WO2021134817A1 - Air suction vibration disc type precision seedling raising and seeding assembly line device and control method therefor - Google Patents
Air suction vibration disc type precision seedling raising and seeding assembly line device and control method therefor Download PDFInfo
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- WO2021134817A1 WO2021134817A1 PCT/CN2020/071059 CN2020071059W WO2021134817A1 WO 2021134817 A1 WO2021134817 A1 WO 2021134817A1 CN 2020071059 W CN2020071059 W CN 2020071059W WO 2021134817 A1 WO2021134817 A1 WO 2021134817A1
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- Prior art keywords
- seeding
- conveyor belt
- vibrating
- assembly line
- seed
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- 238000010899 nucleation Methods 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000003825 pressing Methods 0.000 claims abstract description 29
- 238000010408 sweeping Methods 0.000 claims abstract description 28
- 239000002689 soil Substances 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 12
- 238000009331 sowing Methods 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 5
- 230000007480 spreading Effects 0.000 claims description 5
- 238000003892 spreading Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000002156 mixing Methods 0.000 claims description 3
- 210000002268 wool Anatomy 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 6
- 238000012797 qualification Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
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- 238000009835 boiling Methods 0.000 description 2
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- 239000011159 matrix material Substances 0.000 description 2
- 241000337007 Oceania Species 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
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- 235000013305 food Nutrition 0.000 description 1
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- 239000003595 mist Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/002—Dibble seeders
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/085—Devices for setting seeds in pots
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C19/00—Arrangements for driving working parts of fertilisers or seeders
- A01C19/02—Arrangements for driving working parts of fertilisers or seeders by a motor
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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
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
Definitions
- the invention belongs to the technical field of agricultural planters, and in particular relates to an air suction vibrating disc type precision seedling raising and seeding assembly line device and a control method thereof.
- Rice cultivation is widely distributed around the world, and there are rice cultivation in all continents of the world, Asia, Europe, America, Africa and Oceania. About 90% of the world's rice area and total output are concentrated in Asia, as one of the main food crops in Asia; for its seedling raising method, it has gradually changed from artificial seedling raising to mechanized seedling raising, and the operation mode has also changed from a single link to a streamlined operation.
- mechanized seedling breeding most of them adopt mechanical, outer groove wheel and socket wheel type, which have low seeding accuracy and high injury rate.
- the use of air suction seeding can greatly reduce the injury rate and improve the survival rate. High precision, suitable for seedling requirements of 1-2 grains per hole for super rice seedlings.
- the seedling trays are required to wait for seeding at the seeding station, so the assembly line operation has not yet been realized, and the existing seeders have not achieved the adaptability of the seeding link.
- the present invention provides an air-suction vibrating disc type precision seedling raising and seeding assembly line device and its control method, which is suitable for precision seeding, especially air-suction vibrating disc type seeding, which can automate the entire seeding process and realize multiple freedoms at the same time
- the high-speed manipulator sowings flexibly, and the vibration parameters of the vibrating seed disk realize adaptive control with the change of the seeding process and the amount of seed.
- An air suction vibrating disc type precision seedling raising and seeding assembly line device adopts a three-section conveyor belt structure. According to the working direction, each section of the conveyor belt is respectively provided with a soil-laying hole pressing mechanism, a seeding mechanism, and a soil-covering sprinkler mechanism.
- the seeding mechanism includes Seeding manipulator and electromagnetic vibrating table, the lower end of the seeding manipulator is connected with a seed disk, the vibrating seed disk is fixed on the electromagnetic vibrating table, and the suction hole of the vibrating seed disk is connected with a vacuum pump;
- It also includes a PLC controller, signal acquisition sensor, and touch screen.
- a PLC controller controls the operation of the soil pressing mechanism, the seeding mechanism and the soil sprinkling mechanism; the seedling tray reaches the seeding position, and the seeding operation is carried out; the seedling operation In the process, the output vibration frequency of the electromagnetic vibrating table is controlled according to the vibration frequency of the vibrating seed disc.
- the cavity pressing device includes a second supporting threaded rod, and the second supporting threaded rod is connected to the cavity pressing roller frame.
