CN107241948A - Automatic transplanter, which takes, feeds control system and its control method - Google Patents
Automatic transplanter, which takes, feeds control system and its control method Download PDFInfo
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- CN107241948A CN107241948A CN201610918183.4A CN201610918183A CN107241948A CN 107241948 A CN107241948 A CN 107241948A CN 201610918183 A CN201610918183 A CN 201610918183A CN 107241948 A CN107241948 A CN 107241948A
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- seedling
- claw
- taking
- hole tray
- cylinder
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
Taken the invention provides a kind of automatic transplanter and feed control system and its control method, comprising shifting disk control system, seedling taking control system, throw seedling control system, programmable controller；Using stepper motor and two main power sources of engine in situ, chassis power source is delivered separately to plant duckbilled and seedling separation rotation cup and provides source of the gas while connecting inflator pump for cylinder, the motor coordination between each part only is realized with 5 sensors and 1 encoder, touch screen design operation interface and the real-time monitoring alarm of energy is utilized.
Description
Technical field
The invention belongs to field of agricultural mechanical automation, and in particular to a kind of automatic transplanter, which takes, feeds control system and its control
Method processed.
Background technology
Transplant and plant the growing process that can shorten crop, the combat a natural disaster drought-resistant ability, reduction of raising crop need secondary reseed
Phenomenon, while the growth cycle of crop can be increased, crop yield and quality is improved.China's transplanter has before wide market
Scape, is formally announced《2012-2014 countries support the Agricultural Machinery Design catalogue promoted》It has been shown that, includes the transplanter of catalogue
Up to 27 kinds, 12 enterprises, country's transplanter is also based on semi-automatic transplanter at present, transplanting efficiency bottom, labor workload
Greatly, thus time saving and energy saving full-automatic transplantation be from now on transplanting equipment development Main way.
Patent CN104737686A discloses a kind of automatic transplanter for plug seedling motor coordination control system and control method,
It is combined by PLC with relay, is realized with relay on-off electricity and the coordination that transplanter is acted is controlled, control system is more
Complexity, laterally enters disc mechanism and takes up space booth work unsuitable greatly, and transplanting efficiency is limited.CN104808573A discloses a kind of shifting
Cultivation machine control system, realizes that whole transplant uses 6 in process, but system using a variety of position sensors of motor leading screw R. concomitans
Individual stepper motor power is excessive, and control system cost is high, and control flow is complicated.CN103294058A discloses a kind of for column
Control system and control method are transplanted by the robot of cultivation, are only applicable to indoor flower and transplant and fill the gaps with seedlings and bad rejecting operation.
The content of the invention
For Shortcomings in the prior art, taken automatically the invention provides a kind of Plug seedling and feed control system and controlling party
Method, using stepper motor and two main power sources of engine in situ, plant duckbilled and seedling separation are delivered separately to by chassis power source
Rotation cup connects inflator pump and provides source of the gas for cylinder simultaneously, and the motion between each part is only realized with 5 sensors and 1 encoder
Coordinate.
The present invention is to realize above-mentioned technical purpose by following technological means.
A kind of automatic transplanter, which takes, feeds control system, is comprising moving disk control system, seedling taking control system, throwing seedling control
System, programmable controller；
Moving disk control system includes stepper motor driver, longitudinal direction shifting disk stepper motor, laterally moves disk cylinder, hole tray position
Sensor and hole tray counter, the longitudinal direction are moved disk stepper motor, the horizontal disk cylinder that moves and are connected respectively with programmable controller, walk
Stepper motor driver control longitudinally moves the work of disk stepper motor, and drives hole tray to realize length feed, laterally moves disk cylinder and drives
Hole tray realizes traverse feed；
The hole tray position sensor is located at seedling claw and overturns seedling taking correspondence position, can finely tune up and down, with PLC technology
Device is connected, and disk position, triggering seedling taking motion are initially entered for positioning hole tray；
The hole tray counter is triggered by stepper motor direct impulse, and stepper motor often sends a direct impulse, under
Shifting number of times adds one and records the line number that hole tray is moved down with this；
Hole tray position sensor initially enters disk position, triggering seedling taking motion for positioning hole tray；Hole tray counter measures cave
The line number that disk is moved down；
Seedling taking control system includes seedling picking mechanism, magnetic valve, magnetic switch A, magnetic switch B, magnetic switch C, seedling taking machine
Structure include coulisse, small door frame, gate seedling taking tumble cylinder, seedling claw and big door frame, seedling claw number be n, n seedling claw into
Arrangement is put, and chute is provided with the coulisse, is fixedly installed on the chassis of the transplanter, described big two side arms of door frame
Bottom be rotatably attached to the chassis or with the relatively-stationary structure in the chassis, an and side of the big door frame
