CN110896693B - Traveling-interval continuous seeding equipment and working method thereof - Google Patents

Traveling-interval continuous seeding equipment and working method thereof Download PDF

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Publication number
CN110896693B
CN110896693B CN201911278574.4A CN201911278574A CN110896693B CN 110896693 B CN110896693 B CN 110896693B CN 201911278574 A CN201911278574 A CN 201911278574A CN 110896693 B CN110896693 B CN 110896693B
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China
Prior art keywords
soil
processor
driving device
rack
vehicle body
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CN201911278574.4A
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Chinese (zh)
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CN110896693A (en
Inventor
窦元
李桂金
李佳
陆军军
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Dou Yuan
Li Guijin
Li Jia
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Individual
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00—Combined machines
    • A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
    • A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00—Combined machines
    • A01B49/02—Combined machines with two or more soil-working tools of different kind
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B49/00—Combined machines
    • A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
    • A01C5/06—Machines for making or covering drills or furrows for sowing or planting
    • A01C5/062—Devices for making drills or furrows
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
    • A01C5/06—Machines for making or covering drills or furrows for sowing or planting
    • A01C5/066—Devices for covering drills or furrows
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/20—Parts of seeders for conducting and depositing seed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations

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  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Soil Working Implements (AREA)
  • Sowing (AREA)

Abstract

A marching consecutive seeding device and a working method thereof comprise a vehicle body, a seeding mechanism and a control mechanism, wherein the vehicle body comprises a rack and a moving device which are longitudinally arranged and surround the vehicle body, and the side surface of the rack is provided with a discharge hole; seeding mechanism sets up in the frame, and including sending native device, the device of digging, the device that loosens the soil, go stone device and material feeding unit, send native device to surround in the frame, be used for carrying soil to the rear end from the front end of equipment, the device of digging sets up the arc blade for evenly distributed on the device that loosens the soil, be used for upwards rising soil, send native device to set up in the top of frame, and include crossbeam and montant, the lower extreme of crossbeam is provided with a plurality of hydraulic stem, the bottom of hydraulic stem is provided with a plurality of pressure disks, the top of pressure disk is provided with displacement sensor, a distance for measuring hydraulic stem extension or shortening, it sets up in the rear of sending native device to go stone device, a stone is used for taking out, material feeding unit includes the storage chamber, the conveyer belt, electric turntable and cover.

Description

Traveling-interval continuous seeding equipment and working method thereof
Technical Field
The invention relates to the field of intelligent agriculture, in particular to marching consecutive seeding equipment and a working method thereof.
Background
China is a traditional big agricultural country, but with the development of science and technology, big mechanical equipment is also applied to agricultural production. However, the existing sowing apparatus has the following problems:
firstly, when the existing equipment is used for ditching, the principle of the ditcher is to arrange soil to the left side and the right side, and then the seeds are spread into the ditches, so that the soil can be accumulated on the left side and the right side of the ditches, the ditches cannot be immediately filled, and the soil needs to be subsequently filled.
Secondly, most of the soil dug by the furrow opener is blocky, and the soil needs to be processed subsequently.
Thirdly, the seeds discharged by the existing equipment can not be accurately controlled, and the seeding is easy to realize multi-row or less seeding.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides the inter-travelling consecutive sowing equipment and the working method thereof, which can effectively solve the problems related to the background art.
The technical scheme is as follows:
a traveling-interval continuous seeding device comprises a vehicle body, a seeding mechanism and a control mechanism, wherein the control mechanism comprises a processor, a driving device, a positioning device and a navigation device, the processor is respectively connected with the driving device, the positioning device and the navigation device, the positioning device is used for acquiring position information of the vehicle body and sending the position information to the processor, and the navigation device is used for generating a moving route of the vehicle body and sending the moving route to the processor;
the vehicle body comprises a rack and a moving device, wherein the rack is longitudinally arranged and surrounds the vehicle body, a discharge hole is formed in the side surface of the rack and communicated with the interior of the vehicle body, and the moving device is connected with the driving device and used for driving the vehicle body to move;
the seeding mechanism is arranged on the rack and comprises a soil conveying device, a soil digging device, a soil loosening device, a stone removing device and a feeding device, wherein the soil conveying device surrounds the rack and is used for conveying soil from the front end to the rear end of equipment, the soil digging device is provided with arc-shaped blades which are uniformly distributed on the soil loosening device and are used for rising the soil upwards, the soil loosening device is arranged above the rack and comprises a cross beam and a vertical rod, two ends of the cross beam are connected with the vertical rod, the vertical rod is connected with the rack, the lower end of the cross beam is provided with a plurality of hydraulic rods, the bottom of each hydraulic rod is provided with a plurality of pressure plates, the bottom of each pressure plate is provided with a plurality of soil loosening teeth, the top of each pressure plate is provided with a displacement sensor, the displacement sensor is connected with the processor and is used for measuring the extension or shortening distance of the hydraulic rod and sending the measured value to the processor, go the stone device set up in the rear of the device that send soil, including a plurality of gripper, the gripper with drive arrangement connects for snatch the stone, material feeding unit includes storage cavity, conveyer belt, electric turntable and cover die, the storage crop seed in the storage cavity, the conveyer belt intercommunication the storage cavity with electric turntable, electric turntable's surface is provided with a plurality of slotted holes, the slotted hole is used for receiving the crop seed, be provided with the slope landslide between slotted hole to the carousel edge, the width of landslide is greater than or equal to the width of slotted hole, electric turntable set up in the inside of cover die, the side of cover die is provided with a breach, the width of breach is greater than or equal to the width of landslide, the breach with the discharge opening intercommunication.
