Low-loss seedling feeding device of sweet potato transplanter and opening and closing control method

Abstract

The invention relates to the technical field of transplanter equipment, in particular to a low-loss seedling feeding device of a sweet potato transplanter, which can realize automatic conveying of seedlings, is high in working efficiency, can realize low-loss conveying of the seedlings, reduces damage to the seedlings and improves the survival rate. Specifically, the conveying plate is used for placing seedlings, the seedling clamping mechanism is used for clamping the seedlings, damage to the seedlings can be reduced through clamping of the flexible fixing plate and the flexible moving plate, and meanwhile, the seedlings can be placed on the flexible moving plate by controlling the moving distance of the flexible moving plate and the mounting position and the elastic force of the elastic piece. The clamping force between the flexible fixed plate and the flexible movable plate can be adjusted, the clamping force is adjusted according to the pressure resistance degree of seedlings, the applicability is higher, and the damage to the seedlings is reduced. Meanwhile, the invention further provides an opening and closing control method of the seedling conveying device, operation is convenient, the automation degree is high, the working efficiency is improved, breakage in the seedling conveying process can be effectively reduced, the damage rate is reduced, and the seedling transplanting survival rate is improved.

Description

Technical Field

[0001] The invention relates to the technical field of transplanter equipment, and in particular to a low-loss seedling delivery device for a sweet potato transplanter and an opening and closing control method. Background Art

[0002] China ranks first in the world in terms of sweet potato planting area and export volume, with the characteristics of wide area and large span. The traditional sweet potato transplanting method relies on a lot of manpower, with low work efficiency and high production cost, and it is difficult to ensure the quality of seedling transplanting. Since most sweet potato transplanting adopts bare seedling transplanting, this also brings challenges to the corresponding transplanting machine research. In the process of delivering seedlings, seedling placement, seedling removal and other operations, the seedlings are easily damaged, and the damage rate is high, thus affecting the survival rate of the seedlings; at the same time, the current sweet potato transplanting machine has a low degree of automation, which affects the work efficiency. Summary of the invention

[0003] The object of the present invention is to provide a low-loss seedling delivery device for a sweet potato transplanter and an opening and closing control method to solve the prior art problems existing in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the technical solution provided by the present invention is: On the one hand, the present application provides a low-loss seedling delivery device for a sweet potato transplanter, comprising a fixed frame, a conveying mechanism, a conveying plate and a seedling clamping mechanism; the conveying mechanism is arranged on the fixed frame, the conveying plate is provided with multiple groups on the conveying mechanism and is driven to move by the conveying mechanism, the seedling clamping mechanism is arranged at one end of the conveying plate, and is used for clamping the seedlings; the seedling clamping mechanism comprises a flexible fixed plate, a flexible movable plate, an elastic member and a driving mechanism, the flexible fixed plate is fixedly arranged on the conveying plate, the flexible movable plate and the flexible fixed plate are symmetrically arranged with an elastic member arranged between them, and the flexible movable plate is driven by the driving mechanism to slide on the conveying plate.

[0005] Based on the above technical solution, the conveying mechanism includes a first sprocket, a second sprocket, a third sprocket, and a fourth sprocket which are connected in sequence by a conveying chain and are driven to rotate by a power source. The second sprocket is located on the same horizontal line as the first sprocket and is rotatably connected to a fixed frame. The fourth sprocket is located on the same horizontal line as the third sprocket and is rotatably connected to a fixed frame. The third sprocket is located below the second sprocket, and the conveying plate is fixedly disposed on the conveying chain.

[0006] Based on the above technical solution, the driving mechanism includes a bump assembly, a pulley, a first connecting rod and a second connecting rod. The bump assembly is fixedly arranged on a fixed frame, the pulley abuts against the bump assembly and slides on the bump assembly, one end of the first connecting rod is hinged to the pulley, and the other end is hinged to the second connecting rod, the other end of the second connecting rod is hinged to the bottom end of the flexible movable plate, a connecting piece is fixedly arranged at the bottom end of the conveying plate, and the middle part of the first connecting rod is hinged to the connecting piece.

[0007] Based on the above technical solution, the lug assembly includes a first lug and a second lug, the first lug is arranged between the first sprocket and the second sprocket, and the second lug is arranged between the third sprocket and the fourth sprocket.

