CN115067038B - Accurate reseeding assembly device of perennial root sugarcane seedling - Google Patents
Accurate reseeding assembly device of perennial root sugarcane seedling Download PDFInfo
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- CN115067038B CN115067038B CN202210615155.0A CN202210615155A CN115067038B CN 115067038 B CN115067038 B CN 115067038B CN 202210615155 A CN202210615155 A CN 202210615155A CN 115067038 B CN115067038 B CN 115067038B
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- 240000000111 Saccharum officinarum Species 0.000 title claims abstract description 118
- 235000007201 Saccharum officinarum Nutrition 0.000 title claims abstract description 118
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 239000002689 soil Substances 0.000 claims abstract description 29
- 238000007599 discharging Methods 0.000 claims abstract description 22
- 230000001502 supplementing effect Effects 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 18
- 238000009434 installation Methods 0.000 claims description 9
- 238000000926 separation method Methods 0.000 claims description 7
- 238000009331 sowing Methods 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 3
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- 241000209134 Arundinaria Species 0.000 claims 4
- 238000000034 method Methods 0.000 abstract description 10
- 238000009826 distribution Methods 0.000 abstract description 3
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- 241000721671 Ludwigia Species 0.000 description 12
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C14/00—Methods or apparatus for planting not provided for in other groups of this subclass
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Sowing (AREA)
Abstract
The invention discloses a precise reseeding assembly device for perennial root sugarcane seedlings, which comprises: the rotary driving platform is provided with a rotatable mounting table top; the sugarcane seed box is arranged on the upper surface of the mounting table surface; the hooking shovel mechanism is arranged on the lower surface of the mounting table top and positioned in front of the seed discharging channel; and the mechanical arm is connected with the rotation driving platform and used for adjusting and controlling the reseeding operation range. The invention relates to an assembly device for accurately reseeding sugarcane seedlings in a perennial root, which is suitable for the root-missing reseeding operation in a sugarcane area in hills, and is particularly suitable for the reseeding operation in a sugarcane field for transverse planting. And can be used for the sugarcane field reseeding operation of longitudinal planting. The multi-procedure light, simple and accurate seed supplementing machine can finish the semi-automatic loading of sugarcane seeds, the linkage accurate positioning of seedling shortage points of the multi-stage mechanical arm, the space shoveling and shaping of a channel, the ordered quantitative seed distribution, the shallow soil covering and the like with higher degree of freedom. The use and operation are more convenient, the work efficiency is improved, the labor cost is reduced, and the labor intensity is reduced.
Description
Technical Field
The invention relates to the technical field of sugarcane planting equipment, in particular to a precise seed supplementing assembly device for perennial root sugarcane seedlings.
Background
Sugarcane is a perennial crop, and sugarcane stumps remained under the ground after harvesting germinate lateral bud seedlings so as to form perennial root sugarcane. The method is comprehensively influenced by factors such as planting varieties, natural conditions, cultivation management level, especially harvesting mechanical damage and the like, the phenomenon of plant shortage and ridge breakage of perennial root sugarcane is easy to occur, the effective stem number and yield of each mu are reduced year by year, and the perennial root age and economic benefit are severely restricted. Therefore, the checking of the lack of the seedling is one of the important ways for solving the problem of root-bearing crops that the root is lack of roots and the ridge is broken and guaranteeing the benign planting cycle of the crops. For the current agricultural situation in the aspect of seed leakage compensation, a manual seed supplementing mode is still commonly adopted in China, so that the labor intensity of farmers is extremely high, the efficiency is extremely low, and the labor production cost is high. Therefore, development of a small-sized reseeding mechanical device capable of completing engagement and matching of a plurality of reseeding agricultural processes is needed, and the hydraulic control mechanism is used for coordinated linkage so as to get rid of the limitation of manpower and greatly improve the reseeding efficiency and accuracy, and the device is suitable for urgent demands of large-scale sugar cane production.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a precise reseeding assembly device for perennial root sugarcane seedlings, so that the defects of high labor intensity, low efficiency, high labor cost and the like of reseeding of artificial perennial root sugarcane are overcome.
In order to achieve the above purpose, the invention provides a device for a precise reseeding assembly of a perennial root sugarcane seedling, comprising: the rotary driving platform is provided with a rotatable mounting table top; the sugarcane seed case, it is located the installation mesa upper surface, the sugarcane seed case includes: the box body is used for containing sugarcane seeds, the bottom surface of the box body is obliquely arranged, the bottom surface is separated from the mounting table top by a distance, and a discharge hole is formed below the box body; the rear end of the seed supporting hopper is fixedly arranged in the box body, the upper surface of the seed supporting hopper is a seed supporting surface, and a diversion channel is formed between the front end surface and the bottom surface of the seed supporting hopper and the bottom surface of the box body; the baffle mechanism is arranged on the outer wall of the bottom surface of the seed supporting hopper and is positioned in the diversion channel, and comprises an elastic baffle, wherein the arrangement direction of the elastic baffle is arranged at a certain angle with the movement direction of the sugarcane seeds; the rolling harrow is arranged below the baffle mechanism and is positioned at the discharge hole of the box body, the rolling harrow is connected with the first driving mechanism, and the first driving mechanism drives the rolling harrow to rotate so as to control the seed metering quantity and the seed metering time of sugarcane seeds; the seed discharging channel is arranged at the discharge hole of the box body and is used for draining and discharging seeds; the hooking shovel mechanism is arranged on the lower surface of the mounting table top and is positioned in front of the seed sowing channel, and comprises a pair of hooking shovels and a connecting rod assembly, wherein the hooking shovels are symmetrically arranged on the connecting rod assembly, and the connecting rod assembly is connected with a second driving mechanism; the second driving mechanism drives the connecting rod assembly to swing, and the distance between the hook shovels is adjusted to conduct ditching; and the mechanical arm is connected with the rotation driving platform and used for adjusting and controlling the reseeding operation range.
