Planting device with controllable planting depth and transfer machine with same

Abstract

The invention discloses a planting depth controllable type planting device which comprises a first power input part, a second power input part, a mechanism rack, a depth adjusting part, a duckbilled planting part, a duckbilled opening and closing control device and a connecting rod planting component. Power is transmitted to the duckbilled planting component through the connecting rod planting component, so that complete planting action is realized; the connecting rod planting component is matched with the duckbilled opening and closing control device, so that the duckbilled opening and closing control device obtains power; the second power input part is used for providing power for the depth adjusting part so as to adjust the planting depth of the duckbilled planting part; the duckbill opening and closing control device is matched with the duckbill planting component, so that a duckbill I and a duckbill II in the duckbill planting component have a closed first state and an opened second state. The mechanical platform for pot seedling transplanting is established through reasonable composition and connection, the whole design is simple and compact, the automation degree is high, manual planting can be replaced, and the planting efficiency and the planting quality are improved.

Description

Technical Field

[0001] The invention relates to a planting device with controllable planting depth and a transplanter having the same, belonging to the technical field of agricultural machinery. Background Art

[0002] Yunnan relies on its superior natural resources to provide a very favorable foundation for the development of agriculture. It is the national supply base for "transporting vegetables from the west to the east" and "transporting vegetables from the south to the north", and is also an important hub for the international market in Southeast Asia. In the Yunnan plateau, the operation efficiency of artificial planting is low and the planting effect is poor, which restricts the development of related vegetable planting in the province. Compared with manual transplanting, the use of pot seedling transplanters has significantly improved agricultural production efficiency. Transplanters can advance the growth period of pot seedlings by about 15 days, effectively avoiding the influence of disastrous climate such as low temperature and frost in early spring, improve the survival rate of seedlings, ensure that the number of crop plants per unit meets the agronomic requirements, and extend the crop growth period. Due to the mismatch between the technology of existing transplanting machinery in Yunnan and the agronomic requirements, agricultural machinery is out of touch with agronomy, affecting the transplanting effect. Therefore, it is of great significance to develop transplanting machinery that matches plateau agronomic technology.

[0003] The entire planting device is the core component of the transplanter, and the planting depth is one of the important indicators to measure the planting performance. The planting depth of the seedlings in the pot has a great influence on the growth and uprightness requirements of the seedlings. The height of the ground wheel, the characteristics of the implanter's profiling mechanism, and the unevenness of the cultivated soil surface will affect the planting depth. At present, there are two main methods to control the planting depth of the transplanter, namely profiling control and manual adjustment of the planting mechanism. Profiling control is divided into two categories: passive profiling and active profiling. Passive profiling is a mechanical structure that allows the operating depth of the planting component to float with the ground by maintaining the force balance of the depth limiting device. Active profiling uses mechanical sensing and hydraulic system execution to control the planting depth. For example, the invention patent application with publication number CN109302872A discloses a multi-purpose transplanter planting depth adjustment device and method. The entire device includes a detection rod rotation adjustment component, a planting mechanism height adjustment component, a signal detection unit and a controller. The height adjustment components of the planting mechanism include a connecting plate, an electric push rod and an electric push rod mounting plate. Before the transplanter operates, the planting depth is determined according to the type of crop to be planted, and it is determined whether the current mechanism needs to be adjusted. Finally, it is determined whether the planting depth needs to be adjusted according to the predetermined working speed of the mechanism. When the planting mechanism moves to the required height, the adjustment handle is locked, and the entire planting depth adjustment process is completed. However, since the planting depth adjustment device of the transplanter determines the planting depth before the seedlings are planted, it is impossible to perform real-time depth adjustment during the planting process in the face of uneven ridge surfaces, and it is difficult to meet the fixed depth planting requirements.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The invention provides a planting device with controllable planting depth and a transfer machine, which are used to drive the entire planting device through a power transmission component to realize fixed-depth planting on an uneven ridge surface.

[0006] The technical solution of the present invention is:

[0007] According to a first aspect of the present invention, a planting device with controllable planting depth is provided, including a first power transmission component, a second power transmission component, a mechanism frame 1, a depth adjustment component 2, a duckbill planting component 3, a duckbill opening and closing control device 4, and a connecting rod planting component 5, wherein the duckbill planting component 3 includes a seedling guide tube 3-1, a duckbill 1 3-4, and a duckbill 2 3-5, and the seedling guide tube 3-1 is used to guide the received seedlings to between the duckbill 1 3-4 and the duckbill 2 3-5; the mechanism frame 1 is used to install the depth adjustment component 2, the duckbill opening and closing control device 4, and the connecting rod planting component 5, one end of the connecting rod planting component 5 is connected to the depth adjustment component 2, and the other end of the connecting rod planting component 5 is installed with the duckbill planting component Planting component 3, the middle part of the connecting rod planting component 5 cooperates with the duckbill opening and closing control device 4; the first power transmission component is used to provide power for the connecting rod planting component 5, and the power is transmitted to the duckbill planting component 3 through the connecting rod planting component 5 to realize a complete planting action; the duckbill opening and closing control device 4 obtains power through the connecting rod planting component 5; the second power transmission component is used to provide power for the depth adjustment component 2 to adjust the planting depth of the duckbill planting component 3; the duckbill opening and closing control device 4 cooperates with the duckbill planting component 3 to make the duckbill 1 3-4 and duckbill 2 3-5 have a first closed state and an open second state.

