Seedling supply device of rice transplanter

Abstract

This invention belongs to the field of agricultural planting machinery technology, and particularly relates to a seedling supply device for a rice transplanter. It includes a U-shaped tube, with a mounting frame fixedly connected to the top of one side of the U-shaped tube. A lifting unit is fixedly connected to one side of the mounting frame. An intermediate conveying mechanism is fixedly connected to the end of the lifting unit away from the U-shaped tube. An end-effector is correspondingly arranged below the intermediate conveying mechanism. Several mounting trusses are fixedly connected to one end of the side of the U-shaped tube away from the end-effector. The other ends of these mounting trusses on the same side are rotatably connected to a stacked seedling planting mechanism, which is fixedly connected to the side of the mounting frame away from the lifting unit. This invention's device can automatically detect and automatically load seedlings, solving the problem that existing unmanned rice transplanters still require manual labor to repeatedly check and replenish seedlings on the planting platform, thus achieving truly labor-free rice transplanting.

Description

Technical Field

[0001] This invention belongs to the field of agricultural planting machinery technology, and in particular relates to a seedling supply device for a rice transplanter. Background Technology

[0002] With the development trend of modern agricultural mechanization, automated operation has become a necessary condition for the development of rice transplanters and has become a research direction in the field of rice transplanting machinery. Using the BeiDou / GNSS satellite navigation system to control the transplanter for fully automated and autonomous transplanting operations allows farmers to save more time, entrusting heavy, repetitive, and monotonous tasks to machines, thereby liberating productivity. Mechanized operations are not only more precise than manual labor but also reduce omissions and waste caused by various factors during production. The combination of transplanting operations and automatic navigation technology in automated operations has significant practical implications for improving agricultural efficiency, crop yields, and the working environment of agricultural workers.

[0003] Existing unmanned rice transplanters still require manual labor to repeatedly check and replenish the seedlings on the planting platform, failing to achieve truly fully automated rice transplanting. Therefore, a seedling supply device for the rice transplanter needs to be designed to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a seedling supply device for a rice transplanter to solve the above-mentioned problems and achieve the goal of completing rice transplanting without labor.

[0005] To achieve the above objectives, the present invention provides the following solution: a seedling supply device for a rice transplanter, comprising a U-shaped tube, a mounting frame fixedly connected to the top of one side of the U-shaped tube, a lifting unit fixedly connected to one side of the mounting frame, an intermediate conveying mechanism fixedly connected to the end of the lifting unit away from the U-shaped tube, an end-effector correspondingly arranged below the intermediate conveying mechanism, a plurality of mounting trusses fixedly connected to one end of the side of the U-shaped tube away from the end-effector, and a stacked seedling planting mechanism rotatably connected to the other end of the plurality of mounting trusses on the same side, which is fixedly connected to the side of the mounting frame away from the lifting unit.

[0006] Preferably, the intermediate conveying mechanism includes a second slide rail, which is fixedly connected to the lifting part and horizontally arranged. A second slider is slidably connected to the side of the second slide rail away from the lifting part. A mounting plate is fixedly connected to the second slider. The mounting plate is perpendicular to the second slide rail. A rotating moving mechanism is fixedly connected to the mounting plate. A second profile frame is fixedly connected to the bottom end of the rotating moving mechanism. An angle adjusting part is fixedly connected to the bottom end of the second profile frame. A first conveyor belt is fixedly connected to the angle adjusting part.

[0007] Preferably, the rotary moving mechanism includes a guide rail, which is perpendicular to the second slide rail. The guide rail is fixedly connected to the top of the mounting plate. A first mounting bracket is slidably connected to the guide rail. A motor mounting plate is fixedly connected to one side of the top of the first mounting bracket. The motor mounting plate is in slidable contact with the guide rail. A second motor is fixedly connected to the motor mounting plate. A gear is fixedly connected to the output shaft of the second motor. The gear meshes with a rack fixedly connected to the top of the mounting plate. A rotating part is fixedly connected to the bottom of the first mounting bracket. The rotating part is fixedly connected to the second profile frame.