As a preferable mode of the invention, the sowing mechanism further comprises a pneumatic balancing device, the pneumatic balancing device is connected with the driving device and is used for balancing ground surface fine soil, and the pneumatic balancing device comprises at least two groups of vertical gas transmission units.
As a preferable mode of the present invention, the ripping apparatus further includes a rotation unit, and the rotation unit is disposed between the hydraulic rod and the pressure plate, connected to the driving device, and configured to drive the pressure plate to rotate.
As a preferable mode of the present invention, the cover die further includes a V-shaped blocking member, the V-shaped blocking member divides an inner space of the cover die above the electric turntable into two parts, the V-shaped blocking member includes two hard sheets welded to a side wall and a top wall of the cover die, and the hard sheets are respectively located on left and right sides of the notch.
In a preferred embodiment of the present invention, a gap is provided between the hard sheet and the electric turntable, and the gap cannot accommodate crop seeds on the electric turntable.
As a preferable mode of the present invention, the moving device includes a hardness detection unit and a hydraulic lifting unit, the hardness detection unit is connected to the processor and is configured to detect a hardness value of soil and send the hardness value to the processor, and the hydraulic lifting unit is connected to the driving device and is configured to adjust a height of the rack.
A working method of traveling-interval continuous seeding equipment comprises the following working steps:
s101: setting a target location in a processor, the navigation device generating and sending a first navigation route for a mobile device to the target location to the processor, the navigation device generating and sending a second navigation route for the mobile device to the processor according to a seeding terrain;
s102: the processor outputs a movement signal to the driving device, and the driving device drives the moving device to move according to the first navigation route and the second navigation route;
s103: the processor outputs an excavating signal to the driving device, and the driving device drives the soil conveying device to start;
s104: the processor outputs a transmission signal to the driving device, and the driving device drives the conveyor belt and the electric turntable to start;
s105: the processor outputs a soil loosening signal to the driving device, and the driving device drives the hydraulic rod to extend or shorten according to preset frequency;
s106: the displacement sensor measures the extended distance of the hydraulic rod and sends the measured value to the processor;
s107: the processor judges whether the received measured value is smaller than a preset distance;
s108: if yes, the processor calculates the position of the hydraulic rod, outputs a stone removing signal to the driving device, and the driving device drives the mechanical claw to pick out stones.
As a preferred embodiment of the present invention, S104 further includes:
the processor outputs a balance signal to the driving device, and the driving device drives the pneumatic balance device to start.
As a preferred embodiment of the present invention, S105 further includes:
the processor outputs a rotation signal to the driving device, and the driving device drives the rotation unit to start.
As a preferred embodiment of the present invention, S103 further includes:
the hardness detection unit detects the hardness value of the soil and sends the hardness value to the processor;
and the processor adjusts the height of the rack from the ground through the hydraulic lifting unit according to the hardness value.
The invention realizes the following beneficial effects:
1. the soil loosening device is fixed with the arc-shaped blade, the arc-shaped blade and the soil loosening device are matched for operation, so that soil below the rack can rise, the rising soil is conveyed in a forward, upward, backward and downward sequence, when the soil rises, the feeding device conveys crop seeds into the ditch, and along with the forward movement of the moving device, the soil finally falls at the rising position, so that the complete steps of ditching, sowing and burying can be completed by the sowing equipment in the advancing process.
2. The top of frame is provided with the device that loosens the soil, and when soil was transported to the top of frame, the hydraulic stem drove the pressure disk and dredges the soil in the tooth goes into adjacent arc blade deeply, it can decompose big soil block to dredge the soil tooth, be provided with the rotary unit between hydraulic stem and the pressure disk, the rotary unit can drive it descends in the rotation of dredging the tooth, can fully decompose the soil block, is favorable to the crop seed to absorb the nutrient.
3. Be provided with displacement sensor on the pressure disk, displacement sensor is used for measuring the elongation of hydraulic stem, works as when the elongation is less than preset distance, then shows to dredge the soil tooth and is blockked by the stone, removes the stone device and can get rid of the stone in the soil.
