A method for automatically taking and transporting crop seedlings in staggered placement

Abstract

The present invention discloses a staggered crop seedling delivery method for automatically taking and delivering seedlings, including: taking seedlings: after receiving a seedling taking signal, a left seedling taking grip and a right seedling taking grip progressively move from both sides of a seedling tray toward the middle and grab one or more seedlings, and then deliver them to the top of the corresponding side seedling delivery positions; delivering seedlings: waiting for a position sensor trigger signal, each time the position sensor triggers a signal, a control system controls two groups of seedling taking grips to simultaneously deliver a seedling into a left seedling delivery cup and a right seedling delivery cup corresponding to the left seedling delivery position and the right seedling delivery position; delivering seedlings: a seedling cup rack operates to sequentially deliver the seedling cups carrying seedlings to the seedling delivery position, delivering one seedling to a transplanting mechanism each time, thereby achieving multiple delivery of seedlings in one take. The present invention takes multiple seedlings in one take and delivers one seedling in one delivery. One take can correspond to multiple delivery, and the delivery speed can be multiplied under the minimum seedling taking interval, which is conducive to achieving high-speed delivery.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, and in particular to a method for automatically taking and transporting crop seedlings in staggered placement. Background Art

[0002] Crop seedling trays primarily come in two types: flexible, bendable trays and rigid, non-bendable trays. Rigid trays are further divided into tough trays made of polypropylene (PP) and brittle trays made of foamed polystyrene (PS). Polystyrene foam trays are widely used in pot seedling cultivation due to their lightweight nature and ability to float on nutrient solution. However, these trays are fragile and can be damaged by even the slightest bend. These non-bendable trays also take up a lot of space during automatic seedling removal, resulting in long travel times and slow seedling removal, making automated seedling removal difficult. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a method for automatically taking and transporting crop seedlings in a staggered manner.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The invention relates to a method for automatically taking and delivering seedlings in staggered delivery of crop seedlings in pots, comprising an automatic seedling delivery device provided on a transplanter, which is located below a seedling tray, with a left seedling delivery grip and a right seedling delivery grip provided on both sides of the seedling tray, a seedling cup holder of the automatic seedling delivery device alternately provided with a left seedling delivery cup and a right seedling delivery cup, the left seedling delivery cup and the right seedling delivery cup being arranged along a circular or waist-circular track, and being driven by the seedling cup holder to perform continuous or intermittent operation along the circular or waist-circular track; in a direction perpendicular to the seedling tray supply direction, a left seedling delivery position and a right seedling delivery position are provided on both sides of the seedling cup holder on the track, and a seedling output position of the seedling cup holder is provided on the track below an empty tray occupying area; a position sensor is provided on one side of the seedling cup on the transplanter, and a trigger device is provided at a certain interval on the seedling cup; the method comprises the following steps:

[0006] Picking seedlings: After receiving the seedling picking signal, the control system controls the left seedling picking gripper and the right seedling picking gripper to move from both sides of the seedling tray to the middle and grab one or more pot seedlings, and then transport them to the top of the left seedling throwing position and the right seedling throwing position respectively, ready for throwing seedlings;

[0007] Throwing seedlings: waiting for the trigger signal of the position sensor, each time the position sensor triggers a signal, the control system controls the left seedling grab and the right seedling grab to simultaneously throw the seedlings into the left seedling cup and the right seedling cup corresponding to the left seedling throwing position and the right seedling throwing position;

[0008] Transporting seedlings: The seedling cup rack operates to transport the left seedling cup and the right seedling cup containing the pot seedlings to the pot seedling output position in sequence, and outputs one pot seedling to the transplanting mechanism each time, realizing multiple seedling delivery corresponding to one seedling retrieval.

[0009] As a further improvement of the above technical solution:

[0010] The left and right seedling grabbing claws move from the middle to the middle position from both sides of the seedling tray to the middle position, and the seedling clamps are closed to clamp the seedlings. The second step is to clamp the seedlings stably. After the seedling clamps have stably clamped the seedlings, the seedling clamps move upwards along the seedling grabbing movement direction to the top, and pull the seedlings out of the seedling tray. The third step is to pull the seedlings out of the seedling tray after they are completely pulled out. The left and right seedling grabbing claws move from the middle to both sides to the center points of their respective seedling clamps coincide with the corresponding seedling throwing positions, and then stop moving. The fourth step is to clamp the seedlings downwards along the seedling grabbing movement direction to the lowest end, and prepare to throw the seedlings.

[0011] The seedling transport is specifically as follows: when the seedling cup carrying the pot seedlings is located at the pot seedling output position just above the transplanting mechanism, the seedling cup opening and closing control rod opens the seedling cup bottom baffle at the bottom of the seedling cup, and the pot seedlings are output from the seedling cup and fall into the transplanting mechanism.

[0012] A signal trigger device is arranged at every certain number of intervals on the seedling cups, wherein the number of intervals is equal to the difference between twice the number of seedlings caught simultaneously on one side and 1: that is, when the number of seedlings caught simultaneously on one side is 1, 2 or 3 plants, a signal trigger device is arranged at every 1, 3 or 5 seedling cups, and the seedlings are potted once every 2, 4 or 6 seedling cups are operated.

[0013] The number of seedling cups is 12 or at least 18, which are arranged in a circle or a waist circle, and are driven by the seedling cup rack to move along the trajectory. The 12 seedling cups correspond to 1 or 2 seedlings that can be caught simultaneously on one side, and at least 18 seedling cups correspond to 3 seedlings that can be caught simultaneously on one side.

