A kind of automatic transplanting machine system and control method of plug seedlings

Abstract

The present invention discloses a plug tray seedling automatic transplanting machine system and control method, and relates to the technical field of agricultural machinery automation. It includes a box moving device, a seedling picking device, a seedling throwing device and an electric box device. The electric box device is arranged on the chassis of the transplanter, and a controller is arranged inside; the box moving device includes a box moving mechanism and a box moving control module. The box moving control module includes a stepping motor, a plug tray in place sensor and a plug tray feeding grid number counter. The box moving mechanism is arranged on the chassis of the transplanter, the stepping motor is installed on the box moving mechanism and connected to the controller, the plug tray in place sensor is arranged on the box moving mechanism and connected to the controller, and the plug tray feeding grid number counter is arranged on the controller; the seedling picking device includes a seedling picking mechanism and a seedling picking control module. The seedling picking mechanism is arranged above the box moving mechanism, and is used to grab the plug tray seedlings on the box moving mechanism and transport the plug tray seedlings to the seedling throwing device. The present invention has the advantages of fast seedling picking and placing speed, stable seedling carrying, high accuracy, and convenient adjustment and maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery automation, and in particular to an automatic transplanting machine system for plug seedlings and a control method thereof. Background Art

[0002] Transplanting can shorten the growth process of crops, improve their resistance to disasters and drought, reduce the need for secondary replanting, and increase the growth cycle of crops, and improve crop yield and quality. At present, domestic transplanters are mainly semi-automatic transplanters, with low transplanting efficiency and large manual workload. Therefore, time-saving and labor-saving fully automatic transplanting is the main direction of future transplanting machine development.

[0003] Patent CN107241948A discloses a feeding control system and control method for an automatic transplanter of seedlings in a tray, which uses 5 sensors and 1 encoder to achieve motion coordination between various components, uses a touch screen to design an operation interface and can monitor and alarm in real time. However, due to the complex outdoor environment, the touch screen is easily affected by light and dust, and the encoder is easily damaged in a vibrating environment, making maintenance inconvenient. Patent CN104737686A discloses a motion coordination control system and control method for an automatic transplanter of seedlings in a tray, which combines PLC with relays and uses relays to switch on and off to achieve coordinated control of the transplanter's movements. The control system is relatively complex, and the horizontal tray feeding mechanism occupies a large space and is not suitable for greenhouse operations, and the transplanting efficiency is limited. CN104808573A discloses a transplanter control system, which uses a motor screw combined with a variety of position sensors to achieve the entire transplanting process, but the system uses 6 stepper motors with too much power, and the control system cost is high. Summary of the invention

[0004] The main purpose of the present invention is to provide an automatic transplanting machine system for seedlings in a tray and a control method to solve the problems existing in the prior art.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A plug tray seedling automatic transplanting machine system, comprising a box moving device, a seedling taking device, a seedling throwing device and an electric box device, wherein the electric box device is arranged on the chassis of the transplanting machine and a controller is arranged inside;

[0007] The box-shifting device comprises a box-shifting mechanism and a box-shifting control module, the box-shifting control module comprises a stepping motor, a plug tray in-place sensor and a plug tray feeding grid number counter, the box-shifting mechanism is arranged on the chassis of the transplanter, the stepping motor is mounted on the box-shifting mechanism and connected to a controller, the plug tray in-place sensor is arranged on the box-shifting mechanism and connected to a controller, and the plug tray feeding grid number counter is arranged on the controller;

[0008] The seedling picking device comprises a seedling picking mechanism and a seedling picking control module. The seedling picking mechanism is arranged above the box-moving mechanism, and is used to grab the plug tray seedlings on the box-moving mechanism and transport the plug tray seedlings to the seedling throwing device. The seedling picking control module is arranged on the seedling picking mechanism and connected to the controller, and is used to control the movement of the seedling picking mechanism.

[0009] The seedling-planting device includes a seedling-separating mechanism and a seedling-separating control module. The seedling-separating mechanism is arranged on the chassis of the transplanter and located on both sides of the box-shifting mechanism, and is used to guide and receive the plug tray seedlings transported by the seedling-taking mechanism. The seedling-separating control module includes a microswitch and a seedling cup counter. The microswitch is arranged on the seedling-separating mechanism and connected to the controller, and the seedling cup counter is arranged on the controller.

