An automatic seedling picking and delivering machine for pot seedlings and a method for picking and delivering seedlings

Abstract

The present invention discloses an automatic seedling picking and delivering machine for pot seedlings and a seedling picking method, which includes a frame. A seedling tray conveying device, a pot seedling picking and transporting device, and a pot seedling sorting device are provided on the frame. The seedling tray is composed of seedling tray bodies arranged vertically and horizontally. The synchronous pulley motor in the seedling tray conveying device drives the conveyor belt to rotate unidirectionally to realize the unidirectional continuous supply of the seedling tray. When the seedling tray on the conveyor belt reaches the predetermined seedling picking position, two groups of seedling clamping mechanisms in the pot seedling picking and transporting device pick seedlings progressively and equidistantly from both sides at the same time, and deliver them to the pot seedling sorting device through the seedling separating baffle; the turntable in the pot seedling sorting device drives the pot seedlings to rotate to the preset position in the middle for seedling delivery. The present invention picks seedlings from both sides at the same time, picks multiple pot seedlings at a time, and can sequentially deliver multiple pot seedlings during one seedling picking stroke, improving the automatic seedling picking speed and solving the problem of interference between the seedling picking and seedling delivery positions of the non-bendable polystyrene foam plastic seedling tray.

Description

Technical Field

[0001] The present invention relates to the technical field of transplanting machinery, and particularly relates to an automatic seedling picking and delivering machine for pot seedlings and a method for picking and delivering seedlings. Background Art

[0002] At present, the transplanting of tobacco pot seedlings mainly relies on manual seedling throwing. Affected by the walking speed of the operator and the seedling throwing speed, the existing manual seedling throwing transplanting machine is slow in speed and the labor intensity of workers is high. The tobacco pot seedlings in China are mainly raised by floating seedling trays made of polystyrene foam plastics. The floating seedling trays are soaked and float on the nutrient solution. Due to the problem that the polystyrene foam plastic seedling trays are easy to break when bent, it is very difficult to automatically pick seedlings from such seedling trays. However, with the increasing shortage of agricultural labor at present, the amount of labor for manual seedling throwing transplanting is large, and the effect of cost reduction and efficiency increase is poor. The manual seedling throwing transplanting machine can no longer meet the needs of people for high-efficiency transplanting. It is urgent to design a reasonable automatic seedling picking scheme for tobacco pot seedlings to break through the technical problems of automatically and rapidly picking and separating tobacco pot seedlings from non-bendable polystyrene foam plastic seedling trays in the prior art. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic seedling picking and delivering machine for pot seedlings and a method for picking and delivering seedlings, so as to solve the above problems.

[0004] To achieve the above purpose, the present invention discloses an automatic seedling picking and delivering machine for pot seedlings, including a frame-structured rack. A seedling tray conveying device, a pot seedling picking and transporting device, and a pot seedling sequencing device are arranged on the rack. The seedling tray is composed of seedling tray pots arranged vertically and horizontally. The seedling tray conveying device includes: a conveyor belt for conveying the seedling tray, a pressing plate assembly, a seedling separating baffle, and a sensor group. The pressing plate assembly is arranged on both sides of the conveyor belt for pressing the seedling tray; the seedling separating baffle is arranged in the middle of both sides of the conveyor belt; the conveyor belt horizontally passes under the pot seedling picking and transporting device and is driven by a synchronous belt wheel motor to run unidirectionally to realize the unidirectional continuous supply of the seedling tray. The sensor group is used to detect the position of the seedling tray and control the synchronous belt wheel motor. When it detects that the seedling tray reaches the predetermined seedling picking position, it controls the synchronous belt wheel motor to jog and send the tray, and sends out the empty seedling tray after all the last row of pot seedlings in the seedling tray are taken out.

[0005] The seedling transport device comprises: a ball screw, a ball screw motor for driving the ball screw to rotate, and two groups of seedling clamp group mechanisms respectively located on both sides of the conveyor belt. The two groups of seedling clamp group mechanisms are respectively installed on two groups of seedling transport slider seats on the ball screw, and driven by the ball screw motor to make reciprocating translational motion in opposite directions; the ball screw spans the middle and upper part of the conveyor belt. When the seedling tray on the conveyor belt reaches the predetermined seedling taking position, the two groups of seedling clamp group mechanisms respectively and simultaneously take seedlings at equal distances from both sides, and deliver them to the seedling sorting device in the pot through the seedling separation baffle;

[0006] The seedling sorting device comprises: a turntable horizontally arranged below the conveyor belt, a turntable motor driving the turntable to rotate, a plurality of seedling throwing cups arranged on the turntable, and a sorting sensor arranged below the seedling sorting baffle, wherein the sorting sensor is used to detect whether the seedlings in the pot are located above the seedling throwing cups; when the seedlings in the pot reach the seedling throwing cups, the turntable drives the seedlings in the pot to rotate to a preset position in the middle for seedling throwing.

[0007] As a further improvement of the above technical solution:

[0008] The number of rows of seedlings taken out on one side is half the number of rows of seedlings in the seedling tray; the progressive equidistant seedling taking is specifically: when the seedlings in the first row are all taken out, the seedling clamp group mechanism advances forward a distance to clamp the next row of seedlings in the pots, and so on, until the seedlings in the pots on one side are all taken out.

