Universal automatic seedling feeding device and control method for vegetable transplanter

Abstract

A universal automatic seedling feeding device and control method for a vegetable transplanter belongs to the technical field of agricultural machinery. The seedling feeding device includes a frame, a tray changing component, a seedling feeding claw, a seedling feeding component, a vertical motion component, and a horizontal motion component; the horizontal motion component is arranged on the frame, the vertical motion component is arranged on the horizontal motion component, the tray changing component is placed on the frame and is located within the two horizontal guide rails of the horizontal motion component, the seedling feeding component is arranged on the vertical motion component, and is driven to rise and fall and move along the horizontal guide rails of the horizontal motion component with the vertical motion component, and the seedling feeding claw is arranged on the seedling feeding component, the same number as the single row of plug trays. The present invention can replace manual seedling feeding operations, save costs, and improve efficiency, thereby significantly 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 a universal automatic seedling feeding device for a vegetable transplanter and a control method thereof. Background Art

[0002] Advances in greenhouse plug-seedling technology have driven the continuous development of mechanized vegetable cultivation. Mechanized transplanting can improve vegetable cultivation efficiency and reduce production costs. Currently, vegetable cultivation in my country is still primarily manual, with semi-automatic transplanting being the primary method. Semi-automatic transplanters combine manual and mechanical operations, manually picking seedlings from densely planted trays and placing them into the seedling cups of a semi-automatic transplanter. This results in low efficiency and high labor intensity, hindering the rapid development of agricultural production.

[0003] Therefore, developing a universal automatic seedling feeding device for vegetable transplanters to replace manual seedling feeding and improving the level of automation in vegetable production has become an urgent problem to be solved in the development of full mechanization of vegetables in my country. Summary of the Invention

[0004] In response to the above-mentioned technical problems, the present invention provides a universal automatic seedling feeding device and control method for a vegetable transplanter, which can take vegetable seedlings out of a plug tray and feed them into the seedling cup of a rotary cup vegetable transplanter, and can realize the seedling feeding operation of a variety of plug tray seedlings.

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

[0006] The present invention discloses a universal automatic seedling feeding device for a vegetable transplanter, comprising a frame, a tray changing component, a seedling feeding claw, a seedling feeding component, a vertical motion component and a horizontal motion component;

[0007] The horizontal motion component is arranged on the frame, the vertical motion component is arranged on the horizontal motion component, the tray changing component is placed on the frame and is located in the two horizontal guide rails of the horizontal motion component, the seedling feeding component is arranged on the vertical motion component, drives it to rise and fall and moves along the horizontal guide rail of the horizontal motion component with the vertical motion component, and the seedling feeding claws are the same in number as the single row of the plug tray and are arranged on the seedling feeding component;

[0008] The seedling feeding component is provided with a horizontal motion mechanism for driving the seedling taking and feeding claws to move horizontally, a vertical motion mechanism for driving the seedling taking and feeding claws to move vertically, and a seedling feeding plate with a seedling taking and feeding claw motion track. The seedling taking component slides along the seedling feeding plate, and the seedling taking and feeding claws thereon slide along the seedling taking and feeding claw motion track of the seedling feeding plate. The track spacing at the seedling taking end of the seedling feeding plate is the same as the seedling bunch spacing of the hole tray to be taken, and the track spacing at the seedling feeding end is the same as the seedling cup spacing on the transplanter.

[0009] Furthermore, the side of the disc changing component is a Y-shaped structure, including a fixed frame, a Y-shaped baffle, a support seat and a guide rod. The Y-shaped baffle has a groove structure, and the side is Y-shaped and arranged on the fixed frame. The groove structures of the two Y-shaped baffles are arranged opposite to each other, and the support seat is arranged in the groove structure of the Y-shaped baffle and extends to the lower edge. The guide rod is arranged on the support seat in the groove structure of the Y-shaped baffle, and a track for the sliding of the hole tray is formed between the guide rod and the groove structure; the hole tray slides into the track between the guide rod and the groove structure along the upper edge of the Y-shaped baffle, and after the hole tray takes the seedlings, it slides out along the track between the guide rod and the groove structure along the lower edge of the Y-shaped baffle.

[0010] Furthermore, a hole tray positioning mechanism is also provided on the fixed frame, including a cylinder, a connecting rod and a spring clip. The cylinder is arranged at the bottom of the fixed frame, the connecting plate of the spring clip is fixed on the fixed frame, and its baffle is connected to the rotating rod hinged to the connecting plate. The baffle end extends out of the fixed frame and is placed above the guide plate rod in the Y-shaped baffle, and is limited by the contact surface of the sliding hole tray end. The piston rod end of the cylinder and the rotating rod end of the spring clip are hinged with a connecting rod; driven by the cylinder, the connecting rod and the rotating rod of the spring clip connected thereto are driven to rotate, thereby driving the baffle on the rotating rod to extend or retract.

[0011] Furthermore, the guide rod is a door-shaped guide rod along the lower edge of the Y-shaped baffle, and a guide rod with arcs at both ends along the upper edge of the Y-shaped structural member. The open end of the door-shaped guide rod is arranged along the lower edge of the Y-shaped baffle, and the door-shaped closed end is placed at the other end of the Y-shaped baffle, and contacts the front end surface of the hole plate for sliding into a limit position.

