Automatic vegetable seedling taking, transplanting, covering and tamping integrated machine

Abstract

The application provides a vegetable automatic seedling taking-transplanting-covering and pressing integrated machine, which comprises a plug tray conveying device, a ditching and covering device, a bottom plate and a seedling feeding device. The ditching and covering device is arranged below the bottom plate, the plug tray conveying device is arranged on the bottom plate, and the seedling feeding device is arranged above the plug tray conveying device. The seedling feeding device comprises a seedling feeding component and a seedling feeding arm movement component for moving the seedling feeding component. The seedling feeding component comprises a plurality of seedling taking and feeding claws. When the seedling feeding component moves to correspond to seedling clumps on the plug tray conveying device, the seedling taking and feeding claws grab the seedling clumps. When the seedling feeding component moves to correspond to ditches opened by the ditching and covering device, the seedling clumps fall on the corresponding ditch edges, and the ditching and covering device covers the seedling clumps. The application can replace manual seedling feeding and improve the transplanting efficiency and the agricultural full-process mechanization level.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural machinery, and particularly relates to a vegetable automatic seedling taking-transplanting-covering and tamping integrated machine. BACKGROUND

[0002] Vegetable planting is mainly operated in a mode of combining semi-automatic transplanting machines with manual operation, and the manual operation has a large labor intensity and low transplanting efficiency, and cannot be continuously operated for a long time, thereby restricting the development of agricultural full automation.

[0003] Therefore, it is urgent to develop a vegetable automatic seedling taking-transplanting-covering and tamping integrated machine to improve the transplanting efficiency, replace the manual seedling taking and transplanting mode, and improve the automatic level of vegetable transplanting, which has become a main problem to be solved in the development of domestic vegetable full automation. SUMMARY

[0004] In view of the above technical problems, the application provides a vegetable automatic seedling taking-transplanting-covering and tamping integrated machine, which can take more vegetable seedlings in a plug, and complete ditching, planting and covering, so as to improve the transplanting efficiency and reduce the labor intensity.

[0005] The application aims to realize the following technical scheme.

[0006] A vegetable automatic seedling taking-transplanting-covering and tamping integrated machine comprises a plug conveying device, a ditching and covering device, a bottom plate and a seedling feeding device, the ditching and covering device is arranged below the bottom plate, the plug conveying device is arranged on the bottom plate, and the seedling feeding device is arranged above the plug conveying device and comprises a seedling feeding component and a seedling feeding arm movement component for driving the seedling feeding component to move, the seedling feeding arm movement component comprises a seedling feeding arm horizontal movement component and a seedling feeding arm vertical transmission component, the seedling feeding component is two, and the two ends of each seedling feeding component are connected with the seedling feeding arm horizontal movement components at the two ends of the seedling feeding device respectively, and the seedling feeding component is driven by the seedling feeding arm horizontal movement component to move horizontally; the seedling feeding arm horizontal movement component is vertically arranged on the seedling feeding arm vertical transmission components at the two ends of the seedling feeding device; the seedling feeding arm vertical transmission component is arranged on the bottom plate, and drives the seedling feeding arm horizontal movement component and the seedling feeding component to move up and down; the seedling feeding component comprises a plurality of seedling taking claws, the seedling taking claws are arranged on a seedling taking opening and closing mechanism, and the seedling taking opening and closing mechanism drives the plurality of seedling taking claws to move horizontally; when the seedling feeding component moves to correspond to the seedling clumps on the plug conveying device, the interval between the plurality of seedling taking claws is reduced to be equal to the interval between the seedling clumps on the plug, and the seedling taking claws grab the seedling clumps; when the seedling feeding component moves to correspond to the ditch opened by the ditching and covering device, the interval between the plurality of seedling taking claws is increased to be equal to the interval between the ditch opened by the ditching and covering device, the seedling clumps fall on the corresponding ditch edge, and the ditching and covering device covers the seedling clumps.

[0007] Optionally, the plug tray conveying device comprises a plug tray conveying chassis arranged on a base plate, a plug tray supporting plate arranged on the plug tray conveying chassis, two pairs of bearing seats symmetrically arranged on the plug tray conveying chassis, two pairs of chain wheels connected to the bearing seats, a chain wheel connecting shaft connecting the chain wheels of each pair, the chain wheel connecting shaft being driven by a stepping motor, two chains on the chain wheels being connected by a plurality of chain guide rods, the chain guide rods being arranged above the plug tray supporting plate and forming a plug tray sliding track, and a plug tray outlet guide plate arranged on one side of the plug tray conveying device outlet end in a curved state to facilitate guiding the plug trays out.