- the subsoil sweeping device includes a first supporting threaded rod, and the first supporting threaded rod is connected to the brush holder.
- the subsoil paving device includes a soil storage box, and a soil mixing shaft is fixed at the upper end of the soil storage box.
- the first conveyor belt is composed of the first conveyor belt A part and the first conveyor belt B part connected by a chain drive, and the running speed of the first conveyor belt B part is greater than the first conveyor belt A part.
- the third conveyor belt is composed of a third conveyor belt part A and a third conveyor belt part B connected by a chain drive, and the running speeds of the third conveyor belt part A and the third conveyor belt part B are the same.
- the hole pressing device automatically adapts to the speed of the first conveyor belt, and aligns the holes of the seedling trays with the holes;
- the speed of the subsoil laying device, the overburden device, the first conveyor belt, the second conveyor belt, and the third conveyor belt are detected.
- the detection results are displayed on the touch screen.
- the PLC controls the coordinated operation of various working components according to the detection results.
- the electromagnetic vibrating table adopts frequency conversion control, and the specific control process is: when the assembly line device is started, the vibrating seed disc vibrates at low frequency; during seed suction operation, the electromagnetic vibrating table drives the vibrating seed disc to vibrate at high frequency, and the seed suction ends, and the electromagnetic vibration The table restores low-frequency vibration; as the seeding progresses, the amount of seeds in the vibrating seed disk gradually decreases, and the vibration frequency of the electromagnetic vibrating table increases; when the amount of seeds in the vibrating seed disk decreases to a certain amount, increase the seeds, and the magnetic vibrating table The vibration frequency is adjusted, the PLC controller controls the seeding speed to slow down, and the time is reserved for the vibrating seed disk to evenly seed.
- the hole pressing device in the air suction vibrating disc type precision seedling raising and seeding assembly line device of the present invention adopts an up and down adjustable hole pressing roller to realize the adjustment of the depth of the holes in the seedling tray, and effectively improve the seedling raising effect.
- the electromagnetic vibrating table in the air-suction vibrating disc type precision seedling raising and seeding assembly line device of the present invention adopts frequency conversion control, and the frequency is adjusted according to different working conditions, specifically: when the seed is sucked, the electromagnetic vibrating table drives the height of the vibrating seed pan. Frequency vibration; when the seeds are sucked, the electromagnetic vibrating table resumes low-frequency vibration; when adding seeds, the vibration frequency of the magnetic vibrating table is adjusted. Realize the automatic adjustment of the frequency of the vibrating seed disk, improve the "boiling" effect of the vibrating disk population, increase the seeding qualification rate, and reduce the seeding cavity rate.
- the present invention also adopts a multi-degree-of-freedom manipulator to suck and discharge seeds, detect the position of seedling trays through photoelectric sensors, and realize flexible start and stop of various working parts, effectively improve the automation degree of precision seeding assembly line, and adopt a touch screen-based System control improves the intelligent level of rice seedling raising.
- Figure 1 is a schematic diagram of the overall structure of an air-suction vibrating disc type precision seedling raising and sowing line device of the present invention
- Figure 2 is a top view of the structure of an air-suction vibrating disc type precision seedling raising and seeding assembly line device of the present invention
- Figure 3 is a schematic diagram of the structure of the subsoil paving device and the topsoil covering device of the present invention
- Figure 4 is a schematic diagram of the structure of the subsoil sweeping device and the cavitation pressing device of the present invention
- Figure 4 (a) is an isometric view of the subsoil sweeping device and the cavitation pressing device
- Figure 4 (b) is a cross-sectional view of the cavitation pressing device
- Figure 5 is a schematic view of the structure of the second conveyor belt support of the present invention.
- Figure 6 is a schematic diagram of the structure of the sprinkler of the present invention.
- Figure 7 is a schematic diagram of the structure of the level adjustment wheel of the present invention.
- Figure 8 is a flow chart of the assembly line seeding process of the present invention.
- Figure 9 is a hardware structure diagram of the pipeline control system of the present invention.
- Figure 10 is a circuit diagram of the frequency control system of the vibration seed disk of the present invention.
