An automatic seedling taking device and method suitable for hard seedling tray

Abstract

The application discloses a kind of automatic seedling taking device and seedling taking method suitable for hard seedling tray, device is equipped in the upper of seedling conveying cup of transplanting machine, including automatic tray feeding mechanism and automatic seedling taking mechanism, automatic tray feeding mechanism is equipped in the upper of seedling conveying cup, automatic seedling taking mechanism is equipped in the upper of automatic tray feeding mechanism, the module slider of tray feeding deceleration motor in automatic tray feeding mechanism drives seedling tray to move back and forth between tray feeding initial position and tray feeding end position when working, to realize the reciprocating supply of seedling tray;Automatic seedling taking mechanism simultaneously takes seedling from the both sides of seedling tray in progressive equidistance, then pot seedling is staggered into seedling conveying cup to transplant, realize the accurate delivery of seedling tray and automatic seedling taking of pot seedling.The application adopts the method of side progressive equidistance seedling taking, side fixed position seedling throwing, solves the problem of automatic seedling taking of hard seedling tray.Using the method of once grabbing multiple pot seedlings, staggered position placement, improves seedling taking and conveying speed, and further improves transplanting speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to an automatic seedling taking device suitable for hard seedling tray and an automatic seedling taking method thereof. BACKGROUND

[0002] The floating seedling tray for soilless seedling raising is made of polyvinyl chloride foam and has the characteristics of fragile texture and inability to be bent, and is widely used in the seedling raising of crops such as peppers, tobacco and tomatoes. This seedling tray cannot be bent, occupies a large amount of space in the automatic seedling taking process, and leads to long running time and low efficiency of the seedling taking device, so it is not suitable for automatic seedling taking. In order to overcome the above problems, an automatic seedling taking device suitable for hard seedling tray needs to be invented. SUMMARY

[0003] The technical problem to be solved by the present application is to overcome the deficiencies of the prior art and provide an automatic seedling taking device suitable for hard seedling tray and an automatic seedling taking method thereof.

[0004] To solve the above technical problems, the present application adopts the following technical scheme:

[0005] An automatic seedling taking device suitable for hard seedling tray, comprising an automatic tray feeding mechanism arranged above a seedling feeding cup arranged in a ring shape, an automatic seedling taking mechanism located above the automatic tray feeding mechanism, and a control system, wherein the automatic tray feeding mechanism comprises a tray feeding frame, a tray feeding linear module, a tray feeding guide rail, and a seedling feeding tray on which the hard seedling tray is arranged, the tray feeding frame is a horizontally arranged rectangular frame, the tray feeding linear module and the tray feeding guide rail are arranged in parallel on both sides of the upper surface of the tray feeding frame, a module slider is arranged on the tray feeding linear module through a synchronous belt and is driven by a tray feeding reduction motor, a tray feeding guide rail slider capable of moving horizontally along the tray feeding guide rail is arranged on the tray feeding guide rail, the upper end faces of the module slider and the tray feeding guide rail slider are flush, and the seedling feeding tray is arranged on the upper end faces of the module slider and the tray feeding guide rail slider; when the tray feeding reduction motor works, it drives the module slider to drive the seedling feeding tray to move back and forth between the initial position and the end position of the tray feeding to realize the reciprocating supply of the seedling tray; a first sensor group for detecting the position of the seedling tray is arranged on the seedling feeding tray and the tray feeding frame;

[0006] The lifting mechanism comprises a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism, a lifting mechanism,

[0007] The control system controls the automatic tray delivery mechanism and the two groups of automatic seedling picking mechanisms to work together based on the signal outputs of the first sensor group and the second sensor group. After the automatic tray delivery mechanism accurately delivers the seedling tray to the specified seedling picking position, the two groups of automatic seedling picking mechanisms simultaneously take seedlings from both sides of the seedling tray in a progressive and equidistant manner, and then stagger the pot seedlings into the seedling delivery cup for transplanting, thereby realizing the accurate delivery of the seedling tray and the automatic removal of the pot seedlings.

[0008] As a further improvement of the above technical solution:

[0009] The seedling rack is also provided with two groups of seedling guide rails parallel to the seedling linear module. The two groups of seedling guide rails are respectively located at the top of the seedling rack to form the two long sides of the rectangular frame. The bottom of the two groups of seedling guide rails are respectively provided with two groups of seedling guide rail sliders; the two ends of each group of seedling assemblies are respectively connected to the corresponding two groups of seedling guide rail sliders.

[0010] The jack-up plate is fixed on the top of the jack-up plate, and the jack-up plate is fixed on the top of the jack-up plate, and the jack-up plate is fixed on the top of the jack-up plate. A seedling pushing plate bottom plate is provided on the side of the mounting plate close to the seedling tray, and the seedling pushing plate is hung on the top of the seedling pushing plate bottom plate in an inverted 7 shape and is connected by a stainless steel clip spring, and the bottom end of the vertical side of the seedling pushing plate is located above the two seedling clamps; the seedling pushing plate can rotate toward the seedling tray around the spring connection between it and the top of the seedling pushing plate bottom plate to push the seedlings; a seedling pushing plate seat is provided on the back side of the seedling pushing plate away from the seedling retrieval linear module, and the seedling retrieval rack is also provided with a vertical seedling pushing rod in an inverted L shape, which is used to push the seedling pushing plate seat to make the seedling pushing plate push out the potted seedlings on the seedling clamp; the vertical cylinder and the seedling clamp expansion cylinder are all connected to the control system.

