Multifunctional rice planting device

Abstract

The present application belongs to the technical field of mechanized agricultural transplanting equipment, and particularly relates to a multifunctional rice planting equipment, which comprises a rack, the rack is provided with an avoiding hole one for avoiding seedlings, a seedling box is rotatably assembled on the rack, an axis around which the seedling box rotates is horizontal and perpendicular to the extending direction of the avoiding hole one, and the seedling box is provided with a seedling taking hole one at each end; seedling taking claws are located on both sides of the rack and used for taking out seedlings from the seedling taking hole one and transplanting the seedlings into the soil; the rack is provided with a mounting frame two, a walking wheel is rotatably assembled on the mounting frame two, the mounting frame two is slidably assembled on the rack, the mounting frame two is rotatably assembled on the rack around an axis extending upward and downward, and when the walking wheel is in contact with the ground and an axis around which the walking wheel rotates is parallel to the extending direction of the avoiding hole one, the walking wheel is used for driving the rack to move along a direction perpendicular to the extending direction of the avoiding hole one. The present application can solve the technical problems of soil damage and reduced work efficiency of the rice planting equipment when turning around in the prior art.

Description

Technical Field

[0001] This invention belongs to the technical field of mechanized agricultural transplanting equipment, and particularly relates to a multifunctional rice planting device. Background Technology

[0002] A rice transplanter is an agricultural machine used for planting rice, automatically and evenly inserting rice seedlings into paddy fields. It significantly improves transplanting efficiency, reduces manual labor intensity, and ensures consistent planting density and depth, thereby increasing rice yield.

[0003] When a rice transplanter reaches the edge of a field, it needs to turn around to begin the next round of rice planting. If the transplanter is wide, it requires considerable space to turn around. Even when sufficient turning space is provided at the field edge, additional rice needs to be planted to fill that space, increasing labor costs. Furthermore, it's difficult to ensure that the density and depth of manual replanting are exactly the same as machine planting, leading to different approaches to fertilization, irrigation, and pest and disease control, increasing management complexity. Using adjacent fields for turning around can easily cause disputes due to the large area of ​​rice being trampled on crops in those adjacent fields.

[0004] Chinese invention patent document CN102918970B discloses a novel rice transplanter drive system, including a frame on which an engine, generator assembly, control system, battery, gearbox, and driven shaft travel section are mounted. The gearbox includes a clutchable transplanting power control section, an external meshing gear reduction, a symmetrical planetary gear reduction, and a worm gear speed regulation. When the worm gear rotates at different speeds or in opposite directions, it can achieve differential precise steering and on-the-spot turning in the field without needing to use adjacent plots. However, when turning in the field, the machine's weight is concentrated in a small area, causing soil compaction, which affects rice root development. It also stirs up the soil, destroying its loose structure and affecting aeration and water retention. In addition, turning in the field takes a long time, reducing overall operating efficiency. Summary of the Invention

[0005] This invention provides a multifunctional rice planting device to solve the technical problems of soil damage and reduced work efficiency when rice planting equipment turns around in the prior art.

[0006] To solve the above problems, the present invention adopts the following technical solution:

[0007] A multifunctional rice planting device includes a frame, on which a seedling box, seedling picking claws and wheels are mounted;

[0008] The frame is equipped with a clearance hole for avoiding the seedlings, and the horizontal extension direction of the clearance hole is the seedling arrangement direction;

[0009] The seedling box is rotatably mounted on the frame. The axis around which the seedling box rotates is horizontal and perpendicular to the extension direction of the clearance hole. Both ends of the seedling box have a seedling picking hole.

[0010] The seedling-picking claws are located on both sides of the machine frame and are used to pick up seedlings from the seedling-picking hole and plant them in the soil;

[0011] The frame is equipped with a second mounting bracket. The traveling wheel is mounted on the second mounting bracket and rotates around the horizontal axis. The second mounting bracket is mounted on the frame and slides up and down. The second mounting bracket is mounted on the frame and rotates around the vertically extending axis. When the traveling wheel is in contact with the ground and the axis around which the traveling wheel rotates is parallel to the extension direction of the first clearance hole, the traveling wheel is used to drive the frame to move in a direction perpendicular to the extension direction of the first clearance hole.

[0012] When turning around is not required, the traveling wheels drive the frame to move in a direction parallel to the first clearance hole, providing power for the equipment to move and reducing the workload of the workers. When turning around is required, the traveling wheels move up to lift off the ground and rotate, and then the traveling wheels move down to contact the ground. The traveling wheels drive the equipment to move in a direction perpendicular to the first clearance hole, so that the clearance hole corresponds to the next row of rice fields to be planted, without the need to turn around and avoiding damage to the soil.

[0013] Furthermore, the seedling box includes a support frame and a box body for holding seedlings. One seedling picking hole is located at both ends of the support frame. The support frame is rotatably mounted on the machine frame. The two seedling picking holes are located on both sides of the axis around which the support frame rotates. The box body is slidably mounted on the support frame along the extension direction perpendicular to the first clearance hole.

