An automatic cup-filling machine for seedling production

Abstract

The present invention discloses an automatic cup-dispensing and filling integrated machine capable of improving production efficiency and reducing labor costs. The present invention is applied to the technical field of seedling cultivation production. The present invention comprises a cup-dispensing rack and a filling rack. A conveying mechanism 1 is provided at the front end of the cup-dispensing rack. The conveying mechanism 1 is used to convey a seedling cup jig plate. The seedling cup jig plate is arrayed with a plurality of placement slots adapted to the seedling cups. A seedling cup delivery buffer mechanism is provided at the upper rear end of the cup-dispensing rack. The seedling cup delivery buffer mechanism is used to stack the seedling cups. A cup-dispensing moving device is provided below the seedling cup delivery buffer mechanism. A cup-grabbing moving device is provided at the upper end of the cup-dispensing rack. The cup-dispensing moving device is used to peel off a single seedling cup from the seedling cup delivery buffer mechanism. The cup-grabbing moving device is used to grab the seedling cups in the cup-dispensing moving device. The filling rack comprises a conveying mechanism 2 docked with the conveying mechanism 1. A soil storage bin is provided above the conveying mechanism 2. A quantitative filling mechanism is provided in the soil storage bin.

Description

Technical Field

[0001] The invention belongs to the technical field of seedling cultivation production, and particularly relates to an automatic cup-dividing and filling integrated machine for seedling cultivation production. Background Art

[0002] Seedling cups are also called seedling pots, seedling cups, seedling pots, and nutrient cups. They are mostly made of plastic. Paper cup-sized ones are mostly used for breeding and seedling cultivation, while flower pot-sized ones are mostly used for greenhouse cultivation. Currently, seedling suppliers generally fill seedling cups with seedling soil manually, then dig a hole to plant the seedlings. This method of seedling production is extremely inefficient, so there are now assembly line operations, where workers at different stations perform different steps. The first step requires workers to stack the base plate and the jig together and place them on the conveyor belt. The bottom plate is a wooden board, and the jig is a foam jig board. After stacking, they are collectively called seedling cup jig boards. The seedling cup jig board array has several placement slots that are compatible with the seedling cups. Then the conveyor belt transports the seedling cup jig board to the second step for manual cupping, that is, the seedling cups are placed in the placement slots, and then the workers in the third step fill the filled seedling cups with soil, and then the workers in the fourth step use tools to dig holes in the seedling soil in the seedling cups, and then the workers in the fifth step manually place the seedlings and smooth the seedling soil, and finally perform stacking and transfer.

[0003] Although this assembly line operation has improved production efficiency, it consumes a lot of labor costs. In addition, there are 32 placement slots on the seedling cup fixture plate, which need to hold 32 seedling cups. Individual seedling cups need to be removed from the seedling cup group manually and placed in the placement slots one by one. Then, in the next process, workers will fill the 32 seedling cups with soil. The filling efficiency is low, it consumes a lot of manpower, and the manually filled soil cannot be controlled in quantity. If a machine that can automatically separate and fill seedling cups and automatically fill them with soil can be developed, efficiency can be effectively improved and labor costs can be reduced. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an automatic cup-dispensing and filling integrated machine with a reasonable design, improved production efficiency and reduced labor costs.

[0005] The technical solution adopted by the present invention is as follows: the present invention includes a cup-distributing rack and a filling rack, the front end of the cup-distributing rack is provided with a conveying mechanism 1, the conveying mechanism 1 is used to convey the seedling cup jig plate, the seedling cup jig plate is arrayed with a plurality of placement slots adapted to the seedling cups, the upper end of the rear end of the cup-distributing rack is provided with a seedling cup delivery buffer mechanism, the seedling cup delivery buffer mechanism is used to stack the seedling cups, a cup-distributing moving device is provided below the seedling cup delivery buffer mechanism, and a cup-grabbing moving device is provided at the upper end of the cup-distributing rack The cup-dividing moving device is used to peel off a single seedling cup from the seedling cup delivery cache mechanism and move it to the bottom of the grabbing cup moving device, and the grabbing cup moving device is used to descend to the cup-dividing moving device to grab the seedling cup and transfer it into the placement trough; the filling frame includes a conveying mechanism 2 docked with the conveying mechanism 1, and a soil storage bin is provided above the conveying mechanism 2, and a quantitative filling mechanism is provided in the soil storage bin, and the quantitative filling mechanism is used to quantitatively fill the soil in the soil storage bin into the seedling cup.