- Figure 11 is a schematic diagram of the frequency control system of the electromagnetic vibrating table of the present invention. among them, Figure 11 (a) is the principle diagram of controlling the frequency of the electromagnetic vibrating table according to the change of the seed quantity in the vibrating seed disk, and Figure 11 (b) is the change according to the number of seeding disks Schematic diagram of controlling the frequency of electromagnetic vibrating table;
- Fig. 12 is a flowchart of an adaptive control algorithm for the seeding link of the present invention.
- Figure 13 is a schematic diagram of the touch screen control interface of the present invention.
- Fig. 14 is a control flow chart of the assembly line operation process of the present invention.
- an air-suction vibrating disc type precision seedling seedling planting line device of the present invention includes a first conveyor belt support 1, a subsoil spreading device 2, a subsoil sweeping device 3, a cavitation device 4, and a second conveyor belt Support 5, seeding manipulator 6, seed suction disk 7, electromagnetic vibrating table 8, vibrating seed disk 9, cover soil device 10, surface soil sweeping device 11, sprinkler device 12, third conveyor belt support 13, and vacuum pump 14.
- One end of the first conveyor belt support 1, the second conveyor belt support 5 and the third conveyor belt support 13 are all provided with a conveyor belt tension adjustment groove.
- the subsoil paving device 2 includes an integrally fixed earth storage box 2b and an earth hopper 2a.
- the earth hopper 2a is located at the upper end of the earth storage box 2b.
- the earth storage box 2b is a hollow structure with an open upper end and a half front end. Closed; the front end of the soil storage box 2b is fixed with two studs and a wing nut to fix the paving amount adjustment plate 2d, and the height of the paving amount adjustment plate 2d can be adjusted up and down by loosening the wing nut to control the thickness of the paving soil; Inside 2b, the first crawler shaft 2f and the second crawler shaft 2g are fixed on the same horizontal line.
- the first crawler shaft 2f and the second crawler shaft 2g fix the paving crawler 2e, and the paving crawler 2e is located under the paving volume adjustment plate 2d.
- the middle position of the upper end of the soil storage box 2b is fixed with a soil mixing shaft 2c to prevent the soil matrix in the soil storage box 2b from agglomerating due to extrusion.
- the soil storage tank 2b is also provided with a first rotational speed sensor 41 for measuring the rotational speed of the first crawler shaft 2f.
- the structure of the overburden device 10 is the same as that of the subterranean device 2, and a fourth rotation speed sensor 44 is provided on the overburden device 10 for measuring the rotation speed of the crawler shaft of the overburden device.
- the subsoil sweeping device 3 includes a first supporting threaded rod 3e, the first supporting threaded rod 3e is fixed on the first conveyor belt bracket 1 by bolts, and the first supporting threaded rod 3e is passed through a nut and a brush
- the frame 3a is connected, the brush 3d is fixed on the brush frame 3a, one end of the brush frame 3a is bolted to the first motor frame 3b, and the first motor frame 3b fixes the first stepping motor 3c; the first stepping motor shaft and the brush shaft It is connected by the first coupling 3f.
- the structure of the surface soil sweeping device 11 is the same as that of the subsoil sweeping device 3.
- the rotation direction of the brush 3d is opposite to the running direction of the first conveyor belt 24.
- the height of the brush holder 3a can be adjusted, so that the surface of the seedling tray on which the subsoil is spread is flat and even.
- the cavitation device 4 includes a second supporting threaded rod 4e, the second supporting threaded rod 4e is fixed on the first conveyor belt bracket 1 by bolts, and the second supporting threaded rod 4e is connected to the pressure hole by a nut.
- the roller frame 4a is connected, the cavity pressing roller frame 4a is connected to the cavity pressing roller 4d through a nut, one end of the cavity pressing roller frame 4a is bolted to the second motor frame 4b, the second motor frame 4b fixes the second stepping motor 4c, and the second stepping
- the motor shaft and the pressure roller shaft are connected by a second coupling 4f.
- the rotation direction of the cavity pressing roller 4d is the same as the running direction of the first conveyor belt 24.