[0011] The two seedling clamps are arranged side by side and on the same horizontal plane. One seedling clamp is horizontally connected to the bottom end of the seedling clamp expansion cylinder mounting plate. It is a fixed seedling clamp, and its position always corresponds to the front row of potted seedlings and also corresponds to the center position of the seedling delivery cup at the proximal end of the seedling taking linear module; the other seedling clamp is horizontally connected to the bottom end of the seedling clamp mounting plate. It is a movable seedling clamp. When clamping seedlings, it is in the retracted position of the seedling clamp expansion cylinder, corresponding to the second row of potted seedlings; when throwing seedlings, it is in the extended position of the seedling clamp expansion cylinder, corresponding to the center position of the seedling delivery cup at the distal end of the seedling taking linear module.

[0012] The first sensor group includes two sets of seedling tray position sensors and two sets of seedling tray limit position sensors respectively arranged on both sides of the tray delivery rack, a tray delivery limit position trigger and a plurality of seedling tray position trigger slots arranged on both sides of the seedling delivery tray; the two sets of seedling tray limit position sensors are arranged at the initial position and the end position of the tray delivery; the interval distance L between the two sets of seedling tray position sensors, L is the tray delivery position accuracy, one set is used to detect the seedling tray position, and the other set is used to verify the seedling tray position; the seedling delivery tray is a metal tray, and the tray delivery limit position trigger protrudes downward and is arranged in the middle of one side of the metal tray for cooperating with the two sets of seedling tray limit position sensors, and the plurality of seedling tray position trigger slots are interval hollow through slots corresponding to the seedling tray position sensors opened on the other side of the metal tray. The seedling tray position sensor outputs a signal when encountering metal, and does not output a signal when encountering a seedling tray position trigger slot.

[0013] The second sensor group includes a seedling picking limit position sensor, a seedling picking zero point sensor and a seedling clamp extension position sensor; there are two seedling picking limit position sensors, which are respectively located in the middle of the corresponding seedling picking linear module and close to one end of the seedling picking motor, and the seedling picking zero point sensor and the seedling clamp extension position sensor are respectively close to the seedling picking limit position sensor at one end of the seedling picking motor.

[0014] The number of rows of seedlings taken on one side is half the number of rows of the seedling tray; the progressive equidistant seedling taking is specifically as follows: when all the seedlings in the first row are taken out, the automatic seedling taking mechanism advances a distance to clamp the next row of seedlings, and so on, until all the seedlings in the pots on one side are taken out.

[0015] There are 12 seedling transport cups, which are arranged in a circular shape on a turntable. Every two seedling transport cups form a group, and a signal trigger and a seedling transport cup position sensor are set every 4 seedling transport cups. The pot seedlings grabbed by the two groups of seedling retrieval components are put into the seedling transport cups of the corresponding groups, and the seedling transport cups of the corresponding groups are staggered.

[0016] The seedling taking motor is a servo motor or a closed-loop stepping motor.

[0017] The present invention also discloses an automatic seedling taking method of the automatic seedling taking mechanism, comprising the following steps:

[0018] 1) After the seedling tray is delivered to the specified position, the automatic seedling removal program is started;

[0019] The initial state of the automatic seedling picking device is: the two sets of seedling picking module sliders are respectively located at their respective seedling dropping points; the vertical cylinder is in a retracted state, the seedling clamp extension cylinder is in a retracted state, the seedling clamp is in an open state, and the seedling pushing plate is in a vertical state;

[0020] 2) After the automatic seedling picking program is started, the seedling picking linear module first automatically performs the zero point return action: the seedling picking motor drives the two sets of seedling picking module sliders to move to the two ends at a low speed. When the seedling picking zero point sensor receives a signal, the seedling picking motor immediately stops moving, and then the seedling picking motor drives the two sets of seedling picking module sliders to move to the middle to the seedling dropping point.

[0021] 3) When automatically removing seedlings, the two groups of seedling module sliders of the seedling removal motor start from the seedling placement point and move towards the middle of the seedling removal linear module. When they move to the position of the first row of seedlings, the seedling removal motor stops rotating, and the seedling clamp closes to clamp the potted seedlings. Then the piston rod of the vertical cylinder extends upward, and the potted seedlings are pulled out of the seedling tray;

[0022] 4) When the seedlings are completely pulled out of the seedling tray, the seedling removal motor drives the two sets of seedling removal module sliders to start from the seedling removal point and move in opposite directions to the two sides of the seedling removal linear module. When the seedling clamp extension position sensor triggers a signal, the piston rod of the seedling clamp extension cylinder extends outward to push the movable seedling clamp to the seedling placement point;

[0023] 5) When the seedling clamp moves to the seedling delivery point, the seedling removal motor stops rotating, the two sets of seedling removal module sliders stop moving, and the piston rod of the vertical cylinder retracts; the seedling clamp holding the pot seedling stops above the seedling delivery cup, and the seedling pushing plate seat is now in contact with the seedling pushing rod;

[0024] 6) When the seedling cup position sensor receives a signal, the two seedling clamps open; at the same time, the seedling retrieval motor drives the two sets of seedling retrieval module sliders to continue moving a certain distance to the sides. The seedling push rod blocks the movement of the seedling push plate seat, pushing the seedling push plate to rotate around the hinge point on the seedling push plate bottom plate. The bottom end of the seedling push plate is pushed out from the top of the seedling clamp, forcibly pushing the stuck pot seedling out of the seedling clamp, and the pot seedling falls from the seedling clamp into the seedling cup;

[0025] 7) After a delay, the piston rod of the seedling clamp expansion cylinder retracts, completing a set of seedlings falling.

