Planting device with controllable planting depth and transfer machine with same

Abstract

The application discloses a kind of controllable planting depth planting device, including first power transmission component, second power transmission component, mechanism frame, depth adjustment component, duckbill planting component, duckbill opening and closing control device, connecting rod planting component, first power transmission component is used to provide power for connecting rod planting component, power is transmitted to duckbill planting component by connecting rod planting component, realize complete planting action;Connecting rod planting component is cooperated with duckbill opening and closing control device, so that duckbill opening and closing control device obtains power;Second power transmission component is used to provide power for depth adjustment component, to adjust the planting depth of duckbill planting component;Duckbill opening and closing control device is cooperated with duckbill planting component, so that duckbill one in duckbill planting component, duckbill two has the first state with closure and has the second state with opening.This application establishes the mechanical platform for pot seedling transplanting by reasonable composition and connection, whole design is simple and compact, degree of automation is high, can replace artificial planting, improves planting efficiency and planting quality.

Description

Technical Field

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

[0002] Yunnan Province, relying on its superior natural resources, provides an extremely favorable foundation for agricultural development. It serves as a national supply base for "western vegetables to the east" and "southern vegetables to the north," and is also an important hub for the Southeast Asian international market. However, in the Yunnan plateau region, manual planting is inefficient and yields poor results, hindering the development of vegetable cultivation within the province. Compared to manual transplanting, the use of seedling transplanters significantly improves agricultural production efficiency. Transplanters can advance the growth period of seedlings by approximately 15 days, effectively avoiding the impact of early spring low temperatures and frosts, increasing seedling survival rates, ensuring the number of plants per unit area meets agronomical requirements, and extending the crop's growth period. However, a mismatch exists between the technology and agronomic requirements of existing transplanting machinery in Yunnan, leading to a disconnect between machinery and agronomic practices, thus affecting transplanting effectiveness. Therefore, developing transplanting machinery compatible with plateau agronomic techniques is of great significance.

[0003] The entire planting device is the core component of the transplanter, and planting depth is one of the important indicators for measuring planting performance. The planting depth of potted seedlings has a significant impact on seedling growth and uprightness requirements. The height of the ground wheel, the characteristics of the planting device's contour-following mechanism, and the unevenness of the cultivated soil surface all affect the planting depth. Currently, there are two main methods for controlling the planting depth of transplanters: contour-following control and manual adjustment of the planting mechanism. Contour-following control is further divided into passive contour-following and active contour-following. Passive contour-following is a mechanical structure that maintains the force balance of the depth-limiting device, allowing the working depth of the planting component to float with the ground. Active contour-following uses mechanical sensing and hydraulic system execution to control the planting depth. For example, invention patent application 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 component of the planting mechanism includes 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 adjustment. Finally, based on the predetermined working speed of the mechanism, it is determined whether the planting depth needs adjustment. Once the planting mechanism has moved to the required height, the adjustment handle is locked, thus completing the entire planting depth adjustment process. However, since the planting depth adjustment device of the transplanter determines the planting depth before planting the seedlings, it cannot perform real-time depth adjustment during the planting process on uneven ridge surfaces, making it difficult to meet the requirements of fixed-depth planting.

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

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

[0006] The technical solution of this invention is:

[0007] According to a first aspect of the present invention, a planting depth controllable planting device is provided, comprising 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 includes a seedling guide tube 3-1, a first duckbill 3-4, and a second duckbill 3-5. The seedling guide tube 3-1 is used to guide the received seedlings between the first duckbill 3-4 and the second duckbill 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 fitted with the duckbill planting component. The 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 input component is used to provide power to the connecting rod planting component 5, and transmits the power to the duckbill planting component 3 through the connecting rod planting component 5 to realize the complete planting action; through the cooperation of the connecting rod planting component 5 and the duckbill opening and closing control device 4, the duckbill opening and closing control device 4 obtains power; the second power input component is used to provide power to 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 have a closed first state and an open second state.

[0008] Further, the depth adjustment component 2 includes a slider fixing seat 2-1, a slider 2-2, a proximity switch one 2-3, a proximity switch two 2-4, a proximity switch three 2-5, a slide rod 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. A rotary joint connection is used; both ends of the slide rod 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; an inspection iron piece that cooperates with the proximity switch is installed on the slider 2-2, and the slider 2-2 is connected to the ball screw 2-7 by a helical joint, so that the slider 2-2 is movable in the axial direction of the ball screw 2-7 within a preset stroke; the slider 2-2 is rotatably engaged with the connecting rod planting component 5 at one end away from the mechanism frame 1.

