CN117882539A - Self-propelled full-automatic vegetable transplanting machine based on ridge-shaped following device - Google Patents

Abstract

A self-propelled full-automatic vegetable transplanting machine based on a ridge-shaped following device belongs to the technical field of transplanting. Including getting seedling device, divide seedling device, send seedling device, transplanting arm, cave dish conveyor, ditching earthing suppression device, ridge shape follow device and electric chassis, install at electric chassis top and transplant the arm, it has two parallel pull rods to transplant arm top sliding connection, lift twin-pole cylinder symmetrical connection is in two outsides of pull rod, be connected with two branch seedling devices respectively at lift twin-pole cylinder flexible end, two sets of a plurality of seedling devices get the seedling claw of feeding install respectively on getting seedling claw slide rail, two seedling devices that send all connect two pull rods, be equipped with cave dish conveyor in transplanting arm both sides, ditching earthing suppression device and ridge shape follow device all connect in electric chassis below. The automatic ridging machine can automatically walk along the ridged ridge shape, can realize the linkage actions of ditching, seedling feeding, soil covering and compacting, and furthest imitates the mode of manually digging a pit and then transplanting.

Description

Self-propelled full-automatic vegetable transplanting machine based on ridge-shaped following device

Technical Field

The invention belongs to the technical field of agricultural machinery, and particularly relates to a self-propelled full-automatic vegetable transplanting machine based on a ridge-shaped following device.

Background

With the continuous progress of technology and the support of policies, the variety and number of agricultural machines are increasing. Agricultural mechanization has become an important means for improving agricultural production efficiency and relieving labor shortage. However, most of vegetable transplanting is mainly performed manually, and the problem that practitioners are seriously aged, so that 'labor difficulty and labor expense' occur in the planting process.

Nowadays, various full-automatic transplanting machines have been developed at home and abroad, most of the transplanting machines adopt duckbilled planting devices, and when the duckbilled planting devices are adopted, if soil is loose or the water content of the soil is too high, poor fluidity can be caused, seedlings are difficult to cover, lodging of the seedlings can be caused, and planting quality and survival rate are difficult to completely guarantee. At present, a transplanter adopting the duckbill seedling planting principle cannot actively cover soil, and the planting quality can be seriously influenced due to soil humidity, the flatness of ridge surfaces and the shape and size of plants.

Disclosure of Invention

Aiming at the technical problems, the application provides a self-propelled full-automatic vegetable transplanter based on a ridge-shaped following device, which can automatically follow ridge-shaped walking after ridging, can realize the linkage actions of ditching, seedling feeding, soil covering and pressing, and furthest imitates the mode of digging and then transplanting manually.

The aim of the invention is realized by the following technical scheme:

The invention discloses a self-propelled full-automatic vegetable transplanting machine based on a ridge-shaped following device, which comprises a seedling taking device, a seedling dividing device, a seedling conveying device, transplanting arms, a tray conveying device, a ditching soil covering pressing device, a ridge-shaped following device and an electric chassis, wherein the ridge-shaped following device is connected to the electric chassis, the transplanting arms are arranged above chassis frames of the electric chassis, each transplanting arm comprises two gantry frames, two lifting double-rod cylinders and transverse pull rods, two parallel transverse pull rods are connected to the tops of the gantry frames in a sliding manner, the lifting double-rod cylinders are four, the inner sides of the gantry frames are symmetrically arranged at the two outer side near ends of the transverse pull rods and move along with the transverse pull rods, the seedling taking device, the seedling dividing device and the seedling conveying device are two groups which are symmetrical, a plurality of seedling taking claws of the two groups of seedling taking devices are respectively arranged on telescopic ends of the lifting double-rod cylinders of the transplanting arms, the two groups of seedling taking claws of the seedling taking device are respectively arranged on seedling taking claw sliding rails of the gantry frames of the dividing device, the two seedling conveying devices are respectively arranged on the gantry frames of the transplanting arms, the two seedling conveying devices are connected to the two telescopic ends of the telescopic racks at the two sides of the soil conveying device, and the tray conveying device are respectively arranged below the two side of the tray conveying device.

Preferably, the two gantry frames of the transplanting arm are symmetrically arranged on the chassis frame of the electric chassis along the advancing direction, a transverse pull rod guide rail is arranged at the top of the gantry frames, and the transverse pull rod is connected to the transverse pull rod guide rails of the two gantry frames through a sliding block I.

Preferably, the seedling picking device comprises a plurality of seedling picking and feeding claws with the same structure, the seedling picking and feeding claws comprise two symmetrically arranged pivot opening and closing type air claws connected with an opening and closing cylinder and a telescopic end thereof, the two pivot opening and closing type air claws are hinged on a piston rod of the opening and closing cylinder by the same pivot, the pivot opening and closing type air claws comprise clamping claw sheets, arc-shaped steel sheets and foam cotton which are sequentially arranged from the outer side to the inner side, the foam cotton is made of super-elastic materials, the foam cotton is arranged on the inner side of an extending section of the clamping claw sheets, the arc-shaped steel sheets are arranged between the clamping claw sheets and the foam cotton, and the arc-shaped ends of the arc-shaped steel sheets extend out of the clamping claw sheets and the foam cotton end parts and are outwards opened; the clamping jaw piece is pushed to open and close by the expansion of the opening and closing cylinder, so that the seedling lump is clamped and loosened;

Preferably, the arc steel sheet consists of a straight line section and an arc line section, wherein the straight line section is connected between the clamping jaw sheets and the foam, the arc line section is outwards opened, the maximum distance between the arc steel sheets of the two clamping jaw sheets is the width of one seedling hole on the hole tray, when the opening and closing cylinder is retracted, the two symmetrical straight line sections of the arc steel sheets are horizontally overlapped, and the two straight line sections of the clamping jaw sheets are parallel to each other and are in a seedling taking state; when the opening and closing cylinder stretches out, two mutually symmetrical arc-shaped steel sheets are opened to be in a seedling feeding state.

