A seedling planting machine and its planting method based on seedling bags

Abstract

This invention discloses a seedling planting machine and its planting method based on seedling bags. In this invention, the lower end of the guide tube of the bag pushing mechanism is fixed to the frame, and the upper end is fixed to the bag placing box. The guide tube communicates with the inner cavity of the bag placing box through a rectangular slot at the bottom of the bag placing box. In the bag opening mechanism, both suction cup rods are hinged to the frame, and two opposing vacuum suction cups are fixed on the two suction cup rods. In the bag supporting mechanism, the sliding frame and guide rail form a sliding pair, and are driven to rise and fall by a driving component. Both bag supporting rods are rotatably connected to a hinge shaft fixed on the sliding frame. In the seedling placing mechanism, the belt drive mechanism has two belts spaced vertically, each with multiple seedling support components arranged at intervals. This invention achieves the opening of the non-woven bag through the bag opening mechanism and ensures that the non-woven bag remains open during soil filling and seedling placement through the bag supporting mechanism, solving the problem of time-consuming manual opening of non-woven bags and soil filling due to the soft material of the non-woven bag.

Description

Technical Field

[0001] This invention belongs to the field of seedling technology, specifically relating to a seedling planting machine and its planting method based on seedling bags. Background Technology

[0002] Before transplanting, seedlings need to be cultivated to improve their survival rate. Currently, the agricultural and forestry industry typically uses seedling bags for cultivation, which effectively shortens the seedling recovery period and facilitates subsequent transplanting. Non-woven fabric bags are widely used due to their advantages such as easy decomposition, non-toxicity, non-irritation, and low price. However, when planting seedlings in non-woven fabric bags, the process involves manually opening the bag, filling it with nutrient soil, placing the seedling inside, and then filling it with soil again. This process of opening the bag and filling it with soil is time-consuming, resulting in low planting and production efficiency. Furthermore, it also involves high labor costs. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and propose a seedling planting machine and planting method based on seedling bags.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The present invention discloses a seedling planting machine based on seedling bags, comprising a frame, a soil filling mechanism, a belt conveyor mechanism, a bag pushing mechanism, a bag opening mechanism, a bag supporting mechanism, a seedling delivery mechanism, and a transfer mechanism.

[0006] The bag pushing mechanism includes a rotating shaft, a linear slide module, a bag pushing plate, a bag placing box, and a bag guiding tube. The lower end of the bag guiding tube is vertically fixed to the frame, and the upper end is fixed to the bottom of the bag placing box. The bag guiding tube communicates with the inner cavity of the bag placing box through a rectangular slot at the bottom of the bag placing box. Two guide rails are fixed inside the bag guiding tube, and the input ends of the two guide rails are located below the two ends of the rectangular slot. The bag placing box is inclined relative to the horizontal plane. The bag placing box is equipped with a linear slide module. The base of the linear slide module is fixed to the bottom of the bag placing box and is perpendicular to the rectangular slot. A bag pushing plate is fixed on the slider of the linear slide module. The rotating shaft and the bag placing box form a rotating pair and are driven by a drive motor. Multiple arc-shaped rubber handles are fixed on the rotating shaft and are equidistantly arranged along the circumference. The rotating shaft is parallel to the rectangular slot, and the rectangular slot is located between the rotating shaft and the linear slide module.

[0007] The bag-opening mechanism includes a vacuum suction cup, suction cup rods, a servo motor, and connecting rods. Two horizontally and symmetrically arranged suction cup rods are hinged to the frame. Two servo motors drive the two suction cup rods to rotate towards or away from each other. Two vacuum suction cups are fixed to the two suction cup rods and are arranged opposite each other. A connecting rod perpendicular to the horizontal plane is fixed to each of the two suction cup rods. A horizontally arranged semi-circular support plate is fixed to each of the two connecting rods. The two semi-circular support plates are staggered vertically. The two vacuum suction cups are located directly above the corresponding semi-circular support plate and directly below the bag guide tube, and on both sides of the guide rail. In the initial state, there is a gap between the two vacuum suction cups, and the ends of the two semi-circular support plates are stacked vertically.

[0008] The bag-supporting mechanism includes a second guide rail, a sliding frame, bag-supporting rods, seedling-fixing plates, and a first driving component. The second guide rail is vertically fixed on the frame, and the sliding frame and the second guide rail form a sliding pair. The first driving component drives the sliding frame to rise and fall. The upper ends of the two bag-supporting rods are rotatably connected to the hinge shafts fixed on the sliding frame, and the lower ends of the two bag-supporting rods are provided with inclined surfaces on opposite sides. A spreading rod parallel to the hinge shaft is fixed on the sliding frame directly below the hinge shaft, and a seedling-fixing plate is also fixed on the sliding frame. The bag-supporting mechanism has two symmetrically arranged parts, and the seedling-fixing plates of the two bag-supporting mechanisms are located inside the corresponding sliding frames. The soil outlet of the soil-filling mechanism on the frame is close to the seedling-fixing plates of the two bag-supporting mechanisms. In the initial state, the two bag-supporting rods are in contact and located directly above the spreading rods.