The bottom of arm is close to the coulisse or is rotatably mounted on the coulisse；The small door frame is rotatably installed in described big
The inner side of door frame side arm, it is connected with chute by bearing pin；The seedling claw is fixedly mounted on the small door frame；The gate takes
Seedling tumble cylinder be rotatably installed in coulisse or it is any with the relatively-stationary structure of coulisse on, the gate seedling taking overturns gas
The external part of the push rod of cylinder is rotated with big door frame and is connected；Magnetic switch A, magnetic switch B and magnetic switch C are respectively arranged in door
Correspondence stretches out position and the retraction limit position when stretching limit position of type seedling taking tumble cylinder, seedling claw contact pot seedling, and respectively with
Programmable controller is connected；The programmable controller also passes through magnetic valve and the seedling claw folding gas of end effector mechanism respectively
Cylinder, gate seedling taking tumble cylinder are connected；
Throw seedling control system include rows of seedling claw seeding separation arranged in parallel, incremental encoder, optoelectronic switch,
High-speed counter, throwing seedling impulse register, seedling cup counter, counting allow switch and photoelectric switch state register, described to take
Seedling pawl includes seedling taking cleoid, seedling pawl folding cylinder, magnetic valve, and it is many that the seeding separation includes series connection cyclization and can rotated with ring
Individual seedling cup, to accept the seedling that seedling claw is launched；
The incremental encoder is at the chassis transfer case of automatic transplanter actuating unit, for according to chassis transfer
The rotation of the tachometric survey seedling cup of case, and pulse is sent according to the rotation of seedling cup；
The seedling cup outer wall side that the photoelectric sensor of the optoelectronic switch is placed in seeding separation, for detecting seedling cup
Rotation,
The pulse that the high-speed counter is used for incremental encoder is counted；
The throwing seedling impulse register is used to store the corresponding throwing seedling number of pulses of each seedling claw；From seedling cup direction of rotation
Opposite direction is started at, the corresponding throwing seedling number of pulses An=[D of n-th of seedling claw0+ (n-1) × D] × B/C, wherein, B is equal to
Number of pulses produced by incremental encoder each rotation high-speed counter, C is equal to incremental encoder each rotation seedling cup
Corresponding pass by distance, D0Equal to the 1st seedling claw throwing spacing from, when referring to throwing seedling function on, first seedling claw center with
Distance between its latter Ge Miaobei center, D is equal to the distance between center of two neighboring seedling cup；
The seedling cup quantity that the rising edge signal that the seedling cup counter is produced according to optoelectronic switch passes through to rotation is counted
Number；
Counting allows the scope of switch control seedling cup rolling counters forward, when the counting of seedling cup counter is more than or equal to n-2,
The counting of seedling cup counter and high-speed counter is reset；
Photoelectric switch state register is used for the state for depositing optoelectronic switch, it is ensured that repeated trigger does not throw seedling during throwing seedling
Program；
Programmable controller turns according to the information command stepper motor driver Driving Stepping Motor of hole tray position sensor
Dynamic, hole tray supplies seedling with stepper motor quick rotation length feed, when hole tray moves to hole tray position sensor installation site, according to
Hole tray produces rising edge signal, judges that longitudinal direction is quickly entered disk finishing control stepper motor and stopped operating；And completed in a seedling taking
Start afterwards and laterally move disk cylinder, hole tray is moved to the left the distance of a cavities, carry out secondary seedling taking；It is again started up stepper motor
Longitudinal direction is moved down, and motor rotation distance is to specify after Plug seedling line space, seedling claw seedling taking；Laterally move disk and moved down with longitudinal direction and replace weight
Whole disc picking seedling is completed again.
According to magnetic switch A, magnetic switch B and magnetic switch C input signal, opened by solenoid valve control seedling claw
Cylinder, gate seedling taking tumble cylinder is closed to stretch, and seedling trigger point is thrown in positioning respectively, seedling claw is started to shrink at a little and seedling taking is completed
Point；
The step-by-step counting that incremental encoder is sent is obtained by high-speed counter, and according to the step-by-step counting, throwing seedling arteries and veins
The corresponding throwing seedling number of pulses of each seedling claw stored in register is rushed, sends and is controlled after drive signal amplifies through signal amplifier
The closure of the magnetic valve is made, drives seedling claw to carry out throwing seedling action by seedling pawl folding cylinder.
Further, photoelectric sensor and outer wall distance are 0~1mm.
Further, seedling claw number n is the horizontal single cavities number s of hole tray integral multiple.
Further, n is the horizontal single cavities number s of hole tray half, to realize interval seedling taking.
Further, the gate seedling taking tumble cylinder is rotary is arranged on gate seedling taking tumble cylinder installing plate
On, the gate seedling taking tumble cylinder installing plate is fixedly installed on coulisse, or the gate seedling taking tumble cylinder can be with
On chassis.
Further, the magnetic valve is two-position-five-way solenoid valve.
Further, the bearing pin is connected by duplex needle bearing with chute.
