Automatic seedling feeding device with square-arranged rotating cups and control method

Abstract

An automatic seedling feeding device and control method of a square-arranged rotating cup, belonging to the technical field of agricultural machinery. The device includes a hole tray rack, a seedling feeding claw, a seedling feeding component, a vertical motion component, and a horizontal motion component; the hole tray rack is arranged above the fixed frame, and the synchronous belt linear modules of the horizontal transmission part are symmetrically arranged on the mounting frames on both sides of the hole tray rack, and the vertical transmission part is symmetrically placed on the synchronous belt linear modules. The seedling feeding component is arranged on the vertical motion component, and the seedling feeding claw is arranged on the seedling feeding component, which has the same number of seedlings in a single row as the seedlings on the hole tray. The present invention can replace manual work in the seedling feeding operation of the transplanter, save costs, improve transplanting efficiency, and reduce manual labor intensity, thereby improving the automation level of the transplanter.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an automatic seedling feeding device with square-arranged rotating cups and a control method thereof. Background Art

[0002] Today, my country is the world's largest vegetable grower, and both vegetable production and planting area rank first in the world. The main operation mode on the market is a combination of semi-automatic transplanting machines and manual labor. However, manual labor has high labor intensity, low transplanting efficiency, and cannot be operated continuously for a long time, which restricts the development of agricultural full automation.

[0003] Therefore, developing an automatic seedling feeding device with square-arranged rotating cups to improve transplanting efficiency, replace the manual transplanting seedling method, and improve the automation level of vegetable transplanting has become a major issue that urgently needs to be solved in the development of full-process automation of domestic vegetables. Summary of the invention

[0004] In view of the above-mentioned technical problems, an automatic seedling feeding device and a control method of a square-arranged rotary cup are provided. The device can take out more vegetable seedlings from a hole tray and feed them into a seedling box of a square rotary cup vegetable transplanter, thereby improving transplanting efficiency and reducing manual labor intensity.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] The invention discloses an automatic seedling feeding device with a square-shaped rotating cup, comprising a hole tray frame, a seedling feeding claw, a seedling feeding component, a vertical moving component, and a horizontal moving component;

[0007] The vertical motion component is arranged on both sides of the horizontal motion component, and moves along the synchronous belt linear module of the horizontal motion component. The hole tray rack is arranged on the middle support frame of the horizontal motion component. The seedling feeding component is installed on the vertical motion component through its seedling feeding plate, and moves up and down with the vertical motion component. The number of seedling feeding claws is equal to that of a single row of hole trays, and adjacent seedling feeding claws are connected by a twist chain and arranged on the seedling feeding component.

[0008] The seedling feeding component is provided with a seedling feeding opening and closing mechanism for driving the seedling feeding claw to move horizontally, a vertical movement mechanism for vertical movement and a seedling feeding plate with a seedling feeding claw movement track. The seedling feeding claw slides horizontally along the seedling feeding claw movement track on the seedling feeding plate. The seedling feeding claw of the plug tray is in a closed state when corresponding to the seedling mass on the plug tray, and is in an open state when corresponding to the seedling throwing box of the transplanter. In the closed state, the spacing between each seedling feeding claw is equal to the spacing between the seedling mass on the plug tray, and in the open state, the spacing between each seedling feeding claw is equal to the spacing between the seedling throwing boxes on the transplanter.

[0009] Furthermore, the hole tray rack includes a fixed frame, a connecting plate, a side baffle, a guide tray rod and a bottom baffle. The fixed frame is composed of two support frames arranged below the horizontal frame, the bottom baffle is arranged on the horizontal frame, and side baffles are arranged on both sides of the bottom baffle. The side baffles are arranged vertically to the support frame, and guide tray rods are symmetrically arranged in the baffles on both sides. An end baffle is arranged at one end of the side baffle close to the seedling feeding claw, and a track for the hole tray to slide is formed between the side baffles, the bottom baffle and the guide tray rod.

[0010] The top gasket of the seedling taking and feeding claw is connected with the vertical movement mechanism, and the top gasket of the seedling taking and feeding claw is connected with the vertical movement mechanism, and the top gasket of the seedling taking and feeding claw is connected with the vertical movement mechanism.

[0011] Furthermore, the seedling feeding claw includes a chain link, a seedling feeding claw body, a push rod, a gasket, an upper pressure plate for a claw needle, a lower pressure plate for a claw needle and a seedling feeding needle. The seedling feeding claw body is a bent plate, and the upper end plate of the seedling feeding claw body is provided with a through hole. The push rod is installed in the through hole through a linear bearing, and extends out of the through hole to sequentially install the upper pressure plate for the claw needle and the lower pressure plate for the claw needle. The mounting end of the seedling feeding needle is installed in the groove opened in the lower pressure plate of the claw needle, and is installed by being pressed by the upper pressure plate of the claw needle. The tip of the needle passes through a guide hole opened in the bottom plate at the lower end of the seedling feeding claw body and is guided along the guide hole; the lower end plate of the bent plate is provided with a chain link that cooperates with the chain guide rail.

[0012] The first seedling-taking and feeding claw at the moving end is connected to the synchronous belt, and the chain link of the seedling-taking and feeding claw is driven by the synchronous belt to slide along the groove matched with it on the seedling-taking and feeding claw through the synchronous belt.

