Self-propelled seedling block cutting device and cutting method

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a self-propelled seedling block cutting device and a cutting method.A walking mechanism is used for driving the device to move in the length direction of a seedbed, and an electric push rod on a longitudinal cutting mechanism acts to drive a longitudinal cutter to ascend and descend to be matched with rotation of the longitudinal cutter during walking; the longitudinal cutting mechanism can longitudinally cut seedling blocks in the walking process, and the soil penetrating depth can be adjusted; a lead screw linear module on the transverse cutting mechanism acts to drive two transverse cutters to move transversely, an electric cylinder on the transverse cutting mechanism acts to drive the two transverse cutters to ascend and descend, seedling blocks can be transversely cut when the device stops walking, and transverse movement of the cutting position and adjustment of the cutting depth can be achieved. According to the invention, lightweight and unmanned design is adopted, rolling of seedlings is reduced, the operation efficiency is improved, the labor cost is reduced, the cutting precision is high, the operation quality is ensured, and the power and the cutting module can be rapidly detached and replaced.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and in particular relates to a self-propelled seedling block cutting device and a cutting method. Background Art

[0002] In agricultural production, rice cultivation is a crucial component of ensuring food security, and the advancement of its rice seedling cultivation technology directly impacts planting efficiency and yield. Traditional rice seedling cultivation has long relied on plastic trays as a carrier for seedlings. While this model played a role in the early days of mechanized planting, its technical flaws and environmental hazards have become increasingly prominent as the concept of green and sustainable agricultural development has advanced.

[0003] Significant environmental damage: Plastic seedling trays are mostly made of polyvinyl chloride (PVC). The plastic fragments remaining after use will destroy the soil structure, hinder the connectivity of soil pores, and reduce air permeability and water permeability; the additives and microplastic particles released during the degradation of plastic will pollute the soil ecosystem in the long term and affect the balance of microbial communities. At the same time, scattered plastic fragments will also cause visual pollution and damage the farmland landscape.

[0004] The technical limitations are prominent: plastic seedling trays require manual tray placement, which is labor-intensive, inefficient, and prone to misalignment; in addition, the plastic material has poor air permeability, which inhibits the development of the seedling root system, increases the risk of diseases and pests, and is not conducive to the cultivation of strong seedlings.

[0005] To address these issues, discless hemp film rice seedling cultivation technology was developed. Made from natural plant fibers, hemp film degrades naturally within 25 to 45 days in a suitable environment within the rice nursery, eliminating the need for manual recycling and disinfection. This reduces the environmental burden while creating a loose, well-ventilated growth environment for the rice seedlings' roots. The resulting seedlings have well-developed root systems, strong stems, and rapid greening and early tillering after machine transplanting, laying the foundation for high rice yields.

[0006] However, in the process of promoting the disc-free hemp film seedling raising technology, the seedling block cutting process has become a bottleneck restricting its large-scale application:

[0007] Reliance on manual operation: Currently, the cutting of seedling blocks relies too much on manual pushing or the operation of simple machines. This is not only inefficient and difficult to meet the needs of large-scale seedling production, but also leads to high labor costs.

[0008] Low level of mechanization and intelligence: Existing machines lack precise guidance and positioning systems, and cutting parameters (such as depth and trajectory) cannot be accurately controlled. They mainly rely on the operator's experience to align, which can easily cause the cutting trajectory to be skewed and the edges to be uneven, resulting in large deviations in the size of the seedlings.

[0009] Impact on the quality of subsequent operations: Insufficient cutting accuracy will increase the rate of missed planting by machine, requiring additional investment in manual seedling replacement, further increasing production costs and seriously restricting the full promotion of diskless hemp film seedling cultivation technology.

[0010] Therefore, developing an efficient, precise, and intelligent self-propelled seedling block cutting device that integrates advanced control technology and lightweight design to solve the current problems of poor quality, low efficiency, and high labor intensity in cutting operations has become the key to promoting the large-scale application of diskless seedling cultivation technology. Summary of the Invention

[0011] The present invention aims to solve the technical problems in the above-mentioned prior art that traditional plastic seedling trays for raising seedlings are prone to residual soil, have low recycling rates, high costs for manual tray placement, and that the cutting of seedling blocks in tray-free hemp film seedling raising relies on manual labor or low-level machinery, resulting in low efficiency and high costs. The present invention also solves the technical problems that existing machinery lacks precise guiding and positioning, resulting in skewed cutting trajectories, uneven edges, and large deviations in seedling block sizes, which affect subsequent machine planting, increase the rate of missed planting, and increase the cost of seedling replacement.

[0012] To achieve the above object, the present invention provides the following technical solutions:

[0013] A self-propelled seedling cutting device, comprising:

[0014] The walking mechanism is used to drive the device to move along the length of the seedbed. The walking mechanism is provided with a power supply module for providing energy for the entire device to support the execution of walking and cutting actions;

[0015] The longitudinal cutting mechanism is arranged at the rear end of the traveling mechanism and cooperates with the traveling mechanism. The electric push rod on the longitudinal cutting mechanism drives the longitudinal cutting knife to rise and fall and cooperates with the rotation of the longitudinal cutting knife when traveling, so that the longitudinal cutting mechanism can cut the seedlings longitudinally during the traveling process and can adjust the depth of soil penetration.

[0016] The transverse cutting mechanism is arranged at the front end of the traveling mechanism and cooperates with the traveling mechanism. The electric cylinder on the transverse cutting mechanism drives the two transverse cutting knives to rise and fall, and can perform transverse cutting on the seedlings when the device stops traveling, and can realize the transverse movement of the cutting position and the adjustment of the cutting depth.

