Adjustable angle and height long seedling age pot seedling transplanting test bench

Abstract

This invention discloses an adjustable tilt and height experimental platform for transplanting long-aged potted seedlings, belonging to the field of agricultural machinery testing equipment technology. It includes a main frame, an upper platform device, a seedling picking and planting arm assembly, and a planting depth-adapting soil tray. The upper platform device includes a seedling tray frame, a seedling height-adapting adjustment frame, a seedling rolling mechanism, an angle adjustment mechanism, and an upper platform moving mechanism. The tilt angle of the seedling tray frame is adjusted by the angle adjustment mechanism; the upper part of the long-aged potted seedlings is limited and supported by the seedling height-adapting adjustment frame; and the horizontal position of the seedling tray frame is adjusted by the upper platform moving mechanism. The planting depth-adapting soil tray is located at the front of the main frame and can move forward and backward and rise and fall vertically to simulate the forward movement during transplanting and adapt to different planting depth requirements. This invention can achieve comprehensive adjustment and simulation of the seedling tray posture, upper seedling height, and planting conditions in long-aged potted seedling transplanting experiments, improving the accuracy and adaptability of experimental conditions.

Description

Technical Field

[0001] This invention belongs to the technical field of agricultural machinery testing equipment, specifically relating to an adjustable tilt and height test stand for transplanting long-aged seedlings in pots. Background Technology

[0002] Compared to conventionally grown seedlings, long-aged potted seedlings are characterized by greater plant height, more proneness of upper body swaying, and higher requirements for posture stability during seedling picking. The core working component of the transplanter is the seedling picking and planting arm, whose seedling picking accuracy and planting stability directly determine the quality of the transplanting operation. Therefore, during the research and development and performance testing phases of the planting arm, a dedicated test bench is needed to complete performance verification tests under multiple working conditions and parameters.

[0003] Existing seedling transplanting test benches generally use a fixed frame structure, which is insufficient to meet the diverse needs of long-aged seedlings regarding tray posture, seedling support, and planting conditions. Specifically: Firstly, the fixed tilt angle of the seedling tray installation makes it impossible to adjust the angle according to the seedling picking trajectory of different planting arms, resulting in a low seedling picking success rate and poor comparability of experimental data. Secondly, the seedling height adaptability is poor, and it is impossible to adjust the protective height for seedlings of different ages. The stems and leaves of the seedlings are easily damaged during the seedling removal process, which affects the accuracy of the experimental data. Third, the ability to simulate planting conditions is weak, and it is impossible to accurately adjust the planting depth or simulate the continuous forward movement of transplanting in the field. The experimental conditions deviate greatly from the actual field conditions. Therefore, a test platform is needed that can simultaneously adjust the tilt angle of the seedling tray, adapt the height of the upper part of the long-aged seedlings, and adjust the front-to-back and vertical positions of the soil tray to improve the simulation capability of transplanting long-aged seedlings. Summary of the Invention

[0004] The purpose of this invention is to provide an adjustable tilt angle and height test platform for transplanting long-aged seedlings in pots, in order to solve the problem that existing test devices cannot simultaneously adjust the tilt angle of the seedling tray, the height of the upper part of the seedling, and the planting depth.

[0005] The technical solution adopted in this application is as follows: An adjustable tilt and height test stand for transplanting long-aged seedlings in pots, comprising: Main frame; The upper frame device includes a seedling tray frame, a pressure plate, a seedling height adjustment frame, a seedling rolling mechanism, an angle adjustment mechanism, and an upper frame moving mechanism. The upper frame moving mechanism is horizontally slidably engaged with the upper crossbeam of the main frame. The bottom of the seedling tray frame is connected to the upper frame moving mechanism via the angle adjustment mechanism. The pressure plate is fixed to the top of the seedling tray frame. The seedling height adjustment frame is vertically adjustable and installed above the front end of the seedling tray frame. The seedling rolling mechanism is rotatably installed at the front end of the seedling tray frame. The seedling picking and planting arm assembly includes a planting arm transmission box and a transmission box servo motor. The planting arm transmission box is fixed to the crossbeam in the middle of the main frame, and the output end of the servo drive motor is connected to the power input end of the planting arm transmission box. A planting depth-adaptive soil tray is installed at the front of the main frame and its position can be adjusted vertically and horizontally. The drive actuator is connected to the power input end of the angle adjustment mechanism, the upper frame moving mechanism, the seedling rolling mechanism, and the planting depth adaptable soil tray.