[0008] Based on the above technical solution, the first bump includes a first bump body, and arc-shaped bosses are symmetrically arranged at both ends of the first bump body; the second bump includes a second bump body, a first arc-shaped boss and a second arc-shaped boss, the first arc-shaped boss is symmetrically arranged at both ends of the second bump body, the second arc-shaped boss is symmetrically arranged on the inner side of the first arc-shaped boss, and the first arc-shaped boss and the second arc-shaped boss are connected by a third arc portion.

[0009] On the basis of the above technical solution, an adjustment mechanism is also provided at the bottom end of the flexible fixed plate, and the adjustment mechanism includes an adjustment frame and an adjustment rod. The adjustment frame is symmetrically arranged at the bottom end of the flexible fixed plate, and the adjustment rod is passed through the adjustment frame and fixed by a fixing member. One end of the elastic member is connected to the adjustment rod, and the other end is connected to the bottom end of the flexible movable plate.

[0010] On the basis of the above technical scheme, it also includes a seedling pressing mechanism arranged on a fixed frame, the seedling pressing mechanism includes a driving wheel, a driven wheel and a seedling pressing belt, the driving wheel is driven to rotate by the conveying mechanism through a reversing gear, the driven wheel is driven to rotate by the driving wheel through the seedling pressing belt, and the bottom end of the seedling pressing belt is arranged parallel to the top of the conveying plate.

[0011] Based on the above technical solution, the flexible fixed plate includes a splint body, a bending portion and a groove, the bending portion is fixedly arranged at the top end of the splint body, and the groove is arranged on the inner side wall of the splint body; the flexible movable plate has the same structure as the flexible fixed plate and the groove of the flexible movable plate is buckled with the groove of the flexible fixed plate to form an imitation storage space.

[0012] On the other hand, the present application also provides an opening and closing control method of a low-loss seedling delivery device of a sweet potato transplanter, comprising the following steps: In the initial state, the seedling delivery device is driven by a power source, the delivery chain drives the delivery plate and the seedling clamping mechanism thereon to move clockwise, and the flexible fixed plate and the flexible movable plate are in a normally closed state under the action of the elastic member; In the working state, when the pulley slides to the first convex block position, the first connecting rod is lifted upward, and driven by the first connecting rod and the second connecting rod, the flexible movable plate overcomes the tension of the elastic member and moves, and the flexible fixed plate and the flexible movable plate are opened to the working distance to place the seedlings; In the seedling pressing state, the seedling clamping mechanism loaded with seedlings continues to be transported to the seedling pressing mechanism position, and under the action of the reversing gear, the conveying chain and the seedling pressing belt of the seedling pressing mechanism are in a relatively static motion, reducing the damage of friction to the seedlings; In the seedling clamping state, after the seedlings are transported through the seedling pressing mechanism, the pulley gradually separates from the first protrusion, the effect of the first protrusion weakens, and the flexible movable plate moves under the leading effect of the elastic member to clamp the seedlings, and the clamping force is adjusted according to the compression limit of the seedlings and the elastic force of the elastic member; In the seedling unloading state, when the seedlings are transported to the second protrusion, similar to the working state, the pulley moves to the second protrusion position, and the flexible movable plate slides in the direction away from the flexible fixed plate. A certain distance is opened between the flexible movable plate and the flexible fixed plate, and this distance is smaller than the working distance in the working state, thereby reducing the force on the seedlings and facilitating the robot to remove the seedlings smoothly.

[0013] Based on the above technical solution, the calculation formula for the clamping force of the clamping mechanism in the above clamping state is: Assume that the distance between the installation position of the adjustment rod and the right end of the flexible fixed plate is y, the original length of the elastic member is b, the diameter of the seedling is c, and the distance between the rotating pair of the flexible movable plate and the left end surface is 4 mm; when the flexible fixed plate and the flexible movable plate are in a closed state, the space reserved for the seedlings is 3 mm, so the seedlings with a diameter greater than 3 mm will be subjected to pressure; When there is no seedling placed, the initial force when the flexible fixed plate and the flexible movable plate are in free closure is ; When the seedlings are to be placed, the force when the flexible fixed plate and the flexible movable plate are in the open state is ; After the seedlings are placed, the pressure on the seedlings when the flexible fixed plate and the flexible movable plate are closed is ; Therefore, according to this formula, the installation distance of the elastic parts for adjusting seedlings of different diameters is deduced: .

