Dioscorea batata stick inserting machine
By designing a yam stake-planting machine, a semi-automatic stake-planting system is achieved using pneumatic control valve groups and a gripper system, solving the problem of time-consuming and labor-intensive manual stake-planting in yam cultivation and improving work efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANXI AGRI UNIV COTTON RES INST
- Filing Date
- 2025-04-27
- Publication Date
- 2026-06-02
AI Technical Summary
The stalking work in yam cultivation mainly relies on manual labor, which is time-consuming, labor-intensive, and requires a high level of physical exertion.
Design a yam insertion machine, including a tractor and an insertion device. The machine utilizes a pneumatic control valve group and a gripper system to achieve semi-automatic insertion, and combines a binding device to perform semi-automatic binding operations.
It reduced the labor intensity of staff, improved the efficiency of pole insertion and binding, and achieved semi-automation of pole insertion work.
Smart Images
Figure CN120167261B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of agricultural machinery technology, and in particular to a yam stalk inserter. Background Technology
[0002] After the yam seedlings sprout, they grow like vines. To ensure ventilation in the field, growers insert bamboo poles or wooden sticks into the ridges, usually tying them into an X shape so the seedlings can climb up the poles. Currently, the work of inserting poles for yam cultivation is mainly done manually, which is time-consuming and labor-intensive. Summary of the Invention
[0003] To address the problem of time-consuming and labor-intensive manual stake-planting in yam cultivation, this invention provides a yam stake-planting machine.
[0004] The technical solution adopted in this invention is as follows:
[0005] A yam insertion machine includes a tractor and an insertion device. The tractor is equipped with an air compressor and a pneumatic control valve assembly. The pneumatic control valve assembly is connected to the air compressor's outlet via a pneumatic pipeline. The insertion device includes a suspension and several pairs of insertion units. The insertion device is connected to the rear of the tractor via its suspension. The suspension is horizontally arranged, and several pairs of insertion units are spaced apart on the upper side of the suspension. Each pair of insertion units includes two insertion units arranged front-to-back and cross-facing on the upper side of the suspension. Each insertion unit includes a slide cylinder, an inclined mounting plate, a guide rod mounting seat, a guide rod, an insertion cylinder, a fixing block, and a clamp. The slide cylinder is mounted on the upper side of the suspension. The inlet and outlet of the slide cylinder are connected to the pneumatic control valve assembly via pneumatic pipelines. The slide of the slide cylinder can slide left and right. The inclined mounting plate is inclined at one end of the slide of the slide cylinder, tilting during insertion. The tilt angle of the mounting plate relative to the horizontal plane is consistent with the tilt angle of the rod to be inserted into the soil. The guide rod mounting seat is installed on the side of the inclined mounting plate away from the slide table. The guide rod is installed in the mounting hole of the guide rod mounting seat, with both ends of the guide rod extending out of the mounting hole. The cylinder body of the insertion rod cylinder is fixedly installed on the guide rod mounting seat or on the side of the inclined mounting plate away from the slide table. The air inlet and outlet of the insertion rod cylinder are connected to the pneumatic control valve group through air pressure pipelines. The piston rod of the insertion rod cylinder is parallel to the guide rod. One end of the fixing block is fixedly connected to one end of the piston rod of the insertion rod cylinder, and the other end of the fixing block is fixedly connected to the guide rod. The guide rod can move obliquely upward and obliquely downward in a straight line within the mounting hole of the guide rod mounting seat as the piston rod of the insertion rod cylinder extends and retracts. The guide rod or the connecting piece fixed to the guide rod is equipped with a clamp that can clamp and release the rod or rod.
[0006] Preferably, the gripper is a pneumatic gripper, and the gripper drive cylinder of the pneumatic gripper is connected to the pneumatic control valve group through a pneumatic pipeline.
