A clamping stem type seedling taking end effector and transplanting device

Abstract

The application provides a kind of clamping stem type seedling taking end effector and transplanting device, including seedling taking frame, seedling taking claw piece, first seedling taking claw piece mounting rod, second seedling taking claw piece mounting rod, seedling taking device fixing shaft;The structure of the seedling taking end effector is optimized, the vibration is reduced, the seedling taking speed and the seedling taking success rate are improved, and the processing and manufacturing and the maintenance cost in later period are reduced.The seedling taking speed is accelerated relative to the traditional clamping bowl type seedling taking;Relative to the fact that most seedling taking devices need to feed once or more times in the transverse direction of plug to complete the seedling taking and planting action of a row of plug seedlings, the transverse movement of seedling taking claw piece can be realized by driving motor, the transverse feeding action of plug is reduced, and the vibration is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of plug seedling taking, and particularly relates to a stem-clamping type plug seedling taking end effector and a transplanting device. BACKGROUND

[0002] Transplanting is a key step in the production of many crops, and high-speed transplanting efficiency is a key link for expanding production and planting scale. The damage state of plug seedlings by humans or machines during transplanting determines the pros and cons of the growth state of seedlings in the later period. At present, most of the vegetable transplanting in China adopts semi-automatic mechanized planting or manual planting. The developed plug seedling taking device still has problems such as poor mechanical structure, complicated control system, and inconvenience for later maintenance and use.

[0003] For the research on plug seedling taking device, most of the researches at home and abroad are concentrated on the clamping-pot type plug seedling taking device, and the taking speed is low, generally 70 plants per minute. Although a few clamping-stem type plug seedling taking devices have higher taking speed, they still have problems such as complex main mechanism, obvious vibration of the mechanism when the taking speed is improved, and too few seedlings taken at a time. In addition, in the plug seedling taking device, the plug seedling taking claw needs to be fed horizontally by the related plug tray feeding device to complete the taking of plug seedlings in a row. The mechanical structure and control program are complex, the overall weight is large, and the horizontal reciprocating movement of the plug tray feeding device increases the vibration, thereby reducing the success rate of plug seedling taking.

[0004] In the Journal of Agricultural Engineering, Vol. 36, No. 21, a clamping-stem type plug seedling taking mechanism is designed. The mechanism realizes the clamping and taking action by the cooperation of the second-order planetary gear and the planetary carrier. However, the mechanical structure of the device is too complex, and the vibration of the mechanism is obvious when the taking speed is improved, thereby reducing the success rate of plug seedling taking. In the Journal of Agricultural Engineering, Vol. 31, No. 23, an automatic plug seedling taking mechanism is designed. The mechanism realizes the taking and planting action by the cooperation of the planetary gear and the connecting rod, and controls the taking trajectory by the slide. The plug seedling taking claw of the mechanism adopts the clamping needle, which sometimes fails to clamp the plug pot. In addition, the vibration of the taking mechanism is obvious, and the success rate of plug seedling taking is obviously reduced when the taking speed is improved. Patent CN207099652U proposes an automatic transplanting machine with an integral plug seedling taking mechanism. The plug seedling taking mechanism is designed based on the clamping-pot type plug seedling taking method, and the plug seedling taking claw of the whole plug seedling taking mechanism is driven by a single motor. The plug seedling taking clamp body is too long to deform easily, and the mechanical space structure is not compact enough. Patent CN206498675U designs a plug seedling taking device of an automatic transplanting machine. The plug seedling taking mechanism is designed by the clamping-stem type plug seedling taking method, but only one seedling is taken at a time, and the plug seedling taking efficiency is too low.

[0005] In summary, the existing clamp type seedling taking device has the problems of low seedling taking speed, complex mechanical structure of the stem clamping type seedling taking end effector, high processing and maintenance cost, and serious reduction of seedling taking success rate caused by vibration when improving the seedling taking speed. SUMMARY

[0006] To solve the above technical problems, the application provides a stem clamping type seedling taking end effector and a transplanting device, which optimizes the structure of the seedling taking end effector, reduces vibration, improves seedling taking speed and success rate, and reduces processing and maintenance cost.