[0006] Optionally, the main frame is constructed by detachably splicing multiple aluminum profiles using corner brackets.

[0007] Optionally, the angle adjustment mechanism includes a fixed mounting base, a front movable hinge, an adjusting link, a rear movable hinge, and an adjusting screw mechanism; the fixed mounting base is fixed to the top of the moving end of the upper frame moving mechanism; the front end of the bottom of the seedling tray frame is hinged to the front end of the fixed mounting base via the front movable hinge, forming a rotation fulcrum; two sets of adjusting links are symmetrically arranged on the left and right, the upper end of which is hinged to the rear end of the bottom of the seedling tray frame via the rear movable hinge, and the lower end is hinged to the moving end of the adjusting screw mechanism; the adjusting screw mechanism is horizontally installed inside the fixed mounting base along the front-back direction of the seedling tray frame, and the moving end moves back and forth to drive the adjusting link to swing, pushing the seedling tray frame to rotate around the front movable hinge.

[0008] Optionally, the angle adjustment mechanism can achieve continuous tilt angle adjustment of 15° to 25°.

[0009] Optionally, the seedling height adjustment frame includes an adjustable retaining chain, an L-shaped connector, and a support; the support is symmetrically fixed to the front end of the seedling tray frame and has a vertical sliding groove; the L-shaped connector is fixed to one end of the main frame and the other end is embedded in the vertical sliding groove of the support and can slide along the groove, and is fixed by locking bolts after sliding into place; the adjustable retaining chain is arranged horizontally in the left and right direction and is fixed to the upper aluminum profile by locking bolts; the lifting adjustment range of the adjustable retaining chain is 200mm~350mm, which is suitable for the plant height of seedlings of different ages.

[0010] Optionally, the upper platform moving mechanism includes: Two sets of horizontal linear guide rails are fixed to the upper crossbeam of the main frame; The guide rail slider is slidably fitted onto the horizontal linear guide rail, and its top is fixedly connected to the fixed mounting base of the angle adjustment mechanism; The first drive screw mechanism is used to drive the seedling tray frame to move back and forth along the horizontal linear guide rail, with a stroke of 0~450mm. By driving the seedling tray to move back and forth, the planting arm can rotate in a fixed position to continuously complete the seedling picking operation.

[0011] Optionally, the seedling rolling mechanism includes a seedling rolling servo motor, a drive shaft, and multiple sets of seedling rolling discs; the drive shaft is rotatably mounted on the front end of the seedling tray frame via a bracket and bearings, and the multiple sets of seedling rolling discs are coaxially and equidistantly fixed to the drive shaft; the seedling rolling servo motor drives the drive shaft to rotate, realizing constant-speed and quantitative step-by-step delivery of potted seedlings in the seedling tray.

[0012] Optionally, the planting depth adaptable soil tray includes a second drive screw mechanism, a soil tray body, and a vertical slide rail assembly; the moving end of the second drive screw mechanism is fixedly connected to the bottom of the soil tray body, and the second drive screw mechanism is mounted on the vertical slide rail assembly to drive the soil tray body to reciprocate in the front-back direction, simulating the field forward planting condition; the vertical slide rail assembly is vertically slidably connected to the front of the main frame.

[0013] Optionally, the vertical slide rail assembly includes a vertical slide rail, a slide rail slider, and a third drive screw mechanism; the vertical slide rail is fixed on the main frame, the slide rail slider is mounted on the vertical slide rail, and the third drive screw mechanism drives the slide rail slider to move vertically up and down, with an adjustment range of 0mm~250mm, adapting to different planting arm installation sizes and planting depths.

[0014] Optionally, the aluminum profile is a 4040 series industrial aluminum profile, the corner bracket is a thickened carbon steel corner piece, and adjacent aluminum profiles are detachably fixed and spliced ​​by the corner bracket and the internal hexagon screw and nut assembly.