[0017] The device realizes automatic cutting of seedling blocks and improves efficiency through the coordinated actions of walking, longitudinal cutting and transverse cutting mechanisms.

[0018] Preferably, the power supply module includes a battery holder and a battery, wherein the battery is placed above the battery holder to provide new energy power for the device. The new energy power supply conforms to the green environmental protection concept and provides energy support for the stable operation of the device.

[0019] As a preference, the traveling mechanism comprises a chassis frame tube, four wheels mounted on the sides of the battery and located below the chassis frame tube, the wheels can drive the device to move along the length direction of the seedling bed, and the traveling distance matches the length of a machine transplanting block;

[0020] The battery holder is mounted on the chassis frame tube.

[0021] The cam is fixed to the upper end of the frame by a toothed rod and is fixed with a toothed rod on the upper end of the frame to the upper end of the frame, and the toothed rod is fixed with a toothed rod on the lower end of the frame to the lower end of the frame.

[0022] The electric push rod drives the blade assembly to rotate the support arm, which can drive the longitudinal cutting blade to adjust the soil penetration depth. The soil penetration depth range is 3 to 5 cm. The longitudinal cutting mechanism can flexibly adjust the longitudinal cutting blade penetration depth to ensure the longitudinal cutting effect meets the requirements.

[0023] Preferably, the rotation angle of the blade assembly's rotating support arm is less than 90 degrees, and the extension distance of the electric push rod can lift the slitting blade to a height of 15 cm from the ground. The large rotation angle of the blade assembly's rotating support arm can lift the slitting blade to a sufficient height to avoid damaging the seedlings when not in operation.

[0024] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0025] The electric cylinder drives the fixed beam of the blade assembly to adjust the depth of the crosscutting blade in the soil, ranging from 3 to 5 cm. The slide moves on the track to drive the crosscutting blade to achieve horizontal cutting, and the slide's movement distance does not exceed the width of the seedbed. The crosscutting mechanism allows the crosscutting blade to move horizontally and adjust its depth to meet the needs of precise horizontal cutting.

[0026] Preferably, the electric cylinder's travel distance allows the crosscutting knife to move vertically 20 cm, i.e., from a depth of 3 to 5 cm in the soil to approximately 15 cm above the ground. This suitable vertical travel distance of the crosscutting knife ensures the cutting depth while effectively avoiding the seedlings when not in operation.

[0027] A cutting method of a self-propelled seedling block cutting device comprises the following steps:

[0028] Step 1: Device startup and positioning

[0029] The battery above the battery holder provides power to drive the four wheels installed on the side of the battery holder to rotate, and the device as a whole moves to the designated starting position at one end of the seedbed;

[0030] Step 2: Preparation for the longitudinal cutting knife to enter the soil

[0031] The electric push rod starts, pushing the knife group rotating arm to rotate a certain angle around the pin shaft on the top of the electric push rod fixing plate. The knife group rotating arm moves along with the screw rod installed through the through hole. The electric push rod arm connected by bolts below the screw rod drives the longitudinal cutting knife shaft to descend, so that the longitudinal cutting knife cuts into the soil 3 to 5 cm, reaching the longitudinal cutting operation depth.

[0032] Step 3: Longitudinal cutting

[0033] The wheel drives the device to move along the length of the seedling bed, and the travel distance matches the length of a machine transplanting block. During the movement, the electric push rod fixed bearing on the side of the electric push rod support arm rotates with the longitudinal cutter shaft, driving the longitudinal cutter to continuously perform longitudinal cutting, forming a regular longitudinal seedling block separation line.

[0034] Step 4: Horizontal cutting preparation and operation

[0035] After the device completes the travel of one machine transplanting block, it stops, the longitudinal cutter stops cutting longitudinally, the electric cylinder starts, and the push rod drives the fixed beam of the knife group to move downward. The force is transmitted through the guide shaft, so that the crosscutting knife under the crossbeam of the knife group cuts into the soil 3 to 5 cm. The slide moves in the track above the slide support seat. The moving distance does not exceed the width of the seedbed. The limiting roller inside the track assists in guiding, ensuring that the crosscutting knife moves smoothly in the horizontal direction. After completing one horizontal cut, it can cut the width of 5 or more machine transplanting blocks at the same time.

[0036] Step 5: Reset and cycle operation

[0037] After the transverse cutting is completed, the slide stops moving, the push rod of the electric cylinder extends to push the fixed beam of the knife group upward, driving the transverse cutting knife to a height of not less than 15 cm from the ground, completing the reset, and the device starts moving again, repeating steps 2 to 4, through the cycle of longitudinal cutting, transverse cutting, and reset, continuing the operation from the starting point of the seedbed to the end point, completing the transverse and longitudinal cutting of all seedlings;

[0038] Step 6: End of work and transfer

[0039] After the entire seedbed is cut, the electric push rod pushes the knife group to rotate the support arm in the opposite direction, so that the longitudinal cutting knife is lifted to a height of not less than 15 cm from the ground to avoid damaging the seedlings during movement. The device moves to the next seedbed area and prepares to start a new cutting operation.

[0040] Preferably, during the positioning process of step 1, the first longitudinal slitting blade is at least 10 cm away from the side of the seedbed. The distance from the side of the seedbed is about 2 cm. If a pedestrian walkway is laid on the seedbed, the distance from the side of the seedbed is not less than 10 cm.