Preferably, in the above technical solution, the baffle mechanism includes a plurality of stages of elastic baffles, and the plurality of stages of elastic baffles are arranged along the bottom surface of the seed holding hopper in a stepped manner, and each elastic baffle is formed by arranging a plurality of elastic toothed plates.
Preferably, in the above technical scheme, the upper surface and the bottom surface of the seed holding hopper are both inclined surfaces, and the upper surface and the bottom surface are in transitional connection through an arc-shaped end panel.
Preferably, in the above technical scheme, an arc baffle is arranged at the discharge hole of the box body, the arc baffle is connected with the bottom surface of the box body to form a buffer cavity, the rolling harrow is arranged in the buffer cavity, and the buffer cavity is communicated with the diversion channel and the seed sowing channel.
Preferably, in the above technical solution, the distance between the diversion channels gradually decreases from the feeding end to the discharging end.
Preferably, in the above technical solution, the seed sowing channel has an arc-shaped inner throwing structure.
Preferably, in the above technical solution, a vibrator is disposed on the bottom surface of the case.
Preferably, in the above technical solution, the rotation driving platform includes: the mounting base is of a cylindrical structure penetrating up and down, the middle part of the mounting base is provided with a mounting hole, a circular guide rail is arranged on the mounting base, a riding wheel is fixedly arranged in the guide rail, the upper end face of the riding wheel is higher than the upper end face of the guide rail, and the mounting table top is arranged on the upper end face of the riding wheel; the limiting frame is arranged in the mounting hole of the mounting base, the limiting frame is provided with a plurality of separation rods, the separation rods separate the mounting hole to form a plurality of limiting holes on the same horizontal plane, and the connecting rod assembly extends into the limiting holes and is connected with the mounting table top; and a third drive mechanism connected to the mounting table; the third driving mechanism drives the installation table board to rotate so as to drive the connecting rod assembly to rotate.
Preferably, in the above technical solution, the connecting rod assembly includes: the mounting plate is arranged on the lower surface of the mounting table top; the bent arms are arranged in pairs and are respectively and symmetrically arranged on two sides of the mounting plate, the upper ends of the bent arms are movably connected with the mounting plate, and the lower ends of the bent arms are provided with hook shovels; the connecting seat is connected with the mounting plate through the second driving mechanism, connecting rods are respectively and movably connected to two sides of the connecting seat, the connecting rods are arranged in one-to-one correspondence with the bent arms, and the other ends of the connecting rods are movably connected with the bent arms; the second driving mechanism drives the connecting seat to move up and down and drives the connecting rod to swing up and down so as to drive the bent arm to open and close for ditching.
Preferably, in the above technical scheme, the hook shovel internal surface is equipped with a plurality of soil cutters that are parallel to each other and set up, and the lower extreme edge is equipped with the hack tooth, the hook shovel up end is equipped with the opening and forms the soil chute.
Preferably, in the above technical solution, the mechanical arm includes: the base is connected with the fourth driving mechanism and is driven to rotate by the fourth driving mechanism; one end of the lifting arm is movably connected with the base, the base is movably connected with one end of the first lifting piece, and the other end of the first lifting piece is movably connected with the middle part of the lifting arm; one end of the suspension arm is movably connected with the other end of the lifting arm, the lifting arm is movably connected with one end of the second lifting piece, and the other end of the second lifting piece is movably connected with the suspension arm; and the leveling arm is connected with the other end of the cantilever arm, the cantilever arm is movably linked with one end of a third lifting piece, the other end of the third lifting piece is movably connected with the leveling arm, and the leveling arm is connected with the mounting base of the rotating and driving platform.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention relates to an assembly device for accurately reseeding sugarcane seedlings in a perennial root, which is suitable for the root-missing reseeding operation in a sugarcane area in hills, and is particularly suitable for the reseeding operation in a sugarcane field for transverse planting. And can be used for the sugarcane field reseeding operation of longitudinal planting. The multi-procedure light, simple and accurate seed supplementing machine can finish the semi-automatic loading of sugarcane seeds, the linkage accurate positioning of seedling shortage points of the multi-stage mechanical arm, the space shoveling and shaping of a channel, the ordered quantitative seed distribution, the shallow soil covering and the like with higher degree of freedom. The device can realize multiple working procedures such as loading, positioning of the strain lacking points, ditching, seeding, earthing and the like of the reciprocating joint sugarcane seeds, and the whole device has the advantages of high-efficiency integration, miniaturization, light weight, high reliability and the like. The use and operation are more convenient, the work efficiency is improved, the labor cost is reduced, and the labor intensity is reduced.