[0014] In the step of taking the seedlings, when more than two seedlings are taken at the same time on one side, the seedlings taken from the dense seedling tray need to be spread or guided and then transported to the top of the seedling placement position.

[0015] The seedling cup bottom baffle is connected to the bottom of the seedling cup through a spring. The seedling cup bottom baffle is opened except at the seedling output position, and is closed at other positions.

[0016] When the seedling cup rack performs intermittent motion, the angle β of each intermittent rotation is 360° divided by the total number of seedling cups.

[0017] Compared with the prior art, the advantages of the present invention are:

[0018] 1) On the seedling cup rack of the automatic seedling feeding device of the present invention, the seedling cups are arranged along a circular or waist-shaped track, and are driven by the seedling cup rack to operate continuously or intermittently along the circular or waist-shaped track, and progressive seedling removal and staggered seedling delivery are performed on both sides. The direction of automatic seedling removal is perpendicular to the supply direction of the seedling tray, which can avoid the influence of the empty tray conveying space and reduce the structural position space. Multiple sets of combinations can realize multi-row automatic operation.

[0019] 2) When taking seedlings, multiple seedlings can be taken at a time, and when planting seedlings, one seedling can be planted at a time. One time of taking seedlings can correspond to multiple plantings. Under the minimum seedling taking interval time, the planting speed can be doubled, which is conducive to achieving high-speed planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the principle of single-plant seedling removal method (looking down).

[0021] Figure 2 Schematic diagram of the single-plant seedling removal method and tray delivery principle (top view).

[0022] Figure 3 This is a schematic diagram showing the structure and positional relationship of each component in the present invention.

[0023] Figure 4 Schematic diagram of the principle steps of seedling transportation under the single-plant seedling removal method (looking down).

[0024] Figure 5 Schematic diagram of the principle of two seedling removal methods (looking down).

[0025] Figure 6 Schematic diagram of two seedling removal methods and tray delivery principles (top view).

[0026] Figure 7 Schematic diagram of the seedling transfer principle steps under the two-seedling method (looking down).

[0027] Figure 8 Schematic diagram of the principle of three seedling removal methods (looking down).

[0028] Figure 9 Schematic diagram of three seedling removal methods and tray delivery principles (top view).

[0029] Figure 10 Schematic diagram of the seedling transport principle steps under the three-seedling method (looking down).

[0030] Legend:

[0031] 1. Left seedling placement position; 2. Left seedling placement cup; 3. Right seedling placement cup; 4. Pot seedling output position; 5. Right seedling placement position; 6. Seedling tray; 7. Empty tray space; 8. Left seedling grab; 9. Right seedling grab; 10. Pot seedling; 11. Seedling cup holder; 12. Spring; 13. Seedling cup bottom baffle; 14. Seedling cup opening and closing control lever; 15. Position sensor; u, seedling tray supply direction; v, seedling cup group rotation direction; w, seedling grab movement direction; x, seedling grab movement direction; l, left seedling cup group; r, right seedling cup group; L, left seedling tray; L n , the nth row of seedlings in the left tray; R, the seedlings in the right tray; R n , the nth row of seedlings in the right plate; P n , nth row seedlings; l n , left seedling cup; r n , right seedling cup. DETAILED DESCRIPTION

[0032] like Figures 1-10 As shown, the crop pot seedling staggered delivery type automatic seedling taking and transporting method of the present invention includes an automatic seedling transporting device provided on a transplanting mechanism, the automatic seedling transporting device is located below the seedling tray 6, an even number of seedling cups are evenly arranged on the seedling cup rack 11 of the automatic seedling transporting device, and the seedling cups are divided into an equal number of left-throwing seedling cups 2 and right-throwing seedling cups 3, and are staggered. The staggered left-throwing seedling cups 2 and right-throwing seedling cups 3 are arranged in a circular or waist-shaped shape, and the seedling cup rack 11 can drive the left-throwing seedling cups 2 and the right-throwing seedling cups 3 to rotate along a circular or waist-shaped trajectory, and the rotation direction of the seedling cup group is the v direction (such as Figure 1 As shown), it can move intermittently along the v direction or continuously; during intermittent motion, the angle β of each intermittent rotation is 360° divided by the total number of seedling cups.

[0033] In this embodiment, the two sides of the seedling tray 6 are respectively provided with a left seedling grab 8 and a right seedling grab 9, and the left seedling grab 8 and the right seedling grab 9 can be moved equidistantly from both sides of the seedling tray 6 to the middle in the horizontal direction (such as Figure 3 The grabbing movement direction w shown in the figure) can also move up and down along the plumb bob direction (as shown in the figure). Figure 3 The lowest end of the seedling grab is slightly higher than the seedling tray 6, corresponding to the stem of the pot seedling 10 to be grabbed.

[0034] In the direction perpendicular to the seedling tray supply direction u, and on the left and right sides of the seedling cup rack 11, there are arranged a left seedling placement position 1 and a right seedling placement position 5 on the running track of the seedling cup, and below the empty tray occupying area 7, there is arranged a pot seedling output position 4 (the available pot seedling output positions are A, B, C, D, E, and F). Figure 1As shown, if the seedling cup holder 11 adopts continuous rotation, the ideal seedling output position is anywhere between points A and F, with the optimal position being the bisector of the line connecting points C and D. If the seedling cup holder 11 adopts intermittent rotation, the ideal seedling output position is at the center of the circle between points A and F, with the optimal position being points C or D.