[0008] Preferably, the rotating part includes a first coupling, the top end of which is fixedly connected to the bottom end of a connecting shaft. The top end of the connecting shaft is fixedly connected to the bottom end of a first mounting bracket. An inner ring of a tapered roller bearing is fixedly connected to the outer wall of the connecting shaft. A second mounting bracket is fixedly connected to the outer ring of the tapered roller bearing. Two parallel first profile frames are fixedly connected to the bottom end of the second mounting bracket. Both first profile frames are fixedly connected to the second profile frame. A third motor output shaft is fixedly connected to the bottom end of the first coupling. The first coupling is located between the two first profile frames. A motor fixing plate is fixedly connected to the third motor. The motor fixing plate is fixedly connected to the bottom ends of the two first profile frames.

[0009] Preferably, the angle adjustment unit includes a fourth motor, which is fixedly connected to the second profile frame. The output shaft of the fourth motor is fixedly connected to a first driving synchronous pulley. The first driving synchronous pulley is driven by a first driven synchronous pulley via a first synchronous belt. The first driven synchronous pulley is coaxially fixedly connected to a first lead screw. Two fixed seats are rotatably connected to both ends of the first lead screw. The two fixed seats on the inner side are fixedly connected to the bottom end of the first conveyor belt fixing frame, and the two fixed seats on the outer side are fixedly connected to the bottom end of the second profile frame. A second driving synchronous pulley is fixedly connected to the end of the first lead screw near the first driven synchronous pulley. The second driving synchronous pulley is driven by a second synchronous belt and is connected to the first conveyor belt. A push rod is rotatably connected to the end of the first conveyor belt fixing frame near the fourth motor, and the other end of the push rod is fixedly connected to the second profile frame.

[0010] Preferably, the end effector includes a base located below the first conveyor belt. A limit plate is fixedly connected to one end of the base. A fifth motor is fixedly connected to the bottom of the limit plate near the base. A second driving synchronous pulley is fixedly connected to the output shaft of the fifth motor. A third driven synchronous pulley is connected to the second driving synchronous pulley via a third synchronous belt. A second lead screw is coaxially fixedly connected to one end of the third driven synchronous pulley. The other end of the second lead screw is rotatably connected to the other end of the base. A movable flipping part is threaded onto the second lead screw, and the movable flipping part slides in contact with the base.

[0011] Preferably, the movable flipping part includes a fourth slider, which is threadedly connected to the second lead screw and slides in contact with the top end of the base. A first mounting plate is fixedly connected to the top end of the fourth slider, and a synchronous motor is fixedly connected to the top end of the first mounting plate. The output shaft of the synchronous motor is fixedly connected to the bottom end of a second mounting plate, and a flipping part is fixedly connected to the top end of the second mounting plate.

[0012] Preferably, the flipping part includes a support base, the bottom end of which is fixedly connected to the top end of the second mounting plate. One end of the support base is fixedly connected to the bottom end of a vertically arranged telescopic rod. The top end of the telescopic rod is rotatably connected to one end of a fifth profile frame. The bottom of the other end of the fifth profile frame is fixedly connected to a first spring fixing seat. The bottom end of the first spring fixing seat is fixedly connected to one end of a spring. The other end of the spring is fixedly connected to a second spring fixing seat. The bottom end of the second spring fixing seat is fixedly connected to the top end of the second mounting plate. An upper positioning cone is fixedly connected to the middle of the bottom end of the fifth profile frame. A lower positioning cone is correspondingly arranged below the upper positioning cone. The lower positioning cone is fixedly connected to the middle of the top end of the second mounting plate. A second conveyor belt fixing frame is fixedly connected to the top end of the fifth profile frame. A baffle is fixedly connected to the top end of the second conveyor belt fixing frame on the side near the telescopic rod.

[0013] Preferably, the stacked seedling planting mechanism includes a third profile frame, with casters and foot cups fixedly connected to the four corners of the bottom of the third profile frame. Several third conveyor belts are arranged at equal intervals on the third profile frame. Guardrails are fixedly connected to the top of both sides of the fixed frame of the third conveyor belt. Several seedling trays are placed at the top of the third conveyor belt. Several fourth profile frames are fixedly connected to one end of the third profile frame near the U-shaped tube. The fourth profile frames correspond one-to-one with the mounting truss and are rotatably connected to the mounting truss. One end of the third conveyor belt is driven by a universal drive shaft. The other end of the universal drive shaft is fixedly connected to one end of a second coupling. The other end of the second coupling is fixedly connected to the motor output shaft. The motor is detachably fixedly connected to the mounting frame.

