Automatic seedling picking and seedling throwing device

Abstract

The invention discloses an automatic seedling picking and seedling throwing device, comprising a seedling hole tray for placing seedling bodies, a base and a funnel arranged at the front end of the base, the seedling hole tray is located at the front end of the funnel, a swinging movable frame is arranged on the top of the base, a supporting side plate 1 and a supporting side plate 2 are fixedly installed on the side of the base, a linear guide groove is arranged at the rear of the swinging movable frame, an arc guide groove and a longitudinal guide groove are arranged in the middle of the swinging movable frame, a clamping claw mounting plate is arranged at the front end of the swinging movable frame, and a clamping claw assembly is installed at the front end of the clamping claw mounting plate. Beneficial effects: the automatic seedling picking and seedling throwing work of a whole row of pot seedlings on the seedling hole tray is realized at one time, the control is simple and convenient, the design is ingenious, and no human intervention is required in the process, which greatly reduces the labor intensity, adopts continuous seedling picking and seedling planting, improves the transplanting efficiency, thereby reducing the processing cost, saving time, and improving the planting efficiency of agricultural production.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to an automatic seedling picking and planting device. Background Art

[0002] With the development of agricultural modernization, various fields of agriculture have been gradually mechanized, including the field of pot seedling planting. Nowadays, the mainstream transplanters are mostly semi-automatic transplanters and manual planting, but their labor efficiency is low, labor costs are high, and the degree of standardization is low. They cannot effectively play the advantages of standardized seedling cultivation, and cannot maximize the benefits for the people or enterprises, which is not conducive to the large-scale development of my country's agricultural vegetable industry.

[0003] According to Chinese patent CN202110428923.7, a seedling picking and throwing mechanism for an automatic transplanter is provided. The mechanism adopts a vertical seedling clamping method to grab the seedlings through the seedling picking component, and cooperates with the horizontal guide component to move and throw the seedling picking component to complete the seedling picking and throwing operation. However, in the process of picking seedlings, the probability of seedling leakage will increase when it is adapted to a high-speed transplanter, and in the process of transportation, there are many actions and it cannot operate continuously, resulting in insufficient continuity of the mechanism. Under multiple actions, it is easy to cause unstable clamping and flipping. Therefore, while replacing manual seedling picking and throwing and planting to realize unmanned automation, it is more necessary to increase the efficiency of seedling picking and throwing, and then it is necessary to solve the problems of unstable clamping, complex structure, and low efficiency caused by multiple transfer actions in the existing automatic seedling picking and throwing device. Summary of the invention

[0004] In view of the problems in the related technology, the present invention proposes an automatic seedling picking and planting device to overcome the above-mentioned technical problems existing in the existing related technology.

[0005] To this end, the specific technical solution adopted by the present invention is as follows:

[0006] The cam is provided with a support frame, and a support plate is fixedly mounted on the top of the cam, and a support plate one and a support plate two are fixedly mounted on the side of the cam, and a linear guide groove is provided on the rear portion of the cam, and an arc guide groove and a longitudinal guide groove are provided in the middle portion of the cam, and a crankshaft driven by a motor is rotatably mounted on the upper portion of the support plate one. The front and rear journals of the crankshaft pass through the arc guide groove and are movably connected to the arc guide groove. A connecting rod journal is provided at the end of the crankshaft arm of the crankshaft, and the end of the connecting rod journal exceeding the outer surface of the crankshaft arm is movably connected to the longitudinal guide groove. A fixed horizontal axis passing through the linear guide groove is provided on the upper portion of the support side plate two. A clamping claw mounting plate is provided at the front end of the cam

[0007] Furthermore, a fixed shaft is laterally arranged at the bottom front end of the rocking movable frame, and a connecting bracket is provided between the connecting rod journal and the fixed shaft. A sliding sleeve is slidably connected to the fixed shaft, and the radial portion of the sliding sleeve is hinged to one end of the displacement connecting rod. The fixed sleeve on the connecting rod journal is provided with an annular guide groove disk, and the side portion of the annular guide groove disk is provided with a concave and convex surface. The annular guide groove disk and the sliding sleeve are movably connected through a lever mechanism, and the front end intersection of the lever mechanism is connected to the auxiliary shaft wheel of the connecting bracket, and the displacement of the concave and convex surface is transferred to the axial displacement of the sliding sleeve on the fixed shaft by the lever mechanism, and the displacement connecting rod is radially extended and contracted to drive the receiving bracket to make the jaws of the clamping assembly open and close periodically.

