Seedling-taking mechanical device, automatic transplanter and seedling-taking and seedling-throwing method thereof

Abstract

The present invention discloses a seedling picking mechanical device, an automatic transplanter and a seedling picking and dropping method thereof, which includes a seedling picking jaw. The seedling picking jaw includes a fixing plate I, a pair of jaws rotatably installed on the fixing plate I, and a link mechanism for driving the jaws to open and close. The link mechanism includes a fixed slide seat and a slide rod arranged on the fixing plate I. A slide hole is provided on the fixed slide seat, and the slide rod is slidably installed in the slide hole. The first end of the slide rod is connected to the jaw through a pull rod, and the second end of the slide rod is rotatably connected to a link I. This device has a simple structure and high working efficiency, can automatically adjust the position of the seedling picking claw, cooperate with different types of seedling trays, and realize the functions of clamping and dropping different seedlings.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery transplanting, and specifically relates to a seedling picking mechanical device, an automatic transplanting machine and a seedling picking and throwing method thereof. Background Art

[0002] In the production process of various crops, seedling raising and transplanting is an extremely important part. Currently, vegetable transplanting still mainly relies on manual transplanting and semi-automatic transplanting, and both the degree of combination of agricultural machinery and the degree of automation need to be improved. The existing transplanting machines have low adaptability to various types of seedling trays. Usually, a transplanting device only operates on one type of seedling tray. In reality, due to the different cultivation and planting characteristics of different agricultural economic crop plants, the specifications of the plug trays required for breeding and the row spacing required for planting are different. Therefore, based on the defects of the existing technology, the existing transplanting machine equipment is difficult to meet the transplanting and planting needs of different crops. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art, and provide a seedling picking mechanical device, an automatic transplanting machine and a seedling picking and throwing method thereof. The device has a simple structure and high working efficiency, and can automatically adjust the position of the seedling picking claws, cooperate with different models of seedling trays, and realize the functions of clamping and placing different seedlings.

[0004] One of the purposes of the present invention is to provide a seedling picking mechanical device, including a seedling picking claw. The seedling picking claw includes a fixing plate I, a pair of claws rotatably installed on the fixing plate I, and a link mechanism for driving the claws to open and close. The link mechanism includes a fixed slide seat and a slide rod arranged on the fixing plate I. A slide hole is provided on the fixed slide seat, and the slide rod is slidably installed in the slide hole. The first end of the slide rod is connected to the claw through a pull rod, and the second end of the slide rod is rotatably connected to a link I.

[0005] As a preferred solution, it further includes a flange servo motor and a rotary flange. The power output end of the flange servo motor is installed with a rotary flange. The first end of the link I is rotatably connected to a position near the edge of the flange, and the other end is rotatably connected to the slide rod.

[0006] As a preferred solution, it further includes a fixing plate II. The fixing plate II is provided with a link servo motor, and the fixing plate I is connected to the power output end of the link servo motor through a link II.

[0007] As a preferred solution, it further includes a link III. The first end of the link III is hinged to the fixing plate I, and the second end of the link III is hinged to the fixing plate II.

[0008] As a preferred solution, it further includes an equal pitch module and a left-right control motor arranged on the equal pitch module. The seedling picking grippers are arranged in rows on the equal pitch module and can slide on the equal pitch module. The left-right control motor is used to control the spacing adjustment between the seedling picking grippers.

[0009] As a preferred solution, it further includes two sets of lifting control modules and a lifting control motor arranged on the lifting control module. The equal pitch module mounting frame is installed between the two sets of lifting control modules and controls the lifting adjustment of the seedling picking grippers through the lifting control motor.

[0010] As a preferred solution, it further includes two sets of front-back position modules and a front-back control motor arranged on the front-back control module. The lifting control modules are correspondingly installed on the front-back control module to control the front-back position of the seedling picking grippers.

[0011] The second object of the present invention is to provide an automatic transplanting machine, including the seedling picking mechanical device described in any one of the above.

[0012] The third object of the present invention is to provide a method for picking and transplanting seedlings of an automatic transplanting machine. The seedling picking step: after determining the seedling picking position, the flange servo motor works, drives the flange to rotate, drives the sliding rod to slide downward through the connecting rod Ⅰ, and makes the seedling picking grippers open; two front-back control motors work, and the seedling picking grippers are moved backward through the two front-back control modules to prepare for seedling picking; then, the flange servo motor works, drives the flange to rotate, drives the sliding rod to slide upward through the connecting rod Ⅰ, and makes the seedling picking grippers close to complete the seedling picking.