[0008] Furthermore, the depth adjustment component 2 includes a slider fixing seat 2-1, a slider 2-2, a proximity switch 1 2-3, a proximity switch 2-4, a proximity switch 3 2-5, a slide bar 2-6, a ball screw 2-7, and a coupling 2-8; one side of the slider fixing seat 2-1 is fixed to the mechanism frame 1; one end of the ball screw 2-7 is fixedly connected to one end of the coupling 2-8, and the second power transmission component is connected to the other end of the coupling 2-8 to rotate the ball screw 2-7, and the other end of the ball screw 2-7 is connected to the other side of the slider bearing seat 2-1 Rotating pair connection; both ends of the slide bar 2-6 are fixed on the slider fixing seat 2-1; the proximity switch 1 2-3, the proximity switch 2-4, and the proximity switch 3 2-5 are installed at equal intervals along the length direction of the slider fixing seat 2-1; the slider 2-2 is installed with a test iron sheet that cooperates with the proximity switch and the slider 2-2 is connected to the ball screw 2-7 with a spiral pair, so that the slider 2-2 is movably arranged along the axial direction of the ball screw 2-7 within a preset stroke; the slider 2-2 is away from the mechanism frame 1 and rotates with one end of the connecting rod planting component 5.

[0009] Furthermore, the duckbill planting component 3 also includes a guide seat 3-2, a spring 1 3-4, a spring 2 3-6, and a duckbill end wire brake 3-10; the seedling guide tube 3-1 is sleeved on the first plane of the guide seat 3-2; the guide seat 3-2 is symmetrically provided with mounting holes on two opposite sides along the first plane, which are respectively connected to the side rotation pairs away from the duckbill 1 3-3 and the duckbill 2 3-5, and the duckbill 1 3-3 is connected to the side rotation pair close to the end of the duckbill 2 3-5, one end of the spring 1 3-4 is fixedly connected to the duckbill 1 3-3, and the other end of the spring 1 3-4 is fixedly connected to the duckbill 2 3-5, one end of the spring 2 3-6 is fixedly connected to the duckbill 2 3-5, and the other end of the spring 2 3-6 is fixedly connected to the duckbill 2 3-5. Duckbill one 3-3; the duckbill one 3-3 and duckbill two 3-5 are respectively provided with connecting parts connected to the duckbill wire brake 3-10, and the duckbill wire brake 3-10 is specifically as follows from one end to the other end: one end of the duckbill wire brake 3-10 is fixed to the connecting part of duckbill two 3-5, then fixed to the connecting part of duckbill one 3-3, and then fixed to the connecting part of the mechanism frame 1 after being wrapped around the mechanism frame 1, and the U-shaped member 4-6 at the other end of the duckbill wire brake 3-10 is connected to one end of the opening and closing rocker 4-2 in the duckbill opening and closing control device 4 through a rotating pair; the duckbill one 3-3 and duckbill two 3-5 are respectively rotated towards each other by the same angle around the connected rotating pairs under the action of the duckbill wire brake 3-20 to complete the opening and closing action.

[0010] Furthermore, the duckbill opening and closing control device 4 includes an opening and closing rocker 4-2, a long cylindrical pin 4-3, a cam 4-4, a short cylindrical pin 4-5, and a roller 4-7; the U-shaped component 4-6 at the end of the duckbill wire brake 3-10 in the duckbill planting component 3 is rotationally matched with the short cylindrical pin 4-5 fixed at one end of the opening and closing rocker 4-2, and the other end of the opening and closing rocker 4-2 is rotationally matched with the mechanism frame 1 to realize the swing of the opening and closing rocker 4-2; the roller 4-7 is rotationally matched with one end of the long cylindrical pin 4-3, and the other end of the long cylindrical pin 4-3 is fixed to the middle part of the opening and closing rocker 4-2; the cam 4-4 installed on the connecting rod planting component 5 cooperates with the roller 4-7 to realize the up and down swing of the opening and closing rocker 4-2.