[0013] Furthermore, the vertical movement mechanism includes a support frame, a support beam, an upper pressure plate, a lower pressure plate, an electric push rod I and a linear guide pair I. The support frame is composed of two door-type frames with two cross beams connected at the top, and a linear guide pair I is arranged on the four columns of the door-type frame. A slider of the linear guide pair I is connected on the support beam, and an electric push rod I is arranged between the top of the door-type frame and the support beam. The bottom of the door-type frame is connected to the seedling feeding board support frame, and a pull rod is connected between the cross beam and the seedling feeding board; the support beam is a U-shaped frame structure, and a lower pressure plate with a U-shaped groove is connected to the inner side of the support beam, and an upper pressure plate is arranged on the side of the lower pressure plate where the seedling feeding claw is in the closed position, and the gasket on the top of the seedling feeding claw is placed in the U-shaped groove of the lower pressure plate and slides along the U-shaped groove; the support beam is driven by the electric push rod I to move up and down along the linear guide pair I, thereby driving the seedling feeding claw placed in the U-shaped groove of the lower pressure plate to rise and fall.

[0014] Furthermore, the vertical motion component includes an electric push rod II, a side frame, a linear guide rail, a slider and a seedling feeding plate support frame; the side frames are two and symmetrically arranged, and the side frames are provided with linear guide rails, and the seedling feeding plate support frame is provided with a slider that cooperates with the linear guide rails, and the electric push rod II is connected between the seedling feeding plate support frame and the bottom connecting plate of the side frame, and the bottom is connected to the slider of the synchronous belt linear module.

[0015] Furthermore, the horizontal motion component includes a mounting frame, a synchronous belt linear module and a stepper motor. The mounting frame is composed of two symmetrical frames connected to a middle support frame. The synchronous belt linear module is symmetrically installed on the two outer sides of the mounting frame through a mounting plate. The two synchronous belt linear modules are connected by a transmission shaft. The vertical motion component is connected to the synchronous belt linear module slider that cooperates with it. The stepper motor is connected to the transmission shaft through a coupling, and a hole tray rack is set on the middle support frame.

[0016] The present invention adopts the control method of the automatic seedling feeding device with the square-shaped rotating cups, comprising the following steps:

[0017] First, push the plug tray with the seedlings along the upper edge of the side baffle of the plug tray rack to the end baffle of the side baffle;

[0018] Then, start the power supply and restore each component to the initial position, that is, the horizontal motion component moves to the center position of the first row of plug trays on the plug tray rack, the push rod of the electric push rod II of the vertical motion component retracts to the lower limit position, and the electric push rod I in the seedling feeding component retracts to the upper limit position. At this time, all the seedling feeding claws should correspond to each seedling lump in the first row of the plug tray;

[0019] The push rod of the electric push rod I in the seedling feeding component is driven to extend to the lower limit position, driving the seedling feeding needle in the seedling feeding claw to move downward and insert into the seedling lump in the plug tray to grab the seedling lump;

[0020] Then drive the push rod of the electric push rod II of the vertical motion component to extend to the upper limit position, drive the seedling feeding component 3 to move upward as a whole to extract the seedling lump, and take the seedling lump upward from the plug tray;

[0021] The DC motor in the seedling feeding component is driven along the seedling feeding movement track of the seedling feeding plate under the drive of the synchronous belt. The first seedling feeding claw at the mobile end drives other seedling feeding claws to spread out in sequence, while the horizontal moving component moves to the top of the seedling throwing box of the transplanter;

[0022] The push rod of the electric push rod I in the seedling feeding component is driven to retract to the upper limit position, so that the seedling feeding needle of the seedling feeding claw is retracted and pulled out from the seedling ball, and the seedling ball naturally falls into the seedling throwing box of the transplanter;

[0023] Then drive each component to the initial position, and the horizontal motion component moves to the position just above the next row of seedlings in the hole tray. This is a seedling retrieval and feeding cycle. The laser beam sensor is connected to the controller. When the count of the laser beam sensor that detects the number of seedling boxes of the transplanter is the same as the number of holes in a row of the hole tray, the next cycle is carried out, that is, seedling retrieval and seedling feeding are carried out, and this cycle is repeated. When the seedlings are taken to the last row, the hole tray is manually replaced and the empty hole tray is taken out.

[0024] The beneficial effects of the present invention are:

[0025] 1. The present invention uses the coordinated movement of the horizontal moving part, the vertical moving part, the seedling feeding part and the hole tray frame to make the seedling feeding claws of the seedling feeding part grab the seedlings on the hole tray, and each seedling claw slides in turn through the specified track of the seedling feeding plate. When the seedling feeding claws are closed, the spacing between the seedlings on the hole tray is the same, and when the seedling feeding claws are spread out, the spacing between the seedling cups on the transplanter is the same, and the spacing between the seedling feeding claws is controlled by the length of the twist chain between the seedling feeding claws. The present invention can replace the work of manual seedling throwing to feed seedlings, save labor costs, and improve transplanting efficiency, thereby improving the level of full agricultural mechanization.