[0013] The seedling delivering step: after the seedling picking is completed, the two front-back control motors work, the seedling picking grippers move forward through the two front-back control modules, the left-right control motor works, the seedling picking grippers move to both sides through the equal pitch module, so that the taken pot seedlings are aligned with each seedling transplanting cup, and the two lifting control motors work, and the seedling picking grippers move downward through the lifting control module to be close to above the corresponding seedling transplanting cup; prepare for seedling transplanting.

[0014] The seedling transplanting step: after determining the seedling transplanting position, the flange servo motor works, drives the flange to rotate, drives the sliding rod to slide downward through the connecting rod Ⅰ, and makes the seedling picking grippers open for seedling transplanting.

[0015] The reset step: after the seedling transplanting is completed, the flange servo motor works, drives the flange to rotate, drives the sliding rod to slide upward through the connecting rod Ⅰ, and makes the seedling picking grippers close; then, two lifting control motors work, and move upward through the two lifting control modules to return to the initial position to prepare for the next operation.

[0016] The present invention has at least the following beneficial effects:

[0017] First, the overall structure of the present invention is stable, the implementation principle is simple, and the work is efficient and reliable. This solution is a seedling picking and planting device for a pot seedling transplanter with adjustable spacing, enabling a seedling picking mechanism to pick pot seedlings with different hole row spacings in the hole patterns and ensuring efficient and stable seedling picking and planting according to the work requirements. The seedling picking mechanical device includes a seedling picking claw and a seedling picking moving mechanism for controlling the seedling picking claw. Among them, the seedling picking claw controls the opening and closing of the claw through a crank-rocker mechanism, and at the same time, the cooperation of a linear module, a servo motor, and a steering gear is adopted to achieve multi-directional movement of the seedling picking claw, which is suitable for transplanting operations of different seedling trays of various seedlings and is conducive to the multi-purpose use of the transplanter. This solution effectively enhances the automation degree of the transplanter, reduces the equipment cost of agricultural production, is conducive to increasing crop yields and incomes, and promotes the development of productivity to a certain extent.

[0018] Second, this solution optimizes the seedling picking and planting method. By organically combining with the seedling picking mechanical device with the above specific structure, it realizes the operations of seedling picking, seedling feeding, and seedling planting. Before the above device starts working, it is necessary to select the operation object, determine the specifications of the seedling tray used for the plug seedlings, determine the plant spacing of the plug seedlings, and obtain the seedling picking row spacing of the seedling picking claw according to this plant spacing. For small-plant-spacing seedling trays, the method of picking every other plant is used for seedling picking operations. The position of the seedling to be picked is found through the seedling picking claw control mechanism, and the opening and closing of the claw are controlled by the flange steering gear for seedling picking operations. After seedling picking, the seedling picking claw and the corresponding seedling planting position are controlled through the seedling picking control mechanism for seedling feeding and seedling planting operations. After seedling planting, the seedling picking claw resets, and automatically moves through the seedling picking moving device to enter the next seedling picking operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the seedling picking mechanical device of the present invention;

[0021] Figure 2 It is a front view of the seedling picking mechanical device of the present invention;

[0022] Figure 3 It is a side view of the seedling picking mechanical device of the present invention;

[0023] Figure 4 It is a three-dimensional view of the seedling picking mechanical device of the present invention Figure 1 ;

[0024] Figure 5 It is Figure 4 an enlarged view of part A in

[0025] Figure 6 For Figure 4 Enlarged view at position B in

[0026] Figure 7 3D view of the seedling picking mechanical device of the present invention Figure 2 ;

[0027] Figure 8 For Figure 7 Enlarged view at position C in

[0028] Figure 9 Schematic diagram of picking seedlings from 21-hole plug seedlings of the present invention

[0029] Figure 10 Front view of picking seedlings from 21-hole plug seedlings of the present invention

[0030] Figure 11 Top view of the industrial camera and the seedling picking mechanical device

[0031] Figure 12 Side view of the industrial camera and the seedling picking mechanical device

[0032] Figure 13 Schematic diagram of the seedling picking jaw structure of the present invention