[0009] The seedling delivery mechanism includes a pushing component, a belt drive mechanism, a seedling support component, and a seedling delivery tube. The belt drive mechanism is driven by a servo motor. Two pulleys in the belt drive mechanism form a rotating pair with the machine frame, and the central axes of the two pulleys are perpendicular to the horizontal plane. Multiple seedling support components are spaced on two belts spaced vertically within the belt drive mechanism. Each seedling support component includes a seedling support plate and a pushing plate. The upper end of the pushing plate is hinged to the belt above, and the lower ends of the pushing plate form groove-pin pairs with the sliding grooves on both sides of the seedling support plate. The seedling support plate is hinged to the belt below. The seedling delivery tube is vertically fixed to the machine frame and located outside the belt drive mechanism, directly above the two seedling support plates. The pushing component is located inside the belt drive mechanism and pushes the pushing plate near the seedling delivery tube to rotate outward along the sliding grooves on both sides of the corresponding seedling support plate. The transfer mechanism is located directly below the soil filling mechanism, the two semi-circular support plates, and the two seedling support plates. The belt conveyor is located at the output end of the transfer mechanism.

[0010] Preferably, the bag guide tube is composed of an integrally formed straight tube and an arc-shaped semi-circular tube, with the straight tube vertically fixed on the frame and the arc-shaped semi-circular tube fixed to the bag box.

[0011] More preferably, the guide rail is composed of an integrally formed curved section slide rail and a vertical section slide rail. The curved section slide rail is fixed to the arc-shaped semi-circular tube, and the vertical section slide rail is fixed to the straight tube. The input end of the curved section slide rail is located below the corresponding end of the rectangular slot.

[0012] Preferably, the filling mechanism includes a hopper, a double-headed cylinder, a worm gear, and baffles. The hopper is fixed to the frame, and the outlet of the hopper is close to two seedling plates. The cylinder body of the double-headed cylinder is fixed at the outlet of the hopper. Baffles are fixed on both piston rods of the double-headed cylinder. The two baffles and the vertical slots on both sides of the hopper form sliding pairs. The worm gear and the inner wall of the hopper form a rotating pair and are driven by a second drive motor, which is located at the outlet of the hopper.

[0013] Preferably, the first driving component includes a motor bracket, a third driving motor, and a cam. The motor bracket is fixed to the frame and is arranged parallel to the second guide rail. The housing of the third driving motor is fixed to the motor bracket. A cam is fixed on the output shaft of the third driving motor. The cam and the cam box integrally formed on the sliding frame constitute a cam pair.

[0014] Preferably, the pushing assembly includes a connecting frame and an L-shaped pushing rod. The connecting frame is fixed on the frame, and the L-shaped pushing rod is hinged to the connecting frame and driven to rotate by a drive motor.

[0015] Preferably, the transfer mechanism includes a turntable, a fan-shaped support plate, a rotating shaft, a support tube, and a second driving component; the support tube is vertically fixed on the frame, and a horizontally arranged fan-shaped support plate is fixed on the support tube. The outer edge of the fan-shaped support plate is provided with an integrally formed arc-shaped plate perpendicular to the horizontal plane; the rotating shaft passes through the fan-shaped support plate and the support tube, and forms a rotating pair with the frame, and is driven to rotate intermittently by the second driving component; the horizontally arranged turntable is located inside the fan-shaped support plate and is fixed by the rotating shaft; the turntable has several arc-shaped slots arranged equidistantly along the circumference, and an arc-shaped baffle perpendicular to the horizontal plane is fixed at each of the arc-shaped slots on the turntable; the conveyor belt is located below the notch of the fan-shaped support plate, and the conveyor belt of the conveyor belt is close to the lower surface of the fan-shaped support plate.

[0016] More preferably, the second driving component includes a Geneva mechanism and a stepper motor. The driven Geneva wheel of the Geneva mechanism is fixed to the rotating shaft, and the driving dial of the Geneva mechanism is fixed to the output shaft of the stepper motor fixed on the frame.

[0017] The present invention discloses a planting method for a seedling planting machine based on seedling bags, as detailed below:

[0018] Step 1: Pour nutrient soil into the hopper of the filling mechanism, place a stack of non-woven bags in the bag box, and place seedlings on each seedling tray.

[0019] Step 2: The controller controls the servo motor 3 of the linear slide module to work. The slider of the linear slide module drives the pusher plate to move all the non-woven bags a distance equal to the thickness of one non-woven bag towards the rectangular slot. One non-woven bag is pushed above the rectangular slot. At the same time, the controller controls the drive motor 1 to drive the rotating shaft to rotate. An arc-shaped rubber handle pushes a non-woven bag located above the rectangular slot downward. The non-woven bag passes through the rectangular slot and enters the two guide rails in the guide tube. Under its own gravity, it slides down the two guide rails until it lands on the two semi-circular support plates and is located between the two vacuum suction cups.

