Automatic seedling clamping device and full-automatic transplanting machine

Abstract

This invention relates to the field of agricultural machinery technology, and in particular to a fully automatic transplanter suitable for transplanting vegetable seedlings in hilly and mountainous areas. The invention discloses an automatic seedling gripping device, comprising a translational force mechanism with a rotating mechanism mounted on it, the translational force mechanism driving the rotating mechanism to translate; the rotating mechanism includes rotating joints axially in the vertical direction and axially in the horizontal direction, with a parallelogram linkage mechanism hinged at the end of each rotating joint; a flexible seedling gripper is hinged to the free end of the parallelogram linkage mechanism, and the parallelogram linkage mechanism drives the flexible seedling gripper to grip the seedling in parallel. The technical problem solved by this invention is to provide an automatic seedling gripping device and a fully automatic transplanter that provides precise gripping and protects the seedlings.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a fully automatic transplanter for automatically transplanting seedlings of vegetables in hilly and mountainous areas. Background Technology

[0002] my country is the world's largest vegetable producer, and transplanting is a crucial step in vegetable cultivation. With increasing demand for vegetables, advancements in seedling technology, and rising labor costs, the high labor intensity and low efficiency of manual transplanting have spurred the development of automated seedling transplanting machinery. However, existing conventional transplanters are primarily used in vast plains areas, and their weight and size make them unsuitable for hilly and mountainous regions like those in Southwest China. While semi-automatic transplanters exist, they suffer from inaccurate tray transplanting and low efficiency. Furthermore, existing transplanters typically use rigid grippers that grab seedlings directly from the top, posing a significant risk of damaging the seedlings and causing missed grabs when seedlings are of varying heights.

[0003] Therefore, those skilled in the art are dedicated to developing an automatic seedling gripping device and a fully automatic transplanter that can accurately grasp and protect seedlings. Summary of the Invention

[0004] In view of the above-mentioned deficiencies of the prior art, the present invention discloses an automatic seedling gripping device and a fully automatic transplanter. The technical problem to be solved is to provide an automatic seedling gripping device and a fully automatic transplanter that can grasp seedlings accurately and protect them.

[0005] To achieve the above objectives, the present invention provides an automatic seedling clamping device, comprising a translational force mechanism, on which a rotating mechanism is mounted, the translational force mechanism driving the rotating mechanism to translate; the rotating mechanism includes rotating joints with axial directions in the vertical and horizontal directions, and a parallelogram linkage mechanism hinged at the end of the rotating joints, the free end of the parallelogram linkage mechanism being connected to a flexible seedling clamping claw, the parallelogram linkage mechanism driving the flexible seedling clamping claw to clamp the seedling in parallel.

[0006] Preferably, the translational power mechanism includes a gantry frame, on which a rotatable lead screw is mounted. The lead screw is driven by a servo motor, and a slider is threaded onto the lead screw. The slider has a groove that mates with the crossbeam, allowing it to slide along the crossbeam. A horizontal rotary joint is connected to the bottom of the slider, with its axis of rotation vertically aligned. A vertical rotary joint is connected to the axis of rotation of the horizontal rotary joint, with its axis of rotation horizontally aligned. Both rotary joint axes are equipped with drive motors. Thus, with the two rotary joints, the flexible seedling gripper can rotate 360° horizontally and simultaneously oscillate vertically, enabling accurate positioning of the flexible seedling gripper and precise grasping of the seedlings.

[0007] Preferably, the gantry frame is also equipped with a camera for positioning the seedling trays. The camera includes a monocular camera, which can accurately locate the position of the seedling trays and seedlings, and further realize the precise grasping of seedlings.

[0008] Preferably, the vertical rotary joint's pivot is connected to the horizontal rotary joint via a connecting frame. The vertical rotary joint is also hinged to a first connecting rod, and the connecting frame is hinged to a second connecting rod. The free ends of the first and second connecting rods are hinged to a mounting base. The connecting frame, the first connecting rod, the second connecting rod, and the mounting base form the parallelogram linkage mechanism. By rotating the horizontal rotary joint, the entire parallelogram linkage mechanism can rotate in the same horizontal plane; by rotating the pivot of the vertical rotary joint, the entire parallelogram linkage mechanism can rotate in the same vertical plane. Through the adjustment of the combined motion of these structures, plus the horizontal movement of the translational force mechanism, accurate positioning of the clamping position is achieved.