[0041] Compared with the prior art, the technical effects and advantages of the present invention are:

[0042] This invention significantly improves operational flexibility and seedling protection through its lightweight and unmanned design. The device utilizes a lightweight body design, coupled with a four-wheel distributed drive layout, to increase contact area and reduce ground pressure, effectively minimizing seedling crushing and protecting their growth. Unmanned operation reduces manual intervention and avoids secondary damage to the seedlings caused by operators walking on the seedbed. Pre-programmed paths or remote control also improve operational efficiency and significantly reduce labor costs, making it particularly suitable for flexible operations on narrow and long plots of land.

[0043] This invention achieves precise control of cutting accuracy and work quality. During longitudinal cutting, the longitudinal cutter can maintain a stable penetration depth of 3 to 5 cm, and the soil resistance forms a natural guide, enhancing the stability of the machine's linear movement and ensuring a uniform longitudinal cutting trajectory. During transverse cutting, the penetration depth is precisely controlled by an electric cylinder, and the slide cooperates with the track and limit rollers to achieve smooth movement, ensuring a regular transverse cutting edge. This precise control effectively reduces seedling block size deviation, reduces the subsequent missed planting rate and manual seedling replacement costs during machine planting, and provides a guarantee for the accuracy and stability of machine planting operations.

[0044] This invention utilizes new energy power and a modular design, aligning with the principles of environmental protection and sustainable development. The use of new energy batteries in the power unit not only reduces vibration during operation, reduces vibration-induced displacement and wear of working components, and extends the equipment's service life, but also avoids the exhaust emissions associated with traditional fuel-powered systems, thus fulfilling the requirements of green agriculture development. Furthermore, the power module and cutting module are quickly removable and interchangeable, facilitating future battery upgrades or functional expansion, enhancing the device's adaptability and durability.

[0045] This invention effectively addresses a key bottleneck in the promotion of discless hemp film seedling cultivation technology. Addressing the low efficiency, high cost, and insufficient mechanization of manual cutting in existing technologies, this invention achieves an automated cycle of seedling block cutting through the coordinated operation of longitudinal and transverse cutting mechanisms. This allows for continuous transverse and longitudinal cutting from the starting point to the end point of the seedbed, significantly improving cutting efficiency and meeting the needs of large-scale, high-efficiency seedling cultivation. It provides reliable equipment support for the comprehensive promotion of discless hemp film seedling cultivation technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a structural schematic diagram of the present invention;

[0047] Figure 2 It is the front view of the present invention;

[0048] Figure 3 It is a left side view of the present invention;

[0049] Figure 4 A top view of the present invention;

[0050] Figure 5 It is a structural schematic diagram of the longitudinal cutting mechanism of the present invention;

[0051] Figure 6 It is a structural schematic diagram of the transverse cutting mechanism of the present invention;

[0052] Figure 7 It is a structural schematic diagram of the walking mechanism of the present invention.

[0053] In the figure: 1. Screw rod; 2. Cutting tool assembly rotating support arm; 3. Electric push rod fixing plate; 4. Electric push rod; 5. Battery; 6. Chassis frame tube; 7. Electric cylinder; 8. Cutting tool assembly fixing beam; 9. Electric cylinder connecting plate; 10. Guide shaft; 11. Linear bearing; 12. Slide; 13. Limit roller; 14. Rail; 15. Slide support seat; 16. Cutting tool assembly crossbeam; 17. Crosscutting tool assembly fixing plate; 18. Crosscutting tool; 19. Crosscutting tool fixing bearing; 20. Wheel; 21. Battery holder; 22. Slitting tool holder support arm fixing plate; 23. Slitting tool holder support arm; 24. Slitting tool; 25. Circular blade fixing clamp; 26. Slitting tool fixing bearing; 27. Slitting tool shaft; 28. Electric push rod fixing bearing; 29. ​​Electric push rod support arm. DETAILED DESCRIPTION

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0055] The following combination Figures 1 to 7 To further explain this application,

[0056] This application discloses a self-propelled seedling block cutting device. This device addresses the challenges of low efficiency, poor precision, and manual labor in disc-free hemp film seedling cultivation. Through modular integration and intelligent control, it achieves full automation of the seedling block cutting process. The device utilizes a five-module architecture: power supply - travel drive - longitudinal cutting execution - transverse cutting execution - coordinated control. Each module independently performs a specific function, while the coordinated control module forms a closed-loop linkage to ensure continuous, precise, and efficient cutting operations.

[0057] The details are as follows:

[0058] A self-propelled seedling block cutting device includes a power supply module, a walking mechanism, a longitudinal cutting mechanism, a transverse cutting mechanism and a coordinated control module. The linkage of the modules realizes the automatic cutting operation of the seedling blocks.

[0059] Among them, the power supply module is used to provide energy for the entire device to support the execution of walking and cutting actions; the walking mechanism drives the device to move along the length of the seedling bed through the walking drive module, and can accurately control the walking distance; the longitudinal cutting mechanism can cut the seedling blocks longitudinally during walking and can adjust the depth of soil penetration; the transverse cutting mechanism can cut the seedling blocks transversely when the device stops walking, and can realize the transverse movement of the cutting position and the adjustment of the cutting depth; the collaborative control module is used to coordinate the working sequence of each module, so that longitudinal cutting and transverse cutting are carried out alternately, and all seedling blocks are cut from the starting point to the end point of the seedling bed;

[0060] The walking mechanism includes a chassis frame tube 6, four wheels 20 installed on the side of the battery 5 and located below the chassis frame tube 6, the wheels 20 can drive the device to move along the length direction of the seedling bed, and the walking distance matches the length of a machine transplanting block. The power supply module includes a battery holder 21 and a battery 5. The battery 5 is placed above the battery holder 21 to provide new energy power for the device. The battery holder 21 is installed on the chassis frame tube 6.