[0020] Step 3: The controller controls two servo motors to drive two suction cup rods to rotate in opposite directions until the two vacuum suction cups contact the sides of the non-woven bag. Then, the controller uses an electromagnetic reversing valve to control the two vacuum suction cups to hold the sides of the non-woven bag. Next, the controller controls two servo motors to drive two suction cup rods to rotate in opposite directions, the two semi-circular support plates open, and the two suction cup rods pull the non-woven bag open. Once the non-woven bag is fully opened, the controller uses an electromagnetic reversing valve to control the two vacuum suction cups to release the non-woven bag. The non-woven bag falls onto the fan-shaped support plate in the transfer mechanism under its own gravity and is located in an arc-shaped slot on the turntable in the transfer mechanism. The controller then controls two servo motors to drive two suction cup rods to rotate in opposite directions back to their original positions.

[0021] Step 4: In the transfer mechanism, the second drive component drives the rotating shaft to rotate the turntable. The arc-shaped baffles fixed at the corresponding arc-shaped slots on the turntable push the non-woven bag, which is transported to the area directly below the two seedling fixing plates. Then, the two drive components drive the corresponding sliding frame to move downwards along the guide rail. When the inclined surface of the bag support rod touches the opening rod, the bag support rod opens and supports the non-woven bag. At the same time, the two seedling fixing plates extend into the non-woven bag. Then, the soil filling mechanism performs the first soil filling. The nutrient soil falls from the outlet of the hopper into the non-woven bag. After a preset time, the soil filling mechanism stops filling, completing the first soil filling.

[0022] Step 5: The controller starts the second servo motor, and the belt drive mechanism drives a seedling support assembly to move close to the seedling guide tube and then stops. Next, the impact assembly pushes the corresponding seedling pusher plate to rotate upwards around the belt in the upper part of the belt drive mechanism, and pushes the seedling outwards along the grooves on both sides of the corresponding seedling support plate until the seedling detaches from the seedling support plate and falls into the seedling delivery tube. Under the action of gravity, the seedling falls into the non-woven bag along the seedling delivery tube, while two seedling fixing plates hold the seedling. Then, the impact assembly resets, the seedling pusher plate resets under its own weight, and the soil filling mechanism continues to move. After a preset time of two, the soil filling mechanism stops filling, completing the second filling. The two drive components drive the corresponding sliding frame to move upward along the guide rail to its original position. The support rod detaches from the non-woven bag and rotates inward under its own gravity to the initial state. At the same time, the two seedling fixing plates move upward outside the non-woven bag. The drive component drives the rotating shaft to drive the turntable to continue rotating until the corresponding arc-shaped baffle on the turntable pushes the non-woven bag with seedlings onto the conveyor belt with the conveyor mechanism, completing the planting of seedlings in one non-woven bag.

[0023] The beneficial effects of this invention are as follows:

[0024] 1. In this invention, a bag-pushing mechanism is used to transport the non-woven bags, an opening mechanism is used to open the bags, and a bag-supporting mechanism ensures that the bags remain open throughout the soil filling and seedling placement process. In the bag-pushing mechanism, a linear slide module pushes the non-woven bags via a pushing plate, and a rotating shaft drives an arc-shaped rubber handle to push the bags into the guide rail, allowing for the transport of the bags one by one. Guided by the guide rail, the bags accurately fall between two vacuum suction cups. In the bag-opening mechanism, two vacuum suction cups adhere to both sides of the bag, and two suction cup rods drive the two suction cups to move in opposite directions, thus opening the bags. In the bag-supporting mechanism, a sliding... The descent of the moving frame opens the supporting rod and holds the non-woven bag open, thus ensuring that the non-woven bag remains open during the first filling of soil by the filling mechanism, the seedling placement mechanism, and the second filling of soil by the filling mechanism. This invention replaces manual opening and opening of the non-woven bag with a bag opening mechanism and a bag supporting mechanism, solving the problem of time-consuming manual opening and filling of non-woven bags due to the softness of the non-woven bag material. This improves planting and production efficiency. Furthermore, this invention can replace manual labor in repetitive tasks when planting multiple seedlings, further improving planting and production efficiency, while also solving the problems of high labor costs and large manual labor requirements.

[0025] 2. The bag-supporting mechanism of the present invention is equipped with seedling fixing plates. The two seedling fixing plates play a role in supporting the seedlings during the seedling placement mechanism and the second soil filling mechanism, so as to prevent the seedlings from falling over. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a schematic diagram of the bag-pushing mechanism in this invention;

[0028] Figure 3 This is a schematic diagram of the bag-opening mechanism in this invention;

[0029] Figure 4 This is a schematic diagram of the bag-supporting mechanism in this invention;

[0030] Figure 5 This is a schematic diagram of the soil filling mechanism in this invention;

[0031] Figure 6 This is a schematic diagram of the seedling delivery mechanism after the seedling guide tube has been removed in this invention;

[0032] Figure 7 This is a schematic diagram of the transfer mechanism and conveyor belt mechanism in this invention. Detailed Implementation

[0033] The present invention will now be further described with reference to the accompanying drawings.