[0033] Figure 14 Schematic diagram of picking seedlings from 288-hole plug seedlings of the present invention

[0034] Figure 15 Front view of picking seedlings from 288-hole plug seedlings of the present invention

[0035] Markings in the figure: 1. Jaw, 2. Slide bar, 3. Fixed plate I; 4. Link I, 5. Flange, 6. Link II, 7. Link III; 8. Fixed plate II, 9. Flange servo, 10. Link servo, 11. Left and right control motor, 12. Equal pitch change module, 13. Lifting control motor, 14. Lifting control module, 15. Front and rear control motor, 16. Front and rear control module, 17. Fixed slider, 18. Pull rod, 19. Industrial camera, 21. 21-hole tray, 22. 288-hole tray, 23. Schematic of interval seedling picking. Detailed implementation mode

[0036] The present invention will be specifically described below through exemplary implementation modes. However, it should be understood that, without further description, the elements, structures and features in one implementation mode can also be beneficially combined into other implementation modes.

[0037] It should be noted that: Unless otherwise defined, the technical terms or scientific terms used in this article should have the ordinary meanings understood by those with ordinary skills in the field to which this invention belongs. The words such as "a", "an" or "the" used in the description and claims of this patent application for invention do not express a limitation in quantity, but mean that there is at least one. Words such as "comprising" or "including" indicate that the elements or objects appearing before "comprising" or "including" cover the elements or objects listed after "comprising" or "including" and their equivalents, but do not exclude other elements or objects with the same functions.

[0038] This embodiment provides a seedling picking mechanical device, which includes a seedling picking jaw. The seedling picking jaw includes jaw 1, a slide bar 2, a fixing plate I 3, a connecting rod I 4, a flange 5, a fixing plate II 8 and a flange servo 9. There are two jaw 1s, and a pull rod 18 is hinged in the middle of each of the two jaw 1s. Both pull rods 18 are hinged to the same end of the slide bar 2. The two jaw 1s are rotatably installed on the fixing plate I 3 together. The other end of the slide bar 2 is rotatably connected to the connecting rod I 4. The connecting rod I 4 is rotatably connected to the flange 5 near the edge. The flange 5 is connected to the power output end of the flange servo 9. The flange servo 9 is fixedly installed on the fixing plate I 3. The flange servo 9 controls the rotation of the flange 5 so that the hinge point of the flange 5 and the connecting rod I 4 rotates on a set track. For example, when the position of the fixing plate I 3 remains unchanged, the movement track of the hinge point of the flange 5 and the connecting rod I 4 is on the same circle. After the flange 5 rotates, the slide bar 2 is driven by the connecting rod I 4 to move up and down to control the opening and closing of the jaw 1.

[0039] In this solution, in order to achieve the smooth opening and closing operation of the seedling picking jaw, a fixed slide seat 17 is further provided on the plate surface of the fixing plate I 3. The fixed slide seat 17 includes a square fixing part and an extension part provided on one side of the fixing part. The extension part can be integrally formed with the square fixing part. The extension part can adopt a cylindrical or cuboid structure. A slide hole is penetrated through the fixing part and the extension part. The function of the slide hole is: for the slide bar 2 to pass through and be slidably arranged inside the slide hole. The function of the extension part can extend the length of the slide hole, so that the slide bar 2 moves back and forth more smoothly. At the other end of the extension part, there is an installation rack for installing the jaw. The installation rack is composed of two relatively parallel plates and an installation shaft arranged between the two parallel plates. The two parallel plates are arranged correspondingly and are both fixed on the extension part. There are two installation shafts and they are respectively located between the two ends of the two parallel plates. The jaw 1 is rotatably installed on the corresponding installation shafts respectively.

[0040] This embodiment further includes a link servo 10, a link II 6, and a link III 7. The link servo 10 is installed on the fixing plate II 8. The link II 6 and the link III 7 are arranged in parallel. The two ends of the link II 6 are respectively rotatably connected to the power output end of the link servo 10 and the fixing plate I 3, and the two ends of the link III 7 are respectively rotatably connected to the fixing plate II 8 and the fixing plate I 3. Among them, the link servo 10 drives the fixing plate I 3 to move left and right through two parallel links. The purpose of such a design is to drive the fixing plate I 3 to move, so as to realize the left and right fine adjustment of the seedling picking claws. The seedling picking claws are controlled by the link servo 10 to move left and right to accurately determine the position of the seedling to be picked, and at the same time avoid the leaves and stems of the pot seedlings. Then, the flange servo 9 controls its opening and closing to perform the seedling picking operation. The seedling picking device can be finely adjusted, which can not only pick seedlings with high precision, but also avoid damaging the seedlings during seedling picking. Its practicability is higher and it can better meet the requirements for seedling picking accuracy and quality during the transplanting process.