[0014] Furthermore, the seedling box is equipped with insert teeth, and the box body has a cavity for accommodating the insert teeth. The insert teeth extend horizontally and are parallel to the axis around which the support frame rotates. The insert teeth slide back and forth on the box body along the direction of their extension to enter and exit the box body. The box body has a clearance hole for avoiding the insert teeth. The insert teeth that extend out of the box body are used to insert into the roots of the seedlings. The insert teeth slide on the seedling box in a direction perpendicular to the direction of their extension and parallel to the top surface of the box body to drive the seedlings to move from one end of the support frame to the other end of the support frame.

[0015] As the seedling box rotates, the inserts can push the seedlings from one end of the seedling box to the other. When the seedlings in the seedling box are not used up, there is no need to replenish the seedlings when changing direction, which reduces the weight of the entire equipment, saves resources, and reduces the workload of workers. There are many contact points between the inserts and the roots of the seedlings, and the seedlings are evenly stressed. As the seedlings grow densely in the seedling tray, the roots will naturally intertwine to form an overall carpet-like structure, and the inserts can drive the seedlings to move as a whole.

[0016] Furthermore, a transmission component is provided inside the cavity, which is tensioned and assembled on at least two gears. The gears rotate about an axis perpendicular to the extension direction of the clearance hole. The transmission component includes multiple chain links and a rotating shaft four for hinged adjacent chain links. The axis of the rotating shaft four is parallel to the axis around which the gears rotate. The gear teeth are slidably assembled on the rotating shaft four in a direction parallel to the axis of the rotating shaft four.

[0017] The inserter teeth are inserted into the roots of the seedlings. As the gears rotate, the seedlings move with the transmission components. The inserter teeth only need to be inserted into the roots of the seedlings once, without repeated insertion, thus reducing damage to the roots of the seedlings.

[0018] Furthermore, a connecting rod is fixedly mounted on the outer circumferential surface of the gear teeth. The rotating shaft four is provided with a second clearance hole for avoiding the connecting rod. A limiting frame is provided in the cavity one. The limiting frame is enlarged and symmetrical with the transmission component on a plane perpendicular to the gear axis. The connecting rod is slidably mounted on the limiting frame. The limiting frame includes a limiting frame one, a limiting frame two, and a limiting frame three. The limiting frame two is located between the limiting frame one and the limiting frame three. The limiting frame one and the limiting frame two are slidably mounted in the cavity one in a direction parallel to the axis of the rotating shaft four, so that the gear teeth corresponding to the connecting rod slidably mounted on the limiting frame one and the limiting frame two can enter and exit the housing, and the gear teeth corresponding to the connecting rod slidably mounted on the limiting frame three are located inside the housing.

[0019] When the seedling box does not need to be reversed, limit frame one and limit frame two drive the insert teeth into the box to prevent the insert teeth from affecting the movement of the seedlings. When the seedling box is reversed, limit frame one drives the insert teeth to penetrate the roots of the seedlings. As the transmission components run, limit frame two, facing the direction of seedling movement, drives the insert teeth to move into the box to avoid the insert teeth from damaging the seedlings.

[0020] Furthermore, the box body includes a placement plate and multiple partition plates fixed on the placement plate. The partition plates are parallel to the extension direction of the avoidance hole in the horizontal direction. A groove for placing seedlings is formed between two adjacent partition plates and the placement plate. Each partition plate is equipped with a transmission component and a gear. Multiple gears corresponding to the direction perpendicular to the extension direction of the avoidance hole are coaxially fixedly assembled on the connecting shaft. A seedling-blocking rod is fitted on the outside of the connecting shaft, and the two ends of the seedling-blocking rod are fixed on the partition plates.

[0021] All transmission components are driven synchronously by a single motor, and the positions of the connecting shaft and the seedling-blocking rod coincide, simplifying the equipment structure.

[0022] Furthermore, a ball bearing slide is mounted on the connecting rod, and the balls of the ball bearing slide are in contact with limit frame one and limit frame two.

[0023] The ball bearing slide reduces the friction between the connecting rod and the first and second limit frames, thus reducing noise and saving energy.

[0024] Furthermore, a force-bearing plate is provided inside the support frame, and a second seedling-taking hole is provided on the force-bearing plate, which is opposite to the first seedling-taking hole. A pressure sensor is provided between the force-bearing plate and the inner wall of the support frame. The pressure sensor is used to detect the pressure of the seedlings on the inner wall of the support frame with the first seedling-taking hole.

[0025] When the pressure value detected by the pressure sensor increases, it indicates that the seedling has reached the force plate. At this time, the first and second limit frames can be activated in time to allow the inserting teeth to enter the box and prevent the inserting teeth from damaging the roots of the seedling.

[0026] Furthermore, one end of the insertion tooth used to extend out of the box and insert into the root of the seedling is conical.