[0026] Compared with the prior art, the advantages of the present invention are:

[0027] 1. The present invention adopts the method of taking seedlings at equal intervals from the side and dropping seedlings at fixed positions on the side, which solves the problem of automatically taking seedlings from hard seedling trays.

[0028] 2. The method of grabbing multiple seedlings in pots at one time and placing them in staggered positions increases the speed of taking and transporting seedlings, thereby increasing the speed of transplanting. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the whole machine of the present invention.

[0030] Figure 2 It is a schematic diagram of the three-dimensional structure of the automatic tray feeding mechanism in the present invention.

[0031] Figure 3 It is a schematic diagram of the disassembled three-dimensional structure of the automatic tray feeding mechanism in the present invention.

[0032] Figure 4 It is a schematic diagram of the three-dimensional structure of the automatic seedling taking mechanism in the present invention.

[0033] Figure 5 It is a schematic diagram of the three-dimensional structure of the automatic seedling taking mechanism in the present invention.

[0034] Figure 6 This is the principle diagram of the automatic seedling retrieval mechanism (the upper picture shows the seedling clamp when dropping seedlings, and the lower picture shows the seedling retrieval).

[0035] Figure 7 This is the schematic diagram for the principle of grouping seedlings in pots.

[0036] Figure 8 Schematic diagram of the sensor layout in the automatic tray feeding mechanism.

[0037] Figure 9 This is a schematic diagram of the structure of the seedling clamp (when the seedling clamp is open).

[0038] Legend:

[0039] 1. Automatic tray delivery mechanism; 2. Automatic seedling removal mechanism; 3. Seedling tray; 4. Seedling transport cup; 5. Tray delivery rack; 6. Tray delivery guide rail; 7. Seedling delivery tray; 8. Seedling tray position trigger slot; 9. Seedling tray position sensor; 10. Tray delivery linear module; 11. Tray delivery reduction motor; 12. Tray delivery limit position sensor; 13. Module slider; 14. Tray delivery limit position trigger; 15. Tray delivery guide rail slider; 16. Seedling removal rack; 17. Seedling removal linear module; 18. Seedling removal guide rail slider; 19. Seedling removal guide rail; 20. Left seedling removal component; 21. Right seedling removal component; 22. Seedling push rod; 23. Seedling removal motor; 24. Seedling removal limit position sensor; 25. Seedling removal zero point sensor; 26 , right seedling retrieval module slider; 27, seedling clamp expansion position sensor; 28, left seedling retrieval module slider; 29, vertical cylinder mounting plate; 30, vertical cylinder; 31, seedling clamp expansion cylinder mounting plate; 32, seedling clamp expansion cylinder; 33, seedling clamp mounting plate; 34, seedling clamp; 35, seedling pushing plate bottom plate; 36, seedling pushing plate; 37, seedling pushing plate seat; 38, spring; 39, seedling delivery cup position sensor; A, first row seedling position; B, second row seedling position; C, third row seedling position; D, fourth row seedling position; E, fifth row seedling position; X, seedling dropping point; 0, zero position; V1, seedling retrieval component movement direction; V2, seedling pulling direction; V3, seedling clamp expansion direction; V4, seedling pushing direction. DETAILED DESCRIPTION

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] like Figure 1-Figure 5 As shown, the automatic seedling retrieval device suitable for hard seedling trays of this embodiment is arranged above the seedling transport cup 4 of the transplanter, and includes an automatic tray delivery mechanism 1 and an automatic seedling retrieval mechanism 2. The automatic tray delivery mechanism 1 is arranged above the seedling transport cup 4, and the automatic seedling retrieval mechanism 2 is arranged above the automatic tray delivery mechanism 1.

[0042] In this embodiment, the automatic tray feeding mechanism 1 includes a tray feeding frame 5, a tray feeding guide rail 6, a seedling feeding tray 7, a seedling tray position sensor 9, a tray feeding linear module 10, a tray feeding reduction motor 11, a tray feeding limit position sensor 12, a module slider 13, a tray feeding limit position trigger 14, and a tray feeding guide rail slider 15.

[0043] In this embodiment, the tray delivery frame 5 is mounted on the transplanter via other devices. The tray delivery frame 5 is a rectangular frame structure, with tray delivery guide rails 6 mounted parallel to the tray delivery linear module 10 on its two long sides. The tray delivery guide rails 6 are equipped with tray delivery guide rail sliders 15, which can move horizontally along the tray delivery guide rails 6. A module slider 13 is mounted on the tray delivery linear module 10 via a synchronous belt. A tray delivery reduction motor 11 is mounted on the tray delivery linear module 10, and the synchronous belt on the tray delivery linear module 10 drives the module slider 13 along the guide rails of the tray delivery linear module 10. The module slider 13 is flush with the upper end surface of the tray delivery guide rail slider 15. The seedling delivery tray 7 is horizontally mounted on the upper end surfaces of the module slider 13 and the tray delivery guide rail slider 15, with the seedling tray 3 placed in the seedling delivery tray 7. The seedling delivery tray 7 can move back and forth between the initial and final delivery positions along with the module slider 13 and the tray delivery guide rail slider 15, enabling reciprocating supply of seedling trays.