[0007] Note that the description of these objects does not hinder the existence of other objects. The objects other than the above-mentioned objects can be extracted from the description, drawings and claims.

[0008] The application achieves the above technical objects through the following technical means.

[0009] A stem clamping type seedling taking end effector, comprising a seedling taking frame, seedling taking claws, a first seedling taking claw mounting rod, a second seedling taking claw mounting rod, and a seedling taking device fixing shaft.

[0010] The first seedling taking claw mounting rod and the second seedling taking claw mounting rod are respectively provided with seedling taking claws; one end of the first seedling taking claw mounting rod is connected with a first seedling taking claw cylinder, and one end of the second seedling taking claw mounting rod is connected with a second seedling taking claw cylinder; the first seedling taking claw cylinder is installed on a first seedling taking claw cylinder mounting plate, and the second seedling taking claw cylinder is installed on a second seedling taking claw cylinder mounting plate; the other end of the first seedling taking claw mounting rod is slidably connected with the second seedling taking claw cylinder mounting plate; the other end of the second seedling taking claw mounting rod is slidably connected with the first seedling taking claw cylinder mounting plate; the seedling taking claws on the first seedling taking claw mounting rod and the seedling taking claws on the second seedling taking claw mounting rod are staggered; under the driving of the first seedling taking claw cylinder and the second seedling taking claw cylinder, each two adjacent seedling taking claws form a seedling taking unit.

[0011] The first seedling taking claw cylinder mounting plate and the second seedling taking claw cylinder mounting plate are respectively installed on the seedling taking device fixing shaft; and the seedling taking device fixing shaft is installed on the seedling taking frame.

[0012] In the above scheme, a driving mechanism is further included; the driving mechanism drives the seedling taking device fixing shaft to reciprocate left and right on the seedling taking frame.

[0013] Further, the driving mechanism comprises a driving motor, an eccentric wheel disc and a shaft rod.

[0014] The two ends of the seedling taking device fixing shaft are respectively installed on the seedling taking frame through the seedling taking frame mounting plates; the output end of the driving motor is connected with the eccentric wheel disc, the eccentric wheel disc is connected with the ball pair at one end of the shaft rod, and the other end of the shaft rod is connected with the ball pair of the seedling taking frame mounting plate on one side, so that the seedling taking device fixing shaft can be driven to reciprocate left and right.

[0015] Further, the output shaft of the driving motor is connected with the eccentric wheel disc through a shaft coupling.

[0016] In the above scheme, flanges are arranged at the connection between the eccentric wheel disc and the shaft rod, and flanges are arranged at the connection between the shaft rod and the seedling taking frame mounting plate.

[0017] In the above scheme, the seedling taking frame comprises first and second support sliding light shafts, first and second light shaft support plates;

[0018] The first and second support sliding light shafts are oppositely arranged and respectively pass through the seedling taking frame mounting plates at the two ends of the seedling taking device fixing shaft, the first light shaft support plate is installed at one end of the first and second support sliding light shafts, and the second light shaft support plate is installed at the other end of the first and second support sliding light shafts.

[0019] In the above scheme, guide rails are arranged on the first and second seedling taking claw cylinder mounting plates, and sliding blocks are arranged on the guide rails; the other end of the first seedling taking claw piece mounting rod is connected with the sliding block on the second seedling taking claw cylinder mounting plate; and the other end of the second seedling taking claw piece mounting rod is connected with the sliding block on the first seedling taking claw cylinder mounting plate.