(2) According to the precise seed supplementing assembly device for the perennial sugarcane seedlings, the mechanical arm is matched with the rotatable base, so that the seed supplementing working range is enlarged, the device has the capability of supporting the seedling supplementing for multiple sugarcane rows in the advancing process, and the working efficiency is improved.
(3) The assembly device for accurately reseeding the sugarcane seedlings with the perennial root has the advantages that the ditching space can meet the specification requirements of 2 standard double sugarcane bud sugarcane seeds for seed distribution, and the success rate of double sugarcane seed ditching is higher. The amount of the return soil is less than half of the amount of the discharged soil, so that the shallow soil covering requirement of 100-150mm can be met; the loading capacity of sugarcane seeds is more than or equal to 80; the stump-cutting point position of the broken ridge with the depth of more than 1m is positioned, the ditching and shoveling direction of the machine head is perpendicular to the row direction, a good soil breaking effect can be achieved on a perennial root hard soil layer with the depth of less than 15cm by taking a lower shovel, a seed falling port can be aimed at a channel port after the shovel is lifted, and sugarcane seeds are effectively discharged by driving of a stepping motor.
Drawings
FIG. 1 is a schematic structural view of a device for a perennial root sugarcane seedling precise reseeding assembly according to the invention;
FIG. 2 is a schematic diagram of the structure of a sugarcane seed box in the device of the perennial root sugarcane seedling precise reseeding assembly according to the invention;
fig. 3 is a schematic structural view of connection between a rotation driving platform and a hook shovel mechanism of the perennial root sugarcane seedling precise reseeding assembly device according to the invention;
FIG. 4 is a top view of the connection of the drive platform and the hook shovel mechanism in the perennial root sugarcane seedling precise reseeding assembly device according to the invention;
fig. 5 is a schematic structural view of a hook and shovel mechanism in the perennial root sugarcane seedling precise reseeding assembly device according to the invention.
The main reference numerals illustrate:
1-a rotation driving platform, 11-a mounting table top, 12-a mounting base, 13-a limiting frame and 14-a third driving mechanism;
2-sugarcane seed box, 21-box body, 22-seed supporting hopper, 23-baffle mechanism, 24-rolling harrow, 25-seed discharging channel, 26-vibration motor, 27-diversion channel and 28-first driving mechanism;
3-hook shovel mechanism, 31-hook shovel, 32-connecting rod assembly, 33-second driving mechanism;
4-mechanical arm, 41-base, 42-fourth actuating mechanism, 43-lifting arm, 44-swing arm, 45-leveling arm, 46-first lifting member, 47-second lifting member, 48-third lifting member.
Detailed Description
The following detailed description of embodiments of the invention is, therefore, to be taken in conjunction with the accompanying drawings, and it is to be understood that the scope of the invention is not limited to the specific embodiments.
Throughout the specification and claims, unless explicitly stated otherwise, the term "comprise" or variations thereof such as "comprises" or "comprising", etc. will be understood to include the stated element or component without excluding other elements or components.
As shown in fig. 1 to 5, the invention provides a perennial root sugarcane seedling precise reseeding assembly device, which comprises a rotation driving platform 1, a sugarcane seed box 2, a hook shovel mechanism 3 and a mechanical arm 4. The sugarcane seed box 2 is arranged on the upper surface of the rotary driving platform 1, the hook shovel mechanism 3 is arranged on the lower surface of the rotary driving platform 1, and the rotary driving platform 1 is connected with the mechanical arm 4. The mechanical arm 4 drives the rotation driving platform 1 to move through multistage adjustment, and the reseeding operation radius is enlarged. After the mechanical arm 4 drives the driving platform 1 to move to the seedling supplementing operation point, the driving platform 1 rotates and adjusts angles of the sugarcane seed box 2, the hook and shovel mechanism 3 and sugarcane planting ridges according to the angles, the hook and shovel mechanism 3 hooks and removes root-missing sugarcane, sugarcane seeds are placed in the 2, seeds are planted in the sugarcane seed box 2, the hook and shovel mechanism 3 opens the hook and shovel, and the hooked soil is covered on the sugarcane seeds to finish the seedling supplementing. The device can realize multiple working procedures such as loading, positioning of the sugarcane seeds, shoveling, seeding, earthing and the like, and has the advantages of high-efficiency integrated miniaturization, light weight, high reliability and the like. The use and operation are more convenient, the work efficiency is improved, the labor cost is reduced, and the labor intensity is reduced.