[0061] The longitudinal cutting mechanism is located at the rear side of the chassis frame tube 6 and is the core component for achieving longitudinal cutting of the seedling block. Its specific composition and functions are as follows:

[0062] Slitting tool holder arm fixing plates 22: There are 2 in total, welded to both ends of the side walls of the chassis frame tube 6, with mounting holes, connected to the slitting tool holder arm 23 through a pin shaft, providing stable support for the slitting mechanism.

[0063] Electric push rod fixing plate 3: welded on the top of the chassis frame tube 6, used to install the electric push rod 4 and the knife group rotating support arm 2, and is the key connecting component for the power transmission of the longitudinal cutting mechanism.

[0064] The knife group rotating arm 2 is set on the top of the electric push rod fixing plate 3 through a pin shaft, and is provided with a through hole for installing the screw rod 1. Its rotation angle is less than 90°, and the longitudinal cutting knife 24 can be driven by rotation to realize the lifting action.

[0065] Electric push rod 4: The fixed end is rotatably connected to the tail end of the electric push rod fixed plate 3, and the piston rod end is rotatably connected to the knife group rotating support arm 2, which pushes the knife group rotating support arm 2 to rotate through the telescopic action; its extension distance can lift the longitudinal cutting knife 24 to a height of 15 cm from the ground, meeting the seedling protection needs in the non-operating state.

[0066] Screw rod 1: It is rotatably mounted on one end of the knife group rotating support arm 2 and is connected to the electric push rod support arm 29 by bolts at the bottom, which plays the role of transmitting power and adjusting the position of the longitudinal cutting knife 24.

[0067] The electric push rod support arm 29 is installed below the screw rod 1 through bolts, and the side bolts fix the electric push rod fixed bearing 28, which can drive the longitudinal cutting knife shaft 27 to rise and fall with the movement of the screw rod 1.

[0068] The electric push rod fixed bearing 28 is fixed on the side of the electric push rod support arm 29, and passes through the longitudinal cutting shaft 27 inside to provide support for the rotation of the longitudinal cutting shaft 27.

[0069] The longitudinal cutting tool support arm 23 is connected to the two longitudinal cutting tool support arm fixing plates 22 through a pin shaft, and the longitudinal cutting tool fixed bearing 26 is installed on the side to provide auxiliary support for the longitudinal cutting tool shaft 27.

[0070] Slitting knife fixed bearing 26: fixed to the side of the slitting knife holder support arm 23 by bolts, with the slitting knife shaft 27 installed inside, cooperating with the electric push rod fixed bearing 28 to ensure the stable rotation of the slitting knife shaft 27.

[0071] The longitudinal cutting knife shaft 27 is installed through the electric push rod fixed bearing 28 and the longitudinal cutting knife fixed bearing 26. It is the installation carrier of the longitudinal cutting knife 24 and can drive the longitudinal cutting knife 24 to perform cutting operations by rotating.

[0072] Slitting knives 24: Several slitting knives 24 are arranged at equal distances and installed on the slitting knife shaft 27. They are fixed to the slitting knife shaft 27 with bolts through the circular blade fixing clamp 25 to ensure that they will not loosen during the cutting process. The knife group rotating arm 2 is pushed by the electric push rod 4 to rotate, and the depth of the slitting knife 24 into the soil can be adjusted in the range of 3 to 5 cm to meet the depth requirements of the longitudinal cutting of the seedling block.

[0073] Circular blade fixing clamp 25: used for fixing the longitudinal cutter 24 to the longitudinal cutter shaft 27 with bolts to ensure the stability of the longitudinal cutter 24 during operation.

[0074] The longitudinal cutting mechanism realizes longitudinal cutting of the seedlings through power transmission and angle adjustment. The specific process is as follows: the battery 5 provides power, the electric push rod 4 serves as the power source, its fixed end is connected to the electric push rod fixed plate 3, and the piston rod end is connected to the knife group rotating arm 2. The knife group rotating arm 2 is pushed to rotate around the pin shaft at the top of the electric push rod fixed plate 3 through the telescopic action (the rotation angle is less than 90°).

[0075] The rotation of the blade assembly rotating arm 2 drives the screw rod 1 to move, and the electric push rod arm 29 below the screw rod 1 is linked to it, and then drives the longitudinal cutting blade shaft 27 to rise and fall through the electric push rod fixed bearing 28. When the electric push rod 4 retracts, the longitudinal cutting blade 24 descends and cuts into the soil 3-5 cm (operating depth); when the electric push rod 4 extends, the longitudinal cutting blade 24 is lifted to 15 cm off the ground (non-operating state).

[0076] The slitting blade 24 is secured to the slitting blade shaft 27 via a circular blade retaining clamp 25. The shaft 27 is supported at both ends by slitting blade fixed bearings 26 and electric push rod fixed bearings 28. When the device is in operation, soil resistance drives the slitting blade shaft 27, which in turn rotates the slitting blade 24, continuously cutting along the length of the seedbed to form a longitudinal dividing line. The slitting blade support arm 23, connected to the slitting blade support arm fixing plate 22 via a pin, provides auxiliary support for the slitting blade shaft 27 and ensures the stability of the slitting blade 24 during the cutting process.

[0077] The transverse cutting mechanism is located on the front side of the chassis frame tube 6 and is responsible for completing the transverse cutting of the seedling block when the device stops moving. Its specific structure and function are as follows:

[0078] Slide support 15: There are 2 in total, welded to the two ends of the front side of the chassis frame tube 6, and the track 14 is welded on the top to provide an overall installation foundation for the transverse cutting mechanism.