[0014] The beneficial effects of the technical solution provided by the present invention are: The present invention provides a low-loss seedling delivery device for a sweet potato transplanter, which is particularly suitable for the delivery of sweet potato seedlings, and can also be used for root crops such as rice seedlings that need to be transplanted, and has a wide range of applications; it can realize the automated delivery of seedlings, with high work efficiency, and can also realize the low-loss delivery of seedlings, reduce damage to the seedlings, and improve the survival rate. Specifically, the delivery plate is used to place the seedlings, and the seedling clamping mechanism is used to clamp the seedlings. The clamping of the flexible fixed plate and the flexible movable plate can reduce damage to the seedlings. At the same time, by controlling the moving distance of the flexible movable plate and the installation position and elastic force of the elastic member, the clamping force between the flexible fixed plate and the flexible movable plate can be adjusted, and the clamping force is adjusted according to the pressure resistance of the seedlings, which has stronger applicability and reduces seedling damage.

[0015] At the same time, the present application also provides an opening and closing control method for the low-loss seedling delivery device of the above-mentioned sweet potato transplanter, which is easy to operate, has a high degree of automation, improves work efficiency, can effectively reduce the loss of seedlings during transportation, reduce the damage rate, and improve the survival rate of seedling transplanting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a front view of the present invention; Figure 3 It is a structural schematic diagram of the conveying mechanism in the present invention; Figure 4 It is a structural schematic diagram of the seedling clamping mechanism in the present invention; Figure 5 is a schematic structural diagram of the first protrusion in the present invention; Figure 6 is a schematic structural diagram of the second protrusion in the present invention; Figure 7 It is a structural schematic diagram of the flexible fixing plate in the present invention; Figure 8 It is a schematic diagram of the structure of the flexible movable plate in the present invention; Fig. 9 It is a structural schematic diagram of the seedling pressing mechanism in the present invention; DETAILED DESCRIPTION The present invention will be further described below in conjunction with the accompanying drawings and embodiments: In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0017] In the description of the present invention, it is necessary to understand that the terms "left", "right", "front", "back", "top", "bottom", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0018] like Figures 1 to 9 As shown, the present application provides a low-loss seedling delivery device for a sweet potato transplanter, comprising a fixed frame 1, a conveying mechanism 2, a conveying plate 3 and a seedling clamping mechanism 4; the conveying mechanism 2 is arranged on the fixed frame 1, the conveying plate 3 is provided with multiple groups on the conveying mechanism 2 and is driven to move by the conveying mechanism 2, the seedling clamping mechanism 4 is arranged at one end of the conveying plate 3, and is used for clamping the seedlings; the seedling clamping mechanism 4 comprises a flexible fixed plate 41, a flexible movable plate 42, an elastic member 43 and a driving mechanism, the flexible fixed plate 41 is fixedly arranged on the conveying plate 3, the flexible movable plate 42 is symmetrically arranged with the flexible fixed plate 41 and an elastic member 43 is arranged between them, and the flexible movable plate 42 is driven by the driving mechanism to slide on the conveying plate 3.

[0019] The present invention provides a low-loss seedling delivery device for a sweet potato transplanter, which is particularly suitable for the delivery of sweet potato seedlings, and can also be used for root crops such as rice seedlings that need to be transplanted, and has a wide range of applications; the seedlings can be automatically delivered, with high work efficiency, and the seedlings can be delivered with low losses, thereby reducing damage to the seedlings and improving survival rate. Specifically, the delivery plate 3 is used to place the seedlings, the seedling clamping mechanism 4 is used to clamp the seedlings, and the clamping of the flexible fixed plate 41 and the flexible movable plate 42 can reduce damage to the seedlings. At the same time, by controlling the moving distance of the flexible movable plate 42 and the installation position and elastic force of the elastic member 43, the clamping force between the flexible fixed plate 41 and the flexible movable plate 42 can be adjusted, and the clamping force is adjusted according to the pressure resistance of the seedlings, which has stronger applicability and reduces damage to the seedlings. At the same time, the seedlings can be placed into the flexible fixed plate and the flexible movable plate with one hand, which solves the problems of slow running speed and low work efficiency caused by slow manual seedling placement in the current sweet potato transplanter. The following embodiments are described by taking sweet potato seedlings as an example.

[0020] In a more preferred embodiment, the flexible fixed plate and the flexible movable plate are both made of flexible materials, such as rubber, which can more effectively reduce damage to the seedlings.

[0021] In a more preferred embodiment, a baffle 31 is fixedly provided on one side of the conveying plate 3. By providing the baffle 31, the rice seedlings can be better prevented from falling during the conveying process, and the use is more convenient.