[0026] 2. The present invention provides a tray guide rod in the side baffle of the tray rack. When the tray is too loose or too tight in the tray rack, it can be properly adjusted by the tray guide rod. The tray rack adopts a direct insertion and direct removal method, which is convenient for tray replacement.

[0027] 3. The present invention realizes the closing and dispersing actions of the seedling feeding claws through the movement of the synchronous belt through the seedling feeding plate structure design of the seedling feeding component, and drives the first seedling feeding claw to move within the seedling feeding movement trajectory on the seedling feeding plate through the synchronous belt, so that the remaining seedling feeding claws are indirectly driven to move within the seedling feeding movement trajectory through the link form of the twist chain, so that the seedling feeding claws can be closed at the hole tray end and dispersed at the seedling box end.

[0028] 4. The vertical moving component of the present invention is provided with upper and lower pressing plates on the support beam, and the electric push rod drives the seedling taking and feeding claws to move up and down when taking and feeding the seedlings, thereby ensuring the accuracy of taking and feeding the seedlings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 It is a schematic diagram of the structure of the plug tray rack of the present invention.

[0031] Figure 3 It is a structural schematic diagram of the seedling feeding component of the present invention.

[0032] Figure 4 It is a structural schematic diagram of the seedling feeding claw of the present invention.

[0033] Figure 5 It is a structural schematic diagram of the connection mode of the seedling feeding claw of the present invention.

[0034] Figure 6 It is a three-dimensional structural schematic diagram of the seedling feeding plate of the present invention.

[0035] Figure 7 It is a partially enlarged schematic diagram of the assembly of the seedling feeding plate and the seedling feeding claw of the present invention.

[0036] Figure 8 This is a schematic diagram of the installation of the synchronous belt of the present invention.

[0037] Fig. 9 It is a schematic diagram of the installation of the support beam, upper pressing plate and lower pressing plate of the present invention.

[0038] Fig.10 It is a schematic diagram of the coordinated installation of the upper pressing plate, the lower pressing plate and the seedling feeding claws in the present invention.

[0039] Fig.11 It is a schematic structural diagram of the vertical motion component of the present invention.

[0040] Fig.12 It is a schematic diagram of the installation structure of the horizontal motion component of the present invention.

[0041] In the figure:

[0042] 1-hole tray frame, 101-fixed frame, 102-end baffle, 103-connecting plate, 104-side baffle, 105-horizontal frame, 106-guide plate rod, 107-bottom baffle, 108-support frame;

[0043] 2-seedling feeding claw, 201-12B chain link, 202-seedling feeding claw body, 203-linear bearing, 204-push rod, 205-nylon gasket, 206-claw needle upper pressure plate, 207-claw needle lower pressure plate, 208-push rod nut, 209-seedling feeding needle, 210-twist chain;

[0044] 3-seedling feeding parts, 301-chain guide rail, 302-diamond bearing seat, 303-light pulley, 304-connecting frame I, 305-synchronous belt, 306-pulley, 307-seedling feeding plate, 308-support beam, 309-DC motor, 310-support beam connector, 311-upper pressure plate, 312-lower pressure plate, 313-pull rod, 314-electric push rod I, 315-electric push rod connector, 316-linear guide pair I, 317-connecting frame II, 318-pulley shaft, 319-seedling feeding motion track, 320-door frame, 321-crossbeam;

[0045] 4-vertical motion component, 401-slider connecting plate, 402-synchronous belt linear module slider connecting plate, 403-electric push rod connecting piece Ⅰ, 404-electric push rod Ⅱ, 405-side frame, 406-electric push rod connecting piece Ⅱ, 407-linear guide rail, 408-slider, 409-seedling feeding board support frame;

[0046] 5- horizontal motion component, 501- mounting frame, 502- synchronous belt linear module, 503- synchronous belt linear module mounting plate, 504- synchronous belt linear module slider, 505- stepper motor, 506- transmission shaft, 507- coupling, 508. Middle support frame. DETAILED DESCRIPTION

[0047] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0048] Example: Figure 1-Figure 9 As shown, the automatic seedling feeding device of the square-arranged rotating cup of the present invention comprises a hole tray frame 1, a seedling feeding claw 2, a seedling feeding component 3, a vertical moving component 4, and a horizontal moving component 5;

[0049] The vertical motion component 4 is arranged on both sides of the horizontal motion component 5, and moves along the synchronous belt linear module 502 of the horizontal motion component 5. The plug tray rack 1 is arranged on the middle support frame of the horizontal motion component 5. The seedling feeding component 3 is installed on the vertical motion component 4 through its seedling feeding plate 307, and moves up and down with the vertical motion component 4. The number of seedling feeding claws 2 is equal to that of a single row of plug trays, and is arranged on the seedling feeding component 3;

[0050] The seedling feeding component 3 is provided with a seedling feeding opening and closing mechanism for driving the seedling feeding claw 2 to move horizontally, a vertical movement mechanism for vertical movement, and a seedling feeding plate 307 with a movement track of the seedling feeding claw 2. The seedling feeding claw 2 slides horizontally along the seedling feeding movement track 319 on the seedling feeding plate 307. The seedling feeding claw 2 of the plug tray is in a closed state when corresponding to the seedling mass on the plug tray, and is in an open state when corresponding to the seedling throwing box of the transplanter. In the closed state, the spacing between each seedling feeding claw 2 is equal to the spacing between the seedling mass on the plug tray, and in the open state, the spacing between each seedling feeding claw 2 is equal to the spacing between the seedling throwing boxes on the transplanter.

