CN108207224A - A kind of potted-seedling transplanting platform automatic control system - Google Patents
A kind of potted-seedling transplanting platform automatic control system Download PDFInfo
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- CN108207224A CN108207224A CN201810319047.2A CN201810319047A CN108207224A CN 108207224 A CN108207224 A CN 108207224A CN 201810319047 A CN201810319047 A CN 201810319047A CN 108207224 A CN108207224 A CN 108207224A
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- 238000004064 recycling Methods 0.000 claims abstract description 42
- 230000001360 synchronised effect Effects 0.000 claims abstract description 24
- 241000239290 Araneae Species 0.000 claims abstract description 6
- 239000002689 soil Substances 0.000 claims description 17
- 239000004973 liquid crystal related substance Substances 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 4
- 241000209094 Oryza Species 0.000 description 4
- 235000007164 Oryza sativa Nutrition 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 235000009566 rice Nutrition 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000012827 research and development Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012258 culturing Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000013340 harvest operation Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000002054 transplantation Methods 0.000 description 1
- 235000013311 vegetables Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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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- Life Sciences & Earth Sciences (AREA)
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- Transplanting Machines (AREA)
Abstract
The invention discloses a kind of potted-seedling transplanting platform automatic control systems, it includes, the lateral support plate of first and second tail end, seed plate rotary roller, bearing spider, first and second cycle put seedling pawl etc., and seed plate rotary roller is connected by cod with the lateral support plate of first and second tail end respectively；First circulation puts seedling pawl and puts seedling pawl strut support by first, and the output shaft of the first stepper motor puts seedling pawl strut with second and is connected, and second circulation puts seedling pawl and puts seedling pawl strut support by second；Cross slide way passes through synchronous belt to clamp bearing by through-hole, and cross slide way end is supported by guide rail hold-down support.The system can realize that the automatic seedling taking of multiple row pot seedling, putting seedling, seed plate, recycling acts automatically, the speed for realize seedling taking simultaneously, putting seedling is adjustable, it is automatic to count, automatically controlled adjusting, which reduces, hinders seedling ratio, Real-time Feedback device actual travel speed, reduce ground wheel slip error rate, realize that pot seedling is uniformly transplanted, improve working efficiency.
Description
Technical field
The invention belongs to agricultural machinery technological fields, and in particular to a kind of potted-seedling transplanting platform automatic control system is applicable in
It is transplanted automatically in realization pot seedling, the automatic recycling of seed plate.
Background technology
Artificial transplanting is to be only second to the larger activity of a labor intensity of harvest operation, if it is desired to improving labour life
Produce efficiency, it is necessary to which, using the higher transplanting mechanization equipment of the degree of automation, mechanization hole plate seedling growth technology can shorten nursery
Period improves the efficiency and the degree of automation of culturing and transplanting seedlings, and most of vegetables are planted in a manner of culturing and transplanting seedlings, at present, automatically
The robot for being turned into industry is broadly divided into two kinds：A kind of is the land use humanoid robot applied to large area operation；One kind is machine
Tool hand Series machine people, the former research be concentrated mainly on independent navigation and it is unmanned on, emphasis be information acquisition
With processing and automation control；The main goal in research of the latter is automatic identification, and autonomous positioning and manipulator perform the excellent of end
Change.A kind of transplant robots with SNS clampers of Tin et al. based on four-degree-of-freedom development etc..In recent years, Holland, the U.S.,
South Korea etc. country again has developed a variety of large-scale pot seedling transplanters for chamber operation production line, wherein, Dutch shuttle trade and
The automatic transplanter of engineering company's research and development can be with simultaneous transmission polydisc rice shoot, and performing the number of end can also adjust, and designs
Special device for visual identification, can identify hole using CCD, and adaptability is stronger, can be suitble to different user demands,
With preferable development prospect, but its structure is complex, expensive, volume is big, with China's industrialized agriculture production model at this stage
Bad adaptability, external Potted-seedling transplanting technology has realized seedling taking, conveying, plant, but can only be suitble to large area planting scale.
