Depth-adaptive rice transplanting device

Abstract

The utility model relates to the technical field of rice transplanting equipment, in particular to a depth self-adaptive rice transplanting device. Comprising a mounting plate, a motor, a wire, two mounting seats, a driving rod, a plurality of groups of rice transplanting modules and a main control board, the motor is fixedly connected with the mounting plate, one end of the wire is connected with the motor, the main control board is connected with the other end of the wire, the driving rod is connected with the output end of the motor, and each rice transplanting module comprises a rice transplanting claw, a shell, two fixing sleeves and a rice seedling cylinder, the driving rod is arranged in the shell and sleeves the outer wall of the driving rod, the seedling transplanting claw is fixedly connected with the shell and is located on the outer side wall of the shell, the two fixing sleeves are connected with the shell and sleeve the outer side wall of the shell, the seedling cylinder is located above the seedling transplanting claw, the seedling cylinder is provided with an opening, and the seedling transplanting claw is matched with the opening. And the position of the transplanting claw is adjusted to realize adaptive control of the transplanting depth.

Description

Technical Field

[0001] The utility model relates to the technical field of rice transplanting equipment, in particular to a depth self - adapting rice transplanting device. Background Art

[0002] A rice transplanter is an agricultural machine that implants rice seedlings into paddy fields. Its working principle is to use mechanical force to separate the rice seedlings from the seedling trays of the transplanter, transport them to the paddy fields through seedling tubes, and then insert the rice seedlings into the soil through the transplanter. The rice transplanter mainly consists of an engine, a traveling mechanism, a transplanting mechanism, a control system, etc.

[0003] However, traditional rice transplanters usually control the transplanting depth by mechanically adjusting the heights of the cutter head and the guide wheel, which is cumbersome to operate and difficult to accurately control, resulting in relatively low accuracy and efficiency of transplanting. Content of the Utility Model

[0004] The purpose of the utility model is to provide a depth self - adapting rice transplanting device, aiming to solve the technical problems that traditional rice transplanters usually control the transplanting depth by mechanically adjusting the heights of the cutter head and the guide wheel, which is cumbersome to operate and difficult to accurately control, resulting in relatively low accuracy and efficiency of transplanting.

[0005] To achieve the above purpose, a depth self - adapting rice transplanting device adopted by the utility model includes a mounting plate, a motor, a wire, two mounting seats, a driving rod, multiple groups of transplanting modules and a main control board. The motor is fixedly connected to the mounting plate and is located on the outer side wall of the mounting plate. One end of the wire is connected to the motor, the main control board is connected to the other end of the wire, the driving rod is connected to the output end of the motor, both of the two mounting seats are sleeved on the outer wall of the driving rod, and multiple groups of the transplanting modules are uniformly arranged in sequence on the driving rod;

[0006] The transplanting module includes a transplanting claw, a housing, two fixed sleeves and a seedling tube. The housing is connected to the driving part and is sleeved on the outer wall of the driving rod. The transplanting claw is fixedly connected to the housing and is located on the outer side wall of the housing. Both of the two fixed sleeves are connected to the housing and are sleeved on the outer side wall of the housing. The seedling tube is located above the transplanting claw, the seedling tube has an opening, and the transplanting claw is adapted to the opening;

[0007] The main control board includes a Hall sensor HS, a position sensor P, a sampling resistor R, a differential amplifier Q, a control board MCU, and an analog-to-digital converter A. The position sensor HS and the position sensor P are both arranged inside the motor. The output end of the motor is connected to the position sensor P. The Hall sensor HS is connected to the position sensor P. The sampling resistor R is connected to the motor. The differential amplifier Q is connected to the sampling resistor R. The control board MCU is arranged inside the main control board. The analog-to-digital converter A is arranged on the control board MCU and is connected to the differential amplifier Q;

[0008] The position sensor P is used to monitor the rotation of the output end of the motor;

[0009] The Hall sensor HS is used to sense the rotation angle of the output end of the motor;

[0010] The sampling resistor R is used to convert the current signal into a voltage signal with a very low voltage drop;

[0011] The differential amplifier Q is used to amplify the voltage sampling signal and deliver it to the analog-to-digital converter A;

[0012] The analog-to-digital converter A is used to convert the sampling signal into a digital signal;

[0013] The control board MCU is used to perform calculation processing on the digital signal for interpolation control.