[0006] Furthermore, the automatic cup-dispensing and filling integrated machine also includes an MCU controller, and a buffer conveying mechanism is also provided between the cup-dispensing frame and the filling frame. The two ends of the buffer conveying mechanism are respectively opposite to the connecting conveying mechanism 1 and the conveying mechanism 2. The ends of the connecting conveying mechanism 1, the buffer conveying mechanism and the conveying mechanism 2 are respectively provided with incoming material sensors and positioning blocking cylinders. The conveying mechanism 1, the cup-dispensing moving device, the cup-grabbing moving device, the conveying mechanism 2, the quantitative filling mechanism, the buffer conveying mechanism, the incoming material sensor and the positioning blocking cylinder are all electrically connected to the MCU controller.

[0007] Furthermore, the seedling cup fixture plate is arrayed with eight columns and four rows of placement slots; the seedling cup placement cache mechanism includes a cup retrieval rack, which is installed on the rear beam plate of the cup distribution rack. Four cup retrieval slots are provided at the bottom of the cup retrieval rack, and each cup retrieval slot is stacked with a seedling cup.

[0008] Furthermore, the cup-distributing moving device includes a forward and backward moving device, a lifting device installed on the forward and backward moving device, and four cup-distributing manipulators installed on the lifting device. The cup-distributing manipulator includes a first lifting cylinder and a first bottom plate connected to the first lifting cylinder. A second bottom plate is provided above the first bottom plate, and a plurality of first support columns are provided between the first bottom plate and the second bottom plate. A second lifting cylinder is provided at the lower end of the second bottom plate, and a three-claw tray is provided above the second bottom plate. The second bottom plate and the three-claw tray are connected to the first bottom plate. A spring lifting column is arranged between the trays, a lifting mounting plate is arranged on the lifting device, a three-claw suction cup is arranged on the lifting mounting plate, the outer edge of the three-claw suction cup is hinged with three suction claw arms, the ends of the suction claw arms are each provided with a vacuum suction nozzle, the outer edge of the three-claw tray is hinged with three supporting arms, the ends of the supporting arms are hinged to the bottom of the suction claw arms, the second lifting cylinder is connected to a lifting cup drag rod that passes through the second bottom plate, the three-claw tray, the lifting mounting plate and the three-claw suction cup in sequence, and the lifting cup drag rod is located directly below the cup taking slot.

[0009] Furthermore, the cup grabbing moving device includes a forward and backward moving device 2 installed between the top beams at both ends of the cup dividing frame, a left and right moving device 2 installed on the forward and backward moving device 2, a lifting device 2 installed on the left and right moving device 2 and a cup grabbing robot installed on the lifting device 2, the cup grabbing robot includes a lifting mounting plate 2 connected to the lifting device 2, the upper end of the lifting mounting plate 2 is provided with a cylinder mounting seat, a swing cylinder is installed on the cylinder mounting seat, the output end of the swing cylinder is provided with a connecting rod, the end of the connecting rod is provided with a swing plate, and four rotating plates are also arrayed on the lifting mounting plate 2, and the rotating plates are all mounted on the lifting device 2 through a rotating shaft. Material toggling mechanism, its both sides respectively have the advantages of small size and large capacity, and its both ends are convenient to use and can be used for the production of large-scale products, to make the production of large-scale products in a small amount, and to ensure the effectiveness of the production of large-scale products.

[0010] Furthermore, two inclined partitions are provided in the material soil storage bin, thereby dividing the material soil storage bin into a left chamber and a right chamber. The upper end of the partition is located at the top center of the material soil storage bin, and the lower end of the partition extends to the bottom of the material soil storage bin. The bottom of the left chamber and the right chamber are each provided with four discharge ports and a discharge barrel connected to the discharge ports.

[0011] Furthermore, the quantitative filling mechanism includes a mounting base arranged on one side of the upper end of the soil storage bin, a quantitative servo motor is installed on the mounting base, the output shaft of the quantitative servo motor is connected to a driving gear, four mutually meshing driven gears are arranged in the mounting base, one of the driven gears is meshed with the driving gear, each of the driven gears is fixed with a feeding rod, the feeding rod extends into the soil storage bin and extends into the discharge barrel, a spiral feeding blade is provided at the bottom of the feeding rod, the spiral feeding blade is located in the discharge barrel and is adapted to the barrel diameter of the discharge barrel.

[0012] Furthermore, a cup-pushing mechanism is provided at both left and right ends of the bottom of the material soil storage bin, and the cup-pushing mechanism includes a driving cylinder, a lifting frame, a sliding sleeve, an articulated arm and a pushing claw symmetrically arranged on the front and rear sides of the bottom of the material soil storage bin, and the two ends of the lifting frame are respectively connected to the driving rods of the two driving cylinders, and the outer wall of each of the discharging barrels is sleeved with the sliding sleeve, and the four sliding sleeves are connected to the lifting frame. The outer edge of the sliding sleeve is hinged with at least three of the articulated arms, and the pushing claw includes a transverse connecting plate and an arc-shaped vertical shifting block, one end of the transverse connecting plate is hinged to the lower end of the articulated arm, and the intersection of the transverse connecting plate and the arc-shaped vertical shifting block is hinged to the bottom of the discharging barrel.