- the height of the hole-pressing roller frame 4a can be adjusted up and down, so that the surface of the seedling raising tray on which the subsoil has been paved is sequentially pressed out of the holes.
- a soil cleaning brush 4g is fixed on the inner wall of the cavity pressing roller frame 4a to brush away the adhered soil on the surface of the cavity pressing roller 4d in time.
- the first conveyor belt support 1 and the second conveyor belt support 5 are bridged by a first bridge plate 22, and the second conveyor belt support 5 and the third conveyor belt support 13 are bridged by a second bridge plate 23.
- Adjustable universal wheels 20 are connected with bolts at the bottom ends of the first conveyor belt bracket 1 and the third conveyor belt bracket 13.
- a first conveyor belt 24 is installed on the first conveyor belt bracket 1.
- the first conveyor belt 24 is connected by the first conveyor belt A part 24a and the first conveyor belt B part 24b by two sprockets through a chain drive.
- the first conveyor belt B part The running speed of 24b is higher than that of the first conveyor belt A portion 24a, so that the seedling trays can form an appropriate interval when they are placed continuously, and prevent the subsoil sweeping device 2 from dropping the subsoil from the previous tray on the next tray.
- the subsoil paving device 2, the subsoil sweeping device 3 and the cave-pressing device 4 are bolted to the top of the first conveyor belt support 1 in order in the working direction.
- the subsoil paving device 2 is located in the first conveyor belt A section 24a, the subsoil sweeping device 3 and the cave-pressing device 4 Located in the first conveyor belt B part 24b; the first conveyor belt support 1 is also fixed with a first drive motor 15 and a second drive motor 16, the first drive motor 15 is used to provide power to the subsoil paving device 2, and the second drive motor 16 is used to provide power to the first conveyor belt 24; the first conveyor belt support 1 is also provided with a second rotational speed sensor 42 for measuring the rotational speed of the first conveyor belt 24.
- a third conveyor belt 26 and a fifth rotational speed sensor 45 are installed on the third conveyor belt support 13, and the fifth rotational speed sensor 45 is used to measure the rotational speed of the third conveyor belt 26.
- the third conveyor belt 26 is connected by the third conveyor belt A part 26a and the third conveyor belt B part 26b by two sprockets through a chain drive.
- the third conveyor belt A part 26a and the third conveyor belt B part 26b run at the same speed,
- the sprinkling link can be separated from the overburden and sweeping links to prevent the soil matrix scattered on the third conveyor belt A part 26a from adhering to the third conveyor belt B part 26b after encountering water, causing the entire conveyor belt to be muddy.
- the upper part of the third conveyor belt bracket 13 is bolted to the topsoil device 10, the topsoil sweeping device 11, and the sprinkler 12 in order in the working direction; the third conveyor belt bracket 13 is also fixed with a fourth drive motor 18, a fifth drive motor 19, and a fourth drive motor.
- the drive is used to power the motor 18 for the overburden device 10, and the fifth drive motor 19 is used to power the third conveyor belt 26.
- the second conveyor belt support 5 includes a second conveyor belt support beam 5a and a first support plate 5b and a second support plate 5c arranged on one side of the support.
- the lower end of the second conveyor belt support 5 is equipped with a horizontal adjustment wheel. 21.
- the seeding manipulator 6 and the third drive motor 17 are fixedly connected to the first support plate 5b.
- the seeding manipulator 6 is a five-axis manipulator; the lower end of the seeding manipulator 6 is connected with a seed disk 7, and the electromagnetic vibrating table 8 and the second support plate 5c are fixed
- the vacuum pump 14, the electromagnetic vibrating table 8 is fixed with a bolt on the vibrating seed disc 9, the suction hole of the vibrating seed disc 9 is connected to the vacuum pump 14 through a hose; the bottom of the vibrating seed disc 9 is provided with a frequency sensor 46 for measuring the vibrating seed disc 9
- the second conveyor belt support beam 5a is equipped with a second conveyor belt 25 and a third rotational speed sensor 43 for measuring the rotational speed of the second conveyor belt 25.