[0011] Furthermore, the connecting rod planting component 5 includes a parallel swing rod 5-1, a planting swing rod 5-2, an active crank 5-3, a driven crank 5-4, a parallel connecting rod 5-5, a planting connecting rod 5-6, a fulcrum bearing seat 5-7, a main synchronous pulley 5-10, a slave drive shaft 5-11, a slave synchronous pulley 5-12, a main drive shaft 5-13, and a synchronous belt 5-20; one end of the main drive shaft 5-13 and one end of the slave drive shaft 5-11 are rotatably matched with the mechanism frame 1; the main drive shaft 5- The end of the main drive shaft 5-13 extending from the mechanism frame 1 is rotated by transmitting torque through the first power input component, the other end of the main drive shaft 5-13 extending from the mechanism frame 1 is fixedly installed with the main synchronous pulley 5-10 and is fixed to one end of the active crank 5-3, and the other end of the active crank 5-3 is rotatably matched with the middle end of the planting swing arm 5-2; the end of the slave drive shaft 5-11 extending from the mechanism frame 1 is fixedly installed with the cam 4-4 in the duckbill opening and closing control device 4, and the slave drive shaft 5-11 extends from the mechanism frame 1. The other end of the frame 1 is fixed with a coaxial slave synchronous pulley 5-12 and fixed with one end of the driven crank 5-4, and the other end of the driven crank 5-4 is rotatably matched with the middle end of the parallel swing rod 5-1; the slave synchronous pulley 5-12 is connected to the main synchronous pulley 5-10 through the synchronous belt 5-20; the parallel swing rod 5-1 and the planting swing rod 5-2 are arranged in parallel and are located between the planting connecting rod 5-6 and the parallel connecting rod 5-5; one end of the planting swing rod 5-2 is connected to the duckbill planting part The guide seat 3-2 in the component 3 is rotationally matched; the lower end of the planting connecting rod 5-6 is rotationally matched with the other end of the planting swing rod 5-2 and the lower end of the parallel connecting rod 5-5; the upper end of the planting connecting rod 5-6 is rotationally matched with the fulcrum bearing seat 5-7, and the fulcrum bearing seat 5-7 is fixed to the slider 2-2 in the depth adjustment component 2; the upper end of the parallel connecting rod 5-5 is rotationally matched with one end of the parallel swing rod 5-1; the other end of the parallel swing rod 5-1 is rotationally matched with the guide seat 3-2.

[0012] According to a second aspect of the present invention, there is provided a transfer machine, comprising a planting device with controllable planting depth, wherein the planting device with controllable planting depth is any one of the above-mentioned planting devices with controllable planting depth.

[0013] The beneficial effects of the present invention are as follows: the present invention establishes a mechanical platform for transplanting seedlings in pots through reasonable structure and connection. The whole design is simple and compact, with a high degree of automation, which can replace manual planting and improve planting efficiency and planting quality. Specifically, the sensor is installed in front of the whole device, and the front ridge surface information can be fed back to the controller in real time, and the next planting depth can be adjusted in real time during the planting operation to ensure that each planting depth tends to the theoretical planting depth; further, the planting depth can be adjusted between -4mm and +4mm by adjusting the movement position of the slider by the controller, so as to meet the requirement of the planting depth of the seedlings in pots on the uneven ridge surface, thereby improving the survival rate of the seedlings in pots; the plant spacing can be adjusted by adjusting the speed ratio of the main drive shaft and the unit to meet the transplanting of vegetable seedlings with small and medium plant spacing (200mm-300mm). BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is an axonometric diagram of the overall structure of the present invention;

[0015] Figure 2 It is a two-dimensional isometric view of the connecting rod planting mechanism of the present invention;

[0016] Figure 3 This is a front view of the connecting rod planting component of the present invention;

[0017] Figure 4 It is a left view of the connecting rod planting component of the present invention;

[0018] Figure 5 This is a structural diagram of the connecting rod planting component of the present invention;

[0019] Figure 6 This is a structural diagram of the duckbill planting component of the present invention;

[0020] Figure 7 It is a front view of the duckbill opening and closing device of the present invention;

[0021] Figure 8 This is an axonometric view of the duckbill opening and closing device of the present invention;

[0022] Fig. 9 A three-dimensional diagram of the depth adjustment device of the present invention;

[0023] Fig.10 This is an exploded view of the duckbill planting component of the present invention;

[0024] Fig.11 It is a schematic diagram of the connecting rod planting mechanism of the present invention;

[0025] Fig.12 This is a schematic diagram of the depth variation of the connecting rod planting mechanism of the present invention;

[0026] Fig.13 It is a schematic diagram of the planting work of the overall structure of the present invention;

[0027] Fig.14 It is a schematic diagram of the planting cycle of the present invention;

[0028] Fig.15 It is the overall structure movement flow chart of the present invention;

[0029] The numbers in the figure are: 1-mechanism frame, 2-depth adjustment component, 3-duckbill planting component, 4-duckbill opening and closing control device, 5-link planting component, 6-laser distance sensor, 2-1 slider fixing seat, 2-2 slider, 2-3 proximity switch one, 2-4 proximity switch two, 2-5 proximity switch three, 2-6 slide bar, 2-7 ball screw, 2-8 coupling, 3-1 seedling guide, 3-2 guide seat, 3-3 duckbill one, 3-4 spring one, 3-5 duckbill two, 3-6 spring two, 3-7 hexagonal nut one, 3-8 hexagonal nut two, 3-9 hexagonal nut three, 3-10 duckbill end wire brake, 4-1 deep groove ball bearing one, 4-2 opening and closing rocker, 4-3 long cylindrical pin, 4-4 cam, 4-5 short cylindrical pin, 4-6 U-shaped component, 4-7 roller 、4-8 Hexagonal nut four、4-9 Hexagonal nut five、5-1 Parallel swing arm、5-2 Planting swing arm、5-3 Active crank、5-4 Driven crank、5-5 Parallel connecting rod、5-6 Planting connecting rod、5-7 Fulcrum bearing seat、5-8 Deep groove ball bearing two、5-9 Deep groove ball bearing three、5-10 Main synchronous pulley、5-11 From drive shaft、5-12 From synchronous pulley、5-13 Main drive shaft、5-14 Deep groove ball bearing four、5-15 Deep groove ball bearing five、5-16 Deep groove ball bearing six、5-17 Deep groove ball bearing seven、5-18 Deep groove ball bearing eight、5-19 Deep groove ball bearing nine、5-20 Synchronous belt、5-21 Deep groove ball bearing ten、5-22 Deep groove ball bearing eleven、5-23 Deep groove ball bearing twelve、5-24 Deep groove ball bearing thirteen. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other arbitrarily without conflict.