Domestic seedling-raising technique is backward, equipment performance is unstable so that the research and development of dry land transplanter tool are still in the elementary step,
Most of R＆D work is merely resting on the model machine stage, does not enter into production practices link.In recent years, with upland nursery
The research and extension of transplantation technique, dry land transplanter tool initially enters the production practical stage, novel mostly based on semi-automatic
Transplanting equipment, but since the country is mostly individual farmer, acreage under cultivation is small, and arable land topography is uneven, is not suitable for large-scale transplanting
Machine operation, peasant economy strength is also limited, and all based on transplanting by hand, there have with developed countries to be apparent poor in most of areas
Away from the country mainly has clamp type that manually rice shoot is placed on the clamp of rotation when transplanting machine operation, and rice shoot is clamped, and with transplanting
Disk rotates, but clamp type easily hinders seedling, and working efficiency is low, when planting speed is high, manually feeds seedling leakiness and plants, chain-clip type transplanter work
Make component to be mainly made of chain-clip type planting apparatus, slideway, plough, earthing wheel, transmission device and rack etc..In addition to the kind of drive
Outside, operation principle is identical with clamp type, and this transplanter transplanting plant spacing is accurate, and the upright degree of rice shoot is preferable, feeds seedling and send seedling mistake
Journey is reliable and stable, but productivity is low, easily hinders seedling, seedling folder number in Qie Weimiao areas is few, and in being arranged above and below, if planting speed is excessively high
When, easily there is leakage and plant phenomenon.The transplanter systematization controlling extent of domestic independent development is inadequate, and seed plate recycling is also not implemented automatic
Change, and seedling taking is carried out there is still a need for artificial, for the process mostly individually using Purely mechanical mode seedling taking, action is single, automates journey
Degree is not high, and efficiency is affected, and soil out-of-flatness in nonirrigated farmland easily leads to ground wheel slip, causes to transplant uneven.
Invention content
It is an object of the present invention to provide a kind of potted-seedling transplanting platform automatic control system, which can realize multiple row pot seedling
Automatic seedling taking, putting seedling, seed plate, recycling acts automatically, at the same realize seedling taking, the speed of putting seedling is adjustable, automatic to count, automatically controlled adjusting
Seedling ratio is hindered in reduction, and Real-time Feedback device actual travel speed reduces ground wheel slip error rate, realizes that pot seedling is uniformly transplanted, carries
High working efficiency.
To achieve these goals, the present invention uses following technical scheme：
A kind of potted-seedling transplanting platform automatic control system, it includes, the lateral support plate of the first tail end, seed plate rotary roller, the second tail end
Lateral support plate, bearing spider, first circulation put seedling pawl, recycling conveyer belt, seed plate recycling bins, seed plate recycling plate, vertical leading screw, seedling
Disk accepts bottom plate, YCJM deceleration devices, oblique conveyer belt, storage seedling frame, synchronous cross band, seedling taking gripper, land wheel, hall sensing
Device, the first lateral support pedestal, the first stepper motor, spindle motor, circuit control assembly, cam slewing equipment, photoelectric sensing
Device, actuated by cams motor, guide rail hold-down support, cross slide way, the first steering engine, vertical tooth form lifter plate, the second steering engine, lifting tooth
Wheel, loosen the soil roller, second circulation of seed plate put seedling pawl, the first synchronizing wheel, the second synchronizing wheel, which is characterized in that the seed plate revolution
By cod, support plate lateral with the first tail end, the lateral support plate of the second tail end are connected roller respectively；The first circulation puts seedling
Pawl puts seedling pawl strut support by first, and first puts seedling pawl strut is connected with the 4th stepper motor output shaft, the 4th stepper motor with
First lateral support pedestal is connected；The recycling conveyer belt is supported by recycling conveyer belt side plate, and recycling conveyer belt side plate passes through
Bottom bracket is connected；The seed plate recycling bins are connected with bottom bracket.
The seed plate recycling plate is supported by cam slewing equipment；The cam slewing equipment and actuated by cams motor
Output terminal is connected.
The vertical leading screw is connected respectively with the output shaft of spindle motor, leading screw hold-down support；The inclined support
It is connected respectively with seed plate bearing plate, vertical supports；The YCJM deceleration devices output terminal and oblique conveyer belt power intake
It is connected, YCJM deceleration devices input terminal is connected with the second stepper motor；The oblique conveyer belt passes through the first oblique support plate,
Two oblique support plate supports are fixed；Seed plate is supported by oblique conveyer belt；The band tooth of the synchronous cross band by the first synchronizing wheel,
Second synchronizing wheel engages.
The seedling taking gripper is supported by hexagonal post, and hexagonal post is connected with hex nut by screw thread；Described
First steering engine is connected on vertical tooth form lifter plate, and the output terminal of the first steering engine is connected with gripper drive shaft；Described second
Steering engine, vertical tooth form lifter plate are connected respectively with lifter wheel, and vertical tooth form lifter plate is engaged with lifter wheel by tooth form；Institute
Vertical tooth form lifter plate, the second steering engine stated are connected respectively with synchronous belt clamping bearing.
The seed plate roller that loosens the soil is connected by bearing spider with the first oblique support plate, the second oblique support plate.
The output shaft of first stepper motor puts seedling pawl strut with second and is connected；The second circulation puts seedling pawl
Seedling pawl strut support is put by second.
The cross slide way passes through synchronous belt to clamp bearing by through-hole, and cross slide way end is propped up by guide rail hold-down support
Support；The synchronous cross band is fixed on synchronous belt clamping bearing.