[0008] Furthermore, a side rod is provided in the middle of the telescopic end of the connecting bracket, the auxiliary shaft wheel is located at the end of the side rod and is matched and connected with the intersection of the lever mechanism, and the ends of both ends of the connecting bracket are connected to the connecting rod journal and the fixed shaft through connecting sleeves.

[0009] Furthermore, a slide rail is provided at the bottom of the clamp mounting plate, the front end of the displacement connecting rod is hinged to one end of the receiving bracket, the bottom of one end of the receiving bracket is limited to displacement on the slide rail, and the other end of the receiving bracket is connected to the connecting rod on the clamp assembly.

[0010] Furthermore, the longitudinal guide groove is located in the middle of the inner side of the arc-shaped guide groove and is arranged crosswise with the arc-shaped guide groove, and its end is fixed on the swing movable frame.

[0011] Furthermore, the front and rear journals and the arc guide groove, the fixed transverse axis and the linear guide groove, and the connecting rod journal and the longitudinal guide groove are all connected by sliding limit-limiting auxiliary guide rings, the middle part of the limit-limiting auxiliary guide rings is a sliding groove, the limit-limiting auxiliary guide rings are fixedly connected to the front and rear journals, the fixed transverse axis and the connecting rod journal, and the front and rear journals of the crankshaft are connected to the supporting side plate through bearings.

[0012] Furthermore, the lever mechanism includes two adjusting links arranged crosswise in a scissor shape, and the adjusting links are telescopic structures. The intersection of the adjusting links is connected to the auxiliary shaft wheel, and the middle positioning cylinder end of the adjusting links is provided with a plurality of cams, and a return spring connected to the cams is provided between the two adjusting links, and the arc-shaped end clamp at the rear end of the adjusting links is embedded in the concave and convex surface of the annular guide groove disk, and the front end of the adjusting links is provided with a ball head connecting rod, and the ball head connecting rod is connected to the ball cap on the sliding sleeve, and the adjusting links are axially connected to the ball cap through the ball head connecting rod to enable the sliding sleeve to slide on the fixed shaft.

[0013] Furthermore, the clamp mounting plate is composed of a connecting plate and a U-shaped plate, the connecting plate and the U-shaped plate are an integrated connection structure, the connecting plate is fixedly connected to the swing movable frame by a plurality of bolts, the U-shaped plate is fixedly connected to the slide rail by welding, and the bottom of the supporting bracket slide rod is a sliding roller, which is slidably connected in the slide rail.

[0014] Furthermore, the clamping jaw assembly includes a plurality of fixed blocks which are arranged in sequence at the front end of the clamping jaw mounting plate, clamping parts are arranged on both sides of the front end of the fixed block, the fixed block and the clamping part are connected by connecting rod 1, connecting rod 2 and connecting rod 3, the two ends of connecting rod 1 and connecting rod 3 are connected to the fixed block and the clamping part by connecting rod 1, the middle part between connecting rod 1 and connecting rod 3 is connected by connecting rod 2, a triangular plate is arranged at the upper end of connecting rod 1, a connecting rod connected to the receiving bracket is arranged above the fixed block, and the middle part of the triangular plate is connected to the connecting rod by connecting rod 4.

[0015] Furthermore, a horizontal plate is arranged in the middle of the base, a suction cup type electromagnet 1 is arranged on the side of the horizontal plate, and a suction cup type electromagnet 2 is arranged on the corresponding side of the upper end of the supporting side plate 1 and the supporting side plate 2, and the suction cup type electromagnet 1 and the suction cup type electromagnet 2 are both connected to the swinging movable frame.