[0079] Tracks 14: Two sets, welded to the front and rear sides of the tops of the two slide support seats 15, provide guidance for the rolling of the limiting rollers 13 and ensure the stability of the lateral movement of the slide 12.

[0080] The limiting roller 13 is arranged on the inner side of the two sets of tracks 14, can roll along the track 14, and is fixedly connected to the slide 12 to assist the slide 12 to move smoothly.

[0081] Screw linear module: installed between the two sets of rails 14 and located between the two slide support seats 15, providing power and transmission path for the lateral movement of the slide 12.

[0082] Slide 12: It is installed on the screw linear module and fixedly connected to the two limit rollers 13. It can move along the track 14 under the drive of the screw linear module, and the moving distance does not exceed the width of the seedbed; the electric cylinder connecting plate 9 is installed above the slide 12, which is the mobile carrier of the horizontal cutting mechanism.

[0083] Linear bearings 11: Two groups, fixed on both sides of the slide 12, with the guide shaft 10 passing through the inside, providing guidance for the vertical movement of the guide shaft 10 and reducing friction.

[0084] Guide shaft 10: two groups, connected and passing through the two groups of linear bearings 11, one end is fixedly connected to the top of the tool group fixed beam 8, and the other end is fixedly connected to the tool group cross beam 16, which can move up and down in the linear bearing 11 to transmit the power of the electric cylinder 7.

[0085] The knife group fixed beam 8 is fixedly connected to the top of the guide rail shaft 10, and the electric cylinder 7 is fixed on the top. It can move up and down under the drive of the electric cylinder 7, thereby driving the guide rail shaft 10 and the knife group crossbeam 16 to move.

[0086] The knife group crossbeam 16 is fixedly connected to the bottom end of the guide rail shaft 10, and a cross-cutting knife group fixing plate 17 is welded below it, which is used to install the cross-cutting knife 18 and transmit the movement of the guide rail shaft 10 to the cross-cutting knife 18.

[0087] Electric cylinder connecting plate 9: fixed above the slide 12, with a mounting hole for mounting the electric cylinder 7 through a pin shaft, and connected to the push rod of the electric cylinder 7, and with a threaded hole for mounting the linear bearing 11, which is the mounting carrier of the electric cylinder 7.

[0088] Electric cylinder 7: fixed on the top of the knife group fixed beam 8, the end of the piston rod is the push rod and the electric cylinder connecting plate 9 is installed through a pin shaft, which drives the knife group fixed beam 8 to move through the telescopic action, thereby adjusting the position of the cross-cutting knife 18; its moving distance can make the vertical movement distance of the cross-cutting knife 18 20cm (from a depth of 3 to 5cm in the ground to about 15cm above the ground), meeting the depth adjustment of horizontal cutting and the reset requirements in the non-operating state.

[0089] Crosscutting knife group fixing plate 17: welded below the knife group crossbeam 6, used for installing and fixing the crosscutting knife 18.

[0090] Cross-cutting knife 18: Two, installed and fixed on both sides of the cross-cutting knife group fixed plate 17, the knife group fixed beam 8 is driven by the electric cylinder 7 to move and adjust the depth of soil penetration, ranging from 3 to 5 cm; the cross-cutting operation can be achieved by moving the slide 12 on the track 14 to meet the needs of cross-cutting of the seedling block.

[0091] The slitting blade 24 is made of 65Mn spring steel, with a cutting edge that is high-frequency quenched (hardness HRC55-60), a thickness of 2mm, and a diameter of 150mm. The spacing between adjacent slitting blades can be adjusted by the circular blade fixing clamp 25 (range: 10-20cm) to meet the requirements of different machine insertion row spacings.

[0092] A disc spring is added between the longitudinal cutting blade shaft 27 and the electric push rod fixed bearing 28. When cutting hard objects such as stones, the spring deformation can absorb the impact force to prevent the blade from breaking;

[0093] The rotation angle of the knife group rotating arm 2 is controlled by the stepping motor of the electric push rod 4 (accuracy ±0.5°), ensuring that the depth of the longitudinal cutting knife 24 into the soil is stable at 3 to 5 cm with an error of ≤0.3 cm.

[0094] The transverse cutting mechanism achieves transverse cutting of the seedling block through the coordinated action of vertical lifting and transverse movement. The specific process is as follows:

[0095] The electric cylinder 7 is fixed to the top of the blade fixing beam 8, with the piston rod end connected to the cylinder connecting plate 9. This telescopic movement drives the blade fixing beam 8 up and down. The blade fixing beam 8 is connected to the top of the guide shaft 10, which runs through a linear bearing 11. This allows the movement of the blade fixing beam 8 to be transmitted to the blade crossbeam 16 at the bottom of the guide shaft 10, ultimately driving the vertical movement of the crosscutting blade 18. The electric cylinder 7 can lift the crosscutting blade 18 from 3-5 cm (operating depth) to 15 cm (reset height) above the ground, for a total vertical movement of 20 cm.

[0096] The slide 12 is mounted on a linear actuator above the slide support 15, with both sides fixedly connected to limit rollers 13 within the track 14. When the device stops moving, the linear actuator drives the slide 12 to move horizontally along the track 14, not exceeding the width of the seedbed. The crosscutting blade 18 moves synchronously with the slide 12 to complete the horizontal cutting.