The circuit control assembly includes accumulator output end, stepper motor driving circuit, 7812 regulator circuits, 7805
Regulator circuit, singlechip controller, liquid crystal display, speed governing button, wherein accumulator output end export 36V direct current signals, respectively
It is connected with stepper motor driving circuit input terminal, 7812 regulator circuit input terminals, 7805 regulator circuit input terminals；7812 voltage stabilizings electricity
Signal input part of the road signal output end respectively with the first steering engine, the second steering engine is connected；7805 circuit output end of pressure-stabilizing respectively with
First Hall sensor, the second Hall sensor, third Hall sensor, the 4th Hall sensor, photoelectric sensor, microcontroller
The signal input part of controller is connected；Stepper motor driving circuit signal output end respectively with the first stepper motor, the second stepping
Motor, third stepper motor, the 4th stepper motor, actuated by cams motor, spindle motor signal input part are connected.
In the singlechip controller of the control circuit assembly, signal output end respectively with speed governing button, the first rudder
Machine, the second steering engine signal input part be connected；Photoelectric sensor, liquid crystal display signal output end respectively with singlechip controller
Signal input part be connected；The signal output end of speed governing button is connected with the signal input part of stepper motor driving circuit；First
Hall sensor, the second Hall sensor, third Hall sensor, the 4th Hall sensor signal output end respectively with monolithic
The signal input part of machine controller is connected.
First land wheel, the second land wheel, third land wheel, the 4th land wheel are connected respectively with ground wheel drive shaft；Described
First Hall sensor, the second Hall sensor, third Hall sensor, the 4th Hall sensor are consolidated respectively with vertical strut
Even.
Further, the first lateral support pedestal, the second lateral support base respectively with the first oblique support plate,
Two oblique support plates are connected.
Further, the actuated by cams motor is connected with hoistable platform stent, hoistable platform stent and vertical leading screw
It is connected by screw thread.
By above-mentioned technical measures, the component of most critical is that cycle puts seedling pawl, seed plate rotary roller, recycling conveyer belt, the
One land wheel, the second land wheel, third land wheel, the 4th land wheel, vertical leading screw, oblique conveyer belt, seedling taking gripper, synchronous cross band,
First Hall sensor, the second Hall sensor, third Hall sensor, the 4th Hall sensor, circuit control assembly, Chu Miao
Frame, liquid crystal display（12864）, photoelectric sensor, seed plate recycling bins, cam slewing equipment, vertical tooth form lifter plate, lifting tooth
Wheel, seed plate loosen the soil roller, hoistable platform stent, and the technological difficulties mainly solved are：Rack and pinion engagement realizes the lifting of gripper,
It is reliable and stable, the defects of traditional Purely mechanicals such as traditional machine machinery claw captures loosely, and dynamics is non-adjustable capture is overcome, reduces alms bowl
The damage ratio of seedling can realize that pot seedling is laterally transported, multiple lines and multiple rows transplanting pot seedling；The technical issues of solution is：Sliding rail platform is adopted
It is connected with synchronous belt, synchronizing wheel engagement is effectively improved the precision of displacement distance and the accuracy of manipulator crawl pot seedling, seedling
The disk roller that loosens the soil efficiently separates the soil of pot seedling and seed plate, and seed plate rotary roller realizes the recycling of seed plate and the separation of remaining seedling soil,
Multiple land wheels are equipped with Hall sensor, monitor equipment actual travel speed in real time, and feed back maximum (top) speed signal, reduce ground skidding
Shifting rate realizes in real time uniformly transplanting；The technique effect reached is：Microcontroller control terminal is equipped with liquid crystal display, according to photoelectric transfer
Sensor limit signal and Hall sensor tach signal record the number of recycling seed plate and the travel speed of replanting system in real time, single
The frequency that piece machine changes drive signal realizes that stepper motor rotating speed is adjustable, so as to fulfill the adjustability of transplanting speed.
Pot seedling device is transplanted compared to traditional Purely mechanical, which includes automatic control system, microcontroller
Control terminal is equipped with liquid crystal display, and the seed plate for recording transplanting machine hand in real time according to photoelectric sensor limit signal is recycled and transplanted
The number of pot seedling, gripper lifting is using gear ＆ rack structure, and stability is more preferable, and the frequency that microcontroller changes drive signal is realized
Stepper motor rotating speed is adjustable, and so as to fulfill the adjustability of transplanting speed, multiple Hall sensors monitor land wheel traveling rotating speed in real time,
Maximum (top) speed signal is screened so as to real-time feedback system gait of march by microcontroller, and then reduces ground wheel slip and causes transplanting not
The phenomenon that uniform, the potted-seedling transplanting platform automatic control system realize automatic fortune seedling, seedling taking, put seedling, seed plate recycling action,
With very big development prospect.
