Split type self-earthing planting device and planting method

Abstract

The invention discloses a sectioning type self-earthing planting device and a planting method, and belongs to the technical field of agricultural machinery. The planter comprises a supporting frame, a driving device, a seedling guiding mechanism, an executing mechanism and a control system. The core is that the actuating mechanism is composed of a plurality of arc petal-shaped duckbilled nippers, and can present four working states under the driving of a driving device: the actuating mechanism is closed to pierce into soil, opened to form a trumpet-shaped channel so as to open holes and throw seedlings, the lower half part is closed to scrape soil so as to realize self-earthing, and the actuating mechanism is reset. Hole opening, seedling dropping and soil covering are completed in sequence through one mechanism, a traditional independent soil covering device is thoroughly abandoned, and the inherent problem that'planting-soil covering 'actions are poor in collaboration is solved. The device is especially suitable for sand land planting and has the outstanding advantages of simplified structure, high operation quality, energy conservation, high efficiency, high reliability and the like.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and more specifically, to a segmented self-covering soil planter and a method for planting using the planter, which is particularly suitable for crop transplanting operations under loose soil conditions such as sandy soil. Background Technology

[0002] Transplanting is a crucial step in agricultural production. By cultivating strong seedlings in advance before transplanting them to the field, the growing season of crops can be effectively extended, their resistance to adverse conditions can be improved, and crop yields and economic benefits can be increased. This method is widely used in the cultivation of vegetables, flowers, and cash crops. With the development of agricultural mechanization and intelligence, transplanters have become the core equipment for achieving large-scale transplanting operations. The planter, as the "execution terminal" of the transplanter, directly determines the transplanting efficiency, seedling planting quality (such as uprightness and soil compaction), and subsequent survival rate through its structural design and operational performance. It is the core focus of transplanter research and development.

[0003] Currently, the planting systems of mainstream transplanters at home and abroad generally adopt a "planting-covering soil separation" structural design, that is, the planting and covering soil actions are completed by two independent functional units: one is the planting unit, which mostly uses a duckbill type planter, and the soil hole is opened and the seedling is placed by opening and closing the duckbill; the other is the covering soil unit, which requires a separate covering soil wheel, covering soil disc or covering soil plow plate, etc., to be set behind the planting unit, and the soil is covered to the planting hole by rolling, scraping and pushing.

[0004] This separate design has inherent technical flaws. The core issue lies in the extremely high degree of coordination required between the planting unit and the soil covering unit: they must be highly matched in terms of time (completing soil covering within a short time after planting) and space (the soil covering device must be precisely aligned with the planting hole). If the matching accuracy is insufficient, problems such as untimely soil covering (leading to rapid loss of soil moisture in the hole) and uneven soil covering (local omissions or excessive soil covering) are likely to occur. Especially in sandy soil planting scenarios, due to the loose texture and high particle flowability of sandy soil, the flaws of the traditional separate design are further amplified: on the one hand, after the planting unit opens the hole, the sand around the hole is prone to collapse due to its own flowability, causing the hole shape to deform; on the other hand, if the soil covering device is delayed or misaligned, it will not only be difficult to achieve effective soil covering, but may also cause the seedlings in the hole to tilt and expose their roots due to the impact, seriously affecting the uprightness of the seedlings and the transplant survival rate.

