An unmanned transplanting machine

Abstract

The present application relates to the field of transplanting machine, disclose a kind of unmanned transplanting machine, including vehicle body and transplanting mechanism, vehicle body is also provided with rotating seedling tray, further including transplanting seedling tray, transplanting seedling tray includes a seedling groove that is arrayed distribution, vehicle body is provided with seedling tray conveying mechanism, vehicle body is slidably connected with seedling grabbing mechanism, transplanting seedling tray is set on seedling tray conveying mechanism, seedling tray conveying mechanism is transmitted to seedling grabbing mechanism direction, seedling grabbing mechanism is grabbed and is put into rotating seedling tray in seedling tray on seedling tray.The present application has the following advantages and effects: by the transmission net belt structure on seedling tray conveying mechanism is automatically transmitted to transplanting seedling tray, and by seedling grabbing mechanism is grabbed and is put into rotating seedling tray in seedling tray on seedling tray, to realize the full-automatic transplanting of seedling, improve work efficiency, reduce the work intensity;Vehicle body is provided with counter connected with photoelectric sensor, realizes the automatic statistics to the number of seedling that is missed in the slot in the improvement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural planting machinery, in particular to an automatic seedling taking and throwing device for a transplanter. BACKGROUND

[0002] Transplanting is an advanced production process in crop production, and seedlings are transplanted to the field after being cultivated in a seedbed or paper cup. The transplanting method realizes separate planting of large and small seedlings, and the size of the row spacing and plant spacing of the seedlings after transplanting is consistent, which is beneficial to field agronomic management. It can avoid the problems of uneven emergence, lack of seedlings, the need for multiple reseeding, inconsistent density and growth rate of seedlings, and the impact on crop yield. However, the existing transplanter needs manual taking of seedlings from the plug tray and then placing the seedlings one by one into the seedling cup during operation, which is labor-intensive and low in efficiency. SUMMARY

[0003] The present application aims to provide an unmanned transplanter with improved work efficiency.

[0004] The above technical object of the present application is achieved by the following technical solution: an unmanned transplanter, comprising a vehicle body and a plug-planting mechanism arranged at the end of the vehicle body, and a rotating seedling tray arranged above the plug-planting mechanism, characterized in that it further comprises a transplanting seedling tray, the transplanting seedling tray comprises a plurality of seedling grooves arranged in an array, a seedling tray conveying mechanism is arranged on the vehicle body, a seedling grabbing mechanism is slidably connected to the vehicle body and located between the seedling tray conveying mechanism and the transplanting seedling tray, the transplanting seedling tray is arranged on the seedling tray conveying mechanism, the seedling tray conveying mechanism conveys the transplanting seedling tray towards the seedling grabbing mechanism, and the seedling grabbing mechanism grabs the seedlings on the transplanting seedling tray and throws them into the rotating seedling tray.

[0005] By using the above technical solution, the transplanting seedling tray loaded with seedlings is intermittently conveyed towards the seedling grabbing mechanism by the tray conveying mechanism, and after the seedling grabbing mechanism completes the grabbing of a row of seedlings, the tray conveying mechanism conveys the transplanting seedling tray by a unit length of one seedling groove towards the rotating seedling tray, thereby realizing stable feeding of the seedlings. After the seedlings are grabbed by the grabbing mechanism and slid to above the rotating seedling tray, the seedlings are thrown into the seedling cups of the rotating seedling tray, thereby realizing fully automatic transplanting of the seedlings, improving work efficiency, and reducing work intensity.

[0006] Further provided in the present application is that the seedling tray conveying mechanism comprises two conveying rollers rotatably connected to the vehicle body and a conveying mesh belt sleeved between the two conveying rollers, the conveying mesh belt comprises two belt rings sleeved between the two conveying rollers, a plurality of conveying rods arranged in parallel are fixedly connected between the two belt rings, a positioning gap for inserting the seedling grooves is arranged between adjacent two conveying rods, and a driving motor is arranged on the vehicle body to drive the rotation of the conveying rollers.

[0007] By adopting the technical scheme, the intermittent rotation of the conveying roller is driven by the driving motor, so that the stable feeding of the seedling tray is realized, and on the other hand, the conveying net belt is arranged in the structure of two belt rings and a plurality of conveying rods, the seedling groove in the same row is inserted into the conveying gap, so that the stable positioning of the transplanting seedling tray on the seedling tray conveying mechanism is realized.