The prior art is compared to, advantages and advantages of the invention are：
（1）Lateral transplanter machinery claw stage apparatus is controlled using microcontroller, is adjusted pulse duty factor and is realized that gripper grabs the power of seedling
Spend damage ratio that is adjustable, and then reducing pot seedling；
（2）Two cross slide way parallel supports make transplanting platform more firm, and rack and pinion engagement realizes the lifting of gripper,
It is reliable and stable, the defects of traditional Purely mechanicals such as traditional machine machinery claw captures loosely, and dynamics is non-adjustable capture is overcome, reduces alms bowl
The damage ratio of seedling can realize that pot seedling is laterally transported, multiple lines and multiple rows transplanting pot seedling；
（3）Sliding rail platform is connected using synchronous belt, and synchronizing wheel engagement, the precision and manipulator for being effectively improved displacement distance is grabbed
Take the accuracy of pot seedling, the seed plate roller that loosens the soil efficiently separates the soil of pot seedling and seed plate, and seed plate rotary roller realizes the recycling of seed plate
With the separation of remaining seedling soil, multiple land wheels are equipped with Hall sensor, monitor equipment actual travel speed in real time, and feed back maximum turn
Fast signal reduces land wheel slip rate, realizes in real time uniformly transplanting；
（4）Microcontroller control terminal is equipped with liquid crystal display, according to photoelectric sensor limit signal and Hall sensor tach signal
The number of the seed plate of record recycling in real time and the travel speed of replanting system, the frequency that microcontroller changes drive signal realize stepping electricity
Machine rotating speed is adjustable, so as to fulfill the adjustability of transplanting speed.
（5）Pot seedling device, the potted-seedling transplanting platform automatic control system, microcontroller control are transplanted compared to traditional Purely mechanical
End processed is equipped with liquid crystal display, and the seed plate for recording transplanting machine hand in real time according to photoelectric sensor limit signal recycles and transplant alms bowl
The number of seedling, gripper lifting is using gear ＆ rack structure, and stability is more preferable, and the frequency that microcontroller changes drive signal realizes step
Stepper motor rotating speed is adjustable, and so as to fulfill the adjustability of transplanting speed, multiple Hall sensors monitor land wheel traveling rotating speed in real time, lead to
Microcontroller screening maximum (top) speed signal is crossed so as to real-time feedback system gait of march, and then reduces ground wheel slip and causes transplanting uneven
The phenomenon that even, the potted-seedling transplanting platform automatic control system realize automatic fortune seedling, seedling taking, put seedling, seed plate recycling action, tool
There is very big development prospect.
Description of the drawings
Fig. 1 is the three dimensional structure diagram on a kind of first direction of complete machine of potted-seedling transplanting platform automatic control system；
Fig. 2 is the three dimensional structure diagram on a kind of second direction of complete machine of potted-seedling transplanting platform automatic control system；
Fig. 3 is the three-dimensional structure signal on a kind of first direction of lateral transplanting platform of potted-seedling transplanting platform automatic control system
Figure；
Fig. 4 is that the three-dimensional structure on a kind of second direction of lateral transplanting platform of potted-seedling transplanting platform automatic control system is shown
It is intended to；
Fig. 5 is a kind of power-supplying circuit schematic diagram of potted-seedling transplanting platform automatic control system；
Fig. 6 is a kind of signal principle figure of potted-seedling transplanting platform automatic control system；
Wherein, 1 is the lateral support plate of the first tail end, and 2 be seed plate rotary roller, and 3 be the lateral support plate of the second tail end, and 4 be bearing block, and 5 are
Bottom bracket（2020）, 6 put seedling pawl for first circulation, and 7 be the first land wheel（Commonly）, 8 be the first Hall sensor
（A1344EUA-T）, 9 be recycling conveyer belt side plate, and 10 be recycling conveyer belt, and 11 be vertical supports（2020）, 12 be ground wheel drive
Axis, 13 be the second land wheel（Commonly）, 14 be the second Hall sensor（A1344EUA-T）, 15 be seed plate recycling bins, and 16 be seed plate
Plate is recycled, 17 be inclined support（2020）, 18 be vertical leading screw, and 19 accept bottom plate for seed plate, and 20 be YCJM deceleration devices（It is existing
Have）, 21 be the first oblique support plate, and 22 be oblique conveyer belt, and 23 be storage seedling frame, and 24 be seed plate, and 25 be the second oblique support plate, and 26 are
Synchronous cross band, 27 clamp bearing for synchronous belt, and 28 be seedling taking gripper, and 29 be the first lateral support pedestal, and 30 be the first step
Stepper motor（57BYGH）, 31 be spindle motor（CBX1204-100）, 32 control assembly for circuit（STM32F4 series exploitation plates）,
3201 be accumulator output end, and 3202 be stepper motor driving circuit（TB6600）, 3203 be 7812 regulator circuits, and 3204 are
7805 regulator circuits, 3205 be singlechip controller（STM32F407）, 3206 be liquid crystal display（12864）, 3207 press for speed governing
Key, 33 be leading screw hold-down support, and 34 be cam slewing equipment（It is existing）, 35 be photoelectric sensor（LM393）, 36 be actuated by cams
Motor（57BYGH）, 37 be third land wheel（Commonly）, 38 be third Hall sensor（A1344EUA-T）, 39 be the 4th land wheel
（Commonly）, 40 be the 4th Hall sensor（A1344EUA-T）, 41 be the second stepper motor（57BYGH）, 42 put seedling pawl for first
Strut, 43 be third stepper motor（57BYGH）, 44 be guide rail hold-down support, and 45 be hexagonal post, and 46 be cross slide way, and 47 are
First steering engine（M0300）, 48 be vertical tooth form lifter plate, and 49 be the second steering engine（M0300）, 50 be gripper drive shaft, and 51 are
Lifter wheel, 52 be hex nut, and 53 loosen the soil roller for seed plate, and 54 put seedling pawl for second circulation, and 55 be the 4th stepper motor
（57BYGH）, 56 be the first synchronizing wheel（3M15T）, 57 be the second synchronizing wheel（3M15T）, 58 put seedling pawl strut for second, and 59 are
Hoistable platform stent, 60 be the second lateral support carriers.
