-crank mechanism 312. When the third motor 3125 is driven, it drives the first and second sliders 3121 and 3122 to reciprocate, causing the clamping device 31 to tighten and loosen. When the third motor rotates a certain number of times, it controls the slider-crank mechanism 312 to move symmetrically, with the left and right sliders at the distal end forming a relaxed state and the left and right sliders at the proximal end forming a clamped state.

[0099] 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 first-level slide rail 323 to open and close.

[0100] As shown in the figure, the first-stage door assembly 32 of the lower seeding module 3 is connected to the taro clamping device 31 at its upper end, the frame 13 at its front end, and the second-stage door assembly 33 at its lower end. A fourth motor 321 is fixedly connected to both ends of the first-stage door assembly 32 and engages a pair of first-stage racks 322. The racks 322 are connected to a pair of first-stage slide rails 323, each of which has a first-stage hopper 324 fixed to its end, which can be opened left or right. When the fourth motor 321 rotates forward or reverse, it controls the relative movement of the slide rails, opening or closing the first-stage hopper 324, which is fixed to the slide rails.

[0101] 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 device 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 be no 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 upwards.

[0102] As shown in the figure, the first-level funnel 324 is composed of the left half of the funnel and the 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 the 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.

[0103] 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.

[0104] 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 right 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 digging and shoveling module 2.

[0105] As shown in the figure, when the planting cup 334 is 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 333; 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 planting cup 334 touches the lower second limit switch 333 to stop moving, and the left end of the planting cup 334 continues to move to the left, and when the left end of the planting cup 334 touches the upper first limit switch 331, it stops moving, so that the planting cup 334 opens to the left extreme of the secondary opening and closing door assembly 33, and the seedlings, fertilizer and insect repellent in it fall into the left pit; after a short time, the left and right ends of the planting cup 334 move to the right at the same time, and reset in the middle position of the secondary opening and closing door assembly 33; when moving to the right, the left end of the planting cup 334 touches the upper third limit switch 335 to stop moving, and the right end of the planting cup 334 continues to move to the right, and when the right end of the planting cup 334 touches the lower first limit switch 331, it stops moving, so that the planting cup 334 opens to the right extreme of the secondary opening and closing door assembly 33, and the seedlings, fertilizer and insect repellent in it fall into the right pit; after a short time, the left and right ends of the planting cup 334 move to the left at the same time, and reset in the middle position of the secondary opening and closing door assembly 33; the planting cup 334 moves left and right alternately under the drive of the fifth motor 332, opens and closes, so that the seedlings fall into the left and right seed pits alternately dug by the pit digging and shoveling module 2.

[0106] As shown in the figure, the planting cup 334 includes a front end seedling area 3342 and a rear end fertilizer and insect repellent area 3341, the seedling area 3342 is similar in height and diameter to a seedling, and the bottom end is a sharp cone, so that the seedling falls into the seed pit with the sharp end upward; when the secondary opening and closing door assembly 33 is in the middle position, the fertilizer and insect repellent module 4 sends the mixed fertilizer and insect repellent into the fertilizer and insect repellent area 3341 through the discharging conduit 44 in the fertilizer and insect repellent module 4; the bottom end of the fertilizer and insect repellent area 3341 is a sharp cone, so that the mixed fertilizer and insect repellent are concentrated in position when they fall into the seed pit.

[0107] As shown in the figure, the fertilizer and insect repellent area 3341 has a certain horizontal distance from the seedling area 3342, so that the mixed fertilizer and insect repellent have a certain distance from the seedling when they fall into the seed pit, greatly reducing the possibility of seedling burn.

[0108] As shown in the figure, the inner cavity of the seedling area 3342 is a conical cavity that is large at the top and small at the bottom, so that the seedling always falls into the seed pit with the sharp end upward.

[0109] 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.

[0110] 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 into the front of the storage bin 42. The Archimedes screw 411 is driven by 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 medicine are accurately delivered to the fertilizer and medicine area 3341 of the taro cup 334. In addition, the present invention also provides an adjustment mechanism. By adjusting the speed of the sixth motor 413, the feeding rate of the feeding mechanism 41 can be changed. By adjusting the speed ratio of the Archimedean screws 411 at the fertilizer and pesticide ends within a fixed time period, the fertilizer-to-pesticide mixing ratio can be precisely controlled to meet different fertilization requirements. This design not only improves fertilization accuracy but also enhances the adaptability and operational flexibility of the equipment, meeting the needs of efficient and precision agriculture.

[0111] like Figure 20 As shown, the watering module 5 includes a water inlet pipe 51, a water pump 52, and a water outlet pipe 53 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 cup 334 for watering 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 precisely controlling the operation of the water pump 52, the module can irrigate in a timely and appropriate manner according to the actual water demand of the taro, optimize the use efficiency of water resources, and promote the healthy growth of the taro.

[0112] 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.

[0113] 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, and 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.

[0114] 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 they are not in operation, the second roller 62 and the covering shovel 63 rise and are in a storage state. When they are in operation, the second roller 62 and the covering shovel 63 fall, and the soil covering and film covering are completed simultaneously with the advancement of the machine.

[0115] The technical solution of the present invention is described in detail below with reference to specific embodiments:

[0116] 1) Place the machine in the field and press Start to begin operation. As the machine moves forward, the counting teeth inside the rim of counting wheel 121 collide with counting limit switch 122. Each time the machine moves a certain distance, a signal is transmitted back to the control module. At this point, digging module 2 performs a digging operation, and seeding module 3 performs a seeding operation.