[0008] Further, the transplanting seedling tray is made of flexible material, a guide cover is fixedly connected to the vehicle body and located close to one end of the rotating seedling tray, the end of the seedling tray conveying mechanism extends into the guide cover, a conveying gap is arranged between the guide cover and the seedling tray conveying mechanism for the transplanting seedling tray to pass through, and the transplanting seedling tray is in contact with the inner wall of the guide cover to limit the transplanting seedling tray from leaving the conveying gap.

[0009] By adopting the technical scheme, the transplanting seedling tray is made of flexible material, such as flexible plastic, the guide cover is arranged on the seedling tray conveying mechanism, and the conveying gap is arranged between the guide cover and the seedling tray conveying mechanism, the seedling groove is inserted into the positioning gap, the mutual movement between the conveying net belt and the transplanting seedling tray is limited, the conveying net belt drives the transplanting seedling tray to convey the transmission gap, the flexible material of the transplanting seedling tray enables the transplanting seedling tray to deform freely when passing around the end of the conveying net belt, and the transplanting seedling tray can restore to the original shape when leaving the guide cover, so that the reuse of the transplanting seedling tray is realized; when the transplanting seedling tray leaves the guide cover, the transplanting seedling tray falls from the bottom of the conveying net belt under the gravity, so that the recycling of the transplanting seedling tray is completed, and the recycling of the transplanting seedling tray does not interfere with the operation of the rotating seedling tray and the planting mechanism at the end of the seedling tray conveying mechanism.

[0010] Further, the guide cover is provided with an entry opening and an exit opening, and a guide plate is arranged on the entry opening.

[0011] By adopting the technical scheme, the guide plate is arranged at the entry opening to guide the transplanting seedling tray entering the conveying gap from the entry opening, so that the stability of the transplanting seedling tray entering the conveying gap is improved, and the risk of the transplanting seedling tray being stuck at the entry opening is reduced.

[0012] Further, a plurality of pull-out grooves are arranged on the outer wall of the guide cover and opposite to the seedling grooves, the width of the pull-out groove is greater than the diameter of the seedling stem and less than the width of the end port of the seedling groove, and the pull-out groove extends along the outer wall of the guide cover to the entry opening.

[0013] By adopting the technical scheme, since different seedlings have different shapes, when the seedling grabbing mechanism grabs the seedlings, some seedling grabbing mechanisms cannot grab individual seedlings from the seedling slots, i.e., missed grabbing, when the proportion of the missed seedlings is too high, the seedling grabbing mechanism needs to be adjusted, therefore, the number of missed grabbing needs to be counted, if the counting is directly performed in the recycled seedling tray, the efficiency is low and the operation is time-consuming. The pulling-out groove is arranged on the outer wall of the guide cover, when missed grabbing occurs, the stem of the seedling passes through the pulling-out groove, the missed seedling is prevented from being pressed into the seedling slot by the inner wall of the guide cover, and therefore, the number of the seedlings extending out of the pulling-out groove can be counted to count the number of missed grabbing.

[0014] Further provided in the application is that the pulling-out groove is fixedly connected with a cutting blade at one end away from the tray inlet, the vehicle body is provided with a receiving groove below the cutting blade, and the receiving groove is provided with a plurality of receiving cavities respectively arranged opposite to the end of the cutting blade.

[0015] By adopting the technical scheme, the stem of the seedling extends out of the pulling-out groove, as the seedling approaches the tray outlet, the stem of the seedling comes into contact with the cutting blade and moves relatively, so that the seedling extending out of the pulling-out groove is cut off, the cut-off seedling falls into the receiving cavity, and the number of missed grabbing of the seedling grabbing mechanism is counted by counting the number of the seedlings in the receiving cavity.