- the end of the second conveyor belt support beam 5a is also provided with a limit switch 40 and a positioning stop 47, and in the sowing position, the limit switch 40 is located at the corner of the seed sucker 7 to control the seed sucker 7 and the seedling raising For the seeding distance between the trays, the positioning stopper 47 is located at the front end of the seedling tray.
- a second photoelectric sensor 28 and a first photoelectric sensor 27 are respectively provided at the front and rear ends of the subsoil paving device 2, and a third photoelectric sensor 29 and a fourth photoelectric sensor are respectively provided at the front and rear ends of the subsoil sweeping device 3 30.
- a fifth photoelectric sensor 31 and a sixth photoelectric sensor 32 are respectively provided at the front and rear end of the cavitation pressing device 4, a seventh photoelectric sensor 33 is provided at the end of the first conveyor belt 24, and the front and rear ends of the overburden device 10 are respectively
- An eighth photoelectric sensor 34 and a ninth photoelectric sensor 35 are provided.
- the front and rear ends of the surface sweeping device 11 are respectively provided with a tenth photoelectric sensor 36 and an eleventh photoelectric sensor 37.
- the front and rear ends of the sprinkler device 12 are respectively provided with a tenth photoelectric sensor.
- the sprinkler device 12 includes two rectangular sprinkler racks 12a.
- the bottom ends of the two rectangular sprinkler racks 12a are fixed on the third conveyor belt support 13, and the two sprinkler racks 12a are fixed with several water pipes 12b.
- the water pipes 12b are evenly arranged with mist.
- An adjustable solenoid valve 12d is provided on the pipe connecting the chemical spray head 12c, the water pipe 12b and the water source. By adjusting the opening of the adjustable solenoid valve 12d, the sprinkling amount can be controlled.
- the horizontal adjustment wheel 21 includes an adjustment threaded rod 21a, an auxiliary threaded rod 21b, a supporting top plate 21c, a supporting bottom plate 21d, and a wheel 21e.
- the supporting top plate 21c and the supporting bottom plate 21d are connected by the adjusting threaded rod 21a and the auxiliary threaded rod 21b.
- the wheels 21e are fixed below the supporting bottom plate 21d.
- the seedling raising tray is manually placed at the beginning of the first conveyor belt 24, and the seedling raising tray passes through the subsoil spreading device 2 and sweeping the subsoil in turn Device 3, hole pressing device 4, second conveyor belt support 5, overburden device 10, surface sweeping device 11, sprinkler 12, for subsoil paving, subsoil sweeping, hole pressing, seeding, oversoil covering, sweeping Surface soil operations, watering operations, and finally the seedling trays are manually removed.
- the present invention is a schematic diagram of the hardware structure of the control system of an air-suction vibrating disc type precision seedling raising and seeding assembly line device.
- the photoelectric sensor, the rotational speed sensor, the limit switch 40, and the frequency sensor 46 are all connected to the signal input terminal of the PLC controller. Connection, the output end of the PLC controller is connected with the stepper motor driver, the frequency converter of the driving motor, the frequency converter of the vacuum pump 14, the frequency converter of the electromagnetic vibrating table 8, and the adjustable solenoid valve 12d, and the PLC controller communicates with the industrial touch screen.
- the PLC controller is responsible for the overall operation of the assembly line device, and controls the operation of each component of the assembly line device by receiving signals, performing logical operations and issuing instructions.
- the frequency converter is the driving unit of the drive motor, the electromagnetic vibrating table and the vacuum pump. It is responsible for the speed adjustment of the motor, the vibration frequency of the electromagnetic vibrating table and the vacuum pump negative pressure.
- the rotational speed sensor monitors the speed of each operating device, and the photoelectric sensor collects the specific position of the seedling tray on the assembly line and sends it to the PLC controller. After the PLC controller performs logic processing, the corresponding instruction is sent to the corresponding equipment to realize the start and stop of the equipment.
- the adjustable solenoid valve is responsible for controlling the sprinkling volume of the nozzle.
- the circuit diagram of the frequency control system of the vibrating seed disk 9 uses the decrease of the seed amount in the vibrating seed disk 9 as a feedback signal to adjust the vibration frequency of the electromagnetic vibrating table 8.