[0009] The seedling clamping group mechanism comprises a moving component, a seedling clamping component and a seedling blocking component;

[0010] The movable assembly comprises a vertical movable plate connected to a seedling transporting sliding block seat of a ball screw, a first steering gear arranged at the top of the movable plate, and an output shaft of the first steering gear is horizontally arranged and connected to a five-link mechanism consisting of a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a seedling clamp connecting rod; the first connecting rod is hinged to the output shaft of the first steering gear, the outer end of the third connecting rod is hinged to the movable plate, the middle section is hinged to the first connecting rod through the second connecting rod, and the inner end is hinged to both sides of the middle of the vertically arranged seedling clamp connecting rod; the outer end of the fourth connecting rod is hinged to the movable plate, and the inner end is hinged to both sides of the lower part of the seedling clamp connecting rod; the fourth connecting rod is parallel to the third connecting rod and is located below it, and the bottom end of the seedling clamp connecting rod is connected to the seedling clamping assembly, and when the first steering gear is working, it drives the five-link mechanism to move up and down, and the seedling clamping assembly moves up and down accordingly; when the ball screw is working, the seedling clamping assembly moves horizontally accordingly;

[0011] The seedling clamping assembly includes two seedling clamps for clamping pot seedlings, a seedling clamp connecting plate, and a seedling clamp opening mechanism for controlling the opening and closing of the two seedling clamps. The middle of the seedling clamp connecting plate is horizontally connected to the bottom end of the seedling clamp connecting rod. The seedling clamp includes two clamping claws that cross in the middle and are engaged by gears. The two seedling clamps are juxtaposed and hinged to both ends of the seedling clamp connecting plate. The seedling clamp opening mechanism includes a first cam and a second servo motor with a vertically arranged output shaft. The first cam is connected to the second servo motor and horizontally installed between the clamping tails of the two seedling clamps. When the second servo motor works, it drives the first cam to rotate to open and close the seedling clamp.

[0012] The seedling blocking assembly includes a seedling blocking plate, a second cam, and a third servo motor with a horizontally arranged output shaft. There are two seedling blocking plates juxtaposed above the clamping heads of the corresponding seedling clamps. The tops of the two seedling blocking plates are hinged to both sides of the top end of the seedling clamp connecting rod through a common pin shaft and can rotate around the hinge shaft. The third servo motor is installed on the back side of the seedling clamp connecting rod, and the second cam is connected to the third servo motor. In the seedling clamping position, the second cam is in the initial state, and the seedling blocking plate is in the vertical state to prevent the pot seedlings from tilting into the seedling clamping assembly. In the seedling throwing position, the second cam pushes the seedling blocking plate forward under the action of the third servo motor to push the pot seedlings out of the seedling clamp forward to prevent seedling jamming.

[0013] The pressing plate assembly includes a movable pressing rail, a fixed pressing rail, a sliding strip, a tension spring, a hinge, and a movable pressing rail position fixing buckle. The sliding strip is arranged on the frame and is located on both sides of the conveyor belt along the conveying direction of the conveyor belt. The movable pressing rail is arranged on the sliding strip through a hinge at the input end of the conveyor belt. The sliding strip and the movable pressing rail are connected by a tension spring to realize the opening and closing of the movable pressing rail. The fixed pressing rail is arranged on the sliding strip at the output end of the conveyor belt.

[0014] The top of the frame is in a rectangular horizontal frame structure. The conveyor belt is wound around two parallel rollers, and the two rollers are respectively arranged at both ends of the rectangular horizontal frame through bearings. Both ends of the ball screw are respectively installed on both sides of the middle of the rectangular frame. Small frames extending horizontally outward are also provided on both sides of the middle of the rectangular frame, and the seedling separating baffle is vertically installed in the small frames.

[0015] The sensor group includes two seedling feeding sensors for controlling the tray feeding process, which are arranged on both sides of the bottom of the rectangular horizontal frame and the distance between them and the conveyor belt is maintained at 2mm; one of them is a seedling tray single supply position indication sensor, and the other is a single tray limit position sensor; after the seedling tray is installed on the conveyor belt, the synchronous pulley motor starts to work, and when the seedling tray reaches the predetermined seedling retrieval position, the seedling tray single supply position indication sensor contacts the induction sheet of the conveyor belt, controls the synchronous pulley motor to stop, and then the single tray limit position sensor starts to work, contacts and cooperates with the conveyor belt, controls the synchronous pulley motor to drive the conveyor belt to start jogging the tray feeding; when the last row of seedlings in the seedling tray is completely taken out, the seedling tray single supply position indication sensor starts to work, controls the synchronous pulley motor to drive the conveyor belt to send the empty seedling tray out.

[0016] The seedling separation baffle is an outwardly convex arc-shaped structure, and each group of seedling separation baffles is provided with two side by side, which correspond to the positions of each seedling clip.

[0017] The movable pressure rail and the fixed pressure rail are both in the shape of 7-shaped strips. The top end of the tension spring is connected to the movable pressure rail through a screw, and the lower end of the tension spring is connected to a hole opened on the smooth strip.

[0018] The fourth connecting rod and the third connecting rod are both provided with hollow through holes, the lower end of the second connecting rod is inserted into the hollow through hole of the middle section of the third connecting rod and is hinged thereto, and the second steering gear is located in the hollow through hole of the fourth connecting rod.