[0016] Further provided in the application is that the outer wall of the guide cover is fixedly connected with a tilting push plate arranged at the bottom of the guide cover, the distance between the push plate and the outer wall of the guide cover gradually increases along the direction close to the tray outlet, the push plate is provided with a pulling-out slot arranged opposite to the pulling-out groove, the outer wall of the guide cover is provided with a seedling outlet arranged at the end of the push plate away from the pulling-out slot, the width of the seedling outlet is greater than that of the seedling slot, and the vehicle body is provided with a seedling receiving groove arranged directly below the end of the push plate, and the seedling receiving groove is provided with a seedling receiving cavity arranged opposite to the end of the pulling-out slot.

[0017] The technical scheme further discloses another structure for counting the number of missed grabbing, the push plate is arranged obliquely on the outer wall of the guide cover, and the pulling-out slot is arranged opposite to the pulling-out groove on the push plate, as the seedling approaches the tray outlet, the stem of the seedling passes through the pulling-out slot, the obliquely arranged push plate applies a downward pulling force to the seedling, so that the seedling is pulled out of the seedling slot, the root of the seedling and the culture soil are pulled out of the guide cover through the seedling outlet, and then fall on the upper end surface of the push plate, the seedling slides downward along the push plate under the action of gravity, so that the seedling is pulled out of the pulling-out slot and falls into the seedling receiving cavity, thereby counting the number of missed grabbing at the position, and the missed seedling can be completely collected.

[0018] The further arrangement of the present application is that the seedling grabbing mechanism comprises a support frame slidingly connected with the vehicle body, a rotating shaft rotatably connected with the support frame, and a plurality of grabbing clamps fixedly connected with the rotating shaft and located on the side of the seedling tray conveying mechanism close to the seedling tray conveying mechanism; a driving screw is rotatably connected with the vehicle body and is threadedly connected with the support frame; a servo motor for driving the driving screw to rotate is fixedly connected with the vehicle body; and a lifting motor for driving the rotating shaft to rotate is fixedly connected with the support frame, and the driving screw drives the support frame to reciprocatingly slide between the seedling tray conveying mechanism and the transplanting seedling tray.

[0019] By adopting the above technical scheme, the servo motor drives the driving screw to rotate, thereby driving the support frame to reciprocatingly slide between the seedling tray conveying mechanism and the transplanting seedling tray, so as to realize the sliding approach or away of the grabbing clamps to the transplanting seedling tray; when the seedlings are embedded in the grabbing clamps, the lifting motor drives the rotating shaft to rotate, so that the seedlings are lifted from the transplanting seedling tray; then the support frame slides away from the transplanting seedling tray, so that the seedlings are moved above the seedling cups of the rotating seedling tray; the lifting motor drives the rotating shaft to reversely rotate, so that the grabbing clamps are rotated, the seedlings are slid off the grabbing clamps and fall into the seedling cups of the rotating seedling tray, and the automatic seedling transplanting is completed.

[0020] The further arrangement of the present application is that the photoelectric sensor is fixedly connected with the side of the pulling-out groove, and a counter connected with the photoelectric sensor is arranged on the vehicle body.

[0021] By adopting the above technical scheme,

[0022] The further arrangement of the present application is that the photoelectric sensors are arranged on the sides of the pulling-out grooves respectively, the seedlings passing through the pulling-out grooves are sensed, and signals are transmitted to the counter, so that the counter counts, thereby realizing the automatic counting of the number of the missed seedlings in the pulling-out grooves.

[0023] The present application has the following beneficial effects:

[0024] 1. The seedling tray conveying mechanism automatically conveys the transplanting seedling tray, and the seedlings on the transplanting seedling tray are grabbed by the seedling grabbing mechanism and are put into the rotating seedling tray, so as to realize the full-automatic seedling transplanting, improve the work efficiency, and reduce the work intensity;

[0025] 2. The guide plate is arranged at the tray inlet, so as to guide the transplanting seedling tray entering the conveying gap from the tray inlet, improve the stability of the transplanting seedling tray entering the conveying gap, and reduce the risk of the transplanting seedling tray being stuck at the tray inlet;

[0026] 3. The pulling-out grooves are arranged on the outer wall of the guide cover, the stems of the missed seedlings pass through the pulling-out grooves when the seedlings are missed, the missed seedlings are prevented from being pressed into the seedling grooves by the inner wall of the guide cover, and the number of the seedlings extending out of the pulling-out grooves can be counted to count the number of the missed seedlings. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and all other drawings obtained by those skilled in the art without creative effort based on these drawings also belong to the protection scope of the present application.