[0020] In the above scheme, one end of the first seedling taking claw piece mounting rod is detachably connected with the first seedling taking claw cylinder, one end of the second seedling taking claw piece mounting rod is detachably connected with the second seedling taking claw cylinder, the other end of the first seedling taking claw piece mounting rod is detachably connected with the second seedling taking claw cylinder mounting plate, and the other end of the second seedling taking claw piece mounting rod is detachably connected with the first seedling taking claw cylinder mounting plate.

[0021] In the above scheme, the first and second seedling taking claw cylinder mounting plates are respectively installed on the seedling taking device fixing shaft through clamps.

[0022] A kind of transplanting machine, including the stem clamping type seedling taking end effector.

[0023] Compared with the prior art, the beneficial effects of the present application are:

[0024] The structure of the seedling taking end effector is optimized, vibration is reduced, seedling taking speed and seedling taking success rate are improved, and manufacturing and maintenance costs in later period are reduced.

[0025] The present application adopts the whole row of stem clamping seedling taking mode, and can take multiple seedlings at one time, greatly improving the seedling taking speed; the rotary motion of the driving motor is converted into the left and right reciprocating motion of the seedling taking device fixing shaft, which ingeniously reduces the lateral movement of the matched plug tray feeding device, and is of great significance for the seedling taking device which needs multiple lateral feeding of the plug tray to complete the seedling taking action of one row of plug seedlings, and the lifting mechanism motion speed realizes the improvement of the seedling taking speed.

[0026] The present application adopts the clamp to fixedly connect the whole seedling taking device below on the seedling taking device fixing shaft, and since the clamp is designed to be movable and can be designed to be of different sizes of seedling taking claw mounting racks according to different plug trays, and is matched with corresponding number of seedling taking claw pieces, the seedling taking and transplanting work of different specifications of plug trays is realized, so that the present application has great flexibility and wide application range.

[0027] The eccentric shaft designed in the present application converts the rotary motion of the driving motor into the reciprocating linear motion of the seedling taking device fixing shaft through the driving shaft rod and the seedling taking frame mounting plate, can align the seedling taking claw pieces with the plug seedlings to be taken, and reduces the interval seedling taking of the current existing plug tray feeding device matched with the seedling taking claw, which needs to feed the plug tray laterally after the seedling taking claw completes the next seedling taking action, and the present application only needs to feed the plug tray vertically.

[0028] The seedling taking claw mounting plate designed in the present application adopts the sheet metal folding mode to make the two planes of the seedling taking claw cylinder and the guide rail mounting parallel, so that the two seedling taking claw mounting racks are parallel mounted, one end of the two seedling taking claw mounting racks is connected by the seedling taking claw cylinder, and the other end is connected and supported by the slider on the guide rail, the seedling taking claw reciprocates left and right, only two seedling taking claw cylinders are needed to control the opening and closing action of multiple seedling taking claw pieces, and the design mode makes the space of the whole device more compact.

[0029] The installation positions of the two seedling taking claw pieces mounting rods and the seedling taking claw pieces are that the inner side seedling taking claw piece mounting rod is parallel to the rear side of the seedling taking claw piece, and the outer side seedling taking claw piece mounting rod is coincided with the front vertical side of the seedling taking claw piece, and the staggered installation mode is adopted, so that the assembly of the two seedling taking claw piece mounting rods ensures the parallel of the upper surfaces, and ensures that the seedling taking claw pieces accurately clamp the plug seedlings.

[0030] Note that the description of these effects does not hinder the existence of other effects. Effects other than the above can be obvious from the description, drawings, claims, etc. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is an isometric view of the overall structure of an embodiment of the present application;

[0032] Figure 2 is a front view of the overall structure of an embodiment of the present application;

[0033] Figure 3 is an isometric view of a drive axle shaft of an embodiment of the present application;

[0034] Figure 4 is a top view of a drive axle shaft of an embodiment of the present application;

[0035] Figure 5 is a schematic view of a second seedling taker blade mounting rod and a seedling taker blade mounting position of an embodiment of the present application;

