Automatic feeding device and control method based on narrow-plant-spacing eight-row leafy vegetable transplanter

Abstract

An automatic seedling feeding device based on narrow-plant-spacing eight-row leafy vegetable transplanter and a control method thereof belong to the technical field of vegetable seedling transplanting device. The feeding device comprises a rack, a transmission component, a transplanting mechanism, a seedling feeding component and a seedling plug tray conveying component. The rack is provided with two mutually perpendicular support frames. The seedling plug tray conveying component is arranged on the bottom support frame. The transmission component is arranged on the upper frame. The transplanting mechanism comprises a moving frame, a transplanting arm, a guide rail I, a sliding block I and an electric push rod. The support columns on both sides of the moving frame are connected with the ball screw linear module of the transmission component. Two parallel guide rails I are arranged on the moving frame. The transplanting arm is provided with the sliding block I matched with the guide rail I. The electric push rod is connected between the moving frame and the transplanting arm. The seedling feeding component is connected to the bottom end of the transplanting arm. The seedling plug tray with seedling clumps is arranged on the seedling plug tray conveying component. The seedling clumps are taken out in the seedling plug tray through the seedling feeding component and are put into the seedling cup arranged on the rack below the transmission component.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of vegetable seedling transplanting device, in particular to an automatic seedling feeding device based on a narrow-planting-distance eight-row leafy vegetable transplanter and a control method. BACKGROUND

[0002] Vegetable transplanting is the most important link in vegetable planting, and the quality of transplanting is directly related to the growth of vegetables. At present, the method of vegetable planting in our country is still mostly manual transplanting, which has low efficiency, and the semi-automatic transplanting machine suitable for the transplanting operation condition in our country still mostly adopts manual seedling feeding mode in the seedling feeding link, which has high operation intensity and cost. This series of problems restrict the development of vegetable transplanting machinery in our country to a high level.

[0003] Therefore, it is the most urgent problem for us to develop an automatic vegetable seedling feeding device which can replace manual seedling feeding. SUMMARY

[0004] In view of the above technical problems, an automatic seedling feeding device based on a narrow-planting-distance eight-row leafy vegetable transplanter and a control method are provided. The automatic seedling feeding device can replace manual seedling feeding operation, and can take out the seedlings in the 200-hole, 128-hole and 72-hole seedling tray from the tray and accurately feed the seedlings into the seedling feeding cup of the narrow-planting-distance eight-row leafy vegetable transplanter to replace manual seedling feeding operation.

[0005] The purpose of the application is achieved by the following technical solutions:

[0006] The automatic seedling feeding device based on a narrow-planting-distance eight-row leafy vegetable transplanter comprises a rack, a transmission component, a transplanting mechanism, a seedling feeding component and a seedling tray conveying component. The rack has two mutually perpendicular support frames. The seedling tray conveying component is arranged on the bottom support frame. The transmission component is arranged on the upper frame which is perpendicular to the bottom support frame, and the upper frame is located on one side of the bottom frame.

[0007] The transmission component comprises ball screw linear modules arranged on both sides of the upper frame. The transplanting mechanism comprises a moving frame, a transplanting arm, guide rails I, sliding blocks I and an electric push rod. The support columns on both sides of the moving frame are connected with the ball screw linear modules of the transmission component. Two parallel guide rails I are arranged on the moving frame. The transplanting arm is provided with sliding blocks I which are connected with the guide rails I. An electric push rod is connected between the moving frame and the transplanting arm. The seedling feeding component is connected to the bottom end of the transplanting arm. The seedling tray with seedling clumps is arranged on the seedling tray conveying component. The seedling clumps are taken out from the seedling tray by the seedling feeding component and fed into the seedling feeding cup arranged on the rack below the transmission component.

[0008] Further, the mutually perpendicular support frame comprises a bottom frame and an upper frame, wherein the bottom frame forms an angle α of 60° with the horizontal plane, is lower near the end of the transplanting arm than the other end, and is provided with a seedling tray conveying component on the upper frame; the upper frame forms an angle β of 30° with the horizontal plane, is lower near the end of the transplanting arm than the other end, and is provided with a transmission component on the upper frame.