[0009] Furthermore, the duckbill planting component 3 also includes a flow guide seat 3-2, a first spring 3-4, a second spring 3-6, and a duckbill end brake 3-10; the seedling guide tube 3-1 is sleeved onto the first plane of the flow guide seat 3-2; the flow guide seat 3-2 has symmetrical mounting holes on opposite sides along the first plane, which are respectively connected to the side of the duckbill first 3-3 and the side of the duckbill second 3-5 that are far apart from each other, and the duckbill first 3-3 is connected to the side of the duckbill second 3-5 that is close to each other, one end of the first spring 3-4 is fixedly connected to the duckbill first 3-3, and the other end of the first spring 3-4 is fixedly connected to the duckbill second 3-5, one end of the second spring 3-6 is fixedly connected to the duckbill second 3-5, and the other end of the second spring 3-6 is fixedly connected to... Duckbill 1 3-3; Duckbill 1 3-3 and Duckbill 2 3-5 are respectively provided with connecting parts that are connected to the duckbill line brake 3-10. The duckbill line brake 3-10 is specifically arranged from one end to the other as follows: one end of the duckbill line brake 3-10 is fixed to the connecting part of duckbill 2 3-5, then fixed to the connecting part of duckbill 1 3-3, and then fixed to the connecting part of the mechanism frame 1 after passing around the mechanism frame 1. The U-shaped component 4-6 at the other end of the duckbill line brake 3-10 is connected to one end of the opening and closing rocker arm 4-2 in the duckbill opening and closing control device 4 through a rotary joint. Duckbill 1 3-3 and Duckbill 2 3-5 rotate towards each other by the same angle around the connected rotary joint under the action of the duckbill line 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 arm 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 line brake 3-10 in the duckbill planting component 3 is rotatably engaged with the short cylindrical pin 4-5 fixed at one end of the opening and closing rocker arm 4-2, and the other end of the opening and closing rocker arm 4-2 is rotatably engaged with the mechanism frame 1 to realize the swing of the opening and closing rocker arm 4-2; the roller 4-7 is rotatably engaged 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 arm 4-2; the cam 4-4 installed on the connecting rod planting component 5 is engaged with the roller 4-7 to realize the up and down swing of the opening and closing rocker arm 4-2.

[0011] Further, the connecting rod planting component 5 includes a parallel swing rod 5-1, a planting swing rod 5-2, a driving crank 5-3, a driven crank 5-4, a parallel connecting rod 5-5, a planting connecting frame rod 5-6, a fulcrum bearing seat 5-7, a main synchronous belt pulley 5-10, a driven drive shaft 5-11, a driven synchronous belt 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 driven drive shaft 5-11 are rotatably engaged with the mechanism frame 1; the main drive shaft 5- One end of the main drive shaft 5-13 extending from the mechanism frame 1 is rotated by the torque transmitted by the first power input component. The other end of the main drive shaft 5-13 extending from the mechanism frame 1 is fixedly mounted with the main synchronous pulley 5-10 and fixed to one end of the drive crank 5-3. The other end of the drive crank 5-3 is rotatably engaged with the middle end of the planting swing arm 5-2. One end of the drive shaft 5-11 extending from the mechanism frame 1 is fixedly mounted with the cam 4-4 in the duckbill opening and closing control device 4. The drive shaft 5-11 is driven by the mechanism... The other end of the extended frame 1 is fixedly mounted with a coaxial driven synchronous pulley 5-12 and fixed to one end of a driven crank 5-4. The other end of the driven crank 5-4 is rotatably engaged with the middle end of the parallel swing rod 5-1. The driven synchronous pulley 5-12 is connected to the main synchronous pulley 5-10 via the synchronous belt 5-20. The parallel swing rods 5-1 and 5-2, which are arranged in parallel, are located between the planting frame 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. In component 3, the guide seat 3-2 is rotatably engaged; the lower end of the planting connecting rod 5-6 is rotatably engaged with the other end of the planting swing rod 5-2 and with the lower end of the parallel connecting rod 5-5; the upper end of the planting connecting rod 5-6 is rotatably engaged 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 rotatably engaged with one end of the parallel swing rod 5-1; and the other end of the parallel swing rod 5-1 is rotatably engaged with the guide seat 3-2.

