Ligusticum wallichii seed clamping and planting device and use method

Abstract

The invention discloses a ligusticum wallichii seed clamping and planting device and a using method. The ligusticum wallichii seed clamping and planting device comprises a frame, transplanting arms and an executing mechanism. A hinge lug is fixedly connected to the frame, a guide rail mounting plate is hinged to the hinge lug through a hinge hole by using a bolt, a sliding block is mounted on the guide rail mounting plate, and a crank is hinged to the sliding block and is driven by a motor to rotate, so that the sliding block slides in a guide rail. And a mounting hole is formed in the sliding block and is connected with the transplanting arm through a bolt to drive the transplanting arm to move. An electric push rod of the transplanting arm drives an execution mechanism, a clamping jaw adopts a spiral opening and closing mechanism, a steering engine accurately controls rotation of a driving disc so as to control opening and closing of the clamping jaw, and the electric push rod is matched with the steering engine so as to realize seed taking and seed placing functions. The ligusticum wallichii seed transplanting machine is suitable for transplanting ligusticum wallichii seeds which are arranged in sequence in a seed disc, can meet the special process requirements that bud openings face upwards, section discs are semi-buried into soil and vertical planting is carried out, achieves the functions of intelligent seed taking, seed transporting, directional transplanting and the like, and effectively improves the transplanting efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of Ligusticum chuanxiong rhizome transplanting technology, and particularly relates to a device for clamping and planting Ligusticum chuanxiong rhizome seeds and a using method thereof. Background Art

[0002] Ligusticum chuanxiong is a gramineous plant with the effects of promoting blood circulation and qi movement, dispelling wind and relieving pain. It is widely used in the field of traditional Chinese medicine and is one of the typical genuine medicinal materials. Sichuan Province is the main producing area of Ligusticum chuanxiong, with an annual planting area of more than 100,000 mu, accounting for more than 90% of the total national output. Among them, the planting area in Aoping Town, Pengzhou City exceeds 30,000 mu, and the annual output is about 8,000 tons, making it the largest Ligusticum chuanxiong planting base in Sichuan. However, the cultivation process of Ligusticum chuanxiong is complex and the labor intensity is high. At present, most of the cultivation is carried out by small-scale individual households, and almost all production links rely entirely on manual labor. Manual transplanting is slow and monotonous, resulting in low production efficiency, high labor costs, and inconsistent planting standards. There is still a lack of mechanical equipment suitable for Ligusticum chuanxiong cultivation on the market, and the problem of transplanting Ligusticum chuanxiong rhizome seeds has become a bottleneck in the mechanized production of Ligusticum chuanxiong.

[0003] Therefore, it is particularly important to carry out research on intelligent transplanting technology for Ligusticum chuanxiong rhizome seeds. For this purpose, a device for clamping and planting Ligusticum chuanxiong rhizome seeds is proposed. Summary of the Invention

[0004] The purpose of the present invention is to solve the problems of the lack of mechanical equipment for Ligusticum chuanxiong cultivation and the problems existing in manual planting.

[0005] To achieve the above purpose, the present invention provides a device for clamping and planting Ligusticum chuanxiong rhizome seeds, which includes a vehicle frame, a transplanting arm, and an actuating mechanism; the transplanting arm is installed on the vehicle frame, and the actuating mechanism is installed on the transplanting arm; A vehicle frame base is provided under the vehicle frame. A pair of vehicle frame support longitudinal beams are installed on the left and right sides of the vehicle frame through vehicle frame reinforcing square steel. The motor support plate is fixed on the vehicle frame base. The vehicle frame connecting cross beam is fixedly connected with the pair of vehicle frame support longitudinal beams. The hinge ear is fixedly connected with the vehicle frame connecting cross beam by welding; The transplanting arm includes a stepping motor, which is installed on the motor support plate. The output shaft of the stepping motor is connected with one end of a crank through a key. The other end of the crank passes through a connecting plate and is connected with a slider through a hinge shaft; the slider is stuck in the card slot of the slider guide rail. The slider guide rail is installed on the guide rail mounting plate. The guide rail mounting plate is fixed on the hinge ear by bolts with precision reamed holes. An electric push rod is fixed on the connecting plate; The actuator includes a servo motor, which is installed on a servo motor mounting base. The servo motor mounting base is bolted to the electric push rod. The output shaft of the servo motor is connected to a servo motor rotating connector. The servo motor rotating connector passes through the servo motor mounting base and is connected above the driving disc. The lower part of the driving disc is connected to a driving disc mounting base. The driving disc mounting base is provided with a radially slotted opening. The top cylindrical shaft of the clamping jaw is inserted into the curved groove of the driving disc through the radially slotted opening of the driving disc mounting base.