[0009] Further, the seedling feeding component comprises seedling feeding claws, a fixed plate, an I-shaped connecting piece and a claw needle pressing plate piece; the I-shaped connecting piece has grooves at both ends and is in the shape of an I, is fixed at the lower end of the transplanting arm, and the seedling feeding claws are arranged in pairs in the grooves at both sides of the I-shaped connecting piece to form four claw needles extending out of the I-shaped connecting piece; the claw needle pressing plate piece is arranged at both ends of the I-shaped connecting piece to prevent the claw needles from coming out; and the fixed plate is fixed on the transplanting arm and is provided with guide plates corresponding to the claw needles.

[0010] Further, the moving frame is in a frame structure formed by upper and lower cross beams and side supports, two parallel guide rails I are arranged between the upper and lower cross beams, and the sliding blocks I matched with the guide rails I are connected with the transplanting arm.

[0011] Further, the transplanting arm is a connecting beam, the sliding blocks I matched with the guide rails I are arranged on the connecting beam, the seedling feeding component is connected to the lower end of the connecting beam, and the upper end of the connecting beam is connected to the upper cross beam of the moving frame through an electric push rod.

[0012] Further, the sliding blocks I are L-shaped connecting blocks.

[0013] Further, the electric push rod is connected to the moving frame and the connecting beam through T-shaped connecting blocks at both ends.

[0014] Further, the seedling tray conveying component comprises a fixed frame, left and right stroke gear racks, front and rear stroke gear racks and a seedling tray bottom plate; the fixed frame is provided with front and rear stroke sliding blocks at the bottom, the front and rear stroke guide rails matched with the front and rear stroke sliding blocks are arranged on the upper frame, the front and rear stroke gear racks are arranged at the bottom of the fixed frame between the two front and rear stroke guide rails to drive the seedling tray to move, the left and right stroke guide rails are arranged on the fixed frame in the length direction, the left and right stroke sliding blocks matched with the left and right stroke guide rails are arranged at the bottom of the seedling tray bottom plate, and the left and right stroke gear racks are arranged at the bottom of the seedling tray bottom plate to drive the seedling tray to move; and the front and rear stroke gears and the left and right stroke gears are respectively connected to stepping motors and are driven by the stepping motors.

[0015] Further, the seedling tray bottom plate is provided with pressing plates corresponding to the edges of the seedling tray on the top of the seedling tray bottom plate.

[0016] The control method of the automatic seedling feeding device of the vegetable transplanting machine comprises the following steps.

[0017] The seedling tray with seedling clumps is placed on the seedling tray bottom plate.

[0018] Each component runs to the initial state: the transmission component screw module drives the sliding table to run to the upper stop point, the seedling tray bottom plate in the seedling tray conveying component moves to the first column of seedling holes on the side of the pressing plate 66 and the corresponding position of the seedling claw, and the crossbeam on the side of the seedling cup in the seedling tray conveying component moves to the corresponding position of the seedling claw and the first row of seedling holes behind the seedling tray, the electric push rod is retracted to drive the transplanting arm to make the seedling claw connected with the work-shaped connecting piece open;

[0019] The transmission component drives the moving frame, the transplanting arm and the seedling feeding component to move to 10mm above the claw needle, and the seedling tray conveying component moves to the seedling taking position, the claw needles are uniformly spaced and correspond to the first row of seedling holes on the top of the seedling tray for the first time; the electric push rod is driven to extend, and under the guidance of the guide rail I slider I, the transplanting arm is driven to move downward, and the claw needles in the seedling feeding claw are inserted into the corresponding seedling clump;

[0020] The transmission component drives the transplanting arm to move to the seedling cup direction, so that the claw needle of the seedling feeding component grabs the seedling clump and separates from the seedling tray;

[0021] When the transmission component drives the transplanting arm and the seedling claw to move to the top of the seedling cup, the electric push rod is retracted to drive the transplanting arm to move upward, and the claw needle in the seedling claw is moved upward, so that the seedling clump falls off the claw needle and falls into the seedling cup;

[0022] At this point, a working cycle is completed; the left and right stroke gear racks in the seedling tray conveying component move one seedling hole position to perform the second time of seedling grabbing in the first row;

[0023] Until the first row of seedling holes is grabbed, the second row of seedling holes is grabbed;

[0024] In this way, the seedling clumps in the seedling tray are taken out from the seedling tray.