[0008] Optionally, the plug tray conveying chassis comprises a horizontal frame and two support frames arranged on the base plate to support the horizontal frame, the plug tray supporting plate and the side plates being arranged on the plug tray conveying chassis by a plurality of connecting members.

[0009] Optionally, the seedling feeding arm vertical movement component comprises a vertical frame comprising two vertical light shafts arranged in parallel, the vertical light shafts being arranged perpendicularly on the base plate, a synchronous belt module arranged on the vertical frame and connected to the horizontal movement component, and a sliding block arranged on the vertical light shaft, the seedling feeding arm horizontal movement component being connected to the seedling feeding arm vertical movement component by the sliding block on the synchronous belt module and the sliding block and moving up and down along the seedling feeding arm vertical movement component.

[0010] Optionally, the horizontal movement component comprises a horizontal light shaft and a horizontal ball screw module, two sliding blocks being symmetrically arranged at the two ends of the horizontal light shaft, the two sliding blocks being connected to one sliding block on the horizontal ball screw module, the horizontal ball screw module being connected to the seedling feeding arm vertical movement component by the sliding blocks arranged at the two ends and the sliding block on the synchronous belt module, one end of the synchronous belt module being connected to the horizontal light shaft by the sliding block and being arranged in parallel with the two vertical light shafts.

[0011] Optionally, the seedling taking and feeding opening and closing mechanism comprises a synchronous belt, a DC motor, a pulley shaft and a synchronous pulley, the DC motor being arranged at one end of a mounting frame, the output shaft of the DC motor being connected to the pulley shaft, the mounting frame having the synchronous pulley arranged at the two ends, the DC motor driving the synchronous pulley to drive the synchronous belt to perform linear reciprocating motion through the pulley shaft, the mounting frame having a linear guide rail arranged thereon, a plurality of sliding blocks being uniformly arranged on the linear guide rail, one sliding block connecting block being connected to each sliding block, one seedling taking and feeding claw being arranged on each sliding block connecting block, and one end of the plurality of sliding block connecting blocks being connected by a chain, wherein the sliding block connecting block farthest from the DC motor is fixed on the synchronous belt.

[0012] Optionally, the seedling taking and feeding claw comprises an opening and closing cylinder, a spring steel sheet and foam, the spring steel sheet being fixed inside the opening and closing cylinder, and the foam being fixed inside the spring steel sheet.

[0013] Optionally, the furrower and coverer device comprises two parallel furrower mounting frames, a plurality of furrowers are arranged on each furrower mounting frame, the number of furrowers on each furrower mounting frame is equal to the number of seedling taking claws on each seedling feeding component; the two ends of each furrower mounting frame are connected with a furrower and coverer vertical movement cylinder, the furrower and coverer vertical movement cylinder is arranged on the chassis; a pair of coverer mounting frames are symmetrically arranged on the two sides of each furrower mounting frame, a plurality of coverers are arranged on the coverer mounting frames, and the height of the coverers from the ground is greater than that of the furrowers; a coverer transverse opening and closing cylinder is arranged on each furrower and coverer vertical movement cylinder, the two ends of the pair of coverer mounting frames on the two sides of the furrower mounting frame are slidably connected with the two ends of a pair of coverer transverse opening and closing cylinders arranged at the front and rear ends of the furrower and coverer device, the coverer transverse opening and closing cylinder moves to drive each pair of coverer mounting frames and coverers to shrink and fold towards the center to achieve covering.

[0014] Optionally, the two ends of the coverer transverse opening and closing cylinder are respectively provided with coverer horizontal optical axis sliding blocks, the coverer horizontal optical axis sliding blocks are arranged on the furrower and coverer horizontal optical axis, and each end of the coverer mounting frame is connected with the coverer horizontal optical axis sliding block through a coverer mounting frame connecting frame.

[0015] Optionally, the chassis comprises a walking component and a chassis frame, the chassis frame is arranged below the chassis, and the walking component is arranged on the chassis frame; a driving motor is arranged on the chassis frame, and the driving motor drives the walking component to walk through a speed reducer.

[0016] Optionally, the walking component comprises a track, a driving wheel, a load wheel, a driving wheel mounting plate, a front side guide wheel mounting plate and a guide wheel; the track is wrapped outside the driving wheel, the load wheel and the guide wheel, the driving wheel is arranged on the chassis frame through the driving wheel mounting plate, the driving wheel is connected with the driving motor through the speed reducer, the guide wheel is arranged on the chassis frame through the front side guide wheel mounting plate, and the load wheel is arranged on the chassis frame; the driving motor drives the driving wheel to rotate, the driving wheel drives the track to rotate, and the track drives the load wheel to rotate.