[0022] Based on the above technical solution, the conveying mechanism 2 includes a first sprocket 22, a second sprocket 23, a third sprocket 24, and a fourth sprocket 25 which are connected in sequence by a conveying chain 21 and are driven to rotate by a power source. The second sprocket 23 and the first sprocket 22 are located on the same horizontal line and are rotatably connected to the fixed frame 1. The fourth sprocket 25 and the third sprocket 24 are located on the same horizontal line and are rotatably connected to the fixed frame 1. The third sprocket 24 is located below the second sprocket 23, and the conveying plate 3 is fixedly arranged on the conveying chain 21.

[0023] Specifically, four conveying sprockets are rotatably arranged on a fixed frame 1, a conveying chain 21 is sequentially mounted on the four conveying sprockets, a conveying plate 3 is evenly spaced and fixedly arranged on the conveying chain 21, one of the sprockets is driven to rotate by a power source, and synchronous rotation of the four sprockets can be achieved through the conveying chain 21; more preferably, the power source can be a driving motor, or the sprocket can be driven to rotate through a chain through a ground wheel on the sweet potato transplanter.

[0024] On the basis of the above technical solution, the driving mechanism includes a bump assembly 44, a pulley 45, a first connecting rod 46 and a second connecting rod 47. The bump assembly 44 is fixedly arranged on the fixed frame 1, the pulley 45 abuts against the bump assembly 44 and slides on the bump assembly 44, one end of the first connecting rod 46 is hinged to the pulley 45, and the other end is hinged to the second connecting rod 47, the other end of the second connecting rod 47 is hinged to the bottom end of the flexible movable plate 42, and a connecting member 32 is fixedly arranged at the bottom end of the conveying plate 3, and the middle part of the first connecting rod 46 is hinged to the connecting member 32.

[0025] Specifically, under the action of the elastic member 43, the flexible movable plate 42 and the flexible fixed plate 41 are in a normally closed state; during operation, the conveying chain 21 drives the conveying plate 3 to move, and the pulley 45 slides to the top of the protrusion assembly 44 when moving to the position of the protrusion assembly 44, and the first connecting rod 46 and the second connecting rod 47 are hinged, thereby driving the flexible movable plate 42 to overcome the pulling force of the elastic member 43 and slide in the direction away from the flexible fixed plate 41 to enter the working area. At this time, the seedlings can be placed between the flexible fixed plate 41 and the flexible movable plate 42 with only one hand; continue to convey until the pulley 45 is separated from the protrusion assembly 44, and under the pulling force of the elastic member 43, the flexible movable plate 42 slides in the direction close to the flexible fixed plate 41 to achieve the clamping of the seedlings.

[0026] Based on the above technical solution, the lug assembly 44 includes a first lug 441 and a second lug 442 . The first lug 441 is arranged between the first sprocket 22 and the second sprocket 23 , and the second lug 442 is arranged between the third sprocket 24 and the fourth sprocket 25 .

[0027] Based on the above technical solution, the first protrusion 441 includes a first protrusion body 4411, and arc-shaped bosses 4412 are symmetrically arranged at both ends of the first protrusion body 4411; the second protrusion 442 includes a second protrusion body 4421, a first arc-shaped boss 4422 and a second arc-shaped boss 4423, the first arc-shaped boss 4422 is symmetrically arranged at both ends of the second protrusion body 4421, the second arc-shaped boss 4423 is symmetrically arranged on the inner side of the first arc-shaped boss 4422, and the first arc-shaped boss 4422 and the second arc-shaped boss 4423 are connected by a third arc portion 4424.

[0028] In a more preferred embodiment, the second protrusion 442 may also be configured to have the same shape as the first protrusion 441 , and the size may be modified accordingly as required.

[0029] By providing the first protrusion 441, the seedling clamping mechanism 4 can enter the working state, that is, the flexible movable plate 42 moves to open the working distance, so that the seedlings can be placed between the flexible fixed plate 41 and the flexible movable plate 42 conveniently; in a more preferred embodiment, a second protrusion 442 is also provided below the first protrusion 441, and when transported to the position of the second protrusion 442, the flexible fixed plate 41 and the flexible movable plate 42 can be slightly opened but not opened to the working state, thereby reducing the force on the seedlings during transportation, so that the subsequent robot can easily remove the seedlings and transplant them to the ridge.