[0034] like Figure 1 As shown, the present invention provides a seedling planting machine based on seedling bags, comprising a frame 1, a soil filling mechanism 2, a seedling dispensing mechanism 3, a bag pushing mechanism 4, a bag opening mechanism 6, a transfer mechanism 7, a belt conveyor mechanism 8, and a bag supporting mechanism 9.

[0035] like Figure 2 As shown, the bag pushing mechanism 4 includes a rotating shaft 41, a linear slide module 43, a bag pushing plate 44, a bag placing box 45, and a bag guiding tube 46. The lower end of the bag guiding tube 46 is vertically fixed to the frame 1, and the upper end is fixed to the bottom of the bag placing box 45. The bag guiding tube 46 communicates with the inner cavity of the bag placing box 45 through a rectangular slot opened at the bottom of the bag placing box 45. Two guide rails are fixed inside the bag guiding tube 46, and the input ends of the two guide rails are located below the two ends of the rectangular slot. The bag placing box 45 is inclined relative to the horizontal plane. The bag box 45 is equipped with a linear slide module 43. The base of the linear slide module 43 is fixed to the bottom of the bag box 45 and is set perpendicular to the rectangular slot. A bag pusher plate 44 is fixed on the slider of the linear slide module 43. The rotating shaft 41 and the bag box 45 form a rotating pair and are driven by a drive motor 42. Multiple arc-shaped rubber handles are fixed on the rotating shaft 41 and are arranged equidistantly along the circumference. The rotating shaft 41 is set parallel to the rectangular slot, which is located between the rotating shaft 41 and the linear slide module.

[0036] like Figure 3As shown, the bag opening mechanism 6 includes a vacuum suction cup 61, suction cup rods 62, a servo motor 63, and a connecting rod 64. Two horizontally and symmetrically arranged suction cup rods 62 are hinged to the frame 1. Two servo motors 63 drive the two suction cup rods 62 to rotate towards or away from each other. Two vacuum suction cups 61 are fixed to the two suction cup rods 62, and a connecting rod 64 perpendicular to the horizontal plane is fixed to each of the two suction cup rods 62. A horizontally arranged semi-circular support plate is fixed to each of the two connecting rods 64, and the two semi-circular support plates are staggered vertically. The two vacuum suction cups 61 are located directly above a corresponding semi-circular support plate, directly below the bag guide tube 46, and on both sides of the guide rail. In the initial state, there is a gap between the two vacuum suction cups 61, and the ends of the two semi-circular support plates are stacked vertically.

[0037] like Figure 4 As shown, the bag-supporting mechanism 9 includes a second guide rail 92, a sliding frame 95, bag-supporting rods 96, a seedling-fixing plate 97, and a driving component 1. The second guide rail 92 is vertically fixed on the frame 1. The sliding frame 95 and the second guide rail 92 form a sliding pair. The driving component 1 drives the sliding frame 95 to move up and down along the second guide rail 92. The upper ends of the two bag-supporting rods 96 are rotatably connected to the hinge shaft fixed on the sliding frame 95. The lower ends of the two bag-supporting rods 96 are provided with inclined surfaces on opposite sides. A spreading rod parallel to the hinge shaft is fixed on the sliding frame 95 directly below the hinge shaft. A seedling-fixing plate 97 is also fixed on the sliding frame 95. There are two symmetrically arranged bag-supporting mechanisms 9. The seedling-fixing plates 97 of the two bag-supporting mechanisms 9 are located inside the corresponding sliding frames 95. The soil outlet of the soil-filling mechanism 2 on the frame is close to the seedling-fixing plates 97 of the two bag-supporting mechanisms 9. In the initial state, the two bag-supporting rods 96 are in contact and located directly above the spreading rod.

[0038] like Figure 1 and Figure 6 As shown, the seedling delivery mechanism 3 includes a pushing component 32, a belt drive mechanism, seedling support components 34, and a seedling delivery tube 5. The belt drive mechanism is driven by a servo motor. Both pulleys 31 in the belt drive mechanism form a rotating pair with the frame 1, and the central axes of both pulleys 31 are perpendicular to the horizontal plane. Multiple seedling support components 34 are spaced apart on two belts 33 in the belt drive mechanism. Each seedling support component 34 includes a seedling support plate and a pushing plate. The upper end of the pushing plate is hinged to the upper belt 33, and the lower end... The grooves on both sides of the seedling tray form groove pin pairs, and the seedling tray is hinged to the belt 33 located below. The seedling tube 5 is vertically fixed on the frame 1 and located outside the belt drive mechanism and directly above the two seedling plates 97. The pushing component 32 is located inside the belt drive mechanism. The pushing component 32 pushes the pushing plate near the seedling tube 5 to rotate outward along the grooves on both sides of the corresponding seedling tray, so that the pushing plate pushes the seedlings placed on the corresponding seedling tray to move outward until they are separated from the seedling tray and fall into the seedling tube 5.