[0035] The left-throw seedling cup 2 and the right-throw seedling cup 3 have similar structural principles. Both are provided with a seedling cup bottom baffle 13 and a spring 12. Both are mounted on a seedling cup holder 11. Both are controlled to open and close by a seedling cup opening and closing control lever 14. The seedling cup bottom baffle 13 is closed except when the seedling pot output position 4 is open. Figure 3 The structures of the left-handed seedling cup 2 and the right-handed seedling cup 3 are prior art and will not be described in detail here.

[0036] In this embodiment, a position sensor 15 is provided on the side of the seedling cup. The position sensor 15 is fixed on the transplanter and does not rotate synchronously with the seedling cup frame 11. The position sensor 15 is used to sense the position of the seedling cup. A sensor trigger device is provided on the seedling cup. A sensor trigger device is provided for each certain number of seedling cups. The number of intervals is equal to the difference between twice the number of pot seedlings that can be simultaneously grabbed on one side and 1. Figures 1 to 4 As shown, when the unilateral seedling picking claw only grabs one pot seedling at a time, a signal triggering device of a position sensor 15 is arranged every time one seedling cup is spaced apart, and the position sensor 15 is triggered once every time one seedling cup is spaced apart, that is, one pot seedling is dropped every time two seedling cups are operated. When the unilateral seedling picking claw only grabs two pot seedlings at a time, a signal triggering device of a position sensor 15 is arranged every time three seedling cups are spaced apart, that is, one pot seedling is dropped every time four seedling cups are operated. When the unilateral seedling picking claw only grabs three pot seedlings at a time, a signal triggering device of a position sensor 15 is arranged every time five seedling cups are spaced apart, that is, one pot seedling is dropped every time six seedling cups are operated.

[0037] In this embodiment, the seedling tray 6 is divided into a left tray seedling L and a right tray seedling R, and can be divided into n rows from both sides to the middle, namely L1 to L n Row, R1 to R n Row, n is equal to half of the number of rows of seedling tray, n=1,2... When taking seedlings, the left tray L1 to L n The seedlings in the pots are placed in the seedling cups of the left seedling cup group 1, and the seedlings in the right trays R1 to R n The seedlings in the seedling tray 6 are placed in the seedling cups of the seedling cup group r on the right. The number of rows of seedlings in the seedling tray 6 is an even number, and the optimal number of rows is 8, 10, 12, 14, or 16. The number of columns of seedlings in the seedling tray 6 is a multiple of the number of seedlings that can be simultaneously picked on one side. The optimal number of seedlings that can be simultaneously picked on one side is 1, 2, or 3, and the optimal number of columns of the seedling tray 6 is 18 or 24.

[0038] The specific steps of the staggered placement method for automatically taking and transporting crop seedlings from pots of the present invention are as follows:

[0039] 1. Take the seedlings

[0040] The process in which the left seedling grab 8 and the right seedling grab 9 clamp the pot seedling 10 and pull it out from the seedling tray 6 and then transport it to the left seedling cup 2 and the right seedling cup 3 located above the left seedling position 1 and the right seedling position 5 respectively is called seedling removal.

[0041] When picking seedlings, the left seedling picking claw 8 and the right seedling picking claw 9 respectively move from both sides of the seedling tray 6 to the middle position to pick seedlings. The ideal initial position of the center point of the seedling picking claw is located at the center of the circle of the seedling cup corresponding to the left seedling dropping position 1 and the right seedling dropping position 5. When picking seedlings for the first time, the left seedling picking claw 8 and the right seedling picking claw 9 grab the L1 and R1 pot seedlings in the seedling tray 6 respectively; when picking seedlings for the second time, the left seedling picking claw 8 and the right seedling picking claw 9 grab the L2 and R2 pot seedlings in the seedling tray 6 respectively. According to this principle, when picking seedlings for the last time, the L1 and R1 pot seedlings in the seedling tray 6 are grabbed. n and R n After grabbing the nth row of seedlings, the seedling tray 6 is transported forward once along the seedling tray supply direction u, so that the next group of seedlings enter the seedling picking area. The number of rows transported forward each time is the same as the number of seedlings that can be grabbed simultaneously on one side of the seedling picking grab. When the last row of seedlings is grabbed by the seedling picking grab, the entire tray of seedlings is automatically pulled out. After the entire tray of seedlings is automatically pulled out, the machine can be paused, the seedling tray can be withdrawn in the opposite direction of the seedling tray supply direction u, and then reloaded, and the machine can be started at the breakpoint; or the tray can be continuously loaded along the seedling tray supply direction u, and the empty tray can be driven out along the seedling tray supply direction u. In this way, there is no need to pause the machine, and the machine can run continuously, which is more efficient.

[0042] The L1 and R1 seedlings in the seedling tray 6 were picked up by picking up the seedlings and the seedling picking process was analyzed:

[0043] Initial state: When the seedlings are started to be grabbed, the left seedling grab 8 and the right seedling grab 9 are respectively located at the lowest end of the seedling grab movement direction x in the plumb direction, and the center point of the seedling grabbing clamp is respectively located at the center position of the left seedling cup 2 and the right seedling cup 3 in the horizontal direction, and the seedling clamp of the seedling grab is in an open state.

