Soil loosening transplanter under photovoltaic panel

Abstract

The invention relates to the technical field of soil loosening and transplanting, in particular to a soil loosening and transplanting machine under a photovoltaic panel. The soil loosening transplanter under the photovoltaic panel comprises a movable chassis and a soil loosening assembly, a transplanting assembly, a photovoltaic direct-drive power source and a controller which are arranged on the movable chassis, and the soil loosening assembly is located in front of the movable chassis and used for crushing hardened soil and forming a planting area; the transplanting assembly is used for planting to-be-planted seedlings into the planting area under the driving of the movable chassis; the photovoltaic direct drive power source is electrically connected with the soil loosening assembly, the controller and an external photovoltaic array, and the controller is used for adjusting working parameters of the soil loosening assembly. According to the technical scheme, the problem of soil hardening under the photovoltaic panel can be solved.

Description

Technical Field

[0001] This invention relates to the field of soil loosening and transplanting technology, and in particular to a soil loosening and transplanting machine under photovoltaic panels. Background Technology

[0002] With the rapid development of new energy sources, solar photovoltaic panels have been widely used. However, the soil beneath these panels tends to compact, leading to soil erosion.

[0003] Therefore, there is an urgent need to provide a soil loosening and transplanting machine under photovoltaic panels to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention provides a soil loosening and transplanting machine under photovoltaic panels, which can solve the problem of soil compaction under photovoltaic panels.

[0005] This invention provides a photovoltaic panel loosening and transplanting machine, including a mobile chassis and a loosening component, a transplanting component, a photovoltaic direct drive power supply, and a controller mounted on the mobile chassis, wherein: The soil loosening component is located in front of the mobile chassis and is used to break up compacted soil and form a planting area; The transplanting assembly is used to plant the seedlings to be planted into the planting area under the drive of the mobile chassis; The photovoltaic direct drive power supply is electrically connected to the soil loosening component, the controller, and the external photovoltaic array, respectively. The controller is used to adjust the operating parameters of the soil loosening component.

[0006] Compared with related technologies, the present invention has at least the following beneficial effects: The photovoltaic panel loosening and transplanting machine provided in this embodiment of the invention, by setting a mobile chassis and mounting a loosening component, a transplanting component, a photovoltaic direct-drive power supply, and a controller on the mobile chassis, can break up compacted soil using the loosening component to form a planting area. The transplanting component, driven by the mobile chassis, plants the seedlings to be planted into the planting area. The photovoltaic direct-drive power supply provides electrical energy transmitted from the external photovoltaic array to the loosening component and the controller. The controller adjusts the operating parameters of the loosening component. Therefore, through mechatronics innovation, it achieves efficient breaking up of compacted soil and precise, unmanned cultivation of seedlings under photovoltaic panels, improving the benefits of agricultural-photovoltaic complementarity and thus solving the problem of soil compaction under photovoltaic panels. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the structure of the photovoltaic panel loosening and transplanting machine provided in an embodiment of the present invention; Figure 2 for Figure 1 An enlarged diagram showing the soil omitted at point A; Figure 3 for Figure 1 An enlarged diagram showing the soil omitted at point B.

[0009] Figure label: 1-Mobile chassis; 2-Soil loosening component; 21-Connecting rod; 22-Motor; 23-Eccentric wheel; 24-Limit bearing; 25-Conical part; 26-Helical cutterhead; 3-Transplanting assembly; 31-Fixing frame; 311-Adjusting arm; 32-Conveyor belt; 33-Sliding drum; 34-Push rod; 35-Sliding rod; 36-First spring; 37-Baffle; 38-Second spring; 39-Pulley. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0011] like Figures 1 to 3 As shown, this embodiment of the invention provides a photovoltaic panel loosening and transplanting machine, including a mobile chassis 1 and a loosening component 2, a transplanting component 3, a photovoltaic direct drive power supply, and a controller, all mounted on the mobile chassis 1, wherein: The soil loosening component 2 is located in front of the mobile chassis 1 and is used to break up compacted soil and form a planting area; The transplanting component 3 is used to plant the seedlings to be planted into the planting area under the drive of the mobile chassis 1; The photovoltaic direct drive power supply is electrically connected to the loose soil module 2, the controller, and the external photovoltaic array, respectively. The controller is used to adjust the operating parameters of the loose soil module 2.

