Plant factory plug seedling double row high speed transplanting machine

Abstract

The present invention relates to a transplanting device in agricultural machinery. The purpose is to provide a transplanting machine suitable for plant factories, and to eliminate the problem of seedling failure caused by machine vibration that is common in current transplanting machines, while having the characteristics of reliable performance and low cost. The technical solution is: a double-row high-speed transplanting machine for plug tray seedlings in a plant factory, characterized in that it includes a frame, a seedling tray conveying mechanism that can be horizontally positioned on the frame in the front and rear directions to convey the seedling tray, and a cultivation carrier conveying mechanism that conveys the cultivation carrier, and a double-row variable-spacing seedling taking mechanism symmetrically installed on the frame and located above the seedling tray conveying mechanism to grab the seedlings in the seedling tray; the seedling tray conveying mechanism, the cultivation carrier conveying mechanism and the double-row variable-spacing seedling taking mechanism are respectively equipped with their own driving mechanisms.

Description

Technical Field

[0001] The invention relates to a transplanting device in agricultural machinery, in particular to a double-row high-speed transplanting machine for plug tray seedlings in a plant factory, which is used for transplanting pot seedlings in holes of cultivation carriers or other cultivation and planting plates in the plant factory. Background Art

[0002] At present, the research on plant factory transplanters in developed countries has reached a certain level. The degree of automation of transplanting machines is relatively high and they are suitable for large-scale automatic transplanting operations.

[0003] In comparison, the research on plant factory transplanting machines in my country has just started, and various technologies are still immature. In order to promote the intelligent level of agricultural production machinery transplanting and promote the development of transplanting technology, it is urgently necessary to develop a plant factory transplanting equipment that meets national conditions and is simple, efficient, reliable, and low-cost to replace manual labor. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the above-mentioned background technology, provide a transplanting machine suitable for plant factories, and eliminate the common problem of seedling failure caused by machine vibration in current transplanting machines, while having the characteristics of reliable performance and low cost.

[0005] The technical solution adopted in the present invention is as follows:

[0006] The plant factory plug tray seedling double-row high-speed transplanting machine is characterized by: comprising a frame, a seedling tray conveying mechanism which can be horizontally movably positioned on the frame along the front-rear direction to convey the seedling tray, a cultivation carrier conveying mechanism to convey the cultivation carrier, and a double-row variable-spacing seedling picking mechanism which is symmetrically installed on the frame and located above the seedling tray conveying mechanism to grab the seedlings in the seedling tray; the seedling tray conveying mechanism, the cultivation carrier conveying mechanism and the double-row variable-spacing seedling picking mechanism are respectively equipped with their own driving mechanisms.

[0007] The seedling tray conveying mechanism includes a seedling tray carrying plate fixed on the frame for supporting the seedling tray, limit stop bars installed and fixed on both sides of the seedling tray carrying plate to limit the width direction of the seedling tray, and a motor drive mechanism for driving the seedling tray to run in the length direction of the frame.

[0008] The motor drive mechanism includes two pulley shafts horizontally arranged at the front and rear ends of the frame, a pulley positioned on the frame, a synchronous belt installed on the two pulleys, and a motor driving the pulley; the synchronous belt is provided with a limit block for pushing the seedling tray and limiting the front and rear positions of the seedling tray.

[0009] The cultivation carrier conveying mechanism includes a linear guide rail fixed on a frame, a cultivation carrier conveying plate movably positioned on the frame through a linear slider, a linear module lead screw fixed on the frame and arranged parallel to the linear guide rail, and a linear module slider connected to the cultivation carrier conveying plate; the cultivation carrier is arranged on the cultivation carrier conveying plate, and the linear module lead screw driven by the linear motor realizes the movement of the cultivation carrier conveying plate by driving the linear module slider.

[0010] The end transverse movement mechanism includes two transverse guide rails arranged in the left and right directions of the frame and having transverse sliders, a linear module lead screw arranged parallel to the transverse guide rails and having a linear module slider, a sliding frame movably positioned on the transverse guide rails through the transverse sliders, and a lead screw motor that drives the sliding frame through the linear module sliders.

[0011] The double-row variable-pitch seedling picking mechanism includes two variable-pitch seedling picking mechanisms symmetrically arranged on a sliding frame and driven by an end transverse movement mechanism; in each variable-pitch seedling picking mechanism, a plurality of end effectors are arranged on two guide rails through sliders cooperating with the guide rails, and are driven by a rack and a driving gear to move along the left and right directions of the frame.