[0044] Step 1: After receiving the seedling picking signal, the control system controls the left seedling picking grab 8 and the right seedling picking grab 9 to move from both sides of the seedling tray 6 to the middle position respectively. When the seedling picking grab clamps contact the stems of the L1 and R1 pot seedlings, the seedling picking grabs stop moving and the seedling clamps close to clamp the pot seedlings 10.

[0045] Step 2: After the seedling clamp stably holds the pot seedlings 10, move the seedling clamp upward along the seedling grabbing movement direction x to the top, and pull the L1 and R1 pot seedlings out of the seedling tray 6.

[0046] Step 3: When the seedlings 10 in the pot are completely pulled out, the left seedling grab 8 and the right seedling grab 9 move from the middle of the seedling tray 6 to both sides respectively, and stop moving when the center point of the seedling grabbing clamp coincides with the center position of the left seedling cup 2 and the right seedling cup 3 located at the left seedling position 1 and the right seedling position 5, and the seedlings L1 and R1 in the pot are suspended above the left seedling cup 2 and the right seedling cup 3 respectively.

[0047] Step 4: When the seedlings L1 and R1 in the pots reach the top of the left seedling cup 2 and the right seedling cup 3 respectively, take the seedling clamp and move it downward along the x direction to the lowest end, ready to plant the seedlings.

[0048] No matter how many seedlings 10 are grabbed at a time by the unilateral seedling grabbing method, the principle of grabbing seedlings is similar, except that the number of seedling grabbing methods participating in grabbing seedlings at the same time increases.

[0049] 2. Planting seedlings

[0050] The process of the pot seedling 10 on the left side grabbing the seedling 8 and the right side grabbing the seedling 9 and dropping into the left seedling cup 2 and the right seedling cup 3 is called throwing seedlings.

[0051] When the seedlings in the pots are grasped by the left seedling grabbing claw 8 and the right seedling grabbing claw 9, they are located above the left seedling cup 2 and the right seedling cup 3, and the position sensor 15 is waited for to trigger the signal. When the position sensor 15 receives the signal, the seedling clamps of the left seedling grabbing claw 8 and the right seedling grabbing claw 9 are opened, and the seedlings in the pots 10 fall into the left seedling cup 2 and the right seedling cup 3 respectively.

[0052] 3. Transplantation of seedlings

[0053] The process of exporting the pot seedling 10 from the seedling cup to the transplanting mechanism is called seedling transportation.

[0054] The seedling cup holder 11 rotates, and when the seedling cup carrying the pot seedling 10 is located directly above the transplanting mechanism, the seedling cup opening and closing control lever 14 controls the seedling cup bottom baffle 13 to open, and the pot seedling 10 is output from the seedling cup and dropped into the transplanting mechanism. When the seedling cup that has output the pot seedling 10 has finished dropping, the seedling cup opening and closing control lever 14 controls the seedling cup bottom baffle 13 to close, and the seedling cup with the cup bottom baffle closed can be used again for transplanting seedlings.

[0055] When adopting different seedling catching schemes, the principles of seedling throwing and transporting are different. Therefore, the working principles are explained by respectively clamping 1 seedling on one side with 12 seedling cups; clamping 2 seedlings on one side with 12 seedling cups; and clamping 3 seedlings on one side with 18 seedling cups.

[0056] like Figure 4 As shown in the figure, the number of seedling tray rows is 8, one seedling is clamped on one side, the number of seedling cups is 12, the seedling output position is at position C, and the position sensor 15 is triggered once every seedling cup to illustrate the working principle of seedling delivery and delivery:

[0057] like Figure 4As shown in Figure a, the left seedling cup is at an angle of α° to the horizontal. The optimal angle α is 0° or 15°, which represents the initial seedling cup position. The left and right seedling grabs 8 and 9 drop the two seedlings 10, L1 and R1, initially held in the cups l1 and r1, respectively. At this point, there are no seedlings at seedling output position C, and the system does not output any seedlings.

[0058] like Figure 4 Shown in b, seedling cup holder 11 is Figure 4 Based on a, all seedling cups are driven to rotate β°, and the optimal angle of β is 30° (the same below). At this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatically taking seedlings, and no seedlings are put in. At this time, there are no seedlings in the seedling output position C, and the system does not output seedlings.

[0059] like Figure 4 Shown in c, seedling cup holder 11 is Figure 4 Based on b, drive all seedling cups to rotate β° again. Before the seedling cup rotates to a certain angle of β°, the left seedling grab 8 and the right seedling grab 9 place the two pot seedlings L2 and R2 that have been grabbed on the seedling cups l1 and r1 respectively. Figure 4 a position, the same below), when the seedling cup just rotates to β° or close to β°, the position sensor 15 is triggered, and the control system controls the seedling clamp to loosen, and the seedlings L2 and R2 fall into the seedling cups l2 and r2 respectively. At this time, there are no seedlings in the seedling output position C, and the system does not output seedlings.

[0060] like Figure 4 Shown in d, the seedling cup holder 11 is Figure 4 C, drive all seedling cups to rotate β °, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, no pot seedlings are put in. At this time, the pot seedling R1 enters the pot seedling output position C, and the system outputs the pot seedling R1.