[0007] Preferably, the tractor is also equipped with a power supply and a controller. The power input interface of the controller is connected to the power supply via a wire. The gripper is an electric gripper, and the electric gripper is connected to the controller via a cable.
[0008] Preferably, each insertion rod unit has two grippers mounted opposite each other on all the guide rods and / or the connecting parts fixed to the guide rods.
[0009] Preferably, there are two guide rods, which are parallel and fixedly connected together by a connector that is fixed to both of them.
[0010] Preferably, the insertion cylinder is a single-direction double-rod cylinder.
[0011] Preferably, the insertion rod device is connected to the rear of the tractor frame via the front end of its suspension.
[0012] Preferably, the yam inserting machine further includes a slide panel and a tilt adjustment cylinder. The slide panel is installed on the upper surface of the slide of the slide cylinder. The lower end of the tilt mounting plate is hinged to one end of the slide panel. The tailstock of the tilt adjustment cylinder is hinged to the upper surface of the slide panel. The outer end of the piston rod of the tilt adjustment cylinder is hinged to the upper end of the tilt mounting plate. The air inlet and outlet of the tilt adjustment cylinder are connected to the pneumatic control valve group through air pressure pipelines.
[0013] Preferably, the tractor is also equipped with a power supply and a controller. The power input interface of the controller is connected to the power supply via a wire. The yam insertion machine also includes a binding device, which includes a binding rope winding seat, a slide bracket, a linear slide, a binding reduction motor, a binding rotary component, and a binding revolution rod. The binding rope winding seat is rotatably mounted on the rear end of the tractor's frame or on the slide bracket, and binding rope is wound around it. The slide bracket is located above the insertion device, and one end of it is fixedly connected to the rear end of the tractor's frame. The linear slide includes a base, a lead screw, a guide rail, a sliding plate, and a drive motor. The base is mounted on the slide bracket, and the lead screw and guide rail are arranged parallel to each other on the base. The suspension is parallel, the sliding plate is mounted on the lead screw and guide rail, the drive motor is mounted on one end of the base, the power output shaft of the drive motor is connected to one end of the lead screw, the drive motor is connected to the controller via a cable, the strapping reduction motor is mounted on the sliding plate, its power output shaft is vertically downward, the strapping reduction motor is connected to the controller via a cable, one end of the strapping rotary component is fixedly connected to the power output shaft of the strapping reduction motor, and the other end is fixedly connected to the upper end of the vertically set strapping revolution rod. The upper and lower parts of the strapping revolution rod are respectively provided with guide holes for the strapping rope to pass through or a first guide component with guide holes. One end of the strapping rope passes through the guide holes in the upper and lower parts of the strapping revolution rod in succession.
[0014] Preferably, the power source is a storage battery, and the controller is a programmable logic controller.
[0015] Preferably, the slide bracket is horizontally positioned above the insertion rod device.
[0016] Preferably, it further includes a plurality of second guide members having guide holes or guide grooves, the plurality of second guide members being fixed to the rear end of the frame of the tractor and / or the slide bracket, one end of the binding rope passing through the guide hole or guide groove of the second guide member first, and then passing through the guide holes at the upper and lower parts of the binding rod.
[0017] Preferably, the second guide member is a guide seat with lugs and connecting holes at both ends and a guide hole in the middle.
[0018] Preferably, the tractor is equipped with a frame for placing a rod or stick to be inserted into the soil.
[0019] This invention achieves semi-automation of the pole insertion process through a pole insertion device. Workers simply place the pole to be inserted into the jaws of the clamps, which then hold the pole and insert it into the soil at a predetermined angle. This significantly reduces the labor intensity of workers and improves work efficiency. Furthermore, the invention achieves semi-automation of the binding process through a binding device. Workers simply grasp one end of the binding rope and pull it through the intersection of a pair of poles inserted into the soil. The binding reduction motor then drives the binding rotary component and the binding revolution rod to rotate, causing the binding rope to wrap around the intersection of the pair of poles inserted into the soil. Workers can then cut the binding rope and tie a knot, which also improves the efficiency of the binding process to some extent. Attached Figure Description
[0020] Figure 1 This is a three-dimensional structural diagram of the yam inserting machine according to an embodiment of the present invention;
[0021] Figure 2 for Figure 1 A three-dimensional structural diagram of the yam stalk insertion device shown in the diagram;
[0022] Figure 3 for Figure 1 The diagram shows a three-dimensional structure of the slide support of the yam inserting machine.