Specific embodiment
Below in conjunction with attached drawing, the specific embodiment of the present invention is described further：
A kind of potted-seedling transplanting platform automatic control system of the present invention, as shown in Fig. 1 ~ 6, a kind of potted-seedling transplanting platform is automatic
Control system, it includes, the lateral support plate 1 of the first tail end, seed plate rotary roller 2, the lateral support plate 3 of the second tail end, bearing spider 4,
One cycle puts seedling pawl 6, recycling conveyer belt 10, seed plate recycling bins 15, seed plate recycling plate 16, vertical leading screw 18, seed plate undertaking bottom plate
19th, YCJM deceleration devices 20, oblique conveyer belt 22, storage seedling frame 23, synchronous cross band 26, seedling taking gripper 28, land wheel 7,13,
37th, 39, the 8,14,38,40, first lateral support pedestal 29 of Hall sensor, the first stepper motor 30, spindle motor 31, circuit
Control assembly 32, cam slewing equipment 34, photoelectric sensor 35, actuated by cams motor 36, guide rail hold-down support 44, cross slide way
46th, loosen the soil roller 53, second circulation of the first steering engine 47, vertical tooth form lifter plate 48, the second steering engine 49, lifter wheel 51, seed plate is put
Seedling pawl 54, the first synchronizing wheel 56, the second synchronizing wheel 57, which is characterized in that the seed plate rotary roller 2 is divided by cod 4
Support plate 1 not lateral with the first tail end, the lateral support plate 3 of the second tail end are connected；The first circulation puts seedling pawl 6 and puts seedling pawl by first
Strut 42 supports, and first puts seedling pawl strut 42 is connected with 55 output shaft of the 4th stepper motor, the 4th stepper motor 55 and the first side
It is connected to support base 29；The recycling conveyer belt 10 is supported by recycling conveyer belt side plate 9, and recycling conveyer belt side plate 9 passes through
Bottom bracket 5 is connected；The seed plate recycling bins 15 are connected with bottom bracket 5；The seed plate recycling plate 16 is turned round by cam
Device 34 supports, and the cam slewing equipment 34 is connected with the output terminal of actuated by cams motor 36；The vertical leading screw 18
It is connected respectively with the output shaft of spindle motor 31, leading screw hold-down support 33；The inclined support 17 respectively with seed plate bearing plate
19th, vertical supports 11 are connected；20 output terminal of YCJM deceleration devices is connected with oblique 22 power intake of conveyer belt, described
20 input terminal of YCJM deceleration devices be connected with the second stepper motor 41；The oblique conveyer belt 22 passes through the first oblique support plate
21st, the second oblique support of support plate 25 is fixed；Seed plate 24 is supported by oblique conveyer belt 22；The band tooth of the synchronous cross band 26 leads to
Cross the first synchronizing wheel 56, the second synchronizing wheel 57 engages；The seedling taking gripper 28 is supported by hexagonal post 45, hexagonal post 45
It is connected with hex nut 52 by screw thread；First steering engine 47 is connected on vertical tooth form lifter plate 48, the first steering engine 47
Output terminal be connected with gripper drive shaft 50；Second steering engine 49, vertical tooth form lifter plate 48 respectively with lifter wheel
51 are connected, and vertical tooth form lifter plate 48 is engaged with lifter wheel 51 by tooth form, and gearratio is constant, and lifting stable vibration is small；Institute
Vertical tooth form lifter plate 48, the second steering engine 49 stated are connected respectively with synchronous belt clamping bearing 27.
The seed plate roller 53 that loosens the soil is connected by bearing spider 4 with the first oblique support plate 21, the second oblique support plate 25.
The output shaft of first stepper motor 30 puts seedling pawl strut 58 with second and is connected；The second circulation is put
Seedling pawl 54 is put seedling pawl strut 58 by second and is supported.