[0039] The transfer mechanism 7 is located directly below the soil filling mechanism 2, the two semi-circular support plates, and the two seedling fixing plates 97. The belt conveyor mechanism 8 is located at the output end of the transfer mechanism 7. The transfer mechanism 7 is used to transfer the non-woven bag from directly below the two semi-circular support plates to directly below the two seedling fixing plates 97, and then transfer it to the belt conveyor mechanism 8.

[0040] In a preferred embodiment, the bag guide tube 46 is composed of an integrally formed straight tube and an arc-shaped semi-circular tube. The straight tube is vertically fixed on the frame 1, and the arc-shaped semi-circular tube is fixed to the bag box 45.

[0041] More preferably, the guide rail is composed of an integrally formed curved section slide rail and a vertical section slide rail. The curved section slide rail is fixed to the arc-shaped semi-circular tube, and the vertical section slide rail is fixed to the straight tube. The input end of the curved section slide rail is located below the corresponding end of the rectangular slot.

[0042] As a preferred embodiment, such as Figure 5 As shown, the soil filling mechanism 2 includes a hopper 21, a double-headed cylinder 22, a worm gear, and baffles 23. The hopper 21 is fixed to the frame 1, and the soil outlet of the hopper 21 is close to the two seedling fixing plates 97. The cylinder body of the double-headed cylinder 22 is fixed at the soil outlet of the hopper 21. Baffles 23 are fixed on the two piston rods of the double-headed cylinder 22. The two baffles 23 and the vertical slots opened on both sides of the hopper 21 form sliding pairs respectively. The worm gear and the inner wall of the hopper 21 form a rotating pair and are driven by the second drive motor. It is located at the soil outlet of the hopper 21. The worm gear is used to stir the nutrient soil to prevent the nutrient soil from falling due to its stickiness.

[0043] In a preferred embodiment, the drive component includes a motor bracket 91, a drive motor 93, and a cam 94. The motor bracket 91 is fixed to the frame 1 and is arranged parallel to the guide rail 92. The housing of the drive motor 93 is fixed to the motor bracket 91. The cam 94 is fixed on the output shaft of the drive motor 93. The cam 94 and the cam box integrally formed on the sliding frame 95 constitute a cam pair.

[0044] In a preferred embodiment, the pushing assembly 32 includes a connecting frame and an L-shaped pushing rod. The connecting frame is fixed on the frame 1, and the L-shaped pushing rod is hinged to the connecting frame and driven to rotate by a drive motor.

[0045] As a preferred embodiment, such as Figure 7As shown, the transfer mechanism 7 includes a turntable 71, a sector-shaped support plate 72, a rotating shaft 73, a support tube 74, and a second driving component. The support tube 74 is vertically fixed on the frame 1, and a horizontally arranged sector-shaped support plate 72 is fixed on the support tube 74. The outer edge of the sector-shaped support plate 72 is provided with an integrally formed arc-shaped plate perpendicular to the horizontal plane. The rotating shaft 73 passes through the sector-shaped support plate 72 and the support tube 74, and forms a rotating pair with the frame 1. It is driven to rotate intermittently by the second driving component. The horizontally arranged turntable 71 is located inside the sector-shaped support plate 72 and is fixed to the rotating shaft 73. Several arc-shaped slots are opened on the turntable 71 and are evenly arranged along the circumference. Arc-shaped baffles perpendicular to the horizontal plane are fixed at the arc-shaped slots on the turntable 71. The belt conveyor 8 is located below the notch of the sector-shaped support plate 72, and the conveyor belt of the belt conveyor 8 is close to the lower surface of the sector-shaped support plate 72.

[0046] More preferably, the second drive component includes a Geneva mechanism and a stepper motor 77. The driven Geneva wheel 76 of the Geneva mechanism is fixed to the rotating shaft 73, and the driving dial 75 of the Geneva mechanism is fixed to the output shaft of the stepper motor 77 fixed on the frame 1.

[0047] Among them, drive motor 42, servo motor 63, servo motor 2, drive motor 2, drive motor 3 93, drive motor 4, stepper motor 77 and servo motor 3 of the linear slide module are all controlled by the controller. Vacuum chuck 61 is connected to the vacuum generator through an electromagnetic reversing valve. Double-headed cylinder 22 is connected to the air pump through an electromagnetic reversing valve, which is controlled by the controller.

[0048] The present invention discloses a planting method for a seedling planting machine based on seedling bags, as detailed below:

[0049] Step 1: Pour nutrient soil into the hopper 21 of the filling mechanism 2, place a stack of non-woven bags in the bag box 46, and place seedlings on each seedling tray.