[0019] The present invention also provides an automatic seedling taking and delivering method of an automatic seedling taking and delivering machine for pot seedling transplanting, comprising the following steps:

[0020] a) Place the seedling tray filled with seedlings on the conveyor belt, start the synchronous pulley motor, and the conveyor belt drives the seedling tray to move forward;

[0021] b) When the seedling tray single supply position indication sensor detects that the seedling tray has reached the preset seedling removal position, the synchronous pulley motor is stopped, the single tray limit position sensor works, and the synchronous pulley motor is controlled to drive the conveyor belt to start jogging the tray;

[0022] c) Seedling positioning stage: The first servo drives the five-bar linkage to move the seedling clamp downward to the limit position, and the ball screw drives the left and right seedling clamp assemblies to move forward unloaded toward the seedling pot to be clamped, until the seedling clamp is aligned with the seedling pot to be clamped;

[0023] d) Vertical seedling removal stage: Start the second servo to rotate the first cam, control the seedling clamp to close, and clamp the two target seedlings in the seedling tray; the first servo drives the five-link mechanism to move upward to the limit position, and the seedling clamp clamps the two seedlings and moves vertically upward until the seedlings are separated from the seedling tray;

[0024] e) Seedling positioning stage: the ball screw drives the seedling clamping assembly to move to the top of the seedling separation baffle on the side; at the same time, the first servo drives the five-bar linkage to move downward to the limit position;

[0025] f) Opening the clamp and dropping seedlings: Start the second steering gear to rotate the first cam to control the opening of the seedling clamp, and at the same time start the third steering gear to control the second cam to rotate and push out the seedling baffle, so that the seedlings in the pot fall into the seedling separation baffle, and then fall into the seedling dropping cup of the seedling separation device;

[0026] g) After the seedlings are planted, the seedling clamp mechanism, driven by the ball screw, moves forward a certain distance to the middle seedling pot position without load;

[0027] h) Repeat steps c) to g) until the first two rows of seedlings in the seedling tray are removed;

[0028] i) Start the synchronous pulley motor to make the conveyor belt drive the seedling tray to move forward one spacing;

[0029] j) Repeat steps b) to i) until all seedlings in the pots are taken out;

[0030] k) When the sorting sensor detects that the seedlings in the pot have reached the sorting position, the seedlings in the pot are rotated to the preset position in the middle for planting.

[0031] Compared with the prior art, the advantages of the present invention are:

[0032] 1. The present invention takes seedlings from the side of the seedling tray, and rotates the seedling sorting device to the middle position to drop the seedlings, thereby solving the problem of interference between the seedling taking and dropping positions of the inflexible polystyrene foam plastic seedling tray.

[0033] 2. The present invention adopts two sides to take seedlings at the same time, and staggers the seedlings in the seedling pot sorting device, so that multiple seedlings can be taken at one time. Multiple seedlings can be sequentially put out in one seedling taking stroke, thereby improving the automatic seedling taking speed.

[0034] 3. The pot tray transportation, pot seedling transportation, and seedling placement are fully automatically controlled, and the operation is accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a three-dimensional structural schematic diagram of the automatic seedling taking and delivering machine of the present invention.

[0036] Figure 2 It is a three-dimensional structural schematic diagram of the seedling tray conveying device in the present invention.

[0037] Figure 3 It is a three-dimensional structural schematic diagram of the pressure plate assembly in the present invention.

[0038] Figure 4 yes Figure 3 Schematic diagram of the local enlarged structure at point A in the middle.

[0039] Figure 5 It is a schematic diagram of the pressing plate assembly in the present invention pressing the seedling tray during operation.

[0040] Figure 6 It is a schematic structural diagram of the pressing plate assembly in the present invention (in the state where the movable pressing rail is opened).

[0041] Figure 7 It is a schematic three-dimensional structural diagram of the pot seedling picking and transporting device in the present invention.

[0042] Figure 8 It is a schematic three-dimensional structural diagram of the seedling clamping group mechanism in the present invention.

[0043] Figure 9 It is a schematic diagram of the motion relationship of the seedling clamping group mechanism in the present invention.

[0044] Figure 10 It is a schematic diagram of the principle of the seedling clamping group mechanism in the present invention for pulling out seedlings.

[0045] Figure 11 It is a schematic structural diagram of the seedling clamp closing in the present invention.

[0046] Figure 12 It is a schematic structural diagram of the seedling clamp opening in the present invention.

[0047] Figures 13-1 to 13-4 It is a schematic diagram of the steps in the process of picking and delivering seedlings in the present invention.

[0048] Figure 14 It is a schematic diagram of the principle of grouped seedling picking in the present invention.

[0049] Figure 15 It is a schematic diagram of the position of the sensor group in the seedling tray conveying device.

[0050] Legend:

[0051] 1. Seedling tray conveying device; 11. Conveyor belt; 12. Synchronous pulley motor; 13. Pressing plate assembly; 131. Fixed pressing rail; 132. Movable pressing rail; 133. Movable pressing rail position fixing buckle; 134. Hinge; 135. Tension spring; 136. Fluent bar; 14. Seedling tray; 15. Seedling separation baffle; 16. Seedling tray single supply position indicating sensor; 17. Single tray limit position sensor; 2. Plug seedling picking and transporting device; 21. Seedling clip group mechanism; 211. First servo motor; 212. First connecting rod; 213. Second connecting rod; 214. Third connecting rod; 215. Fourth connecting rod; 216. Second servo motor; 217. First cam; 218. Seedling clamping assembly; 2181. Seedling clip; 2182. Seedling clip connecting plate; 219. Second cam; 2110. Third servo motor; 2111. Seedling clip connecting rod; 2112. Seedling blocking plate; 2113. Moving plate; 22. Ball screw; 3. Plug seedling sequencing device; 31. Turntable; 32. Seedling dropping cup; 4. Frame. Detailed implementation mode

[0052] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0053] As Figures 1-15 shown, the automatic seedling picking and transporting machine for plug seedling transplanting in this embodiment includes a frame 4 and a seedling tray conveying device 1, a plug seedling picking and transporting device 2, and a plug seedling sequencing device 3 arranged on the frame 4.