[0015] The technical solutions provided by the embodiments of this application may include the following beneficial effects: As can be seen from the above embodiments, this application, by setting up a seedling tray frame, an angle adjustment mechanism, and an upper platform moving mechanism, enables the seedling trays of long-aged seedlings to achieve basic left-right horizontal movement during the experiment, and the seedling rolling mechanism achieves continuous seedling delivery. The continuous adjustment of the seedling tray frame's tilt angle improves the matching between the seedling tray posture and the seedling picking trajectory, overcoming the problems of fixed seedling tray posture and limited adaptability in existing experimental devices. Simultaneously, by setting a vertically adjustable seedling height adaptation adjustment frame above the front end of the seedling tray frame to accommodate seedlings of different ages, and by limiting and supporting the upper part of long-aged seedlings, the swaying and interference caused by the larger plant height of long-aged seedlings can be effectively reduced, improving the stability during seedling picking and transportation. Furthermore, by setting up a planting depth adaptation soil tray with forward and backward movement and vertical lifting functions, the forward movement conditions and different planting depth requirements during transplanting can be simulated, thereby improving the fidelity of the experimental conditions and the accuracy of the experimental results. In summary, through the optimization of the above-mentioned technical means, this invention solves the technical problems of insufficient adaptability, inadequate simulation of working conditions, and limited adjustment capabilities in existing long-aged potted seedling transplanting experiments, and realizes comprehensive adjustment and simulation of the long-aged potted seedling transplanting process.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] Figure 1 This is a schematic diagram of the overall structure of an adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots, as shown in an embodiment of the present invention.

[0019] Figure 2 This is a three-dimensional structural diagram of the upper platform device in an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the three-dimensional structure of the seedling height adaptation and adjustment frame in an embodiment of the present invention.

[0021] Figure 4 Supplementary diagram showing details of the seedling height adaptation and adjustment frame in this embodiment of the invention.

[0022] Figure 5 This is a schematic diagram of the three-dimensional structure of the planting depth adaptation soil tray in an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the upper platform moving mechanism in an embodiment of the present invention.

[0024] Figure 7This is a schematic diagram of the angle adjustment mechanism in an embodiment of the present invention, which makes the transplanting test platform for long-aged seedlings at 15 degrees.

[0025] Figure 8 This is a schematic diagram of the angle adjustment mechanism in an embodiment of the present invention, which makes the transplanting test platform for long-aged seedlings at 25 degrees.

[0026] The attached figures are labeled as follows: In the diagram: 1. Pressure plate; 2. Seedling tray frame; 3. Seedling height adjustment frame; 301. Adjustable retaining chain; 3011. Adjustment plate; 3012. Retaining chain; 302. L-shaped connector; 303. Support frame; 304. Crossbeam; 4. Seedling rolling mechanism; 401. Seedling rolling servo motor; 402. Drive shaft; 403. Seedling rolling disc; 5. Planting arm transmission box; 6. Transmission box servo motor; 7. Planting depth matching soil disc; 701. Second drive screw mechanism; 702. 703. Soil plate body; 704. Vertical slide rail; 705. Slide rail slider; 706. Third drive screw mechanism; 8. Aluminum profile; 9. Angle bracket; 10. Upper frame moving mechanism; 1001. Horizontal linear guide rail; 1002. Guide rail slider; 1003. First drive screw mechanism; 11. Angle adjustment mechanism; 1101. Adjusting connecting rod; 1102. Rear movable hinge; 1103. Adjusting screw mechanism; 1104. Fixed mounting base; 1105. Front movable hinge. Detailed Implementation

[0027] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0028] like Figures 1-8 As shown in the figure, the present invention provides an adjustable tilt and height long-seedling pot seedling transplanting test platform, the core of which includes a main frame, an upper frame device, a seedling picking and planting arm assembly, a planting depth-adaptive soil tray and a drive actuator. The whole adopts a modular splicing structure, which can realize multi-dimensional parameter adjustment and meet the full working condition performance testing requirements of the long-seedling pot seedling transplanting planting arm.

[0029] The main frame serves as the load-bearing foundation for the entire test platform. It is constructed from multiple 4040 series industrial aluminum profiles 8, which are detachably assembled using thickened carbon steel angle brackets 9 and hexagonal screws and nuts, forming a cuboid frame structure. The main frame is divided into three installation areas: the upper layer for installing the upper test platform device, the middle layer for installing the seedling picking and planting arm assembly, and the lower layer. The front part is used to install the planting depth-adapting soil tray 7, while the rear part reserves space for the installation of electrical control and drive components. The length, width, and height dimensions of the frame can be flexibly adjusted according to experimental needs to adapt to different experimental scenarios.

