Automatic rice transplanter

Abstract

The utility model embodiment relates to the technical field of agricultural machinery and equipment, and discloses an automatic rice transplanter. It includes: a rice transplanter body; a feeding mechanism and a rice transplanter mechanism; a driving device is arranged on the rice transplanter body; the driving device is connected to the feeding mechanism through a first transmission assembly, and is used to drive the feeding mechanism to reciprocate in the horizontal direction, wherein the rice transplanter mechanism includes: a mechanism housing; a seedling extractor fixed on the mechanism housing; a main transmission shaft; the main transmission shaft is connected to the driving device through a second transmission assembly, and rotates under the drive of the driving device; a rocker; the rocker cooperates with the main transmission shaft, so that the seedling extractor moves back and forth along a preset track relative to the ground under the rotation of the main transmission shaft. It can adapt to various terrains, has a small size, good operation quality, reduces labor intensity and improves productivity, and has wide practicality.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery and equipment, in particular to an automatic rice transplanter. Background Art

[0002] Traditional automatic rice transplanters are large in size, difficult to use in narrow terrain, and expensive, making them unsuitable for small-scale farmers. They also have a single function and can only transplant rice seedlings over a large area.

[0003] Therefore, a novel automatic rice transplanter is urgently needed. Utility Model Content

[0004] The automatic rice transplanter provided by the present application can effectively overcome the defect of poor applicability of traditional large-scale rice transplanters.

[0005] In the first aspect, the utility model provides an automatic rice transplanter. The automatic rice transplanter comprises: a rice transplanter body; a feeding mechanism and a rice transplanter mechanism; a driving device is arranged on the rice transplanter body; the driving device is connected to the feeding mechanism through a first transmission assembly, and is used to drive the feeding mechanism to reciprocate in the horizontal direction; wherein the rice transplanter mechanism comprises: a mechanism housing; a seedling extractor fixed to the mechanism housing; a main transmission shaft; the main transmission shaft is connected to the driving device through a second transmission assembly, and rotates under the drive of the driving device; a rocker; the rocker cooperates with the main transmission shaft, so that the seedling extractor reciprocates along a preset trajectory relative to the ground under the rotation of the main transmission shaft.

[0006] In some embodiments, the main body of the rice transplanter includes: a chassis; a plurality of wheels provided on the chassis; a driving device fixed to the chassis; the driving device is an electric motor; a seedling bed which is inclined relative to the chassis and the end of which cooperates with the feeding mechanism; the seedling bed is used to accommodate the seedlings to be transplanted.

[0007] In some embodiments, the first transmission assembly includes: a screw; the screw is connected to the driving device through a gear set and can rotate under the action of the driving device; a slide rail; the slide rail is sleeved on the screw and cooperates with the track on the surface of the screw, and can reciprocate in the horizontal direction with the rotation of the screw; wherein the slide rail is connected to the feeding mechanism through a pin, so that the feeding mechanism follows the slide rail and reciprocates in the horizontal direction.

[0008] In some embodiments, the rice transplanting mechanism also includes: a cam; the cam is arranged on the main transmission shaft and rotates with the main transmission shaft; a seedling transplanter; the seedling transplanter is arranged on the seedling remover and can move relative to the seedling remover; a driving plate; the driving plate is connected to the mechanism housing through a spring; the seedling transplanter is connected to the driving plate through a chain link assembly; wherein, when the cam rotates to a target angle, it abuts against the driving plate to move the driving plate; the seedling transplanter moves relative to the seedling remover following the movement of the driving plate.

[0009] In some embodiments, the mechanism housing has a preset length; the seedling remover is fixed to one end of the mechanism housing, and the rocker is connected to the other end of the mechanism; the main transmission shaft is arranged between the two ends of the mechanism housing to form an offset crank mechanism.

[0010] In some embodiments, the second transmission assembly is a chain transmission assembly.

[0011] In some embodiments, it also includes: a control system; the control system is mounted on the rice transplanter body; wherein the control system includes one or more of the following modules: a drive device control module; a voice control module; a wireless remote control module; and a visual module.