[0028] Figure 1 is a structural schematic diagram of the embodiment.

[0029] Figure 2 is a connection relationship schematic diagram of the seedling grabbing mechanism and the seedling tray conveying mechanism in the embodiment.

[0030] Figure 3 is a structural schematic diagram of the guide cover and the cutting blade in embodiment 1.

[0031] Figure 4 is a structural schematic diagram of the guide cover and the poking plate in embodiment 2.

[0032] In the figure, 1 is a vehicle body; 11 is a planting mechanism; 12 is a rotating seedling tray; 2 is a transplanting seedling tray; 21 is a seedling groove; 3 is a seedling tray conveying mechanism; 31 is a conveying roller; 32 is a belt ring; 33 is a conveying rod; 34 is a positioning gap; 35 is a driving motor; 4 is a seedling grabbing mechanism; 41 is a support frame; 411 is a rotating shaft; 412 is a grabbing clamp; 42 is a driving screw; 43 is a servo motor; 44 is a lifting motor; 5 is a guide cover; 51 is a conveying gap; 52 is a tray inlet; 53 is a tray outlet; 54 is a guide plate; 55 is a pulling-out groove; 6 is a cutting blade; 61 is a material receiving groove; 62 is a material receiving cavity; 7 is a poking plate; 71 is a seedling outlet; 72 is a pulling-out slot; 73 is a seedling receiving groove; 74 is a seedling receiving cavity; and 8 is a photoelectric sensor. DETAILED DESCRIPTION

[0033] The technical solutions of the present application will be described clearly and completely in combination with specific embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort also belong to the protection scope of the present application.

[0034] Embodiment 1, an unmanned transplanting machine, like Figure 1 , Figure 2As shown, the device includes a vehicle body 1 and a planting mechanism 11 located at the end of the vehicle body 1. The vehicle body 1 is also equipped with a rotating seedling tray 12 located above the planting mechanism 11. It also includes a transplanting seedling tray 2, which includes a seedling trough 21 arranged in an array. The vehicle body 1 is equipped with a seedling tray conveying mechanism 3. A seedling grabbing mechanism 4 is slidably connected to the vehicle body 1 between the seedling tray conveying mechanism 3 and the transplanting seedling tray 2. The transplanting seedling tray 2 is set on the seedling tray conveying mechanism 3. The seedling tray conveying mechanism 3 conveys the seedling tray to the seedling grabbing mechanism 4. The seedling grabbing mechanism 4 grabs the seedlings on the seedling tray and puts them into the rotating seedling tray 12.

[0035] like Figure 2 As shown, the seedling gripping mechanism 4 includes a support frame 41 slidably connected to the vehicle body 1, a rotating shaft 411 rotatably connected to the support frame 41, and multiple gripping claws 412 fixedly connected to the rotating shaft 411 near the seedling tray conveying mechanism 3. A drive screw 42 is rotatably connected to the vehicle body 1 and threadedly connected to the support frame 41. A servo motor 43 is fixedly connected to the vehicle body 1 to drive the drive screw 42 to rotate. A lifting motor 44 is fixedly connected to the support frame 41 to drive the rotating shaft 411 to rotate. The rotation of the drive screw 42 drives the support frame 41 to slide back and forth between the seedling tray conveying mechanism 3 and the transplanting seedling tray 2.