[0010] Furthermore, it also includes an operation module, which includes a series-parallel conversion main switch and an operation panel. The series-parallel conversion main switch is arranged on the top of the electrical cabinet, and the operation panel is arranged on the outside of the electrical cabinet. The operation panel is provided with a start button, a stop button, a hole plate switching button, a manual switching button, an automatic switching button, a micro-increase button and a micro-decrease button.

[0011] Furthermore, the seedling retrieval mechanism includes a fixed frame, a supporting side plate, a guide rail, a slider, a left and right cylinder, an up and down cylinder, a seedling retrieval claw cylinder and a seedling retrieval claw. The fixed frame is fixedly arranged above the box shifting mechanism, the supporting side plate is slidably arranged in the fixed frame, the guide rail is fixed on the supporting side plate, the slider is slidably arranged on the guide rail, the seedling retrieval claw is arranged on the slider, the guide rod of the left and right cylinder is connected to the seedling retrieval claw, the up and down cylinder is connected to the supporting side plate, and the seedling retrieval claw cylinder is arranged on the seedling retrieval claw.

[0012] Furthermore, the seedling retrieval control module includes an up and down solenoid valve, a left and right solenoid valve, a seedling retrieval claw solenoid valve, a photoelectric sensor and a left and right sensor; the up and down solenoid valves, the left and right solenoid valves, and the seedling retrieval claw solenoid valve are all arranged on a fixed frame and connected to a controller, for respectively controlling the movement of the left and right cylinders, the up and down cylinders and the seedling retrieval claw cylinder; the photoelectric sensor is arranged on the up and down cylinders; the left and right sensors are arranged on the left and right cylinders, for detecting the two extreme positions of the left and right cylinders.

[0013] Furthermore, the photoelectric sensors include a photoelectric sensor A, a photoelectric sensor B and a photoelectric sensor C, which are respectively used to detect the upper, middle and lower positions of the up-and-down cylinders.

[0014] Furthermore, the box-moving mechanism is horizontally arranged, and the box-moving mechanism includes a plurality of hole trays, and the horizontal grid number of the hole trays is an integer multiple of the number of seedling claws.

[0015] Furthermore, the seedling separation mechanism includes a seedling guide tube, a seedling guide tube bracket and a seedling separation cup. The number of the seedling separation cups is 12, and they are arranged in a circular ring shape on the chassis of the transplanter. The seedling guide tube bracket is arranged above the seedling separation cup. The seedling guide tube is arranged on the seedling guide tube bracket, and the outlets of the seedling guide tube are respectively arranged corresponding to the inlets of the seedling separation cups.

[0016] Furthermore, the micro switch is arranged on one side of the outer wall of the seedling separation cup to detect the rotation of the seedling separation cup.

[0017] A method for controlling a plug tray seedling automatic transplanting machine system comprises the following steps:

[0018] Step 1: Start the transplanter engine and turn the series-parallel conversion master switch to the discharge mode.

[0019] Step 2: Press the manual switching button to switch to manual mode, start the stepper motor to make the hole tray rotate quickly and feed longitudinally with the stepper motor. When it moves to the installation position of the hole tray in place sensor, it senses the hole tray to generate a rising edge signal, and the hole tray in place sensor transmits the signal to the controller. The controller controls the stepper motor to stop rotating, and the hole tray is in place; then the left and right cylinders drive the seedling claws to move to the seedling taking position, and the hole tray feeds one grid to observe whether the seedling claws correspond to the center position of the hole in the hole tray. If the two do not correspond, press the micro-increase button or micro-decrease button to adjust the compensation amount of the stepper motor to move forward or backward by the corresponding distance, so that the hole tray reaches the accurate seedling taking position;