[0025] The beneficial effects of the present application are:

[0026] 1. The present application sets the seedling tray conveying component and the transmission component on the mutually perpendicular support frame respectively, the transplanting mechanism is connected to the transmission component, the moving frame of the transplanting mechanism is connected with the transmission component and moves with the transmission component; the transplanting arm is driven by the electric push rod, the slider I on the transplanting arm moves along the moving frame guide rail I, and then drives the seedling feeding component connected to the bottom end of the transplanting arm to take seedlings and plant seedlings. When the transplanting operation is performed, the seedling claw does not move forward and backward relative to the seedling tray, but uses the seedling tray moving mode to grab and feed the seedling holes; the speed of the transplanting operation is greatly improved. Moreover, the slider I guide rail I is installed on the transplanting arm, which effectively solves the guiding and friction problems of the seedling claw when grabbing and feeding the seedling holes.

[0027] 2. The mutually perpendicular support frames of the present application are respectively a bottom frame and an upper frame, wherein the bottom frame forms an angle a of 60° with the horizontal plane, is lower near the end of the transplanting arm than the other end, and is provided with a seedling tray conveying component thereon; the upper frame forms an angle β of 30° with the horizontal plane, is lower near the end of the transplanting arm than the other end, and is provided with a transmission component thereon; the setting of the frame angles ensures stable conveying of the seedling tray while the seedling claws accurately grab the seedling clumps and run upwards along the upper frame to be accurately dropped into the seedling cups arranged on the rack below the upper frame.

[0028] 3. The H-shaped connecting piece of the seedling feeding component of the present application has grooves at both ends, is in the shape of an H as a whole, is fixed at the lower end of the transplanting arm, and the seedling claws are arranged in pairs in the grooves on both sides of the H-shaped connecting piece to form four claw needles extending out of the H-shaped connecting piece, and the four-needle type increases the success rate of grabbing seedling clumps; a claw needle pressing plate is arranged at both ends of the H-shaped connecting piece to prevent the claw needles from coming out, and the fixing plate is fixed on the transplanting arm and is provided with a guide plate corresponding to the claw needle, and the guide plate is provided with a claw needle passing hole to guide the claw needle to move along the upper frame with the transplanting arm and prevent the angle from changing to affect the position of the inserted seedling clumps.

[0029] 4. The seedling tray conveying component of the present application comprises a fixed frame, left and right stroke gear racks, front and rear stroke gear racks, and a seedling tray bottom plate; the fixed frame is provided with front and rear stroke sliding blocks at the bottom, and the front and rear stroke guide rails matched with the front and rear stroke sliding blocks are arranged on the upper frame; the fixed frame is provided with front and rear stroke gear racks at the bottom between the two front and rear stroke guide rails; the fixed frame is provided with left and right stroke guide rails along the length direction at the top, and the left and right stroke sliding blocks matched with the left and right stroke guide rails are arranged at the bottom of the seedling tray bottom plate; the seedling tray bottom plate is also provided with left and right stroke gear racks at the bottom, and the seedling tray bottom plate is moved by the motor-driven gear racks. The fixed frame is provided with pressing plates corresponding to the two sides of the seedling tray at the top of the seedling tray bottom plate to press the seedling tray. The gear racks are adopted for the movement of the seedling tray, which greatly improves the accuracy of grabbing the seedling tray and greatly improves the speed of transplanting operation.

[0030] 5. The power source of the present application adopts a lithium battery to supply power to each component, is energy-saving and environmentally friendly, and is convenient to carry.