[0005] In summary, there is an urgent need in the existing technology for a new type of planter that can efficiently integrate the functions of "digging holes, planting seedlings, and covering with soil" to simplify the structure, eliminate potential problems in the coordination of actions, and is especially suitable for special soil conditions such as sandy soil, thereby improving the stability and quality of transplanting operations. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing "planting-covering soil separation" transplanting equipment, such as poor coordination and weak adaptability to sandy soil, and to provide a petal-type self-covering soil planter and planting method. This invention draws on the biological characteristics of flower opening and closing, and through a set of petal-type actuators with multi-state switching, sequentially completes the actions of opening the planting hole, placing the seedling, and covering the soil, achieving integrated planting and soil covering, simplifying the equipment structure, improving operational coordination and quality, and especially meeting the needs of transplanting in sandy soil.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: On one hand, the present invention provides a segmented self-soiling planting device, characterized in that it comprises: The support frame serves a supporting function; The driving device includes a first driving mechanism for driving the actuator to move up and down, a second driving mechanism for driving the actuator to perform hole-opening and seedling-planting operations, and a third driving mechanism for driving the actuator to perform soil-covering operations. The seedling guiding mechanism is mounted on the support frame; An actuator, installed below the seedling guiding mechanism, includes multiple curved, petal-shaped bristle plates; wherein, the multiple bristle plates rotate under the drive of the driving device. When rotated to the first state, the multiple duckbill plates come together to form a closed conical structure; When rotated to the second state, multiple duckbill plates simultaneously flip outward to form a trumpet-shaped structure with an internal channel for the seedling to fall, thus realizing the functions of opening holes and placing seedlings. When rotated to the third state, at least the lower portions of the plurality of duckbill plates synchronously close inward, scraping the soil around the planting hole into the hole, thus achieving the self-covering soil function; When rotated to the fourth state, the duckbill plate returns to the closed state consistent with the first state; The control system is electrically connected to the drive device and is used to control the drive device to sequentially drive the duckbill pliers plate to switch states.

[0008] Furthermore, the support frame includes: A supporting base plate, wherein the first driving mechanism is disposed on the supporting base plate; The lifting base plate is L-shaped and includes a vertical part and a horizontal part. The vertical part is located on the first drive mechanism, and the horizontal part is used to connect to the seedling guiding mechanism.

[0009] Furthermore, the first driving mechanism includes: A lead screw is mounted on the support base plate; The guide rail is mounted on the support base plate and is arranged parallel to the lead screw. A lead screw motor is mounted on the support base plate and can drive the lead screw to rotate, thereby moving the lifting base plate and the actuator up and down.

[0010] Furthermore, the seedling guiding mechanism is a seedling guiding tube.

[0011] Furthermore, the second drive mechanism includes: The first rotary motor is fixed to the seedling guide tube by a motor bracket, and its rotating shaft is connected to a gear; A gear ring is fitted around the outside of the seedling guide tube and meshes with the gear; A rotating pull plate is fixed below the gear ring; Multiple pull rods are hinged between the speckled pliers plate and the rotating pull plate; wherein, one of the upper apex angles of the speckled pliers plate is hinged to the pull rod, and the other apex angle is hinged to the bottom end face of the seedling guide tube; The first rotary motor drives the gear ring and the rotating pull plate to rotate through the gear, and then drives the multiple duckbill pliers to switch from the first state to the second state through the pull rod.

[0012] Furthermore, the duckbill pliers plate includes an upper half and a lower half that can rotate relative to each other; the third drive mechanism includes a plurality of second rotary motors, each second rotary motor being correspondingly disposed on the upper half of one of the duckbill pliers plates and configured to drive the lower half of the duckbill pliers plate from a second state to a third state to achieve soil covering, and to drive it to reset from the third state to a fourth state.

[0013] Furthermore, the control system is configured as follows: The position of the planter is monitored in real time, and the first drive mechanism is controlled to move the actuator to the seedling placement position; The second drive mechanism is triggered at the seedling placement position to drive the duckbill clamp plate to switch from the first state to the second state; After the seedlings are planted, the third drive mechanism is triggered to drive the lower half of the duckbill plate to switch from the second state to the third state for covering with soil.

[0014] On the other hand, the present invention provides a method for planting using the above-mentioned segmented self-covering soil planter, comprising the following steps: S1. Position control steps: The control system reads signals in real time, calculates the position of the planter, and controls the first drive mechanism to drive the actuator to move to the predetermined seedling placement position. S2. Hole opening and seedling placement steps: When the seedling placement position is reached, the control system activates the second drive mechanism to drive multiple duckbill plates to switch from the first state to the second state, thereby completing the hole opening; at the same time, the seedling is placed into the hole through the seedling guide mechanism. S3. Self-covering soil step: After the seedling is planted, the control system receives the seedling successful signal and controls the third drive mechanism to drive the lower half of the duckbill plate, so that each duckbill plate changes from the second state to the third state. During this process, the duckbill plate scrapes the soil around the planting hole into the hole to achieve uniform soil covering. S4. Reset Step: After the soil covering is completed, the lower half of the duckbill clamp plate is driven to rotate by the third driving mechanism, and the duckbill clamp plate is reset from the third state to the fourth state to prepare for the next planting operation.