[0027] Furthermore, rotating plates are mounted on both sides of the frame. The rotating plates are located on both sides of the axis around which the seedling box rotates. One end of the rotating plate closer to the frame is provided with a clearance groove three that communicates with the clearance hole to avoid seedlings. The other end of the rotating plate away from the frame is bent upward in an arc shape. The seedling picking claw is rotated and mounted on the rotating plate. When the rotating plate contacts the ground, it can help the equipment better adapt to the working environment of soft and wet fields, reduce the risk of the equipment sinking into the mud, effectively distribute the weight of the machine, and provide better buoyancy and support. The curled end serves as an additional protection measure, reducing the resistance encountered by the rotating plate when moving forward in mud and water, making the equipment easier to move.

[0028] The beneficial effects of this invention are:

[0029] The walking wheels can move in a direction perpendicular to the first clearance hole, pushing the equipment to the next row of seedlings without turning around, thus avoiding damage to the soil. When the seedling box rotates, under the action of the pressure sensor, the insert teeth and transmission components work together to push the seedlings to move smoothly to the other end of the seedling box, avoiding damage to the overall shape of the seedlings. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the present invention;

[0031] Figure 2 A schematic diagram of the connection structure between the seedling box and the support frame;

[0032] Figure 3 This is a schematic diagram of the rotating plate.

[0033] Figure 4 A schematic diagram of the installation structure of the seedling-grabbing claw and motor 1;

[0034] Figure 5 This is a schematic diagram of the installation structure of motor two;

[0035] Figure 6 This is a schematic diagram of the installation structure of the motor, worm gear, and worm wheel.

[0036] Figure 7 This is a schematic diagram of the installation structure of the transmission components;

[0037] Figure 8 This is a schematic diagram of the chain segment structure;

[0038] Figure 9 This is a schematic diagram of the mounting structure for gears and motor four.

[0039] Figure 10 This is a schematic diagram of the toothed structure;

[0040] Figure 11 A structural diagram to avoid the second hole;

[0041] Figure 12 Here are structural diagrams of limit frame one, limit frame two, and limit frame three;

[0042] Figure 13 This is a schematic diagram of the installation structure of the pressure sensor;

[0043] Figure 14 This is a schematic diagram of the installation structure of the walking wheels;

[0044] Figure 15 This is a schematic diagram of the installation structure of linear actuator 2, motor 5, and motor 6.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1. Frame; 11. Base plate; 12. Mounting bracket; 13. Clearance hole 1;

[0047] 2. Seedling box; 21. Support frame; 22. Box body; 221. Placement plate; 222. Divider plate; 23. Seedling picking hole 1; 24. Linear actuator 1;

[0048] 3. Rice transplanting module; 31. Rotating plate; 32. Seedling picking claw; 33. Motor 1; 34. Clearance groove 4; 35. Rotating shaft 1;

[0049] 4. Reversing Module; 41. Fixing Base 1; 42. Motor 2; 43. Mounting Frame 1; 44. Fixing Base 2; 45. Rotating Shaft 3; 46. Motor 3; 47. Worm Gear; 48. Worm Wheel; 49. Transmission Components; 491. Chain Link; 492. Rotating Shaft 4; 410. Gear Shaft; 411. Gear; 412. Motor 4; 413. Connecting Shaft; 414. Seedling Bar; 415. Connecting Rod; 416. Clearance Hole 2 417. Limiting Frame 1; 418. Linear Actuator 3; 419. Limiting Frame 2; 420. Linear Actuator 4; 421. Limiting Frame 3; 422. Limiting Component 1; 423. Clearance Groove 1; 424. Clearance Groove 2; 425. Ball Slide; 426. Limiting Component 2; 427. Clearance Groove 3; 428. Force Plate; 429. Seedling Picking Hole 2; 430. Pressure Sensor; 431. Clearance Hole 3;

[0050] 5. Drive module; 51. Walking wheel; 52. Linear actuator II; 53. Mounting bracket II; 54. Mounting bracket III; 55. Rotating shaft V; 56. Motor V; 57. Motor VI; 58. Key bar; 59. Keyway; 510. Guide tube; 511. Guide rod; 512. Mounting bracket IV. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art should understand that the embodiments described below are only some, not all, of the embodiments disclosed. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0052] A multi-functional rice planting device, such as Figure 1 As shown, the system includes a frame 1 and a seedling box 2 mounted on the frame 1. The frame 1 is equipped with a transplanting module 3, a reversing module 4, and a drive module 5. The transplanting module 3 is used to remove seedlings from one end of the seedling box 2 and plant them in the soil. The reversing module 4 is used to drive the seedling box 2 and the transplanting module 3 to rotate around an axis that is horizontal and perpendicular to the forward direction of the frame 1, so that the transplanting module 3 can remove seedlings from the other end of the seedling box 2 and plant them in the soil. The drive module 5 is used to drive the frame 1 to move horizontally and perpendicular to the direction of seedling arrangement, so that the frame 1 corresponds to the next row of seedlings to be planted in the field.

[0053] The frame 1 includes a base plate 11 and a fixed frame 12 fixed on the base plate 11. The base plate 11 has a plurality of avoidance holes 13 for avoiding seedlings. The direction of extension of the avoidance holes 13 is the direction of seedling arrangement.