The specific structure is as follows: the rotary driving platform 1 is provided with a rotatable mounting table top 11, the sugarcane seed box 2 is arranged on the mounting table top 11, and the rotation of the mounting table top 11 drives the sugarcane seed box 2 to rotate together. The sugarcane seed box 2 comprises a box body 21, a seed supporting hopper 22, a baffle mechanism 23, a rolling rake 24 and a seed discharging channel 25. The box 21 is used for holding sugarcane seeds, and the plate 211 of the left and right sides of box 21 passes through edge fixing plate 212 and mounting table 11 fixed connection, is equipped with strengthening rib 213 on the plate 211 to improve the intensity and the stability of plate 211. The plate 214 at the front side of the box body 21 and the plate 215 at the bottom are both inclined planes, and the plate 214 and the plate 215 are in transitional connection through an arc surface. There is a separation distance between the plate body 215 and the mounting table 11, i.e. the plate body 215 of the bottom surface is not in contact with the mounting table 11. Preferably, a vibrator, which is a vibration motor 26, is provided on the plate 215 of the bottom surface of the case. The discharge of the sugarcane seeds in the box body is smoother by the vibration of the vibration motor 26, and the blockage of the sugarcane seeds is prevented. A discharge outlet 216 is provided below the housing 21. The sugarcane seeds in the box body 21 are discharged through the discharge hole 216.
The seed supporting hopper 22 is fixedly arranged on a plate body at the rear side of the box body 21 and is positioned in the box body 21, the upper surface 221 of the seed supporting hopper 22 is a seed supporting surface, and a diversion channel 27 is formed between the front end surface 222 and the bottom surface 223 of the seed supporting hopper and the bottom surface of the box body. Preferably, the upper surface and the bottom surface of the seed holding hopper are inclined surfaces, and the upper surface and the bottom surface are in transitional connection through the arc-shaped end plate. I.e., the front face 222 is an arcuate face. Sugarcane seeds are placed in the box body 21, fall on the upper surface 221 of the seed supporting hopper 22, and the upper surface is obliquely arranged, so that the sugarcane seeds can conveniently move to the front end surface 222 of the seed supporting hopper and roll into the diversion channel 27.
The baffle mechanism 23 is mounted on the outer wall of the bottom surface 223 of the seed holding hopper 22 and is positioned in the diversion channel 27. The baffle mechanism 23 is an elastic baffle, and the elastic baffle is made of rubber material. The setting of elastic baffle is the certain angle setting with the direction of sugarcane seed whereabouts motion, and when sugarcane seed fell along water conservancy diversion passageway 27, because elastic baffle is certain angle with sugarcane seed whereabouts direction, sugarcane seed and elastic baffle contact, elastic baffle can play certain deceleration to the speed that the sugarcane seed fell, still can guide the sugarcane seed to fall in order simultaneously, improves the order that the sugarcane seed fell promptly.
The rolling harrow 24 is arranged below the baffle mechanism 23 and positioned at the discharge port of the box body 21. The roller rake 24 includes a roller 241 and a paddle 242, the roller 241 is supported on the housing 21 by bearings at both ends, and the roller 21 is located inside the housing 21. The pulling plates 242 are symmetrically installed in six directions along the axial direction of the roller 241. The pulling plate 242 is made of rubber material and has a certain elasticity. The rolling harrow 24 is connected with a first driving mechanism 28, and the rolling harrow 24 is driven to rotate by the first driving mechanism 28 so as to control the seed metering quantity and seed metering time of sugarcane seeds.
The first drive mechanism 28 includes a stepper motor 281, a drive sprocket 282, a chain 283, and a driven sprocket 284. The stepper motor 281 is mounted on the side wall of the seed holding hopper 22 through a motor bracket, the driving sprocket 282 is connected with the output shaft of the stepper motor 281, the driven sprocket 284 is mounted on the re-rolling shaft 241, and the driving sprocket 282 and the driven sprocket 284 are connected through a chain 283. The stepping motor 281 operates to drive the roller 241 to roll by a sprocket mechanism. By controlling the rotation speed of the stepping motor, the number of discharged sugarcane seeds can be controlled. The baffle mechanism 23 and the rolling harrow 24 are arranged in the diversion channel 27, so that the position of sugarcane seeds is corrected when the sugarcane seeds fall, the uniformity and the accuracy of seed metering are improved, and the accurate seed supplementing is realized.
A seed discharging channel 25 is arranged at the discharge hole below the box body 21 and is used for drainage and seed discharging. Sugarcane seeds falling from the diversion channel 27 to the discharge hole are discharged through the seed discharging channel 25. Preferably, the seed discharging passage 25 has an arc-shaped inner throwing structure. Sugarcane seeds are discharged from the discharge hole of the box body and then fall into the seed discharging channel, and the arc-shaped seed discharging channel accurately throws the sugarcane seeds into a ditch dug by the shoveling mechanism through drainage movement.