[0012] Furthermore, the seedling feeding claw includes a seedling feeding plate, a seedling needle, a seedling needle mounting block, an I-shaped connecting plate, a fixing plate and a push rod, the seedling feeding plate has a top plate and a bottom plate, the top plate is connected to the fixing plate by a linear bearing, two ends of the push rod extend out of the fixing plate and the top plate respectively, one end extending out of the top plate is connected to the I-shaped connecting plate, and two ends of the bottom of the I-shaped connecting plate are connected to the seedling needle mounting block. One end of the seedling needle is inserted into the seedling needle mounting block, and the other end of the seedling needle passes through the through hole opened in the bottom plate of the seedling feeding plate and is guided along the through hole; one end extending out of the fixing plate is connected to a slider I that slides with the crossbeam II of the seedling needle mounting frame, and sliders II that slide with the two parallel crossbeams I of the seedling needle mounting frame are respectively provided at both ends of the fixed plate on both sides of the push rod.

[0013] Furthermore, a hole tray pressing device is arranged at intervals on one side of the seedling feeding plate of the multiple seedling feeding claws, including a sleeve, a spring guide rod, a spring and a pressure block. One end of the sleeve is connected to the seedling feeding plate, one end of the spring guide rod extends into the sleeve, and the other end is connected to a pressure block that cooperates with the hole frame of the hole tray. The spring is placed on the spring guide rod between the sleeve and the pressure block.

[0014] Furthermore, a linear bearing is sleeved on the push rod between the fixed plate and the top plate of the seedling taking and feeding plate, and the seedling taking and feeding claws are in contact and friction with the inner wall of the seedling claw motion track through the linear bearing.

[0015] Furthermore, the seedling feeding component includes a seedling feeding plate, a reinforcing rib bracket, a horizontal motion mechanism, a vertical motion mechanism, a transverse linear guide pair, and a seedling feeding claw mounting frame; reinforcing rib brackets are provided at both ends of the seedling feeding plate, and the reinforcing rib brackets are connected to the end of the vertical cylinder piston rod of the vertical motion component. A seedling claw motion track is provided on the seedling feeding plate corresponding to each seedling feeding claw, wherein the end corresponding to the hole tray is the seedling taking end, and the end corresponding to the transplanter is the seedling feeding end, and the track gap gradually increases from the seedling taking end to the seedling feeding end;

[0016] The seedling feeding claw mounting frame is composed of three beams parallel to the sliding direction of the plug tray, two of which are located in the same plane, arranged in parallel, and connected to the horizontal motion mechanism; another beam II is placed between the two parallel beams I and is higher than the two parallel beams I, and is connected to the vertical motion mechanism; a transverse linear guide pair is provided on the two parallel beams I and beam II, and the sliders matched thereon are respectively provided on the seedling feeding claws;

[0017] The horizontal motion mechanism is to fix horizontal linear guide pairs on both sides of the seedling feeding plate respectively. Sliders that cooperate with the horizontal linear guide pairs are provided on the mounting parts at both ends of the two parallel crossbeams I. The horizontal motion cylinder is installed on the reinforcing rib bracket through the cylinder bracket, and its piston rod end is connected to the near end crossbeam I.

[0018] The vertical motion mechanism is composed of two parallel beam brackets symmetrically arranged on two parallel beams I. A vertical motion cylinder is fixed between the two beam brackets. The piston rod end of the vertical motion cylinder is connected to the beam II through the cylinder connecting plate, controlling the beam II to drive the seedling needles connected thereto to rise and fall.

[0019] Furthermore, the cylinder bracket is provided with mounting holes for the horizontal motion cylinders corresponding to different hole trays, so as to adjust the mounting position of the horizontal motion cylinders.

[0020] The control method of the automatic seedling feeding device of the vegetable transplanter of the present invention is as follows:

[0021] The plug tray with seedlings slides along the upper edge of the Y-shaped baffle of the tray changing component to the closed end of the guide rod; the tray changing cylinder of the tray changing component is extended to make the baffle run to the top dead center and contact the end surface of the plug tray to limit the position;

[0022] When the gas pressure of each cylinder reaches the initial set value, each component reaches the initial state, that is, the horizontal motion component moves to the closed end of the guide rod on the tray changing component, corresponding to the center position of the first row of the plug tray, the piston rod of the vertical cylinder of the vertical motion component retracts to the bottom dead center, the piston rod of the horizontal motion cylinder of the seedling feeding component retracts so that the seedling feeding claw is located above the first row of seedlings in the plug tray, the piston rod of the vertical motion cylinder of the seedling claw retracts to the top, and the tray changing cylinder of the tray changing component retracts so that the baffle moves to the bottom dead center;

[0023] The piston rod of the cylinder driving the seedling claw to move vertically extends, driving the seedling needle to move downward and insert into the seedling lump;

[0024] Drive the vertical cylinder piston rod to extend, driving the seedling feeding component to move upward as a whole to extract the seedling clump;

[0025] The piston rod of the horizontal motion cylinder driving the seedling feeding component is extended, so that the seedling feeding claws are driven by the horizontal beam I to move along the horizontal linear guide pair, and each seedling feeding claw slides along the seedling claw motion track on the seedling feeding plate to the seedling feeding end of the seedling feeding plate;

[0026] Drive the vertical cylinder piston rod to retract, drive the seedling feeding component to move downward as a whole, move the seedling lump into the seedling cup of the transplanter, drive the vertical movement cylinder piston rod of the seedling claw to retract, and extract the seedling needle from the seedling lump;

[0027] Then drive each component to its original position, and the horizontal motion cylinder of the seedling feeding component retracts to drive the seedling feeding claw to be located above the next row of seedlings in the hole tray. This is a seedling taking cycle. When the count of the laser beam sensor for detecting the number of seedling cups 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 in the next row of seedlings are taken and fed, and so on and so forth until all the seedlings in the hole tray are taken, the empty hole tray is slid out along the track between the guide tray rod and the lower edge of the Y-shaped baffle, and the hole tray with the seedlings is slid in along the upper edge of the Y-shaped baffle.