[0009] Preferably, the flexible seedling clamp is mounted on the mounting base. The flexible seedling clamp includes a shell, a hollow silicone core, and a spring. The hollow silicone core is disposed within the shell to form a flexible clamp, and the spring is disposed between two flexible clamps. The mounting base has an upper mounting groove and a lower mounting groove. The first connecting rod is hinged in the upper mounting groove, and a cylinder is fixed in the lower mounting groove for inflating the flexible seedling clamp, causing it to expand and clamp the seedling. The lower mounting groove is equipped with an air pipe connected to the hollow silicone core for inflating the hollow silicone core within the flexible seedling clamp. The inflated silicone core generates a force that counteracts the spring force, causing the shell to close, while the outer silicone core continues to inflate and expand, tightly clamping the seedling. By using flexible seedling clamps, the potential for serious damage to seedlings caused by rigid seedling clamps in the prior art can be avoided.

[0010] The present invention also provides a fully automatic seedling transplanter, including the seedling automatic clamping device as described above.

[0011] Preferably, the fully automatic seedling transplanter provided by the present invention further includes a frame, on which the translational force mechanism is installed. The translational force mechanism is used to drive the rotating mechanism to translate. Lifting devices are respectively installed at the front and rear ends of the frame, and a conveying device is installed between the two lifting devices. The lifting devices are used to stack seedling trays in layers, and the conveying device is used to transfer seedling trays from one lifting device to the other lifting device. A planting device is also provided on the frame, located below the conveying device. After the flexible seedling clamp removes the seedlings from the seedling trays, the planting device is used to plant the seedlings in the soil. An electrical control box for controlling the entire machine is also installed on the gantry frame. The electrical control box is electrically connected to the translational force mechanism, lifting devices, conveying devices, flexible seedling clamps, and planting devices.

[0012] Preferably, the lifting device includes a fixed frame and a lifting frame. The fixed frame includes symmetrically arranged support frames, each side of which includes a vertically connected base rod and a vertical rod. Two sets of gears with axially horizontal orientation are mounted on the vertical rods. The lifting frame has several equidistant shelves, each shelf having a vertically oriented rack on both sides. Each rack meshes with a gear, and the gear is connected to a power motor. The power motor drives the gears to rotate, which in turn moves the racks up and down, thus lifting the lifting frame.

[0013] Preferably, the conveying device includes rotating rollers, with both ends of the rollers rotatably mounted on the vertical bars of the fixed frame on the same side. A conveyor belt connects the two rotating rollers at the front and rear ends of the frame during travel, and the rollers are connected to a power motor. Seedling trays can be placed on the upper side of the conveyor belt, and the conveying device is located below the translational power mechanism. The conveyor belt is located within the shelf. When the shelf descends, the seedling trays containing seedlings, pre-placed on the shelf, fall onto the conveyor belt. The power motor drives the rotating rollers to rotate, which in turn moves the conveyor belt, thus conveying the seedling trays to below the flexible seedling clamps, where they stop. The flexible seedling clamps then grip and pick up the seedlings after positioning.

[0014] Preferably, the planting device includes a power transmission shaft connected to the frame, with a composite parallel connecting rod hinged to the power transmission shaft. A duckbill-type planter is installed at the end of the composite parallel connecting rod. Flexible seedling grippers place the picked-up seedlings into the duckbill-type planter, completing the planting. This process is repeated continuously to complete the fully automatic transplanting process. After one seedling in a tray is planted, the conveyor belt continues to move, moving to the other side where the shelf rises, retracting the trays sequentially onto the shelf for easy collection. The entire transplanter is powered by a battery on the frame, and the electrical control box controls the entire machine.

[0015] The beneficial effects of this invention are:

[0016] By incorporating a translational force mechanism, the flexible seedling gripper can move a wide range of horizontally, ensuring it can be moved from one side of the seedling tray to the other. Simultaneously, the rotational mechanism allows the flexible seedling gripper to rotate 360° horizontally via a vertically oriented joint, and to swing vertically via another horizontally oriented joint, thus accurately positioning the gripper for precise grasping. Furthermore, the parallelogram linkage mechanism allows the flexible seedling gripper to swing up and down within a small range, facilitating seedling grasping. The flexible gripper is horizontally positioned at the end of the parallelogram linkage mechanism, providing flexible, parallel gripping to prevent damage and protecting the seedlings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a specific embodiment of the automatic seedling clamping device of the present invention;

[0018] Figure 2 This is a schematic diagram of the motion of the parallelogram linkage mechanism of the automatic seedling gripping device of the present invention;

[0019] Figure 3 This is a schematic diagram of the flexible seedling gripper of the automatic seedling gripping device of the present invention;

[0020] Figure 4 This is a schematic diagram of a specific embodiment of the fully automatic seedling transplanter of the present invention;

[0021] Figure 5 This is a schematic diagram of the lifting device and conveying device of the fully automatic seedling transplanter of the present invention;

[0022] Figure 6 This is a schematic diagram of the planting device of the fully automatic seedling transplanter of the present invention.