[0006] Furthermore, the slider and the slider track are made of aluminum alloy material, and the clamping jaw is made of ABS material.

[0007] Furthermore, a snap structure is designed between the servo motor mounting base and the driving disc mounting base to form a closed box structure.

[0008] A usage method of the Chuanxiong rhizome tuber clamping and planting device described above includes the following steps: Step 1: After installing the Chuanxiong rhizome tuber clamping and planting device, start the stepper motor to make the crank rotate. Step 2: Taking the vertical direction as the Y-axis, the crank rotates clockwise by 15 degrees driven by the stepper motor. At this time, the slider guide rail is perpendicular to the seed plate. The electric push rod extends to drive the servo motor to rotate. The servo motor controls the rotation of the driving disc. When the driving disc rotates clockwise, the clamping jaw gradually closes to complete seed picking. Step 3: The electric push rod retracts, and the crank rotates counterclockwise by 160 degrees until the slider guide rail is in the vertical state. The servo motor controls the electric push rod to extend again to maintain the posture of carrying the Chuanxiong rhizome tuber, completing the process of carrying the rhizome tuber. Step 4: The servo motor controls the electric push rod to extend, and the driving disc rotates counterclockwise to drive the clamping jaw to open and release the Chuanxiong rhizome tuber, completing the release of the Chuanxiong rhizome tuber, thus completing the planting. Step 5: After the planting is completed, the servo motor controls the electric push rod to retract, and the crank rotates clockwise by 160 degrees driven by the stepper motor to reset to the initial position, restoring the state where the slider guide rail is perpendicular to the seed plate.

[0009] Beneficial effects: 1. The present invention uses a stepper motor to control the crank-slider mechanism to achieve precise movement of the planting arm, with high repeatability and stability, and can quickly respond and complete the clamping and planting operations of Chuanxiong rhizome tubers. Combining the design of the spiral opening and closing mechanism and the cross centering chuck, the opening and closing action of the clamping jaw is smooth and efficient, improving the overall operation speed, thus significantly improving the sowing efficiency of Chuanxiong rhizome tubers and reducing the operation time and cost.

[0010] 2. The device integrates an intelligent control system, uses a stepper motor to precisely control the movement of the planting arm, and realizes automatic operation. The design of the cross centering chuck combined with the snap structure ensures good locking stability when the jaws are closed, preventing clamping failure. Through parameter adjustment, the device can flexibly adapt to different seed sizes and shapes, and has strong intelligent adaptability.

[0011] 3. The device adopts a high-precision stepper motor and a spiral opening and closing mechanism to ensure extremely high positioning accuracy and stability during the clamping and planting processes of the jaws. The spiral mechanism of the drive disk rotates to drive the jaws to open and close smoothly, with high transmission efficiency and a compact structure; and it provides uniform and stable clamping force. The automatic centering function effectively ensures the consistency of seed clamping, and the precise control system enables the clamping operation to have high repeatability. The overall design achieves a balance among precise control, mechanical stability, and economy, ensuring the precise execution of each clamping and planting action and meeting the refined planting requirements of Chuanxiong rhizome seeds. Description of the Drawings

[0012] Figure 1 is a schematic structural diagram of the Chuanxiong rhizome seed clamping and planting device provided by the present invention; Figure 2 is a schematic structural diagram of the vehicle frame of the Chuanxiong rhizome seed clamping and planting device provided by the present invention; Figure 3 is a schematic structural diagram of the transplanting arm of the Chuanxiong rhizome seed clamping and planting device provided by the present invention; Figure 4 is a schematic structural diagram of the actuator of the Chuanxiong rhizome seed clamping and planting device provided by the present invention; Figure 5 is a schematic structural diagram of the drive disk of the Chuanxiong rhizome seed clamping and planting device provided by the present invention.