[0015] Furthermore, in step S3, after the seedlings are planted, the planter first rises a certain distance so that the lower part of the duckbill plate is slightly higher than the opening of the planting hole and the tip has detached from the bottom of the planting hole, and then closes up and covers the soil.

[0016] The beneficial effects of this invention are: (1) This invention integrates the three major functions of “opening holes-planting seedlings-covering soil” into a set of split-type actuators. The state switching is controlled by different drive mechanisms, which completely eliminates the need for independent soil covering wheels, soil covering discs and matching installation and adjustment mechanisms required by traditional transplanters. On the one hand, it reduces the number of equipment parts, reduces manufacturing costs and overall weight, and makes it easier to install on transplanters. On the other hand, it simplifies the equipment maintenance process, avoids wear and blockage problems caused by long-term contact with soil in the soil covering device, and reduces maintenance difficulty and cost.

[0017] (2) This invention draws on the biological characteristics of flower opening and closing, and uses 5 arc-shaped petal-shaped duckbill pliers. The action of "opening the hole by turning outward and covering the soil by closing" is highly consistent with the shape of flower "opening and closing". On the one hand, the outward action can open the hole with a large diameter, which is suitable for planting seedlings of different sizes. On the other hand, the closing action can scrape the soil, avoiding the impact on the root system of the seedlings. At the same time, it is suitable for soils with different degrees of looseness (in addition to sandy soil, it can also be used for loam, light clay, etc.), and the action is highly adaptable.

[0018] (3) Existing separate equipment relies on the time and space coordination of "planting-covering soil", which is prone to action delay or deviation; the present invention solves the problem of action coordination inherent in the separate design by having the planting and covering soil actions completed continuously by the same component under a preset program. The covering soil process is completed by multiple "petals" evenly closing from the outside to the inside, the soil falls back naturally and evenly, the soil covering soil in the planting hole has moderate compactness and good air permeability, effectively avoiding the phenomenon of hitting and burying seedlings that may occur with traditional covering soil devices, and significantly improving the uprightness of seedlings and the planting qualification rate.

[0019] (4) This invention eliminates the additional traction resistance and power consumption caused by the independent soil covering device, thus improving the energy utilization efficiency of the whole machine. At the same time, due to the simplified structure and reliable coordinated operation, it reduces downtime and maintenance time and frequency, has a long effective working time, and its overall operating efficiency and economy are significantly better than traditional transplanters.

[0020] (5) This invention specifically addresses the difficulties of planting in sandy soil by designing a scheme that uses a separate rotating soil covering method for the lower half, which effectively avoids the problem of seedlings being trapped when the whole is closed (when the whole is closed, the lower diameter is smaller and it is basically in a completely closed state), ensuring the reliability and quality of operation under loose soil conditions. Attached Figure Description

[0021] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the actuator of the present invention in the first state (closed).

[0023] Figure 3 This is one of the schematic diagrams showing the actuator of the present invention in an open position.

[0024] Figure 4 This is the second schematic diagram of the actuator of the present invention in an open position.

[0025] Figure 5 This is a schematic diagram of the actuator of the present invention in the second state (outward flip).

[0026] Figure 6 This is a bottom view of the actuator of the present invention in its second state (outward flip).

[0027] Figure 7 This is a schematic diagram of the structure of the duckbill clamp plate of the present invention.

[0028] Figure 8 This is a schematic diagram illustrating the action of the actuator of the present invention switching from the first state (closed) to the second state.

[0029] Figure 9 This is a schematic diagram showing the duckbill pliers switching from the second state to the third state.