[0012] According to a second aspect of the present invention, a transfer machine is provided, including a planting depth controllable planting device, wherein the planting depth controllable planting device is any one of the planting depth controllable planting devices described above.

[0013] The beneficial effects of this invention are as follows: This invention establishes a mechanical platform for transplanting seedlings in pots through reasonable structure and connection. The entire design is simple and compact, with a high degree of automation, and can replace manual planting, improving planting efficiency and quality. Specifically, sensors are installed at the front of the entire device, which can feed back the information of the ridge surface in real time to the controller, adjusting the planting depth in real time during planting operations to ensure that each planting depth approaches the theoretical planting depth. Furthermore, the planting depth can be adjusted between -4mm and +4mm by adjusting the position of the slider movement through the controller, ensuring that the seedlings in pots maintain the required planting depth on uneven ridge surfaces, thus improving the survival rate of the seedlings. The plant spacing can be adjusted by adjusting the speed ratio of the main drive shaft and the unit to meet the transplanting needs of vegetable seedlings with small to medium plant spacing (200mm-300mm). Attached Figure Description

[0014] Figure 1 This is an isometric view of the overall structure of the present invention;

[0015] Figure 2 These are the upper and lower isometric views of the linkage 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 This 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 This is a front view of the duckbill opening and closing device of the present invention;

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

[0022] Figure 9 This is a three-dimensional diagram of the depth adjustment device of the present invention;

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

[0024] Figure 11 This is a simplified diagram of the linkage planting mechanism of the present invention;

[0025] Figure 12 This is a schematic diagram illustrating the principle of depth variation in the linkage planting mechanism of the present invention.

[0026] Figure 13 This is a schematic diagram of the overall structure and planting process of the present invention;

[0027] Figure 14 This is a schematic diagram of the planting cycle of the present invention;

[0028] Figure 15 This is a flowchart illustrating the overall structural motion of the present invention.

[0029] The following components are labeled in the diagram: 1-Mechanism frame, 2-Depth adjustment component, 3-Duckbill planting component, 4-Duckbill opening and closing control device, 5-Linkage planting component, 6-Laser rangefinder 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 rod, 2-7 Ball screw, 2-8 Coupling, 3-1 Seedling guide tube, 3-2 Flow guide seat, 3-3 Duckbill one, 3-4 Spring one, 3-5 Duckbill two, 3-6 Spring two, 3-7 Hex nut one, 3-8 Hex nut two, 3-9 Hex nut three, 3-10 Duckbill end line brake, 4-1 Deep groove ball bearing one, 4-2 Opening and closing rocker arm, 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 IV. 4-9 Hexagonal Nut V. 5-1 Parallel Swing Rod 5-2 Planting Swing Rod 5-3 Driving Crank 5-4 Driven Crank 5-5 Parallel Connecting Rod 5-6 Planting Connecting Rod 5-7 Pivot Bearing Seat 5-8 Deep Groove Ball Bearing II. 5-9 Deep Groove Ball Bearing III. 5-10 Main Synchronous Belt Pulley 5-11 Driven Drive Shaft 5-12 Driven Synchronous Belt Pulley 5-13 Main Drive Shaft 5-14 Deep Groove Ball Bearing IV. 5-15 Deep Groove Ball Bearing V. 5-16 Deep Groove Ball Bearing VI. 5-17 Deep Groove Ball Bearing VII. 5-18 Deep Groove Ball Bearing VIII. 5-19 Deep Groove Ball Bearing IX. 5-20 Synchronous Belt X. 5-21 Deep Groove Ball Bearing X. 5-22 Deep Groove Ball Bearing XI. 5-23 Deep Groove Ball Bearing XII. 5-24 Deep Groove Ball Bearing XIII. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other.

[0031] Example 1: As Figure 1-15As shown, according to a first aspect of the present invention, a planting depth controllable planting device is provided, including 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 includes a seedling guide tube 3-1, a first duckbill 3-4, and a second duckbill 3-5. The seedling guide tube 3-1 is used to guide the received seedlings to between the first duckbill 3-4 and the second duckbill 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 equipped with the duckbill planting component. 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 input component is used to provide power to the connecting rod planting component 5, and transmits the power to the duckbill planting component 3 through the connecting rod planting component 5 to realize the complete planting action; through the cooperation of the connecting rod planting component 5 and the duckbill opening and closing control device 4, the duckbill opening and closing control device 4 obtains power; the second power input component is used to provide power to 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 3-4 and duckbill 3-5 in the duckbill planting component 3 have a closed first state and an open second state.