Preferably, the seedling separating device comprises a plurality of seedling separating cylinders, magnetic switches and seedling taking and feeding claw sliding rails, wherein the seedling taking and feeding claw sliding rails are connected to telescopic ends below two opposite lifting double-rod cylinders of the transplanting arm, the number of the seedling taking and feeding claw sliding blocks matched with the seedling taking and feeding claw sliding rails is the same as that of the seedling taking and feeding claws, the seedling separating cylinders are respectively connected with the cylinder bodies of the seedling taking and feeding claw opening and closing cylinders, two ends of the seedling separating cylinders are respectively connected to the adjacent seedling taking and feeding claw sliding blocks through mounting plates, the magnetic switches at the two ends of each seedling separating cylinder are respectively provided with a magnetic switch, the magnetic switches at the tail ends of the seedling separating cylinders are fixedly connected, the magnetic switches at the telescopic rod ends of the seedling separating cylinders are movably connected to adjust transplanting distances, and the first seedling taking and feeding claw sliding block at the end part is fixed on the seedling taking and feeding claw sliding rail, and the rest seedling taking and feeding claw sliding blocks connected to the seedling separating cylinders are driven by the seedling separating cylinders to realize shrinkage and scattering of the seedling taking and feeding claws at equal intervals; and an adjusting scale is also arranged on the seedling separating cylinder body and used for adjusting the plant spacing to serve as a reference distance.

Preferably, the seedling feeding device comprises a seedling feeding cylinder and a row spacing adjusting mechanism, the row spacing adjusting mechanism 6 is arranged on an outer side plate at the top of the gantry type frame, a Miao Qigang cylinder body end is connected to a sliding block II of the row spacing adjusting mechanism 6, a telescopic end is connected to a tie rod through a mounting plate, and the telescopic rod of the seedling feeding cylinder drives the tie rod to move along a tie rod guide rail.

Preferably, the row spacing adjusting mechanism comprises an optical axis, a sliding block II, a ball screw and a vertical bearing, wherein two ends of the ball screw are respectively arranged on the outer side plate of the top of the gantry type frame through the vertical bearing, the optical axis parallel to the ball screw is arranged at two sides of the ball screw between the two vertical bearings, the sliding block II is arranged on the ball screw through a nut, and a through hole for sleeving the optical axis is formed in the sliding block II; the sliding block II is connected with the cylinder body of the seedling feeding cylinder, one end of the ball screw extends out of the vertical bearing, a hand wheel is arranged on the ball screw, and the position of the seedling feeding cylinder is adjusted by rotating the hand wheel, so that the adjustment of the planting row spacing in the transplanting process is realized.

Preferably, the plug conveying device comprises a plug fixing frame, a movable frame, a plug lifting double-rod cylinder and a conveying frame, wherein the conveying frame is arranged between two gantry type frames of the transplanting arm, the movable frame is connected to the conveying frame in a sliding manner, the plug fixing frame is connected to the movable frame in a sliding manner, the plug fixing frame is perpendicular to the moving direction of the movable frame, and the plug fixing frame is used for placing plug; the two plug lifting double-rod cylinders are arranged on the conveying frame and close to two ends of the gantry type frame, and the conveying frame drives the plug conveying device 7 to integrally lift and descend under the driving of the two plug lifting double-rod cylinders; a plug vibrator is arranged below the plug fixing frame.

Preferably, the sliding connection is that a driving motor I and a driving motor II are respectively arranged on the conveying frame and the moving frame, a rack I or a rack II which is mutually perpendicular is arranged at the bottoms of the moving frame and the plug fixing frame, a gear which is matched with the rack I or the rack II for transmission is arranged on an output shaft of the driving motor I or the driving motor II, a linear slide rail I or a linear slide rail II which is parallel to the conveying frame and the moving frame is also arranged at the top of the conveying frame and the moving frame on two sides of the rack I or the rack II, and a slide block which is matched with the linear slide rail I or the linear slide rail II for sliding is arranged at the bottoms of the moving frame and the plug fixing frame.

Preferably, the ditching earthing suppression device includes furrow opener, earthing device mounting bracket, earthing device, earthing transversely open and shut cylinder, earthing vertical lift cylinder and earthing horizontal linear slide rail, the earthing device mounting bracket comprises two pairs of longerons of parallel arrangement between two parallel arrangement's crossbeams, and is provided with earthing horizontal linear slide rail on the crossbeam, connects on the longeron with its complex slider, earthing transversely opens and shuts cylinder one end and connects on the longeron, one end is connected the slider, connects earthing vertical lift cylinder's flexible end on the crossbeam, earthing vertical lift cylinder's cylinder body end is installed on electric chassis 1's chassis frame, is connected with two furrow openers below the crossbeam of work front end, all is provided with a plurality of pairs of earthing devices on every pair of longerons, the logarithm of earthing device is the same rather than the seedling claw number of getting of corresponding side, and earthing device is less than furrow opener apart from ground height.

Preferably, the ridge-shaped following device comprises a depth camera, a raspberry group 4B processor and a driving motor III, wherein the depth camera is installed on a chassis frame through a cradle head, the angle is inclined downwards by 15 degrees, a crawler driving wheel of an electric chassis is installed on an output shaft of the driving motor III, an encoder is coaxially installed on the driving wheel, a brushless electric control is further connected to the driving motor III, the depth camera, the encoder and the brushless electric control are all connected with the raspberry group 4B processor, the depth camera collects ground information right in front of a ridge surface, data are stored in the raspberry group 4B processor, a yaw angle of a transplanter is obtained through identification, and the raspberry group 4B processor adjusts the speed and the direction through the brushless electric control to be connected with the driving motor III of the electric chassis according to the yaw angle information and the rotation speed of two crawler tracks obtained by the encoder, so that ridge-shaped following operation is realized.

The beneficial effects of the invention are as follows:

1. The invention can automatically follow the ridge shape walking after ridging, so that the automatic transplanting operation surface always coincides with the optimal operation range of the ridge surface;

2. The automatic seedling transplanting machine can automatically control the plug tray to finish the picking and planting work of all seedling lumps, can realize the function of active earthing, furthest imitates the mode of digging pits and then transplanting manually, and improves the transplanting survival rate and efficiency by using the methods of active earthing and active compacting, thereby reducing the labor intensity of the manual work.