[0030] On the basis of the above technical solution, an adjustment mechanism is also provided at the bottom end of the flexible fixed plate 41, and the adjustment mechanism includes an adjustment frame 5 and an adjustment rod 6. The adjustment frame 5 is symmetrically arranged at the bottom end of the flexible fixed plate 41, and the adjustment rod 6 is passed through the adjustment frame 5 and fixed by a fixing member. One end of the elastic member 43 is connected to the adjustment rod 6, and the other end is connected to the bottom end of the flexible movable plate 42.

[0031] Specifically, the bottom end of the flexible movable plate 42 is symmetrically provided with connecting blocks 421, a connecting rod 422 is fixedly provided between the connecting blocks 421, and the elastic member 43 is fixedly provided between the adjusting rod 6 and the connecting rod 422; more preferably, the elastic member 43 is a spring. The tension spring can adjust the spring tension according to the distance of the adjusting rod 6, that is, adjust the clamping force between the flexible fixed plate 41 and the flexible movable plate 42.

[0032] The bottom end of the conveying plate 3 is provided with a slideway 33, and the outer side wall of the flexible movable plate 42 is provided with a slider 423 adapted to the slideway 33. The slideway 33 and the slider 423 can play a guiding role, so that the flexible movable plate 42 moves more smoothly and is convenient to adjust.

[0033] On the basis of the above technical solution, it also includes a seedling pressing mechanism 7 arranged on the fixed frame 1, and the seedling pressing mechanism 7 includes a driving wheel 71, a driven wheel 72 and a seedling pressing belt 73. The driving wheel 71 is driven to rotate by the conveying mechanism 2 through a reversing gear, and the driven wheel 72 is driven to rotate by the driving wheel 71 through the seedling pressing belt 73. The bottom end of the seedling pressing belt 73 is arranged parallel to the top of the conveying plate 3.

[0034] In a more preferred embodiment, a seedling pressing mechanism 7 is also provided on the fixed frame 1, which can prevent the seedlings from warping or forming strange shapes, thereby preventing the subsequent manipulator from correctly clamping the seedlings, protecting the seedlings from damage, and improving work efficiency. Specifically, the driving wheel 71 is driven to rotate by the conveying mechanism 2 through chains and gears, and the seedling pressing belt 73 and the conveying chain 21 can be relatively statically moved after the reversing gear transmission, such as the conveying plate 3 moves clockwise and the seedling pressing belt 73 moves counterclockwise, and the conveying process is more stable; the driven wheel 72 is provided with two groups and is located on the same horizontal line, that is, the bottom end of the seedling pressing belt 73 is parallelly arranged above the conveying plate 3; more preferably, the driving wheel 71 and the driven wheel 72 are not on the same horizontal line, that is, the misalignment of the driving wheel 71 and the driven wheel 72 makes an inclined angle in front of the seedling pressing belt 73, so that the seedlings can enter the seedling pressing mechanism 7 correctly.

[0035] More preferably, a tensioning wheel 74 is further provided on the inner side of the seedling pressing belt 73, and the tensioning wheel 74 is arranged between the driving wheel 71 and the driven wheel 72.

[0036] Based on the above technical solution, the flexible fixed plate 41 includes a clamping plate body 411, a bending portion 412 and a groove 413, the bending portion 412 is fixedly arranged at the top of the clamping plate body 411, and the groove 413 is arranged on the inner wall of the clamping plate body 411; the flexible movable plate 42 has the same structure as the flexible fixed plate 41 and the groove of the flexible movable plate 42 is buckled with the groove of the flexible fixed plate 41 to form an imitation storage space.

[0037] In a more preferred embodiment, the bending portion 412 and the clamping plate body 411 are configured as an integrally formed structure; by providing grooves on both the flexible fixed plate 41 and the flexible movable plate 42, and the two grooves are buckled to form a accommodating space for the seedlings, preferably, the groove 413 has a contoured structure design, that is, the upper end surface of the groove is a curved surface extending outward, and the seedlings are placed in the contoured groove and fixed when clamped, and when the robot takes them away, the seedlings will slide out along the upper curved surface of the groove, which can more effectively reduce scratches compared with conventional seedling clamping.