[0031] 6. The seedling tray used for the transplanting operation of the narrow-plant-distance eight-row leafy vegetable transplanter of the present application is a 200-hole, 128-hole, or 72-hole seedling tray, can replace manual seedling feeding operation, reduces labor cost, improves vegetable planting efficiency, and promotes the rapid development of automatic transplanter. The entire device has fewer parts, the connection and fixation between each part are convenient, the structure is simple, and the device is very convenient to disassemble and assemble. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0033] Figure 2 It is a three-dimensional diagram of the overall structure of the present invention;

[0034] Figure 3 It is a schematic diagram of the frame structure of the present invention;

[0035] Figure 4 It is a connection diagram of the transplanting mechanism in the present invention;

[0036] Figure 5 This is a structural diagram of the seedling tray conveying component in the present invention;

[0037] Figure 6 This is a schematic structural diagram of the seedling feeding claw in the present invention;

[0038] Figure 7 for Figure 6 Schematic diagram of the structure of medium-sized connector;

[0039] Figure 8 This is a control flow diagram of the present invention.

[0040] In the picture:

[0041] 1. Frame, 11. Upper frame, 12. Bottom frame;

[0042] 2. Transmission components,

[0043] 3. Mobile frame, 31. Support, 32. Upper beam, 33. Lower beam, 34. Connecting fixtures;

[0044] 4. Transplanting mechanism, 40. Transplanting arm, 41. Guide rail I, 42. L-shaped connecting block, 43. Electric push rod, 44. T-shaped connecting block;

[0045] 5. Seedling feeding parts, 51. Seedling feeding claws, 52. Fixing plate, 53. I-shaped connector, 54. Claw needle pressure plate, 55. Groove, 56. Guide plate;

[0046] 6. Seedling tray conveying components, 61. Fixed frame, 62. Front and rear travel gear rack, 63. Seedling tray bottom plate, 64. Left and right travel slider, 65. Front and rear travel slider, 66. Pressing plate, 67. Front and rear travel guide rails, 68. Left and right travel guide rails, 69. Left and right travel gear rack;

[0047] 7. Throw seedlings into the cup. DETAILED DESCRIPTION

[0048] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is presented in connection with the drawings, wherein the same numbers on different drawings represent the same or similar elements. The following description is not representative of all embodiments consistent with the present application. Rather, it is merely an example of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0049] Embodiment:

[0050] The automatic seedling feeding device based on narrow-planting-distance eight-row leafy vegetable transplanter comprises a rack 1, a transmission component 2, a transplanting mechanism 4, a seedling feeding component 5 and a seedling hole tray conveying component 6; the rack 1 is provided with two mutually perpendicular support frames, the seedling hole tray conveying component 6 is arranged on the bottom support frame, the transmission component 2 is arranged on the upper frame 11 which is perpendicular to the bottom support frame 12 and located on one side of the bottom frame 12, and the transplanting mechanism is connected to the transmission component 2.

[0051] The transmission component 2 comprises ball screw linear modules arranged on the two sides of the upper frame 11 respectively; the transplanting mechanism 4 comprises a moving frame 3, a transplanting arm 40, guide rails I 41, a sliding block I and an electric push rod 43, the support columns 31 on the two sides of the moving frame 3 are connected to the ball screw linear modules of the transmission component 2 through connecting fixing pieces 34; two parallel guide rails I 41 are arranged on the moving frame 3, the transplanting arm 40 is provided with the sliding block I which is matched and connected with the guide rails I 41, and the electric push rod 43 is connected between the moving frame 3 and the transplanting arm 40, the seedling feeding component 5 is connected to the bottom end of the transplanting arm 40, the seedling hole tray with seedling clumps is arranged on the seedling hole tray conveying component 6, the seedling clumps are taken out in the seedling hole tray through the seedling feeding component 5, and the seedling clumps are thrown into the seedling throwing cup 7 arranged on the rack below the transmission component 2.