The automatic transplanter takes the control method for feeding control system, comprises the following steps：
Step 1：After transplanter starts, actuating unit drives planting apparatus and seedling cup to rotate, and programmable controller receives wink
When signal and control the whole set of seedling claw to open；
Step 2：Programmable controller instruction step motor driver Driving Stepping Motor is rotated, and hole tray is fast with stepper motor
Speed rotates length feed and supplies seedling, when moving to hole tray position sensor installation site, and it senses that hole tray produces rising edge signal,
Controlled by Programmable Controller stepper motor stops operating, and enters disk in place；
Step 3：Gate seedling taking tumble cylinder correspondence magnetic valve is connected, and gate seedling taking tumble cylinder starts to stretch out, seedling claw
Entire row is overturn, when gate seedling taking tumble cylinder continues to extend out to magnetic switch B, Controlled by Programmable Controller magnetic valve and then control
Seedling claw cylinder processed shrinks, and shrinks seedling taking pin, starts to grab seedling；When gate seedling taking tumble cylinder continues to extend out to magnetic switch C
When, seedling taking pin is retracted to limit position, grabs seedling completion；Controlled by Programmable Controller seedling taking tumble cylinder is retracted, when gate seedling taking is turned over
When rotaring cylinder is retracted to magnetic switch A, seedling claw is located above seeding separation, and seedling taking is completed；
Step 4：After the completion of seedling taking, laterally move disk cylinder and stretch out, be moved to the left a cavities distance, opening is removed under allowing
Close, and assign individual to seedling cup counter>N-2 initial value, resets incremental encoder correspondence high-speed counter, high-speed counter
Again from zero count, seedling cup counter is also reset；When high-speed counter value be more than or equal to throw and set in seedling impulse register the
When one seedling claw throws seedling number of pulses, the corresponding seedling claw cylinder of first seedling claw promotes the seedling claw to open, and is thrown
Seedling；When high-speed counter value, which is more than or equal to, throws the second seedling claw throwing seedling number of pulses set in seedling impulse register, the
The corresponding seedling claw cylinder of two seedling claws promotes the seedling claw to open, and carries out throwing seedling；Seedling is thrown sequentially into n-th of seedling claw；
Step 5：After last seedling claw is finished, opening allows counter switch, and seedling cup counter is counted from zero, together
When triggering gate seedling taking tumble cylinder overturn seedling taking again, be repeated once step 3；
Step 6：After the completion of seedling taking, due to allowing to move down switch opening, forbid moving to left, programmable controller is to stepper motor
Driver relative displacement signal control stepper motor rotates specified angle, and hole tray moves down a cavities distance, and hole tray is counted
Device value adds 1, while allowing to move down switch closing.When seedling cup counter>=n-2, optoelectronic switch produces rising edge signal
When, reset incremental encoder correspondence high-speed counter, high-speed counter is again from zero count, and seedling cup counter is also reset；
When high-speed counter value, which is more than or equal to, throws the first seedling claw throwing seedling number of pulses set in seedling impulse register, first
The corresponding seedling claw cylinder of seedling claw promotes the seedling claw to open, and carries out throwing seedling；Seedling arteries and veins is thrown when high-speed counter value is more than or equal to
When rushing the second seedling claw throwing seedling number of pulses set in register, the corresponding seedling claw cylinder of second seedling claw is promoted should
Seedling claw opens, and carries out throwing seedling；Seedling is thrown sequentially into n-th of seedling claw；After last seedling claw is finished, opening allows counting to open
Close, seedling cup counter is counted from zero；
Step 7：Repeat step 3 arrives step 6, when hole tray Counter Value>During the line number -1 of hole tray used, the stepper motor
Disk is moved back in rotation, to next disk seedling carry out it is secondary enter disk；
Step 8：Repeat step 2 arrives step 7, until system is closed.
The automatic transplanter, which takes, feeds in control system, and programmable controller connects and controls stepper motor driver, transverse direction
Disk cylinder, Plug seedling position sensor, high-speed counter, seedling cup counter, control valve, seedling claw folding cylinder, gate is moved to take
Seedling tumble cylinder and magnetic switch A, magnetic switch B and magnetic switch C, with realize move disk control system, seedling taking control system and
Throw the interoperation of seedling control system.It is simply time saving, pick and place seedling speed soon, with seedling surely, seedling falls into seedling cup accuracy rate height, adjusts and ties up
Repair conveniently.
Brief description of the drawings
Fig. 1 is that automatic transplanter of the present invention takes hello control system general structure schematic diagram.
Fig. 2 is that automatic transplanter of the present invention takes hello control system seedling taking structural representation.
Fig. 3 is that automatic transplanter of the present invention takes hello control system figure.
Fig. 4 is that automatic transplanter of the present invention takes hello control system flow chart.
In figure：
1- chassis, 2- laterally move disk cylinder, 243- for seedling mechanism, 232-, and longitudinally shifting disk stepper motor, 25- hole trays position are passed
Sensor, 3- seedling picking mechanisms, 31- coulisses, 311- chutes, the small door frames of 32-, 33- gate seedling takings tumble cylinder, 34- seedling claws,
341- seedling claw foldings cylinder, the push rod of 342- seedling claw folding cylinders, 343- seedling takings cleoid, the big door frames of 35-, 36- magnetic are opened
Close A, 37- magnetic switch B, 38- magnetic switch C, 4- seeding separation, 44- seedlings cup, 46- photoelectric sensors, 47- increment types coding
Device, 62- chassis transfer case.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
Not limited to this.