[0036] Figure 6 is a schematic view of a first seedling taker blade mounting rod and a seedling taker blade mounting position of an embodiment of the present application;

[0037] Figure 7 is an isometric view of a seedling taker cylinder mounting plate of an embodiment of the present application;

[0038] Figure 8 is an isometric view of a mounting clamp of an embodiment of the present application;

[0039] Figure 9 is a schematic view of a drive shaft rod of an embodiment of the present application;

[0040] Figure 10 is a schematic view of a first seedling holder mounting plate of an embodiment of the present application;

[0041] Figure 11 is a schematic view of a flange plate of an embodiment of the present application;

[0042] Figure 12 is a schematic view of a seedling taker blade opening of an embodiment of the present application;

[0043] Figure 13 is a schematic view of a seedling taker blade closing of an embodiment of the present application.

[0044] Reference numerals in the drawings: 1. drive motor, 2. coupling, 3. first support sliding optical shaft, 4. first seedling holder mounting plate, 5. second support sliding optical shaft, 6. second seedling holder mounting plate, 7. first optical shaft support plate, 8. second optical shaft support plate, 9. shaft rod, 10. flange plate, 11. eccentric shaft, 12. clamp, 13. first seedling taker cylinder mounting plate, 14. first seedling taker cylinder, 15. second seedling taker cylinder, 16. first seedling taker cylinder connecting piece, 17. first seedling taker blade mounting rod, 18. second seedling taker blade mounting rod, 19. seedling taker blade, 20. second seedling taker cylinder connecting piece, 21. second support, 22. sliding block, 23. guide rail, 24. first support, 25. seedling taker device fixing shaft, 26. second seedling taker cylinder mounting plate. DETAILED DESCRIPTION

[0045] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein like or similar elements are denoted by the same or similar reference signs throughout the drawings. The embodiments described below are exemplary, and are intended to explain the present application, and are not to be understood as limiting the present application.

[0046] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0047] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] Example 1

[0049] Figure 1A preferred embodiment of the clip stem type seedling taking end effector is shown, which comprises a seedling taking frame, seedling taking claw pieces 19, a first seedling taking claw piece mounting rod 17, a second seedling taking claw piece mounting rod 18, and a seedling taking device fixing shaft 25. The first seedling taking claw piece mounting rod 17 and the second seedling taking claw piece mounting rod 18 are respectively provided with seedling taking claw pieces 19. One end of the first seedling taking claw piece mounting rod 17 is connected with a first seedling taking claw cylinder 14, and one end of the second seedling taking claw piece mounting rod 18 is connected with a second seedling taking claw cylinder 15. The first seedling taking claw cylinder 14 is mounted on a first seedling taking claw cylinder mounting plate 13, and the second seedling taking claw cylinder 15 is mounted on a second seedling taking claw cylinder mounting plate 26. The other end of the first seedling taking claw piece mounting rod 17 is in sliding connection with the second seedling taking claw cylinder mounting plate 26, and the other end of the second seedling taking claw piece mounting rod 18 is in sliding connection with the first seedling taking claw cylinder mounting plate 13. The seedling taking claw pieces 19 on the first seedling taking claw piece mounting rod 17 are staggered with the seedling taking claw pieces 19 on the second seedling taking claw piece mounting rod 18. Under the driving of the first seedling taking claw cylinder 14 and the second seedling taking claw cylinder 15, each two adjacent seedling taking claw pieces 19 form a seedling taking unit. The first seedling taking claw cylinder mounting plate 13 and the second seedling taking claw cylinder mounting plate 26 are respectively mounted on the seedling taking device fixing shaft 25. The seedling taking device fixing shaft 25 is mounted on the seedling taking frame.

[0050] Further comprising a driving mechanism; the driving mechanism drives the seedling taking device fixing shaft 25 to reciprocate left and right on the seedling taking frame. According to an embodiment of the present application, preferably, the driving mechanism comprises a driving motor 1, an eccentric wheel disc 11 and a shaft rod 9.