3. The transplanting mode can realize automatic driving, automatic seedling taking, automatic planting and active soil covering and compacting, overcomes the defects of difficult manual driving and passive soil covering of the traditional transplanting machine, improves the transplanting survival rate and efficiency, and promotes the deep integration of facilities, agricultural machinery and agriculture in facility agriculture.

Drawings

Fig. 1 is a schematic structural view of a transplanting machine according to an embodiment of the present application;

fig. 2 is a schematic view of the transplanting arm structure in fig. 1;

fig. 3 is a schematic view of a seedling picking and feeding claw according to an embodiment of the present application;

FIG. 4 is a schematic view of the internal structure of FIG. 3;

Fig. 5 is a schematic structural diagram of a seedling separation device according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a seedling feeding device according to an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a row spacing adjustment mechanism according to an embodiment of the present application;

FIG. 8 is a schematic diagram of a plug-tray conveying device according to an embodiment of the present application;

FIG. 9 is a schematic view of the structure of FIG. 8 at another angle;

FIG. 10 is a schematic diagram of a ditching, earthing and compacting device according to an embodiment of the present application;

FIG. 11 is a schematic view of the structure of FIG. 10 at another angle;

FIG. 12 is a schematic view of a ridge-shaped follower provided in an embodiment of the present application;

fig. 13 is a schematic structural diagram of an electric chassis according to an embodiment of the present application.

In the figure: 1. the electric chassis comprises an electric chassis, a chassis frame, a reduction gearbox and a track, wherein the electric chassis comprises an electric chassis, a chassis frame, a reduction gearbox and a track, a driving wheel, a bearing wheel, a guide wheel, a driving wheel mounting plate and a guide wheel mounting plate, and the guide wheel mounting plate is arranged on the electric chassis, the chassis frame, the reduction gearbox and the track, the track is arranged on the electric chassis, the driving wheel and the bearing wheel are arranged on the electric chassis, the driving wheel and the driving wheel are arranged on the electric chassis, the;

2. transplanting arm, 201, gantry frame, 202 tie rod guide rail, 203 sliding block I, 204 lifting double-rod cylinder, 205, tie rod;

3. the seedling taking device comprises a seedling taking claw, a clamping claw sheet, an arc-shaped steel sheet, a foam and an opening and closing cylinder, wherein the seedling taking claw, the clamping claw sheet, the arc-shaped steel sheet and the foam are respectively arranged in the arc-shaped steel sheet and the arc-shaped steel sheet respectively;

4. Seedling separating device, 401, seedling separating cylinder, 402, adjusting scale, 403, and seedling feeding claw sliding rail;

5. Seedling conveying device, 501, miao Qigang;

6. Row spacing adjusting mechanism 601, optical axis 602, sliding block II, 603, ball screw, 604, mounting plate, 605, vertical bearing and 606 hand wheel;

7. The tray conveying device comprises a tray conveying device 701, a tray fixing frame 702, racks I and 703, driving motors I and 704, linear sliding rails I and 705, a conveying frame 706, a moving frame 707, a tray lifting double-rod cylinder 708, linear sliding rails II and 709, racks II and 710 and a driving motor II;

8. Ditching and earthing compacting device, 801, ditcher, 802, longitudinal beam, 803, earthing device, 804, earthing transverse opening and closing cylinder, 805, earthing vertical lifting cylinder, 806, earthing horizontal linear slide rail;

9. ridge follower 901 depth camera 902 encoder 903 drive motor iii.

Detailed Description

The invention is described in detail below with reference to the drawings and examples.

Examples: as shown in figure 1, the self-propelled full-automatic vegetable transplanter based on the ridge-shaped following device comprises a seedling taking device 3, a seedling separating device 4, a seedling conveying device 5, a transplanting arm 2, a plug conveying device 7, a ditching, earthing and compacting device 8, a ridge-shaped following device 9 and an electric chassis 1, wherein the electric chassis 1 is connected with the ridge-shaped following device 9, a transplanting arm 2 is arranged above a chassis frame 101 of the electric chassis 1, the transplanting arm 2 comprises two gantry frames 201, two lifting double-rod cylinders 204 and transverse pull rods 205, the two gantry frames 201 are slidably connected with the transverse pull rods 205 at the top of the gantry frames 201, the four lifting double-rod cylinders 204 are arranged, the seedling picking device 3, the seedling separating device 4 and the seedling conveying device 5 are symmetrically arranged at the inner sides of the gantry type rack 201 and are respectively arranged at the two outer side near ends of the transverse pull rod 205 and move along with the transverse pull rod 205, two groups of seedling separating devices 4 are respectively connected to the telescopic ends of a lifting double-rod cylinder 204 of the transplanting arm 2, a plurality of seedling picking and feeding claws 300 of the two groups of seedling picking devices 3 are respectively arranged on a seedling picking and feeding claw sliding rail 403 of the seedling separating device 4, two seedling conveying devices 5 are respectively arranged on the gantry type rack 201 of the transplanting arm 2, the telescopic ends of the seedling conveying cylinders 501 are respectively connected to the two transverse pull rods 205 of the transplanting arm 2, and two sides of the transplanting arm 2 are respectively provided with a hole tray conveying device 7, and a ditching soil covering pressing device 8 is connected below a chassis frame 101 of the electric chassis 1; through electric chassis 1 drive, ridge shape following device 9 realizes that the ridge is gone to follow the operation, and transplanting arm 2 through electric chassis 1 top setting drives gets seedling device 3 and removes and get the seedling, and seedling device 4 separately get seedling claw 300, send seedling device 5 to transport seedling lump to ditching earthing suppression device 8 open the transplanting ditch in, carries out earthing suppression.

Further, as shown in fig. 2, two gantry frames 201 of the transplanting arm 2 are symmetrically arranged on the chassis frame 101 of the electric chassis along the travelling direction, a tie rod guide rail 202 is arranged at the top of the gantry frames 201, and a tie rod 205 is connected to the tie rod guide rails 202 of the two gantry frames 201 through a sliding block i 203.