[0012] In this embodiment, by setting up a mobile chassis 1 and mounting a soil loosening component 2, a transplanting component 3, a photovoltaic direct-drive power supply, and a controller on the mobile chassis 1, the soil loosening component 2 can break up compacted soil and form a planting area. The transplanting component 3, driven by the mobile chassis 1, plants the seedlings into the planting area. The photovoltaic direct-drive power supply provides electrical energy transmitted from the external photovoltaic array to the soil loosening component 2 and the controller. The controller adjusts the operating parameters of the soil loosening component 2. Therefore, through mechatronics innovation, efficient breaking up of compacted soil and precise unmanned cultivation of seedlings are achieved under photovoltaic panels, improving the benefits of agricultural-photovoltaic complementarity and thus solving the problem of soil compaction under photovoltaic panels.

[0013] It is understood that the photovoltaic panel loosening and transplanting machine provided in this embodiment of the invention is specifically designed to solve the problem of soil compaction under photovoltaic power stations. This equipment integrates mechanical loosening and cultivation, improving soil permeability and promoting seedling root growth. Simultaneously, it utilizes photovoltaic energy to achieve ecological restoration and economic crop planting in a photovoltaic-agricultural complementary scenario.

[0014] In some implementations, the photovoltaic direct-drive power supply can be a modular mobile battery. An external photovoltaic array can transfer power to the photovoltaic direct-drive power supply via a DC-DC converter. The DC-DC converter eliminates inverter losses and reduces manual relocation costs. The voltage of the photovoltaic direct-drive power supply matches the voltage of the photovoltaic array, for example, 72V / 48V / 24V / 12V. Alternatively, a 48V / 20Ah lithium battery can be connected in parallel to the photovoltaic direct-drive power supply to support short-term off-grid operation.

[0015] In one embodiment of the present invention, the mobile chassis 1 is either wheeled or tracked. Figure 1 The mobile chassis 1 shown is wheeled. When the planting area is muddy, the mobile chassis 1 can be tracked for better movement. When the mobile chassis 1 is wheeled, it can use two sets of large, deep-patterned steel wheels with a diameter of 50-100cm. The chassis body can be made of high-strength aluminum alloy frame, with an overall height of ≤30cm and a width of 40-80cm (adapting to a minimum spacing of 1m for photovoltaic arrays). This configuration allows the ultra-low profile machine to fit in spaces <1.5m under photovoltaic panels, achieving 100% passability with omnidirectional movement and automating the entire process from loosening soil to planting. Driven by two sets of large, deep-patterned steel wheels, motor 22, or manual assistance, it can achieve lateral movement and rotation in place. Furthermore, laser radar and ultrasonic sensors can be integrated into the equipment to detect the support position in real time, thereby automatically maintaining a safe operating distance.

[0016] In one embodiment of the present invention, the soil loosening component 2 includes a connecting rod 21 connected to a movable chassis 1, a motor 22 mounted on the connecting rod 21, an eccentric wheel 23 connected to the motor 22, a limiting bearing 24 mounted outside the eccentric wheel 23, a conical member 25 connected to the eccentric wheel 23, and a spiral cutter disc 26 mounted on the outer surface of the conical member 25. The motor 22 is used to drive the eccentric wheel 23 to rotate, so that the conical member 25 vibrates up and down. The conical member 25 and the spiral cutter disc 26 are used to move forward under the drive of the movable chassis 1, so as to achieve their own rotation when in contact with the compacted soil.

[0017] In this embodiment, the conical member 25 and the spiral cutter head 26 will be resisted by the compacted soil during their forward movement, causing them to rotate. This generates local stress waves in the compacted soil within the spiral cutter head 26 (i.e., triggers a stress wave superposition effect), inducing fatigue fracture of the compacted soil. Moreover, the rotating spiral cutter head 26 can penetrate hard soil, reducing dust while cutting the compacted soil, thus protecting the photovoltaic panels and forming a standard planting area of ​​a certain diameter and depth along the path it travels.

[0018] In some implementations, the soil loosening and transplanting machine can be equipped with a slope adaptive leveling system for use on terraced slopes, and a salt washing conduit can be integrated at the spiral cutter head 26 for use on saline-alkali land, which will not be elaborated here.