[0041] In this solution, the flange servo 9 controls the rotation of the flange 5, and controls the lifting and sliding of the slide bar 2 through the link I 4. When the slide bar 2 slides downward, the two claws 1 open, and when the slide bar 2 slides upward, the two claws 1 close. The flange 5, the link I 4, and the slide bar 2 form a crank drive transmission mechanism. Compared with the prior art, this structure has a faster driving speed. After using this drive mechanism, the overall structure of the claw is smaller and lighter in weight, which is convenient for the link to swing and the fixing plate I 3 to move left and right, facilitating the fine adjustment of the seedling picking claws and realizing precise grasping.

[0042] This solution further includes a seedling picking moving mechanism for controlling the position of the seedling picking claws. The seedling picking moving mechanism includes two front and rear control motors 15, two front and rear control modules 16, two lifting control motors 13, two lifting control modules 14, a left and right control motor 11, and an equal pitch change module 12. In this solution, the front and rear control modules 16 are used to control the movement direction of the seedling picking claws to define the front and rear directions, the equal pitch change module 12 is used to control the movement direction of the seedling picking claws to define the left and right directions, and the lifting control modules 14 are used to control the movement direction of the seedling picking claws to define the up and down directions. The front and rear control modules 16 and the lifting control modules 14 are both synchronous belt modules.

[0043] In this embodiment, multiple seedling picking grippers are provided and arranged in a row. Taking 12 seedling picking grippers as an example for illustration in this solution, the seedling picking grippers are installed on the sliding seat of the equal pitch module 12 and can be adjusted by moving along the length direction of the equal pitch module 12. Specifically, the fixing plate II 8 is connected to the sliding seat on the equal pitch module 12 and can slide along the slide rail of the equal pitch module 12. Of course, the number of seedling picking grippers can also be set to other numbers according to needs. The equal pitch module 12 is horizontally arranged transversely. The left and right control motor 11 is installed on the left side of the equal pitch module 12, and the left and right control motor 11 controls the left and right movement of the seedling picking grippers connected to the equal pitch module 12. The equal pitch module 12 is installed between the two lifting control modules 14 and fixed on the two sliders of the lifting control module 14. The two lifting control modules 14 are set at the same height and arranged vertically in parallel. The two lifting control motors 13 are respectively installed at the top of one side of the two lifting control modules 14, and the two lifting control motors 13 control the lifting and moving of the above-mentioned devices connected to the two lifting control modules 14. The two lifting control modules 14 are respectively installed on the sliders under the front and rear control modules 16. The two front and rear control modules 16 are arranged horizontally in parallel. The upper sides of the two front and rear control modules 16 are connected to the automatic transplanting machine fixing frame. The two front and rear control motors 15 are respectively installed at the top of the right side of the two front and rear control modules 16, and the two front and rear control motors 15 control the front and rear movement of the above-mentioned devices connected to the two front and rear control modules 16.

[0044] The present invention also provides an automatic transplanting machine applicable to multiple seedling trays, including the above-mentioned seedling picking mechanical device. The upper sides of the two front and rear control modules 16 are connected to the automatic transplanting machine fixing frame, thereby fixedly installing the seedling picking mechanical device on the automatic transplanting machine. This automatic transplanting machine is applicable to the full-automatic pot seedling transplanting of multiple seedling trays. The seedling picking device of the full-automatic pot seedling transplanting machine applicable to multiple seedling trays in the present invention has a compact and simple structure. Multiple seedling picking devices are used to complete the seedling picking and seedling throwing operations simultaneously, greatly improving its transplanting efficiency. The seedling picking device is flexibly arranged, which can meet the transplanting operations of various pot seedlings for the transplanting machine. The overall structure of the present invention is simple, and the operation efficiency is high, greatly improving the efficiency and quality of pot seedling transplanting, liberating the labor force, and having good usability and popularization.