[0051] By lifting and lowering the vertical moving part 4, the seedling feeding part 3 on it is driven to rise above the seedling ball of the plug tray, and then the horizontal moving part 5 drives the vertical moving part 4 to move to the seedling taking position corresponding to the plug tray, and the vertical moving mechanism on the seedling feeding part 3 drives the seedling taking and feeding claw 2 to move downward to take the seedlings, and the synchronous belt 305 on the seedling feeding part 3 drives the seedling taking and feeding claw 2 to slide along the seedling taking and feeding movement track 319 on the seedling feeding plate 307 to above the seedling throwing box, and the seedling taking and feeding claw 2 is driven by the vertical moving mechanism to move upward to push out the seedling ball, so that the seedling ball falls into the seedling throwing box by gravity.

[0052] Furthermore, if Figure 2 As shown, the hole tray rack 1 includes a fixing frame 101, a connecting plate 103, a side baffle 104, a tray guide rod 106 and a bottom baffle 107. The fixing frame 101 is composed of two supporting frames 108 arranged below a horizontal frame 105, a bottom baffle 107 is arranged on the horizontal frame 105, and side baffles 104 are arranged on both sides of the bottom baffle 107. The side baffles 104 are arranged vertically with the supporting frames 108. In this example, the side baffles 104 are angle steel structures. The relative positions of the baffles 104 on both sides are Installation, guide plate rods 106 are symmetrically arranged in the baffles 104 on both sides by screws, and an end baffle 102 is arranged at one end of the side baffle 104 close to the seedling feeding claw 2, and the fixing frame 101, the connecting plate 103, the side baffle 104 and the bottom baffle 107 are all connected by bolts, and a track for the sliding of the hole tray is formed between the side baffle 104, the bottom baffle 107 and the guide plate rod 106; the hole tray is inserted along the upper edge of the open end of the side baffle 104, and when the hole tray is taken out of the seedlings, it can be pulled out in the opposite direction.

[0053] Furthermore, if Figure 3-Figure 6As shown, the seedling feeding component 3 includes a seedling feeding plate 307, a seedling feeding opening and closing mechanism and a vertical movement mechanism; the seedling feeding plate 307 is arranged on the seedling feeding plate support frame 409 of the vertical movement component 4, and the seedling feeding plate 307 is a U-shaped plate structure as a whole, with a folded edge at the bottom inner side of the U-shaped plate mouth, and a groove for accommodating and installing the bearing seat of the pulley of the seedling feeding opening and closing mechanism is formed between the top plate, and the folded edge is installed The chain guide rail 301 of the seedling feeding opening and closing mechanism is matched and connected, and the chain link 201 of the seedling feeding claw 2 is symmetrically opened on the U-shaped plate. The seedling feeding opening and closing mechanism is installed on the seedling feeding board, the first seedling feeding claw 2 at the mobile end is connected to the synchronous belt of the seedling feeding opening and closing mechanism, and the adjacent seedling feeding claws 2 are connected by a twist chain 210; the fixing method is to weld the back of the seedling feeding claw body 202 relative to the position of the 12B chain link; the synchronous belt of the seedling feeding opening and closing mechanism is rotated to drive the closed seedling feeding claw 2 to disperse along the seedling feeding motion track 319 and the chain guide rail 301 on the seedling feeding board; the top gasket of the seedling feeding claw 2 is connected to the vertical motion mechanism, and it is driven to move up and down by the vertical motion mechanism.

[0054] like Figure 6 , Figure 7 As shown, the seedling feeding motion track 319 in this example is two symmetrically arranged right-angle bent hole grooves, and the bending part is an arc-shaped transition, which cooperates with the push rod 204 of the seedling feeding claw 2, so that the push rod 204 is placed in the hole groove and slides along the hole groove.

[0055] Furthermore, if Figure 4 , Figure 5 As shown, the seedling feeding claw 2 described in this example includes a 12B chain link 201, a seedling feeding claw body 202, a push rod 204, a nylon gasket 205, a claw needle upper pressure plate 206, a claw needle lower pressure plate 207 and a seedling feeding needle 209. The seedling feeding claw body 202 is a bent plate, and the upper end plate of the seedling feeding claw body 202 is provided with a through hole. The push rod 204 is installed in the through hole through a linear bearing 203, and extends out of the through hole to sequentially install the claw needle upper pressure plate 206 and the claw needle lower pressure plate 207. The mounting end of the seedling feeding needle 209 is installed in the groove opened by the claw needle lower pressure plate 207, and is installed by being pressed by the claw needle upper pressure plate 206. The needle tip passes through a guide hole opened on the bottom plate at the lower end of the seedling feeding claw body 202 and is guided along the guide hole; the lower end plate of the bent plate is provided with a chain link 201 that cooperates with the chain guide rail 301.