[0036] like Figure 1 , Figure 2As shown, the seedling tray conveying mechanism 3 comprises two conveying rollers 31 rotatably connected to the vehicle body 1 and a conveying mesh belt sleeved between the two conveying rollers 31, the conveying mesh belt comprises two belt rings 32 sleeved between the two conveying rollers 31, a plurality of conveying rods 33 parallel to each other are fixedly connected between the two belt rings 32, a positioning gap 34 for inserting the seedling groove 21 is arranged between adjacent two conveying rods 33, and the vehicle body 1 is provided with a driving motor 35 for driving the conveying roller 31 to rotate. The transplanting seedling tray 2 is made of flexible material, and the vehicle body 1 is fixedly connected with a guide cover 5 located at one end of the seedling tray conveying mechanism 3 close to the rotating seedling tray 12, the end of the seedling tray conveying mechanism 3 extends into the guide cover 5, and the guide cover 5 and the seedling tray conveying mechanism 3 are provided with a conveying gap 51 for the transplanting seedling tray 2 to pass through, and the transplanting seedling tray 2 is in contact with the inner wall of the guide cover 5 to limit the transplanting seedling tray 2 from leaving the conveying gap 51. The guide cover 5 is provided with an inlet 52 and an outlet 53, and the inlet 52 is provided with a guide plate 54 inclinedly arranged thereon. The seedling grooves 21 in the same row are inserted into the conveying gap 51, so that the stable positioning of the transplanting seedling tray 2 on the seedling tray conveying mechanism 3 is realized, the conveying roller 31 is driven to rotate intermittently by the driving motor 35, so that the stable feeding of the seedlings in the transplanting seedling tray 2 is realized, the transplanting seedling tray 2 is made of flexible material, so that the transplanting seedling tray 2 can deform freely when passing through the end of the conveying mesh belt, and can restore to the original shape when leaving the guide cover 5, so that the reuse of the transplanting seedling tray 2 is realized, and when the transplanting seedling tray 2 leaves the guide cover 5, the transplanting seedling tray 2 falls from the bottom of the conveying mesh belt to complete the recycling of the transplanting seedling tray 2, so that the transplanting face recycling does not interfere with the operation of the rotating seedling tray 12 and the transplanting mechanism 11 located at the end of the seedling tray conveying mechanism 3

[0037] As shown in Figure 2 , Figure 3 , the outer wall of the guide cover 5 is provided with a plurality of pull-out grooves 55 respectively arranged opposite to the seedling grooves 21, the width of the pull-out groove 55 is greater than the diameter of the stem of the seedling and less than the width of the port of the seedling groove 21, and the pull-out groove 55 extends along the outer wall of the guide cover 5 to the inlet 52.

[0038] As shown in Figure 2 , Figure 3 , the end of the pull-out groove 55 away from the inlet 52 is fixedly connected with a cutting blade 6 located at the side of the pull-out groove 55, and the vehicle body 1 is provided with a receiving groove 61 located below the cutting blade 6, and a plurality of receiving cavities 62 are arranged in the receiving groove 61 and arranged opposite to the ends of the cutting blade 6. The stem of the seedling extends out of the pull-out groove 55, as the seedling approaches the outlet 53, the stem of the seedling comes into contact with the cutting blade 6 and moves relatively, so that the seedling extending out of the pull-out groove 55 is cut off, and the cut seedling falls into the receiving cavity 62, and the number of missed seedlings of the seedling grabbing mechanism 4 is counted by counting the number of seedlings in the receiving cavity 62

[0039] Example 2, as shown in Figure 4As shown, another statistics structure of the number of missed grabbing is disclosed, the outer wall of the guide cover 5 is fixedly connected with a tilt plate 7 which is arranged at the bottom of the guide cover 5, the distance between the tilt plate 7 and the outer wall of the guide cover 5 gradually increases along the direction of approaching the disc outlet 53, the tilt plate 7 is provided with a pulling-out slot 72 which is arranged opposite to the pulling-out groove 55, the outer wall of the guide cover 5 is provided with a seedling outlet 71 which is located away from the pulling-out slot 72, the width of the seedling outlet 71 is greater than the width of the port of the seedling groove 21, the vehicle body 1 is provided with a seedling receiving groove 7321 which is located directly below the end of the tilt plate 7, and the seedling receiving groove 7321 is provided with a seedling receiving cavity 74 which is arranged opposite to the port of the pulling-out slot 72. As the seedling approaches the disc outlet 53, the stem of the seedling passes through the pulling-out slot 72, and the tilt plate 7 exerts a downward pulling force on the seedling, thereby pulling the seedling away from the seedling groove 21, the root of the seedling and the culture soil are pulled out of the guide cover 5 through the seedling outlet 71, thereby falling on the upper end surface of the tilt plate 7, the seedling slides down along the tilt plate 7 under the action of gravity, thereby separating from the pulling-out slot 72, and falling into the seedling receiving cavity 74, thereby completing the statistics of the number of missed grabbing at this position, and the missed seedling can be completely collected.