[0013] Reference numerals: 1 - vehicle frame; 101 - frame base; 102 - frame reinforcing square steel; 103 - frame support longitudinal beam; 104 - hinge ear; 105 - motor support plate; 106 - frame connection cross beam; 2 - transplanting arm; 201 - stepper motor; 202 - crank; 203 - guide rail mounting plate; 204 - slider guide rail; 205 - slider; 206 - connecting plate; 207 - welding plate; 208 - electric push rod; 3 - actuator; 301 - servo motor; 302 - servo motor rotating connector; 303 - servo motor mounting base; 304 - drive disk; 305 - drive disk mounting base; 306 - jaws. Detailed Embodiments

[0014] In order to make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the following further elaborates on the present invention in combination with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0015] The application principle of the present invention will be further described below in conjunction with the attached drawings and specific embodiments.

[0016] Embodiment 1: Reference Figures 1-5 , a Chuanxiong rhizome clamping and planting device, including a vehicle frame 1, a transplanting arm 2 and an actuator 3; the transplanting arm 2 is installed on the vehicle frame 1, and the actuator 3 is installed on the transplanting arm 2.

[0017] A frame base 101 is provided below the vehicle frame 1, and a pair of frame support longitudinal beams 103 are installed on the left and right sides of the vehicle frame 1 through frame reinforcing square steel 102. Four groups of motor support plates 105 are fixed on the frame base 101, and the four groups of motor support plates 105 are distributed at intervals. A frame connecting cross beam 106 is fixedly connected to a pair of frame support longitudinal beams 103, and three pairs of hinge ears 104 are firmly fixed to the frame connecting cross beam 106 by welding, and the three pairs of hinge ears 104 are distributed at intervals on the frame connecting cross beam 106.

[0018] The transplanting arm 2 includes a stepping motor 201, the stepping motor 201 is installed on the motor support plate 105 of the vehicle frame 1, the output shaft of the stepping motor 201 is connected to one end of a crank 202 through a key, and the driving crank 202 rotates to drive a slider 205 to reciprocate on a slider guide 204. The other end of the crank 202 passes through a connecting plate 206 and is connected to the slider 205 through a hinge shaft to ensure reliable linkage.

[0019] The hinge ear 104 fixes a guide rail mounting plate 203 through a bolt with a reamed hole to form a stable structure. The slider guide 204 is installed on the left side of the guide rail mounting plate 203, and the slider 205 is stuck in the slot of the slider guide 204 and can move smoothly with high precision. A connecting plate 206 is fixed on the slider 205 for supporting an electric push rod 208, and a welding plate 207 further enhances the connection stability. The connecting plate 206 and the slider 205 are connected by bolts, and the slider 205 and the slider guide 204 are connected in a slotted and embedded manner. Driven by the crank 202, the connecting plate 206 drives the slider 205 to slide on the slider guide 204 to ensure the structural stability. A welding plate 207 is provided on the connecting plate 206, and the electric push rod 208 is welded on the welding plate 207, so that the electric push rod 208 is fixed on the connecting plate 206. The actuator 3 is installed on the electric push rod 208, and the movement of the actuator 3 can be well controlled through the movement of the slider 205.

[0020] The actuator 3 includes a servo 301, which is mounted on a servo mounting base 303 by bolts. The servo mounting base 303 is connected to the electric push rod 208 by bolts. The output shaft of the servo 301 is connected to the servo rotating connector 302 by a shaft. The servo rotating connector 302 passes through a hole in the center of the servo mounting base 303 and is connected to the top of the drive disk 304 by a pin. The bottom of the drive disk 304 is connected to the drive disk mounting base 305 by a pin. The drive disk mounting base 305 is fixed to the servo mounting base 303 by a snap-fit ​​structure. The servo mounting base 303 and the drive disk mounting base 305 are snap-fitted to form a closed box structure. The top cylindrical shaft of the clamping jaw 306 passes through the radial slot of the drive disk mounting base 305 and is inserted into the curved groove of the drive disk 304 with a clearance fit. When the drive disk 304 rotates, the clamping jaw 306 is driven to rotate synchronously through the curved groove. The clearance design allows the clamping jaw to slightly deviate radially to compensate for manufacturing errors and reduce friction. At the same time, the upper part of the clamping jaw 306 is embedded in the four radial slots of the drive disk mounting base 305. The slots serve as guide rails to limit the clamping jaw 306 to move only along the radial straight line to prevent circumferential deviation. The surface of the drive disk 304 has a curved groove designed with spiral lines. When rotating, the clamping jaw 306 is pushed through the contact point, converting the rotational motion of the drive disk 304 into the radial straight line motion of the clamping jaw 306 along the slot of the drive disk mounting base 305, thereby realizing the clamping or releasing function.