[0016] The invention provides an automatic seedling picking and throwing device, and its beneficial effects are as follows: the invention uses multiple suction cup electromagnets and a swinging movable frame to absorb and keep the device fixed and stationary, so that the entire device is in a stationary fixed state, thereby enabling the entire device to be stably placed when not in use, and the movement of the swinging movable frame is achieved through the drive of the motor and the cooperation of the crankshaft, so that the crankshaft drives the lever mechanism to link the clamping claw assembly to perform the seedling picking and throwing movement of the seedling hole tray, and the seedling picking and throwing movement is a continuous reciprocating trajectory movement in which the clamping claw assembly reaches the seedling hole tray to pick up the seedlings under the linkage of the crankshaft driving the lever mechanism, and then returns to the funnel along the original path to perform the seedling throwing action, thereby automatically picking up and throwing a whole row of multi-claws of the potted seedlings on the seedling hole tray at one time, the control is simple and convenient, the design is ingenious, and no human intervention is required during the process, which greatly reduces the labor intensity, adopts continuous seedling picking and throwing and planting, improves the transplanting efficiency, thereby reducing the processing cost, saving time, and improving the planting efficiency of agricultural production. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1It is a structural schematic diagram of an automatic seedling picking and seedling throwing device according to an embodiment of the present invention;

[0019] Figure 2 It is a schematic diagram of a base of an automatic seedling taking and dropping device according to an embodiment of the present invention;

[0020] Figure 3 is a top view of an automatic seedling picking and seedling throwing device according to an embodiment of the present invention;

[0021] Figure 4 2 is a schematic diagram of a swinging movable frame of an automatic seedling picking and dropping device according to an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of the connection of a lever mechanism of an automatic seedling picking and dropping device according to an embodiment of the present invention;

[0023] Figure 6 2 is a schematic diagram of a clamping claw assembly of an automatic seedling picking and dropping device according to an embodiment of the present invention;

[0024] Figure 7 2 is a schematic diagram of an annular guide groove plate of an automatic seedling picking and dropping device according to an embodiment of the present invention;

[0025] Figure 8 2 is a schematic diagram of an adjustment connecting rod of an automatic seedling taking and dropping device according to an embodiment of the present invention;

[0026] Fig. 9 The present invention is a schematic diagram of a seedling picking and planting process of an automatic seedling picking and planting device according to an embodiment of the present invention.

[0027] In the figure:

[0028] 1. Seedling hole tray; 2. Base; 3. Funnel; 4. Swinging movable frame; 5. Support side plate 1; 6. Support side plate 2; 7. Crankshaft; 8. Lever mechanism; 9. Clamping claw assembly; 10. Front and rear journals; 11. Fixed horizontal axis; 12. Connecting rod journal; 13. Arc guide groove; 14. Linear guide groove; 15. Horizontal plate; 16. Longitudinal guide groove; 17. Crankshaft arm; 18. Annular guide groove plate; 19. Fixed axis; 20. Sliding sleeve; 21. Connecting rod journal; 22. Connecting bracket; 22, auxiliary shaft wheel; 23, adjusting connecting rod; 24, reset spring; 25, ball cap; 26, ball head connecting rod; 27, clamping claw mounting plate; 28, slide rail; 29, receiving bracket; 30, suction cup type electromagnet 2; 31, displacement connecting rod; 32, fixing block; 33, clamping part; 34, connecting rod 1; 35, connecting rod 2; 36, connecting rod 3; 37, triangle plate; 38, linkage rod; 39, connecting rod 4; 40, suction cup type electromagnet 1. DETAILED DESCRIPTION

[0029] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention and are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in the field should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0030] According to an embodiment of the present invention, an automatic seedling picking and planting device is provided.

[0031] Embodiment 1:

[0032] like Figure 1-9 As shown, the automatic seedling taking and seedling throwing device according to the embodiment of the present invention includes a seedling hole tray 1 for placing seedling bodies, a base and a funnel 3 arranged at the front end of the base 2, the bottom of the funnel 3 corresponds to a plurality of axially rotating seedling separation cups, the seedling hole tray 1 is located at the front end of the funnel 3, the top of the base 2 is provided with a swinging movable frame 4, the side of the base 2 is fixedly installed with a supporting side plate 1 5 and a supporting side plate 2 6, the rear part of the swinging movable frame 4 is provided with a linear guide groove 14, the middle part of the swinging movable frame 4 is provided with an arc guide groove 13 and a longitudinal guide groove 16, the supporting side A crankshaft 7 driven by a motor is rotatably installed on the upper part of plate 15, and the front and rear journals 10 of the crankshaft 7 pass through the arc guide groove 13 and are movably connected with the arc guide groove 13. A connecting rod journal 12 is provided at the end of the crank arm 17 of the crankshaft 7, and the end of the connecting rod journal 12 extending beyond the outer surface of the crank arm 17 is movably connected with the longitudinal guide groove 16. A fixed horizontal axis 11 passing through the linear guide groove 14 is provided on the upper part of the supporting side plate 26, and a clamping jaw mounting plate 27 is provided at the front end of the swinging movable frame 4, and a clamping jaw assembly 9 is installed at the front end of the clamping jaw mounting plate 27.