[0061] like Figure 4 Shown in e, seedling cup holder 11 is Figure 4 d, drive all seedling cups to rotate β °, before the seedling cup rotates to a certain angle of β °, the left seedling grab 8 and the right seedling grab 9 will grab L3 and R3 ( Figure 4 e- Figure 4 m, characters are no longer used in the figure to indicate the marks of the left and right potted seedlings respectively, only grid circles are used to indicate the left potted seedlings, and solid regular hexagons are used to indicate the right potted seedlings) The two potted seedlings are placed directly above the initial positions of the seedling cups l1 and r1 respectively. When the seedling cups just rotate to β° or close to β°, the position sensor 15 is triggered again, and the control system controls the seedling clamps to release, and the seedlings L3 and R3 fall into the seedling cups l3 and r3 respectively. At this time, there are no seedlings in the seedling output position C, and the system does not output seedlings.

[0062] like Figure 4 Shown in f, seedling cup holder 11 is Figure 4 e, drive all seedling cups to rotate β °, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no pot seedlings are put in. At this time, the pot seedling R2 enters the pot seedling output position C, and the system outputs the pot seedling R2.

[0063] like Figure 4 Shown in g, seedling cup holder 11 is Figure 4 On the basis of f, all the seedling cups are driven to rotate β° again. Before the seedling cup rotates to a certain angle of β°, the left seedling grab 8 and the right seedling grab 9 place the two seedlings L4 and R4 that have been grabbed just above the initial positions of the seedling cups l1 and r1 respectively. When the seedling cup just rotates to β° or close to β°, the position sensor 15 is triggered again, and the control system controls the seedling clamp to release, and the seedlings L4 and R4 fall into the seedling cups l4 and r4 respectively. At this time, there are no seedlings in the seedling output position C, and the system does not output seedlings.

[0064] like Figure 4 Shown in h, seedling cup holder 11 is Figure 4 g, drive all seedling cups to rotate β °, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no pot seedlings are put in. At this time, the pot seedling R3 enters the pot seedling output position C, and the system outputs the pot seedling R3.

[0065] like Figure 4 Shown in i, seedling cup holder 11 is Figure 4 On the basis of h, all the seedling cups are driven to rotate β° again. Before the seedling cup rotates to a certain angle of β°, the left seedling grab 8 and the right seedling grab 9 will grab the two seedlings L1 and R1 in the second column of the seedling tray, and place them directly above the initial positions of the seedling cups l1 and r1 respectively. When the seedling cup just rotates to β° or close to β°, the position sensor 15 is triggered again, and the control system controls the seedling clamps to release, and the seedlings L1 and R1 fall into the seedling cups l5 and r5 respectively. At this time, the seedling L1 enters the seedling output position C, and the system outputs the seedling L1.

[0066] like Figure 4 Shown in j, seedling cup holder 11 is Figure 4 i, drive all seedling cups to rotate β °, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no seedlings are put in. At this time, the seedling pot R4 enters the seedling pot output position C, and the system outputs the seedling pot R4.

[0067] like Figure 4 Shown in k, seedling cup holder 11 is Figure 4On the basis of j, all the seedling cups are driven to rotate β° again. Before the seedling cup rotates to a certain angle of β°, the left seedling grab 8 and the right seedling grab 9 place the two seedlings L2 and R2 that have been grabbed just above the initial positions of the seedling cups l1 and r1 respectively. When the seedling cup just rotates to β° or close to β°, the position sensor 15 is triggered again, and the control system controls the seedling clamps to release, and the seedlings L2 and R2 fall into the seedling cups l6 and r6 respectively. At this time, the seedling L2 enters the seedling output position C, and the system outputs the seedling L2.

[0068] like Figure 4 Shown in m, seedling cup holder 11 is Figure 4 Based on k, all seedling cups are driven to rotate β ° again, and the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no pot seedlings are put in. At this time, the pot seedling R5 enters the pot seedling output position C, and the system outputs the pot seedling R5.

[0069] When running to Figure 4 After m, the seedling cup holder 11 from Figure 4 a starts a new cycle, but its cycle status is only equivalent to Figure 4 k to Figure 4 m these two stages.

[0070] According to the above working principle, Figure 4 Before h, due to the lack of seedlings in the seedling cup, the system could not output continuously. Figure 4 When the present invention is used for the first time, it is necessary to manually put in the corresponding seedlings in the pot or plant them empty several times in situ. However, once it works normally, it is controlled by the program and there will be no shortage of seedlings or empty planting even if the power is off or the tray is changed.

[0071] Similarly, in order to further increase the transplanting speed, you can also grab multiple pot seedlings at one time on one side.

[0072] Figure 5-Figure 7 This is an automatic seedling removal solution for grabbing two plants from a single side. In this solution, if the seedling cup holder 11 uses continuous rotation, the ideal seedling delivery position is anywhere between points A and D. If the seedling cup holder 11 uses intermittent rotation, the ideal seedling delivery position is at the center of the circle between points A and D. The optimal position for continuous rotation is the bisector of the line connecting points B and C. The optimal position for intermittent rotation is either point B or point C.

[0073] like Figure 7 As shown, the working principle of seedling delivery and placement is explained by assuming that the number of rows of seedling trays is 8, the number of seedlings clamped on one side is 2, the number of seedling cups is 12, the seedling output position is at position B, and the position sensor 15 is triggered every 3 seedling cups:

[0074] like Figure 7As shown in a, the seedling cups are divided into groups of two (such as l1 and l2 as a group, r1 and r2 as a group). The seedling cup l1 on the left to be cast is at α° with the horizontal line, and the optimal angle α is 15° (this is the initial position of the seedling cup). The left seedling grab 8 and the right seedling grab 9 will clamp the four pot seedlings 10 for the first time, P2L1 and P1L1 (the marks of the two left pot seedlings are not shown with characters in the figure, only with grid circles, the same below), and put P1R1 and P2R1 (the marks of the two right pot seedlings are not shown with characters in the figure, only with solid regular hexagons, the same below) into the seedling cups of r1 and r2 respectively. At this time, there are no pot seedlings at the seedling output position B, and the system does not output pot seedlings.