[0014] Preferably, the lifting part includes a first slide rail, which is fixedly connected to the side wall of the mounting frame and is vertically arranged. A first slider is slidably connected on the first slide rail. A second slide rail is fixedly connected to the first slider. A first motor is fixedly connected to the bottom end of the first slide rail. The output shaft of the first motor is fixedly connected to a lead screw rotatably arranged in the first slide rail. The first slider is threadedly connected to the lead screw.

[0015] Compared with the prior art, the present invention has the following advantages and technical effects:

[0016] The device of this invention can automatically detect and load seedlings, solving the problem that existing unmanned rice transplanters still require manual labor to repeatedly check and replenish seedlings on the planting platform, thus achieving truly labor-free rice transplanting. The stacked planting mechanism loads and initially transports a large number of seedlings, then transfers, rotates, and conveys the seedling trays through an intermediate conveyor mechanism. Once the intermediate conveyor reaches the designated position, it reliably and stably docks with the end effector, sliding the seedlings to the end effector. The end effector, upon reaching the designated position with insufficient seedlings, delivers the seedling tray, completing the loading process. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an isometric view of the overall structure of the present invention;

[0019] Figure 2 This is an isometric view of the intermediate conveying mechanism of the present invention;

[0020] Figure 3 This is an isometric view of the intermediate conveying mechanism of the present invention from another angle;

[0021] Figure 4 This is a schematic diagram of the rotating and moving mechanism of the present invention;

[0022] Figure 5 This is a schematic diagram of the angle adjustment part of the present invention;

[0023] Figure 6 This is an isometric view of the end effector of the present invention;

[0024] Figure 7 This is a schematic diagram of the movable flipping part structure of the present invention;

[0025] Figure 8 This is an isometric view of the stacked rice planting mechanism of the present invention.

[0026] The components include: 1. U-shaped tube; 2. Mounting frame; 3. First slide rail; 4. First slider; 5. First motor; 6. Mounting truss; 7. Second slide rail; 8. Second slider; 9. Mounting plate; 10. Guide rail; 11. Rack; 12. Motor mounting plate; 13. Second motor; 14. Gear; 15. First mounting bracket; 16. Second mounting bracket; 17. First profile frame; 18. Second profile frame; 19. Motor fixing plate; 20. Third motor; 21. First coupling; 22. Tapered roller bearing; 23. First conveyor belt; 24. Fourth motor; 25. First driving synchronous pulley; 26. First synchronous belt; 27. First driven synchronous pulley; 28. Second driven synchronous pulley; 29. ​​Second synchronous belt; 30. First lead screw; 31. Fixed seat; 32. Push rod. 33. Fifth motor; 34. Second driving synchronous pulley; 35. Third synchronous belt; 36. Third driven synchronous pulley; 37. Second lead screw; 38. Base; 39. Fourth slider; 40. First mounting plate; 41. Second conveyor belt; 42. Baffle; 43. Second mounting plate; 44. Support seat; 45. Telescopic rod; 46. Lower positioning cone; 47. Upper positioning cone; 48. First spring fixing seat; 49. Spring; 50. Third profile frame; 51. Caster foot cup seat; 52. Third conveyor belt; 53. Guardrail plate; 54. Seedling tray; 55. Fourth profile frame; 56. Motor; 57. Second coupling; 58. Universal drive shaft; 59. Limit plate; 60. Second spring fixing seat; 61. Fifth profile frame; 62. Hexagonal nut; 63. Connecting shaft. Detailed Implementation

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Reference Figures 1-8The present invention provides a seedling supply device for a rice transplanter, including a U-shaped tube 1. A mounting frame 2 is fixedly connected to the top of one side of the U-shaped tube 1. A lifting part is fixedly connected to one side of the mounting frame 2. An intermediate conveying mechanism is fixedly connected to the end of the lifting part away from the U-shaped tube 1. An end-effector is correspondingly arranged below the intermediate conveying mechanism. A plurality of mounting trusses 6 are fixedly connected to one end of the side of the U-shaped tube 1 away from the end-effector. The other ends of the plurality of mounting trusses 6 on the same side are rotatably connected to a stacked seedling planting mechanism and fixedly connected to the side of the mounting frame 2 away from the lifting part.