[0054] like Figure 2 As shown, the seedling box 2 includes a support frame 21 and a box body 22. The support frame 21 is a rectangular shell structure with an open top. Both ends of the support frame 21 have seedling picking holes 23. The support frame 21 is mounted on the frame 1. The box body 22 includes a placement plate 221 and multiple partition plates 222 fixed on the top surface of the placement plate 221. The bottom surface of the placement plate 221 is in contact with the inner top surface of the support frame 21. The horizontal extension direction of the partition plates 222 is parallel to the extension direction of the clearance holes 13. The box body 22 is slidably mounted on the support frame 21 by a linear actuator 24. The linear actuator 24 is an electric push rod or a hydraulic rod, such as... Figure 2As shown, the fixed end of the linear actuator 24 is fixedly mounted on the support frame 21, and the output end of the linear actuator 24 is fixedly connected to the support frame 21. The linear actuator 24 drives the housing 22 to slide back and forth along the extension direction perpendicular to the avoidance hole 13, so that the seedlings at different positions in the housing 22 correspond to the seedling picking hole 23, avoiding excessive use of local seedlings and ensuring uniform distribution of rice.

[0055] The rice transplanting module 3 includes a rotating plate 31, a seedling-grabbing claw 32, and a motor 33 that drives the seedling-grabbing claw 32 to rotate. Figure 3 As shown, there are two rotating plates 31, located on opposite sides of the frame 1. The rotating plate 31 closer to the frame 1 has a clearance groove 34 at one end, which is used to avoid seedlings and communicates with the clearance hole 13. The rotating plate 31 away from the frame 1 has one end that is curled upwards and bent into an arc shape. Each rotating plate 31 is equipped with a seedling-grasping claw 32, which is fixedly mounted on a rotating shaft 35. The axis of the rotating shaft 35 is horizontal and perpendicular to the extension direction of the clearance hole 13. A mounting base is fixedly installed on the rotating plate 31, such as... Figure 4 As shown, the rotating shaft 35 is mounted on the mounting base 1 and rotates around its own axis. The motor 33 is a stepper motor or a servo motor. The motor 33 is coaxially fixedly connected to the rotating shaft 35. The motor 33 drives the seedling picking claw 32 to rotate, so that the seedling picking claw 32 takes out the seedling from the seedling picking hole 23 and inserts it into the soil.

[0056] The reversing module 4 includes a drive mechanism one for rotating the seedling box 2 and a drive mechanism two for rotating the rotating plate 31. A fixed base 41 is fixed to the bottom surface of the seedling box 2, and rotating shafts 35 are fixed to both ends of the fixed base 41. The rotating shafts 35 are parallel to the rotating shaft 41 and are mounted on the frame 1, rotating around their own axis. The drive mechanism one includes a motor 42, which is either a servo motor or a stepper motor. Figure 5 As shown, motor 2 42 is fixedly mounted on the fixed frame 12. The output shaft of motor 2 42 is coaxially fixedly connected to rotating shaft 2. Motor 2 42 is used to drive the axis of rotating shaft 2 of seedling box 2 to rotate. Two seedling picking holes 1 23 are located on both sides of rotating shaft 2. Mounting frame 1 43 is fixedly mounted on the top surface of one end of rotating plate 31 near frame 1. Fixed seat 2 44 is fixedly mounted on bottom plate 11. Rotating shaft 3 45 parallel to rotating shaft 1 35 is fixedly connected to mounting frame 1 43. Rotating shaft 3 45 is mounted on fixed seat 2 44 and rotates around its own axis. Figure 6 As shown, the second drive mechanism includes a third motor 46, a worm gear 47, and a worm wheel 48. The third motor 46 is a servo motor or a stepper motor. The third motor 46 is fixedly mounted on the base plate 11. The worm gear 47 is coaxially fixedly connected to the output shaft of the third motor 46. The worm wheel 48 is coaxially fixedly mounted on the third rotating shaft 45. When the worm gear 47 meshes with the worm wheel 48, the third motor 46 starts and drives the rotating plate 31 to rotate around the axis of the third rotating shaft 45.

[0057] The rotating plate 31 operates as follows: Motor 2 42 starts, driving the seedling box 2 to rotate, causing one end of the seedling box 2 located at the top to rotate downwards; at the same time, two motors 3 46 start, causing the rotating plate 31 in contact with the ground to rotate upwards until it is detached from the ground, and the rotating plate 31 not in contact with the ground to rotate downwards until it is in contact with the ground. One end of the downward rotating seedling box 2 contacts the downward rotating plate 31. The seedling picking claw 32 mounted on the rotating plate 31 in contact with the ground works, while the seedling picking claw 32 mounted on the rotating plate 31 detached from the ground does not work.