[0050] Step 2: The controller controls the servo motor 3 of the linear slide module to work. The slider of the linear slide module drives the pusher plate 44 to push all the non-woven bags to move a distance equal to the thickness of one non-woven bag towards the rectangular slot. One non-woven bag is pushed above the rectangular slot. At the same time, the controller controls the drive motor 42 to drive the rotating shaft 41 to rotate. An arc-shaped rubber handle pushes a non-woven bag located above the rectangular slot to move downward. The non-woven bag passes through the rectangular slot and enters the guide tube 46. Under its own gravity, it slides down along the two guide rails until it lands on the two semi-circular support plates and is located between the two vacuum suction cups 61.

[0051] Step 3: The controller controls two servo motors 63 to drive two suction cup rods 62 to rotate in opposite directions until the two vacuum suction cups 61 contact the sides of the non-woven bag. Then, the controller controls the two vacuum suction cups 61 to hold the sides of the non-woven bag through the electromagnetic reversing valve. Next, the controller controls the two servo motors 63 to drive the two suction cup rods 62 to rotate in opposite directions, the two semi-annular support plates open, and the two suction cup rods 62 pull the non-woven bag open. When the non-woven bag is fully opened, the controller controls the two vacuum suction cups 61 to stop holding the non-woven bag through the electromagnetic reversing valve. The non-woven bag falls onto the fan-shaped support plate in the transfer mechanism 7 under its own gravity and is located in an arc-shaped slot on the turntable 71 in the transfer mechanism 7. The controller controls the two servo motors 63 to drive the two suction cup rods 62 to rotate in opposite directions back to their original positions.

[0052] Step 4: In the transfer mechanism 7, the second driving component drives the rotating shaft 73 to rotate the turntable 71. The arc-shaped baffle fixed at the corresponding arc-shaped slot on the turntable 71 pushes the non-woven bag, and the non-woven bag is transported to the area directly below the two seedling fixing plates 97. Then, the two driving components drive the corresponding sliding frame 95 to move downward along the guide rail 92. When the inclined surface of the bag support rod 96 touches the opening rod, the bag support rod 96 opens and supports the non-woven bag. At the same time, the two seedling fixing plates 97 extend into the non-woven bag. Then, the soil filling mechanism 2 performs the first soil filling. The nutrient soil falls from the soil outlet of the hopper 21 into the non-woven bag. After a preset time, the soil filling mechanism 2 stops filling.

[0053] Step 5: The controller starts the servo motor 2, and the belt drive mechanism drives a seedling support assembly 34 to move close to the seedling guide tube 5 and then stops. Next, the impact assembly 32 pushes the corresponding seedling pusher plate to rotate upwards around the belt in the upper part of the belt drive mechanism, and pushes the seedling outwards along the grooves on both sides of the corresponding seedling support plate until the seedling detaches from the seedling support plate and falls into the seedling delivery tube 5. Under the action of gravity, the seedling falls into the non-woven bag along the seedling delivery tube 5. At the same time, two seedling fixing plates 97 support the seedling to prevent it from falling over. Then, the impact assembly 32 resets, the seedling pusher plate resets under its own weight, and the soil filling mechanism 2 performs a second soil filling. The two seedling fixing plates 97 also serve to prevent the seedlings from falling over. After a preset time of two, the soil filling mechanism 2 stops filling the soil and completes the second filling. The two driving components drive the corresponding sliding frame 95 to move upward along the guide rail 92 to its original position. The support rod 96 separates from the non-woven bag and rotates inward under its own gravity to the initial state. At the same time, the two seedling fixing plates 97 move upward out of the non-woven bag. The driving component 2 drives the rotating shaft 73 to drive the turntable 71 to continue rotating until the corresponding arc-shaped baffle on the turntable 71 pushes the non-woven bag with the seedlings onto the conveyor belt with the conveying mechanism 8, thus completing the planting of a seedling in a non-woven bag.