[0012] At least one advantage of the automatic rice transplanter provided by the embodiment of the utility model is that it can adapt to various terrains and is compact, which solves the problem that farmers in mountainous areas cannot use large rice transplanters. Moreover, the low cost makes it an option for farmers who want to buy it for home use. Further, after the high-speed rice transplanter is operated, the seedlings at the pond side can be supplemented in a mechanized manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0014] Figure 1 It is a structural schematic diagram of an automatic rice transplanter according to an embodiment of the utility model;

[0015] Figure 2 yes Figure 1 A top view of the automatic rice transplanter shown;

[0016] Figure 3 yes Figure 1 A front view of the automatic rice transplanter shown;

[0017] Figure 4 yes Figure 1 A side view of the automatic rice transplanter shown;

[0018] Figure 5 is a cross-sectional view of a rice transplanting mechanism according to an embodiment of the utility model;

[0019] Figure 6 It is a functional block diagram of a control system of an embodiment of the utility model;

[0020] Figure 7 Schematic diagram of the motion trajectory of the rice transplanting mechanism of the utility model embodiment;

[0021] Figure 8 It is a motion schematic diagram of the offset crank rocker mechanism of the embodiment of the utility model;

[0022] Fig. 9 It is a schematic diagram of calculating the speed and acceleration of the seedling transplanter of the embodiment of the utility model. DETAILED DESCRIPTION

[0023] The present invention is described in detail below in conjunction with specific embodiments. It should be emphasized that the following description is merely illustrative and is not intended to limit the scope and application of the present invention.

[0024] It should be noted that, unless otherwise clearly specified and limited, the terms "center", "longitudinal", "lateral", "upper", "lower", "vertical", "horizontal", "inner", "outer" and the like used in this specification indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model. Terms such as "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated; thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; "multiple" means two or more; "and / or" includes any and all combinations of one or more related listed items. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0025] Figures 1 to 4 This is a schematic diagram of the structure of the automatic rice transplanter provided in the embodiment of the present application. Figures 1 to 4As shown, the automatic rice transplanter includes: a rice transplanter body 10, a feeding mechanism 20 and a rice transplanting mechanism 30.

[0026] The rice transplanter body 10 is the main frame structure of the automatic rice transplanter, on which a driving device 11 is arranged. The driving device 11 can be connected to the feeding mechanism 20 through a first transmission assembly 15, and is used to drive the feeding mechanism 20 to reciprocate in the horizontal direction.

[0027] In some embodiments, the rice transplanter body may further include: a chassis 12 and a rice seedling bed 13 .

[0028] The chassis 12 is provided with a plurality of wheels 14, for example, four wheels. The driving device is an electric motor, which is fixedly mounted on the chassis 12. The seedling bed 13 is tilted relative to the chassis 12 and is used to accommodate the seedlings to be transplanted. The end of the seedling bed 13 cooperates with the feeding mechanism so that the seedlings in the seedling bed are smoothly fed into the transplanting mechanism.

[0029] Specifically, the wheels 14 on the chassis 12 can be directly driven by a dual-hub motor, and the dual-hub motor can be used to realize actions such as straight-line walking, turning, backing, braking, and cruise control. A T-shaped anti-slip block can also be provided on the wheel 14 to play an effective anti-slip role and ensure that the rice transplanter can walk normally in the paddy field. The main frame of the chassis 12 can be made of aluminum alloy profiles.

[0030] In some embodiments, the first transmission assembly 15 may include: a screw and a slide rail

[0031] The screw is connected to the driving device 11 through a gear set 16 and can rotate under the action of the driving device 11. The slide rail is sleeved on the screw and matched with the track on the surface of the screw, and can reciprocate in the horizontal direction with the rotation of the screw.

[0032] Furthermore, the slide rail is connected to the feeding mechanism 20 through a finger pin, so that the feeding mechanism 20 can follow the slide rail and reciprocate in the horizontal direction Y to achieve the function of seedling transportation.

[0033] The rice transplanting mechanism 30 is the main action mechanism of the entire automatic rice transplanter and can include: a mechanism housing 31 , a seedling extractor 32 , a main transmission shaft 33 and a rocker 34 .

[0034] The seedling extractor 32 is fixed on the mechanism housing 31. The main transmission shaft 33 is connected to the driving device 11 through the second transmission assembly 40, and can rotate under the drive of the driving device 11. Specifically, the second transmission assembly 40 can be a chain transmission assembly.

[0035] The rocker 34 has a specific structural design and can cooperate with the main transmission shaft 33 to enable the seedling remover 32 to reciprocate along a preset trajectory relative to the ground, thereby achieving the displacement change required for removing and inserting the seedlings.

[0036] In some embodiments, Figure 5 As shown, the rice transplanting mechanism further includes: a cam 35 , a seedling transplanter 36 and a driving plate 37 .

[0037] The cam 35 is arranged on the main transmission shaft 33 and can rotate with the main transmission shaft 33. The seedling transplanter 36 is arranged on the seedling extractor 32 and can move relative to the seedling extractor 32. The driving plate 37 can be connected to the mechanism housing 31 through a spring 38. The seedling transplanter 36 is also connected to the driving plate 37 through a chain link assembly 39.