[0023] Figure 4 for Figure 1 The diagram shows a three-dimensional structure of the yam inserter from another perspective;
[0024] Figure 5 for Figure 4 The diagram shows a partial enlarged view of the yam cutting machine at point A.
[0025] In the diagram: 0. Bamboo pole; 1. Frame; 2. Air compressor; 3. Battery; 4. Control box; 5. Suspension; 6. Slide cylinder; 7. Slide panel; 8. Tilt adjustment cylinder; 9. Tilt mounting plate; 10. Guide rod mounting seat; 11. Guide rod; 12. Insert rod cylinder; 13. Fixing block; 14. Connector; 15. Pneumatic gripper; 16. Bundling rope wrapping seat; 17. Slide bracket; 18. Base; 19. Sliding slide; 20. Drive motor; 21. Bundling reduction motor; 22. Bundling rotating component; 23. Bundling revolution rod; 24. Bundling rope; 25. Second guide component; 26. First guide component; 27. Controller; 28. Operation button. Detailed Implementation
[0026] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.
[0027] Special note: In this invention, the description of directions uses the forward direction of the tractor as the forward direction, and uses this to determine the other directions.
[0028] like Figures 1 to 5As shown, the yam pole inserting machine of this embodiment includes a tractor and a pole inserting device. The tractor is equipped with an air compressor 2 and a pneumatic control valve assembly. The pneumatic control valve assembly is connected to the air outlet of the air compressor 2 via a pneumatic pipeline. The pole inserting device includes a suspension 5 and several pairs of pole inserting units. The pole inserting device is connected to the rear of the tractor via its suspension 5. The suspension 5 is horizontally positioned, and several pairs of pole inserting units are spaced apart on the upper side of the suspension 5. Each pair of pole inserting units includes two units positioned on the upper side of the suspension 5, intersecting each other. The fork-shaped insertion rod units each include a slide cylinder 6, an inclined mounting plate 9, a guide rod mounting seat 10, a guide rod 11, an insertion rod cylinder 12, a fixing block 13, a connector 14, and a pneumatic gripper 15. The slide cylinder 6 is mounted on the upper side of the suspension 5. The air inlet and outlet of the slide cylinder 6 are connected to the pneumatic control valve group through air pressure pipelines. The slide of the slide cylinder 6 can slide left and right. The inclined mounting plate 9 is inclinedly set at one end of the slide of the slide cylinder 6. When inserting the rod, the inclined mounting plate 9 is positioned relative to the horizontal plane. The tilt angle is consistent with the predetermined tilt angle of the bamboo pole 0 to be inserted into the soil. The guide rod mounting base 10 is installed on the side of the inclined mounting plate 9 away from the slide table. The guide rod 11 is installed in the mounting hole of the guide rod mounting base 10, with both ends of the guide rod 11 extending out of the mounting hole. The cylinder body of the insertion cylinder 12 is fixedly installed on the guide rod mounting base 10 or on the side of the inclined mounting plate away from the slide table. The air inlet and outlet of the insertion cylinder 12 are connected to the pneumatic control valve group through air pressure pipelines. The piston rod of the insertion cylinder 12 is parallel to the guide rod 1. 1. One end of the fixing block 13 is fixedly connected to one end of the piston rod of the insertion cylinder 12, and the other end of the fixing block 13 is fixedly connected to the guide rod 11. The guide rod 11 can move obliquely upward and obliquely downward in the mounting hole of the guide rod mounting seat 10 as the piston rod of the insertion cylinder 12 extends and retracts. A pneumatic gripper 15 that can clamp and release the bamboo pole 0 is installed on the connecting piece 14 fixed to the guide rod 11. The gripper drive cylinder of the pneumatic gripper 15 is connected to the pneumatic control valve group through the pneumatic pipeline.
