Full-automatic electric drive transplanting machine for plug seedlings

Abstract

The application discloses a kind of automatic electric drive transplanters of plug seedling.It includes vehicle body (1);The vehicle body (1) is equipped with seedling supply device (2), and the rear side of seedling supply device (2) is equipped with seedling feeding device (3), and the rear side of seedling feeding device (3) is equipped with seedling taking device (4), and the lower part of seedling taking device (4) is equipped with seedling throwing device (5), and the lower part of seedling throwing device (5) is equipped with planting device (6);The lower part of seedling feeding device (3) is equipped with recovery device (7).The application can meet the agronomic requirements of crop seedling film transplanting, with high transplanting efficiency, good precision, strict machine structure, high degree of automation, which can effectively ensure the straightness of seedling, with the advantages of time-saving and labor-saving.

Description

Technical Field

[0001] This invention relates to the field of transplanter technology, specifically a fully automatic electric-driven transplanter for seedling trays. Background Technology

[0002] Transplanting can advance the crop's growth period. However, traditional transplanting methods are labor-intensive, inefficient, and difficult to implement on a large scale. To adapt to the large-scale and mechanized production models of modern agriculture, tray seedling transplanting offers significant advantages. It not only retains the characteristics of ordinary transplanting but also saves seeds, facilitates standardized management, and is suitable for mechanized operations. It is a modern planting method that can effectively increase yields. Currently, most tray seedling transplanting in China is done using semi-automatic transplanting machines. However, manual labor is still required to remove the seedlings from the trays and place them into the planting device of the semi-automatic machine, resulting in high labor intensity and low efficiency. Therefore, it is necessary to develop a tray seedling transplanting machine to automate the entire transplanting process and solve the problems of high labor intensity, high cost, and low efficiency associated with manual transplanting.

[0003] To address this, Chinese invention patent CN105794375A discloses a seedling transplanting machine. This invention involves manually removing seedling trays from a tray placement rack and placing them on a tray conveyor belt. A tray fixing mechanism secures the trays, which are then transported to below a seedling-retrieving robotic arm. A lifting mechanism raises the seedlings from the trays, and the robotic arm grabs the substrate block. A lifting mechanism then raises the seedling delivery device, which carries the seedlings above the seedling conveyor belt. The robotic arm opens, allowing the seedlings to fall onto the conveyor belt, where they are transported to a guide funnel and guided into a planting device. A furrow opener creates furrows, and the planting device places the seedlings into the furrows, which are then covered with soil by a covering wheel, completing the final step. This process is repeated until all seedlings in the trays have been removed, after which the empty trays are returned to a tray recycling mechanism. This invention patent uses a trench opener to open trenches, a planting device to place seedlings into the trenches, and a soil covering wheel to cover the soil to complete the transplanting. However, the plug seedlings of this invention are simply placed directly into the trenches by the planting device, and the soil covering wheel simply covers the roots of the seedlings. The roots of the seedlings are not fully embedded in the soil, resulting in poor fixation of the plug seedlings during transplanting, and the plug seedlings are more prone to lodging. Summary of the Invention

[0004] The purpose of this invention is to provide a fully automatic electrically driven transplanter for seedling trays. This invention can meet the agronomic requirements for transplanting crop seedlings on film, with high transplanting efficiency and precision. The machine has a rigorous structure and a high degree of automation, effectively ensuring the uprightness of the seedlings and offering the advantages of saving time and labor in transplanting.

[0005] The technical solution of the present invention: A fully automatic electric-driven transplanter for plug seedlings includes a vehicle body; the vehicle body is provided with a seedling supply device, a seedling delivery device is provided at the rear of the seedling supply device, a seedling retrieval device is provided at the rear of the seedling delivery device, a seedling placement device is provided at the lower part of the seedling retrieval device, and a planting device is provided at the lower part of the seedling placement device; a retrieval device is provided at the lower part of the seedling delivery device.

[0006] In use, the seedlings are placed on the seedling tray plate of the seedling supply device. The seedling supply device transfers the seedlings to the seedling delivery device, which then delivers them to the seedling retrieval device. The seedling retrieval device's retrieval claws remove the seedlings from the seedling tray and place them into the seedling placement device. The seedling placement device then places the seedlings into the planting device, which finally completes the transplanting of the seedlings. After transplanting, the empty seedling tray plate is retrieved by the recycling device.