[0051] The two ends of the seedling taking device fixing shaft 25 are respectively mounted on the seedling taking frame through seedling taking frame mounting plates. The output end of the driving motor 1 is connected with the eccentric wheel disc 11, the eccentric wheel disc 11 is connected with one end of the shaft rod 9 through a spherical pair, and the other end of the shaft rod 9 is connected with the seedling taking frame mounting plate on one side through a spherical pair, so as to drive the seedling taking device fixing shaft 25 to reciprocate left and right.

[0052] The output shaft of the driving motor 1 is connected with the eccentric wheel disc 11 through a shaft coupling 2.

[0053] According to an embodiment of the present application, a flange disc 10 is arranged at the connection between the eccentric wheel disc 11 and the shaft rod 9, and a flange disc 10 is arranged at the connection between the shaft rod 9 and the seedling taking frame mounting plate. Threaded holes are arranged on the flange discs 10, and bolts are used to connect the flange discs 10 with the seedling taking frame mounting plate and the eccentric wheel disc 11.

[0054] Specifically, the seedling taking frame mounting plate includes a first seedling taking frame mounting plate 4 and a second seedling taking frame mounting plate 6; the driving motor 1 is connected with one end of the driving wheel shaft 11 through the shaft coupling 2, the other end of the driving wheel shaft 11 is movably connected with one end of the driving shaft 9 through a ball joint, the other end of the driving shaft 9 is connected with the first seedling taking frame mounting plate 4, and the first seedling taking frame mounting plate 4 and the second seedling taking frame mounting plate 6 are respectively connected with two ends of the seedling taking device fixing shaft 25.

[0055] According to an embodiment of the present application, the seedling taking frame includes a first support sliding optical axis 3, a second support sliding optical axis 5, a first optical axis support plate 7 and a second optical axis support plate 8; the first support sliding optical axis 3 and the second support sliding optical axis 5 are oppositely arranged and respectively pass through the seedling taking frame mounting plate at two ends of the seedling taking device fixing shaft 25, the first optical axis support plate 7 is installed at one end of the first support sliding optical axis 3 and the second support sliding optical axis 5, and the second optical axis support plate 8 is installed at the other end of the first support sliding optical axis 3 and the second support sliding optical axis 5.

[0056] According to an embodiment of the present application, the first seedling taking claw cylinder mounting plate 13 and the second seedling taking claw cylinder mounting plate 26 are respectively provided with guide rails 23, and the guide rails 23 are provided with sliding blocks 22; the other end of the first seedling taking claw piece mounting rod 17 is connected with the sliding block 22 on the second seedling taking claw cylinder mounting plate 26; and the other end of the second seedling taking claw piece mounting rod 18 is connected with the sliding block 22 on the first seedling taking claw cylinder mounting plate 13.

[0057] According to an embodiment of the present application, one end of the first seedling taking claw piece mounting rod 17 is detachably connected with the first seedling taking claw cylinder 14, and one end of the second seedling taking claw piece mounting rod 18 is detachably connected with the second seedling taking claw cylinder 15; the other end of the first seedling taking claw piece mounting rod 17 is detachably connected with the second seedling taking claw cylinder mounting plate 26; and the other end of the second seedling taking claw piece mounting rod 18 is detachably connected with the first seedling taking claw cylinder mounting plate 13.

[0058] According to an embodiment of the present application, the first seedling taking claw cylinder mounting plate 13 and the second seedling taking claw cylinder mounting plate 26 are respectively installed on the seedling taking device fixing shaft 25 through the clamps 12; preferably, the clamps 12 are detachably installed on the seedling taking device fixing shaft 25; further, the upper part of the clamp 12 is installed on the seedling taking device fixing shaft 25 through a bolt, and the lower part is connected with the seedling taking claw cylinder mounting plate 13 and 26.