[0054] In this embodiment, the seedling tray conveying device 1 includes a horizontal conveyor belt 11 for conveying the seedling tray 14, a sensor group, a pressing plate assembly 13 for pressing the seedling tray 14, a seedling separation baffle 15 for separating the plug seedlings, and a synchronous pulley motor 12 for driving the horizontal conveyor belt 11 to rotate in one direction. Among them, the seedling tray 14 is composed of a plurality of seedling tray bodies arranged vertically and horizontally. The pressing plate assembly 13 is arranged on both sides of the horizontal conveyor belt 11; the seedling separation baffle 15 is arranged in the middle of both sides of the horizontal conveyor belt 11; the conveyor belt 11 horizontally passes under the plug seedling picking and transporting device 2 and is driven by the synchronous pulley motor 12 to rotate in one direction to realize the one-way continuous supply of the seedling tray. The sensor group is used to detect the position of the seedling tray 14 and control the operation of the synchronous pulley motor 12. When it is detected that the seedling tray 14 reaches the predetermined seedling picking position, the synchronous pulley motor 12 is controlled to send the tray by jogging, and the empty seedling tray 14 is sent out after all the plug seedlings in the last row of the seedling tray 14 are taken out.

[0055] In this embodiment, the top of the frame 4 is in the shape of a rectangular horizontal frame structure. The conveyor belt 11 is wound around two parallel rollers, and the two rollers are respectively arranged at both ends of the rectangular horizontal frame through bearings; small frames extending horizontally outward are also provided on both sides of the middle of the rectangular frame, and the seedling separation baffle 15 is vertically installed in the small frames.

[0056] The sensor group includes two seedling feeding sensors for controlling the process of feeding the tray, which are respectively arranged on both sides of the bottom of the rectangular horizontal frame and keep a distance of 2 mm from the conveyor belt 11; one of them is the single - supply position indicating sensor 16 for the seedling tray, and the other is the single - tray limit position sensor 17; after the seedling tray 14 is installed on the conveyor belt 11, the synchronous pulley motor 12 starts to work. When the seedling tray 14 reaches the predetermined seedling picking position, the single - supply position indicating sensor 16 for the seedling tray contacts the induction piece of the conveyor belt 11, controls the synchronous pulley motor 12 to stop, and then the single - tray limit position sensor 17 starts to work, contacts and cooperates with the conveyor belt 11, and controls the synchronous pulley motor 12 to drive the conveyor belt 11 to start jogging the tray; when all the seedlings in the last row of the seedling tray 14 are picked out, the single - supply position indicating sensor 16 for the seedling tray starts to work, controls the synchronous pulley motor 12 to drive the conveyor belt 11 to send out the empty seedling tray 14, and the tray feeding ends.

[0057] In this embodiment, the pressing - tray assembly 13 includes a movable pressing rail 132, a fixed pressing rail 131, a fluent strip 136, a tension spring 135, a hinge 134, and a movable - pressing - rail position - fixing buckle 133; the fluent strip 136 is arranged on the frame 4 and is located on both sides of the conveyor belt 11 along the conveying direction of the conveyor belt 11. The movable pressing rail 132 is arranged on the fluent strip 136 through the hinge 134 at the input end of the conveyor belt 11. The fluent strip 136 and the movable pressing rail 132 are connected by a tension spring 135 to realize the opening and closing of the movable pressing rail. In this embodiment, both the movable pressing rail 132 and the fixed pressing rail 131 are in the shape of a 7 - shaped strip. The top end of the tension spring 135 is connected to the movable pressing rail 132 through a nut, and the lower end of the tension spring 135 is connected to the hole opened on the fluent strip 136. The fixed pressing rail 131 is arranged on the fluent strip 136 at the output end of the conveyor belt 11; in this embodiment, the seed - separating baffle 15 is an outward - convex arc - shaped structure, and each group of seed - separating baffles 15 has two arranged side by side and corresponds to the position of the seedling clip 2181.

[0058] As Figure 5 、 Figure 6 shown, during normal operation, under the pulling force of the tension spring 135, the movable pressing rail 132 presses the seedling tray 14 on the conveyor belt 11 to prevent the seedling tray 14 from being pulled up together when the pot - seedling picking and transporting device 2 clips the seedlings. When the seedling tray 14 needs to be replaced, manually pull the movable pressing rail 132 to both sides to make the movable - pressing - rail position - fixing buckle 133 tightly buckle with the fluent strip 136, and make the movable pressing rail 132 always in the open state under the pulling force of the tension spring 135; after replacing the seedling tray 14, manually pick the movable - pressing - rail position - fixing buckle 133 to separate it from the fluent strip 136, and manually close the movable pressing rail 132 towards the middle. When the movable pressing rail presses the seedling tray 14, release the hand, and at this time, the movable pressing rail 132 will tightly press the seedling tray 14 under the pulling force of the tension spring 135.