[0097] The crosscutting knife 18 is installed on both sides of the crosscutting knife group fixing plate 17, and the crosscutting knife group fixing plate 17 is welded to the bottom of the knife group crossbeam 16. When the crosscutting knife 18 is lowered to the working depth, the lateral movement of the slide 12 drives the crosscutting knife 18 to cut along the width of the seedbed, and can complete the cutting of 5 or more machine transplanting blocks at the same time.

[0098] The linear bearing 11 guides the vertical movement of the guide shaft 10, and the track 14 and the limit roller 13 cooperate to limit the lateral movement trajectory of the slide 12, ensuring that the cross-cutting knife 18 is stable and has no deviation during the cutting process.

[0099] The two crosscutters 18 are symmetrically mounted on a V-shaped crosscutter plate 17 (at an angle of 120°). The crosscutters 18 use tungsten carbide alloy blades, which improve wear resistance by 30%. The crosscutter plate 17 can be fine-tuned (±5°) by bolts to accommodate slight inclinations on the seedbed surface.

[0100] The lead screw linear module adopts ball screw drive (lead 5mm) and is driven by a servo motor. The lateral movement speed of the slide 12 is adjustable (0.5-1.5m / s) and the positioning accuracy is ±0.2mm, ensuring neat lateral cutting edges.

[0101] Mechanical limit blocks are set at both ends of the track 14, and the position of the slide 12 is monitored in real time by a photoelectric sensor. When it exceeds the width range of the seedbed, it will automatically stop to prevent the equipment from running without load.

[0102] The entire machine uses high-strength lightweight alloy materials (such as aluminum alloy profiles) to manufacture key components such as the chassis frame tube 6 and the blade group crossbeam 16. Combined with the four-wheel distributed layout, the ground pressure is reduced to ≤5kPa, significantly reducing the damage to the seedling roots and bed soil caused by rolling;

[0103] Battery 5 uses a 120Ah lithium iron phosphate battery, which can operate continuously for 8 to 10 hours on a single charge. The noise level during operation is ≤ 65dB, solving the problems of high pollution and high noise of traditional fuel equipment.

[0104] Adaptive cutting parameters: The cutting parameters (such as the horizontal and vertical cutting distances of the entire seedbed) are preset through the collaborative control module, which can be flexibly adjusted according to different seedling varieties (such as indica rice and japonica rice), making it more adaptable.

[0105] The collaborative control module uses the STM32 series MCU as the core controller and integrates the following functions:

[0106] Through GPS positioning and seedbed boundary recognition (camera + image processing), the cutting path is automatically generated to avoid repeated cutting or missed cutting; parameters such as battery power 5, longitudinal cutting knife 24 rotation speed, cross-cutting knife 18 pressure are collected in real time and fed back to the terminal through the display or wireless transmission (4G / NB-IoT), and an automatic alarm is issued in case of abnormality; the walking speed is automatically adjusted according to the seedling density (0.3~0.8m / s), and the speed is reduced when the density is high to ensure thorough cutting.

[0107] A cutting method of a self-propelled seedling block cutting device comprises the following steps:

[0108] Step 1: Device startup and positioning

[0109] The battery 5 above the battery holder 21 provides power to drive the four wheels 20 installed on the side of the battery holder 21 to rotate, and the entire device moves to the designated starting position at one end of the seedbed; positioning requirements: the first longitudinal slitting knife 24 should be at least 10 cm away from the side of the seedbed, and the distance from the side of the seedbed is about 2 cm. If a pedestrian walkway is laid on the seedbed, the distance from the side of the seedbed should be at least 10 cm.

[0110] Ensure that the cutting range meets the requirements of subsequent machine insertion operations.

[0111] Step 2: Preparation for the longitudinal cutting knife to enter the soil

[0112] The electric push rod 4 is started, pushing the knife group rotating arm 2 to rotate a certain angle around the pin shaft on the top of the electric push rod fixing plate 3. The knife group rotating arm 2 moves along with it through the screw rod 1 installed through the through hole. The electric push rod arm 29 bolted to the bottom of the screw rod 1 drives the longitudinal cutting knife shaft 27 to descend, so that the longitudinal cutting knife 24 cuts into the soil 3 to 5 cm, reaching the longitudinal cutting operation depth;

[0113] Step 3: Longitudinal cutting

[0114] The wheel 20 drives the device to move along the length of the seedling bed, and the travel distance matches the length of one machine transplanting block; during the travel, the electric push rod fixed bearing 28 on the side of the electric push rod support arm 29 rotates with the longitudinal cutter shaft 27, driving the longitudinal cutter 24 to continuously perform longitudinal cutting, forming a regular longitudinal seedling block separation line;

[0115] Step 4: Horizontal cutting preparation and operation

[0116] After the device completes the travel of one machine transplanting block, it stops, the longitudinal cutting knife 24 stops longitudinal cutting, the electric cylinder 7 is started, the push rod drives the knife group fixed beam 8 to move downward, and the force is transmitted through the guide shaft 10, so that the cross-cutting knife 18 below the knife group cross beam 16 cuts into the soil 3 to 5 cm, and the slide 12 moves in the track 14 above the slide support seat 15. The moving distance does not exceed the width of the seedbed. The limiting roller 13 inside the track 14 assists in guiding, ensuring that the cross-cutting knife 18 moves smoothly in the horizontal direction, completing one horizontal cut, and can cut 5 or more machine transplanting block widths at the same time;

[0117] Step 5: Reset and cycle operation

[0118] After the transverse cutting is completed, the slide 12 stops moving, the push rod on the electric cylinder 7 extends to push the knife group fixed beam 8 upward, driving the transverse cutting knife 18 to rise to a height of 20 cm from the ground, completing the reset, and the device starts moving again, repeating steps 2 to 4, through the cycle of longitudinal cutting, transverse cutting, and reset, continuing the operation from the starting point of the seedbed to the end point, completing the transverse and longitudinal cutting of all seedlings;

[0119] Step 6: End of work and transfer

[0120] After the entire seedbed is cut, the electric push rod 4 pushes the knife group rotating arm 2 to rotate in the opposite direction, so that the longitudinal cutting knife 24 is lifted to a height of 20 cm from the ground to avoid damaging the seedlings during movement. The device moves to the next seedbed area and prepares to start a new cutting operation.

