Seedling supplying system and movable platform

Abstract

Embodiments of the present application provide a seedling supply system and a movable platform, and relate to the technical field of movable platforms. The seedling supply system comprises a support, a seedling tray rack, a seedling claw mechanism, a turnover driving mechanism and a horizontal movement driving mechanism. The seedling tray rack is used to carry seedling trays. The seedling claw mechanism is arranged on the support. The turnover driving mechanism is connected to the support and connected to the seedling tray rack, and is used to drive the seedling tray rack to turn over, so that the seedling trays on the seedling tray rack are rotated to the seedling claw mechanism, so that the seedling claw mechanism can grab the seedlings on the seedling trays. The horizontal movement driving mechanism is connected to the support and connected to the seedling tray rack, and is used to drive the seedling tray rack to move horizontally, so that the seedling claw mechanism can grab the seedlings at different positions on the seedling trays. The seedling supply system and the movable platform can realize continuous seedling supply, improve the seedling supply efficiency, and thus improve the efficiency of the seedling planting or throwing operation.

Description

Technical Field

[0001] This invention relates to the field of mobile platform technology, and more specifically, to a seedling supply system and a mobile platform. Background Technology

[0002] Currently, there are several methods for transplanting rice seedlings: manual transplanting, seedling throwing, machine transplanting, and machine seedling throwing, etc. However, these traditional methods are inefficient. For example, traditional seedling supply systems have low seedling supply efficiency, resulting in low efficiency in transplanting or seedling throwing operations. Summary of the Invention

[0003] One of the objectives of this invention is to provide a seedling supply system that enables continuous seedling supply, improves seedling supply efficiency, and thereby improves the efficiency of transplanting or throwing seedlings.

[0004] Another object of the present invention includes providing a mobile platform that enables continuous seedling supply, improves seedling supply efficiency, and thereby improves the efficiency of transplanting or throwing seedlings.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a seedling supply system, comprising: a support frame, a seedling tray frame, a seedling claw mechanism, a flipping drive mechanism, and a lateral movement drive mechanism;

[0007] The seedling tray frame supports the seedling trays. A seedling claw mechanism is mounted on the support frame. A flipping drive mechanism is connected to the support frame and the seedling tray frame, driving the seedling tray frame to flip so that the seedling trays on the frame rotate to the seedling claw mechanism, allowing the seedling claw mechanism to grasp the seedlings on the trays. A lateral movement drive mechanism is connected to the support frame and the seedling tray frame, driving the seedling tray frame to move laterally, allowing the seedling claw mechanism to grasp seedlings at different positions on the seedling trays.

[0008] Furthermore, in an optional embodiment, the lateral movement drive mechanism includes a lateral movement drive motor and a lateral movement transmission mechanism; the seedling tray frame includes a seedling tray frame rotating shaft and a seedling tray support.

[0009] The seedling tray support is connected to the seedling tray frame rotating shaft and is used to support the seedling tray. The seedling tray frame rotating shaft is connected to the flipping drive mechanism.

[0010] The transverse transmission mechanism is rotatably connected to the support, the transverse drive motor is provided with a first motor shaft, the first motor shaft is connected to the transverse transmission mechanism, and the transverse transmission mechanism is connected to the rotating shaft of the seedling tray frame.

[0011] Furthermore, in an optional embodiment, the transverse transmission mechanism includes a lead screw, one end of which is connected to the shaft of the first motor and the other end is rotatably connected to the bracket;

[0012] The rotating shaft of the seedling tray frame is sleeved outside the lead screw, and a slider is provided on the inner wall of the rotating shaft of the seedling tray frame, which cooperates with the lead screw.

[0013] Furthermore, in an optional embodiment, the flipping drive mechanism includes a flipping drive motor and a flipping drive shaft;

[0014] The flipping drive motor is mounted on the bracket, the flipping drive motor is connected to the flipping drive shaft, and the flipping drive shaft is engaged with the rotating shaft of the seedling tray frame;

[0015] One end of the lead screw is provided with a mating section, which passes through the flip drive shaft and can rotate relative to the flip drive shaft.

[0016] Furthermore, in an optional embodiment, the seedling tray frame rotating shaft is sleeved outside the flipping drive shaft. One of the outer wall of the flipping drive shaft and the inner wall of the seedling tray frame rotating shaft is provided with a guide groove, and the other is provided with a guide protrusion. The guide protrusion cooperates with the guide groove, and the guide protrusion can slide along the guide groove.