[0030] The stacked seedling planting mechanism loads and initially transports a large number of seedlings, then transfers, rotates, and conveys the seedling trays through an intermediate conveyor mechanism. Once the intermediate conveyor reaches its designated position, it reliably and stably docks with the end-effector, transferring the seedlings to the end-effector. The end-effector, upon reaching the designated location with insufficient seedlings, delivers the seedling tray, completing the seedling loading process.

[0031] The scheme is further optimized. The intermediate conveying mechanism includes a second slide rail 7, which is fixedly connected to the lifting part and is set horizontally. A second slider 8 is slidably connected to the side of the second slide rail 7 away from the lifting part. A mounting plate 9 is fixedly connected to the second slider 8. The mounting plate 9 is perpendicular to the second slide rail 7. A rotating moving mechanism is fixedly connected to the mounting plate 9. A second profile frame 18 is fixedly connected to the bottom end of the rotating moving mechanism. An angle adjustment part is fixedly connected to the bottom end of the second profile frame 18. A first conveyor belt 23 is fixedly connected to the angle adjustment part.

[0032] The scheme is further optimized. The rotary movement mechanism includes a guide rail 10, which is perpendicular to the second slide rail 7. The guide rail 10 is fixedly connected to the top of the mounting plate 9. A first mounting bracket 15 is slidably connected to the guide rail 10. A motor mounting plate 12 is fixedly connected to one side of the top of the first mounting bracket 15. The motor mounting plate 12 is in sliding contact with the guide rail 10. A second motor 13 is fixedly connected to the motor mounting plate 12. A gear 14 is fixedly connected to the output shaft of the second motor 13. The gear 14 meshes with a rack 11 fixedly connected to the top of the mounting plate 9. A rotating part is fixedly connected to the bottom of the first mounting bracket 15. The rotating part is fixedly connected to the second profile frame 18.

[0033] In a further optimized design, the rotating part includes a first coupling 21. The top end of the first coupling 21 is fixedly connected to the bottom end of a connecting shaft 63. The top end of the connecting shaft 63 is fixedly connected to the bottom end of a first mounting bracket 15. The outer wall of the connecting shaft 63 is fixedly connected to the inner ring of a tapered roller bearing 22. The outer ring of the tapered roller bearing 22 is fixedly connected to a second mounting bracket 16. The bottom end of the second mounting bracket 16 is fixedly connected to two parallel first profile frames 17. Both first profile frames 17 are fixedly connected to a second profile frame 18. The bottom end of the first coupling 21 is fixedly connected to the output shaft of a third motor 20. The first coupling 21 is located between the two first profile frames 17. The third motor 20 is fixedly connected to a motor mounting plate 19. The motor mounting plate 19 is fixedly connected to the bottom ends of the two first profile frames 17.

[0034] The angle adjustment unit further optimizes the design by including a fourth motor 24, which is fixedly connected to the second profile frame 18. The output shaft of the fourth motor 24 is fixedly connected to a first active synchronous pulley 25. The first active synchronous pulley 25 is driven by a first driven synchronous pulley 27 via a first synchronous belt 26. The first driven synchronous pulley 27 is coaxially fixedly connected to a first lead screw 30. Two fixed seats 31 are rotatably connected to both ends of the first lead screw 30. The two fixed seats 31 on the inner side are fixedly connected to the bottom end of the fixed frame of the first conveyor belt 23, and the two fixed seats 31 on the outer side are fixedly connected to the bottom end of the second profile frame 18. A second active synchronous pulley is fixedly connected to one end of the first lead screw 30 near the first driven synchronous pulley 27. The second active synchronous pulley is driven by a second driven synchronous pulley 28 via a second synchronous belt 29. The second driven synchronous pulley 28 is driven by the first conveyor belt 23. A push rod 32 is rotatably connected to one end of the fixed frame of the first conveyor belt 23 near the fourth motor 24. The other end of the push rod 32 is fixedly connected to the second profile frame 18.