[0007] The aforementioned fully automatic electric-driven transplanter for tray seedlings includes a seedling-picking device comprising a connecting body mounted on a seedling-feeding device; a stepper motor fixed to the connecting body, and a fixing block fixed below the connecting body; a lead screw is provided between the extended end of the stepper motor and the fixing block, a movable block is sleeved on the lead screw, multiple pulley blocks are hinged to the side of the movable block, a movable rod is embedded in the pulley block, and a shovel is fixed to the lower part of the movable rod; the side of the fixing block is hinged to the movable rod; the seedling-picking device further includes a spacing plate located at the rear end of the vehicle body, the spacing plate having multiple spacing grooves; rollers are embedded in the spacing grooves, seedling claw seats are provided on the side of the rollers, and the connecting body is hinged to the side of the seedling claw seats; a slide rail seat is sleeved on the side of the spacing plate, a first slide rail is fixed to the side of the slide rail seat, and the seedling claw seat is slidably mounted on the first slide rail; a first motion mechanism is provided on the side of the spacing plate, the first motion mechanism being fixed to the vehicle body, and the first motion mechanism being used to realize the longitudinal translation of the spacing plate and the lifting and lowering of the slide rail seat.

[0008] The aforementioned fully automatic electric-driven transplanter for seedling trays includes a seedling feeding device comprising a first cup body; a first seedling feeding spout and a second seedling feeding spout are respectively hinged to the lower part of the first cup body; a seedling feeding follower is fixed to the front side of the first seedling feeding spout, and a first connecting rod is hinged between the first seedling feeding spout and the second seedling feeding spout.

[0009] The aforementioned fully automatic electric-driven transplanter for seedling trays includes a planting device comprising a second cup body disposed at the lower part of the seedling feeding device; a first planting spout and a second planting spout are respectively hinged to the lower part of the second cup body; a pressure roller is rotatably connected to the side of the first planting spout, and a second connecting rod is hinged between the first planting spout and the second planting spout; a third motion mechanism is connected to the side of the planting cup via a first linkage mechanism, the third motion mechanism being fixed to the vehicle body, and the third motion mechanism being used to realize the rotation of the first linkage mechanism; the first linkage mechanism includes a crank rod hinged to the side of the third motion mechanism, a connecting rod hinged to the end of the crank rod, and a swing rod hinged to the middle of the connecting rod; the end of the connecting rod is hinged to the planting cup; a cam is fixed to the end of the connecting rod; the cam abuts against the pressure roller; one end of the second linkage mechanism is hinged to the side of the planting cup; the other end of the second linkage mechanism is hinged to the vehicle body.

[0010] The aforementioned fully automatic electric-driven transplanter for plug seedlings includes a seedling supply device comprising multiple stacked seedling placement plates arranged on the vehicle body. Each seedling placement plate has a plug tray plate for placing plug seedlings. The bottom of each seedling placement plate has a transfer groove, and the rear side of each seedling placement plate has a transfer rod for transferring the plug tray plate from the seedling placement plate to the seedling delivery device. The transfer rod lifts the plug tray plate from bottom to top through the transfer groove. The lower part of the transfer rod has a fourth motion mechanism, which is fixed to the vehicle body. The fourth motion mechanism is used to realize the lateral translation, longitudinal translation, lifting, and horizontal rotation of the transfer rod.

[0011] The aforementioned fully automatic electric-driven transplanter for plug seedlings includes a seedling delivery device comprising a first side plate mounted on the vehicle body, a second side plate inclined at the end of the first side plate, a first conveyor belt on the inner side of the first side plate, and a second conveyor belt on the inner side of the second side plate; a fifth motion mechanism is provided at the bottom of the second side plate, the fifth motion mechanism being fixed to the vehicle body, the fifth motion mechanism being used to realize the lateral translation of the second side plate; a recovery roller is rotatably provided at the rear end of the second conveyor belt, the recovery roller being used to transport empty plug seedling trays to a recovery device.