The cross slide way 46 passes through synchronous belt to clamp bearing 2 by through-hole, and 46 end of cross slide way is fixed by guide rail
Bearing 44 supports；The synchronous cross band 26 is fixed on synchronous belt clamping bearing 27.
It is steady that the circuit control assembly 32 includes accumulator output end 3201, stepper motor driving circuit 3202,7812
Volt circuit 3203,7805 regulator circuits 3204, singlechip controller 3205, liquid crystal display 3206, speed governing button 3207, wherein storing
Battery output 3201 export 36V direct current signals, respectively with 3202 input terminal of stepper motor driving circuit, 7812 regulator circuits
3203 input terminals, 7805 regulator circuit, 3204 input terminal are connected；7812 regulator circuit, 3203 signal output end respectively with the first rudder
Machine 47, the second steering engine 49 signal input part be connected；7805 regulator circuit, 3204 output terminal respectively with the first Hall sensor 8,
Second Hall sensor 14, third Hall sensor 38, the 4th Hall sensor 40, photoelectric sensor 35, singlechip controller
3205 signal input part is connected；3202 signal output end of stepper motor driving circuit respectively with the first stepper motor 30, second
Stepper motor 41, third stepper motor 43, the 4th stepper motor 55, actuated by cams motor 36,31 signal input part of spindle motor
It is connected.
In the singlechip controller 3205 of the control circuit assembly 32, signal output end respectively with speed governing button
3207th, the first steering engine 47, the second steering engine 49 signal input part be connected；Photoelectric sensor 35, the signal of liquid crystal display 3206 are defeated
Outlet is connected respectively with the signal input part of singlechip controller 3205；The signal output end and stepper motor of speed governing button 3207
The signal input part of driving circuit 3202 is connected；First Hall sensor 8, the second Hall sensor 14, third Hall sensor
38th, signal input part of the signal output end of the 4th Hall sensor 40 respectively with singlechip controller 3205 is connected.
First land wheel 7, the second land wheel 13, third land wheel 37, the 4th land wheel 39 respectively with 12 phase of ground wheel drive shaft
Even；First Hall sensor 8, the second Hall sensor 14, third Hall sensor 38, the 4th Hall sensor 40 divide
It is not connected with vertical strut 11.
Further, the first lateral support pedestal 29, the second lateral support base 60 respectively with the first oblique branch
Plate 21, the second oblique support plate 25 are connected.
Further, the actuated by cams motor 36 is connected with hoistable platform stent 59, and hoistable platform stent 59 is with erecting
It is connected to leading screw 18 by screw thread.
During present invention work, accumulator output end 3201 exports 36V direct current signals, output terminal access stepper motor driving electricity
3202 input terminal of road, 7812 regulator circuit, 3203 input terminal, 7805 regulator circuit, 3204 input terminal are connected, 7812 regulator circuits
3203rd, 7805 regulator circuit, 3204 voltage is reduced to 12V, 5V respectively；7812 regulator circuit, 3203 output terminal and the first steering engine 47,
Two steering engines, 49 circuit input end is connected, and realizes power supply, and 7805 regulator circuit, 3204 output terminal is connected with singlechip controller 3205,
Singlechip controller 3205 is supplied with 5V operating voltages, 3205 power output end of singlechip controller respectively with the first hall sensing
Device 8, the second Hall sensor 14, third Hall sensor 38,40 signal input part of the 4th Hall sensor are connected, and realize 3.3V
High level power, 3202 signal output end of stepper motor driving circuit with respectively with the first stepper motor 30, the second stepper motor
41st, third stepper motor 43, the 4th stepper motor 55, actuated by cams motor 36,31 signal input part of spindle motor are connected, control
Stepper motor turns to and rotating speed.
In control system of the present invention, singlechip controller 3205 is used as key control unit, and signal output end is respectively with the
One steering engine 47,49 signal input part of the second steering engine are connected, and realize that digital signal is converted into the angular signal of steering engine；Photoelectric sensor
35 photosignal output terminal is connected with 3205 input terminal of singlechip controller, the extreme position of sensing seed plate recycling platform, instead
Seed plate of feedback is recovered completely, and the photosignal of photoelectric sensor 35 is input to liquid crystal display 3206 and shows seed plate recycling
Number；First Hall sensor 8, the second Hall sensor 14, third Hall sensor 38,40 signal of the 4th Hall sensor are defeated
Outlet is connected with 3205 signal input part of singlechip controller, and singlechip controller 3205 filters out maximum (top) speed signal, input
To 3206 display system real time running speed of liquid crystal display；3205 signal output end of singlechip controller and rotating speed enter key
3207 signal input parts are connected, and change the duty ratio of 3205 signal of singlechip controller, and then realize control stepper motor rotating speed.
