Automatic seedling taking device and transplanting machine

Abstract

The application discloses an automatic seedling taking device and a transplanting machine, which comprises a frame body, a tray feeding assembly, a seedling emergence assembly and a seedling conveying assembly are arranged on the frame body, the seedling conveying assembly comprises a seedling conveying frame and a plurality of seedling taking clamps, the plurality of seedling taking clamps are arranged in an array on the seedling conveying frame, and the plurality of seedling taking clamps can repeatedly take a plurality of pot seedlings in a single row of pot seedlings in a reciprocating manner along the extension direction of the single row of pot seedlings, and the seedling conveying assembly further comprises a moving driving mechanism for driving the plurality of seedling taking clamps to reciprocate. The moving driving mechanism can drive the plurality of seedling taking clamps to reciprocate between left and right sides, repeatedly take a plurality of pot seedlings in a single row of pot seedlings, and then complete the taking of the whole row of pot seedlings, so that the number of seedling taking clamps can be reduced, the structure of the corresponding seedling emergence assembly can be simplified, the overall structure is more compact, the cost is low, and the working reliability is high. The application is flexible to use, has a wide application range, and staff can be responsible for transplanting and driving at the same time, and the efficiency of transplanting is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to an automatic seedling taking device and a transplanter. Background Art

[0002] Because the seedling roots are tied to nutrient soil, pot seedling transplanting has a high survival rate and a short greening period, making it the primary method for transplanting vegetables such as tobacco, peppers, and tomatoes. With the rise of agricultural cooperatives and large grain growers, transplanters have certain advantages in improving the utilization of idle land, improving the transportation of seedling trays, and facilitating driving. The transplanting rate of pot seedlings for field crops such as rapeseed and corn is increasing year by year. Currently, most transplanters are too large and heavy, making them inconvenient to operate. Their relatively complex structure leads to high manufacturing and maintenance costs and low overall work efficiency. In addition, most existing pot seedling transplanting machines are still mainly semi-automatic, and tasks such as seedling removal still require manual assistance. Manual seedling removal can easily cause seedling leakage and damage, which cannot meet the development needs of pot seedling transplanting technology, seriously affecting the promotion and application of pot seedling transplanting technology. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide an automatic seedling taking device and a transplanter to ensure the planting effect of seedlings. The structure is simple and the overall efficiency of automatic seedling taking can be improved. The staff can be responsible for transplanting and driving at the same time.

[0004] The plural seedlings are moved by the user to the position where the plural seedlings are taken out of the seedling tray, and the plural seedlings are moved out of the seedling tray to the position where the plural seedlings are taken out of the seedling tray.

[0005] As a further improvement of the above technical solution:

[0006] The mobile driving mechanism includes a mobile driving member installed on the seedling transport rack, and the driving end of the mobile driving member is connected to a connecting plate on which multiple seedling picking clamps are fixedly installed. The multiple seedling picking clamps are consistent in number with the half of the seedlings in a single row of seedlings and correspond one to one. The seedling emergence component includes seedling cups that are consistent in number with the seedling picking clamps and are extended up and down. The multiple seedling cups are arranged in sequence and the distance between two adjacent seedling cups is equal to the distance between two seedlings in the same row of seedlings.

[0007] The driving end of the mobile driving member is provided with a clamping guide rail that can move back and forth along the extension direction of a single row of seedlings in pots. The connecting plate is installed on the clamping guide rail. Two return springs are connected to the middle part of the mobile driving member. The other ends of the two return springs are respectively connected to the two ends of the moving direction of the clamping guide rail. When the mobile driving member is in a free state, the return spring can drive multiple seedling clamps to move to positions corresponding to multiple seedling cups.

[0008] The connecting plate is provided with a seedling blocking plate which can move between a preset seedling taking position and a seedling emerging component, and a seedling blocking driving component for driving the seedling blocking plate to move.

[0009] The seedling blocking drive assembly includes a seedling blocking guide rail and a return spring installed on the connecting plate. The seedling blocking plate is provided with a slider that can slide freely along the seedling blocking guide rail. The other end of the return spring is connected to the seedling blocking plate so that the seedling blocking plate has a tendency to approach multiple seedling retrieval clamps and one end of the preset seedling retrieval position.

[0010] The moving mechanism includes a translation frame and a lifting drive component installed on the translation frame. The frame body is provided with a translation drive component and a slide rail extending in the horizontal direction. The translation frame is connected to a slide seat sliding on the slide rail. The driving end of the translation drive component is connected to the slide seat and can drive the translation frame to slide back and forth horizontally. The driving end of the lifting drive component is connected to the seedling transport frame and can drive the seedling transport frame to move up and down.