As shown in Figure 1, Figure 3, automatic take of the present invention feeds control system, including programmable controller (PLC), shifting disk
Control system, seedling taking control system and throwing seedling control system.Moving disk control system includes stepper motor driver, longitudinal direction shifting disk step
Stepper motor 243, laterally shifting disk cylinder 232, hole tray position sensor 25 and hole tray counter.Stepper motor driver, longitudinal direction are moved
Disk stepper motor 243, the confession seedling mechanism 2 for laterally moving the composition transplanter of disk cylinder 232；Disk stepper motor 243, horizontal stroke are moved in the longitudinal direction
It is connected respectively with programmable controller to disk cylinder 232 is moved, the work of disk stepper motor 243 is moved in stepper motor driver control longitudinal direction
Make, and drive hole tray to realize length feed, laterally move disk cylinder 232 and drive hole tray to realize traverse feed.The hole tray position is passed
Sensor 25 is located at seedling claw 34 and overturns seedling taking correspondence position, is connected with programmable controller, and disk position is initially entered for positioning hole tray
Put, triggering seedling taking motion.The hole tray counter sends the line number that direct impulse signal record hole tray is moved down according to stepper motor.
The line number of Plug seedling is m.Plug seedling position sensor initially enters disk position, triggering seedling taking motion for positioning hole tray；Hole tray meter
The line number that number device metering hole tray is moved down.
As shown in Fig. 2 seedling taking control system includes seedling picking mechanism 3, magnetic valve, magnetic switch A36, magnetic switch B37, magnetic
Property switch C38.Seedling picking mechanism 3 includes coulisse 31, small door frame 32, gate seedling taking tumble cylinder 33, seedling claw 34 and big door frame
35, the number of seedling claw 34 is n, and n seedling claw 34 is arranged in rows.Chute 311 is provided with the coulisse 31, institute is fixedly installed on
State on the chassis 1 of transplanter.The bottom of 35 two side arms of big door frame be rotatably attached to the chassis 1 or with the bottom
In the relatively-stationary structure of disk 1, and a side arm of the big door frame 35 bottom close to the coulisse 31 or rotate
Ground is arranged on the coulisse 31.The small door frame 32 is rotatably installed in the inner side of the side arm of big door frame 35, by bearing pin
It is connected with chute 311；The seedling claw 34 is fixedly mounted on the small door frame 32.The gate seedling taking tumble cylinder 33 is rotated
On coulisse 31 or any and relatively-stationary structure of coulisse 31, the push rod of the gate seedling taking tumble cylinder 33
342 external part is rotated with big door frame 35 and is connected.Magnetic switch A36, magnetic switch B37 and magnetic switch C38 are respectively mounted
Correspondence stretches out position and the retraction limit position when stretching limit position of gate seedling taking tumble cylinder 33, the contact pot seedling of seedling claw 34,
And be connected respectively with programmable controller；The programmable controller also passes through the seedling taking of magnetic valve and end effector mechanism respectively
Pawl folding cylinder 341, gate seedling taking tumble cylinder 33 are connected.
Throwing seedling control system includes the seeding separation 4 arranged in parallel with rows of seedling claw 34, incremental encoder 47, light
Electric switch, high-speed counter, throwing seedling impulse register, seedling cup counter, counting allow switch and photoelectric switch state register.
The seedling claw 34 includes seedling taking cleoid 343, seedling pawl folding cylinder 341, magnetic valve, and the seeding separation 4 includes series connection cyclization
And the multiple seedlings cup 44 that can be rotated with ring, to accept the seedling that seedling claw 34 is launched.
The incremental encoder 47 is at the chassis transfer case 62 of automatic transplanter actuating unit, for according to seedling separation
The rotation of the tachometric survey seedling cup 44 of the chassis transfer case 62 of mechanism 4, and pulse is sent according to the rotation of seedling cup 44.
The 44 outer wall sides of seedling cup that the photoelectric sensor 46 of the optoelectronic switch is placed in seeding separation 4, for examining
The rotation of seedling cup 44 is surveyed, the pulse that the high-speed counter is used for incremental encoder 47 is counted.The throwing seedling pulse
Register is used to store the corresponding throwing seedling number of pulses of each seedling claw 34；From 44 direction of rotation of seedling cup, opposite direction is started at,
The corresponding throwing seedling number of pulses An=[D of n-th of seedling claw 340+ (n-1) × D] × B/C, wherein, B is equal to incremental encoder
Number of pulses produced by 47 each rotation high-speed counters, C is equal to the correspondence of 47 each rotation seedling cup of incremental encoder 44 and walked
Cross distance, D0Equal to the 1st seedling claw 34 throwing spacing from, refer to throwing seedling function on when, first center of seedling claw 34 and its
Distance between the latter center of Miao Bei 44, D is equal to the distance between center of two neighboring seedling cup 44.The seedling cup counter root
Seedling 44 quantity of cup that the rising edge signal produced according to optoelectronic switch passes through to rotation are counted.Counting allows switch control seedling cup
The scope of rolling counters forward, when the counting of seedling cup counter is more than or equal to n-2, by seedling cup counter and the meter of high-speed counter
Number is reset.Photoelectric switch state register is used for the state for depositing optoelectronic switch, it is ensured that repeated trigger does not throw seedling during throwing seedling
Program.