[0028] The beneficial effects of the present invention are:

[0029] 1. The present invention coordinates the movement of a horizontal motion component, a vertical motion component, a seedling feeding component, and a tray changing component, so that the seedling feeding claws of the seedling feeding component grab the seedling clumps on the plug tray and slide along the seedling claw movement track of the seedling feeding plate. This ensures that the track spacing at the seedling feeding end of the seedling feeding plate is the same as the spacing of the seedling clumps in the plug tray to be removed, and the track spacing at the seedling feeding end is the same as the spacing of the seedling cups on the transplanter. The present invention can replace manual seedling feeding operations, saving costs and improving efficiency, thereby significantly enhancing the automation level of the transplanter.

[0030] 2. The present invention sets a guide plate rod in the groove at the lower edge of the Y-shaped baffle of the plate changing component, so that the hole plate with seedlings can slide in along the upper edge of the Y-shaped baffle, and the empty hole plate after taking the seedlings can slide out along the lower edge of the Y-shaped baffle, which is convenient for plate changing.

[0031] 3. The seedling feeding component of the present invention is provided with a horizontal motion mechanism and a vertical motion mechanism, which respectively drive the crossbeam I of the seedling needle mounting frame to slide along the seedling feeding plate, drive the mounting crossbeam II of the seedling taking and feeding claws to rise and fall, and drive the seedling taking and feeding claws to rise and fall. The sliders I and II on the seedling taking and feeding claws cooperate with the crossbeam II and crossbeam I to slide, drive the seedling taking and feeding claws to slide along the seedling claw motion track on the seedling feeding plate, so that the spacing between the seedlings at the seedling feeding end of the seedling feeding plate is the same as the spacing between the seedling cups on the transplanter.

[0032] 4. The horizontal motion cylinder of the seedling feeding component of the present invention is set at three different installation positions to be suitable for transplanting operations of seedling trays with 72 holes, 105 holes and 128 holes, realizing multiple uses of one machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the present invention.

[0034] Figure 2 for Figure 1 Schematic diagram of the Y-shaped disc changing component structure.

[0035] Figure 3 for Figure 2 Assembly diagram of the spring clip.

[0036] Figure 4 for Figure 1 Schematic diagram of the structure of the seedling feeding components.

[0037] Figure 5 for Figure 4 Schematic diagram of the structure of the seedling feeding claw.

[0038] Figure 6 for Figure 4 Schematic diagram of the structure of the middle-taking seedling feeding claw with a pressing device.

[0039] Figure 7 for Figure 4 Schematic diagram of the structure of the middle seedling feeding board.

[0040] Figure 8 for Figure 1 Schematic diagram of the installation structure of the vertical moving parts and the horizontal moving parts.

[0041] Figure 9 It is a control flow chart of the present invention.

[0042] In the picture:

[0043] 1-disc changing component, 101-fixing frame, 102-disc changing cylinder, 103-connecting rod, 104-Y-shaped baffle, 1041. lower edge, 1042. upper edge, 105-spring buckle, 1051-connecting plate, 1052-baffle, 1053-rotating rod, 106-support seat, 107-guide rod;

[0044] 2-seedling feeding claw, 201-seedling needle, 202-seedling needle top screw, 203-seedling needle mounting block, 204-nut, 205-I-shaped connecting plate, 206-fixing plate, 207-push rod, 208-slider I, 209-linear bearing, 210-top screw, 211-seedling feeding plate, 212-slider II, 213-pressing block, 214-spring guide rod, 215-spring, 216-sleeve;

[0045] 3-seedling feeding components, 301-seedling feeding plate, 302-reinforcement rib bracket, 303-horizontal linear guide pair, 304-crossbeam I, 305-horizontal motion cylinder bracket, 306-horizontal motion cylinder, 307-vertical cylinder bracket, 308-crossbeam II, 309-seedling claw vertical motion cylinder, 310-cylinder connecting plate, 311-horizontal linear guide pair, 312. Seedling claw motion track, 313. Seedling removal end, 314. Seedling feeding end;

[0046] 4-vertical moving part, 401-cylinder fixing part, 402-vertical cylinder;

[0047] 5- horizontal motion component, 501- mounting frame, 502- synchronous belt linear module, 503- module slide, 504- transmission shaft, 505- coupling, 506- stepper motor;

[0048] 6-frame, 7-battery, 8-air source device, 9-PLC control box. DETAILED DESCRIPTION

[0049] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0050] Example: Figure 1 As shown, the present invention is a universal automatic seedling feeding device for vegetable transplanters, comprising a frame 6, a tray changing component 1, a seedling feeding claw 2, a seedling feeding component 3, a vertical motion component 4 and a horizontal motion component 5;

[0051] The horizontal motion component 5 is arranged on the frame 6 through the mounting frame 501, the vertical motion component 4 is arranged on the horizontal motion component 5, the tray changing component 1 is placed on the frame 6, and is located in the two horizontal guide rails of the horizontal motion component 5. The seedling feeding component 3 is arranged on the vertical motion component 4, driving it to rise and fall and move along the horizontal guide rail of the horizontal motion component 5 with the vertical motion component 4. The seedling feeding claws 2 are the same as the number of single rows of the hole trays to be taken, and are arranged on the seedling feeding component 3;

[0052] The seedling feeding component 3 is provided with a horizontal motion mechanism for driving the seedling taking and feeding claw 2 to move horizontally, a vertical motion mechanism for driving the seedling taking and feeding claw 2 to move vertically, and a seedling feeding plate 301 with a seedling taking and feeding claw motion track 312. The seedling taking component 3 slides along the seedling feeding plate 301, and the seedling taking and feeding claw 2 thereon slides along the seedling taking and feeding claw motion track 312 of the seedling feeding plate 301. The track spacing of the seedling taking end 313 of the seedling feeding plate 301 is the same as the seedling ball spacing of the hole tray to be taken, and the track spacing of the seedling feeding end 314 is the same as the seedling cup spacing on the transplanter.