[0020] Step 3: Press the automatic switch button to switch to the automatic mode, start the stepper motor to make the hole tray rotate quickly and feed longitudinally with the stepper motor. When it moves to the installation position of the hole tray in place sensor, it senses the hole tray to generate a rising edge signal. The hole tray in place sensor transmits the signal to the controller, and the controller controls the stepper motor to stop rotating, and the hole tray is in place; the left and right cylinders push the seedling claws to move to the seedling taking position, and then the stepper motor drives the hole tray to feed one hole spacing to reach the seedling taking position;

[0021] Step 4: Then the up and down cylinders move downward. When the photoelectric sensor B is triggered, the seedling claw cylinder drives the seedling claw to clamp the seedlings, realizing the action of inserting and clamping the seedlings. When the photoelectric sensor C is triggered, the seedling claw moves up with the seedlings. When the photoelectric sensor A is triggered, the left and right cylinders drive the seedling claws to separate the seedlings. When the left and right sensors are triggered, the seedlings are placed at the seedling placement position.

[0022] Step 5: The power mechanism of the transplanter drives the seedling cup to rotate. When the micro switch is triggered when the seedling cup rotates, the seedling cup counter counts it. When the number of rotations of the seedling cup is equal to the number of the seedling guide tubes above, the seedling claws are opened to drop the seedlings, and then the seedling cup counter is reset and counted again;

[0023] Step 6: After the seedling dropping action is completed, the left and right cylinders drive the seedling claws to return to the seedling picking position, and then the stepper motor drives the hole tray to feed one hole spacing, and then the seedlings are picked;

[0024] Step 7: Repeat step 1 to step 2. When the value of the tray counter is greater than the number of rows of the tray used, the stepper motor rotates to withdraw the tray and put the next tray of seedlings into the tray for the second time;

[0025] Step 8: Repeat steps 2 to 7 until you stop.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] By setting the hole tray in place sensor, photoelectric sensor and left and right row sensors as input elements, the up and down row solenoid valves, left and right row solenoid valves, seedling claw solenoid valves and stepper motors as output elements, and taking the controller as the control core, the coordinated actions of the box moving device, seedling taking device and seedling separating device are realized through the operation module. It has the advantages of fast seedling taking and placing speed, stable seedling carrying and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0029] Figure 2 It is a schematic diagram of the structures of the box moving device, the seedling taking device and the seedling separating device of the present invention.

[0030] Figure 3 It is a top view of the seedling taking device of the present invention.

[0031] Figure 4 Schematic diagram of the control module of the present invention.

[0032] Figure 5 This is a circuit diagram of the control module of the present invention.

[0033] Figure 6 It is a schematic diagram of the structure of the electric box device of the present invention.

[0034] Figure 7 Schematic diagram of sensor distribution of the present invention.

[0035] Figure 8 This is a feedback control diagram of the hole tray feed amount in the manual mode of the present invention.

[0036] Fig. 9 This is a manual mode flow chart of the present invention.

[0037] Fig.10 This is a flow chart of the automatic mode of the present invention.

[0038] Among them, 1. box moving device; 2. seedling taking device; 3. chassis; 4. seedling separation device; 5. electric box device; 11. stepping motor; 12. plug tray; 13. box moving mechanism; 14. plug tray in place sensor; 21. up and down cylinder; 22. left and right cylinder A; 23. left and right cylinder B; 24. up and down solenoid valve; 25. left and right solenoid valve A; 26. left and right solenoid valve B; 27. solenoid valve A for taking seedling claw; 28. solenoid valve B for taking seedling claw; 29. ​​taking seedling claw; 210. cylinder for taking seedling claw; 212. slider; 213. Seedling mechanism; 214, guide rail; 215, supporting side plate; 216, photoelectric sensor A; 217, photoelectric sensor B; 218, photoelectric sensor C; 219, left and right row sensor 1B; 220, left and right row sensor 2A; 221, left and right row sensor 2B; 222, left and right row sensor 1A; 41, seedling guide tube; 42, seedling separation mechanism; 43, micro switch; 51, terminal block; 52, wire trough; 53, series-parallel main switch; 54, stepper motor driver; 55, programmable controller; 56, electrical cabinet box. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0040] Example 1

[0041] Combination Figures 1 to 7 The present invention provides an automatic transplanting machine system for seedlings in a tray, comprising a box moving device 1, a seedling taking device 2, a seedling separating device 4, an electric box device 5 and an operating module. The electric box device 5 is arranged on the chassis of the transplanting machine and has a controller 55 inside.