[0030] The following are the labels in the diagram: 1. Lead screw, 2. Seedling guide tube, 3. Support base plate, 4. Lead screw motor, 5. Actuator, 501. Duckbill clamp plate, 5011. Upper half, 5012. Lower half, 6. Lifting base plate, 7. Guide rail, 8. First rotary motor, 9. Motor bracket, 10. Gear, 11. Gear ring, 12. Hexagonal support column, 13. Rotating pull plate, 14. Pull rod, 15. First pin, 16. Second rotary motor, 17. Boss, 18. Second pin. Detailed Implementation

[0031] The technical solution of the present invention will be clearly and completely described below with reference to specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and 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 protection scope of the present invention.

[0032] In the description of this invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0033] It should be noted that relational terms such as "first" and "second" are used merely 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 the element.

[0034] On one hand, the present invention provides a segmented self-soiling planting device, please refer to... Figures 1 to 7 This invention comprises a support frame, a drive device, a seedling guiding mechanism, an actuator, and a control system. It ingeniously utilizes different movement modes of a single actuator to achieve multiple functions. Hole opening and seedling placement are achieved through synchronized opening and closing of the entire assembly, while biomimetic soil covering is achieved through partially independent closing. Its soil covering principle does not rely on external compaction but rather utilizes the guiding and backfilling effect of the closing of the duckbill clamps to achieve natural soil covering that "returns to its source," making it particularly suitable for sandy soil. Its specific structure is described below.

[0035] <Support Frame> The support frame provides structural support for the entire planter, ensuring the stable installation and operation of each component, including the support base plate 3 and the lifting base plate 6.

[0036] Among them, the support base plate 3 is vertically installed on the transplanter, providing a basic carrier for the installation of the drive device. Its material is preferably high-strength alloy steel plate, and the surface is provided with positioning holes for installing the lead screw bearing seat and guide rail 7.

[0037] The lifting base plate 6 is L-shaped in general, including a vertical part and a horizontal part; one side of the vertical part is connected to the first drive mechanism and can slide up and down under the action of the first drive mechanism; the horizontal part is a horizontal plate shape, which can fix the seedling guiding mechanism and ensure that the seedling guiding mechanism and the actuator 5 are coaxially aligned.

[0038] <Driver> The drive unit provides power for the lifting, opening and closing and soil covering actions of the actuator 5, and includes a first drive mechanism, a second drive mechanism and a third drive mechanism.

[0039] The first drive mechanism, which drives the actuator 5 to move up and down to adjust the planting depth, includes a lead screw 1, a guide rail 7, and a lead screw motor 4. The lead screw 1 is fixed to the support base plate 3 at both ends via lead screw bearing seats. The lead screw 1 is vertically positioned, and a lead screw nut (fixedly connected to the vertical part of the lifting base plate 6) is fitted around its outer circumference. The guide rail 7 is parallel to the lead screw 1 and is mounted on the support base plate 3. A slider (fixedly connected to the vertical part of the lifting base plate 6) is fitted around the outer circumference of the guide rail 7 to limit the rotation of the lifting base plate 6 and ensure its smooth lifting. The lead screw motor 4 is fixed below the support base plate 3 via a motor mount. Its output shaft is connected to the lower end of the lead screw 1 via a coupling, enabling the lead screw 1 to rotate forward and backward, thereby driving the lead screw nut, the lifting base plate 6, and the actuator 5 to move up and down synchronously.

[0040] The second drive mechanism is used to drive the actuator 5 to switch from the first state to the second state, realizing the opening of holes and seedling placement. The second drive mechanism includes a first rotary motor 8, a gear 10, a gear ring 11, a rotating pull plate 13, and a pull rod 14, forming a planar linkage mechanism that converts rotational motion into the synchronous opening and closing of the duckbill clamp plate 501. The first rotary motor 8 is fixed to the upper outer periphery of the seedling guide mechanism (seedling guide tube 2) by a motor bracket 9. The gear 10 is fixed on the output shaft of the first rotary motor 8, and the axis of the gear 10 is parallel to the axis of the seedling guide tube 2. The gear ring 11 has an overall annular structure and is fitted on the lower outer periphery of the seedling guide tube 2. The inner periphery of the gear ring 11 has teeth that mesh with the gear 10 and can rotate synchronously under the drive of the gear 10. The rotating pull plate 13 has an overall annular plate structure and is located below the gear ring 11. It is fixedly connected to the gear ring 11 via hexagonal support columns 12. Multiple hexagonal support columns 12 are evenly distributed along the circumference of the gear ring 11 to maintain a stable distance between the rotating pull plate 13 and the gear ring 11 and prevent displacement during rotation. The number of pull rods 14 is the same as that of the duckbill pliers plate 501, and both ends are provided with hinge holes. One end of the pull rod 14 is hinged to the rotating pull plate 13 (the hinge points are evenly distributed along the circumference of the rotating pull plate 13), and the other end is hinged to a apex corner of the upper end of the duckbill pliers plate 501 via a first pin 15.