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

[0033] Further, the depth adjustment component 2 includes a slider fixing seat 2-1, a slider 2-2, a proximity switch one 2-3, a proximity switch two 2-4, a proximity switch three 2-5, a slide rod 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 screws, 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 rod 2-6 are fixed to the slider fixing seat 2-1; the proximity switch one 2-3, the proximity switch two 2-4, the proximity switch three 2-5, the proximity switch two 2-6, the proximity switch two 2-7 ...8, the proximity switch two 2-9, the proximity switch two 2-1, the proximity switch two 2-1, the proximity switch two 2-2, the proximity switch two 2-3, the proximity switch two 2-4, the proximity switch two 2-5, the proximity switch two 2-6, the proximity switch two 2-7, the proximity switch two 2-8, the proximity switch two 2-9, the proximity switch two 2-1, the proximity switch two 2-1, the proximity switch two 2-2, the proximity switch two 2-3, the proximity switch two 2-4, the proximity Proximity switches 2-4 and 2-5 are installed at equal intervals along the length of slider fixing seat 2-1. Proximity switch 2-4 is installed between proximity switches 2-3 and 2-5. An inspection iron plate that cooperates with the proximity switch is installed on slider 2-2, and slider 2-2 is connected to ball screw 2-7 by a helical pair, so that slider 2-2 is movable in the axial direction of ball screw 2-7 within a preset stroke. The end of slider 2-2 away from the mechanism frame 1 is rotatably engaged with the connecting rod planting component 5. Among them, proximity switch 2-4 represents the initial position of slider 2-2, and proximity switches 2-3 and 2-5 limit the vertical stroke.

[0034] Further, the duckbill planting component 3 also includes a flow guide seat 3-2, spring one 3-4, spring two 3-6, hexagonal nut one 3-7, hexagonal nut two 3-8, hexagonal nut three 3-9, and duckbill end wire brake 3-10; the seedling guide tube 3-1 is sleeved onto the first plane of the flow guide seat 3-2; the flow guide seat 3-2 has mounting holes symmetrically arranged on opposite sides along the first plane, respectively connected to the side of duckbill one 3-3 and duckbill two 3-5 away from each other by a pin and a cotter pin, the side of duckbill one 3-3 connected to duckbill two 3-5 close to each other by a rotating joint, one end of spring one 3-4 is fixed to duckbill one 3-3, the other end of spring one 3-4 is fixed to duckbill two 3-5, one end of spring two 3-6 is fixed to duckbill two 3-5, and the other end of spring two 3-6 is fixed to duckbill one 3-3; Duckbill 1 3-3 and duckbill 2 3-5 are respectively provided with connecting parts that connect to the duckbill line brake 3-10. The duckbill line brake 3-10 is specifically arranged from one end to the other as follows: one end of the duckbill line brake 3-10 is tightened and fixed to the connecting part of duckbill 2 3-5 through hexagonal nut 1 3-7, then tightened and fixed to the connecting part of duckbill 1 3-3 through hexagonal nut 2 3-8 and hexagonal nut 3-9, and after passing around the mechanism frame 1, it is tightened and fixed to the connecting part of the mechanism frame 1 through hexagonal nut 4-8 and hexagonal nut 5 4-9. The U-shaped component 4-6 at the other end of the duckbill line brake 3-10 is connected to one end of the opening and closing rocker arm 4-2 in the duckbill opening and closing control device 4 through a rotary joint. Under the action of the duckbill line brake 3-20, duckbill 1 3-3 and duckbill 2 3-5 rotate towards each other by the same angle around the connected rotary joint 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 arm 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 line brake 3-10 in the duckbill planting component 3 is rotatably engaged with the short cylindrical pin 4-5 fixed at one end of the opening and closing rocker arm 4-2. The other end of the opening and closing rocker arm 4-2 is rotatably engaged with the mechanism frame 1 via the deep groove ball bearing 4-1, used to realize the swinging of the opening and closing rocker arm 4-2. The roller 4-7 is rotatably engaged 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 arm 4-2. The cam 4-4 installed on the connecting rod planting component 5 engages with the roller 4-7 to realize the up-and-down swinging of the opening and closing rocker arm 4-2. As can be seen from the above technical solution, the present invention can cleverly realize the opening and closing of the duckbill by rotating the cam 4-4 and cooperating with the duckbill line brake 3-20.