Programmable controller is according to the information command stepper motor driver Driving Stepping Motor of hole tray position sensor 25
Rotate, hole tray supplies seedling with stepper motor quick rotation length feed, and hole tray moves to the installation site of hole tray position sensor 25 i.e.
When seedling claw 34 overturns seedling taking correspondence position, rising edge signal is produced according to hole tray, judges that disk finishing control step is quickly entered in longitudinal direction
Stepper motor stops operating；And start after the completion of a seedling taking and laterally move disk cylinder 232, hole tray is moved to the left cavities
Distance, carries out secondary seedling taking；It is again started up stepper motor longitudinally to move down, motor rotation distance is to specify after Plug seedling line space,
The seedling taking of seedling claw 34；Laterally move disk and be alternately repeated completion whole disc picking seedling with longitudinal move down.
According to magnetic switch A36, magnetic switch B37 and magnetic switch C38 input signal, taken by solenoid valve control
Seedling pawl folding cylinder 341, gate seedling taking tumble cylinder 33 are stretched, and seedling trigger point is thrown in positioning respectively, and seedling claw 34 is started to shrink at
Point and seedling taking complete point；The step-by-step counting that incremental encoder 47 is sent is obtained by high-speed counter, and according to the pulse
Count, throw the corresponding throwing seedling number of pulses of each seedling claw 34 stored in seedling impulse register, send drive signal through signal
The closure of the magnetic valve is controlled after amplifier amplification, drives seedling claw 34 to carry out throwing seedling action by seedling pawl folding cylinder.
Seedling is supplied by the shifting disk control system control, seedling taking is controlled by seedling taking control system, then by throwing seedling control system
By Plug seedling input seedling cup 44；As shown in figure 4, this takes the workflow for feeding control system as follows automatically：
Step 1：Start working；Transplanter starts, and actuating unit drives planting apparatus and seedling cup 44 to rotate, PLC technology
Device receives instantaneous signal and controls the whole set of seedling claw 34 to open；
Step 2：Programmable controller instruction step motor driver Driving Stepping Motor is rotated, and hole tray is fast with stepper motor
Speed rotates length feed and supplies seedling, when moving to hole tray 25 installation site of position sensor, and it senses that hole tray produces rising edge letter
Number, Controlled by Programmable Controller stepper motor stops operating, and enters disk in place；
Step 3：The correspondence magnetic valve of gate seedling taking tumble cylinder 33 is connected, and gate seedling taking tumble cylinder 33 starts to stretch out, and takes
The entire row of seedling pawl 34 is overturn, when gate seedling taking tumble cylinder 33 continues to extend out to magnetic switch B37, Controlled by Programmable Controller electricity
Magnet valve and then the cylinder contraction of control seedling claw 34, shrink seedling taking pin, start to grab seedling；When gate seedling taking tumble cylinder 33 continues to stretch
When going out to magnetic switch C38, seedling taking pin is retracted to limit position, grabs seedling completion；Controlled by Programmable Controller seedling taking tumble cylinder contracts
Return, when gate seedling taking tumble cylinder 33 is retracted to magnetic switch A36, seedling claw 34 is located at the top of seeding separation 4, and seedling taking is complete
Into；
Step 4：After the completion of seedling taking, laterally move disk cylinder 232 and stretch out, a cavities distance is moved to the left, under opening allows
Pass is removed, and assigns individual to seedling cup counter>N-2 initial value, resets the correspondence high-speed counter of incremental encoder 47, at a high speed
Counter is again from zero count, and seedling cup counter is also reset；Set when high-speed counter value is more than or equal to throw in seedling impulse register
When first fixed seedling claw 34 throws seedling number of pulses, the corresponding cylinder of seedling claw 34 of first seedling claw 34 promotes the seedling claw
34 open, and carry out throwing seedling；Second seedling claw 34 set in high-speed counter value is more than or equal to throwing seedling impulse register is thrown
During seedling number of pulses, the corresponding cylinder of seedling claw 34 of second seedling claw 34 promotes the seedling claw 34 to open, and carries out throwing seedling；Successively
Seedling is thrown to n-th of seedling claw 34；
Step 5：After last seedling claw 34 is finished, opening allows counter switch, and seedling cup counter is counted from zero,
Gate seedling taking tumble cylinder 33 is triggered simultaneously and overturns seedling taking again, is repeated once step 3；
Step 6：After the completion of seedling taking, due to allowing to move down switch opening, forbid moving to left, programmable controller is to stepper motor
Driver relative displacement signal control stepper motor rotates specified angle, and hole tray moves down a cavities distance, and hole tray is counted
Device value adds 1, while allowing to move down switch closing.When seedling cup counter>=n-2, optoelectronic switch produces rising edge signal
When, reset the correspondence high-speed counter of incremental encoder 47, high-speed counter is again from zero count, and seedling cup counter is also clear
Zero；When high-speed counter value, which is more than or equal to, throws the first seedling claw 34 throwing seedling number of pulses set in seedling impulse register,
The corresponding cylinder of seedling claw 34 of first seedling claw 34 promotes the seedling claw 34 to open, and carries out throwing seedling；When high-speed counter value is big
When equal to the second seedling claw 34 throwing seedling number of pulses set in seedling impulse register is thrown, second seedling claw 34 is corresponding
The cylinder of seedling claw 34 promotes the seedling claw 34 to open, and carries out throwing seedling.Seedling is thrown sequentially into n-th of seedling claw 34.Last seedling taking
After pawl 34 is finished, opening allows counter switch, and seedling cup counter is counted from zero；
Step 7：Repeat step 3 arrives step 6, when hole tray Counter Value>During the line number of hole tray used, stepper motor is rotated and moved back
Disk, to next disk seedling carry out it is secondary enter disk；
Step 8：Repeat step 2 arrives step 7, until system is closed.