[0044] like Figure 8 As shown, in this embodiment, the seedling delivery tray 7 is a metal tray. A tray delivery limit position trigger 14, a downwardly protruding metal block, is located in the middle of one side of the metal tray. Multiple tray position trigger slots 8 are hollowed out on the other side of the metal tray. Two tray delivery limit position sensors 12 are installed on one side of the tray delivery frame 5, one at the initial and one at the final positions, working in conjunction with the tray delivery limit position trigger 14. Two tray position sensors 9 are located on the tray delivery frame 5, corresponding to the tray position trigger slots 8. One set is used to detect the position of the seedling tray, and the other is used to verify the position of the seedling tray. The two sets of tray position sensors 9 are separated by a distance L, where L represents the tray delivery position accuracy. The tray position sensors 9 output a signal when encountering metal, but not when encountering the tray position trigger slots 8. If the leading tray position sensor 9 triggers but the trailing tray position sensor 9 does not, the position is accurate. If both trigger, the seedling tray has moved out of its designed position. The coordinated operation of the two tray position sensors 9 improves the accuracy of the seedling tray delivery.

[0045] When the whole machine system is initialized, the seedling tray 3 is in the initial position of the tray feeding. At this time, the tray feeding limit position sensor 12 located at the initial position of the tray feeding outputs a signal, and the other sensors installed in the automatic tray feeding mechanism 1 have no signal output. After the seedlings in the first two rows of pots are all pulled out, the control system rotates the tray feeding reduction motor 11. When the seedling tray position sensor 9 for detecting the position of the seedling tray outputs a signal, the control system stops the tray feeding reduction motor 11 and the seedling tray 3 is transported to the next seedling removal position. At this time, the seedling tray position sensor 9 for detecting the position of the seedling tray always outputs a signal, the seedling tray position sensor 9 for verifying the position of the seedling tray has no signal output, and the other sensors installed in the automatic tray feeding mechanism 1 have no signal output. During the process of precise delivery of the seedling tray, when the seedling tray 3 stops at the seedling removal position, if the seedling tray position sensor 9 for verifying the position of the seedling tray has an output signal, the control system will control the transplanter to stop and sound an alarm to remind the driver that the seedling tray 3 is not in the correct position.

[0046] When the seedling tray 3 is transported to the end position of the tray delivery, the seedling tray position sensor 9 for detecting the position of the seedling tray and the tray delivery limit position sensor 12 at the end position of the tray delivery simultaneously output signals, indicating that the seedling tray has reached the far-end limit position. After the automatic seedling removal mechanism 2 has taken a group of pot seedlings at the limit position, the control system controls the transplanter to stop, and at the same time issues an alarm sound, and controls the tray delivery reduction motor 11 to rotate in the opposite direction, driving the seedling tray 3 to return in the opposite direction, until the tray delivery limit position sensor 12 at the initial position of the tray delivery receives a signal, the tray delivery reduction motor 11 stops rotating, the seedling tray 3 returns to the initial position, and the single tray pot seedling automatic seedling removal is completed. Wait for manual removal of the empty tray, load a new seedling tray, send a control command, and the next tray pot seedling enters the automatic seedling removal state.

[0047] In this embodiment, the automatic seedling picking mechanism 2 includes a seedling picking frame 16, a seedling picking linear module 17, a seedling picking guide slider 18, a seedling picking guide rail 19, a left seedling picking component 20, a right seedling picking component 21, a seedling pushing rod 22, a seedling picking motor 23, a seedling picking limit position sensor 24, a seedling picking zero point sensor 25, a right seedling picking module slider 26, a seedling clamp expansion position sensor 27, and a left seedling picking module slider 28.

[0048] In this embodiment, the seedling retrieval frame 16 is a rectangular frame structure, and the tray delivery rack 5 passes through the lower cavity of the rectangular frame and is connected to the seedling retrieval frame 16 as a whole. Two limit columns are vertically provided on the seedling retrieval frame 16 at the position where the tray delivery rack 5 passes through, which are used to limit the linear motion of the two sides of the seedling delivery tray 5. The structures of the left seedling retrieval assembly 20 and the right seedling retrieval assembly 21 are exactly the same. The two are relatively and symmetrically installed in the rectangular frame of the seedling retrieval frame 16 and are located on both sides of the tray delivery rack 15. The seedling retrieval frame 16 is provided with a set of seedling retrieval linear modules 17 and two sets of seedling retrieval guide rails 19 that span above the tray delivery rack 5. The two sets of seedling retrieval guide rails 19 are respectively located at the top of the seedling retrieval frame 16 to form the two long sides of the rectangular frame. The bottom of each set of seedling retrieval guide rails 19 is provided with two sets of seedling retrieval guide rail sliders 18. The seedling picking linear module 17 is parallel to the lower portion of the seedling picking guide rail 19 on the front side. The seedling picking linear module 17 is equipped with two sets of initial positions, a left seedling picking module slider 28 and a right seedling picking module slider 26 at both ends. The left seedling picking module slider 28 and the right seedling picking module slider 26 are also connected to the synchronous belt on the seedling picking linear module 17. The seedling picking motor 23 is installed on the seedling picking linear module 17. The seedling picking motor 23 drives the synchronous belt of the seedling picking linear module 17 to drive the left seedling picking module slider 28 and the right seedling picking module slider 26 to perform linear reciprocating motion in opposite directions along the seedling picking linear module 17. The parameters such as the movement speed, acceleration and travel distance of the two are the same. In this embodiment, in order to improve the efficiency and accuracy of seedling picking, the seedling picking motor 23 is preferably a servo motor or a closed-loop stepping motor.

[0049] In this embodiment, a seedling picking limit position sensor 24, a seedling picking zero point sensor 25 and a seedling clamp expansion position sensor 27 are provided on the seedling picking frame 16 below the seedling picking linear module 17. All three are used to detect the position of the seedling picking module slider. There are two seedling picking limit position sensors 24, which are respectively located in the middle of the corresponding seedling picking linear module 17 and at one end of the seedling picking module slider 26 (close to the seedling picking motor 23 end). In the control system, the seedling picking limit position sensor 24 has the highest interrupt priority. As long as the seedling picking limit position sensor 24 is triggered, the seedling picking motor 23 of the seedling picking linear module 17 stops rotating immediately, and the transplanter stops moving to prevent the left and right seedling picking module sliders from colliding with the fuselage.