[0058] The reversing module 4 includes a transmission component 49, a drive mechanism 3 for rotating the transmission component 49, a gear 410, and a drive mechanism 4 for driving the gear 410 in and out of the housing 22. The number of transmission components 49 is the same as the number of partition plates 222. Figure 7 and Figure 8 As shown, the transmission component 49 consists of a closed-loop structure composed of multiple chain links 491. Each chain link 491 is fixed with a rotating shaft 492, and adjacent chain links 491 are hinged through the rotating shaft 492. The drive mechanism includes gears 411 and motors 412. Each transmission component 49 is tensioned and assembled on two gears 411. The partition plate 222 and the placement plate 221 have cavities to accommodate the transmission components 49 and gears 411. The two gears 411 are located at opposite ends inside the partition plate 222. The gears 411 are rotatably assembled in the cavity about an axis that is horizontal and perpendicular to the extension direction of the clearance hole 13. The axis of the rotating shaft 492 is parallel to the axis around which the gears 411 rotate. Figure 9 As shown, all gears 411 located at the same end of the partition plate 222 are coaxially fixedly mounted on the connecting shaft 413. The connecting shaft 413 is rotatably mounted on the housing 22. The motor 412 is a stepper motor or a servo motor, which is fixedly mounted on the housing 22. The output shaft of the motor 412 is coaxially fixedly connected to the connecting shaft 413. A seedling-blocking rod 414 is fixedly mounted between two adjacent partition plates 222, and the seedling-blocking rod 414 is fitted outside the connecting shaft 413.

[0059] The gear 410 is slidably mounted on the rotating shaft 492 in a direction parallel to the axis of the rotating shaft 492, such as... Figure 10 As shown, one end of the insert 410 is located inside the rotating shaft 492, and the other end is located outside the rotating shaft 492. The end of the insert 410 located outside the rotating shaft 492 is tapered. One insert 410 is mounted on the rotating shaft 492 located within the partition plates 222 on both sides, and two insert 410s are mounted on the rotating shaft 492 located within the partition plate 222 in the middle. The tapered ends of the two insert 410s face opposite directions. A connecting rod 415 is fixedly mounted on the outer circumferential surface of the insert 410. The connecting rod 415 is L-shaped, and one end of the connecting rod 415, which is fixedly connected to the outer circumferential surface of the insert 410, is perpendicular to the insert 410, while the other end is parallel to the insert 410. Figure 11As shown, the rotating shaft 492 is provided with a clearance hole 416 for avoiding the connecting rod 415.

[0060] The drive mechanism four includes a limit frame, a linear actuator three 418, and a linear actuator four 420. The limit frame is enlarged and symmetrical to the transmission component 49 on a plane perpendicular to the axis of the gear 411. The limit frame includes a limit frame one 417, a limit frame two 419, and a limit frame three 421. A limit member one 422 is fixed on the other end of the connecting rod 415 that does not contact the gear 410. The limit frame one 417 has a clearance groove one 423 that matches the limit member one 422. The limit frame two 419 has a clearance groove two 424 that matches the limit member one 422. The limit member one 422 is slidably assembled. Within the first relief groove 423 and the second relief groove 424; in order to reduce the friction between the inner walls of the first relief groove 423 and the second relief groove 424 and the first limiting member 422, reduce the load on the fourth motor 412, and reduce noise, a ball bearing slide 425 is fixed on the first limiting member 422, and the balls of the ball bearing slide 425 are in contact with the inner walls of the first relief groove 423 and the second relief groove 424; a second limiting member 426 is fixed on the connecting rod 415, and a third relief groove 427 adapted to the second limiting member 426 is provided in the third limiting frame 421, and the second limiting member 426 is slidably assembled in the third relief groove 427.

[0061] Reference Figure 7 , Figure 8 and Figure 12The first limiting frame 417 is located below the transmission component 49 between the two gears 411. Two limiting frames 417 are located below the partition plate 222 in the middle, and one limiting frame 417 is located below the partition plates 222 on both sides. The cone tips of the corresponding teeth 410 of the limiting components 422 within the same limiting frame 417 face the same direction. The third linear actuator 418 and the fourth linear actuator 420 are electric push rods or hydraulic rods. The fixed end of the third linear actuator 418 is fixedly assembled in the cavity 1, and the output end of the third linear actuator 418 is fixedly connected to the first limiting frame 417. The third linear actuator 418 drives the first limiting frame 417 to reciprocate along the axis of the fourth rotating shaft 492 to drive the teeth 410 in and out of the housing 22. The partition plate 222 is provided for the teeth 410 to enter and exit and move with the transmission component 49. The moving clearance hole is 431; each limit frame 417 has a limit frame 419 on both sides. The fixed end of the linear actuator 420 is fixedly installed in the cavity 1, and the limit frame 419 is fixedly installed in the output end of the linear actuator 420. The linear actuator 420 drives the limit frame 419 to reciprocate along the axis of the rotating shaft 492 to drive the tooth 410 to enter and exit the housing 22; the limit frame 421 is fixed in the cavity 1 and is located between the ends of the limit frame 419 that are away from the limit frame 417. As the transmission component 49 runs, the limit component 426 enters the clearance groove 427. The tooth 410 connected to the limit component 426 in the clearance groove 427 is located in the housing 22. The clearance groove 427 is used to restrict the tooth 410 from extending out of the housing 22.