[0012] The aforementioned fully automatic electric-driven transplanter for tray seedlings includes a recycling device comprising a recycling basket located at the bottom of the vehicle body; a tray clamp is provided on the upper part of the recycling basket; a sixth motion mechanism is provided on the upper part of the tray clamp, the sixth motion mechanism being fixed to the vehicle body and used to realize the longitudinal translation of the tray clamp; a recycling channel is provided at the end of the tray clamp, the end of which is connected to the seedling delivery device; a touch plate is provided on the side of the recycling basket, and a release groove is provided in the middle of the touch plate; a recycling follower is fixed on the side of the tray clamp, and the recycling follower is hinged to the sixth motion mechanism; a torsion spring is sleeved on the recycling follower.

[0013] In the aforementioned fully automatic electric-driven transplanter for seedling trays, an electric push rod is hinged to the side of the slide rail seat, and a connecting rod is hinged to the extended end of the electric push rod. The front side of the connecting body is hinged to the connecting rod.

[0014] The aforementioned fully automatic electric-driven transplanter for seedling trays has a lifting seat fixed to the side of the seedling cup, a second motion mechanism fixed to the side of the lifting seat, and the second motion mechanism is used to realize the lifting of the lifting seat; the two ends of the lifting seat are provided with second slide rails, and the second slide rails are fixed to the vehicle body.

[0015] The aforementioned fully automatic electric-driven transplanter for seedling trays has a limiting grid on the upper part of the second side plate; and a guide groove on the inner side of the second side plate for limiting and guiding the seedling tray plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In use, the seedlings in the plug tray are placed on the plug tray plate of the seedling supply device. The seedling supply device transfers the plug tray seedlings to the seedling delivery device, which then delivers them to the seedling retrieval device. The seedling retrieval claw picks up the seedlings and places them into the seedling placement device, which then places them into the planting device. Finally, the planting device completes the transplanting of the plug tray seedlings. In addition, a recycling device can collect empty plug tray plates. The planting device of this invention can insert the roots of the plug tray seedlings into the soil to complete the transplanting. The transplanting of plug tray seedlings has a good fixing effect, and the plug tray seedlings are not easy to fall over. This invention can meet the agronomic requirements of transplanting crop seedlings on film, with high transplanting efficiency and precision. The whole machine has a rigorous structure and a high degree of automation, which can effectively ensure the uprightness of the seedlings and has the advantages of saving time and labor in transplanting.

[0018] 2. The seedling claw of the present invention can be inserted into the seedling tray of the seedling tray plate without directly contacting the seedlings in the seedling tray, which can reduce damage to the seedlings.

[0019] 3. The present invention is equipped with a seedling feeding follower. The seedling feeding follower is contacted by the planting cup, which causes the seedling feeding follower to rotate forward and drive the first seedling feeding duckbill to rotate forward. When the first seedling feeding duckbill rotates forward, it drives the second seedling feeding duckbill to rotate backward through the first linkage rod, thereby realizing the opening of the first seedling feeding duckbill and the second seedling feeding duckbill. This can reduce the use of control devices during seedling feeding and reduce costs. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a side view of the present invention;

[0022] Figure 3 This is a structural diagram of the vehicle body;

[0023] Figure 4 This is a structural diagram of the vehicle body;

[0024] Figure 5 This is a schematic diagram of the seedling supply device;

[0025] Figure 6 This is a schematic diagram of the transfer plug structure;

[0026] Figure 7 This is a schematic diagram of the seedling delivery device;

[0027] Figure 8 This is a schematic diagram of the seedling collection device;

[0028] Figure 9 This is a schematic diagram of the seedling collection device;

[0029] Figure 10 This is a schematic diagram of the structure of the seedling claw;

[0030] Figure 11 This is a schematic diagram of the seedling feeding device;

[0031] Figure 12 This is a schematic diagram of the seedling tray structure;

[0032] Figure 13 This is a schematic diagram of the transplanting device;

[0033] Figure 14 This is a schematic diagram of the first linkage mechanism;

[0034] Figure 15 This is a schematic diagram of the cam and pressure roller structure;

[0035] Figure 16 This is a schematic diagram of the movement of the transplanting cup;

[0036] Figure 17 This is a schematic diagram of the recycling device;

[0037] Figure 18 This is a schematic diagram of the structure of the recovery follower and torsion spring;

[0038] Figure 19 This is a schematic diagram of the seedling delivery device and the recycling device.