[0059] According to an embodiment of the present application, the first seedling taking claw cylinder 14 is connected with the first seedling taking claw cylinder mounting plate 13 through a bolt, and the second seedling taking claw cylinder 15 is connected with the second seedling taking claw cylinder mounting plate 26 through a bolt; and the seedling taking claw pieces 19 are equidistantly welded on the first seedling taking claw piece mounting rod 17 and the second seedling taking claw piece mounting rod 18.

[0060] According to an embodiment of the present application, a controller is further included, which is connected with the driving motor 1.

[0061] According to an embodiment of the present application, the relative installation position of the first seedling taking claw piece mounting rod 17 and the seedling taking claw piece 19 is that the seedling taking claw pieces 19 are equidistantly installed on the first seedling taking claw piece mounting rod 17, and the relative welding position is that the front ends of the seedling taking claw pieces 19 are parallel to the front vertical surface of the first seedling taking claw piece mounting rod 17.

[0062] According to an embodiment of the present application, the relative installation position of the second seedling taking claw piece mounting rod 18 and the seedling taking claw piece 19 is that the seedling taking claw pieces 19 are equidistantly fixedly installed on the second seedling taking claw piece mounting rod 18, and the relative welding position is that the rear end surface of the first seedling taking claw piece mounting rod 17 is parallel to the rear vertical surface of the second seedling taking claw piece mounting rod 18.

[0063] According to an embodiment of the present application, the eccentric wheel disc 11 is provided with a shaft shoulder, which is positioned and installed on the first seedling taking claw piece mounting rod 17, and the ball pair movement part connected with the shaft rod 9 is located on the eccentric circle of the eccentric wheel disc 11.

[0064] The rotary movement of the driving motor 1 is converted into the left-right reciprocating movement of the whole seedling taking claw piece 19 through the mutual cooperation movement of the eccentric wheel disc 11 and the shaft rod 9, which reduces the driving plug tray horizontal movement of the plug tray feeding device matched with the whole device, and the adjustable performance of the movement of the driving motor 1 makes the seedling taking flexibility of the whole device below the mounting clamp 12 greater.

[0065] According to an embodiment of the present application, the seedling taking claw piece 19 is welded on the first seedling taking claw piece mounting rod 17 and the second seedling taking claw piece mounting rod 18, the seedling taking claw cylinder mounting plate 13, 19 is provided with a through hole, one end of the seedling taking claw cylinder mounting plate is connected with the seedling taking claw cylinder 14, 15 connector through a bolt, the first seedling taking claw cylinder connector 16 and the second seedling taking claw cylinder connector 20 are respectively provided with through holes and are respectively connected on the first seedling taking claw cylinder 14 and the second seedling taking claw cylinder 15 through bolts, the other ends of the two seedling taking claw piece mounting rods are connected on the sliding block 22 through the through holes provided on the first support 24 and the second support 21 using bolts.

[0066] The sliding block 22 is slidingly connected above the guide rail 23, the guide rail 23 is located above the seedling taking claw cylinder mounting plate; the seedling taking claw cylinder mounting plate is provided with a through hole and is fixedly connected with the guide rail 23, the two seedling taking claw cylinders are connected on the seedling taking claw cylinder mounting plate, and the through hole provided above the seedling taking claw cylinder mounting plate is connected with the mounting clamp using a bolt.

[0067] According to an embodiment of the present application, the seedling taking claw air cylinder mounting plate is a sheet metal bending part, so that the plane of the mounting guide rail 23 is parallel to the mounting plane of the seedling taking claw air cylinder 14, 15, to realize that the first seedling taking claw piece mounting rod 17 and the second seedling taking claw piece mounting rod 18 are connected at one end by the seedling taking claw air cylinder and at one end by the left or right support. Preferably, the surface of the first seedling taking claw piece mounting rod 17 and the second seedling taking claw piece mounting rod 18 is chrome-plated material, and both ends are provided with threaded holes, and the two ends are respectively mounted on the first optical axis support plate 7 and the second optical axis support plate 8 by screw connection.