[0041] The third drive mechanism is used to drive the actuator 5 to switch from the second state to the third state to achieve self-covering soil, and includes multiple second rotary motors 16. The number of second rotary motors 16 is the same as that of the duckbill pliers plate 501. Each second rotary motor 16 is fixedly connected to the upper half 5011 of the duckbill pliers plate 501 through a boss 17. The boss 17 is an arc-shaped strip structure, which is welded and fixed to the outer side wall of the upper half 5011 of the duckbill pliers plate 501 to fix the second rotary motor 16. The output shaft axis of the second rotary motor 16 is consistent with the arc tangent direction of the duckbill pliers plate 501, and its output shaft is fixedly connected to the lower half 5012 of the duckbill pliers plate 501, which can drive the lower half 5012 to rotate relative to the upper half 5011.

[0042] <Seedling Guidance Organization> The seedling guide mechanism provides a guiding channel for the falling of the seedlings, preferably a seedling guide tube 2; the seedling guide tube 2 is a circular tubular structure, preferably made of a lightweight alloy. Its bottom is provided with hinge ears (evenly distributed along the circumference, the number matching that of the duckbill pliers plate 501), which are hinged to another apex of the upper end of the duckbill pliers plate 501 via a second pin 18, ensuring that the duckbill pliers plate 501 can rotate around the hinge point.

[0043] <Executive Agency> The actuator 5 is the core component for opening holes, placing seedlings, and covering with soil. It is installed below the seedling guide tube 2 and includes multiple arc-shaped, petal-shaped duckbill plates 501 (preferably 5, adapted to the biomimetic structure of blooming flowers). Each duckbill plate 501 includes an upper half 5011 and a lower half 5012. The upper end of the upper half 5011 is hinged to the pull rod 14 and the seedling guide tube 2, respectively, and a boss 17 is fixed on the outer wall (for mounting the second rotary motor 16). The upper end of the lower half 5012 is fixedly connected to the output shaft of the second rotary motor 16 and can rotate relative to the upper half 5011 around the output shaft.

[0044] The duckbill pliers plate 501 can be switched to four states under the action of the drive device: (1) First state (closed insertion state): Multiple duckbill plates 501 are close together, with their inner arc surfaces touching to form a closed cone structure (corresponding to the closed state of the flower), with the tips facing down, making it easy to penetrate the soil; (2) Second state (opening hole and seedling state): Multiple duckbill plates 501 open outwards simultaneously, rotate around the hinge point of the seedling guide tube 2, and the tip changes from the close-up state to the outward state. The inner arc surface forms a trumpet-shaped channel (corresponding to the blooming of flowers, coaxial with the seedling guide tube 2), providing a path for the seedling to fall. (3) Third state (closing and covering with soil): The lower half 5012 of multiple duckbill plates 501 closes inward simultaneously, the upper half 5011 remains stationary, and the lower half 5012 rotates inward relative to the upper half 5011. Its inner arc surface and lower edge scrape the soil around the hole and scrape the soil into the hole. (4) Fourth state (reset closed state): The lower half 5012 of the duckbill plate 501 rotates in the opposite direction under the drive of the second rotary motor 16, and returns to the state of being in contact with the upper half 5011. Then, the second drive mechanism drives the duckbill plate 501 to close inward as a whole, so that multiple duckbill plates 501 close together again to form a closed cone shape, consistent with the first state.