[0029] Preferably, each insertion unit has two pneumatic grippers 15 mounted opposite each other on all the connectors 14 that are fixed to the guide rod 11. The two pneumatic grippers 15 can reliably clamp the bamboo pole 0 to be inserted into the soil, which is conducive to the smooth insertion of the pole.
[0030] To facilitate the fixed installation of the connector 14 for the pneumatic gripper 15, preferably, there are two guide rods 11, which are parallel and fixedly connected together by the connector 14, which is fixed to both of them.
[0031] Preferably, the insert cylinder 12 is a single-direction double-rod cylinder.
[0032] Preferably, the insertion rod device is connected to the rear of the frame 1 of the tractor vehicle via the front end of its suspension 5.
[0033] To facilitate adjustment of the tilt angle of the inclined mounting plate (i.e., the predetermined tilt angle of the rod inserted into the soil), preferably, the yam rod inserter also includes a slide panel 7 and a tilt angle adjusting cylinder 8. The slide panel 7 is mounted on the upper surface of the slide of the slide cylinder 6. The lower end of the inclined mounting plate 9 is hinged to one end of the slide panel 7. The tailstock of the tilt angle adjusting cylinder 8 is hinged to the upper surface of the slide panel 7. The outer end of the piston rod of the tilt angle adjusting cylinder 8 is hinged to the upper end of the inclined mounting plate 9. The air inlet and outlet of the tilt angle adjusting cylinder 8 are connected to the pneumatic control valve group through air pressure pipelines.
[0034] The tractor is also equipped with a power supply and controller 27. The power input interface of the controller 27 is connected to the power supply via a wire. The yam insertion machine also includes a binding device, which includes a binding rope winding seat 16, a slide bracket 17, a linear slide, a binding reduction motor 21, a binding rotating component 22, and a binding revolving rod 23. The binding rope winding seat 16 is rotatably mounted on the rear end of the frame 1 of the tractor, and a binding rope 24 is wound around it. The slide bracket 17 is located above the insertion device, and one end of it is fixedly connected to the rear end of the frame 1 of the tractor. The linear slide includes a base 18, a lead screw, a guide rail, a sliding slide 19, and a drive motor 20. The base 18 is mounted on the slide bracket 17. The lead screw and guide rail are arranged parallel to each other on the base 18, and the lead screw and guide rail are parallel to the suspension 5. The sliding slide 19 is mounted on the lead screw and guide rail. On the guide rail, the drive motor 20 is mounted on one end of the base 18. The power output shaft of the drive motor 20 is connected to one end of the lead screw. The drive motor 20 is connected to the controller 27 via a cable. The binding reduction motor 21 is mounted on the sliding slide 19. Its power output shaft is vertically downward. The binding reduction motor 21 is connected to the controller 27 via a cable. One end of the binding rotating part 22 is fixedly connected to the power output shaft of the binding reduction motor 21, and the other end is fixedly connected to the upper end of the vertically arranged binding revolution rod 23. The upper part of the binding revolution rod 23 is provided with a first guide member 26 with a guide hole for the binding rope 24 to pass through. The lower part of the binding revolution rod 23 is provided with a guide hole for the binding rope 24 to pass through. One end of the binding rope 24 passes through the guide hole (of the first guide member 26) in the upper part and the guide hole in the lower part of the binding revolution rod 23.
[0035] Preferably, the power source is a storage battery 3, and the controller 27 is a programmable logic controller (PLC), both of which adopt existing technologies.