[0075] like Figure 7 Shown in b, seedling cup holder 11 is Figure 7 Based on a, all seedling cups are driven to rotate β°, and the optimal angle of β is 30°. At this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatically taking seedlings, and no seedlings are put in. At this time, there are no seedlings in the seedling output position B, and the system does not output seedlings.

[0076] like Figure 7 Shown in c, seedling cup holder 11 is Figure 7 Based on b, all seedling cups are driven to rotate β degrees. At this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no seedlings are put in. At this time, the seedling pot R1 enters the seedling pot output position B, and the system outputs the seedling pot R1.

[0077] like Figure 7 Shown in d, the seedling cup holder 11 is Figure 7 c, drive all seedling cups to rotate β °, at this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no pot seedlings are put in. At this time, the pot seedling R2 enters the pot seedling output position B, and the system outputs the pot seedling R2.

[0078] like Figure 7 Shown in e, seedling cup holder 11 is Figure 7 d, drive all seedling cups to rotate β°. Before the seedling cup rotates to a certain angle of β°, the left seedling grab 8 and the right seedling grab 9 will place the four pot seedlings P2L2, P1L2, P1R2 and P2R2 that have been grabbed on the seedling cups l1 and l2 and r1 and r2 at their initial positions ( Figure 7 a position, the same below), when the seedling cup just rotates to β° or close to β°, the position sensor 15 is triggered, and the control system controls the seedling clamp to loosen, and the seedlings P2L2 and P1L2, P1R2 and P2R2 fall into the seedling cups l3 and l4 and r3 and r4 respectively. At this time, there is no seedling in the seedling output position B, and the system does not output the seedling.

[0079] like Figure 7 Shown in f, seedling cup holder 11 is Figure 7 e, drive all seedling cups to rotate β °, at this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no seedlings are put in. At this time, there are no seedlings in the seedling output position B, and the system does not output seedlings.

[0080] like Figure 7 Shown in g, seedling cup holder 11 is Figure 7 f, drive all seedling cups to rotate β °, at this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no pot seedlings are put in. At this time, the pot seedling R3 enters the pot seedling output position B, and the system outputs the pot seedling R3.

[0081] like Figure 7 Shown in h, seedling cup holder 11 is Figure 7 g, drive all seedling cups to rotate β °, at this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no pot seedlings are put in. At this time, pot seedling R4 enters pot seedling output position B, and the system outputs pot seedling R4.

[0082] like Figure 7 Shown in i, seedling cup holder 11 is Figure 7 Based on h, all seedling cups are driven to rotate β°. Before the seedling cups rotate to a certain angle of β°, the left seedling grab 8 and the right seedling grab 9 place the four pot seedlings P2L3, P1L3, P1R3 and P2R3 that have been grabbed respectively in the initial positions of the seedling cups l1 and l2 and r1 and r2 ( Figure 7 a position, the same below), when the seedling cup just rotates to β° or close to β°, the position sensor 15 is triggered again, and the control system controls the seedling clamp to loosen, and the pot seedlings P2L3 and P1L3, P1R3 and P2R3 fall into the pot seedling cups l5 and l6 and r5 and r6 respectively. At this time, the pot seedling L1 enters the pot seedling output position B, and the system outputs the pot seedling L1.

[0083] like Figure 7 Shown in j, seedling cup holder 11 is Figure 7 i, drive all seedling cups to rotate β ° again. At this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal. At this time, the pot seedling L2 enters the pot seedling output position B, and the system outputs the pot seedling L2.

[0084] like Figure 7 Shown in k, seedling cup holder 11 is Figure 7 j, drive all seedling cups to rotate β °, at this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no pot seedlings are put in. At this time, the pot seedling R5 enters the pot seedling output position B, and the system outputs the pot seedling R5.

[0085] like Figure 7 Shown in m, seedling cup holder 11 is Figure 7Based on k, all seedling cups are driven to rotate β degrees. At this time, the left seedling grab 8 and the right seedling grab 9 are running in the process of automatic seedling removal, and no pot seedlings are put in. At this time, the pot seedling R6 enters the pot seedling output position B, and the system outputs the pot seedling R6.

[0086] When running to Figure 7 After m, the seedling cup holder 11 from Figure 7 a starts a new cycle again, but the state of its cycle is equivalent to Figure 7 i to Figure 7 m these four stages.

[0087] According to the above working principle, Figure 7 Before g, the system could not output continuously due to lack of seedlings in the seedling cup. Figure 7 When the present invention is used for the first time, it is necessary to manually put in the corresponding seedlings in the pot or plant them empty several times in situ. However, once it works normally, it is controlled by the program and there will be no shortage of seedlings or empty planting even if the power is off or the tray is changed.

[0088] Figures 8-10 The figure shows an automatic seedling removal and transportation scheme for grabbing 3 plants on one side.