The tie rod guide rail 202 plays a role in supporting and guiding the movement of the tie rod 205, so that the success rate of seedling taking and seedling conveying is prevented from being reduced due to lateral deviation in the seedling taking and seedling conveying processes; the lifting double-rod air cylinder 204 is fixed with the transverse pull rod 205 and is used for driving the seedling taking device 3 and the seedling separating device 4 to move up and down, and stepless adjustment of planting depth is achieved in the transplanting process. Magnetic separation switches are respectively arranged at two ends of the cylinder body of the lifting double-rod cylinder 204 and used for detecting the initial position and the stop position of the piston of the lifting double-rod cylinder 204, so as to play a role of a trigger signal, and the planting depth can be controlled by adjusting the stop position of the magnetic switches in the transplanting process.

As shown in fig. 3 and 4, the seedling picking device 3 includes a plurality of seedling picking and feeding claws 300 with the same structure, the seedling picking and feeding claws 300 include an opening and closing cylinder 304 and two symmetrically arranged pivot opening and closing type air claws connected with telescopic ends thereof, the two pivot opening and closing type air claws are hinged to piston rods of the opening and closing cylinder 304 by the same pivot, the pivot opening and closing type air claws include a clamping jaw piece 301, an arc steel sheet 302 and foam 303 which are sequentially arranged from the outer side to the inner side, the clamping jaw piece 301 is connected to the piston rods of the opening and closing cylinder 304 through a connecting plate with a pivot, the foam 303 is mounted at the inner side of an extending section of the clamping jaw piece 301, the arc steel sheet is mounted between the clamping jaw piece 301 and the foam 303, and the arc ends of the arc steel sheet extend out of the end parts of the clamping jaw piece 301 and the foam 303 and are opened to the outer side; the clamping jaw piece is pushed to open and close by the extension and contraction of the opening and closing cylinder 304, so that the seedling lump is clamped and loosened.

The arc steel sheets 302 are composed of straight line segments and arc line segments, the straight line segments are connected between the clamping jaw sheets 301 and the foam 303, the arc line segments are outwards opened, the maximum distance between the arc steel sheets 302 of the two clamping jaw sheets is the width of one seedling hole on the hole tray, the pivot opening and closing type air claw 301 is formed by taking a straight line opening and closing cylinder 304 as a power source, when the opening and closing cylinder 304 retracts, the straight line segments of the two symmetrical arc steel sheets 302 are horizontally overlapped, and the straight line segments of the two clamping jaw sheets are parallel to each other to obtain seedlings; when the opening and closing cylinder stretches out, the two symmetrical arc-shaped steel sheets 302 are opened, so that the success rate of seedling taking can be improved, and the seedling feeding state is realized.

Because the super-elastic material foam has better mechanical properties such as isotropy, large deformation and incompressibility, the foam 303 of the application adopts the super-elastic material foam as a material with which the pivot opening and closing type air claw is in direct contact with the seedling lump stalk, and the super-elastic material has excellent mechanical properties, so that the functions of taking seedlings and reducing damage are realized.

As shown in fig. 5, the seedling separating device 4 includes a seedling separating cylinder 401, a magnetic switch, and a seedling taking and feeding claw sliding rail 403, where the seedling taking and feeding claw sliding rail 403 is connected to the telescopic ends below two opposite lifting double-rod cylinders 205 of the transplanting arm 2, and the two lifting double-rod cylinders 205 drive the seedling taking and feeding claw sliding rail 403 to lift and descend, so as to realize lifting and seedling taking and descending; the number of the seedling taking and feeding claw sliding blocks matched with the seedling taking and feeding claw sliding rails 403 is the same as that of the seedling taking and feeding claw 300, the seedling taking and feeding claw opening and closing cylinder 304 cylinders are respectively connected, the seedling dividing cylinders 401 are multiple, two ends of each seedling dividing cylinder are respectively connected to the adjacent seedling taking and feeding claw sliding blocks through mounting plates, two ends of each seedling dividing cylinder 401 are respectively provided with a magnetic switch, the magnetic switches at the tail ends of the seedling dividing cylinder 401 cylinders are fixedly connected and are used for detecting signals of the shrinkage finishing state of the seedling dividing cylinders, the magnetic switches at the telescopic rod ends of the seedling dividing cylinders 401 are movably connected, stepless adjustment of transplanting plant spacing can be realized by adjusting the positions of the magnetic switches at the telescopic rod ends, the first seedling taking and feeding claw sliding block at the end is fixed on the seedling taking and feeding claw sliding rails 403, and the rest seedling taking and feeding claw 300 connected to the seedling dividing cylinders 401 are driven to be equidistantly separated, so that shrinkage and scattering of the seedling taking and feeding claws 300 are realized; an adjusting scale 402 is further installed on the cylinder body of the seedling separating cylinder 401, and is used for adjusting the plant spacing to serve as a reference distance.

As shown in fig. 6, the seedling feeding device 3 includes a seedling feeding cylinder 501 and a row spacing adjusting mechanism 6, the row spacing adjusting mechanism 6 is mounted on an outer side plate at the top of the gantry frame 201, a cylinder end of the feeding Miao Qigang 501 is connected to a sliding block ii 602 of the row spacing adjusting mechanism 6, a telescopic end is connected to a tie rod 205 through a mounting plate, the tie rod 205 is driven to move along a tie rod guide rail 202 by the telescopic rod of the feeding Miao Qigang 501, seedling picking is performed by moving to the tray conveying device 7 in the transplanting process, and seedling planting is performed by retracting after the seedling picking is completed; the row spacing adjusting mechanism 6 is used for adjusting the planting row spacing in the transplanting process, can be suitable for transplanting required by different occasions, and avoids the reduction of planting quality caused by unadjustable row spacing; the tie rod 205 plays a role in motion transmission and a role in supporting the whole frame among the seedling taking device 3, the seedling separating device 4 and the seedling conveying device 5.

As shown in fig. 7, the row spacing adjustment mechanism 6 includes an optical axis 601, a slider ii 602, a ball screw 603, and a vertical bearing 605, two ends of the ball screw 603 are respectively mounted on an outer side plate at the top of the gantry frame 201 through the vertical bearing 605, the optical axes 601 parallel to the two ends of the ball screw 603 between the two vertical bearings 601 are provided, the slider ii 602 is mounted on the ball screw 603 through a nut, a through hole sleeved with the optical axis 601 is formed in the slider ii 602, the slider ii 602 is connected with a cylinder body of the seedling feeding cylinder 501 through a mounting plate 604, one end of the ball screw 603 extends out of the vertical bearing 605, a hand wheel is mounted on the vertical bearing 605, and the adjustment of the position of the seedling feeding cylinder 501 is realized through rotating the hand wheel, so that the stepless adjustment of the row spacing of planting in the transplanting process is realized.