[0017] The present application has the following advantages:

[0018] Through the coordinated movement of the furrower and coverer device, the seedling feeding component, the seedling feeding arm vertical movement component, the seedling feeding arm horizontal movement component and the plug tray conveying device, the seedling taking claws of the seedling feeding component can grab the seedling clumps on the plug tray, and can be inserted into the ridge surface for transplanting and covering. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1The vegetable automatic seedling taking-transplanting-covering and pressing integrated machine structure schematic diagram provided by the embodiment of the present application;

[0020] Figure 2 The plug tray conveying device structure schematic diagram provided by the embodiment of the present application;

[0021] Figure 3a The seedling taking and feeding opening and closing mechanism structure schematic diagram provided by the embodiment of the present application;

[0022] Figure 3b The seedling taking and feeding opening and closing mechanism A position sectional view provided by the embodiment of the present application;

[0023] Figure 3c The seedling taking and feeding opening and closing mechanism B position sectional view provided by the embodiment of the present application;

[0024] Figure 4 The seedling taking and feeding claw structure schematic diagram provided by the embodiment of the present application;

[0025] Figure 5 The seedling taking and feeding claw connecting piece structure schematic diagram provided by the embodiment of the present application;

[0026] Figure 6a The ditching and covering device structure schematic diagram provided by the embodiment of the present application;

[0027] Figure 6b The ditching and covering device structure schematic diagram provided by the embodiment of the present application;

[0028] Figure 7 The bottom plate structure schematic diagram provided by the embodiment of the present application;

[0029] Figure 8 The L-shaped connecting piece structure schematic diagram provided by the embodiment of the present application;

[0030] Figure 9 The seedling feeding arm horizontal movement component and seedling feeding arm vertical movement component installation structure schematic diagram provided by the embodiment of the present application.

[0031] In the figure:

[0032] 1. The vegetable automatic seedling taking-transplanting-covering and pressing integrated machine

[0033] 2. The plug tray conveying device, 201. The plug tray conveying chassis, 202. The plug tray supporting plate, 203. The side baffle, 204. The bearing seat, 205. The chain wheel, 206. The chain wheel connecting shaft, 207. The chain, 208. The chain interlink guide tray rod, 209. The plug tray outlet guide plate, 210. The connecting piece

[0034] 3. Feeding mechanism, 301. Synchronous belt, 302. DC motor, 303. Motor base, 304. Mounting frame, 305. Slider connecting block, 306. Pulley shaft, 307. Coupling, 308. Linear guide rail, 309. Synchronous pulley, 310. Bearing, 311. Slider, 312. Chain, 313. Lower support plate

[0035] 4. Feeding claw, 401. Opening and closing cylinder, 402. Spring steel sheet, 403. Foam

[0036] 5. Feeding claw connecting piece

[0037] 6. Furrowing and covering device, 601. Furrowing device, 602. Furrowing mounting frame, 603. Covering device, 604. Covering device mounting frame, 605. Covering transverse opening and closing cylinder, 606. Furrowing and covering vertical movement cylinder, 607. Furrowing and covering horizontal optical axis, 608. Horizontal optical axis slider, 609. Covering mounting frame connecting frame

[0038] 7. Chassis, 701. Traveling component, 702. Chassis frame, 703. Reducer box, 704. Drive motor, 7021. Track, 7022. Drive wheel, 7023. Load wheel, 7024. Drive wheel mounting plate, 7025. Front side guide wheel mounting plate, 7026. Guide wheel

[0039] 8. L-shaped connecting piece

[0040] 9. Feeding arm movement component, 901. Feeding arm vertical movement component, 9011. Synchronous belt module, 9012. Vertical optical axis, 9013. Slider, 902. Feeding arm horizontal movement component, 9021. Horizontal optical axis, 9022. Horizontal ball screw module, 9023. Slider. DETAILED DESCRIPTION

[0041] The present application will be described in detail below with reference to the drawings and examples.