[0011] The seedling emergence component also includes a seedling guide tube, and multiple seedling guide tubes are provided with a seedling entry end for the seedlings in the pot and a seedling emergence end for the seedlings out of the pot. The lower end of each seedling cup is connected with the seedling entry end, and each seedling cup is provided with a seedling carrying plate and a swinging driving component. The swinging driving component can drive the seedling carrying plate to swing, and can switch between a closed state for holding the seedlings in the seedling cup and an open state for allowing the seedlings to fall from the lower end of the seedling cup through swinging.

[0012] The plurality of swing driving members sequentially drive the seedling carrying plates to swing so as to open the plurality of seedling carrying plates one by one in a sequential order.

[0013] A travel switch is provided on the frame, and a contact of the travel switch can contact the seedling tray conveyed by the tray delivery assembly.

[0014] A transplanting machine comprises an automatic seedling taking device and a machine body on which a Hall sensor, a ridge end sensor and a forced stop switch are arranged, the Hall sensor is connected with a moving mechanism and used for detecting the movement of the moving mechanism, the ridge end sensor is used for detecting whether the machine body travels to a ridge end, and the forced stop switch is used for colliding with an obstacle to stop the machine body from traveling.

[0015] Compared with the prior art, the present application has the following advantages:

[0016] The moving driving mechanism can drive the plurality of seedling taking clamps to reciprocate between the left and right sides, and can take a plurality of pot seedlings in a single row of pot seedlings for multiple times, and then complete the taking of the whole row of pot seedlings, so that the number of seedling taking clamps can be reduced, and the structure of the seedling taking assembly can be correspondingly simplified, so that the overall structure is more simple and compact, the cost is low, the working reliability is high, the use is flexible, the application range is wide, and the staff can be responsible for transplanting and driving at the same time, and the efficiency of transplanting is improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic view of a transplanting machine equipped with an automatic seedling taking device.

[0018] Figure 2 It is a structural schematic view of an automatic seedling taking device Figure 1 .

[0019] Figure 3 It is a structural schematic view of an automatic seedling taking device Figure 2 .

[0020] Figure 4 It is a side view schematic of an automatic seedling taking device Figure 1 .

[0021] Figure 2 It is a side view schematic of an automatic seedling taking device Figure 6 .

[0022] Figure 7 It is a structural schematic view of a moving mechanism.

[0023] Figure 8 It is a structural schematic view of a seedling blocking plate.

[0024] Figure 9 It is a structural schematic view of a seedling taking assembly.

[0025] Figure 10 It is a grouping seedling taking principle diagram.

[0026] Figure 11 It is a schematic view of an electric control system.

[0027] Figure 12 It is a seedling taking electromagnetic valve control timing diagram.

[0028] Figure 13 This is the timing diagram of the seedling emergence solenoid valve control.

[0029] Figure 14 This is the flow chart of the pre-seedling procedure.

[0030] Figures 1-8 Main program flow chart.

[0031] Legend:

[0032] 100. Seedling tray; 200. Seedling pot; 1. Frame; 2. Tray delivery assembly; 21. Travel switch; 3. Seedling emergence assembly; 31. Seedling cup; 32. Seedling guide tube; 33. Seedling loading plate; 34. Swinging drive; 4. Seedling transport assembly; 41. Seedling transport rack; 42. Seedling removal clamp; 43. Moving drive; 44. Connecting plate; 45. Clamp transfer guide rail; 46. Return spring; 5. Moving mechanism; 51. Translational frame; 52. Lifting drive; 53. Translational drive; 54. Slide rail; 55. Slide seat; 6. Seedling retaining plate; 61. Seedling retaining rail; 62. Slider; 7. Machine body; 71. Hall sensor; 72. Ridge end sensor; 73. Forced stop switch; 8. Electronic control system; 81. Wireless module; 82. Buzzer; 83. Touch screen; 84. Main controller; 85. Seedling cup solenoid valve; 86. Main clutch solenoid valve. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 4As shown, the automatic seedling taking device of this embodiment includes a frame 1, on which is provided a tray feeding assembly 2 for conveying seedling trays 100 and enabling multiple rows of seedlings 200 of the seedling trays 100 to be moved row by row to a preset seedling taking position, a seedling emerging assembly 3, and a seedling transporting assembly 4 for taking out multiple seedlings 200 in a row of seedlings 200 located at the preset seedling taking position and transporting them to the seedling emerging assembly 3. The seedling transporting assembly 4 includes a seedling transporting frame 41 and multiple seedling taking clamps 42. The seedling transporting frame 41 is mounted on the frame 1 through a moving mechanism 5 and can be driven by the moving mechanism 5 to move and lift the seedling taking clamps 42 between the preset seedling taking position and the seedling emerging assembly 3. The multiple seedling taking clamps 42 are arranged in rows on the seedling transporting frame 41, and can clamp the seedlings 200 in a single row of seedlings 200 multiple times in a manner that can reciprocate along the extension direction of the single row of seedlings 200. The seedling transporting assembly 4 also includes a moving driving mechanism for driving the multiple seedling taking clamps 42 to move back and forth. The mobile driving mechanism can drive multiple seedling clamps 42 to move back and forth between the left and right sides, and can clamp the seedlings 200 in a single row of pot seedlings 200 multiple times, and then complete the clamping of the entire row of pot seedlings 200, thereby reducing the number of seedling clamps 42, and the corresponding structure of the seedling emergence component 3 can also be simplified, making the overall structure more simple and compact, low cost, and high working reliability. It is flexible to use and has a wide range of applications. The staff can be responsible for transplanting and driving work at the same time, thereby improving the efficiency of transplanting.