[0017] When the flipping drive motor is working, the flipping drive shaft drives the seedling tray frame to rotate through the cooperation of the guide protrusion and the guide groove, so as to flip the seedling tray frame.

[0018] When the lateral drive motor is working, the lead screw drives the rotating shaft of the seedling tray to move laterally, causing the guide protrusion to slide along the guide groove.

[0019] Furthermore, in an optional embodiment, the flipping drive mechanism further includes a driving gear and a driven gear;

[0020] The reversing drive motor is provided with a second motor shaft, the driving gear is provided on the second motor shaft, the driven gear is provided on the transverse drive motor, the driven gear is fixedly connected to the reversing drive shaft, and the driving gear and the driven gear are connected in a transmission manner;

[0021] When the flip drive motor is working, the second motor shaft drives the driven gear through the driving gear, and the driven gear drives the seedling tray frame to flip through the flip drive shaft. The driven gear also drives the transverse drive motor and the lead screw to rotate synchronously.

[0022] Furthermore, in an optional embodiment, the number of seedling tray supports includes multiple supports, which are distributed in a circular array along the circumference of the seedling tray support rotation axis.

[0023] Furthermore, in an optional embodiment, each of the seedling tray brackets is provided with at least two seedling tray bearing parts in sequence along the axial direction of the seedling tray frame rotation axis, and the seedling tray bearing parts are used to support the seedling trays.

[0024] Furthermore, in an optional embodiment, the bracket includes two fixing arms, a limiting arm, and a mounting arm;

[0025] The two fixed arms are arranged opposite each other, and the limiting arm and the mounting arm are both connected between the two fixed arms;

[0026] The flipping drive mechanism and the lateral drive mechanism are respectively connected to at least one of the two fixed arms, and the seedling tray frame is located between the two fixed arms;

[0027] The limiting arm is provided with a limiting groove, and the limiting arm has a claw notch extending through the limiting groove;

[0028] The seedling claw mechanism is mounted on the mounting arm and corresponds to the position of the seedling claw notch;

[0029] The flipping drive mechanism can drive the seedling tray frame to flip until the seedling tray on the seedling tray frame rotates to the limiting groove, so that the seedling claw mechanism can grab the seedlings on the seedling tray through the claw notch.

[0030] Secondly, the present invention provides a movable platform, including a body and a seedling supply system. The seedling supply system includes: a support frame, a seedling tray frame, a seedling claw mechanism, a flipping drive mechanism, and a lateral movement drive mechanism. The seedling tray frame carries seedling trays. The seedling claw mechanism is disposed on the support frame. The flipping drive mechanism is connected to the support frame and to the seedling tray frame, and is used to drive the seedling tray frame to flip, so that the seedling trays on the seedling tray frame rotate to the seedling claw mechanism, so that the seedling claw mechanism can grasp the seedlings on the seedling trays. The lateral movement drive mechanism is connected to the support frame and to the seedling tray frame, and is used to drive the seedling tray frame to move laterally, so that the seedling claw mechanism can grasp seedlings at different positions on the seedling trays. The body is connected to the support frame.

[0031] The beneficial effects of the seedling supply system and movable platform provided in this invention include: During operation, the seedling tray is supported on a seedling tray frame. A flipping drive mechanism drives the seedling tray frame to flip until the seedling tray on the frame rotates to the seedling claw mechanism, which then grasps the seedlings on the tray. During continuous operation, a lateral drive mechanism drives the seedling tray frame to move laterally, allowing the seedling claw mechanism to grasp seedlings at another position on the seedling tray, thus achieving continuous seedling supply and improving seedling supply efficiency, thereby increasing the efficiency of transplanting or throwing seedlings. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic block diagram of the structure of the movable platform required for the seedling supply system provided in the embodiments of the present invention;

[0034] Figure 2 This is a three-dimensional structural diagram of the seedling supply system provided in an embodiment of the present invention;

[0035] Figure 3 for Figure 2 A first-person perspective cross-sectional view of the seedling supply system in the diagram.

[0036] Figure 4 for Figure 2 A partial structural diagram of the seedling supply system, in which the lead screw and the seedling tray frame shaft are separated;

[0037] Figure 5 for Figure 2 A partial cross-sectional diagram of the seedling supply system from a second-view perspective;

[0038] Figure 6 for Figure 5 Enlarged structural diagram at point VI;

[0039] Figure 7 for Figure 2 Enlarged structural diagram of point VII.