[0121] The present invention realizes automated cutting through the coordinated work of five modules. The power supply module provides green energy with a lithium iron phosphate battery, and the walking mechanism drives the device to move precisely along the seedbed; the longitudinal cutting mechanism drives the knife group to rotate the support arm through an electric push rod, and links the screw pull rod and the longitudinal cutting knife shaft to adjust the longitudinal cutting knife to a depth of 3 to 5 cm in the soil, and uses the soil resistance to drive the longitudinal cutting knife to rotate to complete the longitudinal cutting; the transverse cutting mechanism controls the vertical lifting and lowering of the transverse cutting knife by an electric cylinder (total stroke 20 cm), and cooperates with the screw linear module to drive the slide to move horizontally to achieve precise transverse cutting; the collaborative control module coordinates the timing of each module through the STM32 single-chip microcomputer, and combines GPS and sensors to realize path planning, status monitoring and adaptive speed regulation to ensure that longitudinal and transverse cutting are carried out alternately.

[0122] The present invention adopts a lightweight design and a four-wheel layout, with a ground pressure of ≤5kPa, reducing damage to seedlings caused by crushing; the new energy power makes the noise ≤65dB, and a single charge can operate for 8 to 10 hours, which is in line with the concept of green environmental protection; the longitudinal cutting knife and the cross-cutting knife are made of 65Mn spring steel and tungsten carbide alloy respectively, with disc spring buffering and high-precision transmission mechanism, the cutting accuracy reaches ±0.3cm, and the edge uniformity is greatly improved; automated operation replaces 3-5 manual workers, and the efficiency is increased to 2000 to 3000 plants / h, and it can adapt to different seedling varieties through parameter adjustment, providing key equipment support for the large-scale application of discless hemp film seedling cultivation technology.

[0123] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A self-propelled seedling cutting device, characterized in that: include: The walking mechanism is used to drive the device to move along the length of the seedbed. The walking mechanism is provided with a power supply module for providing energy for the entire device to support the execution of walking and cutting actions; The longitudinal cutting mechanism is arranged at the rear end of the traveling mechanism and cooperates with the traveling mechanism. The electric push rod (4) on the longitudinal cutting mechanism drives the longitudinal cutting knife (24) to rise and fall in coordination with the rotation of the longitudinal cutting knife (24) during traveling, so that the longitudinal cutting mechanism can longitudinally cut the seedling block during traveling and can adjust the depth of soil penetration. The transverse cutting mechanism is arranged at the front end of the traveling mechanism and cooperates with the traveling mechanism. The action of the screw linear module on the transverse cutting mechanism drives the two transverse cutting knives (18) to move transversely, and the action of the electric cylinder (7) on the transverse cutting mechanism drives the two transverse cutting knives (18) to move up and down. When the device stops traveling, the seedling block can be cut transversely, and the transverse movement of the cutting position and the adjustment of the cutting depth can be realized.

2. The self-propelled seedling cutting device according to claim 1, characterized in that: The power supply module comprises a battery seat (21) and a storage battery (5), wherein the storage battery (5) is placed above the battery seat (21) to provide new energy power for the device.

3. The self-propelled seedling cutting device according to claim 2, characterized in that: The traveling mechanism comprises a chassis frame tube (6), four wheels (20) mounted on the side of the battery (5) and located below the chassis frame tube (6), the wheels (20) can drive the device to move along the length direction of the seedling bed, and the traveling distance matches the length of one machine transplanting block; The battery holder (21) is mounted on the chassis frame tube (6).

4. The self-propelled seedling cutting device according to claim 3, characterized in that: The longitudinal cutting mechanism is located at the rear end of the chassis frame tube (6), and the longitudinal cutting mechanism includes two longitudinal cutting tool frame support arm fixing plates (22) welded to the two ends of the side wall of the chassis frame tube (6), an electric push rod fixing plate (3) welded to the top of the chassis frame tube (6), a knife group rotating support arm (2) arranged at the top of the electric push rod fixing plate (3) through a pin shaft rotation, an electric push rod (4) whose fixed end is rotatably connected to the tail end of the electric push rod fixing plate (3) and whose piston rod end is rotatably connected to the knife group rotating support arm (2), a screw rod (1) rotatably installed at one end of the knife group rotating support arm (2), and an electric push rod installed below the screw rod (1) through a bolt. A support arm (29), an electric push rod fixed bearing (28) fixed to the side of the electric push rod support arm (29) by bolts, a longitudinal cutting knife support arm (23) connected to two longitudinal cutting knife support arm fixing plates (22) by pins, a longitudinal cutting knife fixed bearing (26) fixed to the side of the longitudinal cutting knife support arm (23) by bolts, a longitudinal cutting knife shaft (27) installed through the electric push rod fixed bearing (28) and the longitudinal cutting knife fixed bearing (26), and a plurality of longitudinal cutting knives (24) arranged at equal distances and installed on the longitudinal cutting knife shaft (27), wherein the longitudinal cutting knife shaft (27) and the longitudinal cutting knife (24) are fixed by bolts via a circular blade fixing clamp (25); The electric push rod (4) drives the knife group rotating arm (2) to rotate, which can drive the longitudinal cutting knife (24) to adjust the depth of soil insertion, and the depth of soil insertion ranges from 3 to 5 cm.