[0035] In this embodiment, the mobile driving mechanism includes a mobile driving member 43 installed on the seedling transporting frame 41, and the driving end of the mobile driving member 43 is connected to a connecting plate 44 for fixing a plurality of seedling clips 42. The plurality of seedling clips 42 are consistent with the number of half of the seedlings 200 in the single row of pots 200, and correspond one to one. The seedling emergence component 3 includes seedling cups 31 that are consistent with the number of seedling clips 42 and extend up and down. The plurality of seedling cups 31 are arranged in sequence and the spacing between two adjacent seedling cups 31 is equal to the spacing between two seedlings 200 in the same row of pots 200. The number of seedling clips 42 is only half of the number of pots 200 in the single row of seedling trays 100. The seedling clips 42 first clamp the half of the pots 200 on the left side, and after the seedlings are dropped at the seedling dropping position, they clamp the half of the pots 200 on the right side. After the seedlings are dropped at the seedling dropping position, the entire row of pots 200 is extracted and transported. Each seedling cup 31 corresponds to the space between two alternate seedlings 200. While the diameter of a typical seedling 200 is approximately 25 mm, a seedling cup 31 can be 50 x 50 mm. This prevents the leaf canopy of the seedling 200 from becoming stuck within the cup 31, improving the quality of the seedlings. This assembly structure of the seedling removal clamp 42 and its mobile drive mechanism offer advantages such as a simple and compact structure, low cost, ease of assembly and fabrication, simple control, and stable and reliable operation. Preferably, the mobile drive element 43 is a pneumatic cylinder, oil cylinder, or electric push rod.

[0036] In this embodiment, the driving end of the mobile driving member 43 is provided with a moving clamp guide rail 45 that can reciprocate along the extension direction of the single row of pot seedlings 200. The connecting plate 44 is installed on the moving clamp guide rail 45. The middle part of the mobile driving member 43 is connected to two return springs 46. The other ends of the two return springs 46 are respectively connected to the two ends of the moving direction of the moving clamp guide rail 45. When the mobile driving member 43 is in a free state, the return springs 46 can drive the multiple seedling clamps 42 to move to positions corresponding to the multiple seedling cups 31. Through the mobile driving member 43 and the moving clamp guide rail 45, the seedling clamps 42 can respectively clamp the two groups of pot seedlings 200 alternately in the same row of pot seedlings 200. When the seedling clamps 42 move to one end, they can clamp the corresponding group of pot seedlings 200. Before the seedlings are planted, the mobile driving member 43 is in a free state without control. The return springs 46 return the seedling clamps 42 to the middle position, so that they can correspond to the corresponding seedling cups 31.

[0037] In this embodiment, the connecting plate 44 is provided with a seedling retaining plate 6 that can move between a preset seedling removal position and the seedling emergence assembly 3, and a seedling retaining drive assembly for driving the seedling retaining plate 6. The seedling retaining plate 6 can prevent the seedling removal clamp 42 from getting stuck, greatly reducing the failure rate, reducing the loss of the potted seedlings 200, and improving the quality of transplanting.