Claims

1. A seedling planting machine based on seedling bags, comprising a frame, a soil filling mechanism, a transfer mechanism, and a belt conveyor mechanism, characterized in that: It also includes a bag-pushing mechanism, a bag-opening mechanism, a bag-supporting mechanism, and a seedling dispensing mechanism; the bag-pushing mechanism includes a rotating shaft, a linear slide module, a bag-pushing plate, a bag-dispensing box, and a bag-guiding tube; the lower end of the bag-guiding tube is vertically fixed to the frame, and the upper end is fixed to the bottom of the bag-dispensing box. The bag-guiding tube communicates with the inner cavity of the bag-dispensing box through a rectangular slot at the bottom of the bag-dispensing box; two guide rails are fixed inside the bag-guiding tube, and the input ends of the two guide rails are respectively located below the two ends of the rectangular slot; the bag-dispensing box is inclined relative to the horizontal plane, and a linear slide module is provided inside the bag-dispensing box. The base of the linear slide module is fixed to the bottom of the bag-dispensing box and is set perpendicular to the rectangular slot. A bag-pushing plate is fixed on the slider of the linear slide module; the rotating shaft and the bag-dispensing box form a rotating pair and are driven by a drive motor. Multiple arc-shaped rubber handles are fixed on the rotating shaft and are equidistantly arranged along the circumference; wherein, the rotating shaft is set parallel to the rectangular slot, and the rectangular slot is located between the rotating shaft and the linear slide module; The bag opening mechanism includes a vacuum suction cup, suction cup rods, a servo motor, and connecting rods. Two horizontally and symmetrically arranged suction cup rods are hinged to the frame. Two servo motors drive the two suction cup rods to rotate towards or away from each other. Two vacuum suction cups are fixed to the two suction cup rods, and each suction cup rod has a connecting rod perpendicular to the horizontal plane. A horizontally arranged semi-circular support plate is fixed to each of the two connecting rods, and the two semi-circular support plates are staggered vertically. The two vacuum suction cups are located directly above a corresponding semi-circular support plate, directly below the bag guide tube, and on both sides of the guide rail. In the initial state, there is a gap between the two vacuum suction cups, and the ends of the two semi-circular support plates are stacked vertically. The bag-supporting mechanism includes a second guide rail, a sliding frame, bag-supporting rods, seedling-fixing plates, and a first driving component. The second guide rail is vertically fixed on the frame, and the sliding frame and the second guide rail form a sliding pair. The first driving component drives the sliding frame to rise and fall. The upper ends of the two bag-supporting rods are rotatably connected to a hinge shaft fixed on the sliding frame, and the lower ends of the two bag-supporting rods are provided with inclined surfaces on opposite sides. A spreading rod parallel to the hinge shaft is fixed on the sliding frame directly below the hinge shaft, and a seedling-fixing plate is also fixed on the sliding frame. The bag-supporting mechanism has two symmetrically arranged parts, and the seedling-fixing plates of the two bag-supporting mechanisms are located inside the corresponding sliding frames. The soil outlet of the soil-filling mechanism on the frame is close to the seedling-fixing plates of the two bag-supporting mechanisms. In the initial state, the two bag-supporting rods are in contact and located directly above the spreading rod. The seedling delivery mechanism includes a pushing component, a belt drive mechanism, a seedling support component, and a seedling delivery tube. The belt drive mechanism is driven by a servo motor. Two pulleys in the belt drive mechanism form a rotating pair with the machine frame, and the central axes of the two pulleys are perpendicular to the horizontal plane. Multiple seedling support components are spaced on two belts spaced vertically within the belt drive mechanism. Each seedling support component includes a seedling support plate and a pushing plate. The upper end of the pushing plate is hinged to the belt above, and the lower ends of the pushing plate form groove-pin pairs with the sliding grooves on both sides of the seedling support plate. The seedling support plate is hinged to the belt below. The seedling delivery tube is vertically fixed to the machine frame and located outside the belt drive mechanism, directly above the two seedling support plates. The pushing component is located inside the belt drive mechanism and pushes the pushing plate near the seedling delivery tube to rotate outward along the sliding grooves on both sides of the corresponding seedling support plate. The transfer mechanism is located directly below the soil filling mechanism, the two semi-circular support plates, and the two seedling support plates. The belt conveyor is located at the output end of the transfer mechanism.

2. The seedling planting machine based on seedling bags according to claim 1, characterized in that: The bag guide tube is composed of an integrally formed straight tube and an arc-shaped semi-circular tube. The straight tube is vertically fixed on the frame, and the arc-shaped semi-circular tube is fixed to the bag box.

3. A seedling planting machine based on seedling bags according to claim 2, characterized in that: The guide rail is composed of an integrally formed curved section slide rail and a vertical section slide rail. The curved section slide rail is fixed to the arc-shaped semi-circular tube, and the vertical section slide rail is fixed to the straight tube. The input end of the curved section slide rail is located below the corresponding end of the rectangular slot.

4. A seedling planting machine based on seedling bags according to claim 1, characterized in that: The soil filling mechanism includes a hopper, a double-headed cylinder, a worm gear, and baffles. The hopper is fixed to the frame, and the hopper's outlet is close to two seedling plates. The cylinder body of the double-headed cylinder is fixed at the outlet of the hopper. Baffles are fixed on both piston rods of the double-headed cylinder. The two baffles and the vertical slots on both sides of the hopper form sliding pairs. The worm gear and the inner wall of the hopper form a rotating pair and are driven by a second drive motor, which is located at the outlet of the hopper.

5. A seedling planting machine based on seedling bags according to claim 1, characterized in that: The drive component one includes a motor bracket, a drive motor three, and a cam. The motor bracket is fixed to the frame and is arranged parallel to the guide rail two. The housing of the drive motor three is fixed to the motor bracket. A cam is fixed on the output shaft of the drive motor three. The cam and the cam box integrally formed on the sliding frame constitute a cam pair.

6. A seedling planting machine based on seedling bags according to claim 1, characterized in that: The pushing assembly includes a connecting frame and an L-shaped pushing rod. The connecting frame is fixed on the frame, and the L-shaped pushing rod is hinged to the connecting frame and driven to rotate by a drive motor.