[0042] As Figure 1As shown in the drawings, the embodiment of the present application provides a vegetable automatic seedling taking-transplanting-covering and pressing integrated machine 1, which comprises a chassis 7, a ditching and covering device 6, a plug tray conveying device 2 and a seedling feeding device. The ditching and covering device 6 is arranged below the chassis 7, the plug tray conveying device 6 is arranged on the chassis 7, and the seedling feeding device is arranged above the plug tray conveying device 2 and comprises seedling feeding components and seedling feeding arm movement components 9 for moving the seedling feeding components. The seedling feeding arm movement components 9 comprise seedling feeding arm horizontal movement components 902 and seedling feeding arm vertical transmission components 901. The seedling feeding components are two, and the two ends of each seedling feeding component are connected with the seedling feeding arm horizontal movement components 902 at the two ends of the seedling feeding device respectively, so that the seedling feeding components are moved horizontally by the seedling feeding arm horizontal movement components 902. The seedling feeding arm horizontal movement components 902 are vertically arranged on the seedling feeding arm vertical transmission components 901 at the two ends of the seedling feeding device. The seedling feeding arm vertical transmission components 901 are arranged on the chassis, and drive the seedling feeding arm horizontal movement components 902 and the seedling feeding components to move up and down. The seedling feeding components comprise a plurality of seedling taking claws 4, which are arranged on a seedling taking opening and closing mechanism 3. The seedling taking opening and closing mechanism 3 drives the plurality of seedling taking claws 4 to move horizontally. When the seedling feeding components correspond to seedling clumps on the plug tray conveying device 2, the spacing between the plurality of seedling taking claws 4 is reduced to equal to the spacing between the plug seedling clumps. When the seedling feeding components correspond to the ditch opened by the ditching and covering device 6, the spacing between the plurality of seedling taking claws 4 is increased to equal to the spacing between the ditch opened by the ditching and covering device 6.

[0043] Further, as shown in the drawings, Figure 2 The plug tray conveying device 2 comprises a plug tray conveying chassis 201, which is arranged on the chassis. A plug tray supporting plate 202 is arranged on the plug tray conveying chassis 201. Two pairs of bearing seats 204 are symmetrically arranged on the two sides of the plug tray conveying chassis 201, which are used to connect two pairs of chain wheels 205. Each pair of chain wheels 205 is connected by a chain wheel connecting shaft 206. Two chains on the two chain wheels 205 are connected by a plurality of chain interlinking guide plate rods 208. The chain interlinking guide plate rods 208 form a plug sliding track therebetween, and the plug moves under the action of the guide plate rods 208. A plug outlet guide plate 209 in a curved state is arranged on one side of the outlet end of the plug tray conveying device, which facilitates the guiding of the plug out. The chain wheel connecting shaft 206 is driven by a stepping motor.

[0044] It can be understood that the plug is arranged on the plug supporting plate between the two guide plate rods. The guide plate rods are clamped in the gap between the plugs, and the guide plate rods are moved by the chain wheels, thereby driving the plug to move. After the seedling clumps are taken away by the seedling taking claws of the seedling feeding device, the plug moves along the supporting plate to the outlet end of the plug conveying device and falls on the ridge along the plug outlet guide plate 209.

[0045] In one embodiment, the hole tray conveying chassis 201 is composed of a horizontal frame and two support frames arranged on the chassis for supporting the horizontal frame; side baffles 203 are provided on both sides of the hole tray support plate 202, and the hole tray support plate 202 and the side baffles 203 are arranged on the connecting hole tray conveying chassis 201 through multiple connecting parts 210.

[0046] Further, such as Figure 3a 、 3b As shown in Figure 3c, the seedling feeding opening and closing mechanism 3 includes a synchronous belt 301, a DC motor 302, a pulley shaft 306 and a synchronous pulley 309. The DC motor 302 is arranged at one end of the mounting frame 304 through a motor seat 303. The output shaft of the DC motor 302 is connected to the pulley shaft 306 through a coupling 307. Synchronous pulleys 309 are provided at both ends of the mounting frame 304. The synchronous pulleys 309 are fixed by bearings 310. The DC motor 302 drives the synchronous pulley 309 through the pulley shaft 306 to drive the synchronous belt 301 to move The mounting frame 304 is provided with a linear guide rail 308, and a plurality of sliders 311 are evenly arranged on the linear guide rail 308. Each slider 311 is connected to a slider connecting block 305, and each slider connecting block 305 is provided with a seedling feeding claw. One end of the plurality of slider connecting blocks 305 is connected by a chain 312, and the chain 312 is slidably connected with the chain guide rail installed on the seedling feeding opening and closing mechanism; wherein, the slider connecting block 305 farthest from the DC motor 302 is fixed to the synchronous belt 301 by welding.