[0023] In the above attached figures: 1. Automatic seedling gripping device; 11. Translational power mechanism; 111. Gantry frame; 112. Lead screw; 113. Slider; 114. Camera; 12. Rotation mechanism; 121. Horizontal rotation joint; 122. Vertical rotation joint; 13. Parallelogram linkage mechanism; 131. First link; 132. Second link; 133. Connecting frame; 134. Mounting base; 14. Flexible seedling gripper; 141. Outer shell; 142. Hollow silicone inner core; 143. Spring; 2. Frame; 3. Lifting device; 31. Fixed frame; 311. Gear; 32. Lifting frame; 321. Rack; 322. Shelf; 4. Conveying device; 41. Rotating roller; 42. Conveyor belt; 5. Planting device; 51. Power transmission shaft; 52. Composite parallel link; 53. Duckbill type planter; 6. Electrical control box; 7. Seedling tray. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are used only for the convenience of describing the present invention and for 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 manner. Therefore, they should not be construed as limitations on the present invention. Terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] like Figure 1 As shown, the present invention provides an automatic seedling clamping device 1, including a translational force mechanism 11, on which a rotating mechanism 12 is mounted, and the translational force mechanism 11 can drive the rotating mechanism 12 to translate; the rotating mechanism 12 includes a rotating joint with an axial direction along the vertical direction and an axial direction along the horizontal direction, and a parallelogram linkage mechanism 13 is hinged at the end of the rotating joint, and a flexible seedling clamping claw 14 is connected to the free end of the parallelogram linkage mechanism 13, and the parallelogram linkage mechanism 13 drives the flexible seedling clamping claw 14 to clamp the seedling in parallel.

[0026] In the above embodiments, by setting the translational force mechanism 11, the flexible seedling clamping claw 14 can move a large range in the horizontal direction, ensuring that the flexible seedling clamping claw 14 can be moved from one side of the seedling tray 7 to the other. Simultaneously, by setting the rotation mechanism 12, the axial vertical rotation joint allows the flexible seedling clamping claw 14 to rotate 360° in the horizontal plane, and the axial horizontal rotation joint allows the flexible seedling clamping claw 14 to swing in the vertical plane, thereby accurately positioning the flexible seedling clamping claw 14 and achieving precise grasping. Furthermore, by setting the parallelogram linkage mechanism 13, the flexible seedling clamping claw 14 can swing up and down within a small range, facilitating the grasping of seedlings. The flexible seedling clamping claw 14 is horizontally positioned at the end of the parallelogram linkage mechanism 13, achieving flexible parallel seedling clamping, avoiding damage to the seedlings, and also protecting them.

[0027] Specifically, the translational motion mechanism 11 includes a gantry frame 111. A rotatable lead screw 112 is mounted on the crossbeam of the gantry frame 111. The lead screw 112 is driven by a servo motor. A slider 113 is threaded onto the lead screw 112, and the slider 113 has a groove that mates with the crossbeam, allowing it to slide along the crossbeam. A horizontal rotary joint 121 is connected to the bottom of the slider 113. The axis of rotation of the horizontal rotary joint 121 is vertical. A vertical rotary joint 122 is connected to the axis of rotation of the horizontal rotary joint 121. The axis of rotation of the vertical rotary joint 122 is horizontal. Both the axes of the rotary joints are equipped with drive motors. Thus, with the two rotary joints, the flexible seedling gripper 14 can rotate 360° in the horizontal plane and swing in the vertical plane, thereby accurately positioning the flexible seedling gripper 14 and achieving precise grasping of the seedlings. Meanwhile, a camera 114 for positioning the seedling tray 7 is also installed on the gantry frame 111. The camera 114 includes a monocular camera, which can accurately locate the position of the seedling tray 7 and the seedling, and further realize the precise grasping of the seedling.