As seed plate 24 is through with angle of inclination（30-45 degree）Seed plate accept bottom plate 19 and import oblique conveyer belt 22 and begin
End, YCJM deceleration devices 20 drive oblique conveyer belt 22 that seed plate 24 is transported to the lower section of transverse seedling taking gripper 28, and seed plate loosens the soil
The protrusion of roller 53 heads into seed plate hole, realizes the initial gross separation of pot seedling and seed plate 24, and singlechip controller 3205 sends out digital signal
To the first steering engine 47,49 signal input part of the second steering engine, the first steering engine 47, the second steering engine 49 realize respectively gripper opening and closing,
Change fore-and-aft distance of manipulator and seed plate etc. to act and then realize various dimensions crawl pot seedling, put seedling, change singlechip controller
3205 issue the duty ratio that 47 signal input part of the first steering engine receives digital signal, and then change the angle of rotation of the first steering engine 47
Degree, realizes that the crawl opening and closing degree of gripper is adjustable, and then reduces the damage ratio of pot seedling, and pot seedling is put into the after gripper 28 is picked up
One cycle puts seedling pawl 6, second circulation puts seedling pawl 54, when first circulation puts seedling pawl 6, second circulation puts the arrival minimum point of seedling pawl 54,
Pot seedling is put seedling pawl 6 by gravity from first circulation, second circulation is put in seedling pawl 54 and fallen into soil, and seedling action, seedling are put in realization
Disk 24 imports recycling conveyer belt 10 under the revolution of seed plate rotary roller 2, realizes the revolution action of seed plate 24.It is controlled by microcontroller
Device 3205 filters out the first Hall sensor 8, the second Hall sensor 14, third Hall sensor 38, the 4th Hall sensor
The maximum (top) speed signal of 40 signal output ends is input to 3206 display system real time running speed of liquid crystal display, feeds back simultaneously
Give stepper motor driving circuit 3202 signal input part, stepper motor driving circuit 3202 realizes the rotating of motor, accelerates to subtract
Speed, and then realize seed plate travelling speed, the speed of potted-seedling transplanting, the control for putting seedling speed, seed plate recycling speed for putting seedling pawl, light
Electric transducer 35 recycles the extreme position of hoistable platform by the variation sensing seed plate of intensity of illumination, and inputs a signal into monolithic
Machine controller 3205 shows transplanting pot seedling after analog-to-digital conversion and recycles the number of seed plate, and cam slewing equipment 34 changes seed plate and returns
16 angle of inclination of plate is received, realizes that seed plate 24 is sent into seed plate recycling bins 15.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (4)
1. a kind of potted-seedling transplanting platform automatic control system, it includes the lateral support plate of the first tail end（1）, seed plate rotary roller（2）, axis
Hold bearing（4）, first circulation put seedling pawl（6）, recycling conveyer belt（10）, seed plate recycling bins（15）, seed plate recycling plate（16）, it is vertical
Leading screw（18）, seed plate accept bottom plate（19）, YCJM deceleration devices（20）, oblique conveyer belt（22）, storage seedling frame（23）, synchronous cross
Band（26）, seedling taking gripper（28）, the first lateral support pedestal（29）, the first stepper motor（30）, spindle motor（31）, circuit
Control assembly（32）, cam slewing equipment（34）, photoelectric sensor（35）, actuated by cams motor（36）, guide rail hold-down support
（44）, cross slide way（46）, the first steering engine（47）, vertical tooth form lifter plate（48）, lifter wheel（51）, seed plate loosens the soil roller
（53）, the first synchronizing wheel（56）, which is characterized in that the seed plate rotary roller（2）Pass through cod（4）Respectively with the first tail
End side is to support plate（1）, the lateral support plate of the second tail end（3）It is connected；The first circulation puts seedling pawl（6）Seedling pawl strut is put by first
（42）Support, first puts seedling pawl strut（42）With the 4th stepper motor（55）Output shaft is connected, the 4th stepper motor（55）With
One lateral support base（29）It is connected；The recycling conveyer belt（10）By recycling conveyer belt side plate（9）Conveyer belt is recycled in support
Side plate（9）Pass through bottom bracket（5）It is connected；The seed plate recycling bins（15）With bottom bracket（5）It is connected；The seed plate returns
Receive plate（16）By cam slewing equipment（34）Support, the cam slewing equipment（34）With actuated by cams motor（36）Output
End is connected；The vertical leading screw（18）Respectively with spindle motor（31）Output shaft, leading screw hold-down support（33）It is connected；It is oblique
Stent（17）Respectively with seed plate bearing plate（19）, vertical supports（11）It is connected；The YCJM deceleration devices（20）Output terminal with
Oblique conveyer belt（22）Power intake is connected, the YCJM deceleration devices（20）Input terminal and the second stepper motor（41）Phase