As shown in fig. 8 and 9, the tray conveying device 7 includes a tray fixing frame 701, a moving frame 706, a tray lifting double-rod cylinder and a conveying frame 705, the conveying frame 705 is mounted between two gantry frames 201 of the transplanting arm 2, the conveying frame 705 is slidably connected with the moving frame 706, the moving frame 706 is slidably connected with the tray fixing frame 701, the moving directions of the tray fixing frame 701 and the moving frame 706 are vertical, and the tray fixing frame 701 is used for placing a tray. The two plug lifting double-rod air cylinders 707 are arranged on the conveying frame 705 and close to two ends of the gantry type stand 201, and the conveying frame 705 drives the plug conveying device 7 to integrally lift and descend under the driving of the two plug lifting double-rod air cylinders 707; in order to make the seedling lump more easily separate from the plug in the transplanting process, a plug vibrator is installed below the plug fixing frame 701.

Because the plug vibrator is closely installed with the plug fixing frame 701, when the plug vibrator operates, the plug fixing frame 701 can transmit vibration quantity to the seedling lump of the plug, the plug and the seedling lump are initially separated, the pulling resistance in the seedling taking process can be reduced, and after new plug seedlings are put into each time, the plug vibrator can automatically operate for 30 seconds so as to improve the success rate of later seedling taking.

Further, the sliding connection between the conveying frame 705 and the moving frame 706 is that a driving motor 703 is installed on the conveying frame 705, a rack 702 is provided at the bottom of the moving frame 706 along the width direction of the conveying frame 705, a gear which is driven by the driving motor 703 in a matching manner is installed on the output shaft of the driving motor 703, a linear sliding rail 704 parallel to the rack 702 is also provided at the top of the conveying frame 705 at both sides of the rack 702, and a sliding block which slides in a matching manner with the linear sliding rail 704 is installed at the bottom of the moving frame 706.

The sliding connection between the movable frame 706 and the plug fixing frame 701 is that a driving motor II 710 is installed on the movable frame 706, a rack II 709 vertical to the rack I702 is arranged at the bottom of the plug fixing frame 701, a gear which is matched with the rack II 709 for transmission is installed on an output shaft of the driving motor II 710, a linear sliding rail II 708 parallel to the movable frame 706 is also arranged at the top of the movable frame 706 at two sides of the rack II 709, and a sliding block matched with the linear sliding rail II 708 for sliding is installed at the bottom of the plug fixing frame 701.

The tray fixing frame 701 is provided with a U-shaped groove side plate at two ends of the bottom plate, two U-shaped groove ends are arranged oppositely, a partition plate with an I-shaped section is arranged in the middle, a baffle or a stop lever is arranged on one side between the U-shaped groove side plate and the partition plate, an opening end for pushing and pushing the tray is arranged on the other side, and the opening end faces the side of the seedling taking and feeding claw 300.

As shown in fig. 10 and 11, the ditching and earthing compacting device 8 comprises a ditcher 801, an earthing device mounting rack 802, an earthing device 803, an earthing transverse opening and closing cylinder 804, an earthing vertical lifting cylinder 805 and earthing horizontal linear sliding rails 806, the earthing device mounting rack 802 is formed by two pairs of longitudinal beams arranged in parallel between two parallel beams, the earthing horizontal linear sliding rails 806 are arranged on the beams, sliding blocks matched with the earthing device mounting rack are connected to the longitudinal beams, one end of the earthing transverse opening and closing cylinder 804 is connected to the longitudinal beams 802, one end of the earthing device mounting rack is connected to the sliding blocks, the telescopic end of the earthing vertical lifting cylinder 805 is connected to the transverse beams, the cylinder body end of the earthing vertical lifting cylinder 805 is mounted on the chassis frame 101 of the electric chassis 1, two ditchers 801 are connected below the transverse beams at the working front end, a plurality of pairs of earthing devices are arranged on each pair of the longitudinal beams 802, the logarithm of the earthing devices is identical to the number of the seedling feeding claws 300 at the corresponding sides of the earthing devices, and the distance from the earthing devices 803 to the ground is lower than the height of the ditcher 803 from the ground.

Under the walking state, the earthing vertical lifting cylinder 805 drives the ditching earthing suppression device 8 to retract wholly, the situation that the ground is scraped and rubbed is avoided, under the working state, the earthing vertical lifting cylinder 805 drives the ditching earthing suppression device 8 to extend wholly, two openers 801 are deeply buried into the soil to open two cave furrows, after seedling sticks together are transplanted, through the horizontal cylinder 804 that opens and shuts of earthing moves, drives every pair of longitudinal beams 802 and earthing 803 to shrink, folds towards the center in order to realize earthing.

As shown in fig. 12, the ridge-shaped following device 9 comprises a depth camera 901, a raspberry group 4B processor and a driving motor iii 903, wherein the depth camera 901 is installed on a chassis frame 101 through a pan head, and is inclined downwards by 15 degrees, a track driving wheel 104 of the electric chassis 1 is installed on an output shaft of the driving motor iii 903, an encoder 902 is coaxially installed on the driving wheel 104, and the rotation speeds of two tracks are fed back through the encoder 902, so that the smooth and stable running of the electric chassis 1 is improved, and the stable speed adjustment of the electric chassis 1 is realized; the device is characterized in that a brushless electric control is further connected to the driving motor III 903, the depth camera 901, the encoder 902 and the brushless electric control are all connected with the raspberry group 4B processor, the depth camera 901 collects ground information right in front of a ridge surface, data are stored in the raspberry group 4B processor, a yaw angle of the transplanter is obtained through recognition of a navigation line subjected to semantic segmentation, the raspberry group 4B processor obtains the speed regulation requirement of the driving motor III 903 according to the yaw angle information and the rotation speeds of two tracks obtained by the encoder, and the speed and direction of the driving motor III 903 connected with the electric chassis 1 are regulated through the brushless electric control, so that ridge following operation is realized. Wherein, the depth camera 901, the brushless electric tuning, the raspberry group 4B processor and the driving motor iii 903 all adopt existing outsourcing parts.