By taking hello control system cooperation to realize for seedling, seedling taking automatically and throwing seedling, then pass through actuating unit band
Dynamic seeding separation 4 and planting mechanism are completed to send seedling and planted seedlings, it is possible to achieve complete automatic transplanting operation.
Hole tray the more commonly used at present is 6 × 12 or 8 × 16 hole tray, and corresponding line number is respectively 6 and 8.And correspondingly
In order to often row Plug seedling take in two times, the quantity of the seedling claw 34 on seedling picking mechanism 3 is respectively accordingly 6 and 8
It is individual.According to the mentality of designing of the present invention, those skilled in the art are contemplated that confession seedling, seedling taking and the throwing seedling side of other types hole tray
Method, or based on the method that provides of the present invention, those skilled in the art can make some equivalence replacements, for example will every row Plug seedling one
Secondary or take in three times, the setting of corresponding control method and the quantity of seedling claw 34 can be readily derived, and not do superfluous herein
State.
The control system of the present invention can design different subprograms according to different hole trays, pass through in implementation process
Switch to adapt to different hole trays between subprogram.
For the present invention preferred embodiment, but the present invention is not limited to above-mentioned embodiment to the embodiment, not
In the case of the substantive content of the present invention, any conspicuously improved, replacement that those skilled in the art can make
Or modification belongs to protection scope of the present invention.
Claims (8)
1. a kind of automatic transplanter, which takes, feeds control system, comprising move disk control system, seedling taking control system, throw seedling control system,
Programmable controller；
Moving disk control system includes stepper motor driver, longitudinal direction shifting disk stepper motor (243), laterally moves disk cylinder (232), cave
Disk position sensor (25) and hole tray counter, the longitudinal direction move disk stepper motor (243), laterally move disk cylinder (232) respectively
It is connected with programmable controller, disk stepper motor (243) work is moved in stepper motor driver control longitudinal direction, and drives hole tray to realize
Length feed, laterally moves disk cylinder (232) and drives hole tray to realize traverse feed；
The hole tray position sensor (25) is located at seedling claw (34) and overturns seedling taking correspondence position, is connected with programmable controller,
Initially enter disk position, triggering seedling taking motion for positioning hole tray；
The hole tray counter is triggered by the stepper motor (243) direct impulse, and the stepper motor (243) often sends one
Secondary direct impulse, moves down number of times and plus one and record the line number that hole tray is moved down with this；
Hole tray position sensor (25) initially enters disk position, triggering seedling taking motion for positioning hole tray；Hole tray counter measures cave
The line number that disk is moved down；
Seedling taking control system includes seedling picking mechanism (3), magnetic valve, magnetic switch A (36), magnetic switch B (37), magnetic switch C
(38), seedling picking mechanism (3) include coulisse (31), small door frame (32), gate seedling taking tumble cylinder (33), seedling claw (34) and greatly
Door frame (35), seedling claw number is n, and n seedling claw (34) is arranged in rows, and chute (311) is provided with the coulisse (31), is consolidated
Surely it is arranged on the chassis of the transplanter (1), the bottom of big (35) two side arms of door frame is rotatably attached to the bottom
Disk (1) or with the chassis (1) relatively-stationary structure, and the bottom of a side arm of the big door frame (35) is close
The coulisse (31) is rotatably mounted on the coulisse (31)；The small door frame (32) is rotatably installed in described big
The inner side of door frame (35) side arm, it is connected with chute (311) by bearing pin (321)；The seedling claw (34) is fixedly mounted on described
On small door frame (32)；The gate seedling taking tumble cylinder (33) is rotatably installed in coulisse (31) or any and coulisse (31)
In relatively-stationary structure, the external part of the push rod of the gate seedling taking tumble cylinder (33) is rotated with big door frame (35) to be connected；
Magnetic switch A (36), magnetic switch B (37) and magnetic switch C (38) are respectively arranged in gate seedling taking tumble cylinder (33)
Correspondence stretches out position and the retraction limit position when stretching out limit position, seedling claw (34) contact pot seedling, and respectively with programmable controller
It is connected；The programmable controller is also taken by the seedling claw folding cylinder (341) of magnetic valve and seedling claw (34), gate respectively
Seedling tumble cylinder (33) is connected；
Throw seedling control system include the seeding separation (4) arranged in parallel with rows of seedling claw (34), incremental encoder (47),
Photoelectric sensor (46), high-speed counter, throwing seedling impulse register, seedling cup counter, counting allow switch and photoelectric sensor