[0038] In this embodiment, the seedling blocking drive assembly includes a seedling blocking guide rail 61 and a return spring installed on the connecting plate 44. The seedling blocking plate 6 is provided with a slider 62 that can slide freely along the seedling blocking guide rail 61. The other end of the return spring is connected to the seedling blocking plate 6 so that the seedling blocking plate 6 has a tendency to approach the plurality of seedling retrieval clamps 42 close to one end of the preset seedling retrieval position. A return spring is provided between the seedling blocking plate 6 and the connecting plate 44, and the seedling blocking plate 6 can move along the seedling blocking guide rail 61. When clamping the seedlings, the return spring is squeezed by the seedling pot 200 and moves away from the preset seedling retrieval position. The seedling blocking plate 6 can prevent the seedling pot 200 from tilting toward the seedling retrieval clamp 42. Figure 5 When casting seedlings, the seedling clip 42 is opened to cast seedlings, the seedling retaining plate 6 pushes the seedling pot 200, so that it is out of the seedling clip 42, thereby preventing the seedling clip 42 from getting stuck, such as Figures 9-14 shown.

[0039] In this embodiment, the mobile mechanism 5 includes a translation frame 51 and a lifting drive 52 mounted on the translation frame 51. The frame 1 is provided with a translation drive 53 and a horizontally extending slide rail 54. The translation frame 51 is connected to a slide 55 that slides on the slide rail 54. The driving end of the translation drive 53 is connected to the slide 55 and can drive the translation frame 51 to slide back and forth horizontally. The driving end of the lifting drive 52 is connected to the seedling transport rack 41 and can drive the seedling transport rack 41 to move up and down. The translation drive 53, which is preferably a cylinder, is driven by air pressure to propel the translation frame 51, the seedling transport rack 41, and the seedling removal clamp 42 back and forth along the slide rail 54, thereby removing the seedling pots 200 from the seedling tray 100 and moving them to the seedling emergence assembly 3 for delivery. This configuration enables two tray delivery assemblies 2 to supply seedling pots 200 to one seedling emergence assembly 3, significantly improving work efficiency. Furthermore, only one translation frame 51 and translation drive 53 are required, which can reduce equipment manufacturing and operating costs.

[0040] In this embodiment, the seedling emergence assembly 3 further includes a seedling guide tube 32, which has a plurality of seedling guide tubes 32 having a seedling inlet end for the seedlings 200 to enter and a seedling outlet end for the seedlings 200 to be discharged. The lower end of each seedling cup 31 is connected to the seedling inlet end. Each seedling cup 31 is provided with a seedling loading plate 33 and a swinging drive member 34. The swinging drive member 34 can drive the seedling loading plate 33 to swing and can be switched between a closed state that holds the seedlings 200 in the seedling cup 31 and an open state that allows the seedlings 200 to fall from the lower end of the seedling cup 31. The number of seedling cups 31 is half the number of seedlings 200 in the seedling tray 100. The sidewalls of the seedling cups 31 are mounted with swinging drives 34, preferably cylinders, through supports. The seedling cups 31 have no bottom surface. A seedling loading plate 33 that can be rotatably opened is provided at the bottom of the seedling cups 31. Under the action of the swinging drive member 34, the seedling loading plate 33 can open or close the bottom of the seedling cup 31, thereby achieving seedling collection and guiding of the seedlings in the seedling cups 31. The seedling guide tube 32 is provided with an inclined surface, which can guide the seedlings 200 located on both sides into the middle of the seedling guide tube 32. The seedlings 200 at different positions on the left and right can all be output from the middle position of the seedling guide tube 32. Under the action of the electronic control system 8, the swing drive member 34 opens and closes the seedling loading plate 33 according to the signal sequence sensed by the Hall sensor 71, so that the seedlings 200 in the seedling cup 31 are guided out of the seedlings 200 in an orderly manner, thereby achieving fast and accurate seedling delivery. The seedling emergence component 3 has a simple and compact structure, is easy to manufacture and assemble, has low cost, is easy to control, and works stably and reliably.

[0041] In this embodiment, the plurality of swing driving members 34 sequentially drive the seedling loading plates 33 to swing so as to open the plurality of seedling loading plates 33 one by one in a sequential order.

[0042] In this embodiment, the upper surface of each seedling cup 31 is tilted downward from one end away from the preset seedling removal position to one end close to the preset seedling removal position. The top surface of the seedling cup 31 has an inclination toward the preset seedling removal position, which facilitates the pot seedling 200 to enter the seedling cup 31.

[0043] In this embodiment, the frame body 1 is provided with a travel switch 21, the contact of the travel switch 21 can contact the seedling tray 100 transported by the tray assembly 2. The seedling tray 100 is accurately transported in the tray track of the tray assembly 2 according to the movement rule of the tray pushing cylinder, the travel switch 21 is installed on the side wall of the tray track and is close to the end of the travel of the tray pushing cylinder, and is used for detecting whether the tray is missing. When the travel switch 21 detects that the tray is missing, the electric control system 8 controls the main clutch solenoid valve to lose power, so that the main power on the bottom tray is cut off, the transplanting machine stops walking, and the transplanting mechanism stops working.