4. Electric turntable sets up in the cover mould, is provided with V type interception part in the cover mould, V type interception part set up in electric turntable's top, electric turntable's upper surface sets up in the slotted hole, the slotted hole passes through the slope and communicates with electric turntable's edge, only can hold a seed in the slotted hole, the side of cover mould is provided with a breach, works as the slotted hole rotates for when the breach coincides, and the seed in the slotted hole rolls out the breach and gets into material feeding unit, and V type interception part can prevent that unnecessary seed from getting into the breach.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic view of a first structure of a sowing apparatus provided by the present invention.
Fig. 2 is a schematic view of a second structure of the sowing apparatus provided by the present invention.
FIG. 3 is a schematic view of a third structure of the sowing apparatus provided by the present invention.
Fig. 4 is a schematic view of an internal structure of the rack according to the present invention.
Fig. 5 is a schematic view of a first structure inside the cover die provided by the present invention.
Fig. 6 is a schematic view of a second structure inside the cover die provided by the present invention.
Fig. 7 is a schematic view of a platen structure according to the present invention.
Fig. 8 is a schematic structural view of a gripper according to the present invention.
FIG. 9 is a schematic diagram of a processor connection provided by the present invention.
FIG. 10 is a flow chart of the operation method of the sowing apparatus provided by the present invention.
Fig. 11 is a flow chart of a working method of the pneumatic balancing device provided by the invention.
Fig. 12 is a flowchart of a working method of the ripping apparatus according to the present invention.
Fig. 13 is a flowchart of a working method of the hydraulic lifting unit provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
As shown in fig. 1, the present embodiment provides a traveling-interval continuous seeding apparatus, which includes a vehicle body, a seeding mechanism, and a control mechanism, where the control mechanism includes a processor 1, a driving device 2, a positioning device 3, and a navigation device 4, the processor 1 is connected to the driving device 2, the positioning device 3, and the navigation device 4, the positioning device 3 is used to acquire position information of the vehicle body and send it to the processor 1, and the navigation device 4 is used to generate a moving route of the vehicle body and send it to the processor 1.
The automobile body is including being vertical setting and surrounding in frame 5 and the mobile device 6 of automobile body, the side of frame 5 is provided with discharge opening 7, discharge opening 7 and the inside intercommunication of automobile body, mobile device 6 with drive arrangement 2 is connected for the drive the automobile body removes.
The seeding mechanism is arranged on the frame 5 and comprises a soil conveying device 8, a soil digging device, a soil loosening device, a stone removing device and a feeding device, wherein the soil conveying device 8 surrounds the frame 5 and is used for conveying soil from the front end to the rear end of the equipment, the soil digging device is provided with arc-shaped blades 9 uniformly distributed on the soil loosening device and used for rising the soil upwards, the soil loosening device is arranged above the frame 5 and comprises a cross beam 10 and a vertical rod 11, two ends of the cross beam 10 are connected with the vertical rod 11, the vertical rod 11 is connected with the frame 5, the lower end of the cross beam 10 is provided with a plurality of hydraulic rods 12, the bottom of the hydraulic rods 12 is provided with a plurality of pressure plates 13, the bottom of each pressure plate 13 is provided with a plurality of soil loosening teeth 14, the top of each pressure plate 13 is provided with a displacement sensor 15, and each displacement sensor 15 is connected with the processor 1, the device is used for measuring the extending or shortening distance of the hydraulic rod 12 and sending the measured value to the processor 1, the stone removing device is arranged behind the soil conveying device 8 and comprises a plurality of mechanical claws 16, the mechanical claws 16 are connected with the driving device 2 and used for grabbing stones, the conveying device comprises a storage cavity 17, a conveying belt 18, an electric rotating disc 19 and a die sleeve 20, crop seeds are stored in the storage cavity 17, the conveying belt 18 is communicated with the storage cavity 17 and the electric rotating disc 19, a plurality of slotted holes 21 are formed in the surface of the electric rotating disc 19 and used for receiving the crop seeds, an inclined landslide 22 is arranged between the slotted holes 21 and the edge of the rotating disc, the width of the landslide 22 is larger than or equal to the width of the slotted holes 21, the electric rotating disc 19 is arranged inside the die sleeve 20, and a notch 23 is formed in the side surface of the die sleeve 20, the width of the notch 23 is larger than or equal to that of the landslide 22, and the notch 23 is communicated with the discharge hole 7.
The seeding mechanism further comprises a pneumatic balancing device 24, the pneumatic balancing device 24 is connected with the driving device 2 and used for balancing ground surface fine soil, and the pneumatic balancing device comprises at least two groups of vertical gas transmission units.
The soil loosening device further comprises a rotating unit 25, wherein the rotating unit 25 is arranged between the hydraulic rod 12 and the pressure plate 13, is connected with the driving device 2 and is used for driving the pressure plate 13 to rotate.