(46) status register, the seedling claw (34) includes seedling taking cleoid (343), seedling pawl folding cylinder (341), magnetic valve, described
Seeding separation (4) includes multiple seedlings cup (44) that series connection is cyclic and can be rotated with ring, to accept the seedling that seedling claw (34) is launched；
The incremental encoder (47) is at the seeding separation transfer case of automatic transplanter actuating unit, for according to transfer
The rotation of the tachometric survey seedling cup (44) of case, and pulse is sent according to the rotation of seedling cup (44)；
Seedling cup (44) outer wall side that the photoelectric sensor (46) is placed in seeding separation (4), for detecting seedling cup
(44) rotation,
The pulse that the high-speed counter is used for incremental encoder (47) is counted；
The throwing seedling impulse register is used to store the corresponding throwing seedling number of pulses of each seedling claw (34)；From seedling cup (44) rotation
Direction in opposite direction is started at, corresponding throwing seedling number of pulses An=[D0+ (n-1) × the D] × B/C of n-th of seedling claw (34), its
In, B is equal to the number of pulses produced by incremental encoder (47) each rotation high-speed counter, and C is equal to incremental encoder
(47) each rotation seedling cup (44) correspondence is passed by distance, and D0 is equal to the throwing spacing of the 1st seedling claw (34) from referring to throwing seedling function and open
When dynamic, distance between first seedling claw (34) center and its latter seedling cup (44) center, D is equal to two neighboring seedling cup (44)
The distance between center；
Seedling cup (44) quantity that the rising edge signal that the seedling cup counter is produced according to photoelectric sensor (46) passes through to rotation
Counted；
Counting allows the scope of switch control seedling cup rolling counters forward, when the counting of seedling cup counter is more than or equal to n-2, by seedling
The counting of cup counter and high-speed counter is reset；
Photoelectric sensor status register is used to deposit the states of photoelectric sensor (46), it is ensured that throw during seedling not repeated trigger
Throw seedling program；
Programmable controller is according to the information command stepper motor driver Driving Stepping Motor of hole tray position sensor (25)
(243) rotate, hole tray supplies seedling with stepper motor (243) quick rotation length feed, and hole tray moves to hole tray position sensor
(25) during installation site, rising edge signal is produced according to hole tray, judges that longitudinal direction is quickly entered disk finishing control stepper motor (243) and stopped
Rotation stop is moved；And start laterally shifting disk cylinder (232) after the completion of a seedling taking, hole tray is moved to the left the distance of a cavities,
Carry out secondary seedling taking；It is again started up stepper motor (243) longitudinally to move down, motor rotation distance is to specify after Plug seedling line space,
Seedling claw (34) seedling taking；Laterally move disk and be alternately repeated completion whole disc picking seedling with longitudinal move down.
According to magnetic switch A (36), magnetic switch B (37) and magnetic switch C (38) input signal, pass through solenoid valve control
Seedling claw (34) folding cylinder, gate seedling taking tumble cylinder (33) are stretched, and seedling trigger point is thrown in positioning respectively, and seedling claw (34) is opened
Beginning constriction point and seedling taking complete point；
The step-by-step counting that incremental encoder (47) is sent is obtained by high-speed counter, and according to the step-by-step counting, throwing seedling arteries and veins
The corresponding throwing seedling number of pulses of each seedling claw (34) stored in register is rushed, drive signal is sent and amplifies through signal amplifier
The closure of the magnetic valve is controlled afterwards, drives seedling claw (34) to carry out throwing seedling action by seedling pawl folding cylinder.
2. automatic transplanter according to claim 1 throws seedling control system, it is characterised in that photoelectric sensor (46) with it is outer
Wall distance is 0~1mm.
3. automatic transplanter according to claim 1 throws seedling control system, it is characterised in that seedling claw (34) number n is
The horizontal single cavities number s of hole tray integral multiple.
4. automatic transplanter according to claim 1 throws seedling control system, it is characterised in that n is hole tray laterally single cave
Hole count s half, to realize interval seedling taking.
5. automatic transplanter seedling taking control system according to claim 1, it is characterised in that the gate seedling taking overturns gas
Cylinder (33) is rotary to be arranged on gate seedling taking tumble cylinder (33) installing plate (331), the gate seedling taking tumble cylinder
(33) installing plate (331) is fixedly installed on coulisse (31), or the gate seedling taking tumble cylinder (33) may be mounted at
On chassis (1).
6. automatic transplanter seedling taking control system according to claim 1, it is characterised in that the magnetic valve is two five
Three-way electromagnetic valve.
7. automatic transplanter seedling taking control system according to claim 1, it is characterised in that the bearing pin (321) passes through
Duplex needle bearing is connected with chute (311).