[0059] In this embodiment, the seedling transport device 2 comprises: a ball screw 22 and two seedling clamp group mechanisms 21, the ball screw 22 is driven by a ball screw motor; the two ends of the ball screw 22 are respectively mounted on both sides of the middle of the rectangular frame; the two seedling clamp group mechanisms 21 have exactly the same structure and are symmetrically mounted on the seedling transport slider seats at both ends of the ball screw 22, forming a set of translation mechanisms that can translate left and right, and can be driven by the ball screw 22 to perform reciprocating translational motion in opposite and reverse directions as the ball screw motor works; the two seedling clamp group mechanisms 21 are also respectively located on both sides of the conveyor belt 11, when the seedling tray 14 on the conveyor belt 11 reaches the preset seedling taking position, the two seedling clamp group mechanisms 21 respectively and simultaneously perform progressive and equidistant seedling taking from both sides, and deliver them to the seedling sorting device in the pot through the seedling separation baffle 15. The number of rows of seedlings taken on one side is half the number of rows of seedlings in the seedling tray 14; the progressive and equidistant seedling taking is specifically: when the seedlings in the first row are all taken out, the seedling clamp group mechanism 21 advances forward a distance to clamp the next row of seedlings, and so on, until the seedlings in the pots on one side are all taken out.

[0060] In this embodiment, the seedling clamping group mechanism 21 includes a moving component, a seedling clamping component and a seedling blocking component.

[0061] The moving assembly includes a vertical moving plate 2113 connected to the seedling transporting slider seat of the ball screw 22, a first steering gear 211 arranged at the top of the moving plate 2113, and an output shaft of the first steering gear 211 is horizontally arranged and connected to a five-link mechanism consisting of a first connecting rod 212, a second connecting rod 213, a third connecting rod 214, a fourth connecting rod 215 and a seedling clamp connecting rod 2111; the upper end of the first connecting rod 212 is hinged to the output shaft of the first steering gear 211, and the outer end of the third connecting rod 214 (i.e., away from the conveyor belt) is hinged to the outer end of the third connecting rod 214. The first connecting rod 211 is hinged to the movable plate 2113 at one end, the middle section is hinged to the lower end of the first connecting rod 212 through the second connecting rod 213, the inner end of the third connecting rod 214 (i.e. the end close to the conveyor belt) is hinged to the middle two sides of the vertically arranged seedling clamp connecting rod 2111; the outer end of the fourth connecting rod 215 is hinged to the movable plate 2113, and the inner end is hinged to the lower two sides of the seedling clamp connecting rod 2111; the fourth connecting rod 215 is parallel to the third connecting rod 214 and is located below it, and the bottom end of the seedling clamp connecting rod 2111 is connected to the seedling clamp assembly 218. When the first steering gear 211 is working, it drives the five-link mechanism to move up and down, and the seedling clamp assembly 218 moves up and down accordingly; when the ball screw 22 is working, the seedling clamp assembly 218 moves horizontally accordingly, such as Figure 8 and Figure 9 shown.

[0062] In this embodiment, the seedling clamping assembly 218 includes a seedling clamp connecting plate 2182, two seedling clamps 2181 for clamping pot seedlings, and a seedling clamp opening mechanism for controlling the opening and closing of the two seedling clamps 2181. The middle part of the seedling clamp connecting plate 2182 is horizontally connected to the bottom end of the seedling clamp connecting rod 2111. The seedling clamp 2181 includes two clamping claws that cross in the middle and are engaged by gears. The two seedling clamps 2181 are arranged in parallel and are hinged to both ends of the seedling clamp connecting plate 2182 in the middle. The seedling clamp opening mechanism includes a first cam 217 and a second servo motor 216 with a vertically arranged output shaft. The first cam 217 is connected to the second servo motor 216 and is horizontally installed between the clamping tails of the two seedling clamps 2181. When the second servo motor 216 works, it drives the first cam 217 to rotate to open and close the seedling clamp 2181, realizing seedling grasping. When the first cam 217 rotates to the state as shown in Figure 11 , the seedling clamp closes to clamp the pot seedling. When the first cam 217 rotates to the state as shown in Figure 12 , the seedling clamp opens to release the pot seedling. In this embodiment, both the fourth connecting rod 215 and the third connecting rod 214 are provided with hollow through holes. The lower end of the second connecting rod 213 is inserted into the hollow hole in the middle section of the third connecting rod 214 and is hinged to it. The second servo motor 216 is located in the hollow through hole of the fourth connecting rod 215, which can prevent interference.

[0063] In this embodiment, as shown in Figure 8 and Figure 10 , the seedling blocking assembly includes a seedling blocking plate 2112, a second cam 219, and a third servo motor 2110 with a horizontally arranged output shaft; two seedling blocking plates 2112 are provided and are arranged in parallel above the clamping heads of the corresponding seedling clamps 2181. The tops of the two seedling blocking plates 2112 are hinged to both sides of the top end of the seedling clamp connecting rod 2111 through a common pin shaft and can rotate around the hinge axis, can move back and forth horizontally along the movement of the ball screw, and can also move up and down with the seedling clamp connecting rod. The third servo motor 2110 is installed on the back side of the seedling clamp connecting rod 2111, and the second cam 219 is connected to the third servo motor 2110. In the seedling clamping position, the second cam 219 is in the initial state, and the seedling blocking plate 2112 is in the vertical state to prevent the pot seedlings from tilting into the seedling clamping assembly 218. In the seedling throwing position, the second cam 219 pushes the seedling blocking plate 2112 forward under the action of the third servo motor 2110, pushing the pot seedlings out from the seedling clamp 2181 to prevent seedling jamming.

[0064] By the swing of the first servo motor, the five-link mechanism is driven to move up and down, so as to realize the up and down movement of the seedling clamping assembly and the seedling blocking assembly, and realize the movement of double-row pot seedlings from the seedling tray to the seedling sorting device for placement.