[0028] like Figure 1 and Figure 2 As shown, the pivot of the vertical rotary joint 122 is connected to the horizontal rotary joint 121 via a connecting frame 133. The vertical rotary joint 122 is also hinged to a first connecting rod 131, and a second connecting rod 132 is hinged to the connecting frame 133. The free ends of the first and second connecting rods 131 and 132 are hinged to the mounting base 134. The connecting frame 133, the first connecting rod 131, the second connecting rod 132, and the mounting base 134 form a parallelogram linkage mechanism 13. By rotating the horizontal rotary joint 121, the entire parallelogram linkage mechanism 13 can rotate in the same horizontal plane; by rotating the pivot of the vertical rotary joint 122, the entire parallelogram linkage mechanism 13 can rotate in the same vertical plane. Through the adjustment of the combined movements of these structures, plus the horizontal movement of the translational force mechanism 11, accurate positioning of the clamping position is achieved.

[0029] like Figure 3 and Figure 1As shown, a flexible seedling clamp 14 is installed on the mounting base 134. The flexible seedling clamp 14 includes a shell 141, a hollow silicone core 142, and a spring 143. The hollow silicone core 142 is set inside the shell 141 to form a flexible clamp, and the spring 143 is set between the two flexible clamps. The mounting base 134 has an upper mounting groove and a lower mounting groove. The first connecting rod 131 is hinged in the upper mounting groove, and a cylinder is fixed in the lower mounting groove for inflating the flexible seedling clamp 14, causing it to expand and clamp the seedling. The lower mounting groove is equipped with an air pipe connected to the hollow silicone core 142 for inflating the hollow silicone core 142 inside the flexible seedling clamp 14. The inflated silicone core generates a force that counteracts the elastic force of the spring 143, causing the shell 141 to close, while the outer silicone core continues to inflate and expand to tightly clamp the seedling. By setting up the flexible seedling clamp 14, the potential danger of severely damaging the seedlings caused by the rigid seedling clamps used in the prior art can be avoided.

[0030] like Figures 4 to 6 As shown, the present invention also provides a fully automatic seedling transplanter, including the automatic seedling clamping device 1 as described above. The fully automatic seedling transplanter provided by the present invention also includes a frame 2, on which a translational force mechanism 11 is installed. The translational force mechanism 11 drives the rotating mechanism 12 to translate. Lifting devices 3 are respectively installed at the front and rear ends of the frame 2, and a conveying device 4 is installed between the two lifting devices 3. The lifting devices 3 are used to stack seedling trays 7 in layers, and the conveying device 4 is used to convey the seedling trays 7 from one lifting device 3 to the other lifting device 3. A planting device 5 is also provided on the frame 2, located below the conveying device 4. After the flexible seedling clamp 14 removes the seedlings from the seedling trays 7, the planting device 5 is used to plant the seedlings in the soil. An electrical control box 6 for controlling the entire machine is also installed on the gantry frame 111. The electrical control box 6 is electrically connected to the translational force mechanism 11, the lifting devices 3, the conveying device 4, the flexible seedling clamp 14, and the planting device 5.

[0031] like Figure 5As shown, the lifting device 3 includes a fixed frame 31 and a lifting frame 32. The fixed frame 31 includes symmetrically arranged support frames. Each support frame includes a vertically connected base rod and a vertical rod. Two sets of gears 311 with axial direction along the horizontal direction are provided on the vertical rod. The lifting frame 32 has several equidistant shelves 322. Racks 321 with vertical direction are respectively provided on both sides of the shelves 322. The racks 321 on each side mesh with the gears 311, and the gears 311 are connected to a power motor. The power motor drives the gears 311 to rotate, and the gears 311 drive the racks 321 to move up and down, thereby enabling the lifting frame 32 to lift. In addition, the conveying device 4 includes a rotating roller 41. The two ends of the rotating roller 41 are respectively rotatably set on the vertical rod of the fixed frame 31 on the same side. A conveyor belt 42 is connected between the two rotating rollers 41 at the front and rear ends of the frame 2, and the rotating roller 41 is connected to a power motor. The upper side of the conveyor belt 42 can be used to place the tray 7, and the conveying device 4 is located below the translational power mechanism 11. The conveyor belt 42 is located inside the shelf 322. When the shelf 322 descends, the seedling tray 7, which is pre-placed on the shelf 322, falls onto the conveyor belt 42. The rotating roller 41 is driven by the power motor to rotate, and the rotating roller 41 drives the conveyor belt 42 to move, so that the seedling tray 7 can be conveyed to the area below the flexible seedling clamp 14 and then stop. The flexible seedling clamp 14 clamps the seedling after positioning.