The hooking shovel mechanism 3 is arranged on the lower surface of the installation table surface 11 and is positioned right in front of the seed discharging channel 25. The dragline mechanism 3 includes a pair of draglines 31 and a link assembly 32. The hook shovel 31 is symmetrically arranged on the connecting rod assembly 32, and the connecting rod assembly 32 is connected with the second driving mechanism 33. The second driving mechanism 33 drives the connecting rod assembly 32 to swing, adjusts the distance between the hook shovels 31, and removes the root-bearing sugarcane to perform ditching. Sugarcane seeds are discharged from the box body 21, flow through the seed discharging channel 25 and fall into a ditch, the connecting rod assembly 32 adjusts the distance between the hook shovels 31, the hook shovels are opened, the hooked soil is covered on the sugarcane seeds, and seed supplementing is completed. The amount of the covered soil of the hook shovel is less than half of the amount of the soil, and the thickness of the covered soil layer is 100-150mm, so that the germination of sugarcane seeds is facilitated.
The mechanical arm 4 is connected with the rotation driving platform 1, and the reseeding operation range is adjusted through the mechanical arm 4 to accurately position the seedling defect point. The mechanical arm is matched with the rotatable base to enlarge the reseeding working range, so that the reseeding working range has the capability of supporting reseeding for multiple sugarcane rows in the advancing process, and the working efficiency is improved.
Preferably, the baffle mechanism 23 includes a plurality of stages of elastic baffles, in this embodiment, 3 stages of elastic baffles are adopted, and the plurality of stages of elastic baffles are arranged in a step-like manner along the outer wall 223 of the bottom surface of the seed holding hopper. I.e., along the direction in which the sugarcane seeds move down, the lengths of the elastic shutters sequentially increase from one stage to three stages, i.e., the first stage elastic shutters 231, the second stage elastic shutters 232, and the third stage elastic shutters 233. Thereby controlling the root number of the fallen sugarcane seeds and leading the sugarcane seeds to fall orderly. Preferably, each stage of elastic baffle is composed of a plurality of elastic toothed plates arranged. Each stage of elastic baffle plate formed by a plurality of elastic toothed plates can better stir sugarcane seeds and slow down the falling speed of the sugarcane seeds. Meanwhile, the falling direction of sugarcane seeds can be better adjusted.
Preferably, an arc-shaped baffle 217 is arranged at the discharge hole of the box body 21, the arc-shaped baffle 217 is connected with a plate body 215 on the bottom surface of the box body to form a buffer cavity 218, the rolling harrow 24 is arranged in the buffer cavity 218, and the buffer cavity 218 is communicated with the diversion channel 27 and the seed sowing channel 25. Sugarcane seeds fall into the buffer cavity 218 through the diversion channel 27, the rolling harrow 24 rotates, the stirring plate 242 stirs the sugarcane seeds in the buffer cavity 218, and the sugarcane seeds fall into the seed discharging channel 25 to be discharged. The buffer cavity 218 is arranged, so that a small amount of falling sugarcane seeds stay in the buffer cavity 218, the rolling harrow is controlled to rotate through the stepping motor, the seed metering quantity and seed metering time are better controlled, and the accurate seed supplementing degree is improved.
Preferably, the distance between the diversion channels 27 gradually decreases from the feeding end to the discharging end. So as to control the number of falling sugarcane seeds and enable the sugarcane seeds to fall orderly.
Preferably, the rotary driving platform 1 comprises a mounting table top 11, a mounting base 12, a limiting frame 13 and a third driving mechanism 14. The mounting base 12 is of a cylindrical structure penetrating up and down, a cavity in the middle is a mounting hole 121, a circular guide rail 122 is arranged at the upper end of the mounting base 12, and riding wheels 123 are fixedly arranged in the guide rail 122. Preferably, a plurality of riding wheels are arranged in the guide rail 122, and in this embodiment, 4 riding wheels 123 are uniformly and symmetrically distributed on the circular guide rail 122. The upper end surface of each riding wheel 123 is higher than the upper end surface of the guide rail 122, and the mounting table 11 is arranged on the upper end surface of the riding wheel 123, i.e. the mounting table 11 is not contacted with the upper end surface of the guide rail. The limiting frame 13 is arranged in the mounting hole 121 of the mounting base, the limiting frame 13 is provided with a plurality of separation rods, and the separation rods separate the mounting hole 121 of the mounting base on the same horizontal plane to form a plurality of limiting holes. In this embodiment, the spacer rod of the limiting frame 13 has a cross structure, and separates the mounting holes 121 to form 4 limiting holes. The upper end of the connecting rod assembly 32 extends into the limiting hole and is fixedly connected with the mounting table top 11. The third driving mechanism 14 is a rotary hydraulic motor, the rotary motor is arranged on the upper surface of the limiting frame 13, an output shaft of the rotary motor is connected with the installation table top 11, and the rotation of the rotary motor drives the installation table top 11 to rotate.