[0033] The power is input from the motor from the driving input end to drive the front and rear journals 10 to move. At the same time, the suction cup type electromagnet 1 40 and the suction cup type electromagnet 2 30 are powered on and demagnetized to stop adsorbing the swing movable frame 4. As the front and rear journals 10 rotate counterclockwise, the front and rear journals 10 drive the crank arm 17 to rotate, and the narrow section of the crank arm 17 moves along the longitudinal guide groove 16 of the swing movable frame 4. At the same time, one end of the connecting rod journal 12 connected to the wide section of the crank arm 17 begins to move along the arc guide groove 13 of the swing movable frame 4, and the tail of the swing movable frame 4 begins to move along the linear guide groove 14 on the fixed horizontal axis 11. The swing movable frame 4 is lifted up as a whole and then performs a continuous reciprocating trajectory swinging motion returning along the original path. The movement of the swing movable frame 4 is realized by the drive of the motor and the cooperation of the crankshaft 7, so that the crankshaft 7 drives the lever mechanism 8 to link the clamping claw assembly 9 to perform the seedling picking and seedling throwing motion of the seedling hole tray 1. The seedling picking and seedling throwing motion is that the clamping claw assembly 9 reaches the seedling hole tray 1 to pick up the seedlings under the linkage of the crankshaft 7 and the lever mechanism 8, and then returns to the funnel 3 along the original path to perform the seedling throwing action. The continuous reciprocating trajectory motion realizes the automatic one-time seedling picking and seedling throwing work of a whole row of multi-claws on the seedling hole tray 1.

[0034] There are three clamping jaw assemblies 9, which can be increased or reduced according to demand. The clamping jaw assembly 9 can also perform periodic opening and closing operations through electric or pneumatic control.

[0035] Embodiment 2:

[0036] like Figure 1-9 As shown, a fixed shaft 19 is laterally arranged at the bottom of the front end of the swing movable frame 4, and a connecting bracket 21 is arranged between the connecting rod journal 12 and the fixed shaft 19. A sliding sleeve 20 is slidably connected to the fixed shaft 19, and the radial portion of the sliding sleeve 20 is hinged to one end of the displacement connecting rod 31. The fixed sleeve on the connecting rod journal 12 is provided with an annular guide groove disk 18, and the side of the annular guide groove disk 18 is provided with a concave and convex surface. The annular guide groove disk 18 and the sliding sleeve 20 are movably connected through a lever mechanism 8, and the front end intersection of the lever mechanism 8 is connected to the auxiliary shaft wheel 22 of the connecting bracket 21, and the displacement of the concave and convex surface is transferred to the axial displacement of the sliding sleeve 20 on the fixed shaft 19 by the lever mechanism 8, and the displacement connecting rod 31 is radially extended and retracted to drive the receiving bracket 29 to make the jaws of the jaw assembly 9 open and close periodically. A side rod is provided in the middle of the telescopic end of the connecting bracket 21, the auxiliary shaft wheel 22 is located at the end of the side rod and is connected with the intersection of the lever mechanism 8, and the ends of both ends of the connecting bracket 21 are connected with the connecting rod journal 12 and the fixed shaft 19 through the connecting sleeve. The bottom of the clamping jaw mounting plate 27 is provided with a slide rail 28, the front end of the displacement connecting rod 31 is hinged with one end of the receiving bracket 29, the bottom of one end of the receiving bracket 29 is limited to move on the slide rail 28, and the other end of the receiving bracket 29 is connected with the linkage rod 38 on the clamping jaw assembly 9.