[0042] Figure 1 , Figure 2 , Figure 3 as well as Figure 7 The box-shifting device 1 includes a box-shifting mechanism 13 and a box-shifting control module, the box-shifting control module includes a stepper motor 11, a plug tray in-place sensor 14, and a plug tray feed grid number counter, the box-shifting mechanism 13 is arranged on the chassis of the transplanter, the stepper motor 11 is mounted on the box-shifting mechanism 13 and connected to the controller 55, the plug tray in-place sensor 14 is arranged on the box-shifting mechanism 13 and connected to the controller 55, and the plug tray feed grid number counter is arranged on the controller 55. In this embodiment, the controller 55 controls the stepper motor 11 through a motor driver, and uses a rechargeable battery to power the stepper motor 11.

[0043] The hole tray arrival sensor 14 is located at the corresponding position of the seedling picking claw. Such a self-made sensor is installed on one side of the hole tray and can be fine-tuned longitudinally. It is connected to the controller 55 and is used to locate the initial feeding position of the hole tray and trigger the seedling picking movement; the hole tray feeding grid number counter is triggered by the positive pulse of the stepping motor 11. Every time the stepping motor 11 sends a positive pulse, the number of downward movements is increased by one and saved in the data register of the controller 55, thereby recording the number of grids fed by the hole tray.

[0044] After determining the initial feed position, the stepper motor 11 is used in conjunction with the stepper motor driver 54 to convert the displacement into the number of pulses and precisely control the feed distance. By controlling the rotation angle of the stepper motor 11, different downward displacements can be achieved to adapt to different hole trays; different parameters are stored in the controller 55 to obtain the expected number of pulses for feeding one grid of the hole tray; the stepper motor 11 is connected to the active sprocket shaft through a coupling, and the expected feed distance d corresponds to the motor pulse n formula:

[0045]

[0046] Where D is the pitch circle diameter of the driving sprocket; θ is the step angle of the stepping motor; m is the subdivision multiple of the stepping motor driver.

[0047] The seedling retrieval device 2 includes a seedling retrieval mechanism 213 and a seedling retrieval control module. The seedling retrieval mechanism 213 is arranged above the box shifting mechanism 13, and is used to grab the plug tray seedlings on the box shifting mechanism 13 and transport the plug tray seedlings to the seedling separation device 4. The seedling retrieval control module is arranged on the seedling retrieval mechanism 213 and is connected to the controller 55, and is used to control the movement of the seedling retrieval mechanism 213.

[0048] The seedling taking mechanism 213 includes a fixed frame, a supporting side plate 215, a guide rail 214, a slider 212, a left and right cylinder, an up and down cylinder 21, a seedling taking claw cylinder 210 and a seedling taking claw 29. The fixed frame is fixedly arranged above the box shifting mechanism 13, the supporting side plate 215 is slidably arranged in the fixed frame, the guide rail 214 is fixed on the supporting side plate 215, the slider 212 is slidably arranged on the guide rail 214, the seedling taking claw is arranged on the slider 212, the guide rod of the left and right cylinder is connected to the seedling taking claw, the up and down cylinder 21 is connected to the supporting side plate 215, and the seedling taking claw cylinder 210 is arranged on the seedling taking claw. The seedling retrieval control module includes an up and down electromagnetic valve 24, a left and right electromagnetic valve, a seedling retrieval claw electromagnetic valve, a photoelectric sensor and a left and right sensor; the up and down electromagnetic valve 24, the left and right electromagnetic valve, and the seedling retrieval claw electromagnetic valve are all arranged on a fixed frame and connected to a controller 55, and are used to control the movement of the left and right cylinders, the up and down cylinders 21 and the seedling retrieval claw cylinder 210 respectively; the photoelectric sensor is arranged on the up and down cylinders 21; the left and right sensors are arranged on the left and right cylinders, and are used to detect the two extreme positions of the left and right cylinders.