[0031] Example 1: Figure 1-15As shown, according to a first aspect of an embodiment of the present invention, a planting device with controllable planting depth is provided, comprising a first power transmission component, a second power transmission component, a mechanism frame 1, a depth adjustment component 2, a duckbill planting component 3, a duckbill opening and closing control device 4, and a connecting rod planting component 5, wherein the duckbill planting component 3 comprises a seedling guide tube 3-1, a duckbill 1 3-4, and a duckbill 2 3-5, wherein the seedling guide tube 3-1 is used to guide the received seedlings to between the duckbill 1 3-4 and the duckbill 2 3-5; the mechanism frame 1 is used to install the depth adjustment component 2, the duckbill opening and closing control device 4, and the connecting rod planting component 5, wherein one end of the connecting rod planting component 5 is connected to the depth adjustment component 2, and the other end of the connecting rod planting component 5 is installed with the duckbill planting part Part 3, the middle part of the connecting rod planting component 5 cooperates with the duckbill opening and closing control device 4; the first power transmission component is used to provide power for the connecting rod planting component 5, and the power is transmitted to the duckbill planting component 3 through the connecting rod planting component 5 to realize a complete planting action; the duckbill opening and closing control device 4 obtains power through the connecting rod planting component 5; the second power transmission component is used to provide power for the depth adjustment component 2 to adjust the planting depth of the duckbill planting component 3; the duckbill opening and closing control device 4 cooperates with the duckbill planting component 3, so that the duckbill 1 3-4 and duckbill 2 3-5 in the duckbill planting component 3 have a first closed state and an open second state.

[0032] Furthermore, it also includes a laser distance measuring sensor 6; the laser distance measuring sensor 6 is installed on the mechanism frame 1 near the forward end and in the same vertical plane as the duckbill end, so that the entire device transmits the ridge surface height information to the controller when moving in the forward direction.

[0033] Furthermore, the depth adjustment component 2 includes a slider fixing seat 2-1, a slider 2-2, a proximity switch 1 2-3, a proximity switch 2-4, a proximity switch 3 2-5, a slide bar 2-6, a ball screw 2-7, and a coupling 2-8; one side of the slider fixing seat 2-1 is fixed to the mechanism frame 1; one end of the ball screw 2-7 is fixedly connected to one end of the coupling 2-8 by a screw, and the second power transmission component is connected to the other end of the coupling 2-8 to rotate the ball screw 2-7, and the other end of the ball screw 2-7 is connected to the rotating pair of the slider bearing seat 2-1; both ends of the slide bar 2-6 are fixed on the slider fixing seat 2-1; the proximity switch 1 2-3, Proximity switch 2-4 and proximity switch 3 2-5 are installed at equal intervals along the length direction of the slider fixing seat 2-1, and the proximity switch 2-4 is installed between the proximity switch 1 2-3 and the proximity switch 3 2-5; the slider 2-2 is installed with a test iron sheet that cooperates with the proximity switch, and the slider 2-2 is connected to the spiral pair of the ball screw 2-7, so that the slider 2-2 is movably arranged along the axial direction of the ball screw 2-7 within a preset stroke; the slider 2-2 is away from the mechanism frame 1 and rotates with one end of the connecting rod planting component 5; wherein, the proximity switch 2-4 indicates the initial position of the slider 2-2, and the proximity switch 1 2-3 and the proximity switch 3 2-5 are limit switches for the up and down strokes.