[0040] icon:

[0041] 1-Mobile platform; 11-Machine body; 10-Seedling supply system;

[0042] 100-Bracket; 110-Top frame; 120-Side frame; 130-Mounting component; 140-Fixing arm; 141-Fixing section; 142-First extension section; 143-Second extension section; 150-Limiting arm; 151-Limiting groove; 152-Claw notch; 160-Mounting arm; 170-Accommodation space;

[0043] 200-Seedling tray frame; 210-Seedling tray frame pivot; 211-Slider; 212-Guide groove; 220-Seedling tray support; 221-Seedling tray bearing part;

[0044] 300-Seedling Claw Mechanism;

[0045] 400 - Lateral movement drive mechanism; 410 - Lateral movement drive motor; 411 - First motor shaft; 420 - Lateral movement transmission mechanism; 421 - Lead screw; 4211 - Mating section; 422 - First bearing;

[0046] 500 - Tilting drive mechanism; 510 - Tilting drive motor; 511 - Second motor shaft; 520 - Tilting drive shaft; 521 - Guide protrusion; 530 - Second bearing; 540 - Drive gear; 550 - Transmission chain; 560 - Driven gear. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0051] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0053] Please see Figure 1 This invention provides a seedling supply system 10, applied to a mobile platform 1, which can be a drone, unmanned vehicle, or unmanned boat. The mobile platform 1 includes a body 11 and the aforementioned seedling supply system 10. The seedling supply system 10 is mounted on the body 11 and is used to load seedlings and complete transplanting or throwing operations. By setting up the seedling supply system 10 provided in this embodiment, continuous seedling supply can be achieved, thereby improving the efficiency of transplanting or throwing operations.

[0054] Please see Figure 2 The seedling supply system 10 includes a support frame 100, a seedling tray frame 200, a seedling claw mechanism 300, a lateral movement drive mechanism 400, and a flipping drive mechanism 500. The support frame 100 is connected to the machine body 11. The seedling tray frame 200 is used to support seedling trays (not shown in the figure). The seedling trays are used to load seedlings and can be optionally rectangular. The seedling claw mechanism 300 is mounted on the support frame 100. The flipping drive mechanism 500 is connected to the support frame 100 and to the seedling tray frame 200, and is used to drive the seedling tray frame 200 to flip, so that the seedling trays on the seedling tray frame 200 rotate to the position of the seedling claw mechanism 300, so that the seedling claw mechanism 300 can grab the seedlings on the seedling trays. The lateral movement drive mechanism 400 is connected to the support frame 100 and to the seedling tray frame 200, and is used to drive the seedling tray frame 200 to move laterally, so that the seedling claw mechanism 300 can grab seedlings at different positions on the seedling trays.

[0055] It should be noted that the "lateral" direction mentioned above refers to the direction perpendicular to the seedling supply system 10 in the horizontal plane. For example, when the movable platform 1 is in its natural or working state, and seedlings are supplied in the front-to-back direction in the horizontal plane, the left-to-right direction in the horizontal plane can be considered as lateral. The lateral movement drive mechanism 400 can drive the seedling tray frame 200 to perform lateral reciprocating translational motion.

[0056] When the seedling supply system 10 is in operation, the seedling tray is supported on the seedling tray frame 200. The seedling tray frame 200 is rotated by the flipping drive mechanism 500 until the seedling tray on the seedling tray frame 200 rotates to the seedling claw mechanism 300, which then grabs the seedlings on the seedling tray. During continuous operation, the seedling tray frame 200 is driven to move laterally by the lateral drive mechanism 400, so that the seedling claw mechanism 300 grabs seedlings from another position on the seedling tray, thereby achieving continuous seedling supply, which helps to improve the seedling supply efficiency and thus improve the efficiency of transplanting or throwing seedlings.

[0057] The bracket 100 includes a top frame 110, two side frames 120, a mounting component 130, two fixing arms 140, a limiting arm 150, and a mounting arm 160.

[0058] The top frame 110 is connected at both ends to the tops of the two side frames 120, forming an inverted U-shaped frame structure. This frame structure contains a accommodating space 170, within which are housed the fixing arm 140, limiting arm 150, mounting arm 160, seedling tray frame 200, seedling claw mechanism 300, flipping drive mechanism 500, and lateral movement drive mechanism 400. Mounting components 130 are mounted on the top frame 110 and connected to the machine body 11. For example, a detachable connection can be used to facilitate the disassembly of the seedling supply system 10 as a single module from the machine body 11 for easy maintenance. Optionally, two mounting components 130 are provided, spaced apart on the top frame 110.