[0013] Furthermore, a soil lifting conveyor is provided at one end of the soil filling machine frame, and the soil lifting conveyor is used to fill the soil into the soil storage bin.

[0014] Furthermore, four positioning holes are provided at the bottom of the seedling cup jig plate, and a lifting mechanism is provided inside the work station conveyor belt of the conveying mechanism one, and a lifting plate is provided inside the lifting mechanism, and a positioning column adapted to the positioning hole is provided on the lifting plate, and the positioning blocking cylinder is used to lift and position the seedling cup jig plate that flows into the work station conveyor belt, and the positioning column in the lifting plate is extended into the positioning hole to position the seedling cup jig plate.

[0015] The beneficial effects of the present invention are as follows: since the present invention includes a cup-dividing rack and a filling rack, the front end of the cup-dividing rack is provided with a conveying mechanism 1, the conveying mechanism 1 is used to convey the seedling cup jig plate, and the seedling cup jig plate is arrayed with a plurality of placement slots adapted to the seedling cups, the upper end of the rear end of the cup-dividing rack is provided with a seedling cup delivery buffer mechanism, the seedling cup delivery buffer mechanism is used to stack the seedling cups, a cup-dividing moving device is provided below the seedling cup delivery buffer mechanism, the upper end of the cup-dividing rack is provided with a cup-grabbing moving device, the cup-dividing moving device is used to peel off a single seedling cup from the seedling cup delivery buffer mechanism and move it to the bottom of the cup-grabbing moving device, the cup-grabbing moving device is used to descend to the cup-dividing moving device to grab the seedling cup and transfer it into the placement slot; the filling rack includes a pair of The conveying mechanism is connected to the second conveying mechanism, and a soil storage bin is provided above the conveying mechanism. A quantitative filling mechanism is provided in the soil storage bin, and the quantitative filling mechanism is used to quantitatively fill the soil in the soil storage bin into the seedling cup. Therefore, after the seedling cup jig plate is transported to the cup filling position by the conveying mechanism one, a single seedling cup is peeled off from the seedling cup delivery buffer mechanism by the cup dividing moving device and moved below the grabbing cup moving device, and then the grabbing cup moving device is lowered to grab the seedling cup and move it to the placement slot. After all the seedling cups of the seedling cup jig plate are installed, they are moved to the conveying mechanism two, and the soil in the soil storage bin is quantitatively filled into the seedling cup by the quantitative filling mechanism, thereby realizing the automatic separation of the seedling cups to the seedling cup jig plate and realizing automatic quantitative filling, which greatly improves production efficiency and saves labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention;

[0017] Figure 2 is a top view of the present invention;

[0018] Figure 3 It is a structural diagram of the cup-dispensing rack;

[0019] Figure 4 It is a side view of the cup dispensing rack;

[0020] Figure 5 It is a structural schematic diagram of the cup-dispensing moving device;

[0021] Figure 6 It is a structural diagram of the grab cup moving device;

[0022] Figure 7 It is a structural diagram of the cup grabbing robot;

[0023] Figure 8 This is a bottom view of the cup-grabbing manipulator;

[0024] Figure 9 yes Figure 7 A magnified schematic diagram of part A;

[0025] Figure 10 It is a structural diagram of the loading rack;

[0026] Figure 11 It is a side view of the loading rack;

[0027] Figure 12 It is a structural diagram of the material soil storage bin;

[0028] Figure 13 This is a structural diagram of the soil storage bin after removing the outer shell;

[0029] Figure 14 yes Figure 12 Schematic diagram of the enlarged portion B. DETAILED DESCRIPTION