[0014] Wherein, the fixing sleeve includes a first clamping sleeve, a second clamping sleeve, and two fixing bolts. The first clamping sleeve and the second clamping sleeve are both connected to the housing and are both located on the outer side wall of the housing. The two fixing bolts both penetrate through the first clamping sleeve and are both threadedly connected to the second clamping sleeve.

[0015] Wherein, the transplanting module further includes a fixing seat. The fixing seat is fixedly connected to the seedling tube and is located on the outer side wall of the seedling tube. The fixing seat has two fixing holes.

[0016] Wherein, the depth adaptive transplanting device further includes a protective cover. The protective cover is fixedly connected to the mounting plate and is located on the outer side wall of the mounting plate. The motor is located inside the protective cover.

[0017] Wherein, the transplanting claw is composed of two symmetrically arranged clamping plates.

[0018] Wherein, the seedling tube is in a flared shape.

[0019] A depth adaptive transplanting device of the present utility model, wherein the seedling cylinder is located above the driving rod, the transplanting claws are fixed to the outer wall of the driving rod through the fixing sleeve, and the transplanting claws are located within the opening of the seedling cylinder; when transplanting, first place the seedlings in the seedling cylinder, the seedlings slide down through the seedling cylinder into the transplanting claws, start the motor to drive the driving rod to rotate, the driving rod drives the transplanting claws to rotate, and at the same time the transplanting claws insert the seedlings into the soil. Among them, the motor is controlled by the control circuit and control software on the active plate; in addition, the position sensor and the Hall sensor are integrated inside the motor, the rotation angle of the motor does not exceed 180 degrees, when the rotation of the motor triggers the reaction of the position sensor, it is marked as the zero point of the motor position, and the motor can only rotate forward from the zero point; when the motor rotates, the rotation angle of the motor is sensed through the Hall sensor, a sampling resistor for current is connected in series on the power supply line of the motor, the sampling resistor converts the current signal into a voltage signal with a very low voltage drop, the voltage sampling signal is amplified by the differential amplifier and sent to the analog-to-digital converter A on the control board MCU, the analog-to-digital converter A converts it into a digital signal, and the control board MCU calculates and processes the digital signal for transplanting control. Through the above method, it is possible to calculate the current seedling depth, adjust the position of the transplanting claws, and achieve the adaptive control of the transplanting depth. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a schematic diagram of the overall structure of the depth adaptive transplanting device of the present utility model.

[0022] Figure 2 It is a front view of the overall structure of the depth adaptive transplanting device of the present utility model.

[0023] Figure 3 It is a schematic diagram of a partial structure of the depth adaptive transplanting device of the present utility model.

[0024] Figure 4 It is a schematic diagram of the principle of motor monitoring of the present utility model.

[0025] 101 - Mounting plate, 102 - Motor, 103 - Wire, 104 - Mounting seat, 105 - Drive rod, 106 - Main control board, 107 - Transplanter claw, 108 - Housing, 109 - Seedling tube, 110 - First jacket, 111 - Second jacket, 112 - Fixing bolt, 113 - Fixing seat, 114 - Protective cover, 115 - Fixing hole, 116 - Opening. Detailed implementation

[0026] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0027] Please refer to Figures 1 to 4 , the present invention provides a depth - adaptive transplanter, including a mounting plate 101, a motor 102, a wire 103, two mounting seats 104, a drive rod 105, multiple transplanter modules, and a main control board 106. The motor 102 is fixedly connected to the mounting plate 101 and is located on the outer wall of the mounting plate 101. One end of the wire 103 is connected to the motor 102, and the main control board 106 is connected to the other end of the wire 103. The drive rod 105 is connected to the output end of the motor 102. Both of the two mounting seats 104 are sleeved on the outer wall of the drive rod 105, and multiple groups of the transplanter modules are evenly arranged in sequence on the drive rod 105;