[0045] <Control System> The control system includes a main controller (preferably a PLC controller), which is electrically connected to the lead screw motor 4, the first rotary motor 8, and the second rotary motor 16, and can achieve: The planter receives position sensor signals in real time (such as a displacement sensor installed on guide rail 7) and calculates the current height and horizontal position of the planter. Controls the start, stop, and direction of the lead screw motor 4, and drives the actuator 5 to lift and lower; The first rotary motor 8 is controlled to start, stop and rotate at an angle, driving the duckbill pliers plate 501 to switch between the first state and the second state; The second rotary motor 16 is controlled to start, stop and rotate, driving the lower half 5012 of the duckbill pliers plate 501 to switch between the second state, the third state and the fourth state. After the seedlings are planted, set a fixed delay of tens of milliseconds to ensure that the seedlings are completely in the holes before starting the soil covering action, so as to avoid the soil covering impacting the seedlings.

[0046] On the other hand, the present invention provides a segmented self-soiling planting method, which is described below in conjunction with the appendix. Figure 8 (Diagram of the actuator's movements from state one to state two) (Attached) Figure 9 (The diagram shows the action of the actuator from the second to the third state) The planting method is explained in detail.

[0047] S1: Position control procedure (adjust the actuator to the seedling placement position) The main controller of the control system reads the position sensor signal in real time, calculates the relative position of the planter and the predetermined planting hole, and sends a command to the lead screw motor 4. The lead screw motor 4 starts and drives the lead screw 1 to rotate through the coupling. The lead screw nut drives the lifting base plate 6 to move up or down along the guide rail 7, thereby driving the seedling guiding mechanism and the execution mechanism 5 to move synchronously. Through this step, the execution mechanism 5 (the duckbill plate 501 in the first state) can be adjusted to the predetermined seedling placement position to ensure that the depth of the duckbill plate 501 penetrating the soil meets the transplanting requirements. At this time, the duckbill plate 501 always maintains the first state, that is, the five duckbill plates 501 are close together to form a closed cone shape with the tips facing down, in preparation for subsequent penetration into the soil. S2: Hole Opening and Seedling Placement Steps (Switching the duckbill clamp from the first state to the second state (corresponding appendix)) Figure 8 )) As attached Figure 8 As shown in (a), initially, the spitting pincers 501 are in the first state, with multiple spitting pincers 501 close together to form a closed cone shape, with the tips pointing downwards and in contact with the soil surface; at this time, the first rotary motor 8 is not started, and the pull rod 14 is in a naturally stretched state; the control system sends a start command to the first rotary motor 8, and the first rotary motor 8 drives the gear 10 to rotate (e.g., clockwise rotation), and the gear 10 drives the meshing gear ring 11 to rotate synchronously around the axis of the seedling guide tube 2; the gear ring 11 drives the rotating pull plate 13 to rotate through the hexagonal support column 12, and the rotating pull plate 13 pulls one end of the pull rod 14 (the hinge point with the rotating pull plate 13) to move circumferentially; the other end of the pull rod 14 pulls the first connecting round hole 5-1 at the upper end of the spitting pincers 501, causing the spitting pincers 501 to rotate outwards around the second connecting round hole 5-2 (the hinge point with the seedling guide tube 2); at this time, each spitting pincer 501 begins to separate, the tips gradually deflect outwards, the cone structure opens, and a transition is made to form a trumpet-shaped channel, as shown in the attached figure. Figure 8 As shown in (b); the first rotary motor 8 continues to drive, and the duckbill plates 501 rotate to their maximum angle, fully opening outwards; at this time, the five duckbill plates 501 are radially distributed, forming a trumpet-shaped structure, which has a channel for the seedlings to fall inside; simultaneously, the seedlings in the seedling guide tube 2 fall along the seedling guide tube 2 and the channel under the action of gravity, falling into the planting hole, as shown in the attached diagram. Figure 8 As shown in (c); S3: Self-covering step (the duckbill clamp switches from the second state to the third state (corresponding appendix)) Figure 9 )) After the seedlings are planted, the control system receives a "seedling in place" signal (such as the photoelectric sensor signal installed at the lower end of the seedling guide tube 2). After a fixed delay of tens of milliseconds, the planter begins to rise a short distance with the lifting arm of the transplanter so that its tip leaves the bottom of the planting hole, but the lower half 5012 remains around the hole opening (to avoid the tip scratching the seedling roots); at this time, the duckbill pliers 501 is still in the second state, as shown in the attached... Figure 9As shown in (a), the channel in the trumpet-shaped structure remains open, and the seedlings planted in the planting holes stand upright; the control system sends synchronous start commands to multiple second rotary motors 16, and each second rotary motor 16 drives the lower half 5012 of the corresponding duckbill pliers 501 to rotate inward (e.g., counterclockwise); the lower half 5012 rotates around the output shaft of the second rotary motor 16, as shown in the attached diagram. Figure 9 As shown in (b), the lower edge scrapes the loose soil around the hole (especially the mobile soil in sandy soil), and scrapes the soil into the hole to cover the roots of the planted seedling. As multiple duckbill plates 501 close inward from all sides, the scraped soil is evenly distributed around the planted seedling, forming a soil covering layer with moderate compactness. This step achieves natural soil covering by "scraping soil from the hole to backfilling into the hole" through the independent closing action of the lower half 5012 of the duckbill plates 501, avoiding the impact of traditional soil covering devices. It is especially suitable for the characteristics of sandy soil with high fluidity and prevents the hole opening from collapsing. S4: Reset Step (Duckbill cutter plate switches from third state to fourth state) After the soil covering is completed, the control system sends a reverse start command to the second rotary motor 16. The second rotary motor 16 drives the lower half 5012 of the duckbill plate 501 to rotate in the reverse direction (such as clockwise), restoring it to an outward-facing state flush with the upper half 5011. Subsequently, the control system sends a reverse start command to the first rotary motor 8. The first rotary motor 8 drives the gear 10 to rotate in the reverse direction, causing the gear ring 11 and the rotating pull plate 13 to move in the reverse direction. The pull rod 14 pulls the duckbill plate 501 to rotate inward around the hinge point of the seedling guide tube 2 until multiple duckbill plates 501 come together again to form a closed cone shape, switching to the fourth state (consistent with the first state). Finally, the control system sends a rising command to the lead screw motor 4, driving the actuator 5 to rise to the initial height to prepare for the next planting operation. This step restores the actuator 5 to the initial closed state, avoiding collisions between the duckbill plate 501 and other components during movement, ensuring the accuracy of the next operation.