[0039] The labels in the attached diagram are as follows: 1-vehicle body, 2-seedling supply device, 201-seedling placement plate, 202-seedling tray plate, 203-transfer trough, 204-transfer rod, 205-fourth motion mechanism, 3-seedling delivery device, 301-first side plate, 302-second side plate, 303-first conveyor belt, 304-second conveyor belt, 305-fifth motion mechanism, 306-recovery roller, 307-limiting grid, 308-guide trough, 4-seedling picking. Device, 401-Dividing plate, 402-Dividing groove, 403-Roller, 404-Seedling claw seat, 405-Slide rail seat, 406-First slide rail, 407-Third motion mechanism, 408-Electric push rod, 409-Connecting rod, 5-Seedling feeding device, 501-Seedling feeding follower, 502-Lifting seat, 503-Second motion mechanism, 504-Second slide rail, 6-Planting device, 601-Third motion mechanism, 602-Second connecting rod 7-Recycling device, 701-Recycling basket, 702-Tray clamp, 703-Sixth motion mechanism, 704-Recycling channel, 705-Touch plate, 706-Release groove, 707-Recycling follower, 708-Torsion spring, 8-Seedling claw, 801-Connector, 802-Stepper motor, 803-Fixed block, 804-Lead screw, 805-Moving block, 806-Pulley block, 807-Moving rod, 808-Shovel blade, 9 - Seedling cup, 901- First cup body, 902- First seedling spout, 903- Second seedling spout, 904- First connecting rod, 10- Planting cup, 1001- Second cup body, 1002- First planting spout, 1003- Second planting spout, 1004- Pressure roller, 1005- Second connecting rod, 11- First linkage mechanism, 1101- Crank rod, 1102- Connecting rod, 1103- Swing rod, 1104- Cam. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0041] Example: Fully automatic electric-driven transplanter for plug seedlings, structure as follows Figures 1 to 4As shown, the device includes a vehicle body 1; the vehicle body 1 is equipped with a seedling supply device 2, a seedling delivery device 3 is provided at the rear of the seedling supply device 2, a seedling retrieval device 4 is provided at the rear of the seedling delivery device 3, a seedling placement device 5 is provided at the lower part of the seedling retrieval device 4, and a planting device 6 is provided at the lower part of the seedling placement device 5; a retrieval device 7 is provided at the lower part of the seedling delivery device 3; the seedling retrieval device 4 includes a seedling retrieval claw 8 located at the rear of the seedling delivery device 3. In use, the seedlings in the plug tray are placed on the plug tray plate 202 of the seedling supply device 2. The seedling supply device 2 transfers the plug tray seedlings to the seedling delivery device 3, and then the seedling delivery device 3 delivers the plug tray seedlings to the seedling retrieval claw 8 of the seedling retrieval device 4. The seedling retrieval claw 8 picks up the plug tray seedlings and places them into the seedling placement device 5, which then places the plug tray seedlings into the planting cup 10 of the planting device 6. Finally, the duckbill at the bottom of the planting cup 10 completes the transplanting of the plug tray seedlings. In addition, the recycling device 7 can recycle the empty plug tray plate 202. The planting device 6 of this invention can insert the roots of the plug tray seedlings into the soil to complete the transplanting. The transplanting of plug tray seedlings has a good fixing effect and the plug tray seedlings are not easy to fall over. This invention can meet the agronomic requirements of transplanting crop seedlings on film, with high transplanting efficiency and precision. The whole machine has a rigorous structure and a high degree of automation, which can effectively ensure the uprightness of the seedlings and has the advantages of saving time and labor in transplanting.