[0030] The upper frame device is installed in the upper area of ​​the main frame, and its core includes a seedling tray frame 2, a pressure plate 1, a seedling height adjustment frame 3, a seedling rolling mechanism 4, an angle adjustment mechanism 11, and an upper frame moving mechanism 10. The seedling tray frame 2 is an inclined rectangular frame used to support the seedling trays. The pressure plate 1 is fixedly installed on its top, and the pressure plate 1 is locked to the seedling tray frame 2 by bolts to press down the edge of the seedling tray, preventing the seedling tray from shifting during transportation and movement, and ensuring accurate seedling picking position.

[0031] like Figure 2 As shown, the angle adjustment mechanism 11 is connected between the bottom of the seedling tray frame 2 and the upper frame moving mechanism 10, and includes a fixed mounting base 1104, a front movable hinge 1105, an adjusting connecting rod 1101, a rear movable hinge 1102, and an adjusting screw mechanism 1103. The fixed mounting base 1104 is a groove-shaped rectangular frame structure, and its bottom is fixed to the top of the guide rail slider 1002 of the upper frame moving mechanism 10 by bolts, providing a stable installation and bearing foundation for the entire adjustment mechanism.

[0032] The bottom front end of the seedling tray frame 2 is hinged to the front end of the fixed mounting base 1104 via a front movable hinge 1105. The hinge axis of the front movable hinge 1105 is arranged horizontally in the left-right direction, forming a fixed rotation fulcrum for the tilt adjustment of the seedling tray frame 2, ensuring smooth rotation of the seedling tray frame 2 without left-right deviation during the tilt adjustment process. Two sets of adjusting rods 1101 are symmetrically arranged on the inner side of the fixed mounting base 1104. The upper end of each set of adjusting rods 1101 is hinged to the bottom rear end of the seedling tray frame 2 via a rear movable hinge 1102, and the lower end is hinged to the lead screw nut seat (moving end) of the adjusting lead screw mechanism 1103 via a movable hinge, forming a stable linkage transmission structure. The adjusting screw mechanism 1103 is horizontally arranged in the inner groove of the fixed mounting base 1104 along the front-back direction of the seedling tray frame 2. The two ends of the screw are rotatably connected to the front and rear ends of the fixed mounting base 1104 through bearing seats. An adjusting handwheel is provided at the extended end of the screw. The screw nut seat is slidably fitted on the screw and can move horizontally back and forth along the front-back direction with the forward and reverse rotation of the screw.

[0033] During the experiment, the servo motor of the rotating adjusting screw mechanism 1103 drives the screw to rotate, which in turn drives the screw nut seat to move horizontally in the front-back direction. This pulls the adjusting connecting rod 1101 to swing synchronously around the hinge points at the upper and lower ends, changing the angle between the adjusting connecting rod 1101 and the horizontal plane. This pushes the rear end of the seedling tray frame 2 to rise or fall, and the entire seedling tray frame 2 rotates smoothly around the hinge axis of the front movable hinge 1105, thereby accurately changing the angle between the seedling tray frame 2 and the horizontal plane. After adjusting to the target tilt angle, the rotation position of the screw is locked by the locking bolt to prevent the tilt angle from shifting during the experiment. Ultimately, the tilt angle of the seedling tray frame 2 can be continuously adjusted from 15° to 25°, which can accurately simulate different seedling picking angles and adapt to the seedling picking needs of different types of planting arms.

[0034] like Figure 3 As shown, the seedling height adjustment frame 3 is installed above the front end of the seedling tray frame 2, and includes an adjustable retaining chain 301, an L-shaped connector 302, a bracket 303, and a crossbeam 304. The bracket 303 is trapezoidal, and two sets of brackets 303 are symmetrically fixed to the left and right sides of the front end of the seedling tray frame 2. Each set of brackets 303 has multiple sets of adjustment holes arranged vertically to form a vertical sliding groove.

[0035] The crossbeam 304 is a horizontal aluminum profile, and its left and right ends are fixedly connected to the L-shaped connector 302 by bolts. The L-shaped connector 302 is fixed by bolts passing through the vertical adjustment hole of the bracket 303, thereby realizing the adjustment of the fixed position of the crossbeam 304 in the vertical groove.