[0019] In some implementations, the motor 22 may be a linear motor 22 with greater thrust, or a piezoelectric ceramic actuator with higher precision; no specific limitation is made here.

[0020] In some embodiments, the spiral cutter head 26 can be made of a more wear-resistant ceramic matrix composite material, or it can be made of a lower-cost surface nitriding steel process, which will not be elaborated here.

[0021] In one embodiment of the present invention, the controller is electrically connected to the motor 22. The controller is used to determine the operating parameters of the eccentric wheel 23 based on the rotational speed of the conical component 25, so that the conical component 25 vibrates up and down. With this setting, a dynamic mapping model of rotational speed and vibration frequency can be trained based on soil hardness data (i.e., the vibration frequency is automatically matched according to the rotational speed of the conical component 25) to optimize the soil breaking parameters in real time and realize the "tailor-made" treatment of compacted soil.

[0022] In one embodiment of the present invention, the amplitude of the tapered member 25 is ≤5mm, and the vibration frequency of the tapered member 25 is determined by the following formula: In the formula, F The vibration frequency of the conical component 25 is given in Hz. n The rotational speed of the conical component 25 is given in r / min.

[0023] In one embodiment of the present invention, the transplanting assembly 3 includes a fixing frame 31 connected to the connecting rod 21, a conveyor belt 32 and a slide 33 disposed on the fixing frame 31. The fixing frame 31 is connected to the movable chassis 1. A plurality of placement positions for placing seedlings to be planted are evenly arranged on the conveyor belt. The top of the slide 33 is located at one end of the conveyor belt, and the bottom is located above the planting area. The conveyor belt is used to rotate under the drive of the movable chassis 1 so that the seedlings to be planted fall from the placement positions into the slide 33 and fall into the soil of the planting area through the bottom opening of the slide 33.

[0024] In this embodiment, the driving force of the conveyor belt 32 comes from the movement of the mobile chassis 1, which can reduce the power consumption of the conveyor belt 32. With the drive of the mobile chassis 1 and the combination of the conveyor belt 32 and the slide 33, the transplanting of seedlings to be planted can be carried out conveniently and quickly.

[0025] In some embodiments, the device may also be equipped with a clutch, that is, the mobile chassis 1 is connected to the conveyor belt 32 via a clutch, so that the clutch can be disengaged when transplanting is not required, thereby achieving synchronous transplanting.

[0026] In one embodiment of the present invention, the fixing frame 31 includes an adjusting arm 311, the height of the adjusting arm 311 is adjustable, the adjusting arm 311 is rotatably connected to the connecting rod 21, and the included angle between the two is adjustable; The mounting bracket 31 is also connected to a push rod 34, which is used to provide thrust for the moving chassis 1 to move forward. The angle between the push rod 34 and the mounting bracket 31 is adjustable.

[0027] In this embodiment, by making the height of the adjusting arm 311 adjustable, the overall height of the equipment can be adjusted to accommodate different photovoltaic panel ground clearances; by making the angle between the adjusting arm 311 and the connecting rod 21 adjustable, and by making the angle between the push rod 34 and the fixing frame 31 adjustable, the equipment can be folded for easier storage and use; moreover, the rotatable connection between the adjusting arm 311 and the connecting rod 21 allows the loosening component 2 to adapt to any sloping area.

[0028] In one embodiment of the present invention, a sliding rod 35 is fixed to the outer wall of the adjusting arm 311. The sliding rod 35 can pass through the connecting rod 21, and a first spring 36 is sleeved on the outside of the sliding rod 35. This arrangement ensures that the spiral cutter head 26 remains in close contact with the ground in any sloping area, whether the angle between the adjusting arm 311 and the connecting rod 21 is obtuse or acute, so as to better loosen the soil.

[0029] In one embodiment of the present invention, a baffle 37 is provided at the top inside the slide 33, and a second spring 38 is provided on the side of the baffle 37 facing away from the seedling to be planted, so that the seedling to be planted can contact the baffle 37 and compress the second spring 38. This arrangement allows the conveyor belt 32 to transport the seedling to be planted from its designated position to the planting position above the slide 33, otherwise the seedling to be planted would tip over.

[0030] In one embodiment of the present invention, the fixing frame 31 is also connected to at least two levers 39. The two levers 39 are located outside the slide 33 and in contact with the soil of the planting area. The contact shape of the two levers 39 in the planting area is V-shaped (i.e., inward V-shaped), so as to cover the seedlings to be planted that fall into the planting area under the drive of the moving chassis 1.