[0034] Furthermore, the duckbill planting component 3 also includes a guide seat 3-2, a spring 1 3-4, a spring 2 3-6, a hexagonal nut 1 3-7, a hexagonal nut 2 3-8, a hexagonal nut 3 3-9, and a duckbill end wire brake 3-10; the seedling guide tube 3-1 is sleeved on the first plane of the guide seat 3-2; the guide seat 3-2 is symmetrically provided with mounting holes on two opposite sides along the first plane, and is respectively connected to the duckbill 1 3-3 and the duckbill 2 3-5 by a pin shaft and a cotter pin on the side of the rotation pair away from the duckbill 1 3-3 and the duckbill 2 3-5, and the duckbill 1 3-3 is connected to the side of the rotation pair close to the duckbill 2 3-5, one end of the spring 1 3-4 is fixedly connected to the duckbill 1 3-3, and the other end of the spring 1 3-4 is fixedly connected to the duckbill 2 3-5, one end of the spring 2 3-6 is fixedly connected to the duckbill 2 3-5, and the other end of the spring 2 3-6 is fixedly connected to the duckbill 1 3-3; the Duckbill one 3-3 and duckbill two 3-5 are respectively provided with connecting parts connected to the duckbill wire brake 3-10. The duckbill wire brake 3-10 is specifically as follows from one end to the other end: one end of the duckbill wire brake 3-10 is tightened and fixed to the connecting part of duckbill two 3-5 through hexagonal nut one 3-7, then tightened and fixed to the connecting part of duckbill one 3-3 through hexagonal nut two 3-8 and hexagonal nut three 3-9, and then tightened and fixed to the connecting part of the mechanism frame 1 through hexagonal nut four 4-8 and hexagonal nut five 4-9, and the U-shaped component 4-6 at the other end of the duckbill wire brake 3-10 is connected to one end of the opening and closing rocker 4-2 in the duckbill opening and closing control device 4 through a rotating pair; the duckbill one 3-3 and duckbill two 3-5 are respectively rotated towards each other by the same angle around the connected rotating pairs under the action of the duckbill wire brake 3-20 to complete the opening and closing action.

[0035] Furthermore, the duckbill opening and closing control device 4 includes a deep groove ball bearing 4-1, an opening and closing rocker 4-2, a long cylindrical pin 4-3, a cam 4-4, a short cylindrical pin 4-5, and a roller 4-7; the U-shaped component 4-6 at the end of the duckbill wire brake 3-10 in the duckbill planting component 3 is rotationally matched with the short cylindrical pin 4-5 fixed at one end of the opening and closing rocker 4-2, and the other end of the opening and closing rocker 4-2 is rotationally matched with the mechanism frame 1 through the deep groove ball bearing 4-1 to realize the swing of the opening and closing rocker 4-2; the roller 4-7 is rotationally matched with one end of the long cylindrical pin 4-3, and the other end of the long cylindrical pin 4-3 is fixed to the middle part of the opening and closing rocker 4-2; the cam 4-4 installed on the connecting rod planting component 5 cooperates with the roller 4-7 to realize the up and down swing of the opening and closing rocker 4-2. By applying the above technical solution, it can be known that the present invention can cleverly realize the opening and closing of the duckbill by rotating the cam 4-4 in cooperation with the duckbill wire brake 3-20.

[0036] Furthermore, the connecting rod planting component 5 includes a parallel swing rod 5-1, a planting swing rod 5-2, an active crank 5-3, a driven crank 5-4, a parallel connecting rod 5-5, a planting connecting rod 5-6, a fulcrum bearing seat 5-7, a deep groove ball bearing two 5-8, a deep groove ball bearing three 5-9, a main synchronous pulley 5-10, a slave drive shaft 5-11, a slave synchronous pulley 5-12, a main drive shaft 5-13, a deep groove ball bearing four 5-14, a deep groove ball bearing five 5-15, a deep groove ball bearing six 5-16, a deep groove ball bearing seven 5-17, a deep groove ball bearing eight 5-18, a deep groove ball bearing nine 5-19, a synchronous belt 5-20, a deep groove ball bearing ten 5-21, a deep groove ball bearing eleven 5-22, a deep groove ball bearing twelve 5-23, a deep groove Ball bearing thirteen 5-24; the inner rings of the deep groove ball bearing ten 5-21 and the deep groove ball bearing eleven 5-22 are fixed to one end of the main drive shaft 5-13, and the outer rings are fixed to the mechanism frame 1; the inner rings of the deep groove ball bearing seven 5-17 and the deep groove ball bearing eight 5-18 are fixed to the slave drive shaft 5-11, and the outer rings are fixed to the mechanism frame 1; the end of the main drive shaft 5-13 extending from the mechanism frame 1 is rotated by transmitting torque through the first power transmission component, and the other end of the main drive shaft 5-13 extending from the mechanism frame 1 is fixedly installed with the main synchronous pulley 5-10 and fixed to one end of the active crank 5-3, and the other end of the active crank 5-3 is rotatably matched with the middle end of the planting swing arm 5-2 through the deep groove ball bearing four 5-14; the slave One end of the driving shaft 5-11 extending from the mechanism frame 1 is fixedly installed with the cam 4-4 in the duckbill opening and closing control device 4; the other end of the slave driving shaft 5-11 extending from the mechanism frame 1 is fixedly installed with a coaxial slave synchronous pulley 5-12 and fixed to one end of the driven crank 5-4; the other end of the driven crank 5-4 is rotatably matched with the middle end of the parallel swing arm 5-1 through the deep groove ball bearing seven 5-17; the slave synchronous pulley 5-12 is connected to the main synchronous pulley 5-10 through the synchronous belt 5-20; the parallel parallel swing arms 5-1 and the planting swing arms 5-2 are located between the planting connecting frame rod 5-6 and the parallel connecting rod 5-5; one end of the planting swing arm 5-2 is connected to the duckbill planting component through the deep groove ball bearing three 5-9. 3, the guide seat 3-2 is rotatably matched; the lower end of the planting connecting rod 5-6 is rotatably matched with the other end of the planting swing rod 5-2 through the deep groove ball bearing thirteen 5-24, and is rotatably matched with the lower end of the parallel connecting rod 5-5 through the deep groove ball bearing five 5-15; the upper end of the planting connecting rod 5-6 is rotatably matched with the fulcrum bearing seat 5-7 through the deep groove ball bearing six 5-16, and the end face of the fulcrum bearing seat 5-7 is provided with four connecting holes to achieve fixation with the slider 2-2 in the depth adjustment component 2; the upper end of the parallel connecting rod 5-5 is rotatably matched with one end of the parallel swing rod 5-1 through the deep groove ball bearing twelve 5-23; the other end of the parallel swing rod 5-1 is rotatably matched with the guide seat 3-2 through the deep groove ball bearing two 5-8.