[0028] The transplanter module includes a transplanter claw 107, a housing 108, two fixing sleeves, and a seedling tube 109. The housing 108 is connected to the drive and is sleeved on the outer wall of the drive rod 105. The transplanter claw 107 is fixedly connected to the housing 108 and is located on the outer wall of the housing 108. Both of the two fixing sleeves are connected to the housing 108 and are sleeved on the outer wall of the housing 108. The seedling tube 109 is located above the transplanter claw 107. The seedling tube 109 has an opening 116, and the transplanter claw 107 is adapted to the opening 116;

[0029] The main control board 106 includes a Hall sensor HS, a position sensor P, a sampling resistor R, a differential amplifier Q, a control board MCU, and an analog-to-digital converter A. The position sensor HS and the position sensor P are both disposed within the motor 102. The position sensor P is connected to the output end of the motor 102. The Hall sensor HS is connected to the position sensor P. The sampling resistor R is connected to the motor 102. The differential amplifier Q is connected to the sampling resistor R. The control board MCU is disposed within the main control board, and the analog-to-digital converter A is disposed on the control board MCU and is connected to the differential amplifier Q;

[0030] The position sensor P is used to monitor the rotation of the output end of the motor 102;

[0031] The Hall sensor HS is used to sense the rotation angle of the output end of the motor 102;

[0032] The sampling resistor R is used to convert a current signal into a voltage signal with a very low voltage drop;

[0033] The differential amplifier Q is used to amplify the voltage sampling signal and deliver it to the analog-to-digital converter A;

[0034] The analog-to-digital converter A is used to convert the sampling signal into a digital signal;

[0035] The control board MCU is used to perform calculation processing on the digital signal for interpolation control.

[0036] In this embodiment, the seedling tube 109 is located above the drive rod 105. The transplanting claws 107 are fixed to the outer wall of the drive rod 105 through the fixing sleeve, and the transplanting claws 107 are located within the opening 116 of the seedling tube 109. When transplanting, first place the seedlings in the seedling tube 109. The seedlings slide down through the seedling tube 109 into the transplanting claws 107. Start the motor 102 to drive the drive rod 105 to rotate. The drive rod 105 drives the transplanting claws 107 to rotate. At the same time, the transplanting claws 107 insert the seedlings into the soil. Among them, the motor is controlled by the control circuit and control software on the active board. In addition, the sensor group on the main control board starts to monitor the rotation speed, position, and current of the motor in real time. Use the rotation speed, position, and current data of the motor to calculate the current seedling depth information. Compare the current seedling depth with the preset target depth. If there is a difference, it is necessary to adjust the position of the transplanting claws to make the seedling depth reach the target value. Through the above method, it is possible to calculate the current seedling depth, adjust the position of the transplanting claws 107, and achieve adaptive control of the transplanting depth.

[0037] Further, the fixing sleeve includes a first clamping sleeve 110, a second clamping sleeve 111 and two fixing bolts 112. Both the first clamping sleeve 110 and the second clamping sleeve 111 are connected to the housing 108 and are located on the outer side wall of the housing 108. The two fixing bolts 112 penetrate through the first clamping sleeve 110 and are threadedly connected to the second clamping sleeve 111.

[0038] In this embodiment, the housing 108 is sleeved on the outer wall of the driving rod 105, and then the first clamping sleeve 110 and the second clamping sleeve 111 are connected by the fixing bolts 112, so that the housing 108 is fastened on the driving rod 105.

[0039] Further, the rice transplanting module further includes a fixing seat 113. The fixing seat 113 is fixedly connected to the seedling tube 109 and is located on the outer side wall of the seedling tube 109. The fixing seat 113 has two fixing holes 115.

[0040] In this embodiment, the fixing seat 113 is arranged on the outer side of the seedling tube 109, and two fixing holes 115 are formed in the fixing seat 113. The seedling tube 109 can be easily installed and disassembled on the frame through the fixing holes 115.

[0041] Further, the depth adaptive rice transplanting device further includes a protective cover 114. The protective cover 114 is fixedly connected to the mounting plate 101 and is located on the outer side wall of the mounting plate 101. The motor 102 is located inside the protective cover 114.

[0042] In this embodiment, the protective cover 114 protects the motor 102 on the mounting plate 101 to prevent the motor 102 from being exposed and damaged.