[0053] The vertical motion component 4 is lifted and lowered, driving the seedling feeding component 3 thereon to rise above the transplanted seedlings on the plug tray, and then driving the vertical motion component 4 to move along the horizontal motion component 5 to the plug tray seedling taking position, and the vertical motion mechanism on the seedling feeding component 3 drives the seedling feeding claw 2 to move downward to extract the seedling lump, and the horizontal motion mechanism on the seedling feeding component 3 drives the seedling feeding claw 2 mounting frame of the seedling feeding component 3, driving the seedling feeding claw 2 to slide along the seedling feeding claw motion track 312 of the seedling feeding plate 301 to the seedling feeding end 314, and driving the seedling feeding claw 2 to descend by the vertical motion mechanism, transplanting the seedling lump into the seedling cup of the transplanter, and then driving the seedling feeding claw 2 to rise and exit the seedling lump.

[0054] Further, if Figure 2 As shown, the disk changing component 1 in this example has a Y-shaped structure on the side, including a fixing frame 101, a Y-shaped baffle 104, a support seat 106 and a guide plate rod 107. The fixing frame 101 is fixed on the frame 501, and the Y-shaped baffle 104 has a groove structure, specifically a groove, and the side is Y-shaped and arranged on the fixing frame 101. The groove structures of the two Y-shaped baffles 104 are arranged opposite to each other, the support seat 106 is arranged in the groove structure of the Y-shaped baffle 104 and extends to the lower edge 1041, and the guide plate rod 107 is arranged on the support seat 106 in the groove structure of the Y-shaped baffle 104, and a track for the hole plate to slide is formed between the guide plate rod 107 and the groove structure.

[0055] Specifically, the guide rod 107 described in this example is a gate-shaped structure along the lower edge 1041 of the Y-shaped baffle 104, and is a guide rod with arcs at both ends along the upper edge 1042 of the Y-shaped structure, which guides the hole tray with seedlings to slide in. The open end of the gate-shaped guide rod is set along the lower edge 1041 of the Y-shaped baffle to guide the empty hole tray to slide out, and the gate-shaped closed end is placed at the other end of the Y-shaped baffle, and contacts the front end surface of the hole tray to prevent the hole tray from sliding out of the Y-shaped baffle 104.

[0056] Furthermore, if Figure 3As shown, in this example, a hole tray positioning mechanism is also provided on the fixing frame 101. After the hole tray is slid in, it is positioned by the hole tray positioning mechanism. After the seedlings are taken out of the hole tray, the positioning is released so that the hole tray can slide out along the guide rod 107 through the lower edge 1041 of the Y-shaped baffle 104. The cell tray positioning mechanism includes a cylinder 102, a connecting rod 103, and a spring clip 105. The cylinder 102 is arranged at the bottom of the fixed frame 101. The spring clip 105 is an existing purchased part and includes a connecting plate 1051, a baffle 1052, and a rotating rod 1053. The connecting plate 1051 is fixed to the fixed frame 101, and its baffle 1052 is connected to the rotating rod 1053 hinged to the connecting plate 1051. The end of the baffle 1052 extends out of the fixed frame 101 and is placed above the guide plate 107 in the Y-shaped baffle 104, contacting and limiting the end surface of the cell tray that slides in. The piston rod end of the cylinder 102 and the rotating rod 1053 end of the spring clip 105 are hingedly connected to the connecting rod 103. Driven by the cylinder 102, the connecting rod 103 and the rotating rod 1053 of the spring clip 105 connected thereto are driven to rotate, driving the baffle 1052 on the rotating rod 1053 to extend or retract.

[0057] During operation, the hole tray slides into the track between the guide plate rod 107 and the groove structure along the upper edge 1042 of the Y-shaped baffle 104 to take out the seedlings. The hole tray slides into the end face and both sides through the guide plate rod 107 to limit the hole tray. The hole tray positioning mechanism drives the cylinder 102 to extend the piston rod and raise the baffle 1052 to limit the end face of the hole tray. After the seedlings in the hole tray are completely taken out, the cylinder 102 is driven to retract the piston rod of the cylinder 102 to make the baffle 1052 fall back, release the limit of the end face of the hole tray, and manually slide the hole tray out along the track between the guide plate rod 107 and the groove structure inside the lower edge 1041 of the Y-shaped baffle 104 to complete the transportation of the empty hole tray.