[0030] like Figures 1 to 14 As shown, in this embodiment, the present invention includes a cup-distributing rack 1 and a filling rack 2. The front end of the cup-distributing rack 1 is provided with a conveying mechanism 3, and the conveying mechanism 3 is used to convey the seedling cup jig plate 4. The seedling cup jig plate 4 is arrayed with a plurality of placement slots adapted to the seedling cup 1a. The upper end of the rear end of the cup-distributing rack 1 is provided with a seedling cup delivery buffer mechanism 5, and the seedling cup delivery buffer mechanism 5 is used to stack the seedling cup 1a. A cup-distributing moving device 6 is provided below the seedling cup delivery buffer mechanism 5, and a cup grabbing moving device 7 is provided at the upper end of the cup-distributing rack 1. The cup-dividing moving device 6 is used to peel off a single seedling cup 1a from the seedling cup placement cache mechanism 5 and move it to the bottom of the cup-grabbing moving device 7. The cup-grabbing moving device 7 is used to descend to the cup-dividing moving device 6 to grab the seedling cup 1a and transfer it into the placement groove; the filling frame 2 includes a conveying mechanism 2 8 docked with the conveying mechanism 1 3, and a soil storage bin 9 is provided above the conveying mechanism 2 8. A quantitative filling mechanism 10 is provided in the soil storage bin 9. The quantitative filling mechanism 10 is used to quantitatively fill the soil in the soil storage bin 9 into the seedling cup 1a.

[0031] In this embodiment, the automatic cup-dispensing and filling integrated machine also includes an MCU controller. A buffer conveying mechanism 11 is further provided between the cup-dispensing frame 1 and the filling frame 2. The two ends of the buffer conveying mechanism 11 are respectively opposite to the connecting conveying mechanism 1 3 and the conveying mechanism 2 8. The ends of the connecting conveying mechanism 1 3, the buffer conveying mechanism 11 and the conveying mechanism 2 8 are respectively provided with an incoming material sensor 31 and a positioning blocking cylinder 32. The conveying mechanism 1 3, the cup-dispensing moving device 6, the cup-grabbing moving device 7, the conveying mechanism 2 8, the quantitative filling mechanism 10, the buffer conveying mechanism 11, the incoming material sensor 31 and the positioning blocking cylinder 32 are all electrically connected to the MCU controller.

[0032] In this embodiment, the seedling cup fixture plate 4 is arrayed with eight columns and four rows of placement slots; the seedling cup placement cache mechanism 5 includes a cup picking rack, which is installed on the rear beam plate of the cup dispensing rack 1. Four cup picking slots are provided at the bottom of the cup picking rack, and each cup picking slot is stacked with a seedling cup 1a. The cup picking rack is similar to the existing disposable paper cup picking rack, has a simple structure, can stack four groups of seedling cups 1a, and is also convenient for the subsequent cup dispensing of the cup dispensing moving device 6.

[0033] In this embodiment, the cup-dividing moving device 6 includes a front-back moving device 61, a lifting device 62 installed on the front-back moving device 61, and four cup-dividing manipulators 63 installed on the lifting device 62. The lifting device 62 is used to drive the cup-dividing manipulator 63 to move to the bottom of the stacked seedling cups 1a for cup separation. The front-back moving device 61 is used to drive the cup-dividing manipulator 63 to move to the bottom of the cup-grabbing moving device 7 after cup separation. The cup-dividing manipulator 63 includes a first lifting cylinder 631 and a first bottom plate 632 connected to the first lifting cylinder 631. A second bottom plate 633 is provided above the first bottom plate 632. A plurality of first support columns 634 are provided between the first base plate 632 and the second base plate 633, a second lifting cylinder 635 is provided at the lower end of the second base plate 633, a three-claw tray 636 is provided above the second base plate 633, a spring lifting column 637 is provided between the second base plate 633 and the three-claw tray 636, a lifting mounting plate 621 is provided on the lifting device 1 62, a three-claw suction cup 638 is provided on the lifting mounting plate 1 621, the outer edge of the three-claw suction cup 638 is hinged with three suction claw arms 639, the ends of the suction claw arms 639 are each provided with a vacuum nozzle 640, the outer edge of the three-claw tray 636 is hinged with three support arms The arm 641 has an end hinged with the bottom of the suction claw arm 639, and the second lifting cylinder 635 is connected with a lifting cup rod 642 which passes through the second bottom plate 633, the three-claw tray 636, the lifting mounting plate 1 621 and the three-claw suction cup 638 in sequence. In the normal state, the top surface of the lifting cup rod 642 is at the same horizontal plane as the three-claw suction cup 638, which is convenient for placing the seedling cup 1a on the three-claw suction cup 638, and the lifting cup rod 642 is located directly below the cup taking slot. When this design moves the cup separating manipulator 63 to the bottom of the stacked seedling cup 1a through the lifting device 1 62, the second lifting cylinder 635 drives the lifting cup rod 64 2 lifts up the stacked seedling cups 1a and separates them from the cup-taking slot, making it convenient to take out the seedling cup 1a at the bottom later. At the same time, the first lifting cylinder 631 transmits power to push the three-claw tray 636, so that the three supporting arms 641 push the three suction claw arms 639 to move closer to the center and suck the seedling cup 1a at the bottom through the vacuum suction nozzle 640. Then the lifting device 1 62 is reset, thereby peeling off the seedling cup 1a at the bottom. The second lifting cylinder 635 is also reset. Then the front-back moving device 1 61 drives the cup-dispensing manipulator 63 to move into place. The first lifting cylinder 631 is also reset, and the vacuum suction nozzle 640 is closed, so that the three suction claw arms 639 are opened, making it convenient for the subsequent cup-grabbing moving device 7 to grab the seedling cup 1a.