[0037] When the front and rear journals 10 move, the annular guide groove plate 18 on the connecting rod journal 12 is driven to move, and the annular guide groove plate 18 drives the connecting bracket 21 to move. The connecting bracket 21 is an axial telescopic structure, which can be telescoped with the rotation of the crank arm 17 to ensure the movement of the connecting bracket 21. The adjusting connecting rod 23 rotates around the auxiliary shaft wheel 22 on the connecting bracket 21 in a scissor shape. Under the action of the reset spring 24, the adjusting connecting rod 23 is always kept in a clamped state. The upper end of the adjusting connecting rod 23 is embedded in the concave and convex surface of the annular guide groove plate 18, and the inner height of the guide groove of the annular guide groove plate 18 changes;

[0038] The rear end of the adjusting link 23 is always in contact with the high position inside the guide groove, and the displacement changes accordingly. Therefore, the adjusting link 23 rotates in an opening and closing manner around the auxiliary shaft wheel 22 on the connecting bracket 21. The adjusting link 23 is an axial telescopic structure, and the telescopic movement ensures that it moves together with the connecting bracket 21. The front end of the adjusting link 23 is connected to the ball head link 26, and the ball head link 26 is connected to the sliding sleeve 20. Therefore, when the adjusting link 23 is opening and closing, it will drive the sliding sleeve 20 to slide axially on the fixed shaft 19. The sliding sleeve 20 is hinged to the displacement link 31, and drives the displacement link 31 to move while sliding. The displacement link 31 is hinged to the sliding rod of the receiving bracket 29. The sliding rod makes a linear motion along the slide rail 28 driven by the displacement link 31 in the front and rear directions, and the sliding rod drives the receiving bracket 29 to move on the clamp mounting plate 27 during the sliding.

[0039] like Figure 1-9 As shown, the longitudinal guide groove 16 is located at the middle position of the inner side of the arc guide groove 13, and is arranged crosswise with the arc guide groove 13, and its end is fixed on the swing movable frame 4. The front and rear journals 10 and the arc guide groove 13, the fixed horizontal axis 11 and the linear guide groove 14, and the connecting rod journal 12 and the longitudinal guide groove 16 are all connected by sliding limit auxiliary guide rings, the middle part of the limit auxiliary guide ring is a sliding groove, and the limit auxiliary guide ring is fixedly connected to the front and rear journals 10, the fixed horizontal axis 11 and the connecting rod journal 12, and the front and rear journals 10 of the crankshaft 7 are connected to the supporting side plate 15 through bearings.

[0040] like Figure 1-9As shown, the lever mechanism 8 includes two adjusting links 23 arranged crosswise in a scissor shape, and the adjusting links 23 are telescopic structures. The intersection of the adjusting links 23 is connected to the auxiliary shaft wheel 22, and the middle positioning cylinder end of the adjusting links 23 is provided with a plurality of convex frames, and a return spring 24 connected to the convex frames is provided between the two adjusting links 23. The arc-shaped end clamp at the rear end of the adjusting links 23 is embedded in the concave and convex surface of the annular guide groove plate 18, and the front end of the adjusting links 23 is provided with a ball head connecting rod 26, which is connected to the ball cap 25 on the sliding sleeve 20. The adjusting links 23 are axially connected to the ball cap 25 through the ball head connecting rod 26 to enable the sliding sleeve 20 to slide on the fixed shaft 19. The clamp mounting plate 27 is composed of a connecting plate and a U-shaped plate, and the connecting plate and the U-shaped plate are an integrated connection structure. The connecting plate is fixedly connected to the swing movable frame 4 by a plurality of bolts, and the U-shaped plate is welded and fixedly connected to the slide rail 28. The bottom of the slide rod of the receiving bracket 29 is a sliding roller, and the sliding roller is slidably connected in the slide rail 28.

[0041] Embodiment three:

[0042] like Figure 1-9 As shown, the clamping jaw assembly 9 includes a plurality of fixed blocks 32 which are arranged in sequence at the front end of the clamping jaw mounting plate 27, and clamping portions 33 are arranged on both sides of the front end of the fixed block 32, and the fixed block 32 and the clamping portion 33 are connected by connecting rod 1 34, connecting rod 2 35 and connecting rod 3 36, and the two ends of the connecting rod 1 34 and the connecting rod 3 36 are connected to the fixed block 32 and the clamping portion 33 through a connecting shaft, and the middle parts of the connecting rod 1 34 and the connecting rod 3 36 are connected by connecting rod 2 35, and a triangular plate 37 is arranged at the upper end of the connecting rod 1 34, and a connecting rod 38 connected to the receiving bracket 29 is arranged above the fixed block 32, and the middle part of the triangular plate 37 is connected to the connecting rod 38 through connecting rod 4 39.