When the reseeding work is carried out, the mechanical arm 4 drives the rotary driving platform 1 to move to a positioned reseeding point, a rotary motor in the rotary driving platform 1 works, the rotary motor drives the installation table top 11 to rotate, and meanwhile, the sugarcane seed box 2 above the installation table top 11 and the lower connecting rod assembly 32 are driven to rotate. The link assembly 32 is provided with a hook shovel 31, and the rotation of the link assembly 32 adjusts the ditching reverse direction of the hook shovel 31. The ditching is performed by adjusting the ditching direction of the hook shovel 31 to be perpendicular to the ridge rows and arranging sugarcane seeds transversely in the ditches. Due to the fact that the limiting frame 13 is arranged, the rotation and movement direction of the connecting component 32 is constrained by the limiting frame 13, the orientation angle of the hook shovel 31 can be conveniently adjusted, and the ditching direction is perpendicular to the ridge rows. According to the device, the mechanical arm 4 is used for moving, positioning and reseeding points in a larger area, and then the rotating angles of the sugarcane seed box 2 and the hook shovel mechanism 3 on the rotary driving platform 1 are adjusted through fine adjustment, so that the sugarcane seeds are accurately dug and removed, and the sugarcane seeds are supplemented. The device assembly of the invention is also suitable for the sugarcane field reseeding operation of longitudinal planting.
Preferably, the linkage assembly 32 includes a mounting plate 321, a pair of curved arms 322, a connection block 323, and two links 324. The mounting plate 321 is provided with 4 mounting rods 325,4, and the mounting rods 325 extend into the 4 limiting holes of the mounting hole 121 in the rotation driving platform 1 respectively and are fixedly connected with the mounting table 11 and positioned on the lower surface of the mounting table 11. The left and right sides of mounting plate 321 are equipped with mounting hangers 326, and the upper end of a pair of curved arms 322 is articulated respectively to be installed on mounting hangers 326, and hook shovel 31 is installed to the lower extreme of curved arms 322. The mounting plate 321 is provided with a central hole, the second driving mechanism 33 is arranged on the central hole of the mounting plate 321, and the second driving mechanism is a telescopic hydraulic cylinder or an air cylinder. The telescopic link of pneumatic cylinder extends to the centre bore of mounting panel 321 downwards, is connected with connecting seat 323, and connecting seat 323 is "worker" style of calligraphy structure, and the left and right sides is equipped with the pivot, and two connecting rods 324 are located the left and right sides of connecting seat 323 respectively, and is articulated with connecting seat 323 through the pivot. The other end of the two links 324 is hinged to the curved arm 322.
When ditching work is carried out, the telescopic link of the telescopic hydraulic cylinder drives the connecting seat 323 to move downwards, the connecting rod 324 at the two ends of the connecting seat 323 struts the bent arm 322, namely the hook shovel mechanism is opened, the telescopic link of the telescopic hydraulic cylinder contracts upwards, the connecting seat 323 moves upwards, the connecting rod 324 at the two ends of the connecting seat 323 contracts the bent arm 322, and the hook shovel hooks the sugarcane ridge to ditche. Preferably, a guide hole 3221 is provided in the middle of the bent arm 322, a rotation shaft is provided in the guide hole 3221, and the other end of the link 324 is hinged to the bent arm 322 through the rotation shaft. When the guide hole 3221 is provided, the connecting rod 324 can be contracted in the guide hole 3221 during the moving operation, so that the structure is more compact.
Preferably, the inner surface of the hook shovel 31 is provided with a plurality of soil cutting knives 311 which are arranged in parallel, the lower end edge is provided with soil crushing teeth 312, and the upper end surface of the hook shovel 31 is provided with an opening to form a soil discharging groove 313. The hook shovel is provided with the hack tooth 312, is convenient for dig and get earth, also can snatch to the soil that the soil property is harder, improves ditching efficiency. After the soil is excavated, the soil enters the inner surface of the hook shovel, and is cut and crushed by the soil cutter 311, so that the soil with smaller particles is obtained. The excavated surplus soil can be discharged out of the hooked shovel through the soil discharging groove 313 on the hooked shovel.
Preferably, the mechanical arm 4 includes a base 41, a fourth driving mechanism 42, a lifting arm 43, a suspension arm 44, a leveling arm 45, a first lifting member 46, a second lifting member 47, and a third lifting member 48, where the first lifting member 46, the second lifting member 47, and the third lifting member 48 are telescopic hydraulic cylinders or cylinders, and in this embodiment, telescopic hydraulic cylinders are used. The base 41 is connected to the fourth driving mechanism 42, and is driven to rotate by the fourth driving mechanism 42, and the fourth driving mechanism 42 includes a swing hydraulic motor 421 and a swing reduction mechanism 422, the swing hydraulic motor 421 being connected to the swing reduction mechanism 422, and the swing reduction mechanism 422 being connected to the base 41. The swing hydraulic motor 421 drives the base 41 to rotate through the swing reduction mechanism 422. The lifting arm 42 is in an inverted V-shaped structure, one end of the lifting arm 42 is hinged with the base 41, the base 41 is hinged with the first lifting member 46, and the other end of the first lifting member 46 is hinged with the middle part of the lifting arm 42. The upper end of the suspension arm 44 is hinged with the other end of the lifting arm 43. The second lifting member 47 has one end hinged to the middle of the lifting arm 42 and the other end hinged to the cantilever arm 44. The lower end of the cantilever arm 44 is connected with a leveling arm 45, and one end of the third lifting member 48 is hinged with the middle part of the cantilever arm 44, and the other end is hinged with the leveling arm 45. The leveling arm 45 is horizontally arranged, and the other end of the leveling arm is fixedly connected with the mounting base 12 of the rotary driving platform 1.