[0058] Furthermore, if Figure 5 As shown, the seedling feeding claw 2 in this example includes a seedling feeding plate 211, a seedling needle 201, a seedling needle mounting block 203, an I-shaped connecting plate 205, a fixed plate 206, a push rod 207 and a linear bearing 209. The seedling feeding plate 211 has a top plate and a bottom plate. The top plate is connected to the fixed plate 206 through a linear bearing 209. The push rod 207 is placed in the inner hole of the linear bearing 209 and extends out of the fixed plate 206 and the top plate at both ends. One end extending out of the top plate is connected to the I-shaped connecting plate 205 through a nut 204. The I-shaped connecting plate 205 The two ends of the bottom are connected to the seedling needle mounting block 203 by a pin shaft. One end of the seedling needle 201 is inserted into the seedling needle mounting block 203 and fixed by the seedling needle top screw 202. The other end of the seedling needle 201 passes through the through hole opened on the bottom plate of the seedling feeding plate 211 and is guided along the through hole; one end of the fixed plate 206 is connected to a slider I 208 that slides with the beam II of the seedling needle mounting frame, and sliders II 212 that slide with the two parallel beams I of the seedling needle mounting frame are respectively provided at both ends of the fixed plate 206 on both sides of the push rod 207.

[0059] like Figure 3 As shown, the seedling feeding plate 211 is a semi-frame plate, that is, a top plate and a bottom plate are connected at both ends of the vertical plate. The I-shaped connecting plate 205 is arranged horizontally in an "I" shape, and the seedling needle mounting blocks 203 are connected to the two end plates of the "I" shape.

[0060] Furthermore, if Figure 6 As shown, a plurality of seedling feeding claws 2 are provided with a hole tray pressing device at intervals on one side of the seedling feeding plate 211, including a sleeve 216, a spring guide rod 214, a spring 215 and a pressing block 213. One end of the sleeve 216 is connected to the seedling feeding plate 211, one end of the spring guide rod 214 extends into the sleeve 216, and the other end is connected to a pressing block 213 that cooperates with the hole frame of the hole tray. The spring 215 is sleeved on the spring guide rod 214 between the sleeve 216 and the pressing block 213. After the seedling is taken out from the hole tray, the pressing block 213 is pressed on the hole frame of the hole tray to extract the seedling and prevent the hole tray from moving up with the seedling.

[0061] Furthermore, if Figure 4 、 Figure 7 As shown, the seedling feeding component 3 includes a seedling feeding plate 301, a reinforcing rib bracket 302, a horizontal motion mechanism, a vertical motion mechanism and a transverse linear guide pair 311 and a seedling feeding claw mounting frame;

[0062] Reinforcement brackets 302 are provided at both ends of the seedling feeding plate 301, and the reinforcement brackets 302 are connected to the piston rod end of the vertical cylinder 402 of the vertical motion component 4. A seedling claw movement track 312 is provided on the seedling feeding plate corresponding to each seedling feeding claw 2, wherein the end corresponding to the hole tray is the seedling taking end, and the end corresponding to the transplanter is the seedling feeding end. The track gap gradually increases from the seedling taking end to the seedling feeding end, and the track spacing at the seedling taking end is the same as the seedling ball spacing of the hole tray, and the track spacing at the seedling feeding end is the same as the seedling cup spacing on the transplanter;

[0063] The seedling feeding claw 2 is in contact and rubbed with the inner wall of the seedling claw motion track 312 through the linear bearing 209 to ensure its smooth operation.

[0064] The seedling feeding claw mounting frame is composed of three beams parallel to the sliding direction of the plug tray, of which two beams I304 are located in the same plane, arranged in parallel, and connected to the horizontal motion mechanism; another beam II308 is placed between the two parallel beams I304 and higher than the two parallel beams I304, and is connected to the vertical motion mechanism; a transverse linear guide pair 311 is provided on the two parallel beams I304 and the beam II308, on which the slider I208 and the slider II212 are respectively provided on the seedling feeding claw 2;

[0065] The horizontal motion mechanism is to fix horizontal linear guide pairs 303 on both sides of the seedling feeding plate 301 respectively, and the mounting parts at both ends of the two parallel beams I 304 are provided with sliders that cooperate with the horizontal linear guide pairs 303. The horizontal motion cylinder 306 is installed on the reinforcing rib bracket 302 through the cylinder bracket 305, and its piston rod end is connected to the proximal beam I 304, driving the two parallel beams I 304 to slide along the horizontal linear guide pairs 303 on both sides of the seedling feeding plate 301;

[0066] The vertical movement mechanism is to symmetrically arrange two parallel vertical cylinder brackets 307 on two parallel beams I 304, and a vertical movement cylinder 309 is fixed between the two vertical cylinder brackets 307 through a mounting plate. The piston rod end of the vertical movement cylinder 309 is connected to the beam II 308 through a cylinder connecting plate 310 to control the lifting and lowering of the beam II 308, and then control the lifting and lowering of the seedling needle 201 on the seedling feeding claw 2.

[0067] Driven by the horizontal motion cylinder 306, the seedling feeding claw 2 slides along the seedling claw motion track 312 opened on the seedling feeding plate 301 with its mounting frame, so that the seedlings taken out of the hole tray are dispersed through the seedling feeding plate 301 and placed in the corresponding seedling cups on the transplanter. The seedling needle 201 of the seedling feeding claw 2 is controlled to rise or fall by the vertical motion cylinder 309 to complete the seedling taking and feeding actions.

[0068] The cylinder bracket 305 is provided with mounting holes for the horizontal motion cylinder corresponding to different hole trays. The horizontal motion cylinder 306 is bolted to three different positions of the cylinder bracket 305, corresponding to hole trays with 72 holes, 105 holes and 128 holes respectively. The hole trays are adjusted according to the actual seedling removal to ensure that the seedling feeding claws 2 correspond to the seedling lump positions on different hole trays.