[0059] Two fixed arms 140 are arranged opposite to each other, and a limiting arm 150 and a mounting arm 160 are both connected between the two fixed arms 140. A flipping drive mechanism 500 and a lateral movement drive mechanism 400 are respectively connected to at least one of the two fixed arms 140, and the seedling tray frame 200 is located between the two fixed arms 140. By setting two oppositely arranged fixed arms 140, the seedling tray frame 200, the flipping drive mechanism 500, and the lateral movement drive mechanism 400 can be well supported, ensuring the stability of the structure and the reliability of the transmission.

[0060] Each of the two fixed arms 140 includes a fixed section 141, a first extension section 142, and a second extension section 143. The top end of the fixed section 141 is connected to the top frame 110. One end of the first extension section 142 is connected to the end of the fixed section 141 away from the top frame 110, and the other end extends freely downwards and forwards. One end of the second extension section 143 is connected to the first extension section 142, and the other end extends freely upwards and forwards. The seedling tray frame 200 is located between the two fixed sections 141. The two ends of the lateral movement drive mechanism 400 are connected to the two fixed sections 141 respectively, and the flipping drive mechanism 500 is connected to one of the fixed sections 141. The two ends of the mounting arm 160 are connected to the ends of the two first extension sections 142 away from the fixed sections 141 respectively. The two ends of the limiting arm 150 are connected to the ends of the two second extension sections 143 away from the first extension sections 142 respectively. In this way, by setting the specific structure of the two fixed arms 140 and their connection with the limiting arm 150 and the mounting arm 160, the entire support 100 structure can be made more stable and the structural layout is reasonable, which is conducive to the seedling supply operation and improves the efficiency of the seedling supply operation.

[0061] The limiting arm 150 is provided with a limiting groove 151, and the limiting arm 150 has a claw-like notch 152 extending through the limiting groove 151. Optionally, the limiting arm 150 has a rod-shaped structure with a roughly L-shaped longitudinal section and an upward-facing opening, thereby forming the limiting groove 151. The limiting groove 151 is elongated along the extension direction of the limiting arm 150, and the claw-like notch 152 is opened at the bottom of the limiting groove 151 and extends through the limiting arm 150 from top to bottom.

[0062] The mounting arm 160 has a rod-like structure, and the seedling claw mechanism 300 is mounted on the mounting arm 160, corresponding to the position of the seedling claw notch 152. Optionally, the seedling claw mechanism 300 is a rotating seedling claw mechanism 300, and the seedling claw part of the seedling claw mechanism 300 can pass through the seedling claw notch 152 when rotating to grab the seedlings at the seedling claw notch 152. In addition, multiple seedling claw mechanisms 300 can be set, and multiple seedling claw notches 152 can be selected, with the number of seedling claw mechanisms 300 corresponding one-to-one with the number of seedling claw notches 152. In this embodiment, the flipping drive mechanism 500 can drive the seedling tray frame 200 to flip until the seedling tray on the seedling tray frame 200 rotates to the limiting groove 151, so that the seedling claw mechanism 300 grabs the seedlings on the seedling tray through the seedling claw notch 152. In this way, the seedling claw mechanism 300 can efficiently grab the seedlings on the seedling tray, improving the seedling supply efficiency.

[0063] Please see Figure 3In this embodiment, the seedling tray frame 200 may include a seedling tray frame rotating shaft 210 and a seedling tray support 220. The seedling tray support 220 is connected to the seedling tray frame rotating shaft 210 and is used to support the seedling trays. The seedling tray frame rotating shaft 210 is connected to the flipping drive mechanism 500 and the lateral drive mechanism 400 respectively, so that the flipping drive mechanism 500 and the lateral drive mechanism 400 drive the seedling tray frame rotating shaft 210 to rotate, thereby driving the seedling tray support 220 to flip until the seedling tray on the seedling tray support 220 is in the limiting groove 151. It should be understood that at this time, the position of the seedling tray and the limiting groove 151 corresponds, which enables the seedling claw mechanism 300 to grasp the seedlings on the seedling tray.