[0052] The moving frame 3 connected with the ball screw linear modules is driven to move along the upper frame 11, the transplanting arm 40 connected to the moving frame 3 is driven to move along the guide rails I 41 of the moving frame through the sliding block I on the transplanting arm 40 under the drive of the electric push rod 43, the seedling feeding component 5 connected to the bottom end of the transplanting arm 40 is driven to take and throw seedling clumps. When the transplanting operation is performed, the seedling feeding claws 51 of the seedling feeding component 5 do not move back and forth relative to the seedling hole tray, the seedling hole tray is moved back and forth and left and right through the seedling hole tray conveying component 6, the electric push rod 43 is extended to drive the seedling feeding claws 51 to move downward along the guide rails I 41 to grab the seedling clumps, and the electric push rod 43 is retracted to drive the seedling feeding claws 51 to move upward along the guide rails I 41 to throw the seedling clumps above the seedling throwing cup 7.

[0053] Further, as Figure 2 , Figure 3As shown, the mutually perpendicular support frame includes a bottom frame 12 and an upper frame 11, wherein the bottom frame 12 forms an angle α of 60° with the horizontal plane, is lower near one end of the transplanting arm 10 than the other end, and is provided with a seedling tray conveying component 6; the upper frame 11 forms an angle β of 30° with the horizontal plane, is lower near one end of the transplanting arm 40 than the other end, and is provided with a transmission component 2.

[0054] As shown in the figure, Figures 6-8 The feeding component 5 includes feeding claws 51, a fixed plate 52, an I-shaped connecting piece 53, and a claw needle pressing plate 54; the I-shaped connecting piece 53 has grooves 55 at both ends and is in the shape of an I, is fixed at the lower end of the transplanting arm 40, and the feeding claws 51 are arranged in pairs in the grooves on both sides of the I-shaped connecting piece 53, forming four claw needles extending out of the I-shaped connecting piece 53; the claw needle pressing plate 54 is arranged at both ends of the I-shaped connecting piece 53 to prevent the claw needles from coming out; the fixed plate 52 is fixed on the transplanting arm 40 and has guide plates 56 corresponding to the claw needles; the guide plates 56 have through holes for the claw needles to pass through, guiding the claw needles to move along the upper frame 11 with the transplanting arm 40.

[0055] Further, as shown in the figure, Figure 2 , Figure 3 The moving frame 3 is a frame structure composed of upper and lower cross beams 32 and 33 and side supports 31; two parallel guide rails I 41 are arranged between the upper and lower cross beams 32 and 33, and the sliding blocks I connected to the transplanting arm 40 are matched with the guide rails I 41.

[0056] The side supports 31 are connected by bolt-nut connecting fixtures 34, which are connected to the ball screw linear module of the transmission component; the upper and lower cross beams 32 and 33 are fixed to the T-shaped connecting blocks 44 by bolt-nut fixing; and the lower cross beam 33 is fixed to the fixed plate 52 by bolt-nut fixing.

[0057] As shown in the figure, Figure 4 The transplanting arm 40 is a connecting beam, which is provided with sliding blocks I matched with the guide rails I 41 and L-shaped connecting blocks 42; the feeding component 5 is connected to the lower end of the connecting beam; and the moving frame upper cross beam 32 is connected to the upper end of the connecting beam by an electric push rod 43.

[0058] The L-shaped connecting blocks 42 are used to connect the transplanting arm 40 and the guide rails I 41; and the electric push rod 55 is connected to the moving frame 3 and the connecting beam by T-shaped connecting blocks 44 at both ends.

[0059] The machine frame 1 is composed of aluminum profiles, the bottom surface of the bottom frame 12 is fixed to the working platform of a matching transplanting machine, the upper frame 11 is provided with a seedling tray fixing frame 61, and the seedling tray fixing frame 61 is provided with a seedling tray bottom plate 63.

[0060] As shown in the figure, Figure 5As shown, the seedling tray conveying component 6 comprises a fixed frame 61, left and right stroke gear racks 71, front and back stroke gear racks 62, and a seedling tray bottom plate 63; the fixed frame 61 is provided with front and back stroke sliders 65 at the bottom, and the front and back stroke guide rails 67 matched with the front and back stroke sliders 65 are arranged on the upper frame 11; the front and back stroke gear racks 62 are arranged at the bottom of the fixed frame 61 between the two front and back stroke guide rails 67 to drive the seedling tray to move; the left and right stroke guide rails 68 are arranged on the top of the fixed frame 61 along the length direction, and the left and right stroke sliders 64 matched with the left and right stroke guide rails 68 are arranged at the bottom of the seedling tray bottom plate 63; the left and right stroke gear racks 69 are further arranged at the bottom of the seedling tray bottom plate 63 to drive the seedling tray to move; the front and back stroke gears and the left and right stroke gears are respectively connected with the stepping motors, and are driven by the stepping motors.