[0037] Fig.11 This is a schematic diagram of the mechanism of the depth adjustment component 2, the duckbill planting component 3, and the connecting rod planting component 5 of the present invention. The movement of the entire planting device is achieved through the cooperation of the first power input component M1 and the second power input component M2. Fig.11 The C point of the slider 2-2 representing the depth adjustment part is connected Fig.12 , further described as follows: the slider 2-2 is connected to the ball screw 2-7 rotation pair, and the slider 2-2 can move along the axial direction of the ball screw 2-7; the ball screw 2-7 is connected to the second power input component M2 through the coupling 2-8, Fig.12 The five points C0, C1, C2, C3, and C4 on the midpoint line L are respectively located on the ball screw 2-7 (C2 is the position of the proximity switch 2-4). In different planting cycles, the laser sensor 6 feeds back the ridge surface height information to the controller as the ridge surface parameter of the next cycle. When the entire planting device completes the planting operation of the cycle and returns, it immediately adjusts the slider 2-2 to the specified position on the basis of ensuring that the seedlings are not touched, thereby achieving consistency in the planting depth of the seedlings in the entire planting operation (for example, the tip of the duckbill is considered to be more than 15 cm away from the ridge surface as not to touch the seedlings). The movable slider 2-2 is divided into five gears in total. It can be moved to the desired gear by moving it to coincide with points C0~C4. The laser ranging sensor 6 presets corresponding ridge surface height range values ​​in different gears. For each gear, the controller controls the slider 2-2 to move to the corresponding gear according to the range of the ridge surface height value collected by the laser ranging sensor 6; if it exceeds the upper and lower limits of the preset entire ridge surface height range, the slider 2-2 maintains the gear of the previous cycle. By setting different gears in different ranges, it can prevent the second power transmission component M2 from running continuously during the entire planting operation, thereby reducing energy consumption.

[0038] refer to Fig.13 and 14 , take two cycles as an example: T0 = 0-0.8s as the first cycle, T1 = 0.8s-1.6s as the second cycle, the initial position of the slider 2-2 as the C2 point as the planting depth, Fig.14 The direction from right to left is the forward direction. Fig.14 The left half of the picture above shows the flat ridge surface. Fig.14The lower part is an uneven ridge surface. The following is a detailed description of the working process of each component working together: the first power input component M1 provides power to drive the main drive shaft 5-13 to rotate. As the main drive shaft 5-13 rotates, the synchronous belt 5-10 drives the slave drive shaft 5-11 to rotate synchronously, and the cam 4-4 also rotates accordingly. When the cam 4-4 is in a near-rest state, the opening and closing swing arm is pulled by springs 1 3-4 and 2 3-6, so that the duckbill 1 and 2 are in a closed state. At this time, the entire planting mechanism runs to the seedling grafting stage and the seedling transportation stage. Fig.14 Medium T 01 and T 03 Segment, such as Fig.13 As shown in process ④; when the cam 4-4 is in the push stage, the opening and closing rocker 4-2 moves counterclockwise, and the duckbill end wire brake 3-10 is tightened to make the duckbill change from a closed state to an open state. At this time, the entire planting device runs to the lowest planting point, ready for seedling planting, such as Fig.13 As shown in process ①; when the cam 4-4 is in the far rest stage, the duckbill end wire brake 3-10 remains in a tightened state. This stage needs to continue from the lowest point of planting until the lowest point of the duckbill is higher than the height of the planted seedlings before the next stage can be carried out, such as Fig.14 Medium T 02 Stage, such as Fig.13 As shown in process ②; when the cam 4-4 is in the return stage, the opening and closing rocker 4-2 moves clockwise, and the duckbill end wire brake 3-10 is released, so that the duckbill changes from open to closed, as shown in FIG. Fig.13 As shown in process ③, at this time, the entire planting device is in the process of returning to the seedling receiving position after planting, and at this stage, the lowest point of the duckbill needs to be higher than the planted seedlings to prevent the seedlings from being clamped during the return stage. If the depth adjustment is required, Fig.14 Medium T 03 In the stage, the second power input component M2 provides power to move the slider 2-2 to the specified position to prepare for the next cycle of planting. If the laser ranging sensor 6 detects that the ridge surface is higher in the next cycle than in the previous cycle, the slider 2-2 moves from C2 to C3, so that the entire track of the duckbill planting component 3 is shifted upward to meet the fixed depth planting requirement; otherwise, if the ridge surface is lower in the next cycle than in the previous cycle, the slider 2-2 moves from C2 to C1, so that the entire track of the duckbill planting component 3 is shifted downward to meet the fixed depth planting requirement; Fig.14 As shown in the lower left half of the figure, looking from T0 to T1, the ridge surface of the next cycle T1 is higher than that of T0.