The brushless electric motor is used for controlling the brushless motor, plays a role in regulating the rotating speed and the direction of the motor, and can accurately control the rotating speed and the direction of the motor by receiving a signal from the raspberry group and converting the signal into a driving signal suitable for the brushless motor, and provides a protection function for a battery and the motor so as to ensure the stable operation of the motor.

As shown in fig. 13, the electric chassis 1 includes the driving motor iii 903, the reduction gearbox 102, a chassis frame 109 and a track assembly, where the track assembly is of an existing structure, and includes a track 103, a driving wheel 104, a bearing wheel 105, a guide wheel 106, a mounting plate 107 and a guide wheel mounting plate 108, the two outer sides of the chassis frame 109 are provided with the mounting plates 107 for mounting the bearing wheel 105 and the driving wheel 104, the advancing front end of the chassis frame is connected with the guide wheel mounting plate 108 for mounting the guide wheel 106, the track is wound around the peripheries of the bearing wheel 105, the driving wheel 104 and the guide wheel 106 and is engaged with and driven by the track links, the driving motor iii 903 is connected with the driving wheel 104 through the reduction gearbox 102, the bearing wheel 105 is located on the link below the track, the driving wheel 104 is located at the rear of the advancing direction and is engaged with the link above the track.

The invention also comprises a transplanting control system which comprises a PLC programmable logic controller, an input control module, a transplanting control module and a chassis walking module, wherein the input control module comprises a start-stop and reset switch and a plug conveying initial positioning sensor which are arranged on a conveying frame 705 and used for detecting the initial position of a plug fixing frame 701, a seedling separating device opening-closing sensor is arranged at two ends of a seedling separating cylinder 401 cylinder body and used for detecting the opening-closing position of a seedling taking claw 300, a seedling conveying device opening-closing sensor is arranged at two ends of a seedling conveying cylinder 501 cylinder body and used for detecting the reference positions of the seedling taking and seedling taking of the seedling conveying cylinder 501, a limit magnetic switch on a ditching earthing device is arranged above a earthing vertical lifting cylinder 805 cylinder body and used for detecting the initial position of a ditching earthing compacting device 8, and starting-stop and reset switches, sensors and magnetic switches are respectively connected with the PLC controller, and all devices are in place to the respective sensors during reset and wait for starting a start button to transplant. The transplanting control module comprises electromagnetic valves which are respectively connected with the lifting double-rod air cylinder 205, the seedling taking and feeding claw opening and closing air cylinder 304, the earthing transverse opening and closing air cylinder 804, the earthing vertical lifting air cylinder 805, the seedling dividing air cylinder 401 and the seedling conveying air cylinder 501, and the electromagnetic valves are respectively connected with the PLC controller. The chassis walking module comprises a raspberry group 4B processor of a ridge-shaped following device 9, and the brushless electric tuning is respectively connected with the PLC. The operation of the present invention is controlled by a PLC controller.

The crawler assembly, the reduction gearbox 102, each cylinder, the furrow opener, the vertical bearing, the ball screw, the PLC, each sliding rail sliding block and the like all adopt existing outsourcing parts. All parts not described in detail in the present application adopt the prior art, and are not described in detail herein.

The control method and the working process of the PLC are as follows:

Firstly, pushing the plug with the plug into the inner side plate upper edge of the plug fixing frame 701 on the plug conveying device 7 until the plug reaches the baffle or stop lever at the other end of the side plate, automatically closing the plug after the plug vibrator starts vibrating for a set period of time, setting the period of time according to the needs, setting 60 seconds according to the needs, separating the plug from the plug, and reducing the resistance of the plug and the plug in the process of picking up the plug.

Pressing a start switch to restore each part to an initial position, wherein the seedling taking and feeding claw 300 is in an open state, the seedling separating cylinder 401 is in a retracted state, the seedling feeding cylinder 501 is in a retracted state, the lifting double-rod cylinder 204 is in a retracted state, the earthing transverse opening and closing cylinder 804 is in a retracted state, the earthing vertical lifting cylinder 805 is in the highest position, and the plug conveying device 7 enables plug seedlings of a first row and a first column of plug to be aligned to a fixed first seedling taking and feeding claw 300; at this time, in the process that the machine advances along the ridge under the control of the ridge shape following type 9, the earthing vertical lifting cylinder 805 drives the furrow opener 801, the longitudinal beam 802, the earthing device 803, the earthing transverse opening and closing cylinder 804, the earthing horizontal linear sliding rail 806 sliding block and other parts to descend, the furrow opener 801 can be directly inserted into the soil, and two long furrows are formed on the ridge surface in the advancing process of the machine.