[0089] When the number of seedlings caught on one side is greater than or equal to 3, the best seedling cup group arrangement is a waist-circular arrangement, and the best seedling cup group is 6 groups, each with 3, that is, the best number of seedling cups is 18. Its basic working principle is that the left seedling cup 2 is a group of 3 seedlings, and the right seedling cup 3 is a group of 3 seedlings. The seedling cup group is arranged along the Figure 9 The motion process is described by moving one seedling cup position at a time. In this embodiment, if the seedling cup holder 11 uses continuous rotation, the ideal seedling output position is anywhere between points A and F. If the seedling cup holder 11 uses intermittent rotation, the ideal seedling output position is at the center of the circle between points A and F. The optimal position using continuous rotation is the bisector of the line connecting points C and D. The optimal position using intermittent rotation is either point C or point D.

[0090] like Figure 10 As shown in Figure a, with 3 seedlings clamped on one side, 18 seedling cups, the seedling output position in position C, and the position sensor 15 triggered once every 5 seedling cups, the working principle of seedling delivery and placement is explained:

[0091] like Figure 10As shown in Figure a, the left and right seedling grabs 8 and 9 drop the six seedlings 10, P3L1, P2L1, and P1L1 (the three seedlings on the left are not marked with characters in the figure, but are represented by grid circles, the same below), into the seedling cups l1, l2, and l3, respectively. P1R1, P2R1, and P3R1 (the three seedlings on the right are not marked with characters in the figure, but are represented by solid regular hexagons, the same below) are dropped into the seedling cups r1, r2, and r3, respectively. At this point, there are no seedlings at seedling output position C, and the system does not output any seedlings.

[0092] like Figure 10 As shown in b, Figure 10 Based on a, seedling cups l1, l2 and l3, seedling cups r1, r2 and r3 move clockwise along the circular line by one seedling cup distance. At this time, there is no seedling in the seedling output position C, and the system does not output the seedling.

[0093] like Figure 10 As shown in c, Figure 10 Based on step b, seedling cups l1, l2, and l3, and seedling cups r1, r2, and r3 move clockwise along the circular line for another seedling cup distance. At this time, there is no seedling in the seedling output position C, and the system does not output the seedling.

[0094] like Figure 10 As shown in d, Figure 10 Based on position c, seedling cups l1, l2 and l3, seedling cups r1, r2 and r3 move clockwise along the circular line for another seedling cup distance. At this time, pot seedling R1 enters pot seedling output position C, and the system outputs pot seedling R1.

[0095] like Figure 10 As shown in e, Figure 10 Based on d, seedling cups l1, l2 and l3, seedling cups r1, r2 and r3 move clockwise along the circular line for another seedling cup distance. At this time, pot seedling R2 enters pot seedling output position C, and the system outputs pot seedling R2.

[0096] like Figure 10 As shown in f, Figure 10 Based on the position e, seedling cups l1, l2 and l3, seedling cups r1, r2 and r3 move clockwise along the circular line for another seedling cup distance. At this time, pot seedling R3 enters pot seedling output position C, and the system outputs pot seedling R3.

[0097] like Figure 10 As shown in g, Figure 10On the basis of f, seedling cups l1, l2 and l3, seedling cups r1, r2 and r3 move clockwise along the circular line for another seedling cup distance. When the seedling cup rotates to a certain position before the current position, the left seedling grab 8 and the right seedling grab 9 place the six pot seedlings P3L2, P2L2 and P1L2, P1R2, P2R2 and P2R3 that have been grabbed respectively on the initial positions of seedling cups l1, l2 and l3 and r1, r2 and r3 ( Figure 10 a position, the same below), when the seedling cup is rotated to Figure 10 When at the position shown in g, the position sensor 15 is triggered, and the control system controls the seedling clamp to loosen, and the pot seedlings P3L2, P2L2 and P1L2, P1R2, P2R2 and P2R3 fall into the seedling cups l4, l5 and l6 and r4, r4 and r5 respectively. At this time, there is no pot seedling at the pot seedling output position C, and the system does not output the pot seedling.

[0098] like Figure 10 As shown in h, Figure 10 Based on g, seedling cups l1, l2 and l3, seedling cups r1, r2 and r3 move clockwise along the circular line for another seedling cup distance. At this time, there is no seedling in the seedling output position C, and the system does not output the seedling.

[0099] like Figure 10 As shown in i, Figure 10 Based on h, seedling cups l1, l2 and l3, seedling cups r1, r2 and r3 move clockwise along the circular line for another seedling cup distance. At this time, there is no seedling in the seedling output position C, and the system does not output the seedling.

[0100] like Figure 10 As shown in j, Figure 10 Based on i, seedling cups l1, l2 and l3, seedling cups r1, r2 and r3 move clockwise along the circular line for another seedling cup distance. At this time, pot seedling R4 enters pot seedling output position C, and the system outputs pot seedling R4.

[0101] When passing Figure 10 After j, since pot seedling 10 has been put into the adjacent l1 seedling cup behind seedling cup r6, Figure 10 After that, the automatic seedling taking and transporting system can continuously output pot seedlings.

[0102] Similarly, when the present invention is used for the first time, it is necessary to manually put in the corresponding pot seedlings or plant them empty several times in situ. However, once it works normally, through program control, even if the power is off, the tray will not be missing seedlings or empty planting will occur.

[0103] The above is only a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiment. For those skilled in the art, improvements and modifications obtained without departing from the technical concept of the present invention should also be considered as the scope of protection of the present invention.