- the principle diagram of the frequency control system of the electromagnetic vibrating table takes the amount of the vibrating seed disc as the detection object, and adjusts the vibrating seed disc 9 as shown in Figure 11(b) As shown, the change of the seed quantity of the vibrating seed disk is converted into the number of seeding disks, which is used as the input signal for the vibration frequency control of the vibrating seed disk 9.
- the electromagnetic vibrating table 8 adopts a frequency conversion control method.
- the vibrating seed disc 9 vibrates at a set low frequency after power on.
- the seeding manipulator 6 drives the seed sucker 7 to perform seed suction operations
- the table 8 drives the vibrating seed disk 9 to perform high-frequency vibration.
- the electromagnetic vibrating table 8 resumes low-frequency vibration; at the same time, as the seeding process proceeds, the amount of seeds in the vibrating seed disk 9 gradually decreases.
- the vibration frequency of the vibrating table 8 during seed suction operation will also increase according to the amount of seed change in the vibrating seed plate 9, so as to achieve the best "boiling" effect of the population, ensure the seed suction rate of the seed suction plate 7, and ensure the seeding qualification rate Reach the maximum; finally, when the amount of seeds in the vibrating seed disk 9 is reduced to a certain amount (20 disks to 30 disks), it needs to be added. After the seeds are added, the electromagnetic vibrating table 8 will immediately adjust the vibration frequency according to the amount of seeds added.
- the control flow chart of the assembly line operation process of the present invention after the assembly line device is powered on, the touch screen lights up and enters the mode selection interface.
- manual control mode click "Manual Mode” on the “Mode Selection” interface, the interface will jump to the "Manual Mode” control interface, and then you can select each part under the "Working Parts” column, click a button each time, and then click Set the working parameters of each component under the “Settings” column. After each parameter is set, click “Confirm”, and then each component will run according to the set parameters. Click the component button under the "Working component” column again, and the corresponding The working part stops running.
- the parameter setting options under the "Settings” column will be adjusted according to the selected work parts in the "Working Parts” column.
- the setting options are highlighted, and other options are grayed out and cannot be set.
- the electromagnetic vibrating table 8 and the vacuum pump 14 will start; when the seedling tray is put into the assembly line device, the front end of the seedling tray is triggered first The first photoelectric sensor 27, at this time, the signal is sent to the first conveyor belt 24 via the PLC controller, and then the first conveyor belt 24 carries the seedling tray and starts to run; the front end of the seedling tray triggers the second photoelectric sensor installed at the front end of the subsoil paving device 2 At 2800, the subsoil spreading device 2 starts to operate; the seedling tray continues to be transported forward, the front end of the seedling tray triggers the third photoelectric sensor 29, and the subsoil sweeping device 3 starts to operate; then the front end of the seedling tray touches the fifth photoelectric sensor 31, and then the hole pressing device 4 Start running; when the end of the seedling tray triggers the second photoelectric sensor 28, the subsoil spreading device 2 stops; when the end of the
- the PLC controller determines whether the eighth photoelectric sensor 34 is in the triggered state, and if so, the first conveyor belt 24 Stop running, otherwise the first conveyor belt 24 will continue to run, and the second conveyor belt 25 will start at the same time, the seed suction tray 7 starts to suck seeds, and the positioning stopper 47 is pushed out; the front end of the seedling tray is blocked by the positioning stopper 47 and triggers the eighth photoelectric sensor 34.