[0050] In this embodiment, the left seedling taking component 20 is simultaneously connected to the left seedling taking module slider 28 and the two seedling taking guide rail sliders 18 on the left, and the right seedling taking component 21 is simultaneously connected to the right seedling taking module slider 26 and the two seedling taking guide rail sliders 18 on the right. The left seedling taking component 20 and the right seedling taking component 21 move along the seedling taking guide rail 19 under the drive of the left seedling taking module slider 28 and the right seedling taking module slider 26 respectively.

[0051] In this embodiment, the left seedling retrieval assembly 20 and the right seedling retrieval assembly 21 have the same structure, both including a vertical cylinder mounting plate 29, a vertical cylinder 30, a seedling clamp expansion cylinder mounting plate 31, a seedling clamp expansion cylinder 32, a seedling clamp mounting plate 33, a seedling clamp 34, a seedling pushing plate bottom plate 35, a seedling pushing plate 36, a seedling pushing plate seat 37, and a spring 38.

[0052] The two sides of the vertical cylinder mounting plate 29 are fixedly connected to the corresponding seedling removal module sliders and seedling removal guide rail sliders. The cylinder body of the vertical cylinder 30 is vertically mounted on the side of the vertical cylinder mounting plate 29 near the seedling tray, with the piston rod of the vertical cylinder 30 facing upward. The seedling clamp expansion cylinder mounting plate 31 is in the shape of an inverted 7, with its horizontal side hanging on and fixed to the top of the piston rod of the vertical cylinder 30. The cylinder body of the seedling clamp expansion cylinder 32 is horizontally mounted on the vertical side of the seedling clamp expansion cylinder mounting plate 31, with the piston rod of the seedling clamp expansion cylinder 32 facing away from the seedling removal linear module 17. The end of the seedling clamp mounting plate 33 is mounted vertically. The seedling clamp mounting plate 33 is provided with a seedling pushing plate bottom plate 35 on the side near the seedling tray. The top of the seedling pushing plate bottom plate 35 is connected to the seedling pushing plate 36 in the shape of an inverted 7 via a clip spring 38. The bottom of the vertical side of the seedling pushing plate 36 is located above the two seedling clamps 34. The seedling pushing plate 36 can rotate toward the seedling tray around the spring connection with the top of the seedling pushing plate bottom plate 35 to push the seedlings. A seedling pushing plate seat 37 is provided on the back of the seedling pushing plate 36 away from the seedling picking linear module 17. The seedling picking frame 16 is also provided with an inverted L-shaped vertical seedling pushing rod 22 for pushing the seedling pushing plate seat 37 to push the seedling pushing plate 36 outward.

[0053] In this embodiment, the left and right seedling retrieval assemblies are each provided with two seedling clamps 34 arranged side by side and on the same horizontal plane. One seedling clamp 34 is horizontally connected to the bottom end of the seedling clamp expansion cylinder mounting plate 31. It is a fixed seedling clamp, and its position always corresponds to the front row of pot seedlings and also corresponds to the center position of the seedling delivery cup 4 at the proximal end of the seedling retrieval linear module 17. The other seedling clamp 34 is horizontally connected to the bottom end of the seedling clamp mounting plate 33. It is a movable seedling clamp. When clamping seedlings, when the seedling clamp expansion cylinder 32 is retracted, it corresponds to the second row of pot seedlings. When the seedling clamp expansion cylinder 32 is extended, it corresponds to the center position of the seedling delivery cup 4 at the distal end of the seedling retrieval linear module 17. Through the action of the seedling clamp expansion cylinder 32, the pot seedlings densely packed in the small pot hole are clamped and expanded to the center of the two seedling delivery cups, which is conducive to improving the accuracy of pot seedling delivery.

[0054] like Figure 9 As shown, in the present embodiment, the seedling clamp 34 is a manipulator pneumatic clamp purchased on the market, and seedling clamps of different sizes can be selected according to actual conditions. No more details are given here.

[0055] The automatic seedling removal method of the above embodiment of the present invention:

[0056] When the seedling tray 3 is delivered to the specified position, the automatic seedling removal program is started.

[0057] The initial state of the automatic seedling taking mechanism 2 is: the left seedling taking module slider 28 and the right seedling taking module slider 26 are respectively located at the seedling delivery point X (i.e. the center position of the seedling delivery cup). Figure 6 Shown in the X point in. Vertical cylinder 30 is in retracted state, and seedling folder expansion cylinder 32 is in retracted state, and seedling folder 34 is in open state, and seedling pushing plate 36 is in vertical state.

[0058] After the automatic seedling picking program is started, the seedling picking linear module 17 will first perform the return to zero point action. The seedling picking motor 23 drives the left seedling picking module slider 28 and the right seedling picking module slider 26 to move to both ends at low speed. When the seedling picking zero point sensor 25 receives a signal (i.e. Figure 6 When the seedling removal motor 23 reaches the zero point position (0) in the seedling removal process, it immediately stops. The seedling removal motor 23 then drives the left and right seedling removal module sliders 28 and 26 to move toward the center, respectively, to the seedling placement point (X). The return to zero point action is automatic upon startup and only needs to be executed once under normal transplanting conditions. If a program error occurs or positioning accuracy fails to meet requirements, the operator can execute the return to zero point command by pressing a key.