[0049] In this embodiment, the photoelectric sensor includes a photoelectric sensor A216, a photoelectric sensor B217 and a photoelectric sensor C218, which are respectively used to detect the upper, middle and lower positions of the upper and lower cylinders 21. The left and right solenoid valves include the left and right solenoid valves A25 and the left and right solenoid valves B26, the seedling claw solenoid valves include the seedling claw solenoid valves A27 and the seedling claw solenoid valves B28, and the left and right sensors include the left and right sensors 1A222, the left and right sensors 1B219, the left and right sensors 2A220 and the left and right sensors 2B221. The left and right cylinders include the left and right cylinders A22 and the left and right cylinders B23.

[0050] The up-down electromagnetic valve 24, the left-right electromagnetic valve A25, the left-right electromagnetic valve B26, the seedling-taking claw electromagnetic valve A27, and the seedling-taking claw electromagnetic valve B28 are connected to the output terminal of the controller 55, respectively controlling the movement of the left-right cylinder A22, the left-right cylinder B23, the up-down cylinder 21, and the seedling-taking claw cylinder 210, and the controller 55 controls each electromagnetic valve to achieve orderly and coordinated seedling taking. The photoelectric sensor A216, the photoelectric sensor B217, and the photoelectric sensor C218 are respectively used to detect the upper, middle, and lower positions of the up-down cylinder 21; the left-right sensor 1A, the left-right sensor 1B219, the left-right sensor 2A220, and the left-right sensor 2B are respectively used to detect the two extreme positions of the left-right cylinder A22 and the left-right cylinder B23.

[0051] The seedling separation device 4 includes a seedling separation mechanism 42 and a seedling separation control module. The seedling separation mechanism 42 is arranged on the chassis of the transplanter and located on both sides of the box transfer mechanism 13, and is used to guide and receive the plug tray seedlings transported by the seedling taking mechanism 213. The seedling separation control module includes a micro switch 43 and a seedling cup counter. The micro switch 43 is arranged on the seedling separation mechanism 42 and connected to the controller 55. The seedling cup counter is arranged on the controller 55. The seedling separation mechanism 42 includes a seedling guide tube 41, a seedling guide tube 41 bracket and a seedling separation cup. The seedling separation cups are 12 in number and are arranged in a circular ring on the chassis of the transplanter. The seedling guide tube 41 bracket is arranged above the seedling separation cup. The seedling guide tube 41 is arranged on the seedling guide tube 41 bracket, and the outlets of the seedling guide tube 41 are respectively arranged corresponding to the inlets of the seedling separation cup.

[0052] Combined with Figure 4 , 5 , 6 and 8, it also includes an operation module, which includes a series-parallel conversion main switch 53 and an operation panel. The series-parallel conversion main switch 53 is arranged at the top of the electric cabinet box 56, and the operation panel is arranged on the outside of the electric cabinet box 56. The operation panel is provided with a start button, a stop button, a hole tray switching button, a manual switching button, an automatic switching button, a micro-increase button and a micro-decrease button.

[0053] The series-parallel conversion master switch 53 is used to control the series-parallel connection of the batteries, so that the batteries are in charging mode when they are connected in series and in discharging mode when they are connected in parallel, that is, to supply power to the controller 5 and other electrical devices, and can also be in disconnection mode.

[0054] The start button and stop button are used to control the start and stop of the box-moving stepper motor 11; the hole tray switching button includes a 72-hole hole tray switching button and a 128-hole hole tray switching button, which are used to switch different hole tray specifications. If the hole tray has 72 holes, it should be switched to a 72-hole hole tray.

[0055] The manual switching button and the automatic switching button are used to put the working state of the transplanter into different modes. When in the manual mode, the transplanter only moves the tray, the purpose of which is to correct the hole tray to be in the correct seedling position and prevent the poor seedling removal effect caused by the error of the seedling removal position. The micro-increase button and the micro-decrease button are used to control the stepper motor 11 to achieve fine-tuning of the hole tray position, so that the hole tray is in the accurate seedling removal position in the manual mode. In order to solve the problem of inaccurate hole tray positioning, the fine-tuning function in the manual mode is added, so that there will be no positioning error in the automatic mode.