[0034] In this embodiment, the cup-grabbing moving device 7 includes a forward and backward moving device 2 71 installed between the top beams at both ends of the cup-dispensing frame 1, a left and right moving device 2 72 installed on the forward and backward moving device 2 71, a lifting device 2 73 installed on the left and right moving device 2 72, and a cup-grabbing manipulator 74 installed on the lifting device 2 73. The cup-grabbing manipulator 74 is used to grab the seedling cup 1a and transfer it into the seedling cup fixture plate 4. Here, an example is given of a specific structure that can be realized by the cup-grabbing manipulator 74. The cup-grabbing manipulator 74 includes a lifting mounting plate 2 741 connected to the lifting device 2 73, and a cylinder is provided on the upper end of the lifting mounting plate 2 741. The mounting base 101 is provided with a swing cylinder 742 on the cylinder mounting base 101, and a connecting rod 743 is provided at the output end of the swing cylinder 742, and a swing plate 744 is provided at the end of the connecting rod 743. Four rotating plates 745 are also arranged on the lifting mounting plate 2 741, and the rotating plates 745 are all mounted on the top of the lifting mounting plate 2 741 through a rotating shaft. The four end corners of the rotating plate 745 are provided with a slide groove 746, and the middle part of the rotating plate 745 is provided with a swing connector 747, and the swing connector 747 is connected to the swing plate 744. The lifting mounting plate 2 741 is located at the four ends of the rotating plate 745. The bottom of each end corner is provided with an arc guide groove 748, and the four end corners of the rotating plate 745 are installed with a swing column 749. The upper end of the swing column 749 is fixed on the rotating plate 745, and the other end of the swing column 749 passes through the slide groove 746 and the arc guide groove 748 in sequence, and the end of the swing column 749 is provided with an arc claw arm 750. The swing cylinder 742 is used to indirectly drive the rotating plate 745 to rotate, so that the swing column 749 moves in the double-limited groove of the slide groove 746 and the arc guide groove 748, so that the four arc claw arms 750 extend forward and clamp the inner wall of the seedling cup; this design drives the connecting rod 743 to drive the swing plate through the swing cylinder 742 744 swings, and the rotating plate 745 rotates through the swing connecting head 747. At this time, the swing columns 748 at the four end corners also rotate accordingly, and under the limitation of the slide groove 746 and the arc guide groove 748, the swing column 748 moves in the arc guide groove 748 while moving toward the outer end of the slide groove 746, so that the arc claw arm 750 expands outward, and then the four arc claw arms 750 are stretched in the seedling cup 1a, clamping the seedling cup 1a, thereby facilitating the movement of the seedling cup 1a into the placement groove. Therefore, this design structure only needs one swing cylinder 742 to provide power, and can simultaneously control the four arc claw arms 750 in the four groups to expand simultaneously to grab the seedling cup 1a.

[0035] In this embodiment, two inclined partitions 91 are provided in the material soil storage bin 9, thereby dividing the material soil storage bin 9 into a left chamber and a right chamber. The upper end of the partition 91 is located at the top center of the material soil storage bin 9, and the lower end of the partition 91 extends to the bottom of the material soil storage bin 9. The bottom of the left chamber and the right chamber are each provided with four discharge ports and a discharge barrel 92 connected to the discharge ports. This design can simultaneously fill eight seedling cups 1a with soil through two quantitative filling mechanisms 10.

[0036] In this embodiment, the quantitative filling mechanism 10 includes a mounting base 101 provided on one side of the upper end of the soil storage bin 9, a quantitative servo motor 102 is installed on the mounting base 101, the output shaft of the quantitative servo motor 102 is connected to a driving gear 103, and four mutually meshing driven gears 104 are provided in the mounting base 101, one of the driven gears 104 is meshed with the driving gear 103, and each of the driven gears 104 is fixed with a feeding rod 105, the feeding rod 105 It extends into the soil storage bin 9 and extends into the discharge barrel 92. A spiral feeding blade 106 is provided at the bottom of the feeding rod 105. The spiral feeding blade 106 is located in the discharge barrel 92 and is adapted to the barrel diameter of the discharge barrel 92. In this design, the quantitative servo motor 102 is used to drive the driving gear 103 to rotate, thereby driving the four driven gears 104 to rotate at the same speed, and then the feeding rod 105 drives the spiral feeding blade 106 at the bottom to rotate, so as to realize the quantitative discharge of soil and fill it into the seedling cup 1a.