- Seed suction tray 7 performs seeding, and at the same time, the seed suction tray 7 triggers the limit switch 40, the positioning stop 47 is retracted, and the third conveyor belt 26 starts; the end of the seedling tray touches the eighth photoelectric sensor 34 and the second conveyor belt 25 Stop; the front end of the seedling tray triggers the ninth photoelectric sensor 35, and the topsoil device 10 starts; the front end of the seedling tray triggers the tenth photoelectric sensor 36, and the surface sweeping device 11 starts; the front end of the seedling tray triggers the twelfth photoelectric sensor 38, and the sprinkler 12 starts; The end of the seedling tray triggers the ninth photoelectric sensor 35, and the overburden device 10 stops; the front end of the seedling tray triggers the eleventh photoelectric sensor 37, and the surface sweeping device 11 stops; the end of the seedling tray triggers the thirteenth photoelectric sensor 39, and the sprinkler device 12 stops. Water is sprayed, and the third conveyor belt 26 stops. At this point, the entire seeding assembly line has been
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Abstract
Description
Claims (8)
- 一种气吸振动盘式精密育秧播种流水线装置,其特征在于:采用三段式输送带结构,按工作方向每段输送带分别依次设有铺土压穴机构、播种机构和覆土洒水机构,所述播种机构包括播种机械手(6)和电磁振动台(8),播种机械手(6)下端连接吸种盘(7),电磁振动台(8)上固定振动种盘(9),振动种盘(9)的吸气孔与真空泵(14)相连;An air suction vibrating disc type precision seedling raising and seeding assembly line device is characterized in that it adopts a three-section conveyor belt structure, and each section of the conveyor belt is sequentially provided with an earth pressing mechanism, a seeding mechanism and a soil covering sprinkler according to the working direction. The seeding mechanism includes a seeding manipulator (6) and an electromagnetic vibrating table (8), the lower end of the seeding manipulator (6) is connected with a seed sucker (7), the electromagnetic vibrating table (8) is fixed on a vibrating seed disc (9), and a vibrating seed disc ( 9) The suction hole is connected with the vacuum pump (14);还包括PLC控制器、信号采集传感器、触摸屏,根据育秧盘在流水线装置的具***置,控制铺土压穴机构、播种机构和覆土洒水机构作业;育秧盘到达播种位,进行排种作业;育秧作业过程中,根据振动种盘(9)的振动频率控制电磁振动台(8)的输出振动频率。It also includes a PLC controller, signal acquisition sensor, and touch screen. According to the specific position of the seedling tray in the assembly line, it controls the operation of the soil pressing mechanism, the seeding mechanism and the soil sprinkling mechanism; the seedling tray reaches the seeding position, and the seeding operation is carried out; the seedling operation In the process, the output vibration frequency of the electromagnetic vibrating table (8) is controlled according to the vibration frequency of the vibrating seed disc (9).
- 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置,其特征在于:所述压穴装置(4)包括第二支撑螺纹杆(4e),第二支撑螺纹杆(4e)与压穴滚筒架(4a)连接。The air suction vibrating disc type precision seedling raising and seeding assembly line device according to claim 1, characterized in that: the cavitation device (4) comprises a second supporting threaded rod (4e), a second supporting threaded rod (4e) and a pressure The hole roller frame (4a) is connected.
- 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置,其特征在于:所述扫底土装置(3)包括第一支撑螺纹杆(3e),第一支撑螺纹杆(3e)与毛刷架(3a)连接。The air suction vibrating disc type precision seedling raising and seeding assembly line device according to claim 1, characterized in that: the subsoil sweeping device (3) comprises a first supporting threaded rod (3e), a first supporting threaded rod (3e) and wool The brush holder (3a) is connected.
- 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置,其特征在于:所述铺底土装置(2)包括储土箱(2b),储土箱(2b)上端固定搅土轴(2c)。The air suction vibrating disc type precision seedling raising and seeding assembly line device according to claim 1, characterized in that: the subsoil spreading device (2) comprises a soil storage box (2b), and the upper end of the soil storage box (2b) is fixed with a soil mixing shaft ( 2c).
- 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置,其特征在于:所述第一输送带(24)由链传动连接的第一输送带A部分(24a)和第一输送带B部分(24b)组成,第一输送带B部分(24b)的运行速度大于第一输送带A部分(24a)。The air suction vibrating disc type precision seedling seedling planting assembly line device according to claim 1, characterized in that: the first conveyor belt (24) is connected by a chain drive to the first conveyor belt part A (24a) and the first conveyor belt Part B (24b) is composed, and the running speed of part B (24b) of the first conveyor belt is greater than that of part A (24a) of the first conveyor belt.