[0062] When the lengths of the drive teeth 410 of linear actuator three 418 and linear actuator four 420 extending out of the housing 22 are the same, the limit frame two 419 fits against the limit frame one 417, and the clearance groove one 423 and the clearance groove two 424 are connected; when the drive teeth 410 of linear actuator four 420 enter the housing 22, the limit member two 426 corresponding to the teeth 410 in the clearance groove two 424 corresponds to the clearance groove three 427.

[0063] The movement of transmission component 49, drive mechanism three, gear 410, and drive mechanism four is as follows: Linear actuator three 418 starts, and the gear 410 located below the two gears 411 extends out of the clearance hole three 431 and inserts into the root of the seedling; the seedling box 2 rotates, and simultaneously motor four 412 starts, driving transmission component 49 to rotate. Transmission component 49 drives the seedling to move towards one end of the downward-rotating seedling box 2. At this time, linear actuator four 420 located on one side of limit frame one 417 moves downward, and linear actuator four 420 located on the other side of limit frame one 417 moves upward. The movement of the two linear actuators four 420 is as follows:

[0064] ① Linear actuator 420 moving downwards:

[0065] The downward-moving linear actuator 420 drives the limit frame 2 419 to fit against the limit frame 1 417, the transmission component 49 runs, and the limit component 1 422 in the clearance groove 1 423 moves into the clearance groove 2 424.

[0066] Linear actuator 420 drives limit frame 2 419 to move, and the tooth 410 corresponding to the limit member 1 422 in the clearance groove 2 424 enters the housing 22. The transmission component 49 runs, and the limit member 2 426, which is located on the same connecting rod 415 as the limit member 1 422 in the clearance groove 2 424, moves into the clearance groove 3 427.

[0067] Linear actuator 420 drives limit frame 2 419 to fit with limit frame 1 417 again, transmission component 49 runs, limit component 1 422 in clearance groove 1 423 enters clearance groove 2 424 again, and so on, until the seedling fits with the inner wall of the downward moving support frame 21.

[0068] ② Linear actuator 420 moving upwards:

[0069] The upward-moving linear actuator 420 drives the limit frame 419 to move, the transmission component 49 runs, and the limit component 422, which is located on the same connecting rod 415 as the limit component 426 in the clearance groove 427, enters the clearance groove 424.

[0070] Linear actuator 420 drives limit frame 2 419 to fit with limit frame 1 417, transmission component 49 runs, and limit component 1 422 moves from clearance groove 2 424 into clearance groove 1 423;

[0071] Linear actuator 420 drives limit frame 419 to move again, and transmission component 49 runs, so that limit component 422, which is located on the same connecting rod 415 as limit component 426 in clearance groove 427, enters clearance groove 424 again, and so on, until the seedling is in contact with the inner wall of the downward moving support frame 21.

[0072] To ensure the timely retraction of the insertion teeth 410 into the box 22 and prevent damage to the seedling roots, the seedling box 2 is equipped with a stress-bearing plate 428. Figure 13As shown, the force plate 428 is provided with a second seedling picking hole 429 that is adapted to the first seedling picking hole 23. The force plate 428 is parallel to the inner sidewalls at both ends of the support frame 21. A pressure sensor 430 is installed between the force plate 428 and the inner sidewalls at both ends of the support frame 21. A PLC is installed on the frame 1. The pressure sensor 430 is electrically connected to the input terminal of the PLC. The third linear actuator 418, the fourth linear actuator 420, and the fourth motor 412 are electrically connected to the output terminal of the PLC. When the pressure sensor 430 detects an increase in pressure, it proves that the seedling is in contact with the force plate 428. At this time, the PLC controls the third linear actuator 418 and the fourth linear actuator 420 to start, and all the inserts 410 return to the housing 22.

[0073] like Figure 14 and Figure 15 As shown, the drive module 5 includes a walking wheel 51 and a linear actuator 52 that drives the walking wheel 51 to move up and down. Mounting brackets 53 are fixedly mounted on the base plates 11 on both sides of the fixed frame 12. The linear actuator 52 is an electric push rod or a hydraulic rod. The fixed end of the linear actuator 52 is fixedly mounted on the mounting bracket 53. The output end of the linear actuator 418 is fixedly connected to the mounting bracket 54. The axis of the walking wheel 51 is parallel to the extension direction of the clearance hole 13. The two ends of the walking wheel 51 are coaxially fixed with rotating shafts 55. The rotating shafts 55 are mounted on the mounting bracket 54 through rotating bearings. The motor 56 is fixedly mounted on the mounting bracket 54. The output shaft of the motor 56 is coaxially fixedly connected to the rotating shaft 55. When the motor 56 is started, it drives the walking wheel 51 to rotate around the axis of the rotating shaft 55.

[0074] When the rice planting equipment moves, the linear actuator 2 52 drives the walking wheel 51 to move upward, and the walking wheel 51 is separated from the ground. When the rice planting equipment reaches the edge of the field, the linear actuator 2 52 drives the walking wheel 51 to move downward and contact the ground. At the same time, the rotating plate 31 and the frame 1 are raised to be above the water surface. The motor 56 starts and the equipment moves along the horizontal and perpendicular extension direction of the avoidance hole 13, so that the frame 1 corresponds to the next row of rice fields to be planted.