[0065] In this embodiment, the pot seedling sequencing device 3 includes: a turntable 31 horizontally arranged below the conveyor belt 11, and the turntable 31 is driven by a turntable motor; a plurality of seedling throwing cups 32 arranged on the turntable 31; a sequencing sensor arranged below the seedling separating baffle 15 for detecting whether the pot seedlings are above the seedling throwing cups 32; when the pot seedlings reach above the seedling throwing cups 32, the seedling clamps 2181 are loosened to throw the seedlings. A signal triggering device is arranged for every 4 seedling throwing cups 32 for triggering signals of the sequencing sensor. Every time the seedling throwing cups 32 move 4 times, the pot seedling picking and transporting device 2 throws the pot seedlings once. The seedlings are thrown simultaneously on each side, 2 seedlings are thrown on each side, and a total of 4 pot seedlings are thrown each time.

[0066] In this embodiment, the seedling tray conveying device 1, the pot seedling picking and transporting device 2, and the pot seedling sequencing device 3 are all controlled by a controller. The controller controls the actions of each component according to the signals of the motors, sensors, and servos in the seedling tray conveying device 1, the pot seedling picking and transporting device 2, and the pot seedling sequencing device 3, so as to realize automatic seedling picking, sequencing, and conveying.

[0067] As Figure 14 (taking the example that there are 5 columns of pot seedlings on the left and right in the seedling tray, Z1-Z5 are the 5 columns on the left, and Y1-Y5 are the 5 columns on the right), the present invention also provides an automatic seedling picking and delivering method for an automatic seedling picking and delivering machine for pot seedling transplanting, including the following steps:

[0068] a) Place the seedling tray 14 filled with pot seedlings on the conveyor belt 11, start the synchronous pulley motor 12, and the conveyor belt 11 drives the seedling tray 14 to move forward;

[0069] b) When the single-tray supply position indicating sensor 16 detects that the seedling tray 14 reaches the preset seedling picking position, stop the synchronous pulley motor 12, and the single-tray limit position sensor 17 works to control the synchronous pulley motor 12 to drive the conveyor belt 11 to start jogging the tray;

[0070] c) Seedling picking positioning stage ( Figure 13-1 ) : The first servo 211 drives the five-link mechanism to drive the seedling clamp 2181 to move downward to the limit position, and the ball screw 22 drives the left and right groups of seedling clamping components 218 to move forward empty to the pot seedlings to be clamped until the seedling clamp 2181 is aligned with the target pot seedlings to be clamped (Z1, Y1 respectively);

[0071] d) Vertical seedling picking stage ( Figure 13-2 ) : Start the second servo 216 to make the first cam 217 rotate, control the seedling clamp 2181 to close, and clamp the two target pot seedlings (Z1, Y1) respectively; the first servo 211 drives the five-link mechanism to move upward to the limit position, and the seedling clamp 2181 clamps the two pot seedlings and moves vertically upward until the pot seedlings (Z1, Y1) are separated from the seedling tray 14;

[0072] e) Seedling throwing positioning stage ( Figure 13-3): The ball screw 22 drives the two groups of seedling clamping assemblies 218 to move directly above the side seedling separating baffle 15; meanwhile, the first servo motor 211 drives the five-bar linkage mechanism to move downward to the extreme position;

[0073] f) Seedling clamping and dropping stage ( Figure 13-4 ): Start the second servo motor 216 to rotate the first cam 217 to control the opening of the seedling clamp 2181. Meanwhile, start the third servo motor 2110 to control the rotation of the second cam 219 to push out the seedling blocking plate 2112 to prevent seedling jamming, so that the pot seedlings fall into the seedling separating baffle 15 and then into the seedling dropping cup of the seedling sorting device 3;

[0074] g) After the seedling dropping is completed, the seedling clamping assembly 218 advances equidistantly without load towards the middle pot seedling position driven by the ball screw 22;

[0075] h) Repeat steps c) to g) until the first two rows of pot seedlings in the seedling tray 14 are taken out;

[0076] i) Start the synchronous pulley motor 12 to make the conveyor belt 11 drive the seedling tray 14 to move forward by a pitch;

[0077] j) Repeat steps b) to i) until all the pot seedlings are taken out;

[0078] k) When the sorting sensor detects that the pot seedlings reach the sorting position, the pot seedling picking and transporting device 2 performs seedling dropping.

[0079] As Figure 14 In, the initial no-load advance is set to 71 mm, the pot body diameter is set to 33 mm, and the distances of the 2nd - 5th no-load advances are 104 mm, 137 mm, 170 mm, and 203 mm respectively.