[0012] Each end effector includes a plurality of end effector fixing plates movable along the left and right directions of the frame, a connecting plate vertically moving on each end effector fixing plate through an electric push rod, and a finger cylinder connected to the connecting plate and driving two claws to clamp or release the seedlings.

[0013] Two guide rails parallel to each other and arranged up and down and a rack parallel to the guide rails are installed on both sides of the sliding frame; the plurality of end effector fixing plates are arranged on the two guide rails through sliders cooperating with the guide rails; each end effector fixing plate is also installed with a motor, and a driving gear installed on the motor shaft is meshed with the rack.

[0014] The beneficial effects of the present invention are:

[0015] The present invention is used for transplanting operations of automated transplanting machines in plant factories, and can adapt to cultivation carriers of different specifications or other cultivation and planting plate holes. In the process of taking seedlings by the transplanting machine, 8 seedlings can be grabbed at one time. Two rows of end effectors each correspond to a seedling tray, and can adapt to transplanting of trays of different specifications. Moreover, since each component is driven individually by a motor, the failure of taking seedlings due to machine vibration can be eliminated as a whole, and the success rate of taking seedlings is better than that of conventional transplanting machines. In addition, the positioning is accurate, the operation is easy, the structure is simple, and continuous operation can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0017] Figure 2It is a schematic diagram of the top structure of the present invention.

[0018] Figure 3 It is a schematic diagram of the structure of the end effector in the present invention.

[0019] Figure 4 It is a left-side structural schematic diagram of the present invention.

[0020] Figure 5 It is a schematic diagram of the structure of the cultivation carrier conveying mechanism in the present invention.

[0021] Figure 6 It is a schematic structural diagram of the terminal transverse movement mechanism in the present invention.

[0022] Cultivation carrier 1, cultivation carrier conveying mechanism 2, cultivation carrier conveying plate 2.1, linear slider 2.2, linear guide rail 2.3, connector 2.4, linear module slider 2.5, linear module lead screw 2.6, linear motor 2.7. Seedling tray 3, pulley 4, limit block 5, end effector 6, guide rail 6.1, rack 6.2, end effector fixing plate 6.3, connecting plate 6.4, electric push rod 6.5, finger cylinder 6.6, motor 6.7, claw piece 6.8, driving gear 6.9, end transverse mechanism 7, linear module slider 7.1, linear module guide rail 7.2, lead screw motor 7.3, transverse guide rail 7.4, sliding frame 7.5, limit stop bar 8, seedling tray bearing plate 9, synchronous belt 10. DETAILED DESCRIPTION

[0023] The present invention is further described below with reference to the accompanying drawings.

[0024] like Figure 1 , Figure 3 , Figure 4 As shown, the present invention includes a frame, a seedling tray conveying mechanism which can be horizontally movably positioned on the frame along the front-rear direction to convey the seedling tray, a cultivation carrier conveying mechanism for conveying the cultivation carrier, and a double-row variable-spacing seedling picking mechanism which is symmetrically installed on the frame and located above the seedling tray conveying mechanism to grab the seedlings in the seedling tray; the seedling tray conveying mechanism, the cultivation carrier conveying mechanism and the double-row variable-spacing seedling picking mechanism are respectively equipped with their own driving mechanisms.

[0025] like Figure 5As shown, the cultivation carrier conveying mechanism 2 includes a cultivation carrier conveying plate 2.1, a linear slider 2.2, a linear guide rail 2.3, a connector 2.4, a linear module slider 2.5, a linear module lead screw 2.6, and a linear motor 2.7 (the linear module includes a linear module slider, a linear module lead screw arranged parallel to the linear guide rail, and a linear motor). The cultivation trough conveying plate 2.1 can slide with the cooperation of the linear slider and the linear guide rail, and is connected to the linear module slider through a connector (the linear module slider is equipped with an internal thread engaged with the linear module lead screw), and can move along the linear guide rail under the drive of the linear motor, and can adjust the position of the cultivation carrier 1 according to the end effector with different spacings to adapt to different working environments.

[0026] pass Figure 1 , Figure 2 It can be seen that the two seedling trays 3 (the first seedling tray 3.1 and the second seedling tray 3.2) are arranged front and back on the seedling tray carrier plate 9, and the left and right sides of the seedling tray carrier plate are respectively installed with limit bars 8 to limit the left and right positions of the seedling trays 3. The front and rear directions of the seedling trays 3 are limited by the limit blocks 5 fixed on the synchronous belt 10; in the motor drive mechanism, the two pulleys 4 are rotatably positioned on the frame through the two pulley shafts horizontally arranged at the front and rear ends of the frame, the synchronous belt is installed on the two pulleys, and the motor drives the pulley shaft to realize the front and rear movement of the two seedling trays on the seedling tray carrier plate 9, so as to move to the designated position for grabbing the seedlings.