[0044] The transplanting machine of the embodiment comprises an automatic seedling taking device and a machine body 7 on which the automatic seedling taking device is installed, the machine body 7 is provided with a Hall sensor 71, a ridge end sensor 72 and a forced stop switch 73, the Hall sensor 71 is connected with the moving mechanism 5 and is used for detecting the movement of the moving mechanism 5, the ridge end sensor 72 is used for detecting whether the machine body 7 walks to the ridge end, and the forced stop switch 73 is used for colliding with an obstacle to stop the machine body 7 from walking. The forced stop switch 73 is a normally closed switch, is installed on the bottom tray of the machine body 7 and is connected to the power supply of the electric control system 8, when the transplanting machine collides with the obstacle from the front, the power supply of the electric control system 8 is cut off, the electric control system 8 stops working, the main clutch solenoid valve loses power, the main power on the bottom tray is cut off, the transplanting machine stops walking, and the transplanting mechanism stops working. The ridge end sensor 72 is installed on the bottom tray, when the ridge end is detected or the travel switch 21 detects that the tray is missing, the electric control system 8 controls the main clutch solenoid valve to lose power, so that the main power on the bottom tray is cut off, the transplanting machine stops walking, and the transplanting mechanism stops working. At the same time, the buzzer 82 is controlled to work and emit a sound, and the wireless module 81 is also controlled to transmit a stop signal. The ridge end sensor 72 and the travel switch 21 can also be connected in series with a switch in the circuit, whether to use this module can be selected according to the need. Through the ridge end sensor 72 and the forced stop switch 73, the transplanting machine can automatically stop when walking to the ridge end, the safety of the transplanting machine is improved, and together with the travel switch 21, the walking speed of the transplanting machine and the transplanting speed can be reasonably matched, the ideal transplanting plant spacing and transplanting quality can be obtained, the Hall sensor 71 outputs a waveform when the transplanting machine transplants one pot seedling 200, the time sequence of the waveform is used to control the main controller 84 to work, so that the automatic seedling taking device and the machine body 7 are accurately matched, and the accuracy of seedling throwing is ensured.

[0045] Working principle:

[0046] Before the seedling removal operation, the pneumatic system controls the tray pushing cylinder, translation drive member 53, swing drive member 34, mobile drive member 43 and seedling removal clamp 42 of the tray feeding assembly 2 to be in the initial position, that is, the tray pushing cylinder is located at the "rear" end, the translation drive member 53 is located at the "rear" end, the swing drive member 34 is located at the "lower" end, the mobile drive member 43 is located in the middle position, and the seedling removal clamp 42 is in the open state. When the seedling folder 42 is located just above the seedling emergence assembly 3 and in the middle of the mobile driver 43, the seedling folder 42 is opened, and the seedlings 200 in the seedling cup 31 of the seedling emergence assembly 3 fall into. The movement of the push plate cylinder, the translation drive member 53, the swing drive member 34, the mobile drive member 43 and the seedling clamp 42 moves according to a certain movement law under the action of the electronic control system 8 based on the signal sensed by the Hall sensor 71.

[0047] The working principle and operation sequence of the electronic control system of the present invention are as follows:

[0048] Automatic seedling timing control method: Figure 13As shown, the electronic control system 8 includes a main controller 84, multiple seedling cup solenoid valves 85 that control multiple swing drive members 34, and a main clutch solenoid valve 86, which controls the high-level count output by the Hall sensor 71. When the electronic control system 8 controls each solenoid valve to output a low level, each solenoid valve does not work, and when each solenoid valve outputs a high level, it works. In this example, the transplanting signals output by the Hall sensor 71 are in groups of 5, and two groups constitute a cycle. When the electronic control system 8 recognizes the first transplanting signal, the electronic control system 8 controls the plate pushing solenoid valve and the seedling clamp left shift solenoid valve to be energized, and the seedling clamp 42 delivery solenoid valve is energized after a certain delay. The plate pushing cylinder of the plate delivery assembly 2 pushes the plate to the "backward", and at the same time, the moving drive member 43 moves the clamp to the "left", and the translation drive member 53 moves to the "forward" after a certain delay. When the electronic control system 8 recognizes the second transplanting signal, it energizes the opening and closing solenoid valve of the seedling removal clamp 42, closing the seedling removal clamp 42 and clamping the seedling pot 200. Simultaneously, the electronic control system 8 de-energizes the solenoid valve for pushing the tray, causing the pusher cylinder to return to the forward position. After a delay, the electronic control system 8 energizes the solenoid valve for pulling out and delivering the seedling, raising the seedling transport assembly 4 and simultaneously removing the seedling pot 200. When the electronic control system 8 recognizes the third transplanting signal, it de-energizes the solenoid valve for delivering the seedling clamp, returning the translation drive 53 to the rear position, positioning the seedling pot 200 directly above the orderly seedling emergence assembly 3. When the electronic control system 8 recognizes the fourth transplanting signal, it de-energizes the solenoid valve for shifting the seedling clamp to the left, returning the translation drive 43 to the center position, positioning the seedling pot 200 directly in the center of the seedling cup 31. When the electronic control system 8 recognizes the fifth transplanting signal, it delays for a period of time, then controls the seedling clamp opening and closing solenoid valve and the seedling pulling and throwing solenoid valve to lose power, the seedling clamp 42 opens, and the seedling transport component 4 descends, completing the automatic seedling removal of the first group of pot seedlings 200.