[0117] 2) The digging and shoveling module 2 is activated. Whenever the control module detects that the machine has advanced to the set seed spacing, the first motor 211 is activated, driving the shoveling gear set 213, which in turn drives the shoveling worm 212, causing the shoveling worm gear 214 and the first crank 232 to rotate one revolution. The lead screw slider 226 on the first crank 232 then rotates the first connecting rod 231 and the second connecting rod 233, thereby causing the shovel to swing up and down to dig a pit. This module is symmetrically located on each side of the machine, and the two operate alternately. For example, when the left-side digging and shoveling module 2 completes a digging operation, the next time the counting mechanism 12 returns a signal, the right-side digging and shoveling module 2 is activated, and the digging operation is repeated in a cycle, so that the machine digs evenly spaced seed pits on the ridges, staggered on the left and right sides.

[0118] 3) When the machine moves forward, several seed taro sprouts are manually screened and put into the taro placing pipe 311 with their tips upwards. 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 is driven 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; 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. When the end of the taro planting cup 334 away from the pit touches the third limit switch 335, it stops moving. The end of the taro planting cup 334 close to the pit continues to move toward the pit. When the taro planting cup 334 is close to 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 insecticides therein fall into the pit. The fertilizer and pesticide area 3341 is at a certain distance from the taro seeding area 3342, so that the proportioned fertilizer and insecticide 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 in 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 dug alternately by the pit digging and shoveling module 2.

[0119] 4) The fertilization and watering modules are activated simultaneously. The sixth motor 413 is connected to the connecting rod 412 via the fertilization rack box 414 and the fertilization gear set 415, driving the Archimedean screw 411 to rotate, achieving quantitative delivery of fertilizer and chemicals. The fertilizer and chemicals pass through the Y-shaped pipe 43 and the discharge conduit 44, and are precisely delivered to the fertilizer and chemical area 3341 of the taro cup 334. Simultaneously, the water pump 52 draws water through the water inlet pipe 51 and delivers it to the taro planting area through the water outlet pipe 53, completing the precise irrigation operation. This simultaneously fertilizes, moistens, and kills insects in the soil.

[0120] 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 covering and covering motion mechanism 64 drives the covering and covering gear set 643 to rotate, which is then driven by the covering worm gear 642 to complete the descent, and the film is passed around the second roller 62 and installed on the edge of the soil ridge; when the machine moves forward, the covering shovel 63 will push the soil scooped 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.

[0121] The above examples are for the purpose of illustrating the embodiments disclosed in the present application and are not to be construed as limiting the present application. In addition, the various modifications listed herein and the variations of the methods and compositions in the invention will be apparent 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 with reference to 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 apparent to those skilled in the art as described above to obtain the invention will fall 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), 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 seeding module (3) includes a taro clamping device (31) for feeding taro seeds, and an openable and closable first-stage opening and closing door assembly (32) and a second-stage opening and closing door assembly (33); the taro clamping device (31) is provided with a taro placing pipe (311) and a crank slider mechanism (312) for controlling the opening and closing of the taro placing pipe (311); the taro placing pipe (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 feed the taro seeds in the taro planting cup (334) into the seeding pit dug by the pit digging and shoveling module (2); the second-stage 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, wherein 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 limiting the left end is provided on the left side of the taro planting cup (334), and a third limit switch (335) for limiting the right end is provided on the right side of the taro planting cup (334); the taro planting cup (334) is alternately moved leftward and rightward and opened and closed under the drive of the fifth motor (332), so that the taro seed falls into the left and right seed pits alternately dug by the digging and shoveling module (2); A fertilizing module (4), located in the middle of the frame module (1), 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 taro seeds placed in the seed pit; A soil 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 and film covering of the seed pit; and / or A control module (7) is mounted on the vehicle frame module (1) and is connected to the vehicle frame module (1), the pit digging and shoveling module (2), the seeding module (3), the fertilizing module (4), the watering module (5) and the soil and film covering module (6), and is used to control the states and actions of the vehicle frame module (1), the pit digging and shoveling module (2), the seeding module (3), the fertilizing module (4), the watering module (5) and / or the soil 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 provided in the 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. An integrated taro planting machine according to claim 1, characterized in that, The pit digging shovel module (2) comprises a shovel transmission mechanism (21), a shovel lifting mechanism (22) and a shovel actuator (23), wherein 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 first-level opening and closing door assembly (32) comprises 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 first-level slide rail (323) to open and close left and right.

5. The integrated taro planting machine according to claim 1, 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.

6. The integrated taro planting machine according to claim 1, characterized in that: The fertilizing 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 drives the Archimedes screw (411) to rotate through the fertilizer rack box (414), the fertilizer gear set (415), and the connecting rod (412). After being discharged, the fertilizer and the medicine fall into the taro cup (334) through the Y-shaped pipe (43) and the feeding conduit (44).

7. 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) 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 cup (334) and is used to water the taro in the seed pit.

8. The integrated taro planting machine according to claim 4, characterized in that: The soil covering and film covering module (6) comprises 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 and the soil covering movement mechanism (64) include an eighth motor ( 641), soil covering and film covering worm gear (642), soil covering and film covering gear set (643), the eighth motor (641) is connected to the soil covering and film covering worm gear (642) through 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 through the soil covering and film covering worm gear (642), so as to complete the soil covering action of the seed pit.

Images