[0069] Furthermore, if Figure 8 As shown, the horizontal motion component 5 includes a mounting frame 501, a horizontal guide rail, a slider and a stepper motor 506, wherein the horizontal guide rail is a synchronous belt linear module 502, and the slider is a module slide 503. The mounting frame 501 is fixed on the frame 6, and the two synchronous belt linear modules 502 are symmetrically fixed on both sides of the mounting frame 501 through connecting plates, and are connected by a transmission shaft 504. The vertical motion component 4 is set on the module slide 503 that cooperates with it, and the stepper motor 506 is connected to the transmission shaft 504 through a coupling 505 to provide power for the synchronous belt linear module 502.

[0070] The vertical motion component 4 includes two vertical cylinders 402, which are symmetrically connected to the two module slides 503 through cylinder fixing parts 401 respectively, and the piston rod ends of the vertical cylinders 402 are connected to the reinforcing rib bracket 302 of the seedling feeding component 3.

[0071] In this example, the fixed frame 101 is a frame structure constructed of profiled steel. To accommodate the height of the frame, columns are positioned below the four corners. Crossbeam I 304, vertical cylinder brackets 307, and crossbeam II 308 are all constructed of profiled steel, offering high strength, light weight, and ease of installation. The vertical cylinder brackets 307 are two side-by-side gate-shaped frames. The remaining components described in this invention are all conventional and will not be further detailed.

[0072] Furthermore, if Figure 9 As shown, the present invention is provided with a PLC control box 9, which is respectively connected to the disc changing cylinder 102, the stepping motor 506, the vertical cylinder 402 of the vertical motion component 4, the horizontal motion cylinder 306 of the seedling feeding component 3, the seedling claw vertical motion cylinder 309 and various sensors, and a position sensor for detecting the extension and retraction of the piston rod of the vertical cylinder 402 is respectively provided on the reinforcing rib bracket 302 on one side of the seedling feeding plate 301 of the vertical cylinder 402 and the cylinder body, and a position sensor for detecting the extension and retraction of the piston rod of the vertical cylinder 402, a seedling feeding end 314 of the seedling feeding plate 301 and a seedling taking end 314 of the seedling feeding plate 301 are respectively provided. 13 are respectively provided with sensors for detecting the extension and retraction of the piston rod of the horizontal motion cylinder 306, and sensors for detecting the extension and retraction of the piston rod of the vertical motion cylinder 309 of the seedling claw are respectively provided on the vertical cylinder bracket 307 and the crossbeam I 304. Laser beam sensors are provided on both sides of the seedling cup of the matching transplanter to detect the number of seedling cups passing through the transplanter. A laser beam sensor receiver is provided in the control box. The control box 9 controls the operation of each cylinder according to the signal received by the receiver and the signal detected by each sensor.

[0073] The specific control methods are as follows:

[0074] Slide the hole tray with the seedlings along the upper edge 1042 of the Y-shaped baffle of the tray changing component 1 to the closed end of the guide rod 107; start the micro switch of the tray changing component, drive the tray changing cylinder 102 of the tray changing component 1 to extend, and make the baffle 1052 run to the top dead center and contact the end surface of the hole tray to limit the position;

[0075] When the power is turned on, the air compressor starts to inflate, the gas pressure of each cylinder reaches the initial set value, and the various mechanisms of the entire device reach the initial position, that is, the horizontal motion component 5 moves to the closed end of the guide plate rod 107 on the disc changing component 1, corresponding to the center position of the first row of the plug tray, the piston rod of the vertical cylinder 402 of the vertical motion component 4 is retracted to the lower dead center, the piston rod of the horizontal motion cylinder 306 of the seedling feeding component 3 is retracted so that the seedling feeding claw 2 is located above the first row of seedlings in the plug tray, the piston rod of the vertical motion cylinder 309 of the seedling claw is retracted to the top, and the disc changing cylinder 102 of the disc changing component 1 is retracted so that the baffle 1052 moves to the lower dead center;

[0076] Drive the seedling claw to move vertically, so that the piston rod of the cylinder 309 extends, and drives the seedling needle 301 to move downward and insert into the seedling lump to grab the seedling lump;

[0077] Then drive the piston rod of the vertical cylinder 402 to extend, drive the seedling feeding component 3 to move upward as a whole to extract the seedling lump, take the seedling feeding claw 2 out of the hole tray, and take the seedling lump out of the hole tray; because a hole tray pressing device is provided at intervals on one side of the seedling feeding plate 211 of the plurality of seedling feeding claws 2, a total of 8 groups of seedling feeding claws 2 are provided in this example, and a hole tray pressing device is provided on the 2nd, 4th and 6th seedling feeding claws 2. After taking out the seedling lump, the pressing block 218 is pressed on the hole frame of the hole tray to prevent the hole tray from moving up with the seedling lump;

[0078] The piston rod of the horizontal motion cylinder 306 driving the seedling feeding component 3 is extended, so that the seedling feeding claws 2 are driven by the horizontal linear guide pair 303 to move along the horizontal beam I 304, and each seedling feeding claw 2 slides along the seedling claw motion track 312 on the seedling feeding plate 301 to the seedling dropping position of the seedling feeding end 314 of the seedling feeding plate 301;

[0079] Drive the piston rod of the vertical cylinder 402 to retract, drive the seedling feeding component 3 to move downward as a whole, move the seedling lump into the seedling cup of the transplanter, drive the piston rod of the vertical movement cylinder 309 of the seedling claw to retract, and extract the seedling needle from the seedling lump;

[0080] When the last row of seedlings in the hole tray is taken out, the disc-changing cylinder 102 of the Y-type disc-changing component 1 is driven to retract, and the hole tray is manually replaced: that is, the empty hole tray is slid out along the track between the guide disc rod 107 and the lower edge 1041 of the Y-type baffle 104, and the hole tray with the seedling lump is slid into the track between the guide disc rod 107 and the Y-type baffle 104 along the upper edge 1042 of the Y-type baffle 104 to the closed end of the guide disc rod 107, and the seedling lump of the new hole tray is taken out and fed.