[0035] The intermediate conveying mechanism adopts a three-axis slide rail module and a steering mechanism, combined with a tiltable first conveyor belt 23, to achieve automatic seedling picking and smooth seedling transport. The U-shaped tube 1 and the mounting frame 2 serve as the mounting platform for the intermediate conveying mechanism. The lifting unit serves as the vertical sliding rail, and the second slide rail 7 serves as the horizontal sliding rail. The rack 11 and gear 14 combine to achieve translation, and the tapered roller bearing 22, the third motor 20, and the first coupling 21 ensure the overall smooth rotation of the seedling-carrying platform. The mounting truss 6 serves as the mounting reference for rotational opening and closing around the axis. The rotation axis of the stacked seedling planting mechanism is designed at the relative instantaneous center of the mechanism. The tilting action of the first conveyor belt 23 is achieved by the first lead screw 30 and the push rod 32; the power of the first conveyor belt 23 is driven by the fourth motor 24 through the first synchronous belt 26 to drive the first lead screw 30, and then from the first lead screw 30 through the second synchronous belt 29 to the first conveyor belt 23, ensuring that the tilting action does not affect the transmission of the first conveyor belt 23.

[0036] The scheme is further optimized. The end effector includes a base 38, which is located below the first conveyor belt 23. One end of the base 38 is fixedly connected to a limit plate 59. The bottom of the limit plate 59 near the base 38 is fixedly connected to a fifth motor 33. The output shaft of the fifth motor 33 is fixedly connected to a second driving synchronous pulley 34. The second driving synchronous pulley 34 is driven by a third driven synchronous pulley 36 through a third synchronous belt 35. One end of the third driven synchronous pulley 36 is coaxially fixedly connected to a second lead screw 37. The other end of the second lead screw 37 is rotatably connected to the other end of the base 38. A movable flipping part is threadedly connected to the second lead screw 37, and the movable flipping part slides in contact with the base 38.

[0037] The scheme is further optimized. The moving and flipping part includes a fourth slider 39. The fourth slider 39 is threadedly connected to the second lead screw 37 and slides in contact with the top of the base 38. The top of the fourth slider 39 is fixedly connected to a first mounting plate 40. The top of the first mounting plate 40 is fixedly connected to a synchronous motor. The output shaft of the synchronous motor is fixedly connected to the bottom of a second mounting plate 43. The top of the second mounting plate 43 is fixedly connected to the flipping part.

[0038] The scheme is further optimized. The flipping part includes a support base 44. The bottom end of the support base 44 is fixedly connected to the top end of the second mounting plate 43. One end of the support base 44 is fixedly connected to the bottom end of a vertically arranged telescopic rod 45. The top end of the telescopic rod 45 is rotatably connected to one end of a fifth profile frame 61. The bottom of the other end of the fifth profile frame 61 is fixedly connected to a first spring fixing seat 48. The bottom end of the first spring fixing seat 48 is fixedly connected to one end of a spring 49. The other end of the spring 49 is fixedly connected to a second spring fixing seat 60. The bottom end of the second spring fixing seat 60 is fixedly connected to the top end of the second mounting plate 43. The middle of the bottom end of the fifth profile frame 61 is fixedly connected to an upper positioning cone 47. A lower positioning cone 46 is correspondingly arranged below the upper positioning cone 47. The lower positioning cone 46 is fixedly connected to the middle of the top end of the second mounting plate 43. The top end of the fifth profile frame 61 is fixedly connected to a second conveyor belt 41 fixing frame. The top end of the second conveyor belt 41 fixing frame near the telescopic rod 45 is fixedly connected to a baffle 42.

[0039] The seedling tray is precisely lifted to any missing seedling position by the end effector for seedling filling. The end effector consists of a second conveyor belt 41, a spring 49, a first spring fixing seat 48, a second spring fixing seat 60, an upper positioning cone 47, a lower positioning cone 46, and a telescopic rod 45. This enables dynamic docking during the transplanting process. The spring 49 ensures reliable and stable dynamic docking, achieving smooth seedling drop and delivery.

[0040] The scheme is further optimized. The stacked seedling planting mechanism includes a third profile frame 50. Casters and foot cup seats 51 are fixedly connected to the four corners of the bottom of the third profile frame 50. Several third conveyor belts 52 are set on the third profile frame 50 at equal intervals. Guardrails 53 are fixedly connected to the top of the two sides of the fixed frame of the third conveyor belt 52. Several seedling trays 54 are placed on the top of the third conveyor belt 52. Several fourth profile frames 55 are fixedly connected to one end of the third profile frame 50 near the U-shaped tube 1. The fourth profile frames 55 correspond one-to-one with the installation truss 6 and are rotatably connected to the installation truss 6. One end of the third conveyor belt 52 is connected to a universal drive shaft 58. The other end of the universal drive shaft 58 is fixedly connected to one end of a second coupling 57. The other end of the second coupling 57 is fixedly connected to the output shaft of the motor 56. The motor 56 is detachably fixedly connected to the installation frame 2.