[0049] When the electric control system 8 identifies the sixth transplanting signal, the right moving electromagnetic valve of the seedling clamp is powered on, the seedling clamp conveying electromagnetic valve is powered on after a delay, the moving drive 43 moves the clamp to the "right", and the translation drive 53 moves to the "front" after a delay. When the electric control system 8 identifies the seventh transplanting signal, the electric control system 8 controls the seedling clamp opening and closing electromagnetic valve to be powered on, the seedling clamp 42 is closed to clamp the pot seedling 200; at the same time, the electric control system 8 controls the push plate electromagnetic valve to be powered off, and the push plate cylinder is returned to the "front"; and after a delay, the electric control system 8 controls the seedling pulling and throwing electromagnetic valve to be powered on, and the seedling conveying assembly 4 is lifted up, and the pot seedling 200 is pulled out. When the electric control system 8 identifies the eighth transplanting signal, the seedling clamp conveying electromagnetic valve is powered off, and the translation drive 53 is returned to the "back" to make the pot seedling 200 located directly above the orderly seedling emergence assembly 3. When the electric control system 8 identifies the ninth transplanting signal, the seedling clamp left moving electromagnetic valve is powered off, and the moving drive 43 is returned to the center position to make the pot seedling 200 located in the center of the seedling cup 31. When the electric control system 8 identifies the tenth transplanting signal, a delay is made, and then the seedling clamp opening and closing electromagnetic valve and the seedling pulling and throwing electromagnetic valve are powered off, the seedling clamp 42 is opened, and the seedling conveying assembly 4 is lowered down to complete the automatic seedling taking of the second group of pot seedlings 200. At the same time, the cycle seedling taking of one row is also completed. The above-mentioned process is cycled to continue the automatic seedling taking of the next cycle of pot seedlings 200.

[0050] The orderly seedling emergence timing is as shown in the following table: Figure 13 When the electric control system 8 identifies the first and sixth signals, the electric control system 8 controls the seedling cup A electromagnetic valve to be powered on, the seedling cup A is opened, and after a delay, the seedling cup A electromagnetic valve is powered off, and the seedling cup A is closed. Similarly, the second and seventh signals are identified, the corresponding seedling cup B is controlled to move, the third and eighth signals are identified, the corresponding seedling cup C is controlled to move, the fourth and ninth signals are identified, the corresponding seedling cup D is controlled to move, and the fifth and tenth signals are identified, the corresponding seedling cup E is controlled to move. Since the seedling tray 100 in this example is a single row of 10 pot bodies, the control system works in a half frequency of 10 and a multiple frequency of 10. For the remaining number of seedling trays 100, the control system works in a half frequency of the pot seedling 200 and a multiple frequency.

[0051] Principle of preventing missing planting of the electric control system: In order to realize the above-mentioned movement process and ensure that the seedlings in the pot can be transported accurately and quickly in sequence, it is necessary to set up a reasonable program to meet the requirements. According to the automatic seedling retrieval timing and the orderly seedling separation timing, when the transplanter starts working, a certain number of seedling-free transplanting conditions will occur. Therefore, it is necessary to set different programs for the new machine operation plan and the breakpoint operation plan. In order to meet the needs of computer calculations, the action process of the automatic seedling retrieval device is mapped to the program process, the action of the pushing plate cylinder is mapped to pushing the plate backward and pushing the plate back, the action of the translation drive 53 is mapped to the seedling clamp moving backward and the seedling clamp moving backward, the action of the swing drive 34 is mapped to loading and throwing seedlings, the action of the mobile drive 43 is mapped to the seedling clamp moving left, the seedling clamp being centered and the seedling clamp moving right; the action of the seedling retrieval clamp 42 is mapped to clamping and opening, and the action of the swing drive 34 is mapped to seedling opening and seedling closing.