Claims

1. A method for automatically taking and transporting seedlings in staggered placement of crop seedlings in pots, comprising an automatic seedling transport device provided on a transplanter, the automatic seedling transport device being located below a seedling tray (6), with a left seedling taking grip (8) and a right seedling taking grip (9) provided on both sides of the seedling tray (6), characterized in that: The seedling cup rack (11) of the automatic seedling feeding device is staggered with left-throwing seedling cups (2) and right-throwing seedling cups (3), which are arranged along a circular or waist-circular track and driven by the seedling cup rack (11) to perform continuous or intermittent operation along the circular or waist-circular track; in a direction perpendicular to the seedling tray supply direction, the seedling cup rack (11) is provided with a left seedling feeding position (1) and a right seedling feeding position (5) on both sides of the seedling cup rack (11) on the track, and the seedling cup rack (11) is provided with a pot seedling output position (4) on the track below the empty tray occupying area (7); a position sensor (15) is provided on one side of the seedling cup on the transplanter, and a trigger device is provided at a certain interval on the seedling cup; the method comprises the following steps: Picking seedlings: After receiving the seedling picking signal, the control system controls the left seedling picking grip (8) and the right seedling picking grip (9) to move from both sides of the seedling tray (6) to the middle and pick up one or more pot seedlings (10), and then transport them to the top of the left seedling throwing position (1) and the right seedling throwing position (5) respectively, ready for throwing seedlings; Throwing seedlings: waiting for the trigger signal of the position sensor (15), each time the position sensor (15) triggers a signal, the control system controls the left seedling grab (8) and the right seedling grab (9) to simultaneously throw the seedlings (10) into the left seedling cup (2) and the right seedling cup (3) corresponding to the left seedling throwing position (1) and the right seedling throwing position (5); Seedling transport: the seedling cup rack (11) operates to sequentially transport the left seedling cup (2) and the right seedling cup (3) carrying the pot seedlings (10) to the pot seedling output position (4), and output one pot seedling (10) to the transplanting mechanism each time, so that one seedling is taken and multiple seedlings are dropped.

2. The method according to claim 1, wherein: When the seedling picking step starts, the left seedling picking grip (8) and the right seedling picking grip (9) are respectively located at the lowest end of the seedling picking movement direction and correspond to the stems of the pot seedlings (10) to be picked, the center point of the seedling clamp of the left seedling picking grip (8) and the center point of the seedling clamp of the right seedling picking grip (9) are respectively located at the left seedling throwing position (1) and the right seedling throwing position (5) in the horizontal direction, and the seedling clamp is in an open state; The first step: the left seedling grab (8) and the right seedling grab (9) move from both sides of the seedling tray (6) to the middle position respectively. When the seedling clamp contacts the stem of the pot seedling (10) to be grabbed, the seedling grab stops moving and the seedling clamp closes to clamp the pot seedling (10); the second step: after the seedling clamp stably clamps the pot seedling (10), the seedling grab moves upward along the seedling grab movement direction to the top, and pulls the pot seedling (10) out of the seedling tray (6); the third step: after the pot seedling (10) is completely pulled out, the left seedling grab (8) and the right seedling grab (9) move from the middle to both sides respectively until the center point of each seedling clamp coincides with the corresponding seedling throwing position and stops moving; the fourth step: the seedling grab moves downward along the seedling grab movement direction to the lowest end, ready to throw the seedling.

3. The method according to claim 1, wherein: The seedling transport is specifically as follows: when the seedling cup carrying the seedlings (10) is located at the seedling output position (4) just above the transplanting mechanism, the seedling cup opening and closing control lever (14) opens the seedling cup bottom baffle (13) at the bottom of the seedling cup, and the seedlings (10) are output from the seedling cup and fall into the transplanting mechanism.

4. The method according to claim 1, wherein: A signal trigger device is arranged at intervals of a certain number on the seedling cups, wherein the certain number at intervals is equal to the difference between twice the number of seedlings caught simultaneously on one side and 1: that is, when the number of seedlings caught simultaneously on one side is 1, 2 or 3 plants, a signal trigger device is arranged at intervals of 1, 3 or 5 seedling cups, and a seedling is dropped into a pot once every 2, 4 or 6 seedling cups are operated (10).

5. The method according to claim 1, wherein: The number of the seedling cups is 12 or at least 18, which are arranged in a circular or waist-shaped shape, and are driven by the seedling cup rack (11) to move along the trajectory thereof, wherein the number of seedlings that can be simultaneously caught on one side by the 12 seedling cups is 1 or 2, and the number of seedlings that can be simultaneously caught on one side by the at least 18 seedling cups is 3.

6. The method according to claim 5, characterized in that: In the seedling picking step, when more than two seedlings are picked up simultaneously on one side, the pot seedlings (10) picked up from the dense seedling tray (6) need to be spread out or guided before being transported to the top of the seedling placement position.

7. The method according to claim 6, characterized in that: After the seedlings (10) in the seedling tray (6) are taken out, the machine is paused, the empty tray is withdrawn in the reverse direction of the seedling tray supply direction, and then the tray is reloaded and the machine is started to run at a breakpoint; or the tray is continuously loaded along the seedling tray supply direction and the empty tray is driven out along the running direction.

8. The method according to claim 3, wherein: The seedling cup bottom baffle (13) is connected to the bottom of the seedling cup via a spring (12). The seedling cup bottom baffle (13) is in a closed state except when it is opened at the seedling pot output position (4).

9. The method according to claim 4, wherein: When the seedling cup rack (11) performs intermittent motion, the angle β of each intermittent rotation is 360° divided by the total number of seedling cups.

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