[0043] The connecting rod 1 34, the clamping connecting rod 2 35 and the triangular plate 37 are respectively hinged to the clamping claw fixing block 32 and the clamping part 33, the connecting rod 36 is hinged to the connecting rod 1 34 and the clamping connecting rod 25, and the connecting rod 4 39 is respectively hinged to the receiving bracket 29 and the triangular plate 37. Since the receiving bracket 29 is connected to the sliding rod of the receiving bracket 29, the sliding rod drives the receiving bracket 29 to move in a straight line when it moves in a straight line, and the receiving bracket 29 drives the connecting rod 4 39 to move, the connecting rod 4 39 drives the triangular plate 37 to move, and the triangular plate 37 drives the clamping part 33 to move, so that the clamping claw opens and closes in this reciprocating manner, and then the action of taking or throwing seedlings is realized in the opening and closing. The clamping claw fixing block 32 is installed on the swinging movable frame 4, so it accompanies the fuselage to make an arc movement throughout the whole process, and then according to the height difference of the guide groove of the annular guide groove, the action of closing / opening the clamping claw at the predetermined position is finally realized to realize taking or throwing seedlings.

[0044] Embodiment 4:

[0045] like Figure 1-9 As shown, a transverse plate 15 is arranged in the middle of the base 2, a suction cup type electromagnet 1 40 is arranged on the side of the transverse plate 15, and a suction cup type electromagnet 2 30 is arranged on the corresponding side of the upper end of the supporting side plate 1 5 and the supporting side plate 2 6, and the suction cup type electromagnet 1 40 and the suction cup type electromagnet 2 30 are both connected to the swing movable frame 4.

[0046] The suction cup type electromagnet 1 40 and the suction cup type electromagnet 2 30 are powered on and demagnetized in the power-off adsorption state, the swing movable frame 4 is adsorbed and fixed, and the whole device is in a static fixed state. When powered on, the adsorption is directly cancelled and the motion state is performed.

[0047] In actual application, when the system is not in operation, the suction cup type electromagnet 1 40 and the suction cup type electromagnet 2 30 are powered on and demagnetized to be in the power-off adsorption state, the swing movable frame 4 is adsorbed and fixed, and the whole device is in a static fixed state; when it is necessary to take out the seedlings and throw the seedlings, the power is input from the driving input end by the motor to drive the front and rear journals 10 to move, and at the same time, the suction cup type electromagnet 1 40 and the suction cup type electromagnet 2 30 are powered on and demagnetized to stop adsorbing the swing movable frame 4, and as the front and rear The journal 10 rotates counterclockwise, and the front and rear journals 10 drive the crank arm 17 to rotate. The narrow section of the crank arm 17 moves along the longitudinal guide groove 16 of the swing movable frame 4. At the same time, one end of the connecting rod journal 12 connected to the wide section of the crank arm 17 begins to move along the arc guide groove 13 of the swing movable frame 4, and the tail of the swing movable frame 4 begins to move along the linear guide groove 14 on the fixed horizontal axis 11, so that the swing movable frame 4 is lifted up as a whole and then performs a continuous reciprocating trajectory swing motion along the original path.

[0048] When the front and rear journals 10 move, the annular guide groove plate 18 on the connecting rod journal 12 is driven to move, and the annular guide groove plate 18 drives the connecting bracket 21 to move. The connecting bracket 21 is an axial telescopic structure, which can be telescoped with the rotation of the crank arm 17 to ensure the movement of the connecting bracket 21. The adjusting connecting rod 23 rotates around the auxiliary shaft wheel 22 on the connecting bracket 21 in a scissor shape. Under the action of the return spring 24, the adjusting connecting rod 23 always keeps the clamping state, and the upper end of the adjusting connecting rod 23 is embedded in the high and low position guide groove of the annular guide groove plate 18. With the change of the internal high position of the guide groove of the annular guide groove plate 18, the rear end of the adjusting connecting rod 23 is always in contact with the high position inside the guide groove, and the displacement changes accordingly. The auxiliary shaft wheel 22 on the connecting bracket 21 is opened and closed and rotated. The adjusting link 23 is an axial telescopic structure, and the telescopic movement ensures that it moves with the connecting bracket 21. The front end of the adjusting link 23 is connected to the ball head link 26, and the ball head link 26 is connected to the sliding sleeve 20. Therefore, when the adjusting link 23 is opened and closed, it will drive the sliding sleeve 20 to slide axially on the fixed shaft 19. The sliding sleeve 20 is hinged with the displacement link 31, and drives the displacement link 31 to move while sliding. The displacement link 31 is hinged with the slide rod of the receiving bracket 29. The slide rod moves linearly along the slide rail 28 under the drive of the displacement link 31. The slide rod drives the receiving bracket 29 to move on the clamp mounting plate 27 during the sliding process.