[0038] The present application also provides an opening and closing control method of the low-loss seedling delivery device of the sweet potato transplanter, comprising the following steps: In the initial state, the seedling delivery device is driven by a power source, and the delivery chain 21 drives the delivery plate 3 and the seedling clamping mechanism 4 thereon to move clockwise, and under the action of the elastic member 43, the flexible fixed plate 41 and the flexible movable plate 42 are in a normally closed state; In the working state, when the pulley 45 slides to the position of the first protrusion 441, the first connecting rod 46 is lifted upward, and driven by the first connecting rod 46 and the second connecting rod 47, the flexible movable plate 42 overcomes the pulling force of the elastic member 43 and moves, and the flexible fixed plate 41 and the flexible movable plate 42 are opened to the working distance to place the seedlings; In the seedling pressing state, the seedling clamping mechanism 4 loaded with seedlings continues to be transported to the position of the seedling pressing mechanism 7. Under the action of the reversing gear, the conveying chain 21 and the seedling pressing belt 73 of the seedling pressing mechanism 7 are in a relatively static motion, reducing the damage of friction to the seedlings; In the seedling clamping state, after the seedlings are transported through the seedling pressing mechanism 7, the pulley 45 gradually separates from the first protrusion 441, the effect of the first protrusion 441 weakens, and the flexible movable plate 42 moves under the leading effect of the elastic member 43 to clamp the seedlings, and the clamping force is adjusted according to the compression limit of the seedlings and the elastic force of the elastic member; In the seedling unloading state, when the seedlings are transported to the second protrusion 442, similar to the working state, the pulley 45 moves to the position of the second protrusion 442, and the flexible movable plate 42 slides in the direction away from the flexible fixed plate 41. A certain distance is opened between the flexible movable plate 42 and the flexible fixed plate 41, and this distance is smaller than the working distance in the working state, thereby reducing the force on the seedlings and facilitating the robot to remove the seedlings smoothly.

[0039] The seedling delivery device is driven by a ground wheel, and the conveying chain 21 drives the conveying plate 3 to move clockwise. Due to the tension of the tension spring, the flexible fixed plate 41 and the flexible movable plate 42 on the conveying plate 3 are in a normally closed state. The pulley is acted upon by the first protrusion 441, and the first connecting rod 46 is lifted upward. The flexible movable plate 42 overcomes the tension of the spring and moves to the right to enter the working area. At this time, the worker only needs to put the sweet potato seedlings between the flexible fixed plate 41 and the flexible movable plate 42 with one hand; move to the seedling pressing mechanism 7, on both sides of which are seedling pressing belts 73 linked with the sprocket wheels. The steering is flipped through the transmission of the two sprocket wheels, so that the conveying chain 21 and the seedling pressing belt of the seedling pressing mechanism 7 are in a state of rotation. 73 can move relatively still, which can ensure that the sweet potato seedlings reduce the damage caused by friction; because the effect of the first protrusion 441 gradually decreases, the tension of the stretch spring plays a dominant role, causing the flexible movable plate 42 to move to the left. At the same time, under the influence of the seedling pressing mechanism 7, the sweet potato seedlings will not curl up or have a strange shape, so that it can be clamped flatly by the flexible fixed plate 41 and the flexible movable plate 42; after the seedlings are clamped, they continue to be transported, and when they move to the second protrusion 442, the flexible movable plate 42 slides under the action of the second protrusion 442, and the flexible fixed plate 41 and the flexible movable plate 42 are slightly opened to reduce the force on the sweet potato seedlings, so that the robot can easily remove the sweet potato seedlings and transplant them to the ridge.

[0040] Based on the above technical solution, it is characterized in that the calculation formula for the clamping force of the clamping mechanism in the above clamping state is: Assume that the distance between the installation position of the adjusting rod 6 and the right end of the flexible fixed plate 41 is y, the original length of the elastic member 43 is b, the diameter of the seedling is c, and the distance between the connection position of the spring at the bottom end of the flexible movable plate 42 and the left end surface is 4 mm; when the flexible fixed plate 41 and the flexible movable plate 42 are in a closed state, the space reserved for the seedlings is 3 mm, so the seedlings with a diameter greater than 3 mm will be subjected to pressure; When no seedlings are placed, the initial force when the flexible fixed plate 41 and the flexible movable plate 42 are in free closing is ; When the seedlings are to be placed, the force when the flexible fixed plate 41 and the flexible movable plate 42 are in the open state is ; After the seedlings are placed, the pressure on the seedlings when the flexible fixed plate 41 and the flexible movable plate 42 are closed is ; Therefore, according to this formula, the installation distance of the elastic parts for adjusting seedlings of different diameters is deduced: .