[0059] When automatically taking seedlings, the seedling motor 23 drives the left seedling module slider 28 and the right seedling module slider 26 to start from the seedling planting point X, move towards the middle of the seedling linear module 17 (i.e. the direction I of the seedling component movement direction V1), and when they move to the first row seedling position A (i.e. Figure 6 Point A in the middle), the seedling motor 23 stops rotating, and the seedling clamp 34 closes to clamp the pot seedling, and then the piston rod of the vertical cylinder 30 extends upward (i.e. Figure 5 The seedling pulling direction V2 is upward), the seedlings in the pot are pulled out from the seedling tray 3. When the seedlings in the pot are completely pulled out from the seedling tray 3, the seedling motor 23 drives the left seedling module slider 28 and the right seedling module slider 26 to start from the seedling pulling point position and move back to the two sides of the seedling linear module 17 (i.e. Figure 6 The seedling assembly movement direction V1 in the M direction), when the seedling clamp extension position sensor 27 triggers the signal, the piston rod of the seedling clamp extension cylinder 32 extends outward (ie Figure 5 The outer direction of the middle seedling clamp extension direction V3). When the seedling clamp 34 moves to the seedling placement point X position ( Figure 6 X point in the middle), the seedling motor 23 stops rotating, the left and right seedling module sliders stop moving, and the piston rod of the vertical cylinder 30 retracts (i.e. Figure 5 The seedling pulling direction V2 is downward). The seedling clamp 34 holds the seedling in the pot and stops above the seedling delivery cup 4. At this time, the seedling pushing plate seat 37 contacts the seedling pushing rod 22. When the seedling delivery cup position sensor 39 receives a signal, the seedling clamp 34 opens, and the seedling falls from the seedling clamp 34 into the seedling delivery cup 4. After a delay, the piston rod of the seedling clamp expansion cylinder 32 retracts (i.e. Figure 5 In order to prevent the seedling clamps from getting stuck, the seedling clamps 34 are opened, and the seedling taking motor 23 drives the left and right seedling taking module sliders to continue to move a certain distance to both sides. The seedling pushing rod 22 blocks the movement of the seedling pushing plate seat 37, thereby pushing the seedling pushing plate 36 to rotate around the hinge point on the seedling pushing plate bottom plate 35, and the bottom end of the seedling pushing plate 36 is pushed out from the top of the seedling clamp 34 (i.e. Figure 5 The seedling pushing direction V4 is forward), and the stuck seedlings in the pot are forced out of the seedling clamp 34, thereby improving the quality of automatic seedling removal.

[0060] When all the seedlings in the first row are taken out, the automatic seedling taking mechanism 2 then takes the seedlings in the second row B, the seedlings in the third row C, the seedlings in the fourth row D and the seedlings in the fifth row E, which correspond to the seedlings in the first row. Figure 6 Each row of seedlings increases a certain distance relative to the previous row. The number of rows of seedlings taken from one side is half the number of rows in seedling tray 3.

[0061] After clamping the fifth row of seedlings, the left and right seedling retrieval module sliders are in the process of returning to the seedling point X. When the seedling clamp expansion position sensor 27 triggers a signal, the control system controls the automatic tray feeding mechanism 1 to move two rows, and the next group of seedlings in the pots enters the state to be pulled out.

[0062] Each group of the left and right seedling taking components grabs 2 seedlings each time, grabbing 4 seedlings each time. The seedlings grabbed by the left seedling taking component 20 are put into the left group seedling cup 4, and the seedlings grabbed by the right seedling taking component 21 are put into the right group seedling cup 4. The seedling cups of the left and right groups are arranged in a staggered manner. Figure 7 As shown, the left 1, left 2, and left 3 seedling delivery cups are separated by the right 1, right 2, and right 3 seedling delivery cups. A signal triggering device is provided for every four seedling delivery cups 4. This triggering device cooperates with the seedling delivery cup position sensor 39 to output an accurate seedling cup position signal. Every time the seedling delivery cup 4 moves four times, the automatic seedling removal mechanism 1 releases a seedling pot once, releasing four seedlings at a time. This staggered operation helps improve transplanting speed.