[0064] To increase the number of seedling trays that can be loaded, in this embodiment, there are multiple seedling tray holders 220, which are arranged in a circular array along the circumference of the seedling tray frame rotation shaft 210. Each seedling tray holder 220 can hold at least one seedling tray. When the flipping drive mechanism 500 drives the seedling tray frame rotation shaft 210 to rotate, one of the target seedling tray holders 220 rotates to the limiting groove 151, so that the seedling tray on the seedling tray holder 220 corresponds to the position of the limiting groove 151, so that the seedling claw mechanism 300 can grab the seedlings on the seedling tray. After the seedlings on the seedling tray holder 220 are grabbed, the flipping drive mechanism 500 continues to drive the seedling tray frame rotation shaft 210 to rotate the next seedling tray holder 220 to the limiting groove 151. This cyclical operation ensures that all seedling trays on multiple seedling tray holders 220 are fed with seedlings.

[0065] By employing a flip-type seedling tray frame 200 and setting multiple seedling tray supports 220, the seedling tray supports 220 can be flipped for seedling supply. Compared with the traditional longitudinal seedling supply, the seedling tray placement is more reasonable, allowing more seedling trays to be placed in a smaller volume of space, reducing the space occupied and weight of the seedling supply system 10. As an example, in the case where the mobile platform 1 is a drone, the use of the flip-type seedling tray frame 200 and multiple seedling tray supports 220 can achieve the loading of more seedling trays in the limited onboard space.

[0066] Optionally, each seedling tray bracket 220 is provided with at least two seedling tray bearing parts 221 along the axis of the seedling tray frame rotation shaft 210. The seedling tray bearing parts 221 are used to support the seedling trays. It should be understood that each seedling tray bearing part 221 can support one seedling tray, so each seedling tray bracket 220 can be loaded with at least two seedling trays, further increasing the number of seedling trays that can be loaded, which is more conducive to placing more seedling trays in a smaller volume space. As an example, in this embodiment, each seedling tray bracket 220 can hold 2 seedling trays, and 6 seedling tray brackets 220 are set. The 6 seedling tray brackets 220 are arranged in a circumferential array, so a total of 12 seedling trays can be placed, ensuring that the movable platform 1 can continuously operate for a certain number of acres. Therefore, the advantage of this seedling tray arrangement is that it requires a small volume but has a large seedling tray capacity.

[0067] Please refer to the following: Figures 3-6 In order to better realize continuous seedling supply, this embodiment optimizes the design of the transverse drive mechanism 400 and the flip drive mechanism 500. The specific structure of the transverse drive mechanism 400 and the flip drive mechanism 500 is described in detail below.

[0068] The lateral movement drive mechanism 400 may include a lateral movement drive motor 410 and a lateral movement transmission mechanism 420. The lateral movement transmission mechanism 420 is rotatably connected to the bracket 100. The lateral movement drive motor 410 is provided with a first motor shaft 411, which is driveably connected to the lateral movement transmission mechanism 420. The lateral movement transmission mechanism 420 is driveably connected to the seedling tray frame rotating shaft 210. Thus, the lateral movement drive motor 410 drives the lateral movement transmission mechanism 420, which in turn drives the seedling tray frame rotating shaft 210 to move laterally. It should be noted that the lateral movement transmission mechanism 420 may be a rotary motor, used to convert the rotational motion of the lateral movement drive motor 410 into linear reciprocating motion of the seedling tray frame rotating shaft 210. In this embodiment, the lateral movement drive motor 410 is located on the side of the fixed section 141 away from the accommodating space 170, and the first motor shaft 411 passes through the fixed section 141 and is connected to the lateral movement transmission mechanism 420.

[0069] The lateral transmission mechanism 420 may include a lead screw 421 and a first bearing 422. One end of the lead screw 421 is connected to the first motor shaft 411, and the other end is rotatably connected to the bracket 100. In this embodiment, the end of the lead screw 421 away from the first motor shaft 411 is connected to the first bearing 422, which is mounted on a fixed section 141 of the fixed arm 140. The first motor shaft 411 passes through the fixed section 141 and is coaxially connected to the lead screw 421. A seedling tray frame rotating shaft 210 is sleeved around the lead screw 421, and a slider 211 is provided on the inner wall of the seedling tray frame rotating shaft 210, which cooperates with the lead screw 421. Thus, the lateral drive motor 410 drives the lead screw 421 to rotate via the first motor shaft 411. When the lead screw 421 rotates, the slider 211 reciprocates linearly along the lead screw 421, thereby realizing the lateral translation of the seedling tray frame 200.