[0036] Further, the connecting rod planting component 5 includes a parallel swing rod 5-1, a planting swing rod 5-2, a driving 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 second deep groove ball bearing 5-8, a third deep groove ball bearing 5-9, a main synchronous belt pulley 5-10, a driven drive shaft 5-11, a driven synchronous belt pulley 5-12, a main drive shaft 5-13, a fourth deep groove ball bearing 5-14, a fifth deep groove ball bearing 5-15, a sixth deep groove ball bearing 5-16, a seventh deep groove ball bearing 5-17, a eighth deep groove ball bearing 5-18, a ninth deep groove ball bearing 5-19, a synchronous belt 5-20, a tenth deep groove ball bearing 5-21, an eleventh deep groove ball bearing 5-22, a twelfth deep groove ball bearing 5-23, and a deep groove... Ball bearing 13 5-24; the inner rings of deep groove ball bearing 10 5-21 and deep groove ball bearing 11 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 deep groove ball bearing 7 5-17 and deep groove ball bearing 8 5-18 are fixed to the driven shaft 5-11, and the outer rings are fixed to the mechanism frame 1; the main drive shaft 5-13 extends from the mechanism frame 1, and its rotation is achieved by transmitting torque through the first power transmission component; the other end of the main drive shaft 5-13 extends from the mechanism frame 1 and is fixedly mounted with the main synchronous pulley 5-10 and fixed to one end of the drive crank 5-3; the other end of the drive crank 5-3 is rotatably engaged with the middle end of the planting swing arm 5-2 through the deep groove ball bearing 4 5-14; the driven shaft 5-11 5-24 5-24 5-22 5-24 5-24 5-24 5-24 5-24 5-25 ... The drive shaft 5-11 extends from the mechanism frame 1 and is fixedly mounted on one end, which is the cam 4-4 in the duckbill opening and closing control device 4. The other end of the drive shaft 5-11 extends from the mechanism frame 1 and is fixedly mounted on the coaxial driven synchronous pulley 5-12, which is also fixed to one end of the driven crank 5-4. The other end of the driven crank 5-4 is rotatably engaged with the middle end of the parallel rocker arm 5-1 through a deep groove ball bearing 5-17. The driven synchronous pulley 5-12 is connected to the main synchronous pulley 5-10 through the synchronous belt 5-20. The parallel rocker arm 5-1 and the planting rocker arm 5-2 are arranged in parallel and are located between the planting frame rod 5-6 and the parallel connecting rod 5-5. One end of the planting rocker arm 5-2 is connected to the duckbill planting component through the deep groove ball bearing 5-9. The flow guide seat 3-2 is rotatably engaged; the lower end of the planting connecting rod 5-6 is rotatably engaged with the other end of the planting swing rod 5-2 via a deep groove ball bearing thirteen 5-24, and rotatably engaged with the lower end of the parallel connecting rod 5-5 via a deep groove ball bearing five 5-15; the upper end of the planting connecting rod 5-6 is rotatably engaged with the fulcrum bearing seat 5-7 via a deep groove ball bearing six 5-16, and the fulcrum bearing seat 5-7 has four connecting holes on its end face to fix it with the slider 2-2 in the depth adjustment component 2; the upper end of the parallel connecting rod 5-5 is rotatably engaged with one end of the parallel swing rod 5-1 via a deep groove ball bearing twelve 5-23; the other end of the parallel swing rod 5-1 is rotatably engaged with the flow guide seat 3-2 via a deep groove ball bearing two 5-8.