[0036] Preferably, the controller 27 is installed inside the control box 4, which is mounted on the tractor. The control box 4 is equipped with operation buttons 28 for electrical and pneumatic control.
[0037] Preferably, the slide bracket 17 is horizontally positioned above the insertion rod device.
[0038] Preferably, it also includes a plurality of second guide members 25 with guide holes. The plurality of second guide members 25 are fixed on the rear end of the frame 1 of the tractor and the slide bracket 17. One end of the binding rope 24 passes through the guide hole of the second guide member 25 first, and then passes through the guide holes of the upper and lower parts of the binding revolving rod 23.
[0039] Preferably, the second guide member 25 is a guide seat with lugs and connecting holes at both ends and a guide hole in the middle.
[0040] Preferably, the tractor is equipped with a frame for placing a rod or stick to be inserted into the soil.
[0041] The pneumatic control valve assembly is achieved by combining existing pneumatic control valves according to control requirements, which will not be elaborated here.
[0042] The working process and principle of the yam pole inserting machine in this embodiment are as follows: When it is necessary to insert yam poles, the ground staff only needs to place the bamboo pole 0 to be inserted into the soil into the jaws of the pneumatic gripper 15. Then, the operator on the tractor can press the operation button on the control box 4 to control the pneumatic gripper 15 to clamp the bamboo pole 0. Immediately afterwards, the compressed gas in the air compressor 2 will reach the gripper drive cylinder of the pneumatic gripper 15 through the pneumatic control valve group and the air pressure pipeline. The piston rod of the gripper drive cylinder will retract, causing the jaws of the pneumatic gripper 15 to narrow, thereby clamping the bamboo pole 0. Then, the operator can press the operation button to control the pole insertion cylinder 12 to insert the pole. Immediately afterwards, the compressed gas will reach the pole insertion cylinder 12 through the pneumatic control valve group and the air pressure pipeline. The piston rod of the pole insertion cylinder 12 will retract, driving the fixed... Block 13, guide rod 11, connector 14, pneumatic gripper 15, and bamboo pole 0 move downwards at a predetermined angle, inserting the bamboo pole 0 into the soil. Then, the operator presses the button to release the bamboo pole 0 using the pneumatic gripper 15. Compressed gas then travels through the pneumatic control valve assembly and air pressure lines to the gripper drive cylinder of the pneumatic gripper 15, extending the piston rod and widening the jaws of the pneumatic gripper 15, thus releasing the bamboo pole 0. Next, the operator presses the button to retract the slide table cylinder 6. Compressed gas then travels through the pneumatic control valve assembly and air pressure lines to the slide table cylinder 6, retracting the piston rod and driving the slide table, slide table panel 7, tilt adjustment cylinder 8, tilt mounting plate 9, and guide rod mounting seat 1. 0. The guide rod 11, the insertion rod cylinder 12, the fixing block 13, the connecting piece 14, and the pneumatic gripper 15 move symmetrically towards the left and right sides of the suspension 5, and stop moving when the guide rod 11 contacts the suspension 5, so that each pair of insertion rod units and the bamboo poles 0 inserted into the soil are unobstructed in the front-back direction. Then, the ground worker can grasp one end of the binding rope passing through the guide hole at the bottom of the binding revolution rod 23 and pull it past the intersection of the pair of bamboo poles 0 inserted into the soil. Then the operator can press the operation button to start the binding reduction motor 21. After the binding reduction motor 21 starts, it drives the binding rotation piece 22 and the binding revolution rod 23 to rotate, thereby winding part of the binding rope 24 around the intersection of the pair of bamboo poles 0 inserted into the soil. The binding reduction motor 21 works for a certain period of time. After the automatic power-off occurs and the binding rotating part 22 and the binding revolving rod 23 stop rotating, the ground staff can cut the binding rope at an appropriate point through the guide hole at the bottom of the binding revolving rod 23. Then, tie a knot in the binding rope 24 at the intersection of the pair of bamboo poles 0 inserted into the soil, thus binding the pair of bamboo poles 0 inserted into the soil. Next, the operator can press the control button to rotate the drive motor 20 forward or reverse. The drive motor 20 drives the lead screw to rotate, thereby driving the sliding slide 19 to move along the guide rail with the binding reduction motor 21 to a suitable position to bind another pair of bamboo poles 0 inserted into the soil. Repeat the above binding process until all pairs of bamboo poles 0 inserted into the soil are bound. Then, the driver can start the tractor.The tractor moves the pole-inserting device forward, ensuring it passes completely under the already bundled pairs of bamboo poles until it reaches the next suitable insertion point. This allows the insertion and bundling process to be repeated at the new insertion point.