[0056] The specific installation process is as follows: after installing the linear bearing 203 through its central opening, the push rod 204 with the nylon gasket 205 is aligned with the claw needle upper pressure plate 206 and the claw needle lower pressure plate 207, and the bent end of the seedling feeding needle 209 is installed in the groove opened by the claw needle lower pressure plate 207, and then it is installed by being pressed by the claw needle upper pressure plate 206. The needle tip passes through the open guide hole on the bottom plate at the lower end of the seedling feeding claw body 202 and is guided along the guide hole; the back side of the seedling feeding claw body 202 is provided with a 12B chain link 201 by screws to cooperate with the chain guide rail 301.

[0057] Furthermore, if Figure 3 , Figure 6-Figure 8 As shown, the seedling feeding opening and closing mechanism described in this example includes a chain guide 301, a diamond-shaped bearing seat 302, a light belt pulley 303, a synchronous belt 305, a pulley 306 and a pulley shaft 318. The chain guide 301 is a U-shaped structure, which is arranged on the bent edge of the seedling feeding plate 307. The chain guide 301 is provided with a groove that cooperates with the 12B chain link 201 of the seedling feeding claw 2. The light belt pulley 303 is arranged at the two corners of the upper end surface of the seedling feeding plate 307. The pulleys 306 are arranged at both ends of the U-shaped opening of the seedling feeding plate 307 and on both sides of the middle of the closed edge (corresponding to the ends of the seedling feeding motion track 319). The horizontal direction of the wheel axis of the light belt pulley 303 at the inner corner of the seedling feeding plate Pulley shafts 318 are respectively provided in the vertical direction, and two synchronous belts 305 are symmetrically mounted on the optical pulley 303 and the two pulleys 306, and the synchronous belt 305 is in contact with the pulley shaft 318 at the corner to form two symmetrical right-angle arc synchronous belt structures, and the position of the synchronous belt 305 during operation is fixed by the pulley shaft 318, wherein a DC motor 309 is provided at one end of the U-shaped opening of the seedling feeding plate 307, and its output shaft is connected to the pulley 306 at this end; the first seedling feeding claw 2 at the mobile end is connected to the synchronous belt 305, and the chain link 201 of the seedling feeding claw 2 is driven by the synchronous belt 305 to slide along the groove matched with it on the chain guide 301.

[0058] The optical pulley 303 , the pulley 306 , and the pulley shaft 318 are respectively installed on the seedling feeding plate 307 through the diamond-shaped bearing seat 302 .

[0059] Furthermore, if Figure 3 , Fig. 9 , Fig.10 As shown, the vertical motion mechanism in this example includes a support frame, a support beam 308, an upper pressing plate 311, a lower pressing plate 312, an electric push rod Ⅰ314 and a linear guide pair Ⅰ

[0060] 316; the support frame is composed of two door-type frames 320 connected at the top with two cross beams 321, and a linear guide pair Ⅰ 316 is arranged on the four columns of the door-type frame 320, and the support beam 308 is connected to the slider of the linear guide pair Ⅰ 316 through a connecting frame Ⅱ 317, and an electric push rod Ⅰ 314 is arranged between the top of the door-type frame 320 and the support beam 308. Specifically: the upper and lower ends of the electric push rod Ⅰ 314 are respectively connected to the support beam 308 and the top of the door-type frame 320 through an electric push rod connecting piece 315, and the bottom of the door-type frame 320 is connected to the seedling feeding board support frame 409 through a connecting frame Ⅰ 304, and two pull rods 313 are connected between the cross beam 321 and the seedling feeding board 307, which are used to balance the seedling feeding board 407 and ensure its stability during operation.

[0061] The support beam 308 is a U-shaped frame structure, and the support beam connecting member 310 is arranged at the right-angle connection of the lower pressure plate support beam 308 to reinforce the support beam 308; a lower pressure plate 312 with a U-shaped groove is connected to the inner side of the support beam 308, and an upper pressure plate 311 is arranged above the lower pressure plate 312 in the closed position of the seedling feeding claw 2, and the gasket on the top of the seedling feeding claw 2 is placed in the U-shaped groove of the lower pressure plate 312 and slides along the U-shaped groove; the support beam 308 is driven by the electric push rod Ⅰ314 to move up and down along the linear guide pair Ⅰ316, driving the seedling feeding claw 2 placed in the U-shaped groove of the lower pressure plate 312 to rise and fall. During the process of descending to take seedlings, the upper pressure plate 311 acts to make the seedling feeding claw 2 move downward with the upper and lower pressure plates 312, 311 and the support beam 308; after taking the seedlings, it moves upward driven by the lower pressure plate 312 and the support beam 308 to complete the seedling taking.

[0062] Furthermore, if Fig.11 As shown, the vertical motion component 4 in this example includes an electric push rod II 404, a side frame 405, a linear guide rail 407, a slider 408 and a seedling feeding plate support frame 409; the side frames 405 are two and symmetrically arranged, and the linear guide rail 407 is arranged on the side frames 405, and the seedling feeding plate support frame 409 is provided with a slider 408 that cooperates with the linear guide rail, the electric push rod II 404 is connected between the seedling feeding plate support frame 409 and the bottom connecting plate of the side frame, and the bottom connecting plate 402 is connected to the slider 504 of the synchronous belt linear module.