[0032] like Figure 6 As shown, the planting device 5 includes a power transmission shaft 51 connected to the frame 2. A composite parallel connecting rod 52 is hinged to the power transmission shaft 51, and a duckbill-type planter 53 is installed at the end of the composite parallel connecting rod 52. Flexible seedling grippers 14 grip the seedlings and place them into the duckbill-type planter 53, completing the planting. This process is repeated continuously to complete the fully automatic transplanting process. After the seedlings in one tray 7 are planted, the conveyor belt 42 continues to move. After moving to the other side, the shelf 322 rises, retracting the trays 7 sequentially onto the shelf 322 for easy centralized retrieval. The entire transplanter is powered by a battery on the frame 2, and the electrical control box 6 is responsible for controlling the entire machine.

[0033] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An automatic seedling gripping device, characterized in that: The device includes a translational force mechanism (11), on which a rotating mechanism (12) is mounted. The translational force mechanism (11) can drive the rotating mechanism (12) to translate. The rotating mechanism (12) includes a rotating joint with an axial direction in the vertical direction and an axial direction in the horizontal direction. The rotating joint at the end is hinged to a parallelogram linkage mechanism (13). The free end of the parallelogram linkage mechanism (13) is connected to a flexible seedling clamp (14). The parallelogram linkage mechanism (13) drives the flexible seedling clamp (14) to clamp the seedling in parallel. The translational power mechanism (11) includes a gantry frame (111), on which a rotatable lead screw (112) is mounted. A slider (113) is threaded onto the lead screw (112), and a horizontal rotary joint (121) is connected to the bottom of the slider (113). The horizontal rotary joint (121) is connected to a vertical rotary joint (122). The vertical rotating joint (122) is connected to the horizontal rotating joint (121) via a connecting frame (133). The vertical rotating joint (122) is also hinged to a first connecting rod (131). A second connecting rod (132) is hinged to the connecting frame (133). The free ends of the first connecting rod (131) and the second connecting rod (132) are hinged to the mounting base (134). The connecting frame (133), the first connecting rod (131), the second connecting rod (132), and the mounting base (134) form the parallelogram linkage mechanism (13). One end of the vertical rotating joint (122) passes through the connecting frame (133) and is hinged to the first connecting rod (131).

2. The automatic seedling gripping device as described in claim 1, characterized in that: The gantry (111) is also equipped with a camera (114) for positioning the acupoint (7).

3. The automatic seedling gripping device as described in claim 1, characterized in that: The flexible clamping claw (14) is installed on the mounting base (134). The flexible clamping claw (14) includes a shell (141), a hollow silicone inner core (142), and a spring (143). The hollow silicone inner core (142) is arranged inside the shell (141) to form a flexible clamp, and the spring (143) is arranged between the two flexible clamps.

4. A fully automatic seedling transplanter, characterized in that: Includes the automatic seedling gripper (1) as described in any one of claims 2 to 3.

5. The fully automatic seedling transplanter as described in claim 4, characterized in that: It also includes a frame (2), on which the translational force mechanism (11) is installed. Lifting devices (3) are installed at the front and rear ends of the frame (2), and a conveying device (4) is installed between the two lifting devices (3). The lifting device (3) is used to stack the seedling trays (7) in layers, and the conveying device (4) is used to convey the seedling trays (7) on one end of the lifting device (3) to the lifting device (3) on the other end. The frame (2) is also provided with a planting device (5), which is located below the conveying device (4). The gantry frame (111) is also equipped with an electrical control box (6) for controlling the whole machine.

6. The fully automatic seedling transplanter as described in claim 5, characterized in that: The lifting device (3) includes a fixed frame (31) and a lifting frame (32). The fixed frame (31) is provided with a plurality of gears (311) axially in the horizontal direction. The lifting frame (32) is provided with a rack (321) vertically. The rack (321) meshes with the gears (311), and the gears (311) are connected to a power source. The lifting frame (32) is provided with a plurality of equidistant shelves (322), and the racks (321) are respectively provided on both sides of the shelves (322).

7. The fully automatic seedling transplanter as described in claim 6, characterized in that: The conveying device (4) includes rotating rollers (41) respectively disposed on the fixed frame (31), a conveyor belt (42) is connected between the two rotating rollers (41), and the rotating rollers (41) are connected to a power source; a cavity plate (7) can be placed between the upper sides of the conveyor belt (42), and the conveying device (4) is located below the translational power mechanism (11).

8. The fully automatic seedling transplanter as described in claim 6, characterized in that: The planting device (5) includes a power transmission shaft (51) connected to the frame (2), a composite parallel link (52) is hinged on the power transmission shaft (51), and a duckbill type planter (53) is installed at the end of the composite parallel link (52).

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