The rotatable base is arranged to form a rotating assembly device so as to enlarge the reseeding working range, enable the reseeding working range to have the capability of supporting reseeding for multiple sugarcane rows in the advancing process, and improve the working efficiency. The lifting-swinging-leveling mechanical arms and the rotating bases thereof are sequentially hinged, and the positions and the posture angles of the corresponding arms are adjusted through telescopic hydraulic cylinders corresponding to each stage; the leveling arm 45 is fixedly connected with the mounting base 12 of the front-end rotating and driving platform and is used for maintaining the horizontal working state of the front-end assembly. The reseeding operation radius can be enlarged through flexible linkage of the multi-stage mechanical arm, and the reseeding operation point is accurately positioned according to the position of the defect plant point.
The utility model provides an accurate reseeding assembly device of perennial root sugarcane seedling, specific experimental operation steps are as follows:
(1) Firstly, loading sugarcane seeds into a sugarcane seed box 2;
(2) The seedling supplementing point is positioned by controlling the base 41 of the mechanical arm, the rotation of the rotation driving platform 1 and the three-level hydraulic cylinder on the mechanical arm 4;
(3) Meanwhile, a telescopic hydraulic cylinder on the hook shovel mechanism 3 is controlled to do a lower shovel collecting and digging action;
(4) Controlling a three-stage hydraulic cylinder on the front mechanical arm 4 to lift the shovel and simultaneously enabling a seed dropping port to be aligned with a pit port;
(5) A step motor on the box 21 drives a roller rake 24 to seed;
(6) The retractable hydraulic cylinder of the hooking and shoveling mechanism 3 controls the soil scattering action of the open-close type shovel ditch mechanism;
(7) The stepper motor on the box 21 stops working and the reseeding process ends.
The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application to thereby enable one skilled in the art to make and utilize the invention in various exemplary embodiments and with various modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (9)
1. Accurate reseeding assembly device of perennial root sugarcane seedling, its characterized in that includes:
the rotary driving platform is provided with a rotatable mounting table top;
the sugarcane seed case, it is located the installation mesa upper surface, the sugarcane seed case includes:
the box body is used for containing sugarcane seeds, the bottom surface of the box body is obliquely arranged, the bottom surface is separated from the mounting table top by a distance, and a discharge hole is formed below the box body;
the rear end of the seed supporting hopper is fixedly arranged in the box body, the upper surface of the seed supporting hopper is a seed supporting surface, and a diversion channel is formed between the front end surface and the bottom surface of the seed supporting hopper and the bottom surface of the box body;
the baffle mechanism is arranged on the outer wall of the bottom surface of the seed supporting hopper and is positioned in the diversion channel, and comprises an elastic baffle, wherein the arrangement direction of the elastic baffle is arranged at a certain angle with the movement direction of the sugarcane seeds;
the rolling harrow is arranged below the baffle mechanism and is positioned at the discharge hole of the box body, the rolling harrow is connected with the first driving mechanism, and the first driving mechanism drives the rolling harrow to rotate so as to control the seed metering quantity and the seed metering time of sugarcane seeds; and
the seed discharging channel is arranged at the discharge hole of the box body and is used for draining and discharging seeds;
the hooking shovel mechanism is arranged on the lower surface of the mounting table top and is positioned in front of the seed sowing channel, and comprises a pair of hooking shovels and a connecting rod assembly, wherein the hooking shovels are symmetrically arranged on the connecting rod assembly, and the connecting rod assembly is connected with a second driving mechanism; the second driving mechanism drives the connecting rod assembly to swing, and the distance between the hook shovels is adjusted to conduct ditching; and
the mechanical arm is connected with the rotation driving platform and used for adjusting and controlling the reseeding operation range;
the baffle mechanism comprises a plurality of stages of elastic baffles, the stages of elastic baffles are arranged in a step-shaped manner along the bottom surface of the seed supporting hopper, and each elastic baffle is formed by arranging a plurality of elastic toothed plates; along the direction of the sugarcane seeds moving and falling, the length of the elastic baffle plate is sequentially increased, so that the number of falling sugarcane seeds is controlled, and the sugarcane seeds are orderly fallen.
2. The precise seed supplementing assembly device for perennial root sugarcane seedlings according to claim 1, wherein the upper surface and the bottom surface of the seed supporting hopper are inclined surfaces, and the upper surface and the bottom surface are in transitional connection through an arc-shaped end plate.
3. The precise seed supplementing assembly device for perennial root sugarcane seedlings according to claim 1, wherein an arc-shaped baffle plate is arranged at a discharge hole of the box body and connected with the bottom surface of the box body to form a buffer cavity, the rolling harrow is arranged in the buffer cavity, and the buffer cavity is communicated with the diversion channel and the seed sowing channel.