[0043] As can be seen from the above, the yam stake-planting machine in this embodiment achieves semi-automation of the stake-planting work, greatly reduces the labor intensity of workers, improves work efficiency, and solves the problem of time-consuming and labor-intensive manual stake-planting in yam planting.
[0044] Obviously, the above embodiments are not the only implementations of the present invention. Without departing from its technical essence, many simple changes can be made, such as: the cylinder body of the insertion cylinder is fixedly installed on the side of the inclined mounting plate away from the slide table; the gripper is an electric gripper, which is connected to the controller via a cable; two grippers are installed opposite each other on all the guide rods of each insertion unit; two grippers are installed opposite each other on all the guide rods and the connecting parts fixed to the guide rods of each insertion unit; the binding rope is rotatably installed on the slide table bracket around the seat. The upper part of the bundling revolving rod is provided with a guide hole for the bundling rope to pass through, and the lower part is provided with a first guide member with a guide hole for the bundling rope to pass through; the upper and lower parts of the bundling revolving rod are respectively provided with guide holes for the bundling rope to pass through; the upper and lower parts of the bundling revolving rod are respectively provided with first guide members with guide holes for the bundling rope to pass through; several second guide members are fixed to the rear end of the frame of the tractor or on the slide bracket; the second guide member is a guide seat with lugs and connecting holes at both ends and a guide groove in the middle, and so on, which will not be described in detail here.
[0045] The 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. Various changes made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention should also be considered within the scope of protection of the present invention.
Claims
1. A yam inserting machine, characterized in that: The device includes a tractor and a pole insertion device. The tractor is equipped with an air compressor and a pneumatic control valve assembly. The pneumatic control valve assembly is connected to the air compressor's outlet via a pneumatic pipeline. The pole insertion device includes a suspension and several pairs of pole insertion units. The pole insertion device is connected to the rear of the tractor via its suspension. The suspension is horizontally arranged, and several pairs of pole insertion units are spaced apart on the upper side of the suspension. Each pair of pole insertion units includes two pole insertion units arranged front-to-back and cross-facing on the upper side of the suspension. Each pole insertion unit includes a slide cylinder, an inclined mounting plate, a guide rod mounting seat, a guide rod, a pole insertion cylinder, a fixing block, and a clamp. The slide cylinder is mounted on the upper side of the suspension. The inlet and outlet of the slide cylinder are connected to the pneumatic control valve assembly via a pneumatic pipeline. The slide of the slide cylinder can slide left and right. The inclined mounting plate is inclinedly arranged at one end of the slide of the slide cylinder. When inserting the pole, the inclined mounting plate... The tilt angle to the horizontal plane is consistent with the predetermined tilt angle of the rod to be inserted into the soil. The guide rod mounting base is installed on the side of the inclined mounting plate away from the slide table. The guide rod is installed in the mounting hole of the guide rod mounting base, with both ends of the guide rod extending out of the mounting hole. The cylinder body of the insertion rod cylinder is fixedly installed on the guide rod mounting base or on the side of the inclined mounting plate away from the slide table. The air inlet and outlet of the insertion rod cylinder are connected to the pneumatic control valve group through air pressure pipelines. The piston rod of the insertion rod cylinder is parallel to the guide rod. One end of the fixing block is fixedly connected to one end of the piston rod of the insertion rod cylinder, and the other end of the fixing block is fixedly connected to the guide rod. The guide rod can move obliquely upward and obliquely downward in a straight line within the mounting hole of the guide rod mounting base as the piston rod of the insertion rod cylinder extends and retracts. The guide rod or the connecting piece fixed to the guide rod is equipped with a clamp that can clamp and release the rod or rod. It also includes a slide panel and a tilt adjustment cylinder. The slide panel is mounted on the upper surface of the slide of the tilt adjustment cylinder. The lower end of the tilt mounting plate is hinged to one end of the slide panel. The tailstock of the tilt adjustment cylinder is hinged to the upper surface of the slide panel. The outer end of the piston rod of the tilt adjustment cylinder is hinged to the upper end of the tilt mounting plate. The air inlet and outlet of the tilt adjustment cylinder are connected to the pneumatic control valve group through air pressure pipelines.