[0045] This solution also provides a seedling picking method for an automatic transplanting machine applicable to multiple seedling trays, including the following steps: seedling picking step, seedling feeding step, seedling throwing step, and reset step.

[0046] The steps of picking seedlings are as follows: After the industrial camera 19 determines the plant spacing of the plug seedlings, the two front and rear control motors 15 work, and the seedling picking mechanical device moves backward through the two front and rear control modules 16. The left and right control motor 11 works, and the seedling picking mechanical device moves toward the middle through the equal pitch change module 12. When the seedling picking claw 1 reaches directly in front of the pot seedling and is close to the pot seedling position, the seedling picking mechanical device stops moving and is ready to pick seedlings.

[0047] After determining the seedling picking position, the flange servo motor 9 works, driving the flange 5 to rotate counterclockwise, driving the sliding rod 2 to slide downward through the jaw connecting rod 4, and opening the seedling picking claw 1. Among them, the 12 flange servo motors 9 are independently controlled. The seedling picking claw 1 that the system determines needs to grab the pot seedling is controlled to open by the corresponding flange servo motor 9, and the flange servo motor 9 that the system determines does not need to grab the pot seedling does not work. Then, the link servo motor 10 works, driving the link III 7 and the link II 6 to move clockwise or counterclockwise. When the parallel link servo motor 10 drives the link III 7 and the link II 6 to rotate clockwise, the jaw 1 makes a small leftward movement. When the parallel link servo motor 10 drives the link III 7 and the link II 6 to rotate counterclockwise, the jaw 1 makes a small rightward movement. Such a design is to make the jaw align with the pot seedling more accurately, avoid leaves and stems at the same time, and reduce the damage rate of the pot seedling. At the same time, the 12 parallel link servo motors 10 are independently controlled, and the parallel link servo motor 10 in the seedling picking jaw that the system determines does not need to grab the pot seedling does not work. Then, the two front and rear control motors 15 work, and through the two front and rear control modules 16, the seedling picking jaw moves backward to prepare for picking seedlings. Then, the flange servo motor 9 works, driving the flange 5 to rotate clockwise, driving the sliding rod 2 to slide upward through the link I 4, and closing the seedling picking jaw to complete the seedling picking. Among them, the flange servo motor 9 that the system determines does not need to grab the pot seedling does not work.

[0048] The specific steps of delivering seedlings are as follows: After the seedling picking is completed, the two front and rear control motors 15 work, and the seedling picking jaw moves forward through the two front and rear control modules 16. The left and right control motor 11 works, and the seedling picking jaw moves to both sides through the equal pitch change module 12, aligning the picked pot seedlings with each seedling throwing cup. The two lifting control motors 13 work, and the seedling picking mechanical device moves downward through the two lifting control modules 14 to be close to the upper part of the corresponding seedling throwing cup. The parallel link servo motor 10 works, driving the link III 7 and the link II 6 to move clockwise or counterclockwise, so that the jaw 1 makes a small leftward or rightward movement to more accurately align the pot seedling with the seedling throwing cup and prepare for seedling throwing.

[0049] The specific steps of seedling dropping are as follows: After determining the seedling dropping position, the flange servo 9 operates to drive the flange 5 to rotate counterclockwise, and drives the slide bar 2 to slide downward through the connecting rod I 4, so that the clamping jaw 1 opens to drop the seedling.

[0050] The specific steps of resetting are as follows: After the seedling dropping is completed, the flange servo 9 operates to drive the flange 5 to rotate clockwise, and drives the slide bar 2 to slide upward through the connecting rod 4, so that the clamping jaw 1 closes. Then, the two lifting control motors 13 operate, and the seedling picking clamping jaw moves upward through the two lifting control modules 14 to return to the initial position to prepare for the next operation.