[0048] In summary, this invention, through the coordinated operation of the support frame, drive device, seedling guide mechanism, actuator, and control system, creatively integrates the functions of opening holes, placing seedlings, and covering soil into one efficient unit using a multi-state switchable, segmented duckbill clamp structure. Its working process mimics the opening and closing of flowers, with smooth and natural movements. This not only fundamentally solves the coordination problem of traditional separate "planting-covering" designs and simplifies the overall structure, but also significantly improves planting quality and reliability in loose soil conditions such as sandy soil through unique designs such as "lifting before covering" and "independent closing of the lower half," demonstrating promising prospects for widespread application.

[0049] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of the invention in any way. All equivalent transformations or modifications made in accordance with the essence of the present invention should be covered within the protection scope of the present invention.

Claims

1. A segmented self-soiling planting device, characterized in that, include: The support frame serves a supporting function; The driving device includes a first driving mechanism for driving the actuator to move up and down, a second driving mechanism for driving the actuator to perform hole-opening and seedling-planting operations, and a third driving mechanism for driving the actuator to perform soil-covering operations. The seedling guiding mechanism is mounted on the support frame; An actuator, installed below the seedling guiding mechanism, includes multiple curved, petal-shaped bristle plates; wherein, the multiple bristle plates rotate under the drive of the driving device. When rotated to the first state, the multiple duckbill plates come together to form a closed conical structure; When rotated to the second state, multiple duckbill plates simultaneously flip outward to form a trumpet-shaped structure with an internal channel for the seedling to fall, thus realizing the functions of opening holes and placing seedlings. When rotated to the third state, at least the lower portions of the plurality of duckbill plates synchronously close inward, scraping the soil around the planting hole into the hole, thus achieving the self-covering soil function; When rotated to the fourth state, the duckbill plate returns to the closed state consistent with the first state; The control system is electrically connected to the drive device and is used to control the drive device to sequentially drive the duckbill pliers plate to switch states.