8. automatic transplanter described in claim 1 takes the control method for feeding control system, it is characterised in that comprise the following steps：
Step 1：After transplanter starts, actuating unit drives planting apparatus and seedling cup (44) to rotate, and programmable controller receives wink
When signal and control the whole set of seedling claw (34) to open；
Step 2：Programmable controller instruction step motor driver Driving Stepping Motor (243) is rotated, and hole tray is with stepper motor
(243) quick rotation length feed supplies seedling, when moving to hole tray position sensor (25) installation site, and it senses that hole tray is produced
Rising edge signal, Controlled by Programmable Controller stepper motor (243) stops operating, and enters disk in place；
Step 3：Gate seedling taking tumble cylinder (33) correspondence magnetic valve is connected, and gate seedling taking tumble cylinder (33) starts to stretch out, and takes
Seedling pawl (34) entire row is overturn, when gate seedling taking tumble cylinder (33) continues to extend out to magnetic switch B (37) (37), programmable control
Device control magnetic valve processed and then the cylinder contraction of control seedling claw, shrink seedling taking pin, start to grab seedling；When gate seedling taking tumble cylinder
(33) when continuing to extend out to magnetic switch C (38), seedling taking pin is retracted to limit position, grabs seedling completion；Controlled by Programmable Controller takes
Seedling tumble cylinder is retracted, and when gate seedling taking tumble cylinder (33) is retracted to magnetic switch A (36) (36), seedling claw (34) is located at
Above seeding separation (4), seedling taking is completed；
Step 4：After the completion of seedling taking, laterally move disk cylinder (232) and stretch out, be moved to the left a cavities distance, opening allows to move down
Switch, and assign individual to seedling cup counter>N-2 initial value, resets incremental encoder (47) correspondence high-speed counter, at a high speed
Counter is again from zero count, and seedling cup counter is also reset；Set when high-speed counter value is more than or equal to throw in seedling impulse register
When first fixed seedling claw (34) throws seedling number of pulses, the corresponding seedling claw cylinder of first seedling claw (34) promotes the seedling taking
Pawl (34) opens, and carries out throwing seedling；When high-speed counter value is more than or equal to second seedling claw thrown and set in seedling impulse register
(34) when throwing seedling number of pulses, the corresponding seedling claw cylinder of second seedling claw (34) promotes the seedling claw (34) to open, and carries out
Throw seedling；Seedling is thrown sequentially into n-th of seedling claw (34)；
Step 5：After last seedling claw (34) is finished, opening allows counter switch, and seedling cup counter is counted from zero, together
When triggering gate seedling taking tumble cylinder (33) overturn seedling taking again, be repeated once step 3；
Step 6：After the completion of seedling taking, due to allowing to move down switch opening, forbid moving to left, programmable controller is to driving stepper motor
Device relative displacement signal control stepper motor (243) rotates specified angle, and hole tray moves down a cavities distance, and hole tray is counted
Device value adds 1, while allowing to move down switch closing.When seedling cup counter>=n-2, photoelectric sensor (46) produces rising
During along signal, reset incremental encoder (47) correspondence high-speed counter, high-speed counter is again from zero count, and seedling cup is counted
Device is also reset；When high-speed counter value is more than or equal to first seedling claw (34) the throwing seedling pulse thrown and set in seedling impulse register
During numerical value, the corresponding seedling claw cylinder of first seedling claw (34) promotes the seedling claw (34) to open, and carries out throwing seedling；When high speed is counted
When number device value is more than or equal to second seedling claw (34) the throwing seedling number of pulses set in throwing seedling impulse register, second seedling taking
The corresponding seedling claw cylinder of pawl promotes the seedling claw (34) to open, and carries out throwing seedling；Seedling is thrown sequentially into n-th of seedling claw (34)；Most
After latter seedling claw (34) finishes, opening allows counter switch, and seedling cup counter is counted from zero；
Step 7：Repeat step 3 arrives step 6, when hole tray Counter Value>During the line number -1 of hole tray used, the stepper motor
(243) rotate move back disk, to next disk seedling carry out it is secondary enter disk；
Step 8：Repeat step 2 arrives step 7, until system is closed.
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| CN201610918183.4A CN107241948B (en) | 2016-10-20 | 2016-10-20 | Automatic transplanter, which takes, feeds control system and its control method |
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| CN201610918183.4A CN107241948B (en) | 2016-10-20 | 2016-10-20 | Automatic transplanter, which takes, feeds control system and its control method |
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| CN108064512A (en) * | 2017-11-30 | 2018-05-25 | 江苏大学 | A kind of transplanter crank block type is divided into seedlings apparatus and method |
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| CN109804758A (en) * | 2019-01-04 | 2019-05-28 | 丰疆智慧农业股份有限公司 | Equipment of filling the gaps with seedlings and its control method and carrying are filled the gaps with seedlings the high-speed transplanter of equipment |
| CN112237076A (en) * | 2020-09-25 | 2021-01-19 | 江苏大学 | Air-blowing wrapping type seedling taking device and transplanter provided with same |
| CN113508668A (en) * | 2021-07-09 | 2021-10-19 | 山东农业大学 | Automatic seedling separating, taking and throwing device for bare sweet potato seedlings and control system thereof |
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| CN112237076A (en) * | 2020-09-25 | 2021-01-19 | 江苏大学 | Air-blowing wrapping type seedling taking device and transplanter provided with same |
| CN112237076B (en) * | 2020-09-25 | 2022-07-22 | 江苏大学 | Air-blowing wrapping type seedling taking device and transplanter provided with same |
| CN113508668A (en) * | 2021-07-09 | 2021-10-19 | 山东农业大学 | Automatic seedling separating, taking and throwing device for bare sweet potato seedlings and control system thereof |
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