[0047] It can be understood that the synchronous belt 301 and the slider connecting block 305 at the farthest end of the DC motor 302 can be connected by welding. The DC motor 302 drives the synchronous belt 301 to move, and the synchronous belt 301 drives the slider connecting block at the farthest end to start moving. Then the chain 312 pulls the other slider connecting blocks to move together, and then drives the other seedling feeding claws 4 to complete the opening and closing through the chain 312. The spacing of the seedling feeding claws 4 is controlled by the length of the chain 312 between the seedling feeding claws. Specifically, when the seedling feeding arm horizontal motion component 902 and the seedling feeding arm vertical transmission component 901 drive the seedling feeding component to grab the seedlings on the hole tray, the seedling feeding claws 4 on the seedling feeding component are closed, and the spacing between the seedlings on the hole tray is the same; when the seedling feeding arm horizontal motion component 902 and the seedling feeding arm vertical transmission component 901 drive the seedling feeding component to transplant, the seedling feeding claws 4 on the seedling feeding component are spread out to be equal to the spacing between the furrows, and then the seedling feeding component can drive the seedling feeding claws 4 to extend into the ridge surface for transplanting.

[0048] In an optional manner, the number of seedling feeding claws on each seedling feeding opening and closing mechanism 3 can be half the number of seedling clumps in a single row on the hole tray, which is convenient for grabbing the seedling clumps.

[0049] Further, such asFigure 4 As shown, the seedling taking and feeding claw 4 comprises an opening and closing cylinder 401, spring steel sheets 402 fixed inside the opening and closing cylinder 401, for example, by adhesive paste, and foam 403 fixed inside the spring steel sheets 402. The opening and closing cylinder 401 is used to control the opening and closing of the two spring steel sheets 402, so as to realize the seedling clamping action.

[0050] An alternative way, the seedling taking and feeding claw 4 can be fixedly connected with the sliding block connecting block 305 through the seedling taking and feeding claw connecting piece 5 as shown. Figure 5 As shown, the seedling taking and feeding claw connecting piece 5 is fixedly connected with the sliding block connecting block 305.

[0051] Further, as shown, Figure 6a , 6b As shown, the furrowing and covering device 6 comprises two parallel furrowing mounting frames 602, a plurality of furrowing devices 601 are arranged on the furrowing mounting frame 602, both ends of each furrowing mounting frame 602 are connected with a furrowing and covering vertical movement cylinder 606, and the furrowing and covering vertical movement cylinder 606 is arranged on the chassis; a pair of covering device mounting frames 604 are symmetrically arranged on both sides of each furrowing mounting frame 602, a plurality of covering devices 603 are arranged on the covering device mounting frame 604, the covering device mounting frame 604 is arranged in parallel with the furrowing mounting frame 602, and the height of the covering device mounting frame 604 from the ground is greater than that of the furrowing mounting frame 602; a covering transverse opening and closing cylinder 605 is arranged on each furrowing and covering vertical movement cylinder 606, both ends of the pair of covering device mounting frames 604 on both sides of the furrowing mounting frame 602 are slidably connected with both ends of a pair of covering transverse opening and closing cylinders 605 arranged at the front and rear ends of the furrowing and covering device, and the covering transverse opening and closing cylinder 605 drives each pair of covering device mounting frames 604 and covering devices 603 to contract and fold to the center to realize covering.

[0052] Further, both ends of the covering transverse opening and closing cylinder 605 are respectively provided with covering horizontal optical axis sliding blocks 608, the covering horizontal optical axis sliding blocks 608 are arranged on a furrowing and covering horizontal optical axis 607, and each end of the covering device mounting frame 604 is connected with the covering horizontal optical axis sliding block 608 through a covering device mounting frame connecting frame 609.

[0053] It can be understood that the furrowing and covering vertical movement cylinder 606 is arranged on the chassis, the furrowing mounting frame 602 and the covering transverse opening and closing cylinder 605 are arranged on the furrowing and covering vertical movement cylinder 606, and the covering device mounting frame 604 is arranged on the covering transverse opening and closing cylinder 605, so that the furrowing and covering vertical movement cylinder 606 can control the overall lifting of the furrowing and covering device.

[0054] Further, as shown, Figure 7As shown, the chassis 7 includes a walking part 701 and a chassis frame 702, the chassis frame 702 is arranged below the chassis, and the walking part 701 is arranged on the chassis frame 702; a driving motor 704 is arranged on the chassis frame, and the driving motor 704 drives the walking part to walk through a reduction box 703.

[0055] Further, the walking part 701 includes a track 7021, a driving wheel 7022, a load wheel 7023, a driving wheel mounting plate 7024, a front side guide wheel mounting plate 7025, and a guide wheel 7026; the track 7021 is arranged on the outer side of the driving wheel 7022, the load wheel 7023, and the guide wheel 7026, the driving wheel 7022 is arranged on the chassis frame 702 through the driving wheel mounting plate 7024, the driving wheel 7022 is connected with the driving motor 704 through the reduction box 703; the guide wheel 7026 is arranged on the chassis frame 702 through the front side guide wheel mounting plate 7025; the load wheel 7023 is arranged on the chassis frame 702, the driving motor 704 drives the driving wheel 7022 to rotate, the driving wheel 7022 drives the track 7021 to rotate, and the track drives the load wheel 7023 to rotate.