Even；The oblique conveyer belt（22）Pass through the first oblique support plate（21）, the second oblique support plate（25）Support is fixed；Seed plate（24）
By oblique conveyer belt（22）Support；The synchronous cross band（26）Band tooth pass through the first synchronizing wheel（56）, the second synchronizing wheel
（57）Engagement；The seedling taking gripper（28）By hexagonal post（45）Support；First steering engine（47）It is connected in vertical
Tooth form lifter plate（48）On, the first steering engine（47）Output terminal and gripper drive shaft（50）It is connected；Second steering engine（49）, it is vertical
Tooth form lifter plate（48）Respectively with lifter wheel（51）It is connected, vertical tooth form lifter plate（48）With lifter wheel（51）Pass through tooth form
Engagement, the vertical tooth form lifter plate（48）, the second steering engine（49）Respectively bearing is clamped with synchronous belt（27）It is connected；Described
Seed plate loosens the soil roller（53）Pass through bearing spider（4）With the first oblique support plate（21）, the second oblique support plate（25）It is connected；Described
First stepper motor（30）Output shaft and second put seedling pawl strut（58）It is connected；Second circulation puts seedling pawl（54）Seedling is put by second
Pawl strut（58）Support；The cross slide way（46）Synchronous belt is passed through to clamp bearing by through-hole（2）, cross slide way（46）End
End is by guide rail hold-down support（44）Support；The synchronous cross band（26）It is fixed on synchronous belt clamping bearing（27）；Described
Circuit controls assembly（32）Including accumulator output end（3201）, stepper motor driving circuit（3202）, 7812 regulator circuits
（3203）, 7805 regulator circuits（3204）, singlechip controller（3205）, liquid crystal display（3206）, speed governing button（3207）, institute
The accumulator output end stated（3201）Respectively with stepper motor driving circuit（3202）Input terminal, 7812 regulator circuits（3203）It is defeated
Enter end, 7805 regulator circuits（3204）Input terminal is connected；7812 regulator circuits（3203）Signal output end is respectively with
One steering engine（47）, the second steering engine（49）Signal input part be connected；7805 regulator circuits（3204）Output terminal respectively with
First Hall sensor（8）, the second Hall sensor（14）, third Hall sensor（38）, the 4th Hall sensor（40）, light
Electric transducer（35）, singlechip controller（3205）Signal input part be connected；The stepper motor driving circuit（3202）
Signal output end respectively with the first stepper motor（30）, the second stepper motor（41）, third stepper motor（43）, the 4th stepping electricity
Machine（55）, actuated by cams motor（36）, spindle motor（31）Signal input part is connected；The control circuit assembly（32）List
Piece machine controller（3205）In, signal output end respectively with speed governing button（3207）, the first steering engine（47）, the second steering engine（49）
Signal input part be connected；Photoelectric sensor（35）, liquid crystal display（3206）Signal output end respectively with singlechip controller
Signal input part（3205）It is connected；Speed governing button（3207）Signal output end and stepper motor driving circuit（3202）Letter
Number input terminal is connected；First Hall sensor（8）, the second Hall sensor（14）, third Hall sensor（38）, the 4th Hall
Sensor（40）Signal output end respectively with singlechip controller（3205）Signal input part be connected；First land wheel
（7）, the second land wheel（13）, third land wheel（37）, the 4th land wheel（39）Respectively with ground wheel drive shaft（12）It is connected；Described first
Hall sensor（8）, the second Hall sensor（14）, third Hall sensor（38）, the 4th Hall sensor（40）Respectively with
Vertical strut（11）It is connected.
2. a kind of potted-seedling transplanting platform automatic control system according to claim 1, it is characterised in that：First side
To support base（29）, the second lateral support base（60）Respectively with the first oblique support plate（21）, the second oblique support plate（25）Gu
Even.
3. a kind of potted-seedling transplanting platform automatic control system according to claim 1, it is characterised in that：The cam drives
Dynamic motor（36）With hoistable platform stent（59）It is connected, hoistable platform stent（59）With vertical leading screw（18）It is connected by screw thread.
4. a kind of potted-seedling transplanting platform automatic control system according to claim 1, it is characterised in that：The hexagonal branch
Column（45）With hex nut（52）It is connected by screw thread.
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| CN201810319047.2A CN108207224B (en) | 2018-04-11 | 2018-04-11 | Automatic control system of pot seedling transplanting platform |
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| CN201810319047.2A CN108207224B (en) | 2018-04-11 | 2018-04-11 | Automatic control system of pot seedling transplanting platform |
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| CN109362294A (en) * | 2018-11-14 | 2019-02-22 | 刘嘉禾梓 | A kind of agricultural production rice transplanter feeding device |
| CN111587645A (en) * | 2020-05-28 | 2020-08-28 | 苏建军 | Plant seedling transplanting robot |
| CN117261728A (en) * | 2023-10-12 | 2023-12-22 | 安徽省满秋生态农业科技发展有限责任公司 | Automatic picking machine for agricultural rice seedling tray |
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