[0080] The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. For those skilled in the art of this technology, the improvements and transformations obtained without departing from the technical concept of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An automatic seedling picking and transporting machine for pot seedlings, comprising a frame structure rack (4). A seedling tray conveying device (1), a pot seedling picking and transporting device (2), and a pot seedling sequencing device (3) are provided on the rack (4). The seedling tray (14) is composed of seedling tray pots arranged vertically and horizontally. It is characterized in that the seedling tray conveying device (1) includes: a conveyor belt (11) for conveying the seedling tray (14), a pressing plate assembly (13), a seedling separating baffle (15), and a sensor group. The pressing plate assembly (13) is arranged on both sides of the conveyor belt (11) for pressing the seedling tray (14); the seedling separating baffle (15) is arranged in the middle of both sides of the conveyor belt (11); the conveyor belt (11) horizontally passes under the pot seedling picking and transporting device (2) and is driven by a synchronous pulley motor (12) to rotate unidirectionally to realize the unidirectional continuous supply of the seedling tray (14). The sensor group is used to detect the position of the seedling tray (14) and control the synchronous pulley motor (12). When it is detected that the seedling tray (14) reaches the predetermined seedling picking position, the synchronous pulley motor (12) is controlled to jog the tray, and the empty seedling tray (14) is sent out after all the pot seedlings in the last row of the seedling tray (14) are picked out; the pot seedling picking and transporting device (2) includes: a ball screw (22), a ball screw motor for driving the rotation of the ball screw (22), and two groups of seedling clamping group mechanisms (21) respectively located on both sides of the conveyor belt (11). The two groups of seedling clamping group mechanisms (21) are respectively installed on two groups of seedling conveying slider seats on the ball screw (22) and drive to make reciprocating translational movements towards and away from each other through the operation of the ball screw motor; the ball screw (22) straddles above the middle of the conveyor belt (11). When the seedling tray (14) on the conveyor belt (11) reaches the predetermined seedling picking position, the two groups of seedling clamping group mechanisms (21) respectively pick seedlings progressively and equidistantly from both sides at the same time and are sent to the pot seedling sequencing device through the seedling separating baffle (15); the pot seedling sequencing device (3) includes: a turntable (31) horizontally arranged under the conveyor belt (11), a turntable motor for driving the rotation of the turntable (31), a plurality of seedling throwing cups (32) arranged on the turntable (31), and a sequencing sensor arranged under the seedling separating baffle (15). The sequencing sensor is used to detect whether the pot seedling is above the seedling throwing cup (32); when the pot seedling reaches the seedling throwing cup (32), the turntable (31) drives the pot seedling to rotate to a preset position in the middle for seedling throwing; the seedling clamping group mechanism (21) includes a moving component, a seedling clamping component, and a seedling blocking component; The moving component includes a vertical moving plate (2113) connected to the seedling output slider seat of the ball screw (22), and a first servo motor (211) provided at the top of the moving plate (2113). The output shaft of the first servo motor (211) is horizontally arranged and connected to a five-link mechanism composed of a first connecting rod (212), a second connecting rod (213), a third connecting rod (214), a fourth connecting rod (215) and a seedling clip connecting rod (2111). The first connecting rod (212) is hinged to the output shaft of the first servo motor (211). The outer end of the third connecting rod (214) is hinged to the moving plate (2113), and the middle section is hinged to the first connecting rod (212) through the second connecting rod (213), and the inner end is hinged to both sides of the middle part of the vertically arranged seedling clip connecting rod (2111). The outer end of the fourth connecting rod (215) is hinged to the moving plate (2113), and the inner end is hinged to both sides of the lower part of the seedling clip connecting rod (2111). The fourth connecting rod (215) is parallel to the third connecting rod (214) and is located below it. The bottom end of the seedling clip connecting rod (2111) is connected to the seedling clamping component (218). When the first servo motor (211) works, it drives the five-link mechanism to move up and down, and the seedling clamping component (218) moves up and down accordingly. When the ball screw (22) works, the seedling clamping component (218) moves horizontally accordingly. The seedling clamping component (218) includes two seedling clips (2181) for clamping pot seedlings, a seedling clip connecting plate (2182), and a seedling clip opening mechanism for controlling the opening and closing of the two seedling clips (2181). The middle part of the seedling clip connecting plate (2182) is horizontally connected to the bottom end of the seedling clip connecting rod (2111). Each seedling clip (2181) includes two clamping claws that cross in the middle and are engaged by gears. The two seedling clips (2181) are juxtaposed and hinged to both ends of the seedling clip connecting plate (2182). The seedling clip opening mechanism includes a first cam (217) and a second servo motor (216) with a vertically arranged output shaft. The first cam (217) is connected to the second servo motor (216) and is horizontally installed between the clamping tails of the two seedling clips (2181). When the second servo motor (216) works, it drives the first cam (217) to rotate to open and close the seedling clip (2181). The seedling blocking component includes a seedling blocking plate (2112), a second cam (219), and a third servo motor (2110) with a horizontally arranged output shaft; there are two seedling blocking plates (2112) arranged in parallel above the chucks of the corresponding seedling clamps (2181). The tops of the two seedling blocking plates (2112) are hinged to both sides of the top of the seedling clamp connecting rod (2111) through a common pin shaft and can rotate around the hinge shaft. The third servo motor (2110) is installed on the back side of the seedling clamp connecting rod (2111), and the second cam (219) is connected to the third servo motor (2110); in the seedling clamping position, the second cam (219) is in the initial state, and the seedling blocking plate (2112) is in the vertical state to prevent the pot seedlings from tilting into the seedling clamping component (218). In the seedling throwing position, the second cam (219) pushes the seedling blocking plate (2112) forward under the operation of the third servo motor (2110), pushing the pot seedlings out from the seedling clamp (2181) forward to prevent seedling jamming.

2. The automatic seedling picking and transporting machine for pot seedlings according to claim 1, wherein, The number of columns for single-side seedling picking is half of the number of columns of pot seedlings in the seedling tray (14); the progressive equal-distance seedling picking is specifically as follows: when all the pot seedlings in the first column are picked out, the seedling clamp group mechanism (21) advances a certain distance forward to pick the next column of pot seedlings, and so on until all the pot seedlings on one side are picked out.

3. The automatic seedling picking and transporting machine for pot seedlings according to claim 1, characterized in that, The pressing plate component (13) includes a movable pressing rail (132), a fixed pressing rail (131), a sliding strip (136), a tension spring (135), a hinge (134), and a fixed buckle for the position of the movable pressing rail (133); the sliding strip (136) is arranged on the machine frame (4) and is located on both sides of the conveyor belt (11) along the conveying direction of the conveyor belt (11). The movable pressing rail (132) is arranged on the sliding strip (136) through the hinge (134) at the input end of the conveyor belt (11). The sliding strip (136) and the movable pressing rail (132) are connected by a tension spring (135) to realize the opening and closing of the movable pressing rail (132); the fixed pressing rail (131) is arranged on the sliding strip (136) at the output end of the conveyor belt (11).