[0041] In the preferred embodiment, sweet potato seedlings are selected and the compressive limit of the sweet potato seedlings can be obtained based on the compression test of the sweet potato seedling stems; because the sweet potato seedlings need to extend 5 cm, plus the width of the seedling clamping mechanism, the compressive limit of 20 cm from the root is selected, and the average diameter c of the sweet potato seedlings is 4 mm, and the critical pressure value is 9N, so the designed clamping force should be less than 9N, Fmax=9N. AUM-D6-L30 model spring is selected as the elastic part, with an original length of 25 mm, a maximum displacement of 12.7 mm, a maximum load of 17.26 N, and a spring coefficient of 1.08 N / mm. Substituting into the formula, the maximum installation distance is .

[0042] In other preferred embodiments, the clamping force can be calculated according to the clamping requirements of different types of seedlings and adjusted accordingly, which is easy to operate and has a wider range of applications.

[0043] The basic principles and main features of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments. Therefore, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the appended claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention.

[0044] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A low-loss seedling delivery device for a sweet potato transplanter, characterized in that: The invention comprises a fixed frame (1), a conveying mechanism (2), a conveying plate (3) and a seedling clamping mechanism (4); the conveying mechanism (2) is arranged on the fixed frame (1); the conveying plate (3) is provided with a plurality of groups on the conveying mechanism (2) and is driven to move by the conveying mechanism (2); the seedling clamping mechanism (4) is arranged at one end of the conveying plate (3) and is used for clamping the seedlings; the seedling clamping mechanism (4) comprises a flexible fixed plate (41), a flexible movable plate (42), an elastic member (43) and a driving mechanism; the flexible fixed plate (41) is fixedly arranged on the conveying plate (3); the flexible movable plate (42) and the flexible fixed plate (41) are symmetrically arranged with an elastic member (43) arranged therebetween; and the flexible movable plate (42) is driven by the driving mechanism to slide on the conveying plate (3).

2. A low-loss seedling delivery device for a sweet potato transplanter according to claim 1, characterized in that: The conveying mechanism (2) comprises a first sprocket (22), a second sprocket (23), a third sprocket (24), and a fourth sprocket (25) which are connected in sequence through a conveying chain (21) and are driven to rotate by a power source; the second sprocket (23) and the first sprocket (22) are located on the same horizontal line and are rotatably connected to a fixed frame (1); the fourth sprocket (25) and the third sprocket (24) are located on the same horizontal line and are rotatably connected to the fixed frame (1); the third sprocket (24) is located below the second sprocket (23); and the conveying plate (3) is fixedly arranged on the conveying chain (21).

3. A low-loss seedling delivery device for a sweet potato transplanter according to claim 2, characterized in that: The driving mechanism comprises a convex block assembly (44), a pulley (45), a first connecting rod (46) and a second connecting rod (47); the convex block assembly (44) is fixedly arranged on the fixed frame (1); the pulley (45) abuts against the convex block assembly (44) and slides on the convex block assembly (44); one end of the first connecting rod (46) is hinged to the pulley (45) and the other end is hinged to the second connecting rod (47); the other end of the second connecting rod (47) is hinged to the bottom end of the flexible movable plate (42); a connecting piece (32) is fixedly arranged at the bottom end of the conveying plate (3); and the middle part of the first connecting rod (46) is hinged to the connecting piece (32).

4. A low-loss seedling delivery device for a sweet potato transplanter according to claim 3, characterized in that: The lug assembly (44) comprises a first lug (441) and a second lug (442), wherein the first lug (441) is arranged between the first sprocket (22) and the second sprocket (23), and the second lug (442) is arranged between the third sprocket (24) and the fourth sprocket (25).

5. A low-loss seedling delivery device for a sweet potato transplanter according to claim 4, characterized in that: The first protrusion (441) comprises a first protrusion body (4411), and arc-shaped bosses (4412) are symmetrically arranged at both ends of the first protrusion body (4411); the second protrusion (442) comprises a second protrusion body (4421), a first arc-shaped boss (4422) and a second arc-shaped boss (4423), the first arc-shaped boss (4422) is symmetrically arranged at both ends of the second protrusion body (4421), the second arc-shaped boss (4423) is symmetrically arranged on the inner side of the first arc-shaped boss (4422), and the first arc-shaped boss (4422) and the second arc-shaped boss (4423) are connected via a third arc portion (4424).

6. The low-loss seedling delivery device for a sweet potato transplanter according to claim 1, characterized in that: The bottom end of the flexible fixed plate (41) is also provided with an adjustment mechanism, the adjustment mechanism comprising an adjustment frame (5) and an adjustment rod (6), the adjustment frame (5) being symmetrically arranged at the bottom end of the flexible fixed plate (74), the adjustment rod (6) being inserted into the adjustment frame (5) and fixed by a fixing member, and the elastic member (43) having one end connected to the adjustment rod (6) and the other end connected to the bottom end of the flexible movable plate (42).