[0063] 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. An automatic seedling removal device suitable for hard seedling trays, comprising an automatic tray delivery mechanism (1) disposed above a seedling delivery cup (4) arranged in a ring shape, an automatic seedling removal mechanism (2) located above the automatic tray delivery mechanism (1), and a control system, characterized in that: The automatic tray feeding mechanism (1) comprises a tray feeding frame (5), a tray feeding linear module (10), a tray feeding guide rail (6) and a tray feeding tray (7) equipped with a hard seedling tray (3). The tray feeding frame (5) is a horizontally arranged rectangular frame. The tray feeding linear module (10) and the tray feeding guide rail (6) are parallelly installed on both sides of the upper surface of the tray feeding frame (5). A module slider (13) is installed on the tray feeding linear module (10) through a synchronous belt and is driven by a tray feeding reduction motor (11). The tray feeding guide rail (6) is provided with a tray feeding mechanism that can move horizontally along the tray feeding mechanism. The guide rail slider (15), the module slider (13) is flush with the upper end surface of the feeding tray guide rail slider (15), and the seedling feeding tray (7) is installed on the module slider (13) and the upper end surface of the feeding tray guide rail slider (15); when the feeding tray reduction motor (11) is working, it drives the module slider (13) to drive the seedling feeding tray (7) to move back and forth between the feeding tray initial position and the feeding tray end position to realize the reciprocating supply of the seedling tray (3); the seedling feeding tray (7) and the feeding tray frame (5) are provided with a first sensor group for detecting the position of the seedling tray (3); The automatic seedling picking mechanism (2) comprises a seedling picking frame (16), two groups of seedling picking components, a seedling picking linear module (17), and a seedling picking motor (23) mounted on the seedling picking linear module (17). The seedling picking frame (16) is a rectangular parallelepiped frame structure. The tray delivery frame (5) is arranged at the lower part of the rectangular parallelepiped frame and passes through the internal cavity thereof. The seedling picking linear module (17) is horizontally arranged in the middle of the seedling picking frame (16) and spans above the tray delivery frame (5). 17) is provided with two groups of seedling module sliders with initial positions at both ends thereof, and the two groups of seedling module sliders are simultaneously connected to the synchronous belt on the seedling linear module (17); the two groups of seedling components are symmetrically installed in the upper space of the rectangular frame and are located on both sides of the tray delivery rack (5), and are both connected to the corresponding seedling module sliders. The seedling motor (23) drives the synchronous belt of the seedling linear module (17) to move, driving the two groups of seedling components to perform linear reciprocating motion in opposite directions; The seedling picking frame (16) is provided with a second sensor group for detecting the position of the seedling picking module slider; The control system controls the automatic tray delivery mechanism (1) and the two groups of automatic seedling removal mechanisms to work in coordination according to the signal outputs of the first sensor group and the second sensor group. After the automatic tray delivery mechanism (1) accurately delivers the seedling tray (3) to the specified seedling removal position, the two groups of automatic seedling removal mechanisms simultaneously take seedlings from both sides of the seedling tray (3) in a progressive and equidistant manner, and then stagger the seedlings in the seedling pots into the seedling delivery cup (4) for transplanting, thereby achieving accurate delivery of the seedling tray (3) and automatic seedling removal of the seedlings in the seedling pots; The seedling picking frame (16) is further provided with two groups of seedling picking guide rails (19) parallel to the seedling picking linear module (17), the two groups of seedling picking guide rails (19) are respectively located at the top of the seedling picking frame (16) to form two long sides of the rectangular parallelepiped frame, and the bottoms of the two groups of seedling picking guide rails (19) are each provided with two groups of seedling picking guide rail sliders (18); both ends of each group of seedling picking components are respectively connected to the corresponding two groups of seedling picking guide rail sliders (18); Each of the seedling taking components comprises a vertical cylinder (30), a seedling clamp expansion cylinder (32), a seedling clamp (34) and a seedling pushing plate (36); the cylinder body of the vertical cylinder (30) is mounted on a vertical cylinder mounting plate (29), and the two sides of the vertical cylinder mounting plate (29) are respectively fixedly connected to the corresponding seedling taking module slider and the seedling taking guide slider (18), the piston rod of the vertical cylinder faces upward and the top end is fixedly connected to a seedling clamp expansion cylinder mounting plate (31) in an inverted 7 shape, the cylinder body of the seedling clamp expansion cylinder (32) is horizontally mounted on the side of the seedling clamp expansion cylinder mounting plate (31) close to the seedling tray (3), the piston rod of the seedling clamp expansion cylinder (32) faces the side away from the seedling taking linear module (17), and the end thereof is equipped with a seedling clamp mounting plate (33) perpendicular to the piston rod, and the seedling clamp mounting plate (33) close to the seedling tray (3) is fixedly connected to the seedling tray (3) A seedling pushing plate bottom plate (35) is provided on one side of the tray (3), and the seedling pushing plate (36) is hung on the top of the seedling pushing plate bottom plate (35) in an inverted 7 shape and is hinged by a stainless steel clip spring (38), and the bottom end of the vertical side of the seedling pushing plate (36) is located above the two seedling clips (34); the seedling pushing plate (36) can rotate toward the seedling tray (3) around the hinge with the top of the seedling pushing plate bottom plate (35) to push the seedlings; a seedling pushing plate seat (37) is provided on the back side of the seedling pushing plate (36) away from the seedling linear module (17), and the seedling picking frame (16) is also provided with a vertical seedling pushing rod (22) in an inverted L shape for pushing the seedling pushing plate seat (37) so that the seedling pushing plate (36) pushes the seedlings outward from the pot on the seedling clip (34); the vertical cylinder (30) and the seedling clip expansion cylinder (32) are both connected to the control system.

2. The automatic seedling removal device suitable for hard seedling trays according to claim 1, characterized in that: The two seedling clamps (34) are arranged side by side and on the same horizontal plane. One seedling clamp (34) is horizontally connected to the bottom end of the seedling clamp expansion cylinder mounting plate (31). It is a fixed seedling clamp, and its position always corresponds to the front row of pot seedlings and also corresponds to the center position of the seedling delivery cup (4) at the proximal end of the seedling linear module (17); the other seedling clamp (34) is horizontally connected to the bottom end of the seedling clamp mounting plate (33). It is a movable seedling clamp. When clamping seedlings, it is in the position where the seedling clamp expansion cylinder (32) is retracted, corresponding to the second row of pot seedlings; when throwing seedlings, it is in the position where the seedling clamp expansion cylinder (32) is extended, corresponding to the center position of the seedling delivery cup (4) at the distal end of the seedling linear module (17).