[0039] It should be noted that for the convenience of drawing, Fig.13 The opening and closing state of the duckbill is not shown.

[0040] refer to Fig.15Before the planting operation begins, the parameters of the planting mechanism need to be set. The parameters include the angular velocity of the active crank 5-3, the forward speed of the unit, and the return of the slider 2-2 to the preset origin position (in the embodiment of the present invention, C2 is set as the preset origin position) to ensure that the transplanting mechanism can work in accordance with the preset mode. After that, the laser ranging sensor 6 collects the real-time data of the ridge surface and transmits the data to the controller to control the slider 2-2 to reach the preset designated position. When planting, the entire unit moves forward, the active crank 5-3 rotates counterclockwise, and the laser ranging sensor 6 continues to work, transmitting the ridge surface height information parameters to the controller in real time. The controller then makes precise height adjustments based on these data through the second power transmission component M2 to ensure that the transplanter maintains a constant planting depth on complex terrain. This process is repeated until all planting tasks are completed. When the laser ranging sensor 6 transmits data in real time, each planting cycle will intercept the ridge surface height information value of the next cycle so that the controller can make adjustments in advance. If the height of the ridge surface is detected to exceed the adjustable range of the second power transmission component M2, the slider 2-2 will maintain the position of the slider 2-2 in the previous cycle. When the planting operation is completed, the first power transmission component M1 and the second power transmission component M2 stop working, and the transplanter enters a pause state.

[0041] According to a second aspect of an embodiment of the present invention, there is provided a transfer machine, comprising a planting device with controllable planting depth, wherein the planting device with controllable planting depth is the planting device with controllable planting depth as described in any one of the above.

[0042] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A planting depth controllable planting device, characterized in that: The invention comprises a first power input component, a second power input component, a mechanism frame (1), a depth adjustment component (2), a duckbill planting component (3), a duckbill opening and closing control device (4), and a connecting rod planting component (5); the duckbill planting component (3) comprises a seedling guide tube (3-1), a duckbill 1 (3-4), and a duckbill 2 (3-5); the seedling guide tube (3-1) is used to guide the received seedlings between the duckbill 1 (3-4) and the duckbill 2 (3-5); The mechanism frame (1) is used to install a depth adjustment component (2), a duckbill opening and closing control device (4), and a connecting rod planting component (5); one end of the connecting rod planting component (5) is connected to the depth adjustment component (2); the other end of the connecting rod planting component (5) is installed with the duckbill planting component (3); and the middle part of the connecting rod planting component (5) cooperates with the duckbill opening and closing control device (4); The first power transmission component is used to provide power to the connecting rod planting component (5), and the power is transmitted to the duckbill planting component (3) through the connecting rod planting component (5), so as to realize a complete planting action; the duckbill opening and closing control device (4) is matched with the connecting rod planting component (5), so that the duckbill opening and closing control device (4) obtains power; the second power transmission component is used to provide power to the depth adjustment component (2), so as to adjust the planting depth of the duckbill planting component (3); The duckbill opening and closing control device (4) cooperates with the duckbill planting component (3) to enable the duckbill one (3-4) and the duckbill two (3-5) to have a first closed state and a second open state.

2. The planting depth controllable planting device according to claim 1, characterized in that: The depth adjustment component (2) comprises a slider fixing seat (2-1), a slider (2-2), a proximity switch 1 (2-3), a proximity switch 2 (2-4), a proximity switch 3 (2-5), a slide bar (2-6), a ball screw (2-7), and a coupling (2-8); one side of the slider fixing seat (2-1) is fixed to the mechanism frame (1); one end of the ball screw (2-7) is fixedly connected to one end of the coupling (2-8); a second power transmission component is connected to the other end of the coupling (2-8) to rotate the ball screw (2-7); the other end of the ball screw (2-7) is connected to the other end of the slider bearing seat (2-1). The slider (2-6) is connected with a side rotation pair; both ends of the slide bar (2-6) are fixed on the slider fixing seat (2-1); the proximity switch 1 (2-3), the proximity switch 2 (2-4), and the proximity switch 3 (2-5) are installed at equal intervals along the length direction of the slider fixing seat (2-1); the slider (2-2) is installed with a test iron sheet that matches the proximity switch, and the slider (2-2) is connected with the ball screw (2-7) by a spiral pair, so that the slider (2-2) is movably arranged along the axial direction of the ball screw (2-7) within a preset stroke; the slider (2-2) is away from the mechanism frame (1) and is rotationally matched with one end of the connecting rod planting component (5).