[0070] Optionally, the lead screw 421 is a reciprocating lead screw, so that the transverse drive motor 410 can rotate in one direction, and the slider 211 can also achieve linear reciprocating motion on the reciprocating lead screw. The transverse drive motor 410 does not need to switch the rotation direction during operation, so that the seedling tray frame 200 can move quickly and continuously, improving the efficiency of continuous seedling supply.

[0071] In this embodiment, the slider 211 can be a protruding structure protruding from the inner wall of the seedling tray frame shaft 210, which cooperates with the spiral guide rail on the lead screw 421. There can be 4 sliders 211, with two on the top and two on the bottom.

[0072] The flip drive mechanism 500 may include a flip drive motor 510, a flip drive shaft 520, a second bearing 530, a drive gear 540, a transmission chain 550, and a driven gear 560.

[0073] The flip drive motor 510 is mounted on the bracket 100 and is connected to the flip drive shaft 520, which in turn cooperates with the rotating shaft 210 of the seedling tray frame. In this embodiment, the flip drive motor 510 is located on the side of the fixed section 141 away from the accommodating space 170 and is spaced apart from the transverse drive motor 410. The flip drive motor 510 is provided with a second motor shaft 511, a driving gear 540 is provided on the second motor shaft 511, and a driven gear 560 is provided on the transverse drive motor 410. The driven gear 560 is fixedly connected to one end of the flip drive shaft 520, and the driving gear 540 and the driven gear 560 are connected by a transmission chain 550. The second bearing 530 is sleeved on the outside of the flip drive shaft 520 and installed inside the fixed section 141 to enable the flip drive shaft 520 to rotate relative to the fixed section 141. Additionally, one end of the lead screw 421 is provided with a mating section 4211, which passes through the tilting drive shaft 520 and can rotate relative to the tilting drive shaft 520. The mating section 4211 is coaxially arranged with the lead screw 421, and the diameter of the mating section 4211 is smaller than the diameter of the lead screw 421. The end of the mating section 4211 near the transverse drive motor 410 is coaxially connected to the first motor shaft 411.

[0074] When the flip drive motor 510 is working, the second motor shaft 511 drives the driven gear 560 through the driving gear 540. The driven gear 560 drives the seedling tray frame 200 to flip through the flip drive shaft 520, and the driven gear 560 drives the transverse drive motor 410 and the lead screw 421 to rotate synchronously. That is to say, when the flip drive motor 510 is working, the driven gear 560 rotates, and under the drive of the driven gear 560, the flip drive shaft 520, the seedling tray frame rotating shaft 210, the seedling tray support 220, the transverse drive motor 410, and the lead screw 421 all rotate synchronously together. In this way, the seedling tray frame 200 can be flipped under the drive of the flip drive motor 510, and the seedling tray frame 200 can be driven to move laterally by the transverse drive motor 410 when the flip drive motor 510 is not working.

[0075] It should be noted that in this embodiment, the driving gear 540 drives the driven gear 560 through the transmission chain 550. In other embodiments, the driving gear 540 can drive the driven gear 560 through a conveyor belt or an intermediate transmission gear, or the driving gear 540 can directly mesh with the driven gear 560, as long as the driving gear 540 can drive the driven gear 560.

[0076] In addition, the seedling tray frame rotating shaft 210 is sleeved outside the flipping drive shaft 520. One of the outer wall of the flipping drive shaft 520 and the inner wall of the seedling tray frame rotating shaft 210 is provided with a guide groove 212, and the other is provided with a guide protrusion 521. The guide protrusion 521 and the guide groove 212 cooperate with each other, and the guide protrusion 521 can slide along the guide groove 212.

[0077] When the flip drive motor 510 is working, the flip drive shaft 520 drives the seedling tray frame rotating shaft 210 to rotate through the cooperation of the guide protrusion 521 and the guide groove 212, so that the seedling tray frame 200 flips.

[0078] When the transverse drive motor 410 is working, the lead screw 421 drives the seedling tray frame shaft 210 to move laterally, causing the guide protrusion 521 to slide along the guide groove 212.

[0079] By setting the guide groove 212 and the guide protrusion 521, the guide groove 212 and the guide protrusion 521 can play a transmission role during the flip drive and a guiding role during the lateral drive.