The cover die 20 further comprises a V-shaped interception member 26, the V-shaped interception member 26 divides the inner space of the cover die 20 above the electric rotary disc 19 into two parts, the V-shaped interception member 26 comprises two hard sheets welded to the side wall and the top wall of the cover die 20, and the hard sheets are respectively located on the left side and the right side of the notch 23.
A gap is arranged between the hard sheet and the electric turntable 19, and the gap cannot accommodate crop seeds on the electric turntable 19 to pass through.
The moving device 6 comprises a hardness detection unit 27 and a hydraulic lifting unit 28, the hardness detection unit 27 is connected with the processor 1 and used for detecting the hardness value of the soil and sending the hardness value to the processor 1, and the hydraulic lifting unit 28 is connected with the driving device 2 and used for adjusting the height of the frame 5.
Specifically, the seeding equipment comprises a vehicle body, a seeding mechanism and a control mechanism, wherein the control mechanism comprises a processor 1, a driving device 2, a positioning device 3 and a navigation device 4, the vehicle body comprises a frame 5, a moving device 6 and a discharge hole 7, the seeding mechanism comprises a soil conveying device 8, a soil digging device, a soil loosening device, a stone removing device and a feeding device, the soil digging device comprises a plurality of arc-shaped blades 9, the soil conveying device 8 comprises a cross beam 10, a vertical rod 11, a hydraulic rod 12, a pressure plate 13, soil loosening teeth 14 and a displacement sensor 15, the stone removing device comprises a plurality of mechanical claws 16, and the feeding device comprises a material storage cavity 17, a conveying belt 18, an electric rotating disc 19, a die sleeve 20, a slotted hole 21, a sliding slope 22 and a notch 23.
Wherein, seeding equipment uses the automobile body as the frame, and the automobile body mainly comprises frame 5 and mobile device 6, the centre at top, bottom, front portion and the rear portion of frame 5 all is provided with a recess, and four recesses are end to end's state, send native device 8 set up promptly in the recess, send native device 8 to set up to banded transmission, for example conveyer belt 18, send native device 8 can recess inner loop rotates, mobile device 6 set up in the below of frame 5, and include the multiunit wheel, the rotation direction of wheel is opposite with the rotation direction who sends native device 8, and mobile device 6 is advancing the in-process, sends native device 8 to transport soil to the rear.
The digging device is provided with a plurality of arc-shaped blades 9, the arc-shaped blades 9 are fixedly connected with the soil conveying device 8, the distances among the arc-shaped blades 9 are the same, the bending direction of the arc-shaped blades 9 is consistent with the moving direction of the soil conveying device 8, and the soil entering end of each arc-shaped blade 9 is provided with a plurality of sawteeth which are convenient for inserting into soil.
The soil digging device and the soil conveying device 8 are matched for operation, the soil at the front end of the vehicle body rises through the soil digging device, the rising soil is temporarily stored in the arc-shaped blade 9, the soil conveying device 8 rotates circularly, the arc-shaped blade 9 at the lower end of the vehicle body carries the soil to rotate forwards, the arc-shaped blade 9 at the front end of the vehicle body carries the soil to rotate upwards, the arc-shaped blade 9 at the upper end of the vehicle body carries the soil to rotate backwards, and when the arc-shaped blade 9 is converted into downward rotation from backward rotation, the soil in the arc-shaped blade 9 can fall downwards to the ground surface.
The rising soil is finally returned to the far surface through the soil conveying device 8, and in the process of rising soil, crop seeds are thrown to the surface, and the soil covers the crop seeds.
The moving speed of the moving device 6 and the rotating speed of the soil conveying device 8 have a fixed relation, the ratio of the moving speed to the rotating speed is equal to the ratio of the length of the vehicle frame to the length of the vehicle frame, the moving device 6 and the soil conveying device 8 are set to move at a constant speed, and the moving speed of the moving device 6 is V1The rotational speed of the soil-feeding device 8 is V2The length of the frame is X, the height of the frame is Y, then X/V1=（X+Y）/ V2And then obtain V1/ V2= X/（X+Y）。
The device that loosens the soil sets up in the top of frame 5 and is located the top of sending native device 8, and crossbeam 10 is located and send native device 8 directly over, and montant 11 is connected frame 5 and crossbeam 10, and a plurality of hydraulic stem 12 are connected to the bottom of crossbeam 10, rotary device is connected to the bottom of hydraulic stem 12, pressure disk 13 is connected to rotary device's bottom, soil dredging tooth 14 is connected to pressure disk 13's bottom, hydraulic stem 12 promotes pressure disk 13 to soil extrusion on the device loosens the soil, soil dredging tooth 14 crushes bold soil into little soil, works as when hydraulic stem 12 extends to the limit, soil dredging tooth 14 can touch send native device 8.
The stone removing device is arranged behind the soil loosening device, when soil passes through the soil loosening device, the soil enters the range of the stone removing device, and the mechanical claw 16 can sort out stones from small pieces of soil.