[0037] Figure 11 This is a simplified 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 transmission component M1 and the second power transmission component M2. Figure 11 Point C of slider 2-2, representing the depth adjustment component, is engaged. Figure 12 Further explanation is as follows: The slider 2-2 is rotaryly connected to the ball screw 2-7, 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 transmission component M2 through the coupling 2-8. Figure 12 The five points C0, C1, C2, C3, and C4 on the midpoint line L are located on the ball screw 2-7 (C2 is the location of proximity switch 2-4). In different planting cycles, the laser sensor 6 feeds back the ridge height information as the ridge parameter for the next cycle to the controller. When the entire planting device returns after completing the planting operation of the cycle, it immediately adjusts the slider 2-2 to the designated position to ensure that the seedlings are not touched, thereby achieving the consistency of the seedling planting depth throughout the planting operation (for example, a distance of more than 15cm from the tip of the duckbill to the ridge surface is considered as not touching the seedlings). The movable slider 2-2 has five positions. It can be moved to the desired position by aligning with points C0 to C4. The laser range sensor 6 has a preset ridge height range value for each position. For each position, the controller controls the slider 2-2 to move to the corresponding position according to the range of ridge height values ​​collected by the laser range sensor 6. If the ridge height exceeds the upper or lower limit of the preset range, the slider 2-2 will maintain the position of the previous cycle. By setting different positions for different ranges, the second power input component M2 can be prevented from running continuously during the entire planting operation, thus reducing energy consumption.

[0038] refer to Figure 13 and 14 To illustrate, let's take two cycles as an example: T0 = 0 - 0.8s is the first cycle, and T1 = 0.8s - 1.6s is the second cycle. The initial position of slider 2-2 is taken as point C2, which is the planting depth. Figure 14 The direction from right to left is the direction of travel. Figure 14 The upper left half of the image shows a flat ridge surface. Figure 14The lower part is an uneven ridge surface. The working process of each component is described in detail below: Power is provided by the first power transmission component M1, driving the main drive shaft 5-13 to rotate. As the main drive shaft 5-13 rotates, the synchronous belt 5-10 drives the drive shaft 5-11 to rotate synchronously, and the cam 4-4 also rotates accordingly. When the cam 4-4 is near rest, the opening and closing rocker arm, under the tension of springs 3-4 and 3-6, causes the duckbill 1 and 2 to be in the closed state. At this time, the entire planting mechanism operates in the seedling receiving and transporting stage, as follows... Figure 14 China T 01 and T 03 Section, such as Figure 13 As shown in process ④; when cam 4-4 is in the push stroke stage, the opening and closing rocker arm 4-2 moves counterclockwise, and the duckbill end brake 3-10 is tightened, causing the duckbill to change from a closed state to an open state. At this time, the entire planting device moves to the lowest planting point, ready for seedling planting. Figure 13 As shown in process ①; when cam 4-4 is in the far-rest stage, the duckbill end line brake 3-10 remains taut. This stage needs to continue from the lowest planting point until the lowest point of the duckbill is higher than the height of the planted seedling before proceeding to the next stage. Figure 14 China T 02 Stages, such as Figure 13 As shown in process ②; when cam 4-4 is in the return phase, the opening / closing rocker 4-2 moves clockwise, and the duckbill end brake 3-10 is released, causing the duckbill to change from open to closed, as shown. Figure 13 As shown in process ③, at this point, the entire planting device is returning to the seedling receiving area after planting. During this stage, the lowest point of the duckbill needs to be higher than the planted seedling to prevent the seedling from being pinched during the return journey. If depth adjustment is required, it is necessary to... Figure 14 China T 03 In this stage, power is provided through the second power transmission component M2 to move slider 2-2 to a designated position to prepare for the next planting cycle. If the laser rangefinder 6 detects that the ridge surface is higher in the next cycle compared to the previous cycle, slider 2-2 moves from C2 to C3, causing the entire trajectory of the duckbill planting component 3 to shift upward to meet the fixed-depth planting requirements; otherwise, if the ridge surface is lower in the next cycle compared to the previous cycle, slider 2-2 moves from C2 to C1, causing the entire trajectory of the duckbill planting component 3 to shift downward to meet the fixed-depth planting requirements. Figure 14 As shown in the lower left half of the diagram, looking from T0 to T1, the ridge surface in the next cycle T1 is higher than that in T0.