When the full-automatic transplanting machine works, the conveying Miao Qigang 501 stretches out, the transverse pull rod 205 is driven by the seedling conveying cylinder 501 to move to the first row of seedling positions of the tray conveying device 7 on two sides on the transverse pull rod guide rail 202, and the lifting double-rod cylinder 204, the seedling taking device 3 and the seedling separating device 4 which are fixed on the transverse pull rod 205 also move along with the transverse pull rod; because the seedling taking and feeding claw sliding rails of the seedling separating device 4 are provided with 4 seedling taking and feeding claws 300, a 6 (row) x 12 (row) plug tray is adopted, a tray of plug seedlings can take seedlings 18 times, and seedlings can be taken from the first row 1, 4, 7, 10 or 2, 5, 8, 11 or 3, 6, 9 and 12 groups at intervals under the aggregation state of the seedling taking and feeding claws 300, and the first row can be completed only by taking three times; when the tie rod 205 drives the seedling taking device 3 and the seedling separating device 4 to reach the first row position, the necks of the four seedling sticks automatically slide into the positions of super-elastic material foam 303 on the clamping jaw sheets under the action of the arc-shaped steel sheets 302 of the seedling taking and feeding claw 300, at the moment, the two pivot opening and closing type air claws 301 of the seedling taking and feeding claw 300 are closed to clamp the necks of the seedling sticks, the plug lifting double-rod cylinder 205 stretches out to drive the plug conveying device 7 to integrally descend, and the seedling sticks are smoothly separated from the plug under the cooperation of the plug lifting double-rod cylinder 205; after the seedling is taken out, the seedling delivering Miao Qigang is retracted, the transverse pull rod 205 is driven to move inwards on the transverse pull rod guide rail 205 to return to the initial position, the seedling separating device 4 is driven by the seedling separating cylinder 401 to separate the seedling taking device 3 in the process that the seedling delivering cylinder 501 returns to the initial position, the lifting double-rod cylinder 204 drives the seedling taking device 3 and the seedling separating device 4 to move downwards, and when the seedling delivering device 5 returns to the initial position, the lifting double-rod cylinder 204 drives the seedling taking device 3 and the seedling separating device 4 to reach above a pit formed by the furrow opener 801; the 8 seedling taking and feeding claws 300 of the two seedling taking devices 3 are all opened, meanwhile, the longitudinal beams 802 drive 8 pairs of soil covering devices 803 to be all polymerized under the action of the soil covering transverse opening and closing air cylinders 804, soil covering is carried out, and the soil covering is carried out under the cooperation of the soil covering vertical lifting air cylinders 805 to carry out the soil covering compacting work; after the whole working process is finished, all mechanisms return to the original point to restore to the original position, and the next transplanting work is carried out.

When the seedlings of the first row of the first groups 1, 4, 7 and 10 are picked up, the driving motor II 710 of the tray conveying device 7 vertical to the advancing direction drives the gears connected with the driving motor II to run along the rack II 709 connected with the tray fixing frame 701, and each running of the driving motor II 710 is the width distance of one seedling, and the picking up of 2, 5, 8, 11 or 3, 6, 9 and 12 is respectively carried out; when the first row of seedlings is completely fetched, the tray conveying device 7 is parallel to the driving motor I703 in the advancing direction, the driving motor I703 runs along the rack connected to the conveying frame 705 through the gear connected to the driving motor I703, each running is the width distance of one seedling, the second row is fetched, and the seedling fetching operation is repeated after each seedling fetching.

The invention has the advantages of strong reliability, strong anti-interference capability and the like, and combines each sensor to control the actions of the stepping motor and the air cylinder, thereby realizing the whole transplanting process.

It should be understood that the foregoing detailed description of the present invention is provided for illustration only and is not limited to the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention may be modified or substituted for the same technical effects; as long as the use requirement is met, the invention is within the protection scope of the invention.

Claims (10)

1. Self-propelled full-automatic vegetable transplanting machine based on ridge shape following device, its characterized in that: including getting seedling device, branch seedling device, send seedling device, transplanting arm, cave dish conveyor, ditching earthing suppression device, ridge shape follower and electric chassis, be connected with ridge shape follower on the electric chassis, install the transplanting arm above electric chassis's chassis frame, the transplanting arm includes planer-type frame, lift twin-pole cylinder and tie rod, planer-type frame is two, has two parallel arrangement's tie rod at planer-type frame top sliding connection, and lift twin-pole cylinder is four, and the symmetry is arranged in planer-type frame inboard and is installed at two outsides near-ends of tie rod, moves along with the tie rod, gets seedling device, divides seedling device, send seedling device to be two sets of symmetry, is connected with two branch seedling devices respectively at the lift twin-pole cylinder telescopic end of transplanting arm, two sets of get the seedling feeding claw slide rail of installing at branch seedling device, two send seedling device all install in the planer-type frame of transplanting arm, and its send seedling cylinder telescopic end to connect respectively at two tie rods of transplanting arm, and is provided with under the cave dish conveyor in the chassis side of being equallyd divide.

2. The self-propelled fully automatic vegetable transplanting machine based on the ridge-shaped following device according to claim 1, wherein: the two gantry frames of the transplanting arm are symmetrically arranged on a chassis frame of the electric chassis along the advancing direction, a transverse pull rod guide rail is arranged at the top of each gantry frame, and the transverse pull rods are connected to the transverse pull rod guide rails of the two gantry frames through sliding blocks I.

3. The self-propelled fully automatic vegetable transplanting machine based on the ridge-shaped following device according to claim 1, wherein: the seedling taking device comprises a plurality of seedling taking and feeding claws with the same structure, the seedling taking and feeding claws comprise two symmetrically arranged pivot opening and closing air claws connected with an opening and closing air cylinder and a telescopic end of the opening and closing air claw, the two pivot opening and closing air claws are hinged to a piston rod of the opening and closing air cylinder through the same pivot, the pivot opening and closing air claws comprise clamping claw sheets, arc-shaped steel sheets and foam cotton which are sequentially arranged from the outer side to the inner side, the foam cotton is made of super-elastic materials and is arranged on the inner side of an extending section of the clamping claw sheets, the arc-shaped steel sheets are arranged between the clamping claw sheets and the foam cotton, and the arc-shaped ends of the arc-shaped steel sheets extend out of the clamping claw sheets and the ends of the foam cotton and are outwards opened; the clamping jaw piece is pushed to open and close by the expansion of the opening and closing cylinder, so that the seedling lump is clamped and loosened;

The arc steel sheets are composed of straight line sections and arc line sections, the straight line sections are connected between the clamping jaw sheets and foam, the arc line sections are outwards opened, the maximum distance between the arc steel sheets of the two clamping jaw sheets is the width of one seedling hole on the hole tray, when the opening and closing cylinder is retracted, the two symmetrical straight line sections of the arc steel sheets are horizontally overlapped, and the two straight line sections of the clamping jaw sheets are parallel to each other and are in a seedling taking state; when the opening and closing cylinder stretches out, two mutually symmetrical arc-shaped steel sheets are opened to be in a seedling feeding state.