[0038] In actual use, when the cam 35 rotates to the target angle, it will abut against the driving plate 37 to move the driving plate 37. Accordingly, through the transmission of the chain link assembly 39, the seedling inserter 36 will move relative to the seedling extractor 32, thereby inserting the seedlings.

[0039] In some embodiments, the mechanism housing 31 may be a long strip-shaped component with a preset length.

[0040] The seedling extractor 32 can be fixed to one end of the mechanism housing 31. The rocker 34 can be connected to the other end of the mechanism housing. The main transmission shaft 33 can be arranged between the two ends of the mechanism housing to form an offset crank mechanism, so that the seedling extractor 32 can move along a preset track.

[0041] Specifically, the preset trajectory is: the transplanting mechanism inserts the seedlings into the soil from an oblique upward direction, and when it reaches the bottom, the roots are fully in contact with the soil. After the seedlings are planted, the reaction of the cam and the spring in the transplanting mechanism allows the transplanter to be quickly disengaged to complete a complete set of transplanting actions.

[0042] In some embodiments, in order to improve the degree of intelligent operation, the automatic rice transplanter may further include an additional control system. The control system may be mounted on the main body of the rice transplanter, such as Figure 6 As shown, it may include one or more of the following modules: a driving device control module 410 , a voice control module 420 , a wireless remote control module 430 and a visual module 440 .

[0043] Among them, the drive device control module 410 can adjust the rotation speed of the motor and then change the transplanting speed to achieve adjustable spacing. The voice control module 420 can facilitate the user to control the start, shutdown and speed regulation of the transplanting mechanism through voice. The wireless remote control module 430 can establish a long-distance communication connection channel between the user and the automatic transplanter. The remote visual module 440 can be composed of a camera, a WiFi module and / or a display module, etc., to display the current relevant mechanism operation information.

[0044] The following is a detailed description of the specific operation and equipment selection process of the automatic rice transplanter in combination with specific examples.

[0045] 1) It is known that the weight of a rice transplanter fully loaded with seedlings can reach 40Kg. As a moving component, the load analysis and motor selection analysis during movement are as follows:

[0046] Full load weight F = 40Kg, travel speed V = 1m / s.

[0047] F=ma

[0048] V=at

[0049] t=0.1sSince V=1m / s

[0050] Then a=10m / s

[0051] P=FV=mgV=40*10*0.1=40W

[0052] That is, the power of the trolley under the balanced weight and friction is 40W. Therefore, the model GF36V350W191202378 can be selected as the hub motor to meet the power requirements of the automatic rice transplanter.

[0053] The motor parameters of GF36V350W191202378 are as follows: power: 350W; voltage: 36V; efficiency: 85%; speed: 1000RPM.

[0054] 2) Selection of drive device:

[0055] Distribute the transmission according to the principle of obtaining the minimum moment of inertia:

[0056] Gear Ratio:

[0057] Among them, Z3 is the number of teeth on the large sprocket, and Z4 is the number of teeth on the small sprocket.

[0058] Set the transplanting speed to 60-100 times / min, that is, the Z4 speed is 60-100r / min, that is, set the motor speed:

[0059] Smax=S100 / i≈128r / min

[0060] Smin=S60 / i≈77r / min

[0061] Therefore, F4D60-36GN-30S can be selected as the drive device.

[0062] The motor parameters of F4D60-36GN-30S are as follows: power: 60W; voltage: 36V; efficiency: 85%; rated current: 2.20A; speed: 3000RPM.

[0063] 3) Analysis of the movement trajectory of the seedling extractor:

[0064] The preset motion trajectory can be a rotation-swing mechanism according to the relative relationship between the lengths of the four-bar mechanism. Figure 7 As shown, the transplanting mechanism adopts a multi-rod mechanism to constrain different rods during movement. When taking the seedlings, the movement of the seedling taker is driven by rotation, thereby realizing the function of taking the seedlings.

[0065] like Figure 8 As shown, R1 represents the fixed rod, R2 is the active rod, R3 is the intermediate rod, R4 is the driven rod, and R5 is the distance from point B to the claw end E. R5 and R3 are connected as one piece.

[0066] Since R42+R32<R52+RE2, it can be determined through analysis that it is an offset crank rocker mechanism.

[0067] The position of point E when R2 rotates at a constant angular velocity ω is taken as the rotation angle of the active rod. Accordingly, the rotation motion of the four-bar mechanism conforms to the following formula:

[0068]

[0069] The speed and acceleration of the seedling transplanter is to find the speed and acceleration of a point on the middle rod of the four-bar mechanism. Preferably, compared with the cumbersome method of numerical calculation of the general trajectory, the speed and acceleration can be obtained from the trajectory by graphical method, and the speed and acceleration and the active rod rotates 10° every time, such as Fig. 9 In this way, the displacement distance is obtained by drawing, and the speed and acceleration are calculated by the distance and direction. The obtained acceleration error can be as small as 10%.