[0056] Further, as shown in the figure, Figure 9 The feeding arm vertical movement part 901 includes a vertical frame, the vertical frame includes two vertical light shafts 9012 arranged in parallel, and the vertical light shafts 9012 are arranged vertically on the chassis; a synchronous belt module 9011 connected with the horizontal movement part 902 is arranged on the vertical frame, and a sliding block 9013 is arranged on the vertical light shaft 9012; the feeding arm horizontal movement part 902 is connected with the feeding arm vertical movement part 901 through the sliding block on the synchronous belt module 9011 and the sliding block 9013, and moves up and down along the feeding arm vertical movement part 901.

[0057] Further, the horizontal movement part 902 includes a horizontal light shaft 9021 and a horizontal ball screw module 9022, two sliding blocks 9023 are symmetrically arranged at the two ends of the horizontal light shaft 9021 respectively, and are connected with two feeding arm parts respectively; the two sliding blocks 9023 are connected with a sliding block on the horizontal ball screw module 9022; the horizontal ball screw module 9022 is slidingly connected with the feeding arm vertical movement part 901 through the sliding blocks arranged at the two ends of the horizontal light shaft 9023 and the sliding block on the synchronous belt module 9011; the horizontal light shaft 9021 is slidingly connected with the vertical light shaft 9012 through the sliding block 9013 on the vertical light shaft 9012 connected at the two ends of the horizontal light shaft 9021, and the synchronous belt module 9011 is connected with the horizontal light shaft 9021 through the sliding block thereon, drives the horizontal movement part 902 to slide along the vertical light shaft 9012, and the synchronous belt module 9011 is arranged in parallel with the two vertical light shafts 9012.

[0058] An optional way, the taking and feeding seedling opening and closing mechanism is connected with the feeding arm horizontal movement component 902 through the L-shaped connecting piece 801 as shown in the figure. Specifically, one end of the L-shaped connecting piece 8 is connected with the sliding block 9023 of the feeding arm horizontal movement component 902, and the other end is connected with the lower supporting plate 313 of the taking and feeding seedling opening and closing mechanism. Figure 8

[0059] The working process of the embodiment is as follows:

[0060] Firstly, the plug tray with seedling clumps is pushed along the upper edge of the side baffle of the plug tray conveying device to the end baffle of the side baffle.

[0061] Start the power supply, and restore each part to the initial position, that is, the covering soil transverse opening and closing cylinder is in the open state, the ditching and covering soil vertical movement cylinder is in the highest position, the feeding arm horizontal movement component is moved to the first row center position of the plug tray on the plug tray conveying device, the feeding arm vertical movement component synchronous belt module is moved to the lower limit position, the taking and feeding seedling opening and closing mechanism is in the combined state, and the taking and feeding seedling claw cylinder is in the open state. At this time, all the taking and feeding seedling claws should correspond to each seedling clump of the first row of the plug tray. At this time, the machine starts to move forward, and the ditcher performs ditching during the moving process.

[0062] The ditching and covering soil vertical movement cylinder is lowered, the ditching and covering soil device is vertically moved, and the ditcher in the low position is first moved to the lowest point for ditching. During this period, the opening and closing cylinder on the feeding claw is driven to close for stem clamping, the feeding arm vertical movement component is raised to separate the seedling clump from the plug tray, the DC motor in the taking and feeding seedling opening and closing mechanism is driven to move the first taking and feeding seedling claw at the moving end to drive other taking and feeding seedling claws to be sequentially dispersed, and the feeding arm horizontal movement component is moved to the above of the ditch.

[0063] When the feeding arm horizontal movement component drives the feeding component to leave the plug tray width, that is, the feeding component is just located on both sides of the plug tray conveying device, the feeding arm vertical movement component is lowered to the lowest position, and then the opening and closing cylinder on the taking and feeding seedling claw is opened, the seedling clump falls into the ditching position of the ditcher, the covering soil transverse opening and closing cylinder is closed along with the forward movement of the walking device, and the cover fills the soil.

[0064] Each part is driven to the initial position again, the feeding arm horizontal movement component is moved to the above of the next row of seedling clumps in the plug tray, a taking and feeding seedling cycle is completed, the laser emitting and receiving sensor is connected with the controller, when the count of the laser emitting and receiving sensor for detecting the number of the ditching machine ditches is the same as the number of the plug holes in one row of the plug seedling tray, the next cycle is performed, that is, the ditching, seedling planting, seedling throwing and soil covering actions are performed, and the process is repeated. When the seedling is taken to the last row, the plug tray is manually replaced, and the empty plug tray is guided out from the end of the plug tray frame.