[0031] In summary, the above solution can ensure that the entire process of breaking up compacted soil (e.g., hardness > 5MPa), precisely opening holes, planting seedlings, and covering with soil can be completed in one go within the gaps between photovoltaic panels with a height of < 1.5m.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0033] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A photovoltaic panel under soil loosening transplanting machine characterized in that, The utility model relates to a mobile chassis and a soil loosening assembly, a transplanting assembly, a photovoltaic direct drive power and a controller arranged on the mobile chassis, wherein: The soil loosening assembly is located in front of the mobile chassis and is used to break up the hardened soil and form a planting area; The transplanting assembly is used to plant the seedling to be transplanted into the planting area under the driving of the mobile chassis; The photovoltaic direct drive power is electrically connected with the soil loosening assembly, the controller and an external photovoltaic array respectively, and the controller is used to adjust the working parameters of the soil loosening assembly.

2. The photovoltaic panel under mulch transplanting machine according to claim 1, characterized in that, The mobile chassis adopts a wheel type or a track type.

3. The photovoltaic panel under mulch transplanting machine according to claim 1, characterized in that, The soil loosening assembly comprises a connecting rod connected with the mobile chassis, a motor arranged on the connecting rod, an eccentric wheel connected with the motor, a limiting bearing arranged outside the eccentric wheel, a conical part connected with the eccentric wheel and a spiral cutter head arranged on the outer surface of the conical part, the motor is used to drive the eccentric wheel to rotate, so that the conical part vibrates up and down, and the conical part and the spiral cutter head are used to move forward under the driving of the mobile chassis to realize the rotation of the conical part when contacting the hardened soil.

4. The photovoltaic panel under mulch transplanting machine according to claim 3, characterized in that, The controller is electrically connected with the motor, and the controller is used to determine the working parameters of the eccentric wheel according to the rotating speed of the conical part to make the conical part vibrate up and down.

5. The photovoltaic panel under mulch transplanting machine according to claim 4, characterized in that, The amplitude of the conical part is less than or equal to 5mm, and the vibration frequency of the conical part is determined by the following formula: wherein F is the frequency of vibration of the cone, Hz; n is the rotational speed of the cone, r / min.

6. The photovoltaic panel under mulch planter according to any one of claims 3-5, characterized in that, The transplanting assembly comprises a fixed frame of the connecting rod and a conveying belt and a sliding bucket arranged on the fixed frame, the fixed frame is connected with the mobile chassis, a plurality of placing positions for placing the seedling to be transplanted are uniformly arranged on the conveying belt, the top of the sliding bucket is located at one end of the conveying belt, and the bottom is located above the planting area, and the conveying belt is used to rotate under the driving of the mobile chassis to make the seedling to be transplanted fall into the sliding bucket from the placing positions and fall into the soil of the planting area through the bottom opening of the sliding bucket.

7. The photovoltaic panel under mulch transplanting machine according to claim 6, characterized in that, The fixed frame comprises an adjusting arm, the height of the adjusting arm is adjustable, the adjusting arm is rotationally connected with the connecting rod, and the included angle between the adjusting arm and the connecting rod is adjustable. The fixed frame is further connected with a push rod, the push rod is used to provide the pushing force for the forward movement of the mobile chassis, and the included angle between the push rod and the fixed frame is adjustable.

8. The photovoltaic panel under mulch transplanting machine according to claim 7, characterized in that, An outer wall surface of the adjusting arm is fixedly connected with a sliding rod, the sliding rod can be arranged in the connecting rod, and a first spring is arranged outside the sliding rod.

9. The photovoltaic panel under mulch transplanting machine according to claim 6, characterized in that, A baffle is arranged at the top of the inside of the sliding bucket, a second spring is arranged on the side of the baffle away from the seedling to be transplanted, and the seedling to be transplanted can contact the baffle and press the second spring.

10. The photovoltaic panel under mulch transplanting machine according to claim 6, characterized in that, The fixed frame is further connected with at least two push plates, the two push plates are located outside the sliding bucket and contact the soil of the planting area, and the contact shapes of the two push plates in the planting area are in a splayed shape to cover the seedling to be transplanted falling into the planting area under the driving of the mobile chassis.

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