7. A seedling planting machine based on seedling bags according to claim 1, characterized in that: The transfer mechanism includes a turntable, a fan-shaped support plate, a rotating shaft, a support tube, and a second driving component. The support tube is vertically fixed to the frame, and a horizontally arranged fan-shaped support plate is fixed on the support tube. The outer edge of the fan-shaped support plate has an integrally formed arc-shaped plate perpendicular to the horizontal plane. The rotating shaft passes through the fan-shaped support plate and the support tube, and forms a rotating pair with the frame. It is driven to rotate intermittently by the second driving component. The horizontally arranged turntable is located inside the fan-shaped support plate and is fixed to the rotating shaft. The turntable has several arc-shaped slots arranged equidistantly along the circumference, and an arc-shaped baffle perpendicular to the horizontal plane is fixed at each of the arc-shaped slots on the turntable. The belt conveyor is located below the notch of the fan-shaped support plate, and the conveyor belt of the belt conveyor is close to the lower surface of the fan-shaped support plate.

8. A seedling planting machine based on seedling bags according to claim 7, characterized in that: The second driving component includes a Geneva mechanism and a stepper motor. The driven Geneva wheel of the Geneva mechanism is fixed to the rotating shaft, and the driving dial of the Geneva mechanism is fixed to the output shaft of the stepper motor fixed on the frame.

9. A planting method for a seedling planting machine based on seedling bags according to any one of claims 1 to 8, characterized in that: Specifically as follows: Step 1: Pour nutrient soil into the hopper of the filling mechanism, place a stack of non-woven bags in the bag box, and place seedlings on each seedling tray. Step 2: The controller controls the servo motor 3 of the linear slide module to work. The slider of the linear slide module drives the pusher plate to move all the non-woven bags to the rectangular slot by a distance equal to the thickness of one non-woven bag. One non-woven bag is pushed to the top of the rectangular slot. At the same time, the controller controls the drive motor 1 to drive the rotating shaft to rotate. An arc-shaped rubber handle pushes a non-woven bag located above the rectangular slot downward. The non-woven bag passes through the rectangular slot and enters the two guide rails in the guide tube. Under its own gravity, it slides down the two guide rails until it lands on the two semi-circular support plates and is located between the two vacuum suction cups. Step 3: The controller controls two servo motors to drive two suction cup rods to rotate in opposite directions until the two vacuum suction cups contact the sides of the non-woven bag. Then, the controller uses an electromagnetic reversing valve to control the two vacuum suction cups to hold the sides of the non-woven bag. Next, the controller controls two servo motors to drive two suction cup rods to rotate in opposite directions, opening the two semi-circular support plates. The two suction cup rods pull the non-woven bag open. Once the non-woven bag is fully opened, the controller uses an electromagnetic reversing valve to control the two vacuum suction cups to release their grip on the non-woven bag. The non-woven bag falls onto the fan-shaped support plate in the transfer mechanism under its own gravity and lands in an arc-shaped slot on the turntable in the transfer mechanism. The controller then controls two servo motors to drive two suction cup rods to rotate in opposite directions back to their original positions. Step 4: In the transfer mechanism, the second drive component drives the rotating shaft to rotate the turntable. The arc-shaped baffles fixed at the corresponding arc-shaped slots on the turntable push the non-woven bag, which is transported to the area directly below the two seedling fixing plates. Then, the two drive components drive the corresponding sliding frame to move downwards along the guide rail. When the inclined surface of the bag support rod touches the opening rod, the bag support rod opens and supports the non-woven bag. At the same time, the two seedling fixing plates extend into the non-woven bag. Then, the soil filling mechanism performs the first soil filling. The nutrient soil falls from the outlet of the hopper into the non-woven bag. After a preset time, the soil filling mechanism stops filling, completing the first soil filling. Step 5: The controller starts the second servo motor, and the belt drive mechanism drives a seedling support assembly to move close to the seedling guide tube and then stops. Next, the impact assembly pushes the corresponding seedling pusher plate to rotate upwards around the belt in the upper part of the belt drive mechanism, and pushes the seedling outwards along the grooves on both sides of the corresponding seedling support plate until the seedling detaches from the seedling support plate and falls into the seedling delivery tube. Under the action of gravity, the seedling falls into the non-woven bag along the seedling delivery tube, while two seedling fixing plates hold the seedling. Then, the impact assembly resets, the seedling pusher plate resets under its own weight, and the soil filling mechanism continues to move. After a preset time of two, the soil filling mechanism stops filling, completing the second filling. The two drive components drive the corresponding sliding frame to move upward along the guide rail to its original position. The support rod detaches from the non-woven bag and rotates inward under its own gravity to the initial state. At the same time, the two seedling fixing plates move upward outside the non-woven bag. The drive component drives the rotating shaft to drive the turntable to continue rotating until the corresponding arc-shaped baffle on the turntable pushes the non-woven bag with seedlings onto the conveyor belt with the conveyor mechanism, completing the planting of seedlings in one non-woven bag.

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