[0021] The slider 205 and the slider rail 204 are made of aluminum alloy, the clamping claw 306 is made of ABS material, and the frame and other components are all made of 45 steel.

[0022] The steering engine 301 receives the control signal to drive the driving disk 304 to rotate. When rotating clockwise, the clamping jaws 306 close to clamp the Chuanxiong Lingzhong; when rotating counterclockwise, the clamping jaws 306 open to release the Lingzhong. The high-precision control of the steering engine 301 ensures that the clamping jaws 306 move smoothly, improving the efficiency of clamping and releasing.

[0023] After the system is started, the stepper motor 201 drives the crank 202 to rotate, thereby driving the slider 205 to move along the slider guide rail 204, realizing the forward and backward movement of the electric push rod 208 to complete the ling seeds clamping. The movement of the slider 205 drives the guide rail mounting plate 203 to adjust the position of the mechanical arm to accurately complete the sowing operation. The compact and efficient structure and precise movement provide a practical solution for agricultural mechanized planting.

[0024] When the present invention is working, the stepping motor 201 provides power to the crank 202 through key connection. The rotation of the crank 202 drives the slider 205 to move along the slider guide 204, which not only realizes the forward and backward movement of the electric push rod 208. A servo motor 301 and a jaw 306 structure are arranged on the electric push rod 208. The servo motor 301 is fixed on the top of the electric push rod 208. The servo motor 301 receives a control signal and drives the drive disk 304 to rotate precisely through the servo motor rotating connecting piece 303. When the drive disk 304 rotates clockwise, the jaw 306 gradually closes to realize the stable clamping of the Chuanxiong rhizome seeds; when rotating counterclockwise, the jaw 306 gradually opens to complete the release of the rhizome seeds. The overall mechanism design is compact. The high-precision control of the servo motor 301 ensures the smooth opening and closing of the jaw 306, optimizes the clamping and seed releasing efficiency, and then completes the precise clamping of the Chuanxiong rhizome seeds. The vertical position adjustment of the robotic arm is also realized by driving the guide rail mounting plate with the slider, and the precise sowing operation of the Chuanxiong rhizome seeds is completed. The overall design ensures that the mechanism has a compact structure, efficient transmission, and precise movement, further improving the efficiency and stability of rhizome seed clamping and planting, and providing a practical solution for agricultural mechanized planting.

[0025] A method for using a Chuanxiong rhizome seed clamping and planting device includes the following steps: Step 1: Taking the frame connection cross beam 106 in the frame 1 as a reference, evenly dividing it into three sections, welding three pairs of hinge ears 104 on the frame connection cross beam 106, and then installing three groups of Chuanxiong rhizome seed clamping and planting devices; importing the program into the Chuanxiong rhizome seed clamping and planting device, and after placing the rhizome seeds well on the seed tray, starting the device to clamp and plant the rhizome seeds. Starting the stepping motor to make the crank rotate. At this time, the guide rail connected to the slider is perpendicular to the direction of the seed tray, and then the arm can be pushed to clamp the Chuanxiong rhizome seeds in the seed tray. Then the crank rotates counterclockwise by 160 degrees to complete the planting of the rhizome seeds, and finally returns to the original state. This process includes four stages: the seed taking stage, the seed carrying stage, the planting stage, and the return journey stage.

[0026] Step 2: Seed taking: Taking the vertical direction as the Y axis, the crank 202 rotates clockwise by 15 degrees driven by the stepping motor 201. At this time, the slider guide 204 is perpendicular to the direction of the seed tray, and then the electric push rod 208 extends to push the arm. When the drive disk 304 rotates clockwise, the jaw 306 gradually closes to realize the stable clamping of the Chuanxiong rhizome seeds and complete the seed taking process.