[0037] In this embodiment, a cup-pushing mechanism 93 is provided at both left and right ends of the bottom of the soil storage bin 9. The cup-pushing mechanism 93 includes a driving cylinder 931, a lifting frame 932, a sliding sleeve 933, an articulated arm 934 and a pushing claw 935 symmetrically arranged on the front and back sides of the bottom of the soil storage bin 9. The two ends of the lifting frame 932 are respectively connected to the driving rods of the two driving cylinders 931. The outer wall of each of the discharging barrels 92 is provided with the sliding sleeve 933. The four sliding sleeves 933 are connected to the lifting frame 932. The outer edge of the sliding sleeve 933 is hinged with at least three The articulated arm 934, the pusher claw 935 includes a horizontal connecting plate and an arc-shaped vertical shifting block, one end of the horizontal connecting plate is hinged to the lower end of the articulated arm 934, and the intersection of the horizontal connecting plate and the arc-shaped vertical shifting block is hinged to the bottom of the discharge barrel 92; since the seedling cup 1a is made of soft material and is easy to deform before or during filling, affecting the filling of the seedling cup 1a, the two driving cylinders 931 simultaneously drive the lifting frame 932 to drive the sliding sleeve 9333 to descend, so that the articulated arm 9344 pushes the pusher claw 935 to expand, supporting the seedling cup 1a, and avoiding the deformation of the seedling cup 1a affecting the filling operation.

[0038] In this embodiment, a soil lifting conveyor 12 is provided at one end of the filling frame 2 , and the soil lifting conveyor 12 is used to fill the soil into the soil storage bin 9 .

[0039] The lifting mechanism drives the lifting plate 33 to lift the seedling cup jig 4 away from the station conveyor belt 21, and positions the seedling cup jig 4 through the positioning columns and positioning holes, so as to facilitate the precise placement of the subsequent seedling cups 1a.

[0040] In this embodiment, the working process of the present invention is:

[0041] The first step: the seedling cup jig plate is transported on the work station conveyor belt. When the sensor detects the seedling cup jig plate, the positioning blocking cylinder rises to block the seedling cup jig plate. Then the lifting mechanism drives the lifting plate to lift the seedling cup jig plate away from the work station conveyor belt and positions the seedling cup jig plate through the positioning column and positioning hole. At the same time, the lifting device drives the four cup-dividing manipulators to rise to the bottom of the seedling cup, and the four cup-dividing manipulators peel off the seedling cup at the bottom respectively, and then move to the end through the front and rear moving device one. At this time, the cup grabbing device descends through the lifting device two, so that the four arc-shaped claw arms extend into the seedling cup, and then the swing cylinder drives the arc-shaped claw arms to expand and clamp the inner wall of the seedling cup, so that the seedling cup can be transferred, and the seedling cup is placed in the placement slot under the cooperation of the front and rear moving device two and the lifting device two. In this way, four seedling cups can be loaded at one time, and the seedling cup jig plate has thirty-two placement slots, so the cup grabbing manipulator is required to cooperate with the rear moving device two, the left and right moving device two and the lifting device two to perform eight cup placements;

[0042] The second step: the seedling cup fixture plate after being filled with seedling cups is transported on the conveying mechanism 2. When the incoming material sensor senses that the seedling cup fixture plate is in place, the positioning blocking cylinder rises to block and position the seedling cup fixture plate in the station conveyor belt, and then the station conveyor belt stops conveying, and then the four pushers open the seedling cup through the power provided by the driving cylinder, and then the spiral feeding blade is spirally rotated in the discharge barrel by the quantitative servo motor, and the number of circles rotated by the active gear is used to control the amount of material soil pushed out each time by the spiral feeding blade, and a quantitative filling mechanism is provided through the left chamber and the right chamber, which can fill two rows of seedling cup groups with soil at the same time, that is, eight seedling cups are filled with soil. After the filling is completed, the station conveyor belt drives the seedling cup fixture plate to move a distance, which is the spacing between adjacent seedling cup groups, so as to facilitate the filling of the other two rows of seedling cup groups, and then repeat the above steps until the eight rows of seedling cup groups on the seedling cup fixture plate are all filled with soil.

[0043] Although the embodiments of the present invention are described with practical solutions, they do not limit the meaning of the present invention. For those skilled in the art, it is obvious to modify the implementation scheme and combine it with other solutions based on this description.