[0042] Take 8 seedlings Figure 10As shown, the seedling-grabbing claw 8 includes a connecting body 801 mounted on the seedling delivery device 3; a stepper motor 802 is fixed on the connecting body 801, which is formed by two L-shaped sheet metal pieces connected end to end with bolts. The stepper motor 802 is fixed inside the bottom of the two L-shaped sheet metal pieces, and a coupling is connected to the protruding end of the bottom of the stepper motor 802; a fixing block 803 is fixed below the connecting body 801, which consists of a first plate, a second plate, and four threaded rods. The first plate is fixed to the second plate by the four threaded rods at the four corners, and the coupling is fixed to the first plate; a lead screw 804 is provided between the protruding end of the stepper motor 802 and the fixing block 803. The upper end of the lead screw 804 is connected to the stepper motor 802 via a coupling, and the lower end of the lead screw 804 is rotatably mounted on the second plate via a bearing. A movable block 805 is sleeved on the lead screw 804, and the movable block 805 is threadedly engaged with the lead screw 804. The movable block 805 moves up and down as the lead screw 804 rotates. Four pulley blocks 806 are hinged to the side of the movable block 805. Three pulleys are rotatably mounted inside the pulley block 806. A movable rod 807 is embedded in the pulley block 806, and the pulley block 806 can slide on the movable rod 807 via the pulleys. A shovel 808 is fixed to the lower part of the movable rod 807. The movable rod 807 is hinged to the second plate. When the seedling grabber 8 is working, the stepper motor 802 drives the lead screw 804 to rotate, thereby causing the movable block 805 to move up and down. When the movable block 805 moves from top to bottom, the pulley block 806 hinged to the side of the movable block 805 slides on the movable rod 807. Since the movable rod 807 is hinged to the second plate, the lower part of the four movable rods 807 rotates from the outside to the inside, and drives the shovel blade 808 to close inward, completing the grabbing of the seedling in the plug tray. When the movable block 805 moves from bottom to top, the lower part of the movable rod 807 rotates from the inside to the outside, and drives the shovel blade 808 to open outward, completing the placement of the seedling in the plug tray.

[0043] Seedling collection device 4 Figures 8 to 9As shown, the seedling-collecting device 4 also includes a spacing plate 401 disposed at the rear end of the vehicle body 1. The spacing plate 401 has four spacing grooves 402, and the distance between the four spacing grooves 402 gradually decreases from bottom to top. A roller 403 is embedded in the spacing groove 402, and a seedling claw seat 404 is disposed on the side of the roller 403. The roller 403 is rotatably disposed on the rear side of the seedling claw seat 404. The connecting body 801 is hinged to the side of the seedling claw seat 404. A slide rail seat 405 is sleeved on the side of the spacing plate 401, and a first slide rail 406 is fixed on the side of the slide rail seat 405. The seedling claw seat 404 is slidably disposed by a first slider. The first motion mechanism 407 is provided on the side of the dividing plate 401, which is used to realize the longitudinal translation of the dividing plate 401 and the lifting of the slide rail seat 405. The first motion mechanism 407 includes a first motor fixed to the dividing plate 401 and a first linear mechanism fixed to the slide rail seat 405, and the first linear mechanism and the first motor are fixed through a connecting frame. A gear is connected to the bottom of the first motor, and a rack meshing with the gear is fixed to the upper part of the vehicle body 1. The first motor is fixed to the upper part of the connecting frame, and the lower part of the connecting frame is connected to the third slide rail through a third slider. The slide rail 401 is slidably mounted on the upper part of the vehicle body 1. A first motor drives a gear to move longitudinally along the side of the rack, causing the spacing plate 401 and the first linear mechanism to move longitudinally. The first linear mechanism includes a second motor fixed to the connecting frame, with a second lead screw connected below it. A second movable block is threaded onto the second lead screw, and the side of the second movable block is fixed to the slide rail seat 408. The slide rail seat 408 is slidably mounted on the connecting frame through the cooperation of a fourth slider and a fourth slide rail. The second motor drives the second lead screw to rotate, causing the second movable block to rise and fall, thereby causing the slide rail seat 408 to rise and fall. 05 During the upward movement, the rollers 403 also rise within the spacing grooves 402, and the distance between the four rollers 403 gradually decreases. The seedling claw seats 404 are slidably mounted on the first slide rail 406, and the distance between the seedling claw seats 404 also gradually decreases. Thus, the first motion mechanism 407 realizes the longitudinal translation and lifting of the seedling claws 8. When the seedling claws 8 are at their highest position, the distance between the seedling claws 8 is reduced to the shortest and corresponds to the spacing between two rows of seedling trays, allowing the seedling trays to be grasped. When the seedling claws 8 are at their lowest position, the distance between the seedling claws 8 is extended to the longest and corresponds to the spacing between the seedling cups 9, allowing the seedling trays to be lowered. An electric push rod 408 is hinged to the side of the slide rail seat 405, and a connecting rod 409 is hinged to the extended end of the electric push rod 408. The front side of the connecting body 801 is hinged to the connecting rod 409. The tilt angle of the seedling claw 8 can be adjusted by extending and retracting the electric push rod 408, so that the seedling claw 8 is perpendicular to the seedling tray plate 202 when taking seedlings.