[0061] The seedling tray bottom plate 63 is connected with the pressing plates 66 at the two sides of the top of the seedling tray bottom plate 63, which are used for pressing the hole seedling tray.

[0062] The transplanting arm 40, the upper frame 12 and the bottom frame 11 of the machine frame 1, the moving frame 3, and the fixed frame 61 of the hole seedling tray conveying component in the example are all made of aluminum profiles, which are light, easy to install, and high in strength. The parts not described in detail in the example are all conventional structures, and will not be described here.

[0063] As shown in the drawings, Figure 8 The slide to position sensor is arranged on the upper frame 12 to detect whether the moving slide is in position; the pressing plate to position sensor is arranged on one side of the bottom frame 11 to detect whether the pressing plate 66 on one side of the seedling tray bottom plate 63 is in position; the seedling tray to position sensor is arranged on the side of the bottom frame 11 close to the seedling cup to detect whether the front and back movement of the hole seedling tray is in position; the sensors are respectively connected with the stepping motor and the PLC controller, and the operation of the whole device is controlled by the PLC controller; the control method of the automatic seedling feeding device of the vegetable transplanter is as follows:

[0064] The hole tray with seedling clumps is placed on the seedling tray bottom plate;

[0065] The automatic feeding device is reset by pressing the reset button, i.e. each component is operated to the initial state: the sliding table in the transmission component 2 screw module drives the transplanting mechanism to the upper dead point (detected by the sliding table position sensor arranged on the upper frame 12), the seedling tray bottom plate 63 in the seedling tray conveying component 6 moves to the first column of seedling holes on the side of the pressing plate 66 corresponding to the side of the feeding claw 51 (detected by the pressing plate position sensor arranged on one side of the bottom frame 11), and the crossbeam on the side of the seedling tray conveying component 6 close to the seedling cup moves to the position corresponding to the first row of seedling holes behind (top) the seedling tray (detected by the seedling tray position sensor arranged on the side of the seedling cup close to the bottom frame 11), and the electric push rod 43 is retracted to drive the transplanting arm 4 to make the feeding claw 51 connected with the work-shaped connecting piece 53 open, and prepare for the next step of movement;

[0066] The direction of the transmission component is taken as the front, and the direction of the seedling tray conveying component is taken as the rear; the transmission component 2 drives the moving frame 3, the transplanting arm 40 and the feeding component 5 to move backward to a position 10 mm above the seedling tray, and at the same time, the seedling tray conveying component 6 moves to the position for taking seedlings, the claw needle corresponds to the first row of seedling holes behind (top) the seedling tray for the first time, and the 8 groups of feeding claws 51 correspond to two seedling trays arranged on the seedling tray bottom plate respectively; when the length direction of the two seedling trays is 200 seedling holes, the feeding claws 51 correspond to the first, sixth, eleventh and sixteenth seedling holes respectively; when the length direction of the two seedling trays is 128 seedling holes, the feeding claws 51 correspond to the first, fifth, ninth and thirteenth seedling holes respectively; when the length direction of the two seedling trays is 72 seedling holes, the feeding claws 51 correspond to the first, fourth, seventh and tenth seedling holes respectively; the electric push rod 43 is driven to extend, and under the guidance of the guide rail I 41 and the sliding block I, the transplanting arm 40 is driven to move downward, and at the same time, the claw needle in the feeding claw 51 is inserted into the seedling block;

[0067] The transmission component 2 drives the transplanting arm 40 to move in the direction of the seedling cup 7, so that the claw needle of the feeding component 4 grabs the seedling block and separates from the seedling tray, and in this process, the pressing plate 66 tightly presses the seedling tray to prevent the seedling tray from bouncing out;