4. The perennial root sugarcane seedling precise reseeding assembly device of claim 1, wherein the distance between the diversion channels is gradually reduced from the feed end to the discharge end; and/or the seed discharging channel is in an arc-shaped inner throwing structure.
5. The perennial root cane seedling precise reseeding assembly device of claim 1, wherein a vibrator is arranged on the bottom surface of the box body.
6. The perennial root cane seedling precise reseeding assembly device of claim 1, wherein the rotation driving platform comprises:
the mounting base is of a cylindrical structure penetrating up and down, the middle part of the mounting base is provided with a mounting hole, a circular guide rail is arranged on the mounting base, a riding wheel is fixedly arranged in the guide rail, the upper end face of the riding wheel is higher than the upper end face of the guide rail, and the mounting table top is arranged on the upper end face of the riding wheel;
the limiting frame is arranged in the mounting hole of the mounting base, the limiting frame is provided with a plurality of separation rods, the separation rods separate the mounting hole to form a plurality of limiting holes on the same horizontal plane, and the connecting rod assembly extends into the limiting holes and is connected with the mounting table top; and
the third driving mechanism is connected with the mounting table top;
the third driving mechanism drives the installation table board to rotate so as to drive the connecting rod assembly to rotate.
7. The perennial root cane seedling precision reseeding assembly device of claim 1, wherein said linkage assembly comprises:
the mounting plate is arranged on the lower surface of the mounting table top;
the bent arms are arranged in pairs and are respectively and symmetrically arranged on two sides of the mounting plate, the upper ends of the bent arms are movably connected with the mounting plate, and the lower ends of the bent arms are provided with hook shovels; and
the connecting seat is connected with the mounting plate through the second driving mechanism, connecting rods are respectively and movably connected to two sides of the connecting seat, the connecting rods are arranged in one-to-one correspondence with the bent arms, and the other ends of the connecting rods are movably connected with the bent arms;
the second driving mechanism drives the connecting seat to move up and down and drives the connecting rod to swing up and down so as to drive the bent arm to open and close for ditching.
8. The precise seed supplementing assembly device for perennial root sugarcane seedlings according to claim 1, wherein a plurality of soil cutting knives which are arranged in parallel are arranged on the inner surface of the hook shovel, soil crushing teeth are arranged on the edge of the lower end of the hook shovel, and an opening is formed in the upper end face of the hook shovel to form a soil discharging groove.
9. The perennial root cane seedling precision reseeding assembly device of claim 1, wherein the robotic arm comprises:
the base is connected with the fourth driving mechanism and is driven to rotate by the fourth driving mechanism;
one end of the lifting arm is movably connected with the base, the base is movably connected with one end of the first lifting piece, and the other end of the first lifting piece is movably connected with the middle part of the lifting arm;
one end of the suspension arm is movably connected with the other end of the lifting arm, the lifting arm is movably connected with one end of the second lifting piece, and the other end of the second lifting piece is movably connected with the suspension arm; and
the leveling arm is connected with the other end of the cantilever arm, the cantilever arm is movably connected with one end of a third lifting piece, the other end of the third lifting piece is movably connected with the leveling arm, and the leveling arm is connected with the mounting base of the rotating and driving platform.
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| CN202210615155.0A CN115067038B (en) | 2022-05-31 | 2022-05-31 | Accurate reseeding assembly device of perennial root sugarcane seedling |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0795803A (en) * | 1993-09-29 | 1995-04-11 | Iseki & Co Ltd | Feeder for reserved seedling in riding type rice seedling transplanter |
| CN105731269A (en) * | 2016-04-26 | 2016-07-06 | 韦东党 | Digging machine |
| CN208891188U (en) * | 2018-07-19 | 2019-05-24 | 广西大学 | A kind of sugarcane kind conveying device with benefit sugarcane function of sugarcane planting machine |
| CN109819721A (en) * | 2018-12-26 | 2019-05-31 | 兰溪市奥而特农业科技有限公司 | A kind of agricultural, which is digged pit, buries native device |
| CN113875365A (en) * | 2021-09-15 | 2022-01-04 | 中国热带农业科学院南亚热带作物研究所 | Pineapple seedling transplanting device |
-
2022
- 2022-05-31 CN CN202210615155.0A patent/CN115067038B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0795803A (en) * | 1993-09-29 | 1995-04-11 | Iseki & Co Ltd | Feeder for reserved seedling in riding type rice seedling transplanter |
| CN105731269A (en) * | 2016-04-26 | 2016-07-06 | 韦东党 | Digging machine |
| CN208891188U (en) * | 2018-07-19 | 2019-05-24 | 广西大学 | A kind of sugarcane kind conveying device with benefit sugarcane function of sugarcane planting machine |
| CN109819721A (en) * | 2018-12-26 | 2019-05-31 | 兰溪市奥而特农业科技有限公司 | A kind of agricultural, which is digged pit, buries native device |
| CN113875365A (en) * | 2021-09-15 | 2022-01-04 | 中国热带农业科学院南亚热带作物研究所 | Pineapple seedling transplanting device |
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| CN115067038A (en) | 2022-09-20 |
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