[0041] The third conveyor belt 52 array is fixed on the third profile frame 50. Casters and foot cup seats 51 are provided at the bottom of the third profile frame 50 for easy movement and transportation. The motor 56, the second coupling 57, and the universal drive shaft 58 provide independent power to each of the third conveyor belts 52, enabling the seedling trays of each layer to be used in batches at any time. The fourth profile frame 55 is rotatably connected to the mounting truss 6. With the power output from the motor 56, the second coupling 57, and the universal drive shaft 58, the stacked seedling transplanting mechanism can rotate freely without cutting off the mechanical connection, allowing for direct entry into or exit from the transplanter in special circumstances. At the same time, the quick-disassembly feature allows for modular design of the stacked seedling transplanting mechanism. When the seedlings on it are used up, it can be removed as a whole and quickly replaced with another stacked seedling transplanting mechanism that has already been loaded with seedlings. This saves seedling loading time, improves work efficiency, and reduces the complexity of the seedling loading process, enabling the transplanter to achieve greater economic benefits in a shorter time.

[0042] The scheme is further optimized. The lifting part includes a first slide rail 3, which is fixedly connected to the side wall of the mounting frame 2 and is set vertically. A first slider 4 is slidably connected on the first slide rail 3. A second slide rail 7 is fixedly connected to the first slider 4. A first motor 5 is fixedly connected to the bottom end of the first slide rail 3. The output shaft of the first motor 5 is fixedly connected to a lead screw that is rotatably set in the first slide rail 3. The first slider 4 is threadedly connected to the lead screw.

[0043] The working process of this invention is as follows:

[0044] 1. When the seedling shortage detection system detects missing seedlings, it transmits the information to the central control system. The intermediate conveyor mechanism and the end effector mechanism then activate. The end effector mechanism reaches its designated position and waits. The intermediate conveyor mechanism, following the programmed seedling-picking sequence, moves to the third conveyor belt 52 of one layer of the stacked seedling planting mechanism for positioning and docking. Then, the third conveyor belt 52 of this layer of the stacked seedling planting mechanism begins to rotate at 8 m / min, transporting the last seedling tray 54 away, while the first conveyor belt 23 of the intermediate conveyor mechanism maintains a synchronized rotation speed. When the detection device detects that the seedling tray 54 is about to detach from the third conveyor belt 52 of the stacked seedling planting mechanism, the system stops operating, while the first conveyor belt 23 of the intermediate conveyor mechanism continues to rotate at a constant speed, causing the seedling tray 54 to move to its center position and then stop rotating. This achieves the goal of smooth seedling picking in the first step.

[0045] 2. The intermediate conveyor mechanism begins operation at this moment. First, the second motor 13 drives the gear 14 to mesh with the rack 11, causing the first conveyor belt 23 carrying the seedling tray 54 to move away from the stacked seedling planting mechanism. When the first conveyor belt 23 reaches the rotating position, the third motor 20 starts to rotate, causing the first conveyor belt 23 to rotate 90 degrees. At the same time, under the command of the central system, the first slider 4 and the second slider 8 start to operate, positioning the first conveyor belt 23 to the designated position. Then, the angle adjustment part of the intermediate conveyor mechanism begins to tilt under the action of the push rod 32 and aligns with the seedling loading action state of the end actuator that has reached the designated position. After that, the fourth motor 24 starts to operate, transporting and sliding the seedling tray 54 onto the second conveyor belt 41. The intermediate conveyor mechanism then begins to reverse its operation, that is, returning to the horizontal state to disengage from the alignment → rising, rotating, and translating → returning to its position to wait for the next seedling shortage signal.

[0046] 3. Under the action of the telescopic rod 45, the spring 49 of the second conveyor belt 41 of the end effector begins to contract, and the upper positioning cone 47 and the lower positioning cone 46 begin to engage and position, returning to their original positions. At this time, the seedling tray 54 is still in contact with the baffle 42, playing a positioning role. Under the action of the fifth motor 33, the second conveyor belt 41 begins to move towards the missing seedling position. When the signal detects that the second conveyor belt 41 has moved to the positioning mark of the missing seedling row, it stops running. The second conveyor belt 41 starts running and sends out the seedling tray 54, which falls exactly into the missing seedling row groove and slides into the bottom, achieving the same effect as the manual filling of the missing seedling row, reliably and stably completing the replanting.