[0065] ​The seedling feeding device takes seedlings in the plug tray conveying device, the furrowing and covering device furrows and covers, and the whole transplanting process is completed.

[0066] It can be understood that the above specific description of the present application is only for illustrating the present application and is not limited to the technical solutions described in the embodiments of the present application. Those skilled in the art should understand that the present application can still be modified or replaced equivalently to achieve the same technical effect. As long as the use needs are met, it is within the protection scope of the present application.

Claims

1. A vegetable automatic seedling removal, transplanting, soil covering and compacting machine, characterized by: The utility model comprises a hole tray conveying device, a trenching and covering device, a chassis and a seedling feeding device, wherein the trenching and covering device is arranged below the chassis, the hole tray conveying device is arranged on the chassis, and the seedling feeding device is arranged above the hole tray conveying device, comprising a seedling feeding part and a seedling feeding arm moving part for driving the seedling feeding part to move, the seedling feeding arm moving part comprises a seedling feeding arm horizontal moving part and a seedling feeding arm vertical moving part, and there are two seedling feeding parts, and the two ends of each seedling feeding part are respectively connected with the seedling feeding arm horizontal moving parts at both ends of the seedling feeding device, and the seedling feeding part is driven to move horizontally by the seedling feeding arm horizontal moving part; the seedling feeding arm horizontal moving part is vertically arranged on the seedling feeding arm vertical moving parts at both ends of the seedling feeding device The vertical movement component of the seedling feeding arm is arranged on the chassis, and the vertical movement component of the seedling feeding arm drives the horizontal movement component of the seedling feeding arm and the seedling feeding component to move up and down; the seedling feeding component includes a plurality of seedling feeding claws, which are arranged on the seedling feeding opening and closing mechanism, and the seedling feeding opening and closing mechanism drives the plurality of seedling feeding claws to move horizontally; when the seedling feeding component moves to correspond to the seedling lump on the plug tray conveying device, the spacing between the plurality of seedling feeding claws is reduced to be equal to the spacing between the seedling lump on the plug tray, and the seedling feeding claws grab the seedling lump; when the seedling feeding component moves to correspond to the groove opened by the ditching and covering device, the spacing between the plurality of seedling feeding claws is increased to be equal to the spacing between the grooves opened by the ditching and covering device, and the seedling lump falls At the corresponding ditch edge, the ditching and soil covering device covers the seedling pile with soil; the ditching and soil covering device includes two parallel ditching mounting frames, and the ditching mounting frames are provided with a number of ditching tools. The number of ditching tools on each ditching mounting frame is equal to the number of seedling feeding claws on each seedling feeding component; the two ends of each ditching mounting frame are respectively connected to a ditching and soil covering vertical motion cylinder, and the ditching and soil covering vertical motion cylinder is set on the chassis; a pair of soil covering device mounting frames are symmetrically arranged on both sides of each ditching mounting frame, and the soil covering device mounting frames are provided with a number of soil covering devices, and the height of the soil covering devices from the ground is greater than that of the ditching devices; each ditching and soil covering vertical motion cylinder is provided with a soil covering horizontal opening and closing cylinder The two ends of a pair of soil covering device mounting frames on both sides of the trenching mounting frame are respectively slidably connected to the two ends of a pair of soil covering transverse opening and closing cylinders correspondingly arranged at the front and rear ends of the trenching and soil covering device, and the two ends of the soil covering transverse opening and closing cylinder (605) are respectively provided with soil covering horizontal optical axis sliders (608), and the soil covering horizontal optical axis sliders (608) are arranged on the trenching and soil covering horizontal optical axis (607). Each end of the soil covering device mounting frame (604) is connected to the soil covering horizontal optical axis slider (608) through the soil covering mounting frame connecting frame (609); the soil covering transverse opening and closing cylinders move, driving each pair of soil covering mounting frames and the soil covering device to shrink and close toward the center to achieve soil covering.

2. The vegetable automatic seedling removal, transplanting, soil covering and compacting machine according to claim 1, characterized in that: The cell tray conveying device (2) comprises a cell tray conveying chassis (201), the cell tray conveying chassis (201) is arranged on a chassis, and a cell tray supporting plate (202) is provided on the cell tray conveying chassis (201); two pairs of bearing seats (204) are symmetrically provided on both sides of the cell tray conveying chassis (201) for connecting two pairs of sprockets (205), each pair of sprockets (205) is connected by a sprocket connecting shaft (206), and the sprocket connecting shaft (206) is driven by a stepping motor; two chains (207) on the sprockets (205) on both sides are connected by a plurality of inter-chain guide rods (208), each inter-chain guide rod (208) is above the cell tray supporting plate (202), and a cell tray sliding track is formed between the inter-chain guide rods (208); a cell tray outlet guide plate (209) in a curved state is provided on one side of the outlet end of the cell tray conveying device to facilitate the outlet of the cell tray.