[0068] When the transmission component 2 drives the transplanting arm 40 and the feeding claw 51 to move forward to the position directly above the seedling cup 7, when the sensor detects that the duckbill rises, the electric push rod 43 is retracted to drive the transplanting arm 40 to move upward, and at the same time, the claw needle in the feeding claw 51 is driven to move upward, so that the seedling block falls off the claw needle and falls into the seedling cup 7;

[0069] At this point, a working cycle is completed; the forward and backward stroke gear and rack 62 in the plug tray conveying component moves backward by one plug hole position to perform the second plug grabbing in the first row, i.e., when the plug tray length direction is 200 plug holes, the feeding claw 51 corresponds to the second, seventh, twelfth and seventeenth plug holes respectively; when the plug tray length direction is 128 plug holes, the feeding claw 51 corresponds to the second, sixth, tenth and fourteenth plug holes respectively; when the plug tray length direction is 72 plug holes, the feeding claw 51 corresponds to the second, fifth, eighth and eleventh plug holes respectively.

[0070] In the above manner, the seedlings are sequentially taken until the first row plug grabbing is completed, and the second row plug grabbing is performed;

[0071] In this way, the reciprocation is performed until all the seedling plugs in the plug tray are taken out from the plug tray.

[0072] The program is reset, the transmission component 2 and the plug tray conveying component 6 move to the sensor detection positions, the electric push rod 43 on the transplanting arm 40 is retracted to drive the feeding claw 51 in the feeding component 5 to open, a new plug tray is placed again at the position where the original plug tray is placed, and the start button is pressed to start working. The above working cycle is repeated.

[0073] It can be understood that the above specific description of the present application is only used to illustrate the present application and is not limited to the technical solutions described in the embodiments of the present application. Those skilled in the art should understand that the present application can still be modified or replaced equivalently to achieve the same technical effect; as long as the use needs are met, it is within the protection scope of the present application.

Claims

1. A device for automatically feeding seedlings based on a narrow-plant-spacing eight-row leafy vegetable transplanter, characterized in that: The machine frame comprises two mutually perpendicular support frames, the support frames include a bottom frame and an upper frame, the upper frame is located at one side of the bottom frame, the included angle α between the bottom frame and the horizontal plane is 60°, the end close to the transplanting arm is lower than the other end, and the hole seedling tray conveying component is arranged on the upper frame; the included angle β between the upper frame and the horizontal plane is 30°, the end close to the transplanting arm is lower than the other end, and the transmission component is arranged on the upper frame. The transmission component comprises ball screw linear modules arranged on the two sides of the upper frame respectively; the transplanting mechanism comprises a moving frame, a transplanting arm, guide rails I, sliding blocks I and an electric push rod, the support columns on the two sides of the moving frame are connected with the ball screw linear modules of the transmission component; two parallel guide rails I are arranged on the moving frame, the transplanting arm is provided with sliding blocks I matched with the guide rails I, and the electric push rod is connected between the moving frame and the transplanting arm, the feeding component is connected to the bottom end of the transplanting arm, the hole seedling tray conveying component is provided with the hole seedling tray with seedling clumps, the seedling clumps are taken out from the hole seedling tray through the feeding component, and the seedling clumps are put into the seedling cup arranged on the machine frame below the transmission component. The feeding component comprises feeding claws, a fixed plate, a I-shaped connecting piece and claw needle pressing plate pieces; the I-shaped connecting piece is provided with grooves at the two ends and has a whole I-shaped structure, is fixed to the lower end of the transplanting arm, the feeding claws are arranged in pairs, are respectively arranged in the grooves on the two sides of the I-shaped connecting piece, four claw needles are formed to extend out of the I-shaped connecting piece, the claw needle pressing plate pieces are arranged at the two ends of the I-shaped connecting piece to prevent the claw needles from coming out, and the fixed plate is fixed to the transplanting arm and is provided with guide plates corresponding to the claw needles.

2. The automatic feeding device based on the narrow-planting-distance eight-row leafy vegetable transplanter according to claim 1, characterized in that: The moving frame comprises a frame structure formed by upper and lower cross beams and side support columns, two parallel guide rails I are arranged between the upper and lower cross beams, and the sliding blocks I matched with the guide rails I are connected with the transplanting arm.