[0043] Further, the rice transplanting claw 107 is composed of two symmetrically arranged clamping plates.

[0044] In this embodiment, the rice transplanting claw 107 is composed of two clamping plates. The rice seedlings slide down through the seedling tube 109 and are limited between the two clamping plates, so as to prevent the rice seedlings from detaching from the rice transplanting claw 107.

[0045] Further, the seedling tube 109 is in a trumpet shape.

[0046] In this embodiment, by setting the seedling tube 109 in a trumpet shape, it is convenient to place the rice seedlings in the seedling tube 109 and at the same time facilitate the pushing of the rice seedlings towards the rice transplanting claw 107.

[0047] The above-disclosed is only a preferred embodiment of the present utility model. Of course, it cannot be used to limit the scope of rights of the present utility model. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present utility model still fall within the scope covered by the utility model.

Claims

1. A depth - adaptive rice - transplanting device, characterized in that, it includes a mounting plate, a motor, a wire, two mounting seats, a driving rod, multiple groups of rice - transplanting modules and a main control board. The motor is fixedly connected to the mounting plate and is located on the outer side wall of the mounting plate. One end of the wire is connected to the motor, the main control board is connected to the other end of the wire, the driving rod is connected to the output end of the motor, two mounting seats are sleeved on the outer wall of the driving rod, and multiple groups of rice - transplanting modules are evenly arranged in sequence on the driving rod; the rice - transplanting module includes a rice - transplanting claw, a housing, two fixing sleeves and a seedling tube. The housing is connected to the driving rod and is sleeved on the outer wall of the driving rod. The rice - transplanting claw is fixedly connected to the housing and is located on the outer side wall of the housing. Two fixing sleeves are both connected to the housing and are sleeved on the outer side wall of the housing. The seedling tube is located above the rice - transplanting claw, the seedling tube has an opening, and the rice - transplanting claw is adapted to the opening; the main control board includes a Hall sensor HS, a position sensor P, a sampling resistor R, a differential amplifier Q, a control board MCU and an analog - to - digital converter A. The position sensor HS and the position sensor P are both arranged in the motor. The output end of the motor is connected to the position sensor P. The Hall sensor HS is connected to the position sensor P. The sampling resistor R is connected to the motor. The differential amplifier Q is connected to the sampling resistor R. The control board MCU is arranged in the main control board. The analog - to - digital converter A is arranged on the control board MCU and is connected to the differential amplifier Q; the position sensor P is used to monitor the rotation of the output end of the motor; the Hall sensor HS is used to sense the rotation angle of the output end of the motor; the sampling resistor R is used to convert the current signal into a voltage signal with a very low voltage drop; the differential amplifier Q is used to amplify the voltage sampling signal and transmit it to the analog - to - digital converter A; the analog - to - digital converter A is used to convert the sampling signal into a digital signal; the control board MCU is used to perform calculation and processing on the digital signal for transplanting control.

2. The depth - adaptive rice - transplanting device according to claim 1, characterized in that, the fixing sleeve includes a first clamping sleeve, a second clamping sleeve and two fixing bolts. The first clamping sleeve and the second clamping sleeve are both connected to the housing and are both located on the outer side wall of the housing. Two fixing bolts both penetrate the first clamping sleeve and are both threadedly connected to the second clamping sleeve.

3. The depth - adaptive rice - transplanting device according to claim 2, characterized in that, the rice - transplanting module further includes a fixing seat. The fixing seat is fixedly connected to the seedling tube and is located on the outer side wall of the seedling tube. The fixing seat has two fixing holes.

4. The depth - adaptive rice - transplanting device according to claim 3, characterized in that, the depth - adaptive rice - transplanting device further includes a protective cover. The protective cover is fixedly connected to the mounting plate and is located on the outer side wall of the mounting plate. The motor is located inside the protective cover.

5. The depth - adaptive rice - transplanting device according to claim 1, characterized in that, The transplanting claw is composed of two symmetrically arranged clamping plates.

6. The depth-adaptive transplanting device according to claim 1, wherein the seedling cylinder is trumpet-shaped.

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