[0040] As shown in Figure 3 , Figure 4 As shown, the side of the pulling-out groove 55 is fixedly connected with a photoelectric sensor 8, and the vehicle body 1 is provided with a counter connected with the photoelectric sensor 8. The photoelectric sensor 8 is arranged on the side of the pulling-out groove 55, and the seedling passing through the pulling-out groove 55 is inducted and the signal is transmitted to the counter, and the counter counts to automatically count the number of missed seedlings in the pulling-out groove 55.

[0041] The disc conveying mechanism intermittently conveys the transplanting seedling disc 2 loaded with seedlings to the direction of the seedling grabbing mechanism 4, and after the seedling grabbing mechanism 4 completes the grabbing of a column of seedlings, the disc conveying mechanism conveys the transplanting seedling disc 2 to the direction of the rotating seedling disc 12 by a unit length of the seedling groove 21, thereby realizing stable feeding of the seedlings; after the seedling grabbing mechanism grabs the seedlings and slides above the rotating seedling disc 12, the seedlings are put into the seedling cup of the rotating seedling disc 12, thereby realizing fully automatic transplanting of the seedlings, improving work efficiency and reducing work intensity. The plug planting mechanism 11 and the rotating seedling disc 12 belong to the conventional technical means in the field, and even if the specific structure is not disclosed, it does not affect the implementation of the scheme.

Claims

1. An unmanned transplanter, comprising a vehicle body (1) and a planting mechanism (11) disposed at the end of the vehicle body (1), wherein a rotating seedling tray (12) is also disposed on the vehicle body (1) directly above the planting mechanism (11), characterized in that: It also includes a transplanting seedling tray (2), which includes multiple seedling troughs (21) arranged in an array. A seedling tray conveying mechanism (3) is provided on the vehicle body (1). A seedling grabbing mechanism (4) is slidably connected on the vehicle body (1) between the seedling tray conveying mechanism (3) and the transplanting seedling tray (2). The transplanting seedling tray (2) is set on the seedling tray conveying mechanism (3). The seedling tray conveying mechanism (3) conveys the seedling tray to the seedling grabbing mechanism (4). The seedling grabbing mechanism (4) grabs the seedlings on the seedling tray and puts them into the rotating seedling tray (12). The seedling tray conveying mechanism (3) includes two conveyor rollers (31) rotatably connected to the vehicle body (1) and a conveyor belt sleeved between the two conveyor rollers (31). The conveyor belt includes two belt loops (32) sleeved between the two conveyor rollers (31). A plurality of parallel conveyor rods (33) are fixedly connected between the two belt loops (32). A positioning gap (34) for inserting the seedling trough (21) is provided between two adjacent conveyor rods (33). A drive motor (35) for driving the conveyor rollers (31) to rotate is provided on the vehicle body (1). The transplanting tray (2) is made of flexible material. A guide cover (5) is fixedly connected to the vehicle body (1) at one end of the tray conveying mechanism (3) near the rotating tray (12). The end of the tray conveying mechanism (3) extends into the guide cover (5). A conveying gap (51) is provided between the guide cover (5) and the tray conveying mechanism (3) for the transplanting tray (2) to pass through. The transplanting tray (2) contacts the inner wall of the guide cover (5), restricting the transplanting tray (2) from leaving the conveying gap (51). The guide cover (5) is provided with an inlet (52) and an outlet (53), and a guide plate (54) is inclinedly provided on the inlet (52). The outer wall of the guide cover (5) is provided with a plurality of pull-out grooves (55) respectively arranged opposite to the seedling trough (21). The width of the pull-out groove (55) is greater than the diameter of the seedling stem and less than the width of the opening of the seedling trough (21). The pull-out groove (55) extends along the outer wall of the guide cover (5) to the inlet (52). The outer wall of the guide cover (5) is fixedly connected to an inclined actuating plate (7) at the bottom of the guide cover (5). The distance between the actuating plate (7) and the outer wall of the guide cover (5) gradually increases along the direction close to the outlet (53). The actuating plate (7) is provided with an outlet slit (72) opposite to the outlet groove (55). The outer wall of the guide cover (5) is provided with a seedling outlet (71) located away from the outlet slit (72) on the actuating plate (7). The width of the seedling outlet (71) is greater than the width of the end of the seedling groove (21). The vehicle body (1) is provided with a seedling receiving groove (73) located directly below the end of the actuating plate (7). The seedling receiving groove (73) is provided with seedling receiving cavities (74) respectively opposite to the end of the outlet slit (72). A photoelectric sensor (8) is fixedly connected to the side of the pull-out slot (55), and a counter connected to the photoelectric sensor (8) is provided on the vehicle body (1).