[0052] Pre-seedling process: Figure 14 As shown, in a new operation process, if the automatic seedling picking sequence and the orderly seedling separation sequence are followed, the first five transplants will result in no seedlings being transplanted, resulting in missed planting. Therefore, on this basis, a pre-seedling picking program needs to be designed, the process of which is as follows: first, the seedling clamp moves left and pushes the plate backward, the seedling clamp moves forward after a delay of 200ms, then the seedling clamp 42 is clamped after a delay of 500ms, the seedling clamp 42 is pulled out after another delay of 200ms, the seedling clamp 42 is moved backward after another delay of 500ms, and the seedling clamp 42 is centered after another delay of 200ms, the plate is pushed back, and finally the seedling clamp 42 is opened and the seedling clamp 42 is dropped into the seedling. After adopting the pre-seedling picking process, it can be ensured that in the first operation, there are seedlings 200 in the seedling emergence component 3 that have been pre-picked, to prevent missed planting.

[0053] The whole machine main control program flow: such as ​ As shown, the electronic control system 8 automatically powers on and waits for commands. The operator uses touch screen 83 to select either a clean run or a breakpoint run, and can manually adjust the breakpoint parameters. If a clean run is selected, the system initializes the count and count2 parameters to 0 and runs the pre-seedling program. After the pre-seedling program completes, the main clutch engages, and the transplanter begins moving. If a breakpoint run is selected, the electronic control system 8 directly engages the main clutch, starting the transplanter and controlling the operating tempo of the automatic seedling removal device based on the breakpoint information.

[0054] After the whole machine moves, the Hall sensor 71 triggers regularly and outputs the transplanting signal pulse. When the electric control system 8 receives the transplanting signal pulse from the automatic seedling taking device, the count is added, and the value of the count is judged. When the count % 5 = 1, the seedling cup A is opened and closed after a delay of 200 ms. At the same time, the value of the count 2 is judged. When the count 2 % 2 = 0, it means that the seedling has been pre-taken. At this time, the seedling taking clamp 42 moves right to take the seedling, which is equivalent to the running time sequence of the program after receiving the sixth transplanting signal in the above-mentioned automatic seedling taking time sequence, and then the seedling taking clamp 42 moves forward after a delay of 200 ms. When the count 2 % 2 = 1, the seedling taking clamp 42 moves left and pushes the disc backward, and the count 2 is assigned to 0, which is equivalent to the running time sequence of the program after receiving the first transplanting signal in the above-mentioned automatic seedling taking time sequence. The count 2 % 2 is judged in the count % 5 = 1, which is mainly to judge the process state of the program running, so as to prevent missing seedlings or repeated seedlings. When the count % 5 = 2, the seedling cup B is opened and closed after a delay of 200 ms. At the same time, the seedling taking clamp 42 clamps, and the seedling taking clamp 42 pulls the seedling and pushes the disc back after a delay of 200 ms. When the count % 5 = 3, the seedling cup C is opened and closed after a delay of 200 ms. At the same time, the seedling taking clamp 42 moves backward. When the count % 5 = 4, the seedling cup D is opened and closed after a delay of 200 ms. At the same time, the seedling taking clamp 42 is centered. When the count % 5 = 0, the seedling cup E is opened and closed after a delay of 200 ms. At the same time, the count 2 is added, the count is assigned to 0, the seedling taking clamp 42 is opened after a delay of 500 ms, and the seedling taking clamp 42 is planted. It keeps circulating until the transplanting is completed.

[0055] The above only describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Improvements and changes made by those skilled in the art without departing from the technical concept of the present application should also be considered as the protection scope of the present application.