[0051] On this basis, an industrial camera for identifying seedling information is also set before the seedling picking step in this solution. This solution also includes an industrial camera 19. The RGBD industrial camera 19 is installed on the transplanter. The steps of identifying seedling information are as follows: Before each operation of the device, the industrial camera identifies the seedling information to determine the position and plant spacing information of the seedlings, which is used to adjust the position and spacing of the seedling picking clamping jaw to achieve accurate seedling picking; determine the positions of the leaves and stems, which is used for the seedling picking clamping jaw to avoid grasping the leaves to prevent the seedling picking claw from touching the leaves and damaging the seedlings, and at the same time accurately grasp the stems for accurate seedling picking; determine the size of the stems, and control the opening and closing degree of the clamping jaw for grasping the seedling to avoid damaging the seedlings by clamping too tightly; judge whether it is an empty hole or a bad seedling, which is used to judge whether the seedling picking claw performs the grasping operation to achieve selective transplanting and improve the transplanting quality.

[0052] The flexible seedling picking device of the present invention can be applicable to various specifications of seedling trays and has no limitation on the plant spacing of the seedlings. For the seedling tray with a large plant spacing, the number of seedlings in each row is small, the plant spacing of each seedling is large, and the interference of the seedling leaves on the seedling picking operation is small. Therefore, the seedlings in one row can be picked up at one time.

[0053] Among them, for the transplanting of 21-hole seedling tray seedlings, the seedling tray is placed horizontally for seedling picking. There are 7 seedlings in one row, and the plant spacing is about 66 mm. Each time the seedling picking mechanical device of the present invention picks seedlings, it controls 7 of the seedling picking clamping jaws to operate, and picks up 7 seedlings in one row at one time, and the remaining 5 seedling picking clamping jaws do not operate. Its operation mode is as Figure 9 and Figure 10 shown.

[0054] For the transplanting of 32-hole seedling tray seedlings, the seedling tray is placed horizontally for seedling picking. There are 8 seedlings in one row, and the plant spacing is about 60 mm. Each time the seedling picking mechanical device of the present invention picks seedlings, it controls 8 of the seedling picking clamping jaws to operate, and picks up 8 seedlings in one row at one time, and the remaining 4 seedling picking clamping jaws do not operate. Its operation mode is similar to Figure 9 and Figure 10 that.

[0055] For transplanting plug seedlings in a 50-hole tray, the tray is placed horizontally to pick seedlings. There are 10 seedlings in one row, and the plant spacing is about 52 mm. Each time the seedling picking mechanical device of the present invention picks seedlings, it controls 10 of the said seedling picking jaws to operate. Ten seedlings in a row are picked up at one time, and the remaining 2 said seedling picking jaws do not operate. Its operation mode is the same as that of Figure 9 and Figure 10 similar.

[0056] For a seedling tray with a small plant spacing, the number of plug seedlings in each row is large, the plant spacing of each plug seedling is small, and the leaves of the plug seedlings interfere greatly with the seedling picking operation. Therefore, for one row of plug seedlings, every other seedling can be picked, and it can be picked up multiple times. The alternate picking is shown at position 23 in the figure.

[0057] Among them, for transplanting plug seedlings in a 288-hole tray, the tray is placed horizontally to pick seedlings. There are 24 seedlings in one row, the plant spacing is about 21 mm, and the alternate plant spacing is about 42 mm. Each time the seedling picking mechanical device of the present invention picks seedlings, it controls 12 of the said seedling picking jaws to operate for alternate picking. Twenty-four seedlings in a row are picked up in two times. Its operation mode is as shown in Figure 14 and Figure 15 shown.

[0058] For transplanting 200 plug seedlings, the tray is placed horizontally to pick seedlings. There are 20 seedlings in one row, the plant spacing is about 26 mm, and the alternate plant spacing is about 52 mm. Each time the seedling picking device of the present invention picks seedlings, it controls 10 of the said seedling picking jaws to operate for alternate picking, and the remaining 2 said seedling picking jaws do not operate. Twenty seedlings in a row are picked up in two times. Its operation mode is the same as that of Figure 14 and Figure 15 similar.

[0059] For transplanting 128 plug seedlings, the tray is placed horizontally to pick seedlings. There are 16 seedlings in one row, the plant spacing is about 34 mm, and the alternate plant spacing is about 68 mm. Each time the seedling picking mechanical device of the present invention picks seedlings, it controls 8 of the said seedling picking jaws to operate for alternate picking, and the remaining 4 said seedling picking jaws do not operate. Sixteen seedlings in a row are picked up in two times. Its operation mode is the same as that of Figure 14 and Figure 15 similar.