[0080] Please see Figure 7 In this embodiment, a guide protrusion 521 is provided on the outer wall of the flip drive shaft 520, and a guide groove 212 is provided on the inner wall of one end of the seedling tray frame rotating shaft 210. There are multiple guide protrusions 521 arranged in a circumferential array on the outer wall of the flip drive shaft 520; there are also multiple guide grooves 212 arranged in a circumferential array on the inner wall of one end of the seedling tray frame rotating shaft 210. The multiple guide protrusions 521 and multiple guide grooves 212 correspond and cooperate one-to-one. This allows the flip drive shaft 520 to better drive the seedling tray frame rotating shaft 210 during flip drive, and also more effectively improves the guiding effect between the guide protrusions 521 and the guide grooves 212 during lateral movement drive.

[0081] Please see Figures 2-7 The working process of the seedling supply system 10 provided in this embodiment is as follows:

[0082] Multiple seedling trays are loaded onto the seedling tray holder 220. The second motor shaft 511 of the control flip drive motor 510 rotates by a preset angle, and the second motor shaft 511 drives the driven gear 560 through the drive gear 540. On one hand, the driven gear 560 drives the seedling tray frame rotating shaft 210 to rotate through the flip drive shaft 520, and on the other hand, the driven gear 560 drives the transverse drive motor 410 and the lead screw 421 to rotate synchronously. The rotation of the seedling tray frame rotating shaft 210 drives the multiple seedling tray holders 220 to rotate synchronously. Due to the rotation of the second motor shaft 511 by the preset angle, one of the seedling tray holders 220, which is the target, rotates to the limiting groove 151. The seedling tray on the seedling tray holder 220 corresponds to the position of the limiting groove 151. At this time, the control flip drive motor 510 stops working, and the control control seedling claw mechanism 300 rotates. The seedling claw mechanism 300 grabs the seedlings on the seedling tray through the seedling claw notch 152, thereby realizing seedling supply for transplanting or throwing operations.

[0083] After the seedling claw mechanism 300 grabs a seedling at one position on the seedling tray, the first motor shaft 411 of the transverse drive motor 410 is controlled to rotate. The first motor shaft 411 drives the lead screw 421 to rotate. When the lead screw 421 rotates, the slider 211 moves laterally along the lead screw 421, thereby driving the seedling tray frame rotating shaft 210 to move laterally, and driving the seedling tray support 220 and the seedling tray to move laterally. When the seedling tray moves to the next position, the seedling claw mechanism 300 is controlled to rotate to continue grabbing seedlings. In this way, the transverse drive motor 410 drives the seedling tray frame 200 to move laterally back and forth until the seedling claw mechanism 300 grabs the seedling in the seedling tray on the seedling tray support 220.

[0084] After the seedling tray on the seedling tray holder 220 has finished grabbing, the second motor shaft 511 of the flip drive motor 510 is controlled to rotate at a preset angle, so that the next seedling tray holder 220 flips to the limit groove 151 and continues to grab seedlings.

[0085] This process is repeated until all seedlings on the seedling tray support 220 have been picked up. This enables rapid and continuous seedling supply, improving the efficiency of transplanting or throwing seedlings.

[0086] In summary, the seedling supply system 10 and movable platform 1 provided in this embodiment of the invention allow for the following operation: During operation, the seedling trays are supported on the seedling tray frame 200. The seedling tray frame 200 is rotated by the flipping drive mechanism 500 until the seedling trays on the frame 200 rotate to the seedling claw mechanism 300, which then grasps the seedlings from the trays. During continuous operation, the seedling tray frame 200 is moved laterally by the lateral drive mechanism 400, allowing the seedling claw mechanism 300 to grasp seedlings from another position on the seedling tray, thus achieving continuous seedling supply and improving supply efficiency, thereby increasing the efficiency of transplanting or throwing seedlings. Furthermore, by employing a flipping seedling tray frame 200 and setting multiple seedling tray supports 220, the seedling tray supports 220 can be flipped for seedling supply. Compared to traditional longitudinal seedling supply, the seedling tray arrangement is more rational, allowing more seedling trays to be placed in a smaller volume, reducing the space occupied by the seedling supply system 10 and its weight.