[0068] The working process of the whole device is as follows: interval seedling taking method is adopted, according to an embodiment of the present application, for a 128-hole tray, 8 seedlings are taken at a time, and 16 seedlings are taken twice in a row. The controller is used to control the rotation of the driving motor 1, so that the driving motor 1 drives the eccentric wheel disc 11 to rotate, so that the shaft rod 9 connected with the eccentric wheel disc 11 drives the first seedling taking frame mounting plate 4 and the seedling taking device fixing shaft 25 to reciprocate, so that the seedling taking claw piece 19 of the device reaches the specified seedling taking position, then the controller controls the first seedling taking claw air cylinder 14 and the second seedling taking claw air cylinder 15 to extend, at this time the seedling taking claw piece 19 opens and reaches the accurate seedling taking position, then the controller controls the first seedling taking claw air cylinder 14 and the second seedling taking claw air cylinder 15 to retract, at this time the seedling taking claw piece 19 closes to complete the seedling taking action once. When the driving motor 1 moves so that the seedling taking claw piece 19 reaches the next seedling taking position point in a row of the tray seedlings, the seedling taking claw piece 19 starts the next seedling taking work.

[0069] Compared with the traditional clamping bowl type seedling taking, the present application accelerates the seedling taking speed; compared with the large seedling taking device which needs to feed the tray transversely once or multiple times to complete the seedling taking and planting action in a row of the tray seedlings, the present application can realize the transverse movement of the seedling taking claw piece by the driving motor 1, thereby reducing the transverse feeding action of the tray and reducing the vibration.

[0070] Embodiment 2

[0071] A transplanting device comprising the stem clamping type seedling taking end effector of embodiment 1 has the beneficial effects of embodiment 1, which will not be repeated here.

[0072] It should be understood that although the present specification is described according to various embodiments, not every embodiment contains only one independent technical solution, and the specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

[0073] The above detailed description merely illustrates feasible embodiments of the present application, and is not intended to limit the protection scope of the present application, and equivalent embodiments or changes made without departing from the spirit of the present application shall be included in the protection scope of the present application.