[0056] A series-parallel conversion switch is arranged at the top of the electric cabinet 56, and a wire slot 52, a terminal block 51, a stepper motor driver 54, a controller 55, and connecting wires are arranged inside. In this embodiment, the plug tray feed grid counter and the seedling cup counter are separately arranged and connected to the controller 55, and the counting signal is transmitted to the controller 55. In another embodiment, the controller 55 can use its own counter as the plug tray feed grid counter and the seedling cup counter, and use the data register to store the number of plug tray feed grids and the number of seedling cup rotations.

[0057] Preferably, the micro switch 43 is arranged on one side of the outer wall of the seedling separation cup, and is used to detect the rotation of the seedling separation cup. The seedling cup counter counts the number of seedling separation cups that rotate according to the rising edge signal generated by the micro switch 43, and stores the value in the data register of the controller 55. When the count value of the seedling separation cup counter is greater than or equal to 3 or 4, the count of the seedling cup counter is cleared. If the hole tray has 72 holes, the count value of the seedling separation cup counter is greater than or equal to 3, and the count of the seedling cup counter is cleared; if the hole tray has 128 holes, the count value of the seedling separation cup counter is greater than or equal to 4, and the count of the seedling cup counter is cleared.

[0058] Preferably, the box-shifting mechanism 13 is horizontally arranged, and the box-shifting mechanism 13 includes a plurality of plug trays 12, and the transverse grid number of the plug trays 12 is an integer multiple of the number of seedling-picking claws, so as to facilitate the whole-row seedling-picking.

[0059] The device has the advantages of being simple and time-saving, having a fast seedling-taking and placing speed, being stable with the seedlings, and being convenient to adjust and maintain. At a planting frequency of no more than 60 plants / min / row, the accuracy rate of seedlings falling into the seedling cups is high.

[0060] Example 2

[0061] Combined with Fig. 9 , 10 This embodiment provides a control method for a plug tray seedling automatic transplanter system, comprising the following steps:

[0062] Step 1: Start the engine of the transplanter, the power mechanism drives the seedling cup to rotate, and then turn the series-parallel conversion main switch 53 to the discharge mode.

[0063] Step 2: Press the manual switching button to switch to manual mode, start the stepper motor 11 to make the hole tray rotate quickly with the stepper motor 11 and feed longitudinally. When it moves to the installation position of the hole tray in place sensor 14, it senses that the hole tray generates a rising edge signal. The hole tray in place sensor 14 transmits the signal to the controller 55. The controller 55 controls the stepper motor 11 to stop rotating and the hole tray is in place. Then the left and right cylinders drive the seedling claws to move to the seedling taking position, and the hole tray is fed one grid. Observe whether the seedling claws correspond to the center position of the hole of the hole tray. If the two do not correspond, press the micro-increase button or the micro-decrease button to adjust the compensation amount of the stepper motor 11 to move forward or backward by a corresponding distance, so that the hole tray reaches the accurate seedling taking position.

[0064] Step 3: Press the automatic switching button to switch to the automatic mode, start the stepper motor 11 to make the hole tray rotate quickly and feed longitudinally with the stepper motor 11, and when it moves to the installation position of the hole tray in place sensor 14, it senses that the hole tray generates a rising edge signal, and the hole tray in place sensor 14 transmits the signal to the controller 55, and the controller 55 controls the stepper motor 11 to stop rotating, and the hole tray is in place; the left and right cylinders push the seedling retrieval claws to move to the seedling retrieval position, and then the stepper motor 11 drives the hole tray to feed one hole tray hole spacing to reach the seedling retrieval position;

[0065] Step 4: Then the up-down cylinder 21 moves downward, and when the photoelectric sensor B217 is triggered, the seedling claw cylinder 210 drives the seedling claw to clamp the seedling, realizing the seedling action of inserting and clamping at the same time, and when the photoelectric sensor C218 is triggered, the seedling claw moves up with the seedling, and when the photoelectric sensor A216 is triggered, the left and right cylinders drive the seedling claw to separate the seedlings, and when the left and right sensors are triggered, the seedling placement position is reached;