[0063] The lower end of the vertical motion component side frame 405 is installed with a synchronous belt linear module slider connecting plate 402; the upper end of the electric push rod II 404 is installed with an electric push rod connector II 406 and is installed on the seedling feeding plate support frame 409, and the lower end is installed with an electric push rod connector I 403 and is installed on the synchronous belt linear module slider connecting plate 402. The above components are symmetrically arranged on both sides of the hole tray frame 1.

[0064] Furthermore, if Fig.12As shown, the horizontal motion component 5 includes a mounting frame 501, a synchronous belt linear module 502 and a stepper motor 505. The mounting frame 501 is composed of two symmetrical rectangular frames connected to a middle support frame. The synchronous belt linear module 502 is symmetrically installed on the two outer sides of the mounting frame 501 through a mounting plate. The two synchronous belt linear modules 502 are connected by a transmission shaft 506. The vertical motion component 4 is connected to the synchronous belt linear module slider 504 that cooperates with it. The stepper motor 505 is connected to the transmission shaft 506 through a coupling 507 to provide power for the synchronous belt linear module 502. A hole tray frame 1 is set on the middle support frame.

[0065] In this example, the fixing frame 101 of the hole tray rack 1, the supporting beam 308 of the seedling feeding component 3, the door frame 320, the crossbeam 321, the side frame 405 of the vertical moving component 4, the seedling feeding plate supporting frame 409, the mounting frame 501 of the horizontal moving component 5, and the middle supporting frame 508 are all aluminum profile structures; the components not described in the present invention are all conventional components and will not be described in detail.

[0066] This example is used for a 72-hole tray, with 12 seedlings per row. The present invention is also provided with a controller, which is respectively connected to the electric push rod I314 of the seedling feeding component 3, the DC motor 309, the electric push rod II404 of the vertical motion component 4, the stepper motor 505 of the horizontal motion component 5, and the laser beam sensor for detecting the number of seedling boxes of the transplanter to control the operation of each component. In this example, the laser beam sensor is arranged on the mounting frame 501. The control method of the present invention is:

[0067] Push the plug tray with the seedlings along the upper edge of the side baffle 104 of the plug tray rack 1 to the end baffle 102 of the side baffle 104;

[0068] Start the power supply and restore each component to the initial position, that is, the horizontal moving component 5 moves to the center position of the first row of the plug tray on the plug tray rack 1, the push rod of the electric push rod II404 of the vertical moving component 4 is retracted to the lower limit position, and the electric push rod I314 in the seedling feeding component 3 is retracted to the upper limit position. At this time, all the seedling feeding claws should correspond to the 12 seedlings in the first row of the plug tray;

[0069] The push rod of the electric push rod Ⅰ314 in the seedling feeding component 3 is extended to the lower limit position, driving the seedling feeding needle 209 in the seedling feeding claw 2 to move downward and insert into the seedling mass in the hole tray to grab the seedling mass;

[0070] Then drive the push rod of the electric push rod II 404 of the vertical motion component 4 to extend to the upper limit position, drive the seedling feeding component 3 to move upward as a whole to extract the seedlings, and take the seedlings out of the hole tray upward;

[0071] The DC motor 309 in the seedling feeding component 3 is driven along the seedling feeding motion track 319 of the seedling feeding plate 307 under the drive of the synchronous belt 305. The first seedling feeding claw 2 at the mobile end drives the other seedling feeding claws 2 to spread out in sequence, and the horizontal motion component 5 moves to the top of the seedling box of the transplanter;

[0072] The push rod of the electric push rod Ⅰ314 in the seedling feeding component 3 is driven to retract to the upper limit position, so that the seedling feeding needle 209 of the seedling feeding claw 2 is retracted and pulled out from the seedling lump, and the seedling lump naturally falls into the seedling throwing box of the transplanter;

[0073] Then drive each component to the initial position, and the horizontal moving component 5 moves to the position just above the next row of seedlings in the hole tray. This is a seedling feeding cycle. The laser beam sensor is connected to the controller. When the count of the laser beam sensor that detects the number of seedling boxes of the transplanter is the same as the number of holes in a row of the hole tray, the next cycle is carried out, that is, the seedlings are taken and the seedlings are thrown. This is repeated. When the seedlings are taken to the last row, the hole tray is manually replaced. After the empty hole tray is taken out, the hole tray with the seedlings is pushed in along the upper edge of the side baffle 104 of the hole tray frame 1 to the end baffle 102 of the side baffle to carry out a new cycle.

[0074] It can be understood that the above specific description of the present invention is only used to illustrate the present invention and is not limited to the technical solutions described in the embodiments of the present invention. Those skilled in the art should understand that the present invention can still be modified or replaced by equivalents to achieve the same technical effects; as long as the use requirements are met, they are within the protection scope of the present invention.