Claims

1. An automatic cup-filling machine for seedling production, characterized by: It comprises a cup-distributing rack (1) and a filling rack (2). The front end of the cup-distributing rack (1) is provided with a conveying mechanism (3), the conveying mechanism (3) is used to convey a seedling cup jig plate (4), the seedling cup jig plate (4) is provided with a plurality of placement slots adapted to the seedling cups (1a), the upper end of the rear end of the cup-distributing rack (1) is provided with a seedling cup delivery buffer mechanism (5), the seedling cup delivery buffer mechanism (5) is used to stack the seedling cups (1a), a cup-distributing moving device (6) is provided below the seedling cup delivery buffer mechanism (5), the upper end of the cup-distributing rack (1) is provided with a cup grabbing moving device (7), the cup-distributing moving device (6) is used to peel off a single seedling cup (1a) from the seedling cup placement buffer mechanism (5) and move it to the bottom of the grabbing cup moving device (7), the grabbing cup moving device (7) is used to descend to the cup separation moving device (6) to grab the seedling cup (1a), and transfer it into the placement slot; the filling frame (2) includes a conveying mechanism 2 (8) connected to the conveying mechanism 1 (3), a material soil storage bin (9) is provided above the conveying mechanism 2 (8), and a quantitative filling mechanism (10) is provided in the material soil storage bin (9), and the quantitative filling mechanism (10) is used to quantitatively fill the material soil in the material soil storage bin (9) into the seedling cup (1a); The seedling cup fixture plate (4) is provided with eight columns and four rows of placement slots; the seedling cup placement buffer mechanism (5) includes a cup taking rack, the cup taking rack is mounted on the rear beam plate of the cup dispensing machine frame (1), and the bottom of the cup taking rack is provided with four cup taking slots, each of which is stacked with a seedling cup (1a); The cup-distributing moving device (6) comprises a front-back moving device (61), a lifting device (62) installed on the front-back moving device (61), and four cup-distributing manipulators (63) installed on the lifting device (62). The cup-distributing manipulator (63) comprises a first lifting cylinder (631) and a first base plate (632) connected to the first lifting cylinder (631). A second base plate (633) is provided above the first base plate (632). A plurality of first support columns (634) are provided between the first base plate (632) and the second base plate (633). A second lifting cylinder (635) is provided at the lower end of the second base plate (633). A three-claw tray (636) is provided above the second base plate (633). The second base plate (633) and the three-claw tray (636) are connected to each other. A spring lifting column (637) is provided between the two ends of the lifting device (62), a lifting mounting plate (621) is provided on the lifting device (62), a three-claw suction cup (638) is provided on the lifting mounting plate (621), the outer edge of the three-claw suction cup (638) is hinged with three suction claw arms (639), the ends of the suction claw arms (639) are each provided with a vacuum suction nozzle (640), the outer edge of the three-claw tray (636) is hinged with three supporting arms (641), the ends of the supporting arms (641) are hinged with the bottom of the suction claw arms (639), the second lifting cylinder (635) is connected with a lifting cup drag rod (642) which passes through the second bottom plate (633), the three-claw tray (636), the lifting mounting plate (621) and the three-claw suction cup (638) in sequence, and the lifting cup drag rod (642) is located directly below the cup taking slot.

2. The automatic cup-dispensing and filling machine for seedling production according to claim 1, characterized in that: The automatic cup-dispensing and filling integrated machine further comprises an MCU controller. A buffer conveying mechanism (11) is further provided between the cup-dispensing frame (1) and the filling frame (2). The two ends of the buffer conveying mechanism (11) are respectively opposite to the conveying mechanism 1 (3) and the conveying mechanism 2 (8). The ends of the conveying mechanism 1 (3), the buffer conveying mechanism (11) and the conveying mechanism 2 (8) are all provided with an incoming material sensor (31) and a positioning blocking cylinder (32) in sequence. The conveying mechanism 1 (3), the cup-dispensing moving device (6), the cup-grabbing moving device (7), the conveying mechanism 2 (8), the quantitative filling mechanism (10), the buffer conveying mechanism (11), the incoming material sensor (31) and the positioning blocking cylinder (32) are all electrically connected to the MCU controller.