[0081] The present invention can adjust the installation position of the horizontal motion cylinder 306 for different hole trays, so that the seedling claw 2 for taking and feeding the seedlings on the seedling claw motion track 312 on the seedling feeding plate 301 corresponds to the spacing between the seedlings of the hole tray to be taken.

[0082] The power supply 7 is connected to the stepping motor 506 and the control box 9 to provide power thereto, and the air source device 8 is connected to each cylinder to provide air source thereto.

[0083] 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 scope of protection of the present invention.

Claims

1. A universal automatic seedling feeding device for a vegetable transplanter, characterized by: It includes a frame (6), a tray changing component (1), a seedling feeding claw (2), a seedling feeding component (3), a vertical motion component (4) and a horizontal motion component (5); The horizontal motion component (5) is arranged on the frame, the vertical motion component (4) is arranged on the horizontal motion component, the tray changing component (1) is placed on the frame and is located in the two horizontal guide rails of the horizontal motion component, the seedling feeding component (3) is arranged on the vertical motion component (4), the vertical motion component drives the seedling feeding component to rise and fall, and the seedling feeding component moves along the horizontal guide rail of the horizontal motion component (5) with the vertical motion component (4), and the seedling feeding claws (2) are the same as the number of the hole trays in a single row and are arranged on the seedling feeding component; The seedling feeding component is provided with a horizontal motion mechanism for driving the seedling taking and feeding claw (2) to move horizontally, a vertical motion mechanism for driving the seedling taking and feeding claw (2) to move vertically, and a seedling feeding plate with a seedling taking and feeding claw (2) motion track, the seedling taking and feeding claw (2) slides along the seedling taking and feeding claw (2) motion track of the seedling feeding plate, the track spacing at the seedling taking end of the seedling feeding plate is the same as the seedling clump spacing of the hole tray to be taken, and the track spacing at the seedling feeding end is the same as the seedling cup spacing on the transplanter; The side of the tray changing component is in a Y-shaped structure, comprising a fixing frame (101), a Y-shaped baffle (104), a support seat (106) and a guide plate rod (107), wherein the Y-shaped baffle (104) has a groove structure and is arranged on the fixing frame (101) in a Y-shaped side. The groove structures of the two Y-shaped baffles are arranged opposite to each other, the support seat is arranged in the groove structure of the Y-shaped baffle and extends to the lower edge, and the guide plate rod (107) is arranged on the support seat (106) in the groove structure of the Y-shaped baffle (104), forming a track for the hole tray to slide between the guide plate rod and the groove structure; the hole tray slides into the track between the guide plate rod and the groove structure along the upper edge of the Y-shaped baffle, and after the hole tray takes the seedlings, it slides out along the track between the guide plate rod and the groove structure inside the lower edge of the Y-shaped baffle; A hole tray positioning mechanism is also provided on the fixing frame, comprising a cylinder (102), a connecting rod (103) and a spring clip (105). The cylinder (102) is provided at the bottom of the fixing frame, a connecting plate of the spring clip (105) is fixed on the fixing frame (101), and a baffle thereof is connected to a rotating rod hinged to the connecting plate. The baffle end extends out of the fixing frame and is placed above the guide plate rod in the Y-shaped baffle, and is contacted with the end surface of the hole tray that slides in. The piston rod end of the cylinder and the rotating rod end of the spring clip (105) are hinged with a connecting rod (103); the cylinder drives the connecting rod and the rotating rod of the spring clip connected thereto to rotate, thereby driving the baffle on the rotating rod to extend or retract.

2. The universal automatic seedling feeding device for vegetable transplanters according to claim 1, characterized in that: The guide rod is a door-shaped guide rod along the lower edge of the Y-shaped baffle, and a guide rod with arcs at both ends along the upper edge of the Y-shaped structural member. The open end of the door-shaped guide rod is arranged along the lower edge of the Y-shaped baffle, and the door-shaped closed end is placed at the other end of the Y-shaped baffle, and contacts the front end surface of the hole tray for sliding into a limit position.

3. The universal automatic seedling feeding device for vegetable transplanters according to claim 1, characterized in that: The seedling feeding claw (2) comprises a seedling feeding plate (211), a seedling needle (201), a seedling needle mounting block (203), an I-shaped connecting plate (205), a fixed plate (206) and a push rod (207), wherein the seedling feeding plate (211) has a top plate and a bottom plate, the top plate is connected to the fixed plate via a linear bearing, and two ends of the push rod extend out of the fixed plate and the top plate respectively, one end extending out of the top plate is connected to the I-shaped connecting plate (205), and two ends of the bottom of the I-shaped connecting plate (205) are connected to the seedling needle mounting block (203), one end of the seedling needle (201) is plugged into the seedling needle mounting block (203), and the other end of the seedling needle (201) passes through a through hole provided on the bottom plate of the seedling feeding plate (211) and is guided along the through hole; one end extending out of the fixed plate is connected to a slider I that slides with the beam II of the seedling needle mounting frame, and sliders II that slide with the two parallel beams I of the seedling needle mounting frame are respectively provided at two ends of the fixed plate on both sides of the push rod.