[0070] Specifically, the entire set of motion trajectories is analyzed to obtain the data of each component during motion, as shown in the following Table 1:

[0071] Table 1

[0072]

[0073] By analyzing the kinematic relationships between different angles and different rotating pairs, as well as the contact force, meshing force and transmission force of each component, the SOLIDWORKS simulation test confirmed that the kinematic simulation situation is consistent with the previous theory and meets the use requirements.

[0074] In summary, the automatic rice transplanter provided in the embodiment of the present application completes the seedling removal and transplanting actions in one go through the reasonable design of the offset crank mechanism, the rocker mechanism and the cam mechanism.

[0075] On the one hand, the double-track screw can rotate to drive the finger pin slide rail to move the feeding mechanism left and right, and the push rod mechanism can adjust the transplanting depth. On the other hand, it can also start, shut down, adjust the speed, and adjust the spacing between plants and rows through manual and voice remote control, and remote visualization and remote control can be achieved through the WiFi module. The control of the entire machine is intelligent and fast, and the operation is simple and flexible.

[0076] The automatic rice transplanter has the characteristics of small size, light weight, good operation quality, reduced labor intensity, improved productivity and wide practicality. It can be driven by batteries, and the overall operation is energy-saving and environmentally friendly. Moreover, it provides multiple operation modes such as transplanting, seedling replacement, and cruise control, which is particularly suitable for seedling replacement operations at the pond side.

[0077] The above contents are further detailed descriptions of the present invention in combination with specific / preferred implementations, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. An automatic rice transplanter, characterized in that: include: Rice transplanter body; feeding mechanism and rice transplanting mechanism; The rice transplanter body is provided with a driving device; The driving device is connected to the feeding mechanism through a first transmission assembly, and is used to drive the feeding mechanism to reciprocate in a horizontal direction; Wherein, the rice transplanting mechanism comprises: Mechanism housing; A seedling extractor fixed on the housing of the mechanism; A main transmission shaft; the main transmission shaft is connected to the driving device through a second transmission assembly and rotates under the drive of the driving device; Rocker; the rocker cooperates with the main transmission shaft so that the seedling remover moves back and forth along a preset trajectory relative to the ground under the rotation of the main transmission shaft.

2. The automatic rice transplanter according to claim 1, characterized in that: The rice transplanter main body comprises: A chassis; a plurality of wheels are arranged on the chassis; A driving device fixed to the chassis; the driving device is an electric motor; A seedling bed is arranged obliquely relative to the chassis, and the end of the seedling bed cooperates with the feeding mechanism; the seedling bed is used to accommodate seedlings to be planted.

3. The automatic rice transplanter according to claim 1, characterized in that: The first transmission assembly comprises: The screw is connected to the driving device through a gear set and can rotate under the action of the driving device; Slide rail; the slide rail is sleeved on the screw rod and cooperates with the track on the surface of the screw rod, and can reciprocate in the horizontal direction as the screw rod rotates; Wherein, the slide rail is connected to the feeding mechanism through a finger pin, so that the feeding mechanism follows the slide rail and reciprocates in the horizontal direction.

4. The automatic rice transplanter according to claim 1, characterized in that: The rice transplanting mechanism also includes: Cam; the cam is arranged on the main transmission shaft and rotates with the main transmission shaft; A seedling transplanter; the seedling transplanter is arranged on the seedling extractor and can move relative to the seedling extractor; A driving plate; the driving plate is connected to the mechanism housing via a spring; the seedling transplanter is connected to the driving plate via a chain link assembly; When the cam rotates to a target angle, it abuts against the driving plate to move the driving plate; the seedling transplanter follows the movement of the driving plate and moves relative to the seedling remover.

5. The automatic rice transplanter according to claim 4, characterized in that: The mechanism housing has a preset length; The seedling extractor is fixed to one end of the mechanism housing, and the rocker is connected to the other end of the mechanism housing; The main transmission shaft is arranged between the two ends of the mechanism housing to form an offset crank mechanism.

6. The automatic rice transplanter according to claim 1, characterized in that: The second transmission assembly is a chain transmission assembly.

7. The automatic rice transplanter according to claim 1, characterized in that: It also includes: a control system; the control system is mounted on the rice transplanter body; The control system includes one or more of the following modules: A drive control module; Voice control module; Wireless remote control module; and Visual module.

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