[0036] The adjustable retaining chain 301 includes an adjusting plate 3011 and a retaining chain 3012. The adjusting plate 3011 consists of two overlapping adjusting sub-plates. Each adjusting sub-plate has multiple sets of equidistant vertical adjusting holes. After the two adjusting sub-plates are adjusted to their relative positions, they are locked and fixed by bolts inserted into the aligned adjusting holes. The upper end of one adjusting sub-plate is fixed to the upper surface of the crossbeam 304 by bolts, and the lower end of the other adjusting sub-plate is fixedly connected to the upper end of the retaining chain 3012. The lower end of the retaining chain 3012 slides into the aluminum profile groove at the front end of the main frame and is locked and fixed by bolts. The adjustable chain 301 and the crossbeam 304 can be adjusted to raise and lower the chain by 200mm to 350mm, allowing for precise adjustment of the protection height according to the plant height of seedlings of different ages. During the seedling removal process by the planting arm, the adjustable chain 301 provides flexible restraint and protection for the upper stems and leaves of the seedlings, preventing the seedling removal claws from scratching or pulling the stems and leaves, ensuring the integrity of the test samples, eliminating test data errors caused by seedling damage, and improving the adaptability of the test platform to seedlings of different plant heights.

[0037] The upper frame moving mechanism 10 is installed on the upper crossbeam of the main frame and includes two sets of parallel horizontal linear guide rails 1001, guide rail sliders 1002, and a first drive screw mechanism 1003. The two sets of horizontal linear guide rails 1001 are symmetrically fixed to the front and rear crossbeams of the upper layer of the main frame in the left-right direction. Each set of horizontal linear guide rails 1001 has two sets of guide rail sliders 1002 slidably mounted on it. The tops of the four sets of guide rail sliders 1002 are all fixedly connected to the fixed mounting base 1104 of the angle adjustment mechanism. The first drive screw mechanism 1003 is arranged in the left-right direction. Its fixed end is fixedly connected to the right column of the main frame, and its moving end is fixedly connected to the bottom of the fixed mounting base 1104. A servo motor drives the screw to rotate, causing the fixed mounting base 1104 and the seedling tray frame 2 to move back and forth along the horizontal linear guide rails 1001. The horizontal movement stroke is 0~450mm, cooperating with the seedling rolling mechanism 4 to achieve continuous seedling feeding.

[0038] like Figure 3 As shown, the seedling rolling mechanism 4 is rotatably mounted on the front end of the seedling tray frame 2, including a seedling rolling servo motor 401, a transmission shaft 402, and multiple sets of seedling rolling discs 403. The transmission shaft 402 is horizontally arranged in the left-right direction, and its two ends are rotatably mounted on the left and right sides of the front end of the seedling tray frame 2 through bearing seats. Multiple sets of seedling rolling discs 403 are coaxially and equidistantly fixed on the shaft of the transmission shaft 402. The outer edge of the seedling rolling disc 403 is provided with a protrusion that matches the seedling tray conveying hole, which can be inserted into the conveying hole of the seedling tray to drive the seedling tray to move. The seedling rolling servo motor 401 is fixed to the left side of the front end of the seedling tray frame 2 through a motor seat, and its output end is coaxially connected to the left end of the transmission shaft 402 through a coupling, which can drive the seedling rolling disc 403 to rotate at a uniform speed, realize the constant speed and quantitative step-by-step conveying of the seedling tray, and cooperate with the left and right reciprocating translation of the upper frame moving mechanism 10 to complete the continuous seedling taking test of the whole tray of seedlings.

[0039] The seedling picking and planting arm assembly is installed on the middle crossbeam of the main frame, and includes a planting arm transmission box 5 and a transmission box servo motor 6. The planting arm transmission box 5 is fixed to the middle crossbeam of the main frame with bolts, and its power output end is used to install the seedling picking and planting arm to be tested. The transmission box servo motor 6 is fixed to the side of the planting arm transmission box 5 with a motor mount, and its output end is connected to the power input end of the planting arm transmission box 5 through a coupling, so as to drive the planting arm to be tested to complete the cyclic seedling picking and planting action, thereby realizing the performance test of the planting arm.

[0040] The planting depth-adaptive soil tray 7 is installed in the lower front area of ​​the main frame and includes a soil tray body 702, a second drive screw mechanism 701, a front-to-back movable mounting frame, and a vertical slide rail assembly. The front-to-back movable mounting frame is a rectangular frame. The second drive screw mechanism 701 is fixed to the inner side of the front-to-back movable mounting frame in the front-to-back direction. Its screw moving end is fixedly connected to the bottom of the soil tray body 702 through a connecting plate, which can drive the soil tray body 702 to make linear reciprocating motion in the front-to-back direction, simulating the forward planting condition when the transplanter is working in the field, and restoring the operation scene of continuous transplanting in the field.