[0049] like Figure 6 As shown, connecting rod 1 34, clamping connecting rod 2 35 and triangular plate 37 are respectively hinged to clamping claw fixing block 32 and clamping part 33, connecting rod 36 is hinged to connecting rod 1 34 and clamping connecting rod 2 35, and connecting rod 4 39 is respectively hinged to receiving bracket 29 and triangular plate 37. Since receiving bracket 29 is connected with sliding rod, sliding rod drives receiving bracket 29 to move linearly when making linear motion, receiving bracket 29 drives connecting rod 4 39 to move, connecting rod 4 39 drives triangular plate 37 to move, and triangular plate 37 drives clamping part 33 to move, so as to realize opening and closing of clamping claw, and then realize the action of taking out seedlings and throwing seedlings in the opening and closing process. Clamping claw fixing block 32 is installed on the swinging movable frame 4, so it accompanies the upper arc motion of the fuselage throughout the process, and finally realizes the action of closing / opening the clamping claw at the predetermined position, realizes taking out seedlings / throwing seedlings, and preferably enters into the funnel 3 and enters into the bottom corresponding to several axially rotating seedling separation cups.

[0050] The hopper 3 is a movable frame 7 which is used for planting, and the hopper 3 is a movable frame 7 which is used for planting.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic seedling picking and seedling dropping device, comprising a seedling plug tray (1) for placing seedling bodies, a base, and a funnel (3) arranged at the front end of the base (2), wherein the seedling plug tray (1) is located at the front end of the funnel (3), and is characterized in that: A swing movable frame (4) is arranged on the top of the base (2), a supporting side plate 1 (5) and a supporting side plate 2 (6) are fixedly mounted on the side of the base (2), a linear guide groove (14) is arranged at the rear of the swing movable frame (4), an arc guide groove (13) and a longitudinal guide groove (16) are arranged at the middle of the swing movable frame (4), a crankshaft (7) driven by a motor is rotatably mounted on the upper part of the supporting side plate 1 (5), and the front and rear journals (10) of the crankshaft (7) pass through the arc guide groove (13) and are movably connected to the arc guide groove (13). The crank arm (17) of the crankshaft (7) is provided with a connecting rod journal (12) at its end, the end of the connecting rod journal (12) extending beyond the outer surface of the crank arm (17) is movably connected to the longitudinal guide groove (16), the upper portion of the second supporting side plate (6) is provided with a fixed transverse axis (11) passing through the linear guide groove (14), the front end of the swing movable frame (4) is provided with a clamping claw mounting plate (27), the front end of the clamping claw mounting plate (27) is provided with a clamping claw assembly (9), the front end bottom of the swing movable frame (4) is provided with a fixed axis (19) transversely, and the connecting rod journal (12) is provided with a fixed axis (19) at the bottom of the front end. A connecting bracket (21) is provided between the neck (12) and the fixed shaft (19), a sliding sleeve (20) is slidably connected to the fixed shaft (19), a radial portion of the sliding sleeve (20) is hinged to one end of the displacement connecting rod (31), an annular guide groove disk (18) is provided on the fixed sleeve on the connecting rod journal (12), a concave-convex surface is provided on the side of the annular guide groove disk (18), the annular guide groove disk (18) and the sliding sleeve (20) are movably connected via a lever mechanism (8), and the front end of the lever mechanism (8) is intersected with the auxiliary shaft wheel (20) of the connecting bracket (21). 2) connection, the displacement of the concave-convex surface is transferred by the lever mechanism (8) to the axial displacement of the sliding sleeve (20) on the fixed shaft (19), and the displacement connecting rod (31) is radially extended and retracted to drive the receiving bracket (29) to make the clamping jaws of the clamping jaw assembly (9) open and close periodically, a side rod is provided in the middle of the telescopic end of the connecting bracket (21), the auxiliary shaft wheel (22) is located at the end of the side rod and is matched and connected with the intersection of the lever mechanism (8), and the end portions of the connecting bracket (21) are connected to the connecting rod journal (12) and the fixed shaft (19) through connecting sleeves.