2. The segmented self-soiling planting device according to claim 1, characterized in that, The support frame includes: A supporting base plate, wherein the first driving mechanism is disposed on the supporting base plate; The lifting base plate is L-shaped and includes a vertical part and a horizontal part. The vertical part is located on the first drive mechanism, and the horizontal part is used to connect to the seedling guiding mechanism.

3. A segmented self-soiling planting device according to claim 2, characterized in that, The first driving mechanism includes: A lead screw is mounted on the support base plate; The guide rail is mounted on the support base plate and is arranged parallel to the lead screw. A lead screw motor is mounted on the support base plate and can drive the lead screw to rotate, thereby moving the lifting base plate and the actuator up and down.

4. A segmented self-soiling planting device according to claim 2, characterized in that, The seedling guiding mechanism is a seedling guiding tube.

5. A segmented self-soiling planting device according to claim 4, characterized in that, The second drive mechanism includes: The first rotary motor is fixed to the seedling guide tube by a motor bracket, and its rotating shaft is connected to a gear; A gear ring is fitted around the outside of the seedling guide tube and meshes with the gear; A rotating pull plate is fixed below the gear ring; Multiple pull rods are hinged between the speckled pliers plate and the rotating pull plate; wherein, one of the upper apex angles of the speckled pliers plate is hinged to the pull rod, and the other apex angle is hinged to the bottom end face of the seedling guide tube; The first rotary motor drives the gear ring and the rotating pull plate to rotate through the gear, and then drives the multiple duckbill pliers to switch from the first state to the second state through the pull rod.

6. A segmented self-soiling planting device according to claim 5, characterized in that, The duckbill clamp plate includes an upper half and a lower half that can rotate relative to each other; the third drive mechanism includes a plurality of second rotary motors, each second rotary motor being disposed on the upper half of one of the duckbill clamp plates and configured to drive the lower half of the duckbill clamp plate from a second state to a third state to achieve soil covering, and to drive it to reset from the third state to a fourth state.

7. A segmented self-soiling planting device according to claim 1, characterized in that, The control system is configured as follows: The position of the planter is monitored in real time, and the first drive mechanism is controlled to move the actuator to the seedling placement position; The second drive mechanism is triggered at the seedling placement position to drive the duckbill clamp plate to switch from the first state to the second state; After the seedlings are planted, the third drive mechanism is triggered to drive the lower half of the duckbill plate to switch from the second state to the third state for covering with soil.

8. A method for planting using the segmented self-soiling planter according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Position control steps: The control system reads signals in real time, calculates the position of the planter, and controls the first drive mechanism to drive the actuator to move to the predetermined seedling placement position. S2. Hole opening and seedling placement steps: When the seedling placement position is reached, the control system activates the second drive mechanism to drive multiple duckbill plates to switch from the first state to the second state, thereby completing the hole opening; at the same time, the seedling is placed into the hole through the seedling guide mechanism. S3. Self-covering soil step: After the seedling is planted, the control system receives the seedling successful signal and controls the third drive mechanism to drive the lower half of the duckbill plate, so that each duckbill plate changes from the second state to the third state. During this process, the duckbill plate scrapes the soil around the planting hole into the hole to achieve uniform soil covering. S4. Reset Step: After the soil covering is completed, the lower half of the duckbill clamp plate is driven to rotate by the third driving mechanism, and the duckbill clamp plate is reset from the third state to the fourth state to prepare for the next planting operation.

9. The method according to claim 8, characterized in that, In step S3, after the seedlings are planted, the planter is raised a certain distance so that the lower part of the duckbill plate is slightly higher than the opening of the planting hole and the tip has detached from the bottom of the planting hole before it is closed and covered with soil.

Images