4. The automatic seedling picking and delivering machine for pot seedlings according to claim 3, characterized in that: The top of the machine frame (4) is in a rectangular horizontal frame structure. The conveyor belt (11) is wound around two parallel rollers, and the two rollers are respectively arranged at both ends of the rectangular horizontal frame through bearings; both ends of the ball screw (22) are respectively installed on both sides of the middle part of the rectangular horizontal frame; small frames extending horizontally outward are also provided on both sides of the middle part of the rectangular horizontal frame, and the seedling separating baffle (15) is vertically installed in the small frames.

5. The automatic seedling picking and transporting machine for pot seedlings according to claim 4, characterized in that: The sensor group comprises two seedling feeding sensors for controlling the tray feeding process, which are arranged on both sides of the bottom of the rectangular horizontal frame and are kept at a distance of 2 mm from the conveyor belt (11); one of them is a seedling tray single feeding position indication sensor (16), and the other is a single tray limit position sensor (17); after the seedling tray (14) is installed on the conveyor belt (11), the synchronous pulley motor (12) starts to work, and when the seedling tray (14) reaches a predetermined seedling taking position, the seedling tray single feeding position indication sensor (16) is turned on. The sensor (16) contacts the sensing sheet of the conveyor belt (11) to control the synchronous pulley motor (12) to stop, and then the single tray limit position sensor (17) starts to work, contacts and cooperates with the conveyor belt (11), controls the synchronous pulley motor (12) to drive the conveyor belt (11) to start jogging the tray; when the last row of seedlings in the seedling tray (14) is completely taken out, the seedling tray single supply position indication sensor (16) starts to work, controls the synchronous pulley motor (12) to drive the conveyor belt (11) to send out the empty seedling tray (14).

6. The automatic seedling picking and transporting machine for pot seedlings according to claim 5, characterized in that: The seedling separation baffle (15) is an outwardly convex arc-shaped structure, and each group of seedling separation baffles (15) is provided with two side by side, corresponding to the positions of the seedling clips (2181).

7. The automatic seedling picking and transporting machine for pot seedlings according to claim 6, characterized in that: The movable pressure rail (132) and the fixed pressure rail (131) are both in the shape of a 7-shaped strip. The top end of the tension spring (135) is connected to the movable pressure rail (132) via a screw, and the bottom end of the tension spring (135) is connected to a hole opened on the smooth strip (136).

8. The automatic seedling picking and transporting machine for pot seedlings according to claim 7, characterized in that: The fourth connecting rod (215) and the third connecting rod (214) are both provided with hollow through holes, the lower end of the second connecting rod (213) is inserted into the hollow through hole in the middle section of the third connecting rod (214) and is hinged thereto, and the second steering gear (216) is located in the hollow through hole of the fourth connecting rod (215).

9. An automatic seedling picking and delivering method for the automatic seedling picking and delivering machine for pot seedlings described in claim 8, characterized in that, The following steps are involved: a) placing a seedling tray (14) filled with seedlings in pots on a conveyor belt (11), starting a synchronous pulley motor (12), and the conveyor belt (11) drives the seedling tray (14) to move forward; b) When the seedling tray single supply position indicating sensor (16) detects that the seedling tray (14) has reached the preset seedling removal position, the synchronous pulley motor (12) is stopped, and the single tray limit position sensor (17) operates to control the synchronous pulley motor (12) to drive the conveyor belt (11) to start jogging the tray; c) Seedling positioning stage: the first steering gear (211) drives the five-bar linkage to drive the seedling clamp (2181) to move downward to the limit position, and the ball screw (22) drives the left and right seedling clamping assemblies (218) to move forward unloaded toward the seedling pot to be clamped, until the seedling clamp (2181) is aligned with the seedling pot to be clamped; d) Vertical seedling removal stage: the second steering gear (216) is started to rotate the first cam (217), controlling the seedling clamp (2181) to close and clamp the two target seedlings in the seedling pots respectively; the first steering gear (211) drives the five-link mechanism to move upward to the limit position, and the seedling clamp (2181) clamps the two seedlings in the seedling pots and moves vertically upward therewith until the seedlings in the seedling pots are separated from the seedling tray (14); e) Seedling placing positioning stage: The ball screw (22) drives the seedling clamping assembly (218) to move directly above the side seedling separating baffle (15); at the same time, the first servo motor (211) drives the five-bar linkage mechanism to move down to the limit position; f) Clamp opening and seedling placing stage: Start the second servo motor (216) to rotate the first cam (217) to control the opening of the seedling clamp (2181). At the same time, start the third servo motor (2110) to control the rotation of the second cam (219) to push out the seedling blocking plate (2112), so that the pot seedlings fall into the seedling separating baffle (15) and then into the seedling placing cup of the pot seedling sequencing device (3); g) After the seedling placing is completed, the seedling clamp group mechanism (21) advances equidistantly without load in a progressive manner towards the middle pot seedling position driven by the ball screw (22); h) Repeat steps c) to g) until the first two rows of pot seedlings in the seedling tray (14) are taken out; i) Start the synchronous pulley motor (12) to make the conveyor belt (11) drive the seedling tray (14) to move forward by a pitch; j) Repeat steps b) to i) until all the pot seedlings are taken out; k) When the sequencing sensor detects that the pot seedlings reach the sequencing position, rotate the pot seedlings to the preset middle position for seedling placing.

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