[0041] The vertical slide rail assembly includes two symmetrically arranged sets of vertical slide rails 703, slide rail sliders 704, and a third drive screw mechanism 705. The two sets of vertical slide rails 703 are vertically fixed to the left and right columns at the front of the main frame, respectively. Each set of vertical slide rails 703 has two sets of slide rail sliders 704 slidably mounted on it. All four sets of slide rail sliders 704 are fixedly connected to the outer side of the front and rear movable mounting frames. The third drive screw mechanism 705 is arranged vertically, with its fixed end fixedly connected to the bottom crossbeam of the main frame, and its moving end fixedly connected to the bottom of the front and rear movable mounting frames. It can drive the front and rear movable mounting frames and the soil tray body 702 to perform vertical lifting and lowering movements as a whole. The lifting and lowering adjustment range is 0mm~200mm, allowing precise adjustment of the relative height between the soil tray body 702 and the planting arm. This adapts to the installation dimensions and design planting depth requirements of different planting arm models, meeting the needs of control experiments with different planting depths.

[0042] The adjusting lead screw mechanism, the first driving lead screw mechanism, the second driving lead screw mechanism, and the third driving lead screw mechanism described above can all be composed of a lead screw, a slider, and a motor. The motor drives the lead screw to rotate, thereby realizing the linear sliding of the slider on the lead screw.

[0043] The drive actuators are respectively connected to the power input ends of the angle adjustment mechanism 11, the upper frame moving mechanism 10, the seedling rolling mechanism 4, and the planting depth adaptable soil tray 7.

[0044] The drive actuator includes a main controller and multiple motor drivers. The signal output terminal of the main controller is electrically connected to the motors on the adjusting lead screw mechanism, the first drive lead screw mechanism, the second drive lead screw mechanism, and the third drive lead screw mechanism through the multiple motor drivers, respectively. The main controller can be a microcontroller, etc., but is not limited to this.

[0045] For the angle adjustment mechanism 11, one of the motor drivers is electrically connected to the stepper motor of the adjusting screw mechanism 1103. The main controller sends pulse signals to the stepper motor through the motor driver to control the forward and reverse rotation and the number of rotations of the screw, thereby driving the adjusting link 1101 to swing, so as to achieve precise adjustment of the tilt angle of the seedling tray frame 2.

[0046] For the upper frame moving mechanism 10, one of the motor drivers is electrically connected to the servo motor of the first drive screw mechanism 1003; the main controller controls the speed, direction and rotation stroke of the servo motor through the motor driver, driving the seedling tray frame 2 to move back and forth along the horizontal linear guide rail 1001. The positioning accuracy can match the seedling picking rhythm of the planting arm, realizing the continuous seedling picking operation of different hole pot seedlings in the same row of the seedling tray.

[0047] For the seedling rolling mechanism 4, one of the motor drivers is electrically connected to the seedling rolling servo motor 401. The main controller sends a preset step control signal to the seedling rolling servo motor 401 through the motor driver, controlling the motor to rotate at a set step distance and angle. Through the transmission shaft 402, the seedling rolling disc 403 is driven to rotate synchronously, realizing the constant speed and quantitative step delivery of the seedling tray, ensuring the precise alignment of the seedling picking position.

[0048] For the planting depth-adaptive soil tray 7, one of the motor drivers is electrically connected to the stepper motor of the second drive screw mechanism 701. The main controller controls the forward and reverse rotation and speed of the motor through the motor driver, driving the soil tray body 702 to make linear reciprocating motion in the front and back direction, simulating the forward operation of transplanting in the field.

[0049] One of the motor drivers is electrically connected to the servo motor of the third drive screw mechanism 705. By controlling the rotation stroke of the motor, the vertical height of the soil disc body 702 is adjusted to adapt to the installation size and planting depth test requirements of different planting arms.

[0050] The drive actuator may also include a limit protection component. The signal output terminal of the limit protection component is electrically connected to the signal input terminal of the main controller to form a closed-loop controllable drive actuator system, providing power output and motion control for each action mechanism of the test bench.

[0051] Specifically, the limit protection component includes travel limit switches installed at both ends of the travel of each mechanism. When the mechanism moves to the limit position, the travel limit switch sends a trigger signal to the main controller, and the main controller immediately cuts off the drive of the corresponding actuator motor to prevent the mechanism from running beyond its travel range and causing equipment damage. The main controller can also be equipped with a manual control button group, which is electrically connected to the signal input terminal of the main controller. Test personnel can use the corresponding buttons to individually control the start, stop, forward and reverse rotation and travel of each mechanism to meet the needs of single-step debugging and continuous operation during the test.