2. An unmanned transplanter, comprising a vehicle body (1) and a planting mechanism (11) disposed at the end of the vehicle body (1), wherein a rotating seedling tray (12) is also disposed on the vehicle body (1) directly above the planting mechanism (11), characterized in that: It also includes a transplanting seedling tray (2), which includes multiple seedling troughs (21) arranged in an array. A seedling tray conveying mechanism (3) is provided on the vehicle body (1). A seedling grabbing mechanism (4) is slidably connected on the vehicle body (1) between the seedling tray conveying mechanism (3) and the transplanting seedling tray (2). The transplanting seedling tray (2) is set on the seedling tray conveying mechanism (3). The seedling tray conveying mechanism (3) conveys the seedling tray to the seedling grabbing mechanism (4). The seedling grabbing mechanism (4) grabs the seedlings on the seedling tray and puts them into the rotating seedling tray (12). The seedling tray conveying mechanism (3) includes two conveyor rollers (31) rotatably connected to the vehicle body (1) and a conveyor belt sleeved between the two conveyor rollers (31). The conveyor belt includes two belt loops (32) sleeved between the two conveyor rollers (31). A plurality of parallel conveyor rods (33) are fixedly connected between the two belt loops (32). A positioning gap (34) for inserting the seedling trough (21) is provided between two adjacent conveyor rods (33). A drive motor (35) for driving the conveyor rollers (31) to rotate is provided on the vehicle body (1). The transplanting tray (2) is made of flexible material. A guide cover (5) is fixedly connected to the vehicle body (1) at one end of the tray conveying mechanism (3) near the rotating tray (12). The end of the tray conveying mechanism (3) extends into the guide cover (5). A conveying gap (51) is provided between the guide cover (5) and the tray conveying mechanism (3) for the transplanting tray (2) to pass through. The transplanting tray (2) contacts the inner wall of the guide cover (5), restricting the transplanting tray (2) from leaving the conveying gap (51). The guide cover (5) is provided with an inlet (52) and an outlet (53), and a guide plate (54) is inclinedly provided on the inlet (52). The outer wall of the guide cover (5) is provided with a plurality of pull-out grooves (55) respectively arranged opposite to the seedling trough (21). The width of the pull-out groove (55) is greater than the diameter of the seedling stem and less than the width of the opening of the seedling trough (21). The pull-out groove (55) extends along the outer wall of the guide cover (5) to the inlet (52). The end of the pull-out groove (55) away from the inlet (52) is fixedly connected to a cutting blade (6) located on the side of the pull-out groove (55). The vehicle body (1) is provided with a receiving groove (61) located below the cutting blade (6). The receiving groove (61) is provided with a plurality of receiving cavities (62) respectively arranged opposite to the end of the cutting blade (6). A photoelectric sensor (8) is fixedly connected to the side of the pull-out slot (55), and a counter connected to the photoelectric sensor (8) is provided on the vehicle body (1).

3. An unmanned transplanter according to claim 1 or 2, characterized in that: The seedling gripping mechanism (4) includes a support frame (41) slidably connected to the vehicle body (1), a rotating shaft (411) rotatably connected to the support frame (41), and a plurality of gripping claws (412) fixedly connected to the rotating shaft (411) near the seedling tray conveying mechanism (3). A drive screw (42) is rotatably connected to the vehicle body (1), and the drive screw (42) is threadedly connected to the support frame (41). A servo motor (43) is fixedly connected to the vehicle body (1) to drive the drive screw (42) to rotate. A lifting motor (44) is fixedly connected to the support frame (41) to drive the rotating shaft (411) to rotate. The rotation of the drive screw (42) drives the support frame (41) to slide back and forth between the seedling tray conveying mechanism (3) and the transplanting seedling tray (2).

Images