3. The automatic seedling removal device suitable for hard seedling trays according to claim 2, characterized in that: The first sensor group comprises two sets of seedling tray position sensors (9) and two sets of seedling tray limit position sensors (12) respectively arranged on both sides of the seedling tray delivery frame (5), a seedling tray limit position trigger (14) and a plurality of seedling tray position trigger slots (8) arranged on both sides of the seedling tray delivery tray (7); the two sets of seedling tray limit position sensors (12) are arranged at the seedling tray delivery initial position and the seedling tray delivery end position; the interval distance L between the two sets of seedling tray position sensors (9) is L being the seedling tray delivery position accuracy, one set is used to detect the seedling tray position, and the other set is used to verify the seedling tray position; the seedling tray delivery tray (7) is a metal tray, the seedling tray limit position trigger (14) protrudes downward and is arranged in the middle of one side of the metal tray for cooperating with the two sets of seedling tray limit position sensors (12), the plurality of seedling tray position trigger slots (8) are hollowed-out through slots opened on the other side of the metal tray and corresponding to the seedling tray position sensors (9); the seedling tray position sensor (9) outputs a signal when encountering metal, and does not output a signal when encountering the seedling tray position trigger slots (8).

4. The automatic seedling removal mechanism for hard seedling trays according to claim 3 is characterized in that: The second sensor group includes a seedling picking limit position sensor (24), a seedling picking zero point sensor (25) and a seedling clamp extension position sensor (27); two seedling picking limit position sensors (24) are provided, which are respectively located in the middle of the corresponding seedling picking linear module (17) and close to one end of the seedling picking motor (23), and the seedling picking zero point sensor (25) and the seedling clamp extension position sensor (27) are respectively close to the seedling picking limit position sensor (24) at one end of the seedling picking motor (23).

5. The automatic seedling removal device suitable for hard seedling trays according to claim 4 is characterized in that: The number of rows of seedlings taken on one side is half the number of rows of the seedling tray (3); the progressive equidistant seedling taking is specifically as follows: when all the seedlings in the pots of the first row are taken out, the automatic seedling taking mechanism (2) advances a distance to clamp the seedlings in the pots of the next row, and so on, until all the seedlings in the pots on one side are taken out.

6. The automatic seedling removal device for hard seedling trays according to claim 5, characterized in that: The seedling delivery cups (4) are provided with 12 pieces and are arranged in a circular shape on a turntable. Every two seedling delivery cups (4) form a group. A signal trigger and a seedling delivery cup position sensor (39) are provided every four seedling delivery cups (4). The seedlings captured by the two groups of seedling retrieval components are put into the seedling delivery cups (4) of the corresponding groups. The seedling delivery cups (4) of the corresponding groups are arranged in a staggered manner.

7. The automatic seedling removal device for hard seedling trays according to claim 6, characterized in that: The seedling taking motor (23) is a servo motor or a closed-loop stepping motor.

8. An automatic seedling removal method for an automatic seedling removal device suitable for hard seedling trays according to claim 7, characterized in that: The following steps are involved: 1) After the seedling tray (3) is delivered to the specified position, the automatic seedling removal program is started; The initial state of the automatic seedling taking mechanism (2) is: the two groups of seedling taking module sliders are respectively located at their respective seedling dropping points (X); the vertical cylinder (30) is in a retracted state, the seedling clamp expansion cylinder (32) is in a retracted state, the seedling clamp (34) is in an open state, and the seedling pushing plate (36) is in a vertical state; 2) After the automatic seedling picking program is started, the seedling picking linear module (17) first automatically performs the zero point return action: the seedling picking motor (23) drives the two groups of seedling picking module sliders to move to the two ends at a low speed. When the seedling picking zero point sensor (25) receives a signal, the seedling picking motor (23) immediately stops moving, and then the seedling picking motor (23) drives the two groups of seedling picking module sliders to move to the middle to the seedling dropping point (X). 3) When automatically taking out seedlings, the two groups of seedling module sliders of the seedling motor (23) start from the seedling casting point (X) respectively, move towards the middle of the seedling linear module (17), and when they move to the first row of seedlings position (A), the seedling motor (23) stops rotating, and the seedling clamp (34) closes to clamp the seedlings in the pot, and then the piston rod of the vertical cylinder (30) extends upward, and the seedlings in the pot are pulled out from the seedling tray (3); 4) When the seedlings in the pot are completely pulled out from the seedling tray (3), the seedling removal motor (23) drives the two groups of seedling removal module sliders to start from the seedling removal point position and move in opposite directions to the two sides of the seedling removal linear module (17). When the seedling clamp extension position sensor (27) triggers a signal, the piston rod of the seedling clamp extension cylinder (32) extends outward to push the movable seedling clamp toward the seedling insertion point (X); 5) When the seedling clamp (34) moves to the seedling delivery point (X), the seedling removal motor (23) stops rotating, the two sets of seedling removal module sliders stop moving, and the piston rod of the vertical cylinder (30) retracts; the seedling clamp (34) holding the pot seedling stops above the seedling delivery cup (4), and at this time the seedling pushing plate seat (37) contacts the seedling pushing rod (22); 6) When the seedling cup position sensor (39) receives a signal, the two seedling clamps (34) open; at the same time, the seedling motor (23) drives the two groups of seedling module sliders to continue to move a certain distance to both sides, and the seedling pushing rod (22) blocks the movement of the seedling pushing plate seat (37), pushing the seedling pushing plate (36) to rotate around the hinge point on the seedling pushing plate bottom plate (35), and the bottom end of the seedling pushing plate (36) is pushed out from the top of the seedling clamp (34), forcing the stuck pot seedling to be pushed out of the seedling clamp (34), and the pot seedling falls from the seedling clamp (34) into the seedling cup (4); 7) After a delay of a period of time, the piston rod of the seedling clamp expansion cylinder (32) retracts, completing a set of seedling dropping.

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