[0027] like Figure 6 As shown, the terminal transverse movement mechanism 7 includes a transverse guide rail 7.4 equipped with a transverse slider, a linear module slider 7.1, a linear module lead screw 7.2, and a lead screw motor 7.3 for driving the linear module lead screw. Two transverse guide rails 7.4 with transverse sliders are provided in the left and right directions of the frame. The linear module lead screw 7.2 engaged with the linear module slider is arranged parallel to the transverse guide rails. The sliding frame 7.5 is movably positioned on the transverse guide rails through the transverse slider; the sliding frame is also connected to the linear module slider, and the lead screw motor can drive the sliding frame to move laterally on the frame when it is started. The terminal transverse movement mechanism 7 is designed to cooperate with the transverse movement of the end effector 6. The distance of movement of the end effector can be changed according to the different spacings of the holes in the cultivation trough or other cultivation and planting plates to meet the needs of various working environments.

[0028] The double-row variable-pitch seedling picking mechanism comprises two variable-pitch seedling picking mechanisms 6 symmetrically arranged on a sliding frame 7.5 and driven by an end transverse movement mechanism. Two guide rails 6.1 parallel to each other and arranged up and down and a rack 6.2 parallel to the guide rails are respectively installed on both sides of the sliding frame; in each variable-pitch seedling picking mechanism, a plurality of (four are shown in the figure) end effectors are arranged on the two guide rails through sliders matched with the guide rails, and are driven by a rack and pinion assembly to move along the left and right directions of the frame; the connecting plate 6.4 fixed on the electric push rod can follow the electric push rod to move vertically on each end effector fixing plate, and the finger cylinder 6.6 (existing technology) connected to each connecting plate drives the two claws to clamp or release the seedlings.

[0029] like Figure 1 , Figure 3 As shown, the end effector 6 comprises an end effector fixing plate 6.3, a connecting plate 6.4, an electric push rod 6.5, a finger cylinder 6.6, a motor 6.7, a claw piece 6.8, and a matching gear 6.9. The connecting plate 6.4, the electric push rod 6.5, the finger cylinder 6.6, and the motor 6.7 are mounted and fixed on the end effector fixing plate; a driving gear 6.9 is fixed on the motor shaft, and the driving gear is meshed with the rack 6.2. After the motor 6.7 is started, the end effector fixing plate can move along the guide rail through the cooperation of the driving gear 6.9 and the rack 6.2, thereby realizing the variable spacing of the end effector to take and place seedlings, and the two variable spacing seedling taking mechanisms correspond to a group of seedling trays respectively, which can adapt to seedling trays of different specifications and cooperate with the transplanting machine to realize the transplanting function.

[0030] It should be noted that the present invention is also equipped with sensors for determining the operating position of each moving component and the sensors and controllers of each moving component are electrically connected to realize the orderly operation of each moving component; these are all prior arts and will not be described one by one.

[0031] The specific working steps of the present invention are as follows:

[0032] Initially, the cultivation carrier is placed on the cultivation carrier conveying plate 2.1 at the designated position, and two groups of seedling trays are placed on the seedling tray carrying plate. The first row of seedling trays corresponds to rows 1-4 of the cultivation carrier, and the second row of seedling trays corresponds to rows 5-8 of the cultivation carrier. With the start-up of the planting machine, the cultivation carrier and the seedling tray reach the seedling retrieval and seedling placement positions respectively under the action of the conveying device. Initially, the end effector moves to the top of the seedling tray under the action of the end effector lateral shifting device, and then the motor fixed on the end effector fixing plate drives the gear to mesh with the rack, and the finger cylinder of the end effector reaches the best position for taking seedlings just above the seedlings in the seedling tray; under the action of the electric push rod, the finger cylinder moves down along the hole of the seedling tray to the appropriate seedling taking position, and the finger cylinder begins to contract the two claws, so that the two claws clamp the seedling matrix, and then the seedlings in the pot are taken out with the upward movement of the electric push rod; then the end effector lateral shifting device moves horizontally to run the end effector to the top of the cultivation carrier; during the operation of the lateral shifting device, the end effector also changes the distance between the two finger cylinders under the action of the motor, gear and bar rack, so that it can correspond one by one to the distance between the holes of the cultivation carrier; when the finger cylinder reaches the best seedling release position, the finger cylinder unfolds the claws, and the seedlings in the pot are placed in the holes of the cultivation carrier. Then the terminal transverse movement mechanism starts to return, and the terminal actuator also starts to return to the seedling taking position. At the same time, the cultivation carrier moves forward driven by the cultivation carrier conveying mechanism, waiting for the next seedling placement, and the transplanting is repeated in a cycle.