[0047] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0048] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A seedling supply device for a rice transplanter, characterized in that, Includes a U-shaped tube (1), with an installation frame (2) fixedly connected to the top of one side of the U-shaped tube (1), a lifting part fixedly connected to one side of the installation frame (2), an intermediate conveying mechanism fixedly connected to the end of the lifting part away from the U-shaped tube (1), an end-effector correspondingly provided below the intermediate conveying mechanism, and a plurality of installation trusses (6) fixedly connected to one end of the side of the U-shaped tube (1) away from the end-effector, and a stacked seedling planting mechanism rotatably connected to the other end of the plurality of installation trusses (6) on the same side, and the stacked seedling planting mechanism fixedly connected to the side of the installation frame (2) away from the lifting part; The intermediate conveying mechanism includes a second slide rail (7), which is fixedly connected to the lifting part and is horizontally arranged. A second slider (8) is slidably connected to the side of the second slide rail (7) away from the lifting part. A mounting plate (9) is fixedly connected to the second slider (8). The mounting plate (9) is perpendicular to the second slide rail (7). A rotating moving mechanism is fixedly connected to the mounting plate (9). A second profile frame (18) is fixedly connected to the bottom end of the rotating moving mechanism. An angle adjustment part is fixedly connected to the bottom end of the second profile frame (18). A first conveyor belt (23) is fixedly connected to the angle adjustment part. The rotating moving mechanism includes a guide rail (10), which is perpendicular to the second slide rail (7). The guide rail (10) is fixedly connected to the top of the mounting plate (9). A first mounting bracket (15) is slidably connected to the guide rail (10). A motor mounting plate (12) is fixedly connected to one side of the top of the first mounting bracket (15). The motor mounting plate (12) is in sliding contact with the guide rail (10). A second motor (13) is fixedly connected to the motor mounting plate (12). A gear (14) is fixedly connected to the output shaft of the second motor (13). The gear (14) meshes with a rack (11) fixedly connected to the top of the mounting plate (9). A rotating part is fixedly connected to the bottom of the first mounting bracket (15). The rotating part is fixedly connected to the second profile frame (18).

2. The seedling supply device for a rice transplanter according to claim 1, characterized in that, The rotating part includes a first coupling (21), the top end of which is fixedly connected to the bottom end of a connecting shaft (63), the top end of which is fixedly connected to the bottom end of a first mounting bracket (15), the outer wall of which is fixedly connected to the inner ring of a tapered roller bearing (22), the outer ring of which is fixedly connected to a second mounting bracket (16), the bottom end of which is fixedly connected to two parallel first profile frames (17), both of which are fixedly connected to the second profile frame (18), the bottom end of which is fixedly connected to the output shaft of a third motor (20), which is located between the two first profile frames (17), and the third motor (20) is fixedly connected to a motor fixing plate (19), which is fixedly connected to the bottom end of the two first profile frames (17).

3. The seedling supply device for a rice transplanter according to claim 1, characterized in that, The angle adjustment unit includes a fourth motor (24), which is fixedly connected to the second profile frame (18). The output shaft of the fourth motor (24) is fixedly connected to a first driving synchronous pulley (25). The first driving synchronous pulley (25) is driven by a first driven synchronous pulley (27) via a first synchronous belt (26). The first driven synchronous pulley (27) is coaxially fixedly connected to a first lead screw (30). Two fixed seats (31) are rotatably connected to both ends of the first lead screw (30). The two fixed seats (31) located on the inner side are fixedly connected to the bottom end of the fixed frame of the first conveyor belt (23). The two fixed seats (31) on the outside are fixedly connected to the bottom of the second profile frame (18). The first lead screw (30) is fixedly connected to the second driving synchronous wheel (27) at one end. The second driving synchronous wheel is connected to the second driven synchronous wheel (28) through the second synchronous belt (29). The second driven synchronous wheel (28) is connected to the first conveyor belt (23). The first conveyor belt (23) is rotatably connected to one end of the push rod (32) at one end of the fixed frame near the fourth motor (24). The other end of the push rod (32) is fixedly connected to the second profile frame (18).