[0027] Step 3: Seed carrying stage: The jaw 306 clamps the Chuanxiong rhizome seeds, the electric push rod 208 retracts, and then the crank 202 rotates counterclockwise by 160 degrees. At this time, the slider guide 204 is in a vertical state and perpendicular to the ground, and the servo motor controls the electric push rod 208 to extend to complete the seed carrying process.

[0028] Step 4, Planting section: When the servo controls the electric push rod 208 to extend and the driving disk 304 rotates counterclockwise, the clamping jaws 306 gradually open to complete the release of the Chuanxiong rhizome seeds and finish the planting process.

[0029] Step 5, Return section: After planting is completed, the servo controls the electric push rod 208 to retract, and the crank 202 rotates clockwise by 160 degrees driven by the stepper motor 201 to restore the state where the slider guide 204 is perpendicular to the direction of the seed tray, and continue the next seed-taking process.

[0030] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A device for clamping and planting chuanxiong rhizome and Ling seeds, characterized in that: It includes a vehicle frame, a transplanting arm and an actuator; the vehicle frame is equipped with a transplanting arm, and the transplanting arm is equipped with an actuator; A frame base is provided under the frame, a pair of frame support longitudinal beams are installed on the left and right sides of the frame through frame reinforcement square steel, the motor support plate is fixed on the frame base, the frame connecting cross beam is fixedly connected to the pair of frame support longitudinal beams, and the hinge ear is fixed to the frame connecting cross beam by welding; The transplanting arm includes a stepper motor, which is mounted on a motor support plate, an output shaft of the stepper motor is connected to one end of a crank through a key, and the other end of the crank passes through a connecting plate and is connected to a slider through a hinge shaft; the slider is clamped in a clamping groove of a slider guide rail, the slider guide rail is mounted on a guide rail mounting plate, the guide rail mounting plate is fixed to a hinge ear by bolts through a hinged hole, and an electric push rod is fixed on the connecting plate; The actuator includes a steering gear, which is mounted on a steering gear mounting base. The steering gear mounting base is connected to the electric push rod by bolts. The steering gear output shaft is connected to the steering gear rotating connecting piece. The steering gear rotating connecting piece passes through the steering gear mounting base and is connected to the upper part of the driving disk. The lower part of the driving disk is connected to the driving disk mounting base. The driving disk mounting base is provided with a radial slot, and the top cylindrical shaft of the clamp is inserted into the curved groove of the driving disk through the radial slot of the driving disk mounting base.

2. The Chuanxiong Ling seeds clamping and planting device according to claim 1 is characterized in that: The slider and the slider track are made of aluminum alloy, and the clamping claws are made of ABS material.

3. The Chuanxiong Ling seeds clamping and planting device according to claim 1 is characterized in that: A snap-fit ​​structure design is adopted between the servo mounting base and the drive disc mounting base to form a closed box structure.

4. A method for using the Chuanxiong Ling seed clamping and planting device according to claim 1, characterized in that: The following steps are involved: Step 1: After installing the Chuanxiong Ling seed clamping and planting device, start the stepper motor to rotate the crank; Step 2: With the vertical direction as the Y axis, the crank rotates 15 degrees clockwise driven by the stepper motor. At this time, the slider guide is perpendicular to the direction of the seed disc. The electric push rod extends to drive the steering gear to rotate. The steering gear controls the rotation of the drive disc. When the drive disc rotates clockwise, the clamping claws are gradually closed to complete the seeding. Step 3, the electric push rod is retracted, the crank is rotated 160 degrees counterclockwise until the slider guide is in a vertical state, and the steering gear controls the electric push rod to extend again to maintain the carrying posture of Chuanxiong Lingzhong, completing the carrying process of Lingzhong; Step 4, the steering gear controls the electric push rod to extend, and the driving plate rotates counterclockwise to drive the clamping claws to open and release the Chuanxiong Ling seeds, thereby completing the release of the Chuanxiong Ling seeds and completing the planting; Step 5. After planting is completed, the servo controls the electric push rod to retract, and the crank is driven by the stepper motor to rotate 160 degrees clockwise to reset to the initial position, restoring the state where the slider guide rail is perpendicular to the seed tray.

Images