[0033] Finally, it should be noted that the above examples are only specific embodiments of the present invention. Obviously, the present invention is not limited to the above examples, and many variations are possible. All variations that can be directly derived or associated with the content disclosed by a person skilled in the art should be considered as the protection scope of the present invention.

Claims

1. Plant factory plug seedling double row high-speed transplanting machine, characterized by: The machine comprises a frame, a seedling tray conveying mechanism which can be horizontally movably positioned on the frame in the front-rear direction to convey the seedling tray, a cultivation carrier conveying mechanism which conveys the cultivation carrier, and a double-row variable-spacing seedling taking mechanism which is symmetrically mounted on the frame and located above the seedling tray conveying mechanism to grab the seedlings in the seedling tray; the seedling tray conveying mechanism, the cultivation carrier conveying mechanism and the double-row variable-spacing seedling taking mechanism are respectively equipped with respective driving mechanisms; The seedling tray conveying mechanism comprises a seedling tray carrying plate (9) fixed on the frame for supporting the seedling tray, limit stop bars (8) installed and fixed on both sides of the seedling tray carrying plate for limiting the width direction of the seedling tray, and a motor drive mechanism for driving the seedling tray to move in the length direction of the frame; The motor drive mechanism comprises two pulley shafts arranged horizontally at the front and rear ends of the frame, pulleys (4) positioned on the pulley shafts, synchronous belts mounted on the two pulleys, and a motor driving the pulleys; the synchronous belt is provided with a limit block (5) for pushing the seedling tray and limiting the front and rear positions of the seedling tray; The cultivation carrier conveying mechanism comprises a linear guide rail (2.3) fixed on a frame, a cultivation carrier conveying plate (2.1) movably positioned on the frame via a linear slider (2.2), a linear module lead screw (2.6) fixed on the frame and arranged parallel to the linear guide rail, and a linear module slider (2.5) connected to the cultivation carrier conveying plate; the cultivation carrier is arranged on the cultivation carrier conveying plate, and the linear module lead screw driven by the linear motor (2.7) drives the linear module slider to achieve movement of the cultivation carrier conveying plate; The double-row variable-pitch seedling picking mechanism comprises two variable-pitch seedling picking mechanisms symmetrically arranged on a sliding frame (7.5) and driven by a terminal transverse movement mechanism; the terminal transverse movement mechanism comprises two transverse guide rails (7.4) arranged in the left and right directions of the frame and having transverse sliders, a linear module lead screw (7.2) arranged parallel to the transverse guide rails and having a linear module slider (7.1), a sliding frame (7.5) movably positioned on the transverse guide rails via the transverse sliders, and a lead screw motor (7.3) driving the sliding frame via the linear module sliders.

2. The plant factory plug seedling double-row high-speed transplanting and planting machine according to claim 1 is characterized by: In each variable-pitch seedling-taking mechanism, a plurality of end effectors are arranged on two guide rails through sliders matched with the guide rails, and are driven by racks and driving gears to move along the left and right directions of the frame.

3. The plant factory plug seedling double-row high-speed transplanting and planting machine according to claim 2, characterized in that: Each end effector comprises a plurality of end effector fixing plates (6.3) movable along the left and right directions of the frame, a connecting plate (6.4) vertically movable on each end effector fixing plate via an electric push rod (6.5), and a finger cylinder (6.6) connected to the connecting plate and driving two claw pieces (6.8) to clamp or release the seedlings.

4. The plant factory plug seedling double-row high-speed transplanting and planting machine according to claim 3 is characterized by: Two guide rails (6.1) parallel to each other and arranged up and down, and racks (6.2) parallel to the guide rails are respectively installed on both sides of the sliding frame; the plurality of end effector fixing plates are respectively arranged on the two guide rails via sliders that cooperate with the guide rails; each end effector fixing plate is also installed with a motor (6.7), and a driving gear (6.9) installed on the motor shaft meshes with the rack.

Images