[0066] Step 5: The power mechanism of the transplanter drives the seedling cup to rotate. When the micro switch 43 is triggered when the seedling cup rotates, the seedling cup counter counts it. When the number of rotations of the seedling cup is equal to the number of the upper seedling guide tube 41, the seedling claws are opened to drop the seedlings, and then the seedling cup counter is reset and counted again;

[0067] Step 6: After the seedling dropping action is completed, the left and right cylinders drive the seedling claws to return to the seedling picking position, and then the stepper motor 11 drives the hole tray to feed one hole spacing, and then the seedlings are picked;

[0068] Step 7: Repeat step 1 to step 2. When the value of the hole tray counter is greater than the number of rows of the hole tray used, the stepper motor 11 rotates to withdraw the tray and put the next tray of seedlings into the tray for the second time;

[0069] Step 8: Repeat steps 2 to 7 until you stop.

[0070] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. An automatic seedling transplanting machine system, characterized in that: It includes a box moving device, a seedling taking device, a seedling throwing device and an electric box device. The electric box device is arranged on the chassis of the transplanter and has a controller inside. The box-shifting device comprises a box-shifting mechanism and a box-shifting control module, the box-shifting control module comprises a stepping motor, a plug tray in-place sensor and a plug tray feeding grid number counter, the box-shifting mechanism is arranged on the chassis of the transplanter, the stepping motor is mounted on the box-shifting mechanism and connected to a controller, the plug tray in-place sensor is arranged on the box-shifting mechanism and connected to a controller, and the plug tray feeding grid number counter is arranged on the controller; The seedling picking device comprises a seedling picking mechanism and a seedling picking control module. The seedling picking mechanism is arranged above the box-moving mechanism, and is used to grab the plug tray seedlings on the box-moving mechanism and transport the plug tray seedlings to the seedling throwing device. The seedling picking control module is arranged on the seedling picking mechanism and connected to the controller, and is used to control the movement of the seedling picking mechanism. The seedling throwing device includes a seedling separation mechanism and a seedling separation control module. The seedling separation mechanism is arranged on the chassis of the transplanter and located on both sides of the box transfer mechanism, and is used to guide and receive the plug tray seedlings transported by the seedling taking mechanism. The seedling separation control module includes a micro switch and a seedling cup counter. The micro switch is arranged on the seedling separation mechanism and connected to the controller. The seedling cup counter is arranged on the controller. It also includes an operation module, which includes a series-parallel conversion main switch and an operation panel. The series-parallel conversion main switch is arranged at the top of the electric cabinet box, and the operation panel is arranged outside the electric cabinet box. The operation panel is provided with a start button, a stop button, a hole plate switching button, a manual switching button, an automatic switching button, a micro-increase button, and a micro-decrease button; The seedling taking mechanism comprises a fixed frame, a supporting side plate, a guide rail, a slider, a left and right cylinder, an up and down cylinder, a seedling taking claw cylinder and a seedling taking claw, the fixed frame is fixedly arranged above the box moving mechanism, the supporting side plate is slidably arranged in the fixed frame, the guide rail is fixed on the supporting side plate, the slider is slidably arranged on the guide rail, the seedling taking claw is arranged on the slider, the guide rod of the left and right cylinder is connected to the seedling taking claw, the up and down cylinder is connected to the supporting side plate, and the seedling taking claw cylinder is arranged on the seedling taking claw; The seedling taking control module includes an up-and-down electromagnetic valve, a left-and-right electromagnetic valve, a seedling taking claw electromagnetic valve, a photoelectric sensor and a left-and-right sensor. The up-and-down electromagnetic valve, the left-and-right electromagnetic valve and the seedling taking claw electromagnetic valve are all arranged on a fixed frame and connected to a controller. The photoelectric sensor is arranged on an up-and-down cylinder; the left-and-right sensor is arranged on a left-and-right cylinder; The photoelectric sensor includes a photoelectric sensor A, a photoelectric sensor B and a photoelectric sensor C; The box transfer mechanism includes a plurality of plug trays, and the number of transverse grids of the plug trays is an integer multiple of the number of seedling claws; The seedling separation mechanism includes a seedling guide tube, a seedling guide tube bracket and a seedling separation cup, wherein