Claims

1. An automatic seedling removal device, comprising a frame (1), the frame (1) being provided with a tray delivery component (2) for transporting a seedling tray (100) and enabling multiple rows of seedlings (200) on the seedling tray (100) to be sequentially moved row by row to a preset seedling removal position, a seedling emergence component (3), and a seedling transport component (4) for taking out multiple seedlings (200) in a row of seedlings (200) located at the preset seedling removal position and transporting them to the seedling emergence component (3), the seedling transport component (4) comprising a seedling transport frame (41) and multiple seedling removal clamps (42), the seedling transport frame (41) being mounted on the frame (1) via a moving mechanism (5) and being driven by the moving mechanism (5) to enable the seedling removal clamps (42) to move and lift between the preset seedling removal position and the seedling emergence component (3), characterized in that: The plurality of seedling taking clamps (42) are arranged in a row on the seedling transport frame (41) in sequence, and can clamp the seedlings (200) in the single row of seedling pots (200) multiple times in a manner that can reciprocate along the extension direction of the single row of seedling pots (200). The seedling transport assembly (4) also includes a movable driving mechanism for driving the plurality of seedling taking clamps (42) to reciprocate. The movable driving mechanism includes a movable driving member (43) installed on the seedling transport frame (41). The driving end of the movable driving member (43) is connected to a connecting plate (44) on which the plurality of seedling taking clamps (42) are fixedly installed. The number of the plurality of seedling taking clamps (42) is consistent with the number of half of the seedling pots (200) in the single row of seedling pots (200), and the number corresponds one to one. The seedling emergence assembly (3) includes the same number of the seedling taking clamps (42) and the vertically extending arrangement. The seedling cups (31) are arranged in sequence at intervals, and the spacing between two adjacent seedling cups (31) is equal to the spacing between two seedling pots (200) in the same row of seedling pots (200). The driving end of the movable driving member (43) is provided with a clamping guide rail (45) that can reciprocate along the extension direction of the single row of seedling pots (200). The connecting plate (44) is installed on the clamping guide rail (45). The middle part of the movable driving member (43) is connected to two return springs (46). The other ends of the two return springs (46) are respectively connected to the two ends of the moving direction of the clamping guide rail (45). When the movable driving member (43) is in a free state, the return spring (46) can drive the multiple seedling clamps (42) to move to positions corresponding to the multiple seedling cups (31).

2. The automatic seedling removal device according to claim 1, characterized in that: The connecting plate (44) is provided with a seedling retaining plate (6) that can move between a preset seedling taking position and the seedling emergence assembly (3), and a seedling retaining drive assembly for driving the seedling retaining plate (6) to move.

3. The automatic seedling removal device according to claim 2, characterized in that: The seedling blocking drive assembly comprises a seedling blocking guide rail (61) mounted on a connecting plate (44) and a return spring. The seedling blocking plate (6) is provided with a slider (62) capable of sliding freely along the seedling blocking guide rail (61). The other end of the return spring is connected to the seedling blocking plate (6) so that the seedling blocking plate (6) has a tendency to approach one end of the plurality of seedling picking clamps (42) close to a preset seedling picking position.

4. The automatic seedling removal device according to claim 1, characterized in that: The moving mechanism (5) includes a translation frame (51) and a lifting drive member (52) mounted on the translation frame (51); a translation drive member (53) and a slide rail (54) extending in a horizontal direction are provided on the frame body (1); the translation frame (51) is connected to a slide seat (55) slidably mounted on the slide rail (54); a driving end of the translation drive member (53) is connected to the slide seat (55) and can drive the translation frame (51) to slide back and forth horizontally; a driving end of the lifting drive member (52) is connected to the seedling transport frame (41) and can drive the seedling transport frame (41) to move up and down.

5. The automatic seedling taking device according to claim 1, characterized in that: The seedling emergence component (3) further comprises a seedling guide tube (32), wherein a plurality of the seedling guide tubes (32) are provided with a seedling inlet end for the seedlings (200) to enter and a seedling outlet end for the seedlings (200) to be discharged. The lower end of each seedling cup (31) is connected to the seedling inlet end. Each seedling cup (31) is provided with a seedling carrying plate (33) and a swing driving member (34). The swing driving member (34) can drive the seedling carrying plate (33) to swing and can switch between a closed state in which the seedlings (200) are held in the seedling cup (31) and an open state in which the seedlings (200) are allowed to fall from the lower end of the seedling cup (31) by swinging.

6. The automatic seedling removal device according to claim 5, characterized in that: The plurality of swing driving members (34) sequentially drive the seedling carrying plates (33) to swing, thereby enabling the plurality of seedling carrying plates (33) to be opened one by one in a sequential order.

7. The automatic seedling removal device according to claim 1, characterized in that: A travel switch (21) is provided on the frame (1), and a contact of the travel switch (21) can contact the seedling tray (100) transported by the tray delivery assembly (2).

8. A transplanter, characterized in that: The invention comprises an automatic seedling removing device according to any one of claims 1 to 7, and a body (7) on which the automatic seedling removing device is installed, wherein the body (7) is provided with a Hall sensor (71), a ridge end sensor (72) and a forced stop switch (73), wherein the Hall sensor (71) is connected to a moving mechanism (5) and is used to detect the movement of the moving mechanism (5), the ridge end sensor (72) is used to detect whether the body (7) has moved to the ridge end, and the forced stop switch (73) is used to stop the body (7) from moving when it collides with an obstacle.

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