[0075] To reduce the burden on workers, the drive module 5 also includes a motor 6 57 and a mounting bracket 4 512. The motor 6 57 is fixedly mounted on the mounting bracket 2 53. The output end of the motor 6 57 extends vertically. The output shaft of the motor 6 57 is fixedly connected to a vertically extending cuboid-shaped key bar 58. The mounting bracket 3 54 has a keyway 59 that matches the key bar 58. Below the keyway 59 is a cavity 2 that communicates with the keyway 59. The linear actuator 2 52 is located in the cavity 2. The fixed end of the linear actuator 2 52 is fixedly connected to the key bar 58. The output end of the linear actuator 2 52 is fixedly connected to the mounting bracket 3 54. To improve the stability of the walking wheel 51 when it is walking, multiple vertically extending guide tubes 510 are fixedly mounted on the mounting bracket 2 53. Guide rods 511 are inserted into the guide tubes 510. The guide rods 511 are fixedly mounted on the mounting bracket 4 512. The mounting bracket 3 54 is rotatably mounted on the mounting bracket 4 512 around the axis of the output shaft of the motor 6 57.

[0076] Motor 6 57 drives the walking wheel 51 to rotate, so that the axis of the walking wheel 51 is perpendicular to the extension direction of the avoidance hole 13. Linear actuator 2 52 drives the walking wheel 51 to move down to contact the ground. Motor 5 56 drives the equipment to walk along the extension direction parallel to the avoidance hole 13, providing assistance for the equipment to move.

[0077] The method of using this invention is as follows:

[0078] ① When using the equipment, such as Figure 1 As shown, one end of the seedling box 2 located below faces the direction of equipment movement. Seedlings are placed into the grooves between the partition plates 222. The seedlings are in contact with the seedling blocking rod 414, and the roots of the seedlings are in contact with the force plate 428 located below. The motor 57 is adjusted so that the axis of the traveling wheel 51 is perpendicular to the extension direction of the avoidance hole 13. The motor 56 is started, driving the equipment to move along the extension direction of the avoidance hole 13. During the movement of the equipment, the linear actuator 24 drives the housing 22 to slide back and forth along the direction perpendicular to the extension direction of the avoidance hole 13. The motor 33 is started, and the seedling picking claw 32 mounted on the rotating plate 31 in contact with the ground picks up the seedlings from the seedling picking hole 23 and seedling picking hole 429 located below and plants the seedlings in the soil until the equipment moves to the edge of the field.

[0079] ② When the equipment reaches the edge of the field, motor 56 stops, linear actuator 2 drives the walking wheel 51 to move up and leave the ground, motor 6 drives the walking wheel 51 to rotate 90 degrees, so that the axis of the walking wheel 51 is parallel to the extension direction of the clearance hole 13. Then, linear actuator 2 drives the walking wheel 51 to move down and contact the ground, raising the rotating plate 31 and the frame 1 to lift off the ground. Motor 56 starts, driving the walking wheel 51 to move horizontally and perpendicular to the extension direction of the clearance hole 13, so that the frame 1 corresponds to the next row of fields to be planted with rice. Then, linear actuator 2 drives the rotating frame 31 and the frame 1 to contact the ground.

[0080] ③ Motor 2 42 starts, driving the seedling box 2 to rotate, causing one end of the seedling box 2 located at the top to move downward; the rotating plate 31 in contact with the ground rotates upward until it leaves the ground, and the rotating plate 31 not in contact with the ground rotates downward until it contacts the ground, and one end of the downward rotating seedling box 2 contacts the downward rotating plate 31; the insert tooth 410 extends out of the box body 22 through the clearance hole 3 431, and the motor 412, linear actuator 3 418, linear actuator 420 and pressure sensor 430 cooperate with each other until all the seedlings are in contact with the downward moving force plate 428;

[0081] ④ Linear actuator 2 52 drives the walking wheel 51 to move up and leave the ground, the frame 1 is lowered to be in contact with the ground, motor 6 57 drives the walking wheel 51 to rotate 90 degrees in the opposite direction, then linear actuator 2 52 drives the walking wheel 51 to move down and contact the ground, motor 5 56 starts, the walking wheel 51 drives the equipment to move into the field, at the same time, the seedling picker 32 picks up the seedlings and plants them in the soil, until it moves to the edge of the field again.