3. The automatic feeding device based on the narrow-planting-distance eight-row-leaf-vegetable transplanter according to claim 1, characterized in that: The transplanting arm is a connecting beam, the sliding blocks I matched with the guide rails I are arranged on the connecting beam, the feeding component is connected to the lower end of the connecting beam, and the electric push rod is connected between the upper end of the connecting beam and the upper cross beam of the moving frame.

4. The automatic feeding device based on the narrow-planting-distance eight-row-leaf-vegetable transplanter according to claim 3, characterized in that: The sliding blocks I are L-shaped connecting blocks.

5. The automatic feeding device based on the narrow-planting-distance eight-row-leaf-vegetable transplanter according to claim 4, characterized in that: The electric push rod is connected with the moving frame and the connecting beam through T-shaped connecting blocks at the two ends respectively.

6. The automatic seedling feeding device based on the narrow-plant-spacing eight-row leafy vegetable transplanter according to claim 1, characterized in that, The hole seedling tray conveying component comprises a fixed frame, left and right stroke gear racks, front and rear stroke gear racks and a seedling tray bottom plate; the fixed frame is provided with front and rear stroke sliding blocks at the bottom, the front and rear stroke guide rails matched with the front and rear stroke sliding blocks are arranged on the upper frame, the front and rear stroke gear racks are arranged at the bottom of the fixed frame between the two front and rear stroke guide rails to drive the seedling tray to move, left and right stroke guide rails are arranged on the top of the fixed frame along the length direction, the left and right stroke sliding blocks matched with the left and right stroke guide rails are arranged at the bottom of the seedling tray bottom plate, and the left and right stroke gear racks are further arranged at the bottom of the seedling tray bottom plate to drive the seedling tray to move; the front and rear stroke gears and the left and right stroke gears are respectively connected with stepping motors and are driven through the stepping motors.

7. The automatic seedling feeding device based on the narrow-plant-spacing eight-row leafy vegetable transplanter according to claim 1, characterized in that, Pressing plates are arranged at the positions corresponding to the edges of the hole seedling tray on the top of the seedling tray bottom plate.

8. A control method for the automatic feeding device of the narrow-planting-distance eight-row leafy vegetable transplanter according to any one of claims 1-7, characterized in that: the hole tray with seedling clumps is arranged on the seedling tray bottom plate. Each component runs to the initial state: the transmission component slide in the screw module drives the transplanting mechanism to run to the top dead center, the seedling tray bottom plate in the seedling tray conveying component moves to the corresponding position of the first column of seedling holes and the feeding claw on the side, and the crossbeam on the side of the fixed frame in the seedling tray conveying component close to the seedling cup moves to the corresponding position of the feeding claw and the first row of seedling holes behind the seedling tray, the electric push rod retracts to drive the transplanting arm to make the feeding claw connected with the fixed work-shaped connecting piece open; The transmission component drives the moving frame, the transplanting arm and the feeding component to move to 10mm above the needle distance from the seedling tray, at the same time, the seedling tray conveying component moves to the position for taking seedlings, the needle uniformly spaced corresponds to the first row of seedling holes on the top of the seedling tray for the first time; the driving electric push rod extends to drive the transplanting arm to move downward under the guidance of the guide rail I slider I, at the same time, the needle in the feeding claw is inserted into the corresponding seedling; The transmission component drives the transplanting arm to move to the seedling cup direction, so that the needle of the feeding component grabs the seedling and separates from the seedling tray; When the transmission component drives the transplanting arm and the feeding claw to move to the top of the seedling cup, the electric push rod retracts to drive the transplanting arm to move upward, at the same time, the needle in the feeding claw moves upward, so that the seedling falls off on the needle and falls into the seedling cup; At this point, a working cycle is completed; the left and right stroke gear and rack in the seedling tray conveying component moves one seedling hole position to perform the second time seedling grabbing of the first row; Until the first row of seedling grabbing is completed, the second row of seedling grabbing is performed; So on and so forth, until all seedlings in the seedling tray are taken out from the seedling tray.

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