The feeding device is partially located inside the frame 5, wherein a storage cavity 17, a conveyor belt 18, an electric rotating disc 19 and a cover die 20 are arranged inside the frame 5, a conveying pipeline is arranged outside the frame 5, before operation, crop seeds are filled in the storage cavity 17, the conveyor belt 18 is communicated with the storage cavity 17 and the electric rotating disc 19, the electric rotating disc 19 is arranged inside the cover die 20, a circle of slotted hole 21 is formed in the upper surface of the electric rotating disc 19, an inclined sliding slope 22 is arranged at the bottom of the slotted hole 21, and the slotted hole 21 and the sliding slope 22 are located a rectangular notch 23 is formed in the edge of the electric rotating disc 19.
The cover die 20 is internally provided with a V-shaped intercepting external member, when the electric rotating disk 19 is arranged in the cover die 20, the V-shaped intercepting external member is positioned above the electric rotating disk 19, the V-shaped intercepting external member divides the internal space of the cover die 20 above the electric rotating disk 19 into two parts, namely an A part and a B part, the A part is used for receiving crop seeds conveyed from a driving belt, part of the crop seeds directly fall into the slotted holes 21 of the electric rotating disk 19, one crop seed is contained in one slotted hole 21, under the action of the side wall of the cover die 20, the crop seeds can only be positioned in the slotted hole 21, and other crop seeds are intercepted in the A part due to the V-shaped intercepting external member, so only the crop seeds in the slotted holes 21 can enter the B part.
The side of cover mould 20 is provided with a breach 23, the one end of conveying pipeline with breach 23 welding to wear out from discharge opening 7, the conveying pipeline welds with discharge opening 7, and the conveying pipeline setting is the L type, follows the slope stretches into the below of frame 5 after discharge opening 7 wears out.
Two hard sheets of the V-shaped interception component 26 are respectively positioned at the left side and the right side of the notch 23, when the slotted hole 21 rotates to be connected with the notch 23, the side wall of the cover die 20 loses the sealing effect on the slotted hole 21, and crop seeds in the slotted hole 21 are discharged out of the notch 23 along the inclined landslide 22, roll along the material conveying pipe and finally fall into the ditch.
The rear part of the frame 5 is provided with a pneumatic balancing device 24, the pneumatic balancing device 24 comprises at least two groups of gas transmission units, and the gas transmission units vertically output powerful airflow downwards.
Example two
As shown in fig. 2, the present embodiment provides a working method of a traveling consecutive seeding apparatus, comprising the following working steps:
s101: a target position is set in the processor 1, the navigation device 4 generates a first navigation route of the mobile device 6 to the target position and sends it to the processor 1, the navigation device 4 generates a second navigation route of the mobile device 6 according to the sowing topography and sends it to the processor 1.
S102: the processor 1 outputs a movement signal to the driving device 2, and the driving device 2 drives the moving device 6 to move according to the first navigation route and the second navigation route.
S103: the processor 1 outputs an excavation signal to the driving device 2, and the driving device 2 drives the soil conveying device 8 to start.
S104: the processor 1 outputs a transmission signal to the driving device 2, and the driving device 2 drives the transmission belt 18 and the electric turntable 19 to start.
S105: the processor 1 outputs a soil loosening signal to the driving device 2, and the driving device 2 drives the hydraulic rod 12 to extend or shorten according to a preset frequency.
S106: the displacement sensor 15 measures the distance by which the hydraulic rod 12 is extended and sends the measurement to the processor 1.
S107: the processor 1 determines whether the received measurement value is less than a preset distance.
S108: if yes, the processor 1 calculates the position of the hydraulic rod 12, outputs a stone removing signal to the driving device 2, and the driving device 2 drives the mechanical claw 16 to pick out stones.
S104 further comprises:
the processor 1 outputs a balance signal to the driving device 2, and the driving device 2 drives the pneumatic balance device 24 to start.
S105 further includes:
the processor 1 outputs a rotation signal to the driving device 2, and the driving device 2 drives the rotation unit 25 to start.
Specifically, in the invention, no manual operation is needed during seeding, in S101, a target position is set in the processor 1, the processor 1 guides the target position into the navigation device 4 after receiving the target position, the positioning device 3 obtains the current position of the vehicle body and sends the current position to the processor 1, the processor 1 guides the current position into the navigation device 4, and the navigation device 4 generates a first navigation route from the current position to the target position and sends the first navigation route to the processor 1 after receiving the target position and the current position.
And then setting a sowing area topographic map in the processor 1, extracting a sowing position on the sowing area topographic map by the processor 1 after receiving the sowing area topographic map, guiding the sowing area topographic map into the navigation device 4, and generating a second navigation route which is connected with the sowing position in series by the navigation device 4 and sending the second navigation route to the processor 1.
