Bad-seedling removing and seedling supplementing apparatus based on Delta parallel mechanism and working method of apparatus

Abstract

The invention relates to a bad-seedling removing and seedling supplementing apparatus based on a Delta parallel mechanism. The apparatus comprises a frame, a Delta parallel mechanism, cylinders, a bad-seedling removing clamp, a healthy-seedling supplementing clamp, and a plug tray conveyer belt. A mobile platform of the Delta parallel mechanism is driven by three electric motors to perform front-back, right-left, and up-down movement at three degree of freedom. The removing clamp and the seedling supplementing clamp are installed on the mobile platform of the Delta parallel mechanism through the cylinders and move with the mobile platform for bad-seedling removing and seedling supplementing. According to the apparatus, the Delta parallel mechanism is taken as a driving mechanism of the seedling taking clamps, can move at three degree of freedom, and is high in speed and low in accumulated error. During an operation process, a plug tray filled with seedlings is supplied on the conveyer belt at a time with high positioning precision. According different characteristics of root conditions of bad-seedling and healthy-seedling plug trays, seedling taking clamps with different structures are adopted. The taking clamps can work alone through driven by the cylinders, and interference of the other seedling taking clamp in adjacent seedlings is prevented, so that the bad-seedling removing and healthy-seedling supplementing operation is completed.

Description

technical field [0001] The invention relates to the field of transplanting seedlings in greenhouses, in particular to a device and a working method for quickly realizing bad seedling removal and seedling replacement by using a Delta parallel mechanism. Background technique [0002] In recent years, with the continuous promotion of agricultural planting mechanization, the technology of transplanting seedlings in greenhouses has developed rapidly. The seedlings are first cultivated in the seedling trays to a suitable seedling age, and then the seedlings are transplanted into the farmland by mechanized means. This planting method can shorten the growth cycle of crops and improve planting efficiency. However, bad seedlings and weak seedlings may appear in the plug seedlings cultivated in the greenhouse, and most of the bad seedlings and weak seedlings will die after being transplanted to the farmland, which will affect the yield of crops. Therefore, it is necessary to remove th...

AI Technical Summary

Problems solved by technology

[0003] In order to eliminate bad seedlings, most of the greenhouse transplanting devices at this stage transplant the healthy seedlings in the seedling trays to the empty trays, because the number of healthy seedlings in the trays is much greater than the number of bad seedlings, so this method The working efficiency of the method is low, and the seedlings may be damaged during the transplanting process, and the probability of new bad seedlings will increase

At the same time, the traditional greenhouse transplanting device mostly adopts a door frame mechanism, which is slow and vibrates greatly, which is prone to cumulative errors, resulting in low positioning accuracy of plug seedlings.

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