3. The planting depth controllable planting device according to claim 1, characterized in that: The duckbill planting component (3) also includes a flow guide seat (3-2), a spring 1 (3-4), a spring 2 (3-6), and a duckbill end wire brake (3-10); The seedling guide tube (3-1) is sleeved on the first plane of the guide seat (3-2); the guide seat (3-2) is symmetrically provided with mounting holes on two opposite sides along the first plane, which are respectively connected to the rotating pairs on the side away from one end of the duckbill one (3-3) and the duckbill two (3-5); the duckbill one (3-3) is connected to the rotating pairs on the side close to one end of the duckbill two (3-5); one end of the spring one (3-4) is fixedly connected to the duckbill one (3-3); the other end of the spring one (3-4) is fixedly connected to the duckbill two (3-5); one end of the spring two (3-6) is fixedly connected to the duckbill two (3-5); the other end of the spring two (3-6) is fixedly connected to the duckbill one (3-3); The duckbill one (3-3) and the duckbill two (3-5) are respectively provided with connecting parts connected to the duckbill wire brake (3-10), and the duckbill wire brake (3-10) is specifically as follows from one end to the other end: one end of the duckbill wire brake (3-10) is fixed to the connecting part of the duckbill two (3-5), then fixed to the connecting part of the duckbill one (3-3), then fixed to the connecting part of the mechanism frame (1) after being wound around the mechanism frame (1), and the U-shaped component (4-6) at the other end of the duckbill wire brake (3-10) is connected to one end of the opening and closing rocker (4-2) in the duckbill opening and closing control device (4) through a rotating pair; the duckbill one (3-3) and the duckbill two (3-5) are respectively rotated in opposite directions by the same angle around the connected rotating pairs under the action of the duckbill wire brake (3-20) to complete the opening and closing action.

4. The planting depth controllable planting device according to claim 1, characterized in that: The duckbill opening and closing control device (4) comprises an opening and closing rocker (4-2), a long cylindrical pin (4-3), a cam (4-4), a short cylindrical pin (4-5), and a roller (4-7); the U-shaped component (4-6) at the end of the duckbill wire brake (3-10) in the duckbill planting component (3) is rotationally matched with the short cylindrical pin (4-5) fixed to one end of the opening and closing rocker (4-2), and the other end of the opening and closing rocker (4-2) is rotationally matched with the mechanism frame (1) to realize the swing of the opening and closing rocker (4-2); the roller (4-7) is rotationally matched with one end of the long cylindrical pin (4-3), and the other end of the long cylindrical pin (4-3) is fixed to the middle of the opening and closing rocker (4-2); the cam (4-4) installed on the connecting rod planting component (5) cooperates with the roller (4-7) to realize the up and down swing of the opening and closing rocker (4-2).

5. The planting depth controllable planting device according to claim 1, characterized in that: The connecting rod planting component (5) comprises a parallel swing rod (5-1), a planting swing rod (5-2), an active crank (5-3), a driven crank (5-4), a parallel connecting rod (5-5), a planting connecting rod (5-6), a fulcrum bearing seat (5-7), a main synchronous pulley (5-10), a slave drive shaft (5-11), a slave synchronous pulley (5-12), a main drive shaft (5-13), and a synchronous belt (5-20); One end of the main drive shaft (5-13) and one end of the slave drive shaft (5-11) are rotatably matched with the mechanism frame (1); One end of the main drive shaft (5-13) extending from the mechanism frame (1) is rotated by transmitting torque via a first power input component, and the other end of the main drive shaft (5-13) extending from the mechanism frame (1) is fixedly mounted with a main synchronous pulley (5-10) and is fixed to one end of an active crank (5-3), and the other end of the active crank (5-3) is rotationally matched with the middle end of the planting swing arm (5-2); The cam (4-4) in the duckbill opening and closing control device (4) is fixedly mounted on one end of the slave drive shaft (5-11) extending from the mechanism frame (1), and a coaxial slave synchronous pulley (5-12) is fixedly mounted on the other end of the slave drive shaft (5-11) extending from the mechanism frame (1) and is fixed to one end of a driven crank (5-4), and the other end of the driven crank (5-4) is rotationally matched with the middle end of the parallel swing rod (5-1); the slave synchronous pulley (5-12) is connected to the main synchronous pulley (5-10) via the synchronous belt (5-20); The parallel swing rod (5-1) and the planting swing rod (5-2) are arranged in parallel and are located between the planting connecting rod (5-6) and the parallel connecting rod (5-5); one end of the planting swing rod (5-2) is rotationally matched with the guide seat (3-2) in the duckbill planting component (3); the lower end of the planting connecting rod (5-6) is rotationally matched with the other end of the planting swing rod (5-2) and the lower end of the parallel connecting rod (5-5); the upper end of the planting connecting rod (5-6) is rotationally matched with the fulcrum bearing seat (5-7), and the fulcrum bearing seat (5-7) is fixed to the slider (2-2) in the depth adjustment component (2); the upper end of the parallel connecting rod (5-5) is rotationally matched with one end of the parallel swing rod (5-1); the other end of the parallel swing rod (5-1) is rotationally matched with the guide seat (3-2).

6. A transfer machine, characterized in that: It comprises a planting device with controllable planting depth, and the planting device with controllable planting depth is the planting device with controllable planting depth as described in any one of claims 1-5.

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