In S102, the processor 1 controls the moving device 6 to move to the target position according to the first navigation route through the driving device 2, and then controls the moving device 6 to move according to the second navigation route through the driving device 2.
In S103, during the moving process of the moving device 6 according to the second navigation route, the processor 1 controls the soil conveying device 8 to start through the driving device 2, the soil conveying device 8 drives the arc-shaped blade 9 fixed thereon to rotate, and the arc-shaped blade 9 lifts up soil on the ground surface.
When the soil conveying device 8 is just started, the mobile device 6 stays in place, and when the soil begins to fall back to the ground surface, the processor 1 drives the mobile device 6 to move according to the second navigation route.
In S104, the processor 1 is started by the driving device 2 driving the conveyor belt 18, the conveyor belt 18 transports the crop seeds in the storage chamber 17 to the cover mold 20, and a part of the crop seeds directly fall into the slot 21.
The processor 1 drives the electric turntable 19 to rotate through the driving device 2, and in the rotating process of the electric turntable 19, when the slotted hole 21 is overlapped with the notch 23 of the cover die 20, crop seeds in the slotted hole 21 enter the material conveying pipe, and the crop seeds fall into the ditch along the material conveying pipe.
Along with the advance of seeding equipment, when the rear end of seeding equipment passes through when the position of crop seed, soil can drop and cover the crop seed, in order to prevent that soil from piling up a certain department on the earth's surface, treater 1 passes through drive arrangement 2 control pneumatic balance device 24 and starts, pneumatic balance device 24 exports vertical decurrent powerful air current, and powerful air current can strike the soil of piling up on the earth's surface, with soil homodisperse on the earth's surface.
When the arc-shaped blade 9 carries soil to the upper end of the frame 5, the arc-shaped blade 9 is in an inverted state, soil is scattered on the soil conveying device 8, the processor 1 drives the hydraulic rod 12 to be started through the driving device 2, and the hydraulic rod 12 is extended or shortened according to a preset frequency in S105.
Wherein the predetermined frequency is related to the rotational speed of the soil conveying device 8, for example, when the hydraulic rod 12 is located between adjacent arc-shaped blades 9, the hydraulic rod 12 is extended and shortened before the arc-shaped blades 9 touch the hydraulic rod 12, and the soil thinning teeth 14 can squeeze large soil blocks scattered on the soil conveying device 8 into small soil blocks.
During the extension process of the hydraulic rod 12, the processor 1 controls the rotation unit 25 to start through the driving device 2, the rotation unit 25 drives the pressure plate 13 and the soil-dredging teeth 14 to rotate, and the soil-dredging teeth 14 can fully crush soil blocks in the rotation process.
In S106, when the hydraulic rod 12 extends, the pressure plate 13 descends, the displacement sensor 15 disposed on the pressure plate 13 can measure the extension amount of the hydraulic rod 12 and send the measured value to the processor 1, the extension amount of the hydraulic rod 12 is a fixed value, if a soil block contains a stone block with a large volume, when the hydraulic rod 12 extends, the soil thinning teeth 14 are blocked by the stone block, and at this time, the hydraulic rod 12 does not extend any more but shortens, and in this state, the measured value obtained by the displacement sensor 15 is smaller than the fixed value.
In S107, a preset distance is set in the processor 1, where the preset distance is the fixed value, and each time the hydraulic rod 12 extends once, the processor 1 determines whether the extension amount of the hydraulic rod 12 is smaller than the preset distance.
In S108, if the elongation of the hydraulic rod 12 is less than the preset distance, it indicates that the soil-phobic tooth 14 is blocked by the stone, the processor 1 calculates the position of the hydraulic rod 12, and when the stone enters the range of the stone removing device, the processor 1 controls the mechanical claw 16 to grab the stone and throw the stone out of the soil delivering device 8 through the driving device 2.
EXAMPLE III
As shown in fig. 4, S103 further includes:
the hardness detection unit 27 detects the hardness value of the soil and transmits it to the processor 1.
The processor 1 adjusts the height of the frame 5 from the ground through the hydraulic lifting unit 28 according to the hardness value.
Specifically, after the sowing device enters a sowing area, the wheels sink into the soil, the depths of the wheels sink into the soil with different hardness are different, if the wheels sink into the soil deeply, the ditches dug by the arc-shaped blades 9 are deep, if the wheels sink into the soil shallowly, the ditches dug by the arc-shaped blades 9 are shallow, and in order to prevent the ditches dug by the arc-shaped blades 9 from being different in depth, the embodiment provides a method for adjusting the ditching depth of the arc-shaped blades 9.
Mobile device 6 includes hydraulic pressure lift unit 28, hydraulic pressure lift unit 28 is used for adjusting the height of frame 5, and before soil feeding device 8 did not start, curved blade 9 terrain clearance is more than or equal to 0.2 meter, and after seeding equipment got into the seeding region, processor 1 passed through drive arrangement 2 control hydraulic pressure lift unit 28 descends and predetermines the height, hydraulic pressure lift unit 28 drives frame 5 and descends and predetermines the height, and curved blade 9 descends together and predetermines the height and insert soil, and at this moment, curved blade 9 can rise soil.