2. The yam inserting machine according to claim 1, characterized in that: The gripper is a pneumatic gripper, and the gripper drive cylinder of the pneumatic gripper is connected to the pneumatic control valve group through a pneumatic pipeline.
3. The yam inserting machine according to claim 1, characterized in that: The tractor is also equipped with a power supply and a controller. The power input interface of the controller is connected to the power supply via a wire. The gripper is an electric gripper, which is connected to the controller via a cable.
4. The yam inserting machine according to claim 1, characterized in that: Each insertion rod unit has two clamps installed opposite each other on all the guide rods and / or the connecting parts fixed to the guide rods.
5. The yam inserting machine according to claim 1, characterized in that: There are two guide rods, which are parallel and fixedly connected together by a connector that is fixed to both of them.
6. The yam inserting machine according to claim 1, characterized in that: The tractor is also equipped with a power supply and a controller. The power input interface of the controller is connected to the power supply via a wire. The yam insertion machine also includes a binding device, which includes a binding rope winding seat, a slide bracket, a linear slide, a binding reduction motor, a binding rotating component, and a binding revolution rod. The binding rope winding seat is rotatably mounted on the rear end of the tractor's frame or on the slide bracket, and binding rope is wound around it. The slide bracket is located above the insertion device, and one end of it is fixedly connected to the rear end of the tractor's frame. The linear slide includes a base, a lead screw, a guide rail, a sliding plate, and a drive motor. The base is mounted on the slide bracket, and the lead screw and guide rail are arranged parallel to each other on the base. The suspension is parallel, the sliding slide is mounted on the lead screw and guide rail, the drive motor is mounted on one end of the base, the power output shaft of the drive motor is connected to one end of the lead screw, the drive motor is connected to the controller via a cable, the strapping reduction motor is mounted on the sliding slide, its power output shaft is vertically downward, the strapping reduction motor is connected to the controller via a cable, one end of the strapping rotary component is fixedly connected to the power output shaft of the strapping reduction motor, and the other end is fixedly connected to the upper end of the vertically set strapping revolution rod. The upper and lower parts of the strapping revolution rod are respectively provided with guide holes for the strapping rope to pass through or a first guide component with guide holes. One end of the strapping rope passes through the guide holes in the upper and lower parts of the strapping revolution rod one after the other.
7. The yam inserting machine according to claim 3 or 6, characterized in that: The power source is a storage battery, and the controller is a programmable logic controller.
8. The yam inserting machine according to claim 6, characterized in that: It also includes several second guide members with guide holes or guide grooves, several second guide members are fixed to the rear end of the frame of the tractor and / or the slide bracket, and one end of the binding rope first passes through the guide hole or guide groove of the second guide member, and then passes through the guide holes at the top and bottom of the binding rod.
9. The yam inserting machine according to claim 1, characterized in that: The tractor is equipped with a frame for placing the pole or rod to be inserted into the soil.