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

[0040] refer to Figure 15Before planting begins, parameters need to be set for the planting mechanism. These parameters include the angular velocity of the active crank 5-3, the forward speed of the unit, and the setting of the slider 2-2 back to the preset origin position (in this embodiment, C2 is set as the preset origin position) to ensure the transplanting mechanism operates according to the preset working mode. Then, the laser rangefinder 6 collects 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. During planting, the entire unit moves forward, the active crank 5-3 rotates counterclockwise, and the laser rangefinder 6 continues to work, transmitting ridge height information parameters to the controller in real time. Based on this data, the controller makes precise height adjustments via the second power input component M2 to ensure the transplanter maintains a constant planting depth on complex terrain. This process repeats continuously until all planting tasks are completed. During the real-time data transmission of the laser rangefinder 6, the ridge height information value for the next cycle is captured at the end of each planting cycle so that the controller can make adjustments in advance. If the height of the ridge exceeds the adjustable range of the second power input component M2, the slider 2-2 will remain at the same position as in the previous cycle. After the planting operation is completed, the first power input component M1 and the second power input component M2 stop working, and the transplanter enters a pause state.

[0041] According to a second aspect of the present invention, a transfer machine is provided, including a planting depth controllable planting device, wherein the planting depth controllable planting device is any one of the planting depth controllable planting devices described above.

[0042] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A planting device with controllable planting depth, characterized in that, The system includes 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) includes a seedling guide tube (3-1), a first duckbill (3-3), and a second duckbill (3-5). The seedling guide tube (3-1) is used to guide the seedlings to be picked up between the first duckbill (3-3) and the second duckbill (3-5). The system also includes a laser ranging sensor (6). The laser ranging sensor (6) is installed on the mechanism frame (1) near the forward end and is on the same vertical plane as the end of the duckbill. The frame (1) of the mechanism 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 equipped with the duckbill 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 input 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) to realize the complete planting action; the connecting rod planting component (5) cooperates with the duckbill opening and closing control device (4) to enable the duckbill opening and closing control device (4) to obtain power; the second power input component is used to provide power to 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 one (3-3) and duckbill two (3-5) have a first closed state and a second open state; The depth adjustment component (2) includes a slider fixing seat (2-1), a slider (2-2), a proximity switch one (2-3), a proximity switch two (2-4), a proximity switch three (2-5), a slide rod (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 make the ball screw (2-7) rotate. The other end of the ball screw (2-7) is connected to the other end of the slider fixing seat (2-1). The slide bar (2-6) is connected by a side rotary joint; both ends of the slide bar (2-6) are fixed on the slide block fixing seat (2-1); the proximity switch one (2-3), proximity switch two (2-4), and proximity switch three (2-5) are installed at equal intervals along the length direction of the slide block fixing seat (2-1); the slide bar (2-2) is equipped with a test iron piece that cooperates with the proximity switch and the slide bar (2-2) is connected to the ball screw (2-7) by a helical joint, so that the slide bar (2-2) can be moved within a preset stroke along the axial direction of the ball screw (2-7); the slide bar (2-2) is rotatably engaged with one end of the connecting rod planting component (5) away from the mechanism frame (1); The connecting rod planting component (5) includes a parallel swing rod (5-1), a planting swing rod (5-2), a driving 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 belt pulley (5-10), a driven shaft (5-11), a driven synchronous belt 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 the other end of the driven shaft (5-11) are rotatably engaged with the mechanism frame (1); The main drive shaft (5-13) extends from one end of the mechanism frame (1) and is rotated by the torque transmitted by the first power input component. The other end of the main drive shaft (5-13) extending from the mechanism frame (1) is fixedly mounted with the main synchronous pulley (5-10) and fixed to one end of the active crank (5-3). The other end of the active crank (5-3) is rotatably engaged with the middle end of the planting swing rod (5-2). The cam (4-4) in the duckbill opening and closing control device (4) is fixedly installed at one end of the drive shaft (5-11) extending from the mechanism frame (1), and the coaxial driven synchronous pulley (5-12) is fixedly installed at the other end of the drive shaft (5-11) extending from the mechanism frame (1) and fixed to one end of the driven crank (5-4). The other end of the driven crank (5-4) is rotatably engaged with the middle end of the parallel rocker arm (5-1). The driven synchronous pulley (5-12) is connected to the main synchronous pulley (5-10) through the synchronous belt (5-20). Parallel swing rods (5-1) and planting swing rods (5-2) are arranged in parallel and located between the planting frame rod (5-6) and the parallel connecting rod (5-5). One end of the planting swing rod (5-2) is rotatably engaged with the guide seat (3-2) in the duckbill planting component (3). The lower end of the planting frame rod (5-6) is rotatably engaged with the other end of the planting swing rod (5-2) and with the lower end of the parallel connecting rod (5-5). The upper end of the planting frame rod (5-6) is rotatably engaged with the fulcrum bearing seat (5-7), and the fulcrum bearing seat (5-7) is fixed with the slider (2-2) in the depth adjustment component (2). The upper end of the parallel connecting rod (5-5) is rotatably engaged with one end of the parallel swing rod (5-1). The other end of the parallel swing rod (5-1) is rotatably engaged with the guide seat (3-2). The control method of the planting depth controllable planting device is as follows: power is provided by the first power input component M1 to drive the main drive shaft (5-13) to rotate. As the main drive shaft (5-13) rotates, the drive shaft (5-11) is driven to rotate synchronously through the synchronous belt (5-20), and the cam (4-4) also rotates accordingly. When the cam (4-4) is near rest, the opening and closing swing arm, under the tension of spring one (3-4) and spring two (3-6), makes the first and second duckbills close. At this time, the entire planting mechanism operates in the seedling receiving stage and the seedling transport stage. When the cam (4-4) is in the push stage, the opening... When the rocker arm (4-2) moves counterclockwise, the duckbill end brake (3-10) tightens, causing the duckbill to change from closed to open. When the cam (4-4) is in the far-end stage, the duckbill end brake (3-10) remains tightened. This stage must continue from the lowest planting point until the lowest point of the duckbill is higher than the height of the planted seedling before proceeding to the next stage. When the cam (4-4) is in the return stage, the rocker arm (4-2) moves clockwise, releasing the duckbill end brake (3-10) and causing the duckbill to change from open to closed. During this stage, the lowest point of the duckbill must be higher than the planted seedling. The initial position of the slider (2-2) is taken as... Point C2 serves as the planting depth position. When depth adjustment is required, power is provided through the second power transmission component M2 to move the slider (2-2) to the designated position to prepare for the next planting cycle. If the laser range sensor (6) detects that the ridge surface is higher in the next cycle compared to the previous cycle, the slider (2-2) moves from C2 to C3; otherwise, if the ridge surface is lower in the next cycle compared to the previous cycle, the slider (2-2) moves from C2 to C1. Point C2 is the location of proximity switch two (2-4), and point C3 is the location of proximity switch two (2-4) and proximity switch three. The position between (2-5) is C1, which is the position between proximity switch one (2-3) and proximity switch two (2-4). The slider (2-2) is divided into five positions. It can be moved to the desired position by moving it to coincide with points C0~C4. The laser range sensor (6) has a preset corresponding ridge height range value for different positions. For each position, the controller controls the slider (2-2) to move to the corresponding position according to the range of ridge height value collected by the laser range sensor (6). If it exceeds the upper and lower limits of the preset entire ridge height range, the slider (2-2) will maintain the position of the previous cycle.