The depth of the wheel sunk in different soil hardness is obtained, the depth of the arc-shaped blade 9 for ditching is obtained on the basis that the hydraulic lifting unit 28 descends to the preset height, and therefore the descending height of the hydraulic lifting unit 28 is adjusted according to the actually required depth.
If the depth of the arc-shaped blade 9 is greater than the actually required depth, the descending height of the hydraulic lifting unit 28 is reduced, and if the depth of the arc-shaped blade 9 is less than the actually required depth, the descending height of the hydraulic lifting unit 28 is increased, and the corresponding relation between the soil hardness and the descending height of the hydraulic lifting unit 28 is established.
The mobile device 6 is provided with a hardness detection unit 27, when the mobile device 6 sinks into soil, the hardness detection unit 27 detects the hardness value of the soil and sends the hardness value to the processor 1, the processor 1 calculates the corresponding descending height according to the received hardness value, and then the driving device 2 controls the hydraulic lifting unit 28 to descend to the corresponding height.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (10)

1. A traveling-interval continuous seeding device comprises a vehicle body, a seeding mechanism and a control mechanism, and is characterized in that the control mechanism comprises a processor, a driving device, a positioning device and a navigation device, the processor is respectively connected with the driving device, the positioning device and the navigation device, the positioning device is used for acquiring position information of the vehicle body and sending the position information to the processor, and the navigation device is used for generating a moving route of the vehicle body and sending the moving route to the processor;
the vehicle body comprises a rack and a moving device, wherein the rack is longitudinally arranged and surrounds the vehicle body, a discharge hole is formed in the side surface of the rack and communicated with the interior of the vehicle body, and the moving device is connected with the driving device and used for driving the vehicle body to move;
the seeding mechanism is arranged on the rack and comprises a soil conveying device, a soil digging device, a soil loosening device, a stone removing device and a feeding device, wherein the soil conveying device surrounds the rack and is used for conveying soil from the front end to the rear end of equipment, the soil digging device is provided with arc-shaped blades which are uniformly distributed on the soil loosening device and are used for rising the soil upwards, the soil loosening device is arranged above the rack and comprises a cross beam and a vertical rod, two ends of the cross beam are connected with the vertical rod, the vertical rod is connected with the rack, the lower end of the cross beam is provided with a plurality of hydraulic rods, the bottom of each hydraulic rod is provided with a plurality of pressure plates, the bottom of each pressure plate is provided with a plurality of soil loosening teeth, the top of each pressure plate is provided with a displacement sensor, the displacement sensor is connected with the processor and is used for measuring the extension or shortening distance of the hydraulic rod and sending the measured value to the processor, go the stone device set up in the rear of the device that loosens the soil, including a plurality of gripper, the gripper with drive arrangement connects for snatch the stone, material feeding unit includes storage cavity, conveyer belt, electric turntable and cover die, the storage crop seed in the storage cavity, the conveyer belt intercommunication the storage cavity with electric turntable, electric turntable's surface is provided with a plurality of slotted holes, the slotted hole is used for receiving the crop seed, be provided with the slope landslide between slotted hole to the carousel edge, the width of landslide is greater than or equal to the width of slotted hole, electric turntable set up in the inside of cover die, the side of cover die is provided with a breach, the width of breach is greater than or equal to the width of landslide, the breach with the discharge opening intercommunication.
2. The inter-row consecutive seeding apparatus according to claim 1, wherein: the seeding mechanism further comprises a pneumatic balancing device, the pneumatic balancing device is connected with the driving device and used for balancing ground surface fine soil, and the pneumatic balancing device comprises at least two groups of vertical gas transmission units.
3. The inter-row consecutive seeding apparatus according to claim 2, wherein: the device that loosens soil still includes the rotary unit, the rotary unit set up in the hydraulic stem with between the pressure disk, and with drive arrangement connects, be used for the drive the pressure disk rotates.
4. A row-wise continuous sowing apparatus according to claim 3, wherein: the cover die further comprises a V-shaped intercepting component, the V-shaped intercepting component divides the inner space of the cover die above the electric turntable into two parts, the V-shaped intercepting component comprises two hard sheets welded with the side wall and the top wall of the cover die, and the hard sheets are respectively positioned on the left side and the right side of the notch.
5. The inter-row consecutive seeding apparatus according to claim 4, wherein: a gap is formed between the hard sheet and the electric turntable, and crop seeds on the electric turntable can not be accommodated in the gap to pass through.
6. The apparatus of claim 5, wherein: the mobile device comprises a hardness detection unit and a hydraulic lifting unit, the hardness detection unit is connected with the processor and used for detecting the hardness value of the soil and sending the hardness value to the processor, and the hydraulic lifting unit is connected with the driving device and used for adjusting the height of the rack.