4. The seedling supply device for a rice transplanter according to claim 1, characterized in that, The end effector includes a base (38) located below the first conveyor belt (23). A limiting plate (59) is fixedly connected to one end of the base (38). A fifth motor (33) is fixedly connected to the bottom of the limiting plate (59) near the base (38). A second active synchronous pulley (34) is fixedly connected to the output shaft of the fifth motor (33). The second active synchronous pulley (34) is driven by a third driven synchronous pulley (36) via a third synchronous belt (35). One end of a second lead screw (37) is fixedly connected to the third driven synchronous pulley (36) on the same axis. The other end of the second lead screw (37) is rotatably connected to the other end of the base (38). A movable flipping part is threadedly connected to the second lead screw (37), and the movable flipping part slides in contact with the base (38).

5. The seedling supply device for a rice transplanter according to claim 4, characterized in that, The movable flipping part includes a fourth slider (39), which is threadedly connected to the second lead screw (37) and slides in contact with the top end of the base (38). A first mounting plate (40) is fixedly connected to the top end of the fourth slider (39), and a synchronous motor is fixedly connected to the top end of the first mounting plate (40). The output shaft of the synchronous motor is fixedly connected to the bottom end of a second mounting plate (43), and a flipping part is fixedly connected to the top end of the second mounting plate (43).

6. The seedling supply device for a rice transplanter according to claim 5, characterized in that, The flipping part includes a support base (44), the bottom end of which is fixedly connected to the top end of the second mounting plate (43). One end of the support base (44) is fixedly connected to the bottom end of a vertically arranged telescopic rod (45). The top end of the telescopic rod (45) is rotatably connected to one end of a fifth profile frame (61). The bottom of the other end of the fifth profile frame (61) is fixedly connected to a first spring fixing seat (48). The bottom end of the first spring fixing seat (48) is fixedly connected to one end of a spring (49), and the other end of the spring (49) is fixedly connected to a second spring fixing seat (60). The bottom end of the second spring fixing seat (60) is fixedly connected to the top end of the second mounting plate (43). The middle part of the bottom end of the fifth profile frame (61) is fixedly connected to an upper positioning cone (47). A lower positioning cone (46) is correspondingly provided below the upper positioning cone (47). The lower positioning cone (46) is fixedly connected to the middle part of the top end of the second mounting plate (43). The top end of the fifth profile frame (61) is fixedly connected to a second conveyor belt (41) fixing frame. A baffle (42) is fixedly connected to the top end of the second conveyor belt (41) fixing frame on the side near the telescopic rod (45).

7. The seedling supply device for a rice transplanter according to claim 1, characterized in that, The stacked seedling planting mechanism includes a third profile frame (50), with caster feet (51) fixedly connected to the four corners of the bottom of the third profile frame (50). Several third conveyor belts (52) are arranged at equal intervals on the third profile frame (50). Guardrails (53) are fixedly connected to the top of both sides of the fixed frame of the third conveyor belts (52). Several seedling trays (54) are placed on the top of the third conveyor belts (52). The end of the third profile frame (50) near the U-shaped tube (1) is fixed... A number of fourth profile frames (55) are fixedly connected to one end of the frame. The fourth profile frames (55) correspond one-to-one with the mounting truss (6) and are rotatably connected to the mounting truss (6). The third conveyor belt (52) is driven by a universal drive shaft (58) at one end. The other end of the universal drive shaft (58) is fixedly connected to a second coupling (57) at one end. The other end of the second coupling (57) is fixedly connected to the output shaft of the motor (56). The motor (56) is detachably fixedly connected to the mounting frame (2).

8. The seedling supply device for a rice transplanter according to claim 2, characterized in that, The lifting unit includes a first slide rail (3), which is fixedly connected to the side wall of the mounting frame (2) and is vertically arranged. A first slider (4) is slidably connected on the first slide rail (3). A second slide rail (7) is fixedly connected to the first slider (4). A first motor (5) is fixedly connected to the bottom end of the first slide rail (3). The output shaft of the first motor (5) is fixedly connected to a lead screw rotatably arranged in the first slide rail (3). The first slider (4) is threadedly connected to the lead screw.

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