[0052] The working process of this embodiment is as follows: Preparation before the test: Power on and reset the equipment, and confirm that the limit protection components of each mechanism are triggered normally; install the seedling picking and planting arm to be tested on the power output end of the planting arm transmission box 5, place the seedling tray with long-aged seedlings on the seedling tray frame 2, and press and fix it with the pressure plate 1 to prevent the seedling tray from moving; according to the designed seedling picking angle of the planting arm to be tested, adjust the tilt angle of the seedling tray frame 2 to the target value and lock it by controlling the angle adjustment mechanism 11 through the drive actuator; according to the height of the seedlings, adjust the vertical height of the adjustable retaining chain 301 of the seedling height adaptation adjustment frame 3 and fix it with the locking bolt to form a flexible limit on the upper part of the long-aged seedlings; according to the planting depth designed for the test, control the operation of the third drive screw mechanism 705 through the drive actuator to adjust the vertical height of the soil tray body 702 to the target position.

[0053] Seedling picking and planting experiment: The transmission box servo motor 6 is started, driving the planting arm to rotate at a preset speed; at the same time, the seedling rolling servo motor 401 is started through the drive actuator, driving the seedling rolling disc 403 to rotate, and the seedling disc is transported to the seedling picking position by step; the first drive screw mechanism 1003 drives the seedling disc frame 2 to move left and right at a preset step distance, and in coordination with the seedling picking rhythm of the planting arm, to complete the continuous picking of seedlings from different pots in the same row of the seedling disc; after the seedlings are picked, the planting arm plants the picked seedlings into the soil disc body 702, and the second drive screw mechanism 701 drives the soil disc body 702 to move back and forth at a preset speed, simulating the field planting conditions of the transplanter, and completing the continuous planting operation.

[0054] Control experiment: By adjusting the tilt angle of the seedling tray frame 2, the vertical height of the adjustable retaining chain 301, the vertical height of the soil tray body 702 and the forward and backward movement speed respectively by driving the actuator, multiple sets of control experiments were carried out under different seedling picking angles, different seedling ages, different planting depths and different operating speeds to complete the full working condition performance test of the planting arm to be tested.

[0055] End of experiment: After completing all the test items, control each mechanism to return to the initial position, turn off the equipment power, clean the test bench, seedling tray, and soil tray, and complete the test process.

[0056] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0057] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots, characterized in that, include: Main frame; The upper frame device includes a seedling tray frame, a pressure plate, a seedling height adjustment frame, a seedling rolling mechanism, an angle adjustment mechanism, and an upper frame moving mechanism. The upper frame moving mechanism is horizontally slidably engaged with the upper crossbeam of the main frame. The bottom of the seedling tray frame is connected to the upper frame moving mechanism via the angle adjustment mechanism. The pressure plate is fixed to the top of the seedling tray frame. The seedling height adjustment frame is vertically adjustable and installed above the front end of the seedling tray frame. The seedling rolling mechanism is rotatably installed at the front end of the seedling tray frame. The seedling picking and planting arm assembly includes a planting arm transmission box and a transmission box servo motor. The planting arm transmission box is fixed to the crossbeam in the middle of the main frame, and the output end of the servo drive motor is connected to the power input end of the planting arm transmission box. A planting depth-adaptive soil tray is installed at the front of the main frame and its position can be adjusted vertically and horizontally. The drive actuator is connected to the power input end of the angle adjustment mechanism, the upper frame moving mechanism, the seedling rolling mechanism, and the planting depth adaptable soil tray.

2. The adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots according to claim 1, characterized in that, The main frame is constructed from multiple aluminum profiles that can be detachably assembled using corner brackets.

3. The adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots according to claim 1, characterized in that, The angle adjustment mechanism includes a fixed mounting base, a front movable hinge, an adjusting link, a rear movable hinge, and an adjusting screw mechanism. The fixed mounting base is fixed to the top of the moving end of the upper frame moving mechanism. The front end of the bottom of the seedling tray frame is hinged to the front end of the fixed mounting base via the front movable hinge, forming a rotation fulcrum. Two sets of adjusting links are symmetrically arranged on the left and right sides. The upper end is hinged to the rear end of the bottom of the seedling tray frame via the rear movable hinge, and the lower end is hinged to the moving end of the adjusting screw mechanism. The adjusting screw mechanism is horizontally installed inside the fixed mounting base along the front-back direction of the seedling tray frame. The moving end moves back and forth, causing the adjusting link to swing and pushing the seedling tray frame to rotate around the front movable hinge.