2. 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), spring one (3-4), spring two (3-6), and duckbill end line brake (3-10). The seedling guide tube (3-1) is sleeved onto the first plane of the flow guide seat (3-2); the flow guide seat (3-2) is symmetrically provided with mounting holes on opposite sides along the first plane, which are respectively connected to the rotating joints on the opposite sides of one end of the first duckbill (3-3) and the second duckbill (3-5), and the rotating joints on the opposite sides of one end of the first duckbill (3-3) and the second duckbill (3-5) are close to each other; one end of the first spring (3-4) is fixed to the first duckbill (3-3), and the other end of the first spring (3-4) is fixed to the second duckbill (3-5); one end of the second spring (3-6) is fixed to the second duckbill (3-5), and the other end of the second spring (3-6) is fixed to the first duckbill (3-3). The first duckbill (3-3) and the second duckbill (3-5) are respectively provided with connecting parts that are connected to the duckbill end brake (3-10). The duckbill end brake (3-10) is specifically fixed from one end to the other as follows: one end of the duckbill end brake (3-10) is fixed to the connecting part of the second duckbill (3-5), then fixed to the connecting part of the first duckbill (3-3), and then fixed to the connecting part of the mechanism frame (1) after passing around the mechanism frame (1). The U-shaped component (4-6) at the other end of the duckbill end 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 rotary joint. The first duckbill (3-3) and the second duckbill (3-5) rotate towards each other by the same angle around the connected rotary joint under the action of the duckbill end brake (3-10) to complete the opening and closing action.

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

4. A transplanter, characterized in that, The device includes a planting depth controllable planting device, wherein the planting depth controllable planting device is the planting depth controllable planting device as described in any one of claims 1-3.

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