4. The self-propelled fully automatic vegetable transplanting machine based on the ridge-shaped following device according to claim 1, wherein: the seedling separating device comprises a plurality of seedling separating cylinders, magnetic switches and seedling taking and feeding claw sliding rails, wherein the seedling taking and feeding claw sliding rails are connected to telescopic ends below two opposite lifting double-rod cylinders of the transplanting arm, the number of the seedling taking and feeding claw sliding blocks matched with the seedling taking and feeding claw sliding rails is the same as that of the seedling taking and feeding claw, the seedling separating cylinders are respectively connected with a plurality of seedling taking and feeding claw opening and closing cylinder bodies, two ends of the seedling separating cylinders are respectively connected to the adjacent seedling taking and feeding claw sliding blocks through mounting plates, the two ends of each seedling separating cylinder are respectively provided with the magnetic switches, the magnetic switches at the tail ends of the seedling separating cylinder bodies are fixedly connected, the magnetic switches at the telescopic rod ends of the seedling separating cylinders are movably connected to adjust transplanting distance, the first seedling taking and feeding claw sliding blocks at the end parts are fixed on the seedling taking and feeding claw sliding rails, and the rest seedling taking and feeding claw sliding blocks connected to the seedling taking and feeding claw sliding blocks are driven to be equidistantly separated through the seedling separating cylinders to realize shrinkage and scattering of the seedling taking clamping claws; and an adjusting scale is also arranged on the seedling separating cylinder body and used for adjusting the plant spacing to serve as a reference distance.

5. The self-propelled fully automatic vegetable transplanting machine based on the ridge-shaped following device according to claim 1, wherein: the seedling conveying device comprises a seedling conveying cylinder and a row spacing adjusting mechanism, wherein the row spacing adjusting mechanism 6 is arranged on an outer side plate at the top of the gantry type frame, a Miao Qigang cylinder body end is connected to a sliding block II of the row spacing adjusting mechanism 6, a telescopic end is connected to a tie rod through a mounting plate, and the telescopic rod of the seedling conveying cylinder drives the tie rod to move along a tie rod guide rail.

6. The self-propelled full-automatic vegetable transplanting machine based on the ridge-shaped following device as set forth in claim 4, wherein: the row spacing adjusting mechanism comprises an optical axis, a sliding block II, a ball screw and a vertical bearing, wherein two ends of the ball screw are respectively arranged on the outer side plate of the top of the gantry type frame through the vertical bearing, the optical axis parallel to the ball screw between the two vertical bearings is arranged on two sides of the ball screw, the sliding block II is arranged on the ball screw through a nut, and a through hole for sleeving the optical axis is formed in the sliding block II; the sliding block II is connected with the cylinder body of the seedling feeding cylinder, one end of the ball screw extends out of the vertical bearing, a hand wheel is arranged on the ball screw, and the position of the seedling feeding cylinder is adjusted by rotating the hand wheel, so that the adjustment of the planting row spacing in the transplanting process is realized.

7. The self-propelled full-automatic vegetable transplanting machine based on the ridge-shaped following device as claimed in claim 1, wherein: the plug conveying device comprises a plug fixing frame, a movable frame, a plug lifting double-rod cylinder and a conveying frame, wherein the conveying frame is arranged between two gantry type frames of a transplanting arm, the movable frame is connected onto the conveying frame in a sliding manner, the plug fixing frame is connected onto the movable frame in a sliding manner, the plug fixing frame is perpendicular to the moving direction of the movable frame, and the plug fixing frame is used for placing plug; the two plug lifting double-rod cylinders are arranged on the conveying frame and close to two ends of the gantry type frame, and the conveying frame drives the plug conveying device 7 to integrally lift and descend under the driving of the two plug lifting double-rod cylinders; a plug vibrator is arranged below the plug fixing frame.

8. The self-propelled full-automatic vegetable transplanting machine based on the ridge-shaped following device as set forth in claim 7, wherein: the sliding connection is that a driving motor I and a driving motor II are respectively arranged on a conveying frame and a moving frame, a rack I or a rack II which is mutually perpendicular is arranged at the bottoms of the moving frame and a plug fixing frame, a gear which is matched with the rack I or the rack II for transmission is arranged on an output shaft of the driving motor I or the driving motor II, a linear slide rail I or a linear slide rail II which is parallel to the conveying frame and the moving frame is also arranged at the top of the conveying frame and the moving frame on two sides of the rack I or the rack II, and a slide block which is matched with the linear slide rail I or the linear slide rail II for sliding is arranged at the bottoms of the moving frame and the plug fixing frame.

9. The self-propelled full-automatic vegetable transplanting machine based on the ridge-shaped following device as claimed in claim 1, wherein: the ditching earthing suppression device includes furrow opener, earthing device mounting bracket, earthing device, the horizontal cylinder that opens and shuts of earthing, the vertical lift cylinder of earthing and earthing horizontal linear slide rail, the earthing device mounting bracket comprises two pairs of longerons of parallel arrangement between two parallel arrangement's crossbeams, and is provided with the horizontal linear slide rail of earthing on the crossbeam, is connected on the longeron with its complex slider, the horizontal cylinder one end that opens and shuts of earthing is connected on the longeron, and one end is connected the slider connects the flexible end of the vertical lift cylinder of earthing on the crossbeam, and the cylinder body end of the vertical lift cylinder of earthing is installed on electric chassis 1's chassis frame, is connected with two furrow openers below the crossbeam of work front end, all is provided with many pairs of earthing devices on every pair of longeron, the logarithm of earthing device is the same with the seedling claw number of getting of feeding of its corresponding side, and earthing device distance ground height is less than furrow opener distance ground height.

10. The self-propelled full-automatic vegetable transplanting machine based on the ridge-shaped following device as claimed in claim 1, wherein: the ridge-shaped following device comprises a depth camera, a raspberry group 4B processor and a driving motor III, wherein the depth camera is installed on a chassis frame through a cradle head, the angle is inclined downwards by 15 degrees, a crawler driving wheel of an electric chassis is installed on an output shaft of the driving motor III, an encoder is coaxially installed on the driving wheel, a brushless electric control is further connected to the driving motor III, the depth camera, the encoder and the brushless electric control are all connected with the raspberry group 4B processor, the depth camera collects ground information right in front of a ridge surface, data are stored in the raspberry group 4B processor, a yaw angle of a transplanter is obtained through identification, and the raspberry group 4B processor carries out speed and direction adjustment through the brushless electric control to the driving motor III connected with the electric chassis according to the yaw angle information and the rotation speed of two crawler tracks obtained by the encoder, so that ridge-shaped following operation is realized.