3. The automatic cup-dispensing and filling machine for seedling production according to claim 2, characterized in that: The cup grabbing moving device (7) comprises a front-back moving device (71) installed between the top beams at both ends of the cup separating frame (1), a left-right moving device (72) installed on the front-back moving device (71), a lifting device (73) installed on the left-right moving device (72), and a cup grabbing manipulator (74) installed on the lifting device (73). The cup grabbing manipulator (74) comprises a lifting mounting plate (741) connected to the lifting device (73). The upper end of the second mounting plate (741) is provided with a cylinder mounting seat (101), a swing cylinder (742) is installed on the cylinder mounting seat (101), the output end of the swing cylinder (742) is provided with a connecting rod (743), the end of the connecting rod (743) is provided with a swing plate (744), and the second lifting mounting plate (741) is also provided with four rotating plates (745) in an array, and the rotating plates (745) are all installed on the top of the second lifting mounting plate (741) through a rotating shaft. The four corners of the rotating plate (745) are provided with sliding grooves (746), the middle of the rotating plate (745) is provided with a swing connector (747), and the swing connector (747) is connected to the swing plate (744). The lifting installation plate 2 (741) is located under the four corners of the rotating plate (745) and is provided with arc guide grooves (748). The four corners of the rotating plate (745) are provided with swing columns (749), and the upper ends of the swing columns (749) are fixed to the On the rotating plate (745), the other end of the swing column (749) passes through the slide groove (746) and the arc guide groove (748) in sequence, and the end of the swing column (749) is provided with an arc-shaped claw arm (750). The swing cylinder (742) is used to indirectly drive the rotating plate (745) to rotate, so that the swing column (749) moves in the double-limited groove of the slide groove (746) and the arc guide groove (748), thereby allowing the four arc-shaped claw arms (750) to expand and clamp the inner wall of the seedling cup.

4. The automatic cup-dispensing and filling machine for seedling production according to claim 2, characterized in that: The material soil storage bin (9) is provided with two inclined partitions (91), thereby dividing the material soil storage bin (9) into a left bin and a right bin, the upper end of the partition (91) is located at the top center of the material soil storage bin (9), and the lower end of the partition (91) extends to the bottom of the material soil storage bin (9), and the bottom of the left bin and the bottom of the right bin are both provided with four discharge ports and a discharge barrel (92) connected to the discharge ports.

5. The automatic cup-dispensing and filling machine for seedling production according to claim 4, characterized in that: The quantitative filling mechanism (10) comprises a mounting seat (101) arranged on one side of the upper end of the soil storage bin (9), a quantitative servo motor (102) is mounted on the mounting seat (101), the output shaft of the quantitative servo motor (102) is connected to a driving gear (103), four mutually meshing driven gears (104) are arranged in the mounting seat (101), one of the driven gears (104) is meshed with the driving gear (103), and each of the driven gears (104) is fixed with a feeding rod (105), the feeding rod (105) extends into the soil storage bin (9) and extends into the discharge barrel (92), and a spiral feeding blade (106) is arranged at the bottom of the feeding rod (105), and the spiral feeding blade (106) is located in the discharge barrel (92) and is adapted to the barrel diameter of the discharge barrel (92).

6. The automatic cup-dispensing and filling machine for seedling production according to claim 5, characterized in that: The left and right ends of the bottom of the soil storage bin (9) are both provided with a cup-pushing mechanism (93), and the cup-pushing mechanism (93) comprises a driving cylinder (931), a lifting frame (932), a sliding sleeve (933), a hinged arm (934) and a pushing claw (935) symmetrically arranged on the front and rear sides of the bottom of the soil storage bin (9). The two ends of the lifting frame (932) are respectively connected to the driving rods of the two driving cylinders (931). The outer surface of each discharge barrel (92) is connected to the outer surface of the discharge barrel (92). The wall is provided with the sliding sleeve block (933), and the four sliding sleeve blocks (933) are connected to the lifting frame (932). The outer edge of the sliding sleeve block (933) is hinged with at least three hinged arms (934). The shifter claw (935) includes a horizontal connecting plate and an arc-shaped vertical shifting block. One end of the horizontal connecting plate is hinged to the lower end of the hinged arm (934), and the intersection of the horizontal connecting plate and the arc-shaped vertical shifting block is hinged to the bottom of the discharge barrel (92).

7. The automatic cup-dispensing and filling machine for seedling production according to claim 1, characterized in that: A soil lifting conveyor (12) is provided at one end of the filling frame (2), and the soil lifting conveyor (12) is used to fill the soil into the soil storage bin (9).

8. The automatic cup-dispensing and filling machine for seedling production according to claim 2, characterized in that: Four positioning holes are provided at the bottom of the seedling cup jig plate (4); a lifting mechanism is provided inside the workstation conveyor belt of the conveying mechanism (3); a lifting plate (33) is provided inside the lifting mechanism; a positioning column adapted to the positioning hole is provided on the lifting plate (33); the positioning blocking cylinder (32) is used to lift and position the seedling cup jig plate (4) that flows into the workstation conveyor belt, and the positioning column in the lifting plate (33) is extended into the positioning hole to position the seedling cup jig plate (4).

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