4. The adjustable tilt and height experimental frame for transplanting long-aged seedlings in pots according to claim 1, characterized in that, The angle adjustment mechanism can achieve continuous tilt angle adjustment from 15° to 25°.

5. The adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots according to claim 1, characterized in that, The seedling height adjustment frame includes an adjustable retaining chain, an L-shaped connector, and a support. The support is symmetrically fixed to the front end of the seedling tray frame and has a vertical sliding groove. The L-shaped connector is fixed to one end of the main frame and is embedded in the vertical sliding groove of the support on the other side, and can slide along the groove. After sliding into place, it is fixed by locking bolts. The adjustable retaining chain is set horizontally in the left-right direction and is fixed to the upper aluminum profile by locking bolts. The lifting adjustment range of the adjustable retaining chain is 200mm~350mm, which is suitable for the plant height of seedlings of different ages.

6. The adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots according to claim 1, characterized in that, The upper platform moving mechanism includes: Two sets of horizontal linear guide rails are fixed to the upper crossbeam of the main frame; The guide rail slider is slidably fitted onto the horizontal linear guide rail, and its top is fixedly connected to the fixed mounting base of the angle adjustment mechanism; The first drive screw mechanism is used to drive the seedling tray frame to move back and forth along the horizontal linear guide rail, with a stroke of 0~450mm. By driving the seedling tray to move back and forth, the planting arm can rotate in a fixed position to continuously complete the seedling picking operation.

7. The adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots according to claim 1, characterized in that, The seedling rolling mechanism includes a seedling rolling servo motor, a drive shaft, and multiple sets of seedling rolling discs; the drive shaft is rotatably mounted on the front end of the seedling tray frame via a bracket and bearings, and the multiple sets of seedling rolling discs are coaxially and equidistantly fixed to the drive shaft; the seedling rolling servo motor drives the drive shaft to rotate, realizing constant-speed and quantitative step-by-step delivery of potted seedlings to the seedling tray.

8. The adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots according to claim 1, characterized in that, The planting depth-adaptive soil tray includes a second drive screw mechanism, a soil tray body, and a vertical slide rail assembly. The moving end of the second drive screw mechanism is fixedly connected to the bottom of the soil tray body. The second drive screw mechanism is mounted on the vertical slide rail assembly and drives the soil tray body to reciprocate in the front-back direction, simulating the field planting conditions. The vertical slide rail assembly is vertically slidably connected to the front of the main frame.

9. The adjustable tilt and height experimental platform for transplanting long-aged seedlings in pots according to claim 1, characterized in that, The vertical slide rail assembly includes a vertical slide rail, a slide rail slider, and a third drive screw mechanism. The vertical slide rail is fixed on the main frame, the slide rail slider is mounted on the vertical slide rail, and the third drive screw mechanism drives the slide rail slider to move vertically up and down, with an adjustment range of 0mm to 250mm, adapting to different planting arm installation sizes and planting depths.

10. The control method for the adjustable tilt angle and height experimental platform for transplanting long-aged seedlings in pots according to claim 1, characterized in that, Includes the following steps: S1: Parameter configuration before the test: Install the planting arm to be tested into the planting arm transmission box, and fix the seedling tray to the seedling tray frame; set the target tilt angle of the seedling tray frame, the target height of the seedling height adaptation adjustment frame, and the target planting depth of the soil tray respectively through the drive actuator; S2: Seedling picking and planting operation control: Start the transmission box servo motor to drive the planting arm to rotate in a cycle; Simultaneously control the seedling rolling mechanism to step-transport the seedling tray and the upper frame moving mechanism to move the seedling tray in a horizontal direction through the drive actuator to complete continuous seedling picking; After the seedling picking is completed, control the soil tray to move back and forth to simulate field conditions and complete the potted seedling planting. S3: Multi-condition control test: By adjusting the tilt angle of the seedling tray frame, the height of the seedlings, and the position and speed of the soil tray through the drive actuator, multiple sets of control tests are carried out to complete the full-condition performance test of the planting arm.

Images