7. The working method of the traveling consecutive sowing apparatus according to claim 6, comprising the following working steps:
s101: setting a target location in a processor, the navigation device generating and sending a first navigation route for a mobile device to the target location to the processor, the navigation device generating and sending a second navigation route for the mobile device to the processor according to a seeding terrain;
s102: the processor outputs a movement signal to the driving device, and the driving device drives the moving device to move according to the first navigation route and the second navigation route;
s103: the processor outputs an excavating signal to the driving device, and the driving device drives the soil conveying device to start;
s104: the processor outputs a transmission signal to the driving device, and the driving device drives the conveyor belt and the electric turntable to start;
s105: the processor outputs a soil loosening signal to the driving device, and the driving device drives the hydraulic rod to extend or shorten according to preset frequency;
s106: the displacement sensor measures the extended distance of the hydraulic rod and sends the measured value to the processor;
s107: the processor judges whether the received measured value is smaller than a preset distance;
s108: if yes, the processor calculates the position of the hydraulic rod, outputs a stone removing signal to the driving device, and the driving device drives the mechanical claw to pick out stones.
8. The operating method of a traveling consecutive sowing apparatus according to claim 7, wherein: s104 further comprises:
the processor outputs a balance signal to the driving device, and the driving device drives the pneumatic balance device to start.
9. The operating method of a traveling consecutive sowing apparatus according to claim 7, wherein: s105 further includes:
the processor outputs a rotation signal to the driving device, and the driving device drives the rotation unit to start.
10. The operating method of a traveling consecutive sowing apparatus according to claim 7, wherein: s103 further comprises:
the hardness detection unit detects the hardness value of the soil and sends the hardness value to the processor;
and the processor adjusts the height of the rack from the ground through the hydraulic lifting unit according to the hardness value.
CN201911278574.4A 2019-12-13 2019-12-13 Traveling-interval continuous seeding equipment and working method thereof Expired - Fee Related CN110896693B (en)

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CN88211022U (en) * 1988-01-14 1988-12-07 扬州市食品机械厂 Cultivating seed-harrow
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CN102823349A (en) * 2012-08-09 2012-12-19 姜日华 Ditching/seeding/full mulching seeder
KR20140044202A (en) * 2012-10-04 2014-04-14 주식회사 장 자동화 Farming consistency machinery
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CN203912487U (en) * 2014-06-06 2014-11-05 顾春洪 Sower
CN204539789U (en) * 2015-03-24 2015-08-12 罗建会 Soil layer cover type broadcast seeder
CN104996016A (en) * 2015-08-11 2015-10-28 西北农林科技大学 Self-propelled double-layer straw and surface soil mulching machine for orchard
CN105265046A (en) * 2015-10-13 2016-01-27 太仓众信机械制造有限公司 Stubble-cleaning, rotary-tilling and seeding all-in-one machine
CN109121505A (en) * 2018-10-19 2019-01-04 邹建忠 The full process of potato integrates seeder and its type of seeding
CN110366889A (en) * 2019-08-28 2019-10-25 重庆化工职业学院 One kind is plowed formula corn drill and its control method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU408619A1 (en) * 1972-05-22 1973-11-30 WOODWORKING MACHINE
EP0015800B1 (en) * 1979-03-01 1983-03-02 Kuhn S.A. Sowing process and machine
CN88211022U (en) * 1988-01-14 1988-12-07 扬州市食品机械厂 Cultivating seed-harrow
JP2001299008A (en) * 2000-04-20 2001-10-30 Matsuyama Plow Mfg Co Ltd Farm working machine
CN102823349A (en) * 2012-08-09 2012-12-19 姜日华 Ditching/seeding/full mulching seeder
KR20140044202A (en) * 2012-10-04 2014-04-14 주식회사 장 자동화 Farming consistency machinery
CN203708798U (en) * 2014-03-03 2014-07-16 庞集中 Precision seeder with functions of deep scarification and quantitative and layered fertilization for corns
CN203912487U (en) * 2014-06-06 2014-11-05 顾春洪 Sower
CN204539789U (en) * 2015-03-24 2015-08-12 罗建会 Soil layer cover type broadcast seeder
CN104996016A (en) * 2015-08-11 2015-10-28 西北农林科技大学 Self-propelled double-layer straw and surface soil mulching machine for orchard
CN105265046A (en) * 2015-10-13 2016-01-27 太仓众信机械制造有限公司 Stubble-cleaning, rotary-tilling and seeding all-in-one machine
CN109121505A (en) * 2018-10-19 2019-01-04 邹建忠 The full process of potato integrates seeder and its type of seeding
CN110366889A (en) * 2019-08-28 2019-10-25 重庆化工职业学院 One kind is plowed formula corn drill and its control method

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