5. The self-propelled seedling cutting device according to claim 4, characterized in that: The rotation angle of the knife group rotating support arm (2) is less than 90 degrees, and the extension distance of the electric push rod (4) can make the longitudinal cutting knife (24) be lifted to a height of 15 cm from the ground.

6. The self-propelled seedling cutting device according to claim 3, characterized in that: The transverse cutting mechanism is located at the front side of the chassis frame tube (6), and the transverse cutting mechanism includes two slide support seats (15) welded at both ends of the rear side of the chassis frame tube (6), two sets of rails (14) welded at the front and rear sides of the top of the two slide support seats (15), the inner sides of the two sets of rails (14) are provided with limit rollers (13) that roll along the rails (14), a screw linear module installed between the two sets of rails (14) and located between the two slide support seats (15), a movable slide (12) fixedly connected to the two limit rollers (13) and arranged on the screw linear module, and two sets of fixed rollers on both sides of the slide (12). Linear bearings (11), two groups of guide shafts (10) connected and running through the two groups of linear bearings (11), a knife group fixed beam (8) fixedly connected to the top of the guide shaft (10), a knife group cross beam (16) fixedly connected to the bottom of the guide shaft (10), an electric cylinder connecting plate (9) fixed above the slide (12), an electric cylinder (7) fixed to the top of the knife group fixed beam (8) and having a piston rod end mounted to the electric cylinder connecting plate (9) via a pin shaft, a cross-cutting knife group fixed plate (17) welded below the knife group cross beam (16), and two cross-cutting knives (18) mounted and fixed on both sides of the cross-cutting knife group fixed plate (17); The electric cylinder (7) drives the knife group fixed beam (8) to move, and the depth of the cross-cutting knife (18) into the soil can be adjusted, and the depth of the cross-cutting knife (18) into the soil ranges from 3 to 5 cm; the cross-cutting knife (18) can be driven to achieve horizontal cutting by the movement of the slide (12) on the track (14), and the moving distance of the slide (12) does not exceed the width of the seedbed.

7. The self-propelled seedling cutting device according to claim 6, characterized in that: The moving distance of the electric cylinder (7) can make the vertical moving distance of the crosscutting knife (18) be 20cm.

8. A cutting method for a self-propelled seedling block cutting device according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: Device startup and positioning The battery (5) above the battery seat (21) provides power to drive the four wheels (20) installed on the side of the battery seat (21) to rotate, and the device as a whole moves to a designated starting position at one end of the seedling bed; Step 2: Preparation for the longitudinal cutting knife to enter the soil The electric push rod (4) is started, pushing the knife group rotating arm (2) to rotate a certain angle around the pin shaft on the top of the electric push rod fixing plate (3), and the knife group rotating arm (2) moves along with it through the screw rod (1) installed through the through hole, and the electric push rod arm (29) bolted to the bottom of the screw rod (1) drives the longitudinal cutting knife shaft (27) to descend, so that the longitudinal cutting knife (24) cuts into the soil 3 to 5 cm, reaching the longitudinal cutting operation depth; Step 3: Longitudinal cutting The wheel (20) drives the device to move along the length direction of the seedling bed, and the travel distance matches the length of one machine transplanting block; during the travel, the electric push rod fixed bearing (28) on the side of the electric push rod support arm (29) rotates with the longitudinal cutting knife shaft (27), driving the longitudinal cutting knife (24) to continuously perform longitudinal cutting, thereby forming a regular longitudinal seedling block separation line; Step 4: Horizontal cutting preparation and operation After the device completes the movement of one machine transplanting block, it stops, the longitudinal cutting knife (24) stops longitudinal cutting, the electric cylinder (7) starts, the push rod drives the knife group fixed beam (8) to move downward, and the force is transmitted through the guide rail shaft (10), so that the cross-cutting knife (18) below the knife group cross beam (16) cuts into the soil 3 to 5 cm, and the slide (12) moves in the track (14) above the slide support seat (15), and the moving distance does not exceed the width of the seedling bed. The limiting roller (13) inside the track (14) assists in guiding, ensuring that the cross-cutting knife (18) moves smoothly in the horizontal direction, completing one horizontal cutting, and can cut 5 or more machine transplanting blocks at the same time; Step 5: Reset and cycle operation After the transverse cutting is completed, the slide (12) stops moving, the push rod on the electric cylinder (7) extends to push the knife group fixed beam (8) upward, driving the transverse cutting knife (18) to be lifted to a height of not less than 15 cm from the ground, completing the reset, and the device starts moving again, repeating steps 2 to 4, through the cycle of longitudinal cutting, transverse cutting, and reset, continuously working from the starting point of the seedling bed to the end point, completing the transverse and longitudinal cutting of all seedling blocks; Step 6: End of work and transfer After the entire seedbed is cut, the electric push rod (4) pushes the knife group rotating arm (2) to rotate in the opposite direction, so that the longitudinal cutting knife (24) is lifted to a height of not less than 15 cm from the ground to avoid damaging the seedlings during movement. The device moves to the next seedbed area and prepares to start a new cutting operation.

9. The cutting method of the self-propelled seedling cutting device according to claim 8, characterized in that: During the positioning process of step one, the first longitudinal cutter should be at least 10 cm away from the side of the seedbed.

Images