[0087] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A seedling supply system, characterized in that, include: support; Seedling tray frame, used to support seedling trays; A seedling claw mechanism is mounted on the support; A flipping drive mechanism is connected to the bracket and the seedling tray frame. It is used to drive the seedling tray frame to flip so that the seedling tray on the seedling tray frame rotates to the seedling claw mechanism so that the seedling claw mechanism can grab the seedlings on the seedling tray. as well as, A lateral movement drive mechanism is connected to the bracket and the seedling tray frame, and is used to drive the seedling tray frame to move laterally so that the seedling claw mechanism can grab seedlings at different positions on the seedling tray; The lateral drive mechanism includes a lateral drive motor and a lateral transmission mechanism; the seedling tray frame includes a seedling tray frame rotating shaft and a seedling tray support. The seedling tray support is connected to the seedling tray frame rotating shaft and is used to support the seedling tray. The seedling tray frame rotating shaft is connected to the flipping drive mechanism. The transverse transmission mechanism is rotatably connected to the bracket, the transverse drive motor is provided with a first motor shaft, the first motor shaft is connected to the transverse transmission mechanism, and the transverse transmission mechanism is connected to the rotating shaft of the seedling tray frame. The flipping drive mechanism includes a flipping drive motor and a flipping drive shaft; the flipping drive motor is mounted on the bracket, the flipping drive motor is connected to the flipping drive shaft, and the flipping drive shaft is engaged with the rotating shaft of the seedling tray frame; The seedling tray frame rotating shaft is sleeved outside the flipping drive shaft. One of the outer wall of the flipping drive shaft and the inner wall of the seedling tray frame rotating shaft is provided with a guide groove, and the other is provided with a guide protrusion. The guide protrusion cooperates with the guide groove, and the guide protrusion can slide along the guide groove.

2. The seedling supply system according to claim 1, characterized in that, The transverse transmission mechanism includes a lead screw, one end of which is connected to the shaft of the first motor, and the other end is rotatably connected to the bracket. The rotating shaft of the seedling tray frame is sleeved outside the lead screw, and a slider is provided on the inner wall of the rotating shaft of the seedling tray frame, which cooperates with the lead screw.

3. The seedling supply system according to claim 2, characterized in that, One end of the lead screw is provided with a mating section, which passes through the flip drive shaft and can rotate relative to the flip drive shaft.

4. The seedling supply system according to claim 3, characterized in that, When the flipping drive motor is working, the flipping drive shaft drives the seedling tray frame to rotate through the cooperation of the guide protrusion and the guide groove, so as to flip the seedling tray frame. When the lateral drive motor is working, the lead screw drives the rotating shaft of the seedling tray to move laterally, causing the guide protrusion to slide along the guide groove.

5. The seedling supply system according to claim 3 or 4, characterized in that, The tilting drive mechanism also includes a driving gear and a driven gear; The reversing drive motor is provided with a second motor shaft, the driving gear is provided on the second motor shaft, the driven gear is provided on the transverse drive motor, the driven gear is fixedly connected to the reversing drive shaft, and the driving gear and the driven gear are connected in a transmission manner; When the flip drive motor is working, the second motor shaft drives the driven gear through the driving gear, and the driven gear drives the seedling tray frame to flip through the flip drive shaft. The driven gear also drives the transverse drive motor and the lead screw to rotate synchronously.

6. The seedling supply system according to claim 2, characterized in that, The number of seedling tray supports includes multiple supports, which are arranged in a circular array along the circumference of the seedling tray support rotation axis.

7. The seedling supply system according to claim 6, characterized in that, Each of the seedling tray brackets has at least two seedling tray support parts arranged sequentially along the axis of the seedling tray frame rotation shaft, and the seedling tray support parts are used to support the seedling trays.

8. The seedling supply system according to claim 1, characterized in that, The bracket includes two fixed arms, a limiting arm, and a mounting arm; The two fixed arms are arranged opposite each other, and the limiting arm and the mounting arm are both connected between the two fixed arms; The flipping drive mechanism and the lateral drive mechanism are respectively connected to at least one of the two fixed arms, and the seedling tray frame is located between the two fixed arms; The limiting arm is provided with a limiting groove, and the limiting arm has a claw notch extending through the limiting groove; The seedling claw mechanism is mounted on the mounting arm and corresponds to the position of the seedling claw notch; The flipping drive mechanism can drive the seedling tray frame to flip until the seedling tray on the seedling tray frame rotates to the limiting groove, so that the seedling claw mechanism can grab the seedlings on the seedling tray through the claw notch.

9. A mobile platform, characterized in that, It includes a body and a seedling supply system as described in any one of claims 1-8, wherein the body is connected to the support frame.

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