the seedling separation cup is arranged in a circular ring shape on the chassis of the transplanter, the seedling guide tube bracket is arranged above the seedling separation cup, the seedling guide tube is arranged on the seedling guide tube bracket, and the outlets of the seedling guide tube are respectively arranged corresponding to the inlets of the seedling separation cup; The micro switch is arranged on one side of the outer wall of the seedling separation cup; The invention also includes a control method for a plug tray seedling automatic transplanting machine system, which specifically includes the following steps: Step 1: Start the transplanter engine and turn the series-parallel conversion master switch to the discharge mode. Step 2: Press the manual switching button to switch to manual mode, start the stepper motor to make the hole tray rotate quickly and feed longitudinally with the stepper motor. When it moves to the installation position of the hole tray in place sensor, it senses the hole tray to generate a rising edge signal, and the hole tray in place sensor transmits the signal to the controller. The controller controls the stepper motor to stop rotating, and the hole tray is in place; then the left and right cylinders drive the seedling claws to move to the seedling taking position, and the hole tray feeds one grid to observe whether the seedling claws correspond to the center position of the hole in the hole tray. If the two do not correspond, press the micro-increase button or micro-decrease button to adjust the compensation amount of the stepper motor to move forward or backward by the corresponding distance, so that the hole tray reaches the accurate seedling taking position; Step 3: Press the automatic switch button to switch to the automatic mode, start the stepper motor to make the hole tray rotate quickly and feed longitudinally with the stepper motor. When it moves to the installation position of the hole tray in place sensor, it senses the hole tray to generate a rising edge signal. The hole tray in place sensor transmits the signal to the controller, and the controller controls the stepper motor to stop rotating, and the hole tray is in place; the left and right cylinders push the seedling claws to move to the seedling taking position, and then the stepper motor drives the hole tray to feed one hole spacing to reach the seedling taking position; Step 4: Then the up and down cylinders move downward. When the photoelectric sensor B is triggered, the seedling claw cylinder drives the seedling claw to clamp the seedlings, realizing the action of inserting and clamping the seedlings. When the photoelectric sensor C is triggered, the seedling claw moves up with the seedlings. When the photoelectric sensor A is triggered, the left and right cylinders drive the seedling claws to separate the seedlings. When the left and right sensors are triggered, the seedlings are placed at the seedling placement position. Step 5: The power mechanism of the transplanter drives the seedling cup to rotate. When the micro switch is triggered when the seedling cup rotates, the seedling cup counter counts it. When the number of rotations of the seedling cup is equal to the number of the seedling guide tubes above, the seedling claws are opened to drop the seedlings, and then the seedling cup counter is reset and counted again; Step 6: After the seedling dropping action is completed, the left and right cylinders drive the seedling claws to return to the seedling picking position, and then the stepper motor drives the hole tray to feed one hole spacing, and then the seedlings are picked; Step 7: Repeat step 1 to step 2. When the value of the tray counter is greater than the number of rows of the tray used, the stepper motor rotates to withdraw the tray and put the next tray of seedlings into the tray for the second time; Step 8: Repeat steps 2 to 7 until you stop.

2. The automatic seedling transplanting machine system according to claim 1, characterized in that: The up and down electromagnetic valves, left and right electromagnetic valves, and seedling claw electromagnetic valves are used to control the movement of the left and right cylinders, the up and down cylinders, and the seedling claw cylinder respectively; the left and right sensors are used to detect the two extreme positions of the left and right cylinders.

3. The automatic seedling transplanting machine system for plug trays as claimed in claim 1, characterized in that: The photoelectric sensor A, the photoelectric sensor B and the photoelectric sensor C are used to detect the upper, middle and lower positions of the up and down cylinders respectively.

4. The automatic seedling transplanting machine system for plug trays as claimed in claim 1, characterized in that: The box moving mechanism is arranged horizontally.

5. The automatic seedling transplanting machine system for plug trays as claimed in claim 1, characterized in that: The number of the seedling separation cups is 12.

6. The automatic seedling transplanting machine system for plug trays as claimed in claim 1, characterized in that: The micro switch is used to detect the rotation of the seedling separation cup.

Images