Claims

1. An automatic seedling feeding device with square-shaped rotating cups, characterized in that: It comprises a hole tray frame (1), a seedling feeding claw (2), a seedling feeding component (3), a vertical movement component (4), and a horizontal movement component (5); The vertical motion component (4) is arranged on both sides of the horizontal motion component (5) and moves along the synchronous belt linear module of the horizontal motion component. The hole tray rack (1) is arranged on the middle support frame of the horizontal motion component. The seedling feeding component is installed on the vertical motion component through its seedling feeding plate and moves up and down with the vertical motion component. The number of seedling feeding claws is equal to that of a single row of hole trays. Adjacent seedling feeding claws (2) are connected by a twist chain (210) and are arranged on the seedling feeding component. The vertical motion component (4) includes an electric push rod II (404), a side frame (405), a linear guide rail (407), a slider (408) and a seedling feeding board support frame (409); the side frames are two and symmetrically arranged, the linear guide rail is arranged on the side frames, the seedling feeding board support frame is provided with a slider matching the linear guide rail, the electric push rod II is connected between the seedling feeding board support frame and the bottom connecting plate of the side frame, and the bottom is connected to the slider of the synchronous belt linear module; The seedling feeding component is provided with a seedling feeding opening and closing mechanism for driving the seedling feeding claw (2) to move horizontally, a vertical movement mechanism for vertical movement, and a seedling feeding plate with a movement track for the seedling feeding claw (2). The seedling feeding claw (2) slides horizontally along the movement track for the seedling feeding claw on the seedling feeding plate. The seedling feeding claw (2) is in a closed state when corresponding to the seedling mass on the seedling tray, and is in an open state when corresponding to the seedling throwing box of the transplanter. In the closed state, the spacing between the seedling feeding claws (2) is equal to the spacing between the seedling mass on the seedling tray, and in the open state, the spacing between the seedling feeding claws (2) is equal to the spacing between the seedling throwing boxes on the transplanter.

2. The automatic seedling feeding device with square-shaped rotating cups according to claim 1, characterized in that: The plug tray rack comprises a fixed frame (101), a connecting plate (103), a side baffle (104), a guide plate rod (106) and a bottom baffle (107). The fixed frame (101) is composed of two support frames arranged below a horizontal frame, a bottom baffle is arranged on the horizontal frame, side baffles are arranged on both sides of the bottom baffle, the side baffles are arranged vertically to the support frame, guide plate rods are symmetrically arranged in the baffles on both sides, an end baffle is arranged at one end of the side baffle close to the seedling feeding claw, and a track for the plug tray to slide is formed between the side baffle (104), the bottom baffle (107) and the guide plate rod.

3. The automatic seedling feeding device with square-shaped rotating cups according to claim 1 is characterized in that: The seedling feeding component (3) comprises a seedling feeding plate (307), a seedling feeding opening and closing mechanism, and a vertical motion mechanism; the seedling feeding plate (307) is arranged on a seedling feeding plate support frame (409) of the vertical motion component (4); the seedling feeding plate as a whole is a U-shaped plate structure, with a folded edge at the bottom of the inner side of the U-shaped plate mouth, and a groove is formed between the top plate to accommodate and install the bearing seat of the pulley of the seedling feeding opening and closing mechanism, and a chain guide rail of the seedling feeding opening and closing mechanism is installed on the folded edge, and the chain links of the seedling feeding claws are connected to the chain guide rail. In cooperation with the sliding connection, a seedling taking and feeding movement track for sliding the seedling taking and feeding claws is symmetrically opened on the U-shaped plate; the seedling taking and feeding opening and closing mechanism is installed on the seedling feeding plate, and the seedling taking and feeding claws at both ends are respectively connected to the two synchronous belts of the seedling taking and feeding opening and closing mechanism; the synchronous belt of the seedling taking and feeding opening and closing mechanism rotates, driving the closed seedling taking and feeding claws to disperse along the seedling taking and feeding movement track and the chain guide rail on the seedling feeding plate; the top gasket of the seedling taking and feeding claws is connected to the vertical movement mechanism, and is driven to move up and down by the vertical movement mechanism.

4. The automatic seedling feeding device with square-shaped rotating cups according to claim 3 is characterized in that: The seedling feeding claw (2) comprises a chain link (201), a seedling feeding claw body (202), a push rod (204), a gasket (205), a claw needle upper pressure plate (206), a claw needle lower pressure plate (207) and a seedling feeding needle (209). The seedling feeding claw body (202) is a bent plate. The upper end plate of the seedling feeding claw body (202) is provided with a through hole. The push rod (204) is installed in the through hole through a linear bearing (203) and extends out of the through hole according to the rotation of the linear bearing. The claw needle upper pressure plate (206) and the claw needle lower pressure plate (207) are installed one by one, and the installation end of the seedling feeding needle (209) is installed in the groove provided in the claw needle lower pressure plate (207), and is installed by being pressed by the claw needle upper pressure plate (206), and the needle tip passes through the guide hole provided in the bottom plate at the lower end of the seedling feeding claw body (202), and is guided along the guide hole; the lower end plate of the bending plate is provided with a chain link (201) matched with the chain guide rail (301).