7. The low-loss seedling delivery device for a sweet potato transplanter according to claim 1, characterized in that: The invention also comprises a seedling pressing mechanism (7) arranged on the fixed frame (1), the seedling pressing mechanism (7) comprising a driving wheel (71), a driven wheel (72) and a seedling pressing belt (73), the driving wheel (71) being driven to rotate by the conveying mechanism (2) via a reversing gear, the driven wheel (72) being driven to rotate by the driving wheel (71) via the seedling pressing belt (73), and the bottom end of the seedling pressing belt (73) being arranged parallel to the top of the conveying plate (3).

8. The low-loss seedling delivery device for a sweet potato transplanter according to claim 1, characterized in that: The flexible fixed plate (41) comprises a clamping plate body (411), a bending portion (412) and a groove (413); the bending portion (412) is fixedly arranged at the top end of the clamping plate body (411); and the groove (413) is arranged on the inner side wall of the clamping plate body (411); the flexible movable plate (42) and the flexible fixed plate (41) have the same structure, and the groove of the flexible movable plate (42) and the groove of the flexible fixed plate (41) are buckled to form an imitation storage space.

9. A method for controlling the opening and closing of the low-loss seedling delivery device of a sweet potato transplanter using any one of claims 1 to 8, characterized in that: The following steps are involved: In the initial state, the seedling delivery device is driven by a power source, the delivery chain (21) drives the delivery plate (3) and the seedling clamping mechanism (4) thereon to move clockwise, and under the action of the elastic member (43), the flexible fixed plate (41) and the flexible movable plate (42) are in a normally closed state; In the working state, when the pulley (45) slides to the position of the first protrusion (441), the first connecting rod (46) is lifted upward, and driven by the first connecting rod (46) and the second connecting rod (47), the flexible movable plate (42) overcomes the pulling force of the elastic member (43) and moves, and the flexible fixed plate (41) and the flexible movable plate (42) are opened to the working distance to place the seedlings; In the seedling pressing state, the seedling clamping mechanism (4) loaded with seedlings continues to be transported to the position of the seedling pressing mechanism (7), and under the action of the reversing gear, the conveying chain (21) and the seedling pressing belt (73) of the seedling pressing mechanism (7) are in a relatively static motion, thereby reducing the damage to the seedlings caused by friction; In the seedling clamping state, after the seedlings are transported through the seedling pressing mechanism (7), the pulley (45) gradually separates from the first protrusion (441), the effect of the first protrusion (441) weakens, and the flexible movable plate (42) moves under the leading effect of the elastic member (43) to clamp the seedlings, and the clamping force is adjusted according to the compression resistance limit of the seedlings and the elastic force of the elastic member; In the seedling unloading state, when the seedlings are transported to the second protrusion (442), similar to the working state, the pulley (45) moves to the position of the second protrusion (442), and the flexible movable plate (42) slides in a direction away from the flexible fixed plate (41). A certain distance is opened between the flexible movable plate (42) and the flexible fixed plate (41), and this distance is smaller than the working distance in the working state, thereby reducing the force on the seedlings and facilitating the robot arm to smoothly remove the seedlings.

10. The method for controlling the opening and closing of the low-loss seedling delivery device of a sweet potato transplanter according to claim 9, characterized in that: The calculation formula for the clamping force of the clamping mechanism under the above-mentioned clamping state is: Assuming that the distance between the installation position of the adjustment rod (6) and the right end of the flexible fixed plate (41) is y, the original length of the elastic member (43) is b, the diameter of the seedling is c, and the distance between the rotating pair of the flexible movable plate (42) and the left end surface is 4 mm; when the flexible fixed plate (41) and the flexible movable plate (42) are in a closed state, the space reserved for the seedling is 3 mm, so the seedlings with a diameter greater than 3 mm will be subjected to pressure; When no seedlings are placed, the initial force when the flexible fixed plate (41) and the flexible movable plate (42) are in free closing is ; When the seedlings are to be placed, the force when the flexible fixed plate (41) and the flexible movable plate (42) are in the open state is ; After the seedlings are placed, the pressure on the seedlings when the flexible fixed plate (41) and the flexible movable plate (42) are closed is ; Therefore, according to this formula, the installation distance of the elastic parts for adjusting seedlings of different diameters is deduced: .

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