4. The universal automatic seedling feeding device for vegetable transplanters according to claim 3, characterized in that: A hole tray pressing device is arranged at intervals on one side of the seedling taking and feeding plate of the multiple seedling taking and feeding claws, including a sleeve, a spring guide rod, a spring and a pressure block. One end of the sleeve is connected to the seedling taking and feeding plate, one end of the spring guide rod extends into the sleeve, and the other end is connected to a pressure block that cooperates with the hole frame of the hole tray. A spring is placed on the spring guide rod between the sleeve and the pressure block.

5. The universal automatic seedling feeding device for vegetable transplanters according to claim 4, characterized in that: A linear bearing (209) is sleeved on the push rod between the fixed plate (206) and the top plate of the seedling taking and feeding plate (211), and the seedling taking and feeding claws are in contact and friction with the inner wall of the seedling claw motion track through the linear bearings.

6. The universal automatic seedling feeding device for vegetable transplanters according to claim 1, characterized in that: The seedling feeding component (3) comprises a seedling feeding plate (301), a reinforcing rib bracket (302), a horizontal motion mechanism, a vertical motion mechanism, a transverse linear guide rail pair (311), and a seedling feeding claw mounting frame; reinforcing rib brackets are provided at both ends of the seedling feeding plate, and the reinforcing rib brackets are connected to the end of the vertical cylinder piston rod of the vertical motion component; a seedling claw motion track is provided on the seedling feeding plate corresponding to each seedling feeding claw, wherein the end corresponding to the hole tray is the seedling taking end, and the end corresponding to the transplanter is the seedling feeding end, and the track gap gradually increases from the seedling taking end to the seedling feeding end; The seedling feeding claw mounting frame is composed of three beams parallel to the sliding direction of the plug tray, two of which are located in the same plane, arranged in parallel, and connected to the horizontal motion mechanism; another beam II is placed between the two parallel beams I and is higher than the two parallel beams I, and is connected to the vertical motion mechanism; a transverse linear guide pair is provided on the two parallel beams I and beam II, and the sliders matched thereon are respectively provided on the seedling feeding claws; The horizontal motion mechanism is to fix horizontal linear guide rails (303) on both sides of the seedling feeding plate (301), and the mounting parts at both ends of the two parallel beams I are provided with sliders that cooperate with the horizontal linear guide rails (303). The horizontal motion cylinder (306) is installed on the reinforcing rib bracket (302) through the cylinder bracket (305), and the piston rod end thereof is connected to the proximal beam I (304); The vertical motion mechanism is to symmetrically arrange two parallel beam brackets (307) on two parallel beams I, and a vertical motion cylinder (309) is fixed between the two beam brackets (307). The piston rod end of the vertical motion cylinder is connected to the beam II through the cylinder connecting plate, and controls the beam II to drive the seedling needle connected thereto to rise and fall.

7. The universal automatic seedling feeding device for vegetable transplanters according to claim 6, characterized in that: The cylinder bracket (305) is provided with mounting holes for the horizontal motion cylinders corresponding to different hole trays, and is used to adjust the mounting position of the horizontal motion cylinder (306).

8. A control method for the universal automatic seedling feeding device for vegetable transplanters according to claim 1, characterized in that: The plug tray with seedlings slides along the upper edge of the Y-shaped baffle of the tray changing component to the closed end of the guide rod; the tray changing cylinder of the tray changing component is extended to make the baffle run to the top dead center and contact the end surface of the plug tray to limit the position; When the gas pressure of each cylinder reaches the initial set value, each component reaches the initial state, that is, the horizontal motion component moves to the closed end of the guide rod on the tray changing component, corresponding to the center position of the first row of the plug tray, the piston rod of the vertical cylinder of the vertical motion component retracts to the bottom dead center, the piston rod of the horizontal motion cylinder of the seedling feeding component retracts so that the seedling feeding claw is located above the first row of seedlings in the plug tray, the piston rod of the vertical motion cylinder of the seedling claw retracts to the top, and the tray changing cylinder of the tray changing component retracts so that the baffle moves to the bottom dead center; The piston rod of the cylinder driving the seedling claw to move vertically extends, driving the seedling needle to move downward and insert into the seedling lump; Drive the vertical cylinder piston rod to extend, driving the seedling feeding component to move upward as a whole to extract the seedling clump; The piston rod of the horizontal motion cylinder driving the seedling feeding component is extended, so that the seedling feeding claws are driven by the horizontal beam I to move along the horizontal linear guide pair, and each seedling feeding claw slides along the seedling claw motion track on the seedling feeding plate to the seedling feeding end of the seedling feeding plate; Drive the vertical cylinder piston rod to retract, drive the seedling feeding component to move downward as a whole, move the seedling lump into the seedling cup of the transplanter, drive the vertical movement cylinder piston rod of the seedling claw to retract, and extract the seedling needle from the seedling lump; Then drive each component to its original position, and the horizontal motion cylinder of the seedling feeding component retracts to drive the seedling feeding claw to be located above the next row of seedlings in the hole tray. This is a seedling taking cycle. When the count of the laser beam sensor for detecting the number of seedling cups 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 in the next row of seedlings are taken and fed, and so on and so forth until all the seedlings in the hole tray are taken, the empty hole tray is slid out along the track between the guide tray rod and the lower edge of the Y-shaped baffle, and the hole tray with the seedlings is slid in along the upper edge of the Y-shaped baffle.

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