Claims

1. A multifunctional rice planting device, characterized in that, Includes a frame, on which are mounted a seedling box, seedling pickers, and wheels; The frame is equipped with a clearance hole for avoiding the seedlings, and the horizontal extension direction of the clearance hole is the seedling arrangement direction; The seedling box is rotatably mounted on the frame. The axis around which the seedling box rotates is horizontal and perpendicular to the extension direction of the clearance hole. Both ends of the seedling box have a seedling picking hole. The seedling-picking claws are located on both sides of the machine frame and are used to pick up seedlings from the seedling-picking hole and plant them in the soil; The frame is provided with a second mounting bracket. The traveling wheel is mounted on the second mounting bracket and rotates around the horizontal axis. The second mounting bracket is mounted on the frame and slides up and down. The second mounting bracket is mounted on the frame and rotates around the vertically extending axis. When the traveling wheel is in contact with the ground and the axis around which the traveling wheel rotates is parallel to the extension direction of the first clearance hole, the traveling wheel is used to drive the frame to move in a direction perpendicular to the extension direction of the first clearance hole. The seedling box includes a support frame and a box body for holding seedlings. One seedling picking hole is located at both ends of the support frame. The support frame is rotatably mounted on the machine frame. The two seedling picking holes are located on both sides of the axis around which the support frame rotates. The box body is slidably mounted on the support frame along the extension direction perpendicular to the first clearance hole. The seedling box is equipped with inserting teeth, and the box body has a cavity for accommodating the inserting teeth. The inserting teeth extend horizontally and are parallel to the axis around which the support frame rotates. The inserting teeth slide back and forth on the box body along the direction of their extension to enter and exit the box body. The box body has a clearance hole three for avoiding the inserting teeth. The inserting teeth that extend out of the box body are used to insert into the roots of the seedlings. The inserting teeth slide on the seedling box in a direction perpendicular to the direction of their extension and parallel to the top surface of the box body to drive the seedlings to move from one end of the support frame to the other end of the support frame. As the seedling tray rotates, the inserts push the seedlings from one end of the tray to the other. There is no need to replenish the seedlings when the seedlings in the tray are not used up. There are many contact points between the inserts and the roots of the seedlings, and the seedlings are evenly stressed. As the seedlings grow densely in the seedling tray, the roots will naturally intertwine to form an overall carpet-like structure, and the inserts drive the seedlings to move as a whole.

2. The multifunctional rice planting equipment according to claim 1, characterized in that, A transmission component is provided inside the cavity. The transmission component is tensioned and assembled on at least two gears. The gears rotate about an axis perpendicular to the extension direction of the clearance hole. The transmission component includes multiple chain links and a rotating shaft four for hinged adjacent chain links. The axis of the rotating shaft four is parallel to the axis around which the gears rotate. The gear is slidably assembled on the rotating shaft four in a direction parallel to the axis of the rotating shaft four.

3. The multifunctional rice planting equipment according to claim 2, characterized in that, A connecting rod is fixedly mounted on the outer circumferential surface of the gear. The rotating shaft four is provided with a second clearance hole for avoiding the connecting rod. A limiting frame is provided in the cavity one. The limiting frame is enlarged and symmetrical with the transmission component on a plane perpendicular to the gear axis. The connecting rod is slidably mounted on the limiting frame. The limiting frame includes a limiting frame one, a limiting frame two, and a limiting frame three. The limiting frame two is located between the limiting frame one and the limiting frame three. The limiting frame one and the limiting frame two are slidably mounted in the cavity one in a direction parallel to the axis of the rotating shaft four, so that the gear corresponding to the connecting rod slidably mounted on the limiting frame one and the limiting frame two can enter and exit the housing. The gear corresponding to the connecting rod slidably mounted on the limiting frame three is located inside the housing.

4. The multifunctional rice planting equipment according to claim 3, characterized in that, The box includes a placement plate and multiple partition plates fixed on the placement plate. The partition plates are parallel to the extension direction of the avoidance hole in the horizontal direction. A groove for placing seedlings is formed between two adjacent partition plates and the placement plate. Each partition plate is equipped with a transmission component and gears. Multiple gears corresponding to the direction perpendicular to the extension direction of the avoidance hole are coaxially fixedly assembled on the connecting shaft. A seedling-blocking rod is fitted on the outside of the connecting shaft, and the two ends of the seedling-blocking rod are fixed on the partition plates.

5. The multifunctional rice planting equipment according to claim 4, characterized in that, A ball bearing slide is mounted on the connecting rod, and the balls of the ball bearing slide are in contact with limit frame one and limit frame two.

6. The multifunctional rice planting equipment according to claim 5, characterized in that, The support frame is equipped with a force plate, and the force plate has a second seedling picking hole opposite to the first seedling picking hole. A pressure sensor is installed between the force plate and the inner wall of the support frame. The pressure sensor is used to detect the pressure of the seedlings on the inner wall of the support frame with the first seedling picking hole.

7. A multifunctional rice planting device according to claim 6, characterized in that, The insertion teeth, which extend from the box and insert into the roots of the seedlings, have a conical end.

8. A multifunctional rice planting device according to any one of claims 1-7, characterized in that, Rotating plates are mounted on both sides of the frame. The rotating plates are located on both sides of the axis around which the seedling box rotates. One end of the rotating plate closer to the frame is provided with a clearance groove three that communicates with clearance hole one to avoid seedlings. The other end of the rotating plate away from the frame is bent upward into an arc shape. The seedling picking claw is rotated and mounted on the rotating plate.

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