Claims

1. A transplanting device, characterized in that The device comprises a clamping stem type seedling taking end effector, the clamping stem type seedling taking end effector comprising a seedling taking frame, seedling taking claws (19), a first seedling taking claw mounting rod (17), a second seedling taking claw mounting rod (18), and a seedling taking device fixing shaft (25); The first seedling taking claw mounting rod (17) and the second seedling taking claw mounting rod (18) are respectively provided with seedling taking claws (19); one end of the first seedling taking claw mounting rod (17) is connected with a first seedling taking claw cylinder (14), and one end of the second seedling taking claw mounting rod (18) is connected with a second seedling taking claw cylinder (15); the first seedling taking claw cylinder (14) is mounted on a first seedling taking claw cylinder mounting plate (13), and the second seedling taking claw cylinder (15) is mounted on a second seedling taking claw cylinder mounting plate (26); the other end of the first seedling taking claw mounting rod (17) is in sliding connection with the second seedling taking claw cylinder mounting plate (26); the other end of the second seedling taking claw mounting rod (18) is in sliding connection with the first seedling taking claw cylinder mounting plate (13); the seedling taking claws (19) on the first seedling taking claw mounting rod (17) are staggered with the seedling taking claws (19) on the second seedling taking claw mounting rod (18); under the driving of the first seedling taking claw cylinder (14) and the second seedling taking claw cylinder (15), every two adjacent seedling taking claws (19) form a seedling taking unit; The first seedling taking claw cylinder mounting plate (13) and the second seedling taking claw cylinder mounting plate (26) are respectively mounted on the seedling taking device fixing shaft (25); and the seedling taking device fixing shaft (25) is mounted on the seedling taking frame; The first seedling taking claw cylinder mounting plate (13) and the second seedling taking claw cylinder mounting plate (26) are respectively provided with guide rails (23), and the guide rails (23) are provided with sliding blocks (22); the other end of the first seedling taking claw mounting rod (17) is connected with the sliding block (22) on the second seedling taking claw cylinder mounting plate (26); and the other end of the second seedling taking claw mounting rod (18) is connected with the sliding block (22) on the first seedling taking claw cylinder mounting plate (13); One end of the first seedling taking claw mounting rod (17) is in detachable connection with the first seedling taking claw cylinder (14), and one end of the second seedling taking claw mounting rod (18) is in detachable connection with the second seedling taking claw cylinder (15); the other end of the first seedling taking claw mounting rod (17) is in detachable connection with the second seedling taking claw cylinder mounting plate (26); and the other end of the second seedling taking claw mounting rod (18) is in detachable connection with the first seedling taking claw cylinder mounting plate (13); The device further comprises a driving mechanism; the driving mechanism drives the seedling taking device fixing shaft (25) to reciprocate left and right on the seedling taking frame; The driving mechanism comprises a driving motor (1), an eccentric wheel disc (11), and a shaft rod (9); Both ends of the seedling taking device fixing shaft (25) are mounted on the seedling taking frame through seedling taking frame mounting plates; the output end of the driving motor (1) is connected with the eccentric wheel disc (11), the eccentric wheel disc (11) is connected with one end of the shaft rod (9) through a spherical pair, the other end of the shaft rod (9) is connected with one side of the seedling taking frame mounting plate through a spherical pair, and the seedling taking device fixing shaft (25) can be driven to reciprocate left and right; The seedling taking frame comprises a first supporting sliding optical axis (3), a second supporting sliding optical axis (5), a first optical axis supporting plate (7) and a second optical axis supporting plate (8); The first supporting sliding optical axis (3) and the second supporting sliding optical axis (5) are oppositely arranged and respectively pass through the seedling taking device fixing shaft (25) at both ends of the seedling taking frame mounting plate, the first optical axis supporting plate (7) is mounted at one end of the first supporting sliding optical axis (3) and the second supporting sliding optical axis (5), and the second optical axis supporting plate (8) is mounted at the other end of the first supporting sliding optical axis (3) and the second supporting sliding optical axis (5); The first seedling taking claw cylinder mounting plate (13) and the second seedling taking claw cylinder mounting plate (26) are respectively mounted on the seedling taking device fixing shaft (25) through the clamp (12); The controller is further connected with the driving motor (1); The controller controls the rotation of the driving motor (1), so that the driving motor (1) drives the eccentric wheel disc (11) to rotate, so that the shaft rod (9) connected with the eccentric wheel disc (11) drives the first seedling taking frame mounting plate (4) and the seedling taking device fixing shaft (25) to make reciprocating motion, so that the seedling taking claw piece (19) of the device reaches the designated seedling taking position, and then the controller controls the first seedling taking claw cylinder (14) and the second seedling taking claw cylinder (15) to make extension motion, at this time, the seedling taking claw piece (19) is opened, and after reaching the seedling taking position, the controller controls the first seedling taking claw cylinder (14) and the second seedling taking claw cylinder (15) to make contraction motion, at this time, the seedling taking claw piece (19) is closed to complete a seedling taking action, when the driving motor (1) moves to make the seedling taking claw piece (19) reach the next seedling taking position point in the row of plug seedlings, the seedling taking claw piece (19) starts the next seedling taking work.

2. The transplant device of claim 1, wherein The output shaft of the driving motor (1) is connected with the eccentric wheel disc (11) through the shaft coupling (2).

3. The transplant device of claim 1, wherein The connecting part of the eccentric wheel disc (11) and the shaft rod (9) is provided with a flange plate (10), and the connecting part of the shaft rod (9) and the seedling taking frame mounting plate is provided with a flange plate (10).

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