5. The automatic seedling feeding device with square-shaped rotating cups according to claim 3 is characterized in that: The seedling feeding opening and closing mechanism comprises a chain guide rail (301), a light belt wheel (303), a synchronous belt (305), a belt wheel (306) and a belt wheel shaft (318); the chain guide rail (301) is a U-shaped structure, arranged on the bent edge of the seedling feeding plate; a groove is provided on the chain guide rail (301) to cooperate with the chain link (201) of the seedling feeding claw (2); light belt wheels (303) are arranged at two corners of the upper end surface of the seedling feeding plate; belt wheels are arranged at both ends of the U-shaped opening of the seedling feeding plate and on both sides of the middle of the closed edge; and the light belt wheels (306) are arranged at the inner corners of the seedling feeding plate. A pulley shaft (318) is respectively arranged in the horizontal direction and the vertical direction of the wheel shaft (303), and two synchronous belts are respectively symmetrically sleeved on the optical pulley (303) and the two pulleys (306) on both sides, and the synchronous belts are in contact with the pulley shafts at the corners, wherein a DC motor is arranged at one end of the U-shaped opening of the seedling feeding plate, and its output shaft is connected to the pulley (306) at this end; the first seedling feeding claw (2) at the mobile end is connected to the synchronous belt (305), and the chain link (201) of the seedling feeding claw (2) is driven by the synchronous belt to slide along the groove matched with it on the seedling feeding plate.

6. The automatic seedling feeding device with square-shaped rotating cups according to claim 3 is characterized in that: The vertical motion mechanism comprises a support frame, a support beam (308), an upper pressure plate (311), a lower pressure plate (312), an electric push rod I (314) and a linear guide pair I (316). The support frame is composed of two door-shaped frames connected at the top with two cross beams. The linear guide pair I (316) is arranged on the four columns of the door-shaped frame. The support beam (308) is connected to a slider of the linear guide pair I (316). The electric push rod I (314) is arranged between the top of the door-shaped frame and the support beam (308). ), the bottom of the door-shaped frame is connected to the seedling feeding plate support frame (409), and a pull rod (313) is connected between the crossbeam and the seedling feeding plate (307); the support beam is a U-shaped frame structure, and a lower pressure plate with a U-shaped groove is connected to the inner side of the support beam, and an upper pressure plate is arranged on the side of the lower pressure plate where the seedling feeding claws are in the closed position, and the gasket on the top of the seedling feeding claws is placed in the U-shaped groove of the lower pressure plate and slides along the U-shaped groove; the support beam is driven by an electric push rod I to move up and down along the linear guide pair I, thereby driving the seedling feeding claws placed in the U-shaped groove of the lower pressure plate to rise and fall.

7. The automatic seedling feeding device with square-shaped rotating cups according to claim 1, characterized in that: The horizontal motion component (5) comprises a mounting frame (501), a synchronous belt linear module (502) and a stepper motor (505); the mounting frame is composed of two symmetrical frames connected to a middle support frame; the synchronous belt linear module (502) is symmetrically mounted on two outer sides of the mounting frame (501) through a mounting plate; the two synchronous belt linear modules 502 are connected through a transmission shaft (506); the synchronous belt linear module slider (504) matched therewith is connected to the vertical motion component (4); the stepper motor (505) is connected to the transmission shaft (506) through a coupling (507); and a hole tray frame (1) is arranged on the middle support frame.

8. A control method for an automatic seedling feeding device using a square-shaped rotating cup according to any one of claims 1 to 7, characterized in that: The steps include: First, push the plug tray with the seedlings along the upper edge of the side baffle of the plug tray rack to the end baffle of the side baffle; Then, start the power supply and restore each component to the initial position, that is, the horizontal motion component moves to the center position of the first row of plug trays on the plug tray rack, the push rod of the electric push rod II of the vertical motion component retracts to the lower limit position, and the electric push rod I in the seedling feeding component retracts to the upper limit position. At this time, all the seedling feeding claws should correspond to each seedling lump in the first row of the plug tray; The push rod of the electric push rod I in the seedling feeding component is driven to extend to the lower limit position, driving the seedling feeding needle in the seedling feeding claw to move downward and insert into the seedling lump in the plug tray to grab the seedling lump; Then drive the push rod of the electric push rod II of the vertical motion component to extend to the upper limit position, drive the seedling feeding component 3 to move upward as a whole to extract the seedling lump, and take the seedling lump upward from the plug tray; The DC motor in the seedling feeding component is driven along the seedling feeding movement track of the seedling feeding plate under the drive of the synchronous belt. The first seedling feeding claw at the mobile end drives other seedling feeding claws to spread out in sequence, while the horizontal moving component moves to the top of the seedling throwing box of the transplanter; The push rod of the electric push rod I in the seedling feeding component is driven to retract to the upper limit position, so that the seedling feeding needle of the seedling feeding claw is retracted and pulled out from the seedling ball, and the seedling ball naturally falls into the seedling throwing box of the transplanter; Then drive each component to the initial position, and the horizontal motion component moves to the position just above the next row of seedlings in the hole tray. This is a seedling retrieval and feeding cycle. The laser beam sensor is connected to the controller. When the count of the laser beam sensor that detects the number of seedling boxes of the transplanter is the same as the number of holes in a row of the hole tray, the next cycle is carried out, that is, seedling retrieval and seedling feeding are carried out, and this cycle is repeated. When the seedlings are taken to the last row, the hole tray is manually replaced and the empty hole tray is taken out.

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