2. The automatic seedling taking and seedling throwing device according to claim 1 is characterized in that: A slide rail (28) is provided at the bottom of the clamping jaw mounting plate (27), the front end of the displacement connecting rod (31) is hinged to one end of a receiving bracket (29), the bottom of one end of the receiving bracket (29) is limited to displacement on the slide rail (28), and the other end of the receiving bracket (29) is connected to a linkage rod (38) on the clamping jaw assembly (9).

3. The automatic seedling taking and seedling throwing device according to claim 1 is characterized in that: The longitudinal guide groove (16) is located at the middle position of the inner side of the arc-shaped guide groove (13) and is arranged to cross the arc-shaped guide groove (13), and its end is fixed on the swing movable frame (4).

4. The automatic seedling taking and seedling throwing device according to claim 1 is characterized in that: The front and rear journals (10) and the arc guide groove (13), the fixed transverse axis (11) and the linear guide groove (14), and the connecting rod journal (12) and the longitudinal guide groove (16) are all connected by sliding limit-limiting auxiliary guide rings, the middle part of the limit-limiting auxiliary guide ring is a sliding groove, the limit-limiting auxiliary guide ring is fixedly connected to the front and rear journals (10), the fixed transverse axis (11) and the connecting rod journal (12), and the front and rear journals (10) of the crankshaft (7) are connected to the supporting side plate (5) through bearings.

5. The automatic seedling taking and seedling throwing device according to claim 1 is characterized in that: The lever mechanism (8) comprises two adjusting links (23) arranged crosswise in a scissor shape. The adjusting links (23) are of a telescopic structure. The intersection of the adjusting links (23) is connected to the auxiliary shaft wheel (22). The middle positioning cylinder end of the adjusting links (23) is provided with a plurality of cams. A return spring (24) connected to the cams is provided between the two adjusting links (23). The arc-shaped end clamp at the rear end of the adjusting links (23) is embedded in the concave and convex surface of the annular guide groove plate (18). The front end of the adjusting links (23) is provided with a ball head connecting rod (26). The ball head connecting rod (26) is connected to the ball cap (25) on the sliding sleeve (20). The adjusting links (23) are axially connected to the ball cap (25) through the ball head connecting rod (26) so that the sliding sleeve (20) slides on the fixed shaft (19).

6. The automatic seedling taking and seedling throwing device according to claim 1 is characterized in that: The clamping jaw mounting plate (27) is composed of a connecting plate and a U-shaped plate, wherein the connecting plate and the U-shaped plate are an integrally connected structure, wherein the connecting plate is fixedly connected to the swing movable frame (4) by a plurality of bolts, and the U-shaped plate is fixedly connected to the slide rail (28) by welding, and the bottom of the slide rod of the receiving bracket (29) is a sliding roller, and the sliding roller is slidably connected in the slide rail (28).

7. The automatic seedling taking and seedling throwing device according to claim 1 is characterized in that: The clamping jaw assembly (9) comprises a plurality of fixed blocks (32) arranged in sequence at the front end of the clamping jaw mounting plate (27), a clamping portion (33) is arranged on both sides of the front end of the fixed block (32), the fixed block (32) and the clamping portion (33) are connected via a connecting rod 1 (34), a connecting rod 2 (35) and a connecting rod 3 (36), the two ends of the connecting rod 1 (34) and the connecting rod 3 (36) are connected to the fixed block (32) and the clamping portion (33) via a connecting shaft, the middle part between the connecting rod 1 (34) and the connecting rod 3 (36) is connected via a connecting rod 2 (35), a triangular plate (37) is arranged at the upper end of the connecting rod 1 (34), a connecting rod (38) connected to the receiving bracket (29) is arranged above the fixed block (32), and the middle part of the triangular plate (37) is connected to the connecting rod (38) via a connecting rod 4 (39).

8. The automatic seedling taking and seedling throwing device according to claim 1 is characterized in that: A transverse plate (15) is arranged between the middle parts of the base (2), a suction cup type electromagnet (1) (40) is arranged on the side of the transverse plate (15), and a suction cup type electromagnet (2) (30) is arranged on the corresponding side of the upper ends of the supporting side plate (5) and the supporting side plate (6), and the suction cup type electromagnet (1) (40) and the suction cup type electromagnet (2) (30) are both connected to the swing movable frame (4).

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