- 根据权利要求1所述的气吸振动盘式精密育秧播种流水线装置,其特征在于:所述第三输送带(26)由链传动连接的第三输送带A部分(26a)和第三输送带B部分(26b)组成,第三输送带A部分(26a)和第三输送带B部分(26b)的运行速度一致。The air suction vibrating disc type precision seedling raising and seeding assembly line device according to claim 1, characterized in that: the third conveyor belt (26) is connected by a chain drive to the third conveyor belt part A (26a) and the third conveyor belt The part B (26b) is composed of the third conveyor belt A part (26a) and the third conveyor belt B part (26b) running at the same speed.
- 一种根据权利要求1‐6任意一项权利要求所述的气吸振动盘式精密育秧播种流水线装置的控制方法,其特征在于:A control method of an air suction vibrating disc type precision seedling raising and seeding assembly line device according to any one of claims 1 to 6, characterized in that:检测育秧盘在流水线装置的具***置,控制相应的工作部件起停;Detect the specific position of the seedling tray in the assembly line device, and control the start and stop of the corresponding working parts;压穴装置自动适应第一输送带速度,对育秧盘穴孔进行对准压穴;The hole pressing device automatically adapts to the speed of the first conveyor belt, and aligns the holes of the seedling trays with the holes;播种时,当限位开关(40)被触发后进行排种作业;When sowing, when the limit switch (40) is triggered, perform seeding operation;根据振动种盘(9)的振动频率控制电磁振动台(8)的输出振动频率;Control the output vibration frequency of the electromagnetic vibrating table (8) according to the vibration frequency of the vibration seed plate (9);检测铺底土装置(2)、覆表土装置(10)、第一输送带(24)、第二输送带(25)、第三输送带(26)的转速,检测结果通过触摸屏显示,同时,PLC根据检测结果控制各工作部件协调运行。Detect the rotation speed of the subsoil paving device (2), the overburden device (10), the first conveyor belt (24), the second conveyor belt (25), and the third conveyor belt (26). The test results are displayed on the touch screen. At the same time, PLC Control the coordinated operation of all working components according to the test results.
- 根据权利要求7所述的气吸振动盘式精密育秧播种流水线装置的控制方法,其特征在于:所述电磁振动台(8)采用变频控制,具体的控制过程为:流水线装置启动时,振动种盘(9)低频振动;吸种作业时,电磁振动台(8)带动振动种盘(9)高频振动,吸种结束,电磁振动台(8)恢复低频振动;随着播种的进行,振动种盘(9)中的种量逐渐减少,电磁振动台(8)振动频率提高;当振动种盘(9)中的种量减少到一定量时,进行加种,磁振动台(8)的振动频率做出调整,PLC控制器控制播种速度减慢,预留时间给振动种盘(9)匀种。The control method of the air suction vibrating disc type precision seedling raising and seeding assembly line device according to claim 7, characterized in that: the electromagnetic vibrating table (8) adopts frequency conversion control, and the specific control process is: when the assembly line device is started, the vibrating seed The disk (9) vibrates at low frequency; during the seed suction operation, the electromagnetic vibrating table (8) drives the vibrating seed disk (9) to vibrate at a high frequency. After the seed is sucked, the electromagnetic vibrating table (8) resumes low-frequency vibration; as the seeding progresses, it vibrates The amount of seeds in the seed disk (9) gradually decreases, and the vibration frequency of the electromagnetic vibrating table (8) increases; when the amount of seeds in the vibrating seed disk (9) is reduced to a certain amount, add seeds, and the magnetic vibrating table (8) The vibration frequency is adjusted, the PLC controller controls the seeding speed to slow down, and the time is reserved for the vibrating seed disk (9) to even seed.
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CH01572/20A CH717531B1 (en) | 2019-12-31 | 2020-01-09 | Conveyor device for growing seedlings and method. |
JP2020570963A JP7055490B2 (en) | 2019-12-31 | 2020-01-09 | Gas suction vibration tray type precision cultivation sowing single sink device and its control method |
GB2019526.9A GB2587736B (en) | 2019-12-31 | 2020-01-09 | Flowline operation apparatus of pneumatic vibration tray-type precision seeding for seedling raising and control method thereof |
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