[0060] For transplanting 98 plug seedlings, the tray is placed horizontally to pick seedlings. There are 14 seedlings in one row, the plant spacing is about 39 mm, and the alternate plant spacing is about 78 mm. Each time the seedling picking mechanical device of the present invention picks seedlings, it controls 7 of the said seedling picking jaws to operate for alternate picking, and the remaining 5 said seedling picking jaws do not operate. Fourteen seedlings in a row are picked up in two times. Its operation mode is the same as that of Figure 14 and Figure 15 similar.

[0061] The seedling picking operation modes of the remaining model trays are similar to the above methods. All mechanisms cooperate with each other to realize the operations of picking, delivering, and planting plug seedlings of different model trays.

[0062] As described above, it is only the preferred embodiment of the present invention and does not impose any formal limitations on the present invention. Although the present invention has been disclosed above with the preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A seedling-taking mechanical device, characterized in that: It includes a seedling picking jaw, an equal pitch changing module, and a left-right control motor arranged on the equal pitch changing module. The seedling picking jaw includes a fixing plate I, a fixing plate II, a pair of jaws rotatably installed on the fixing plate I, and a link mechanism for driving the jaws to open and close. The link mechanism includes a fixed sliding seat and a sliding rod arranged on the fixing plate I. A sliding hole is provided on the fixed sliding seat, and the sliding rod is slidably installed in the sliding hole. The first end of the sliding rod is connected to the jaw through a pull rod, and the second end of the sliding rod is rotatably connected to a link I. The fixing plate II is connected to the sliding seat on the equal pitch changing module; a link servo is provided on the fixing plate II; the fixing plate I is connected to the power output end of the link servo through a link II; the first end of a link III is hinged to the fixing plate I, and the second end of the link III is hinged to the fixing plate II; the seedling picking jaws are arranged in rows on the equal pitch changing module and can slide on the equal pitch changing module. The left-right control motor is used to control the distance adjustment between the seedling picking jaws.

2. The seedling-taking mechanical device according to claim 1, characterized in that: It also includes a flange servo and a rotatable flange. The power output end of the flange servo is installed with a rotatable flange. The first end of the link I is rotatably connected to a position near the edge of the rotatable flange, and the other end is rotatably connected to the sliding rod.

3. The seedling-taking mechanical device according to claim 2, characterized in that: It also includes two sets of lifting control modules and a lifting control motor arranged on the lifting control modules. The equal pitch changing module is installed between the two sets of lifting control modules and the lifting control motor is used to control the lifting adjustment of the seedling picking jaws.

4. The seedling-taking mechanical device according to claim 3, characterized in that: It also includes two sets of front-back position modules and a front-back control motor arranged on the front-back control module. The lifting control modules are correspondingly installed on the front-back control module to control the front-back position of the seedling picking jaws.

5. An automatic transplanting machine, comprising the seedling-taking mechanical device according to claim 3 or 4.

6. The seedling-taking and seedling-throwing method of the automatic transplanting machine according to claim 5, characterized in that: The specific steps are as follows. Seedling picking step: After determining the seedling picking position, the flange servo works, driving the rotatable flange to rotate, driving the sliding rod to slide downward through the link I, so that the seedling picking jaws open; the two front-back control motors work, and the seedling picking jaws move backward through the two front-back control modules to prepare for seedling picking; then, the flange servo works, driving the rotatable flange to rotate, driving the sliding rod to slide upward through the link I, so that the seedling picking jaws close, and the seedling picking is completed. Seedling delivering step: After the seedling picking is completed, the two front-back control motors work, and the seedling picking jaws move forward through the two front-back control modules. The left-right control motor works, and the seedling picking jaws move to both sides through the equal pitch changing module, so that the picked pot seedlings are aligned with each seedling throwing cup. The two lifting control motors work, and the seedling picking jaws move downward through the lifting control modules to be close to the upper part of the corresponding seedling throwing cup; prepare for seedling throwing. Seedling throwing step: After determining the seedling throwing position, the flange servo works, driving the rotatable flange to rotate, driving the sliding rod to slide downward through the link I, so that the seedling picking jaws open, and the seedling throwing is carried out. Reset step: After the seedling throwing is completed, the flange servo works, driving the rotatable flange to rotate, driving the sliding rod to slide upward through the link I, so that the seedling picking jaws close; then, the two lifting control motors work, and move upward through the two lifting control modules to return to the initial position, and prepare for the next operation.

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