3. The vegetable automatic seedling removal, transplanting, soil covering and compacting machine according to claim 1 is characterized by: The seedling feeding arm vertical motion component (902) comprises a vertical frame, the vertical frame comprises two parallel vertical optical axes (9012), and the vertical optical axes (9012) are vertically arranged on the chassis; a synchronous belt module (9011) connected to the horizontal motion component is provided on the vertical frame, and a slider (9013) is provided on the vertical optical axis; the seedling feeding arm horizontal motion component (902) is connected to the seedling feeding arm vertical motion component (901) via the slider on the synchronous belt module (9011) and the slider (9013), and moves up and down along the seedling feeding arm vertical motion component (901).

4. The vegetable automatic seedling removal, transplanting, soil covering and compacting machine according to claim 3 is characterized by: The horizontal motion component (902) includes a horizontal optical axis (9021) and a horizontal ball screw module (9022), and two sliders (9023) are symmetrically arranged at both ends of the horizontal optical axis (9021); the two sliders (9023) are commonly connected to a slider on the horizontal ball screw module (9022); the horizontal ball screw module (9022) is slidably connected to the seedling feeding arm vertical motion component (901) via sliders arranged on the sliders (9023) at both ends and the synchronous belt module (9011); one end of the synchronous belt module (9011) is connected to the horizontal optical axis (9021) via the slider on it, and is arranged parallel to the two vertical optical axes (9012).

5. The vegetable automatic seedling removal, transplanting, soil covering and compacting machine according to claim 1 is characterized by: The seedling feeding opening and closing mechanism (3) comprises a synchronous belt (301), a DC motor (302), a pulley shaft (306) and a synchronous pulley (309), wherein the DC motor (302) is arranged at one end of a mounting frame (304), an output shaft of the DC motor (302) is connected to the pulley shaft (306), and synchronous pulleys (309) are provided at both ends of the mounting frame (304), and the DC motor (302) drives the synchronous pulley (309) through the pulley shaft (306) to drive the synchronous belt (301) to move. Linear reciprocating motion; a linear guide rail (308) is provided on the mounting frame (304), a plurality of sliders (311) are evenly arranged on the linear guide rail (308), each slider (311) is connected to a slider connecting block (305), each slider connecting block (305) is provided with a seedling feeding claw (4), one end of the plurality of slider connecting blocks (305) is connected by a chain (312), wherein the slider connecting block (305) farthest from the DC motor (302) is fixed to the synchronous belt (301).

6. The vegetable automatic seedling removal, transplanting, soil covering and compacting machine according to claim 5, characterized in that: The seedling feeding claw (4) comprises an opening and closing cylinder (401), a spring steel sheet (402) and foam (403), wherein the spring steel sheet (402) is fixed on the inner side of the opening and closing cylinder (401), and the foam is fixed on the inner side of the spring steel sheet (402).

7. The vegetable automatic seedling removal, transplanting, soil covering and compacting machine according to claim 1, characterized in that: The chassis (7) comprises a traveling component (701) and a chassis frame (702), wherein the chassis frame (702) is arranged below the chassis, and the traveling component (701) is arranged on the chassis frame (702); a driving motor (704) is provided on the chassis frame, and the driving motor (704) drives the traveling component to travel via a reduction gearbox (703).

8. The vegetable automatic seedling removal, transplanting, soil covering and compacting machine according to claim 7, characterized in that: The walking component (701) includes a crawler belt (7021), a driving wheel (7022), a load-bearing wheel (7023), a driving wheel mounting plate (7024), a front guide wheel mounting plate (7025), and a guide wheel (7026); the crawler belt (7021) is wrapped around the outside of the driving wheel (7022), the load-bearing wheel (7023), and the guide wheel (7026); the driving wheel (7022) is mounted on the chassis frame (702) via the driving wheel mounting plate (7024). The driving wheel (7022) is connected to the driving motor (704) through the reduction box (703); the guide wheel (7026) is arranged on the chassis frame (702) through the front guide wheel mounting plate (7025); the load-bearing wheel (7023) is arranged on the chassis frame (702); the driving motor (704) drives the driving wheel (7022) to rotate, the driving wheel (7022) drives the crawler (7021) to rotate, and the crawler drives the load-bearing wheel (7023) to rotate.

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