[0044] Seedling feeding device 5 Figures 11 to 12As shown, the seedling feeding device 5 includes a seedling feeding cup 9 disposed below the seedling taking device 4. The seedling feeding cup 9 includes a first cup body 901; the lower part of the first cup body 901 is hinged to a first seedling feeding spout 902 and a second seedling feeding spout 903, which can open or close; a seedling feeding follower 501 is fixed to the front side of the first seedling feeding spout 902, and a first connecting rod 904 is hinged between the first seedling feeding spout 902 and the second seedling feeding spout 903; when When the planting cup 10 moves to below the seedling cup 9 and continues to move forward, the planting cup 10 abuts against the seedling follower 501, causing the seedling follower 501 to rotate forward and drive the first seedling beak 902 to rotate forward. When the first seedling beak 902 rotates forward, it drives the second seedling beak 903 to rotate backward through the first connecting rod 904, thereby opening the first seedling beak 902 and the second seedling beak 903. The setting of the seedling follower 501 can reduce the use of control devices during seedling feeding and reduce costs. The seedling cup 9 is fixed with a lifting seat 502 on its side. The lifting seat 502 is provided with a second motion mechanism 503 on its side. The second motion mechanism 503 is fixed on the vehicle body 1 and is used to realize the lifting of the lifting seat 502. The two ends of the lifting seat 502 are slidably provided with second slide rails 504, which are fixed on the vehicle body 1. The structure of the second motion mechanism 503 is similar to that of the first linear mechanism described above, so it will not be described again.

[0045] Planting device 6 Figures 13 to 16As shown, the planting device 6 includes a planting cup 10 disposed at the lower part of the seedling feeding device 5; the planting cup 10 includes a second cup body 1001 disposed at the lower part of the seedling feeding device 5; the lower part of the second cup body 1001 is respectively hinged to a first planting spout 1002 and a second planting spout 1003; a pressure roller 1004 is rotatably connected to the side of the first planting spout 1002; a second linkage rod 1005 is hinged between the first planting spout 1002 and the second planting spout 1003; the pressure roller 1004 is rotatably connected to the rear side of the hinge point of the first planting spout 1002; when the pressure roller 1004... When subjected to a downward force from the cam 1104, the first planting duckbill 1002 rotates forward and drives the second planting duckbill 1003 to move backward via the second linkage 1005, thus opening the first planting duckbill 1002 and the second planting duckbill 1003. The side of the planting cup 10 is connected to a third motion mechanism 601 via a first linkage mechanism 11. The third motion mechanism 601 is fixed to the vehicle body 1 and is used to realize the rotation of the first linkage mechanism 11. The first linkage mechanism 11 includes a crank rod 1101 hinged to the side of the third motion mechanism 601. A connecting rod 1102 is hinged to the end of the planting cup 10, and a swing rod 1103 is hinged to the middle of the connecting rod 1102. The end of the connecting rod 1102 is hinged to the planting cup 10. The first linkage mechanism 11 is a conventional crank-swing rod mechanism. The rotation of the crank rod 1101 causes the end of the connecting rod 1102 to reciprocate from front to top to back to bottom, and drives the planting cup 10 to reciprocate from front to top to back to bottom. A cam 1104 is fixed to the end of the connecting rod 1102. The cam 1104 protrudes forward and downward. The cam 1104 abuts against the pressure roller 1004. A second linkage mechanism 60 is hinged to the side of the planting cup 10. One end of the second linkage mechanism 602 is hinged to the vehicle body 1. The second linkage mechanism 602 includes two pairs of rods respectively hinged to the side of the planting cup 10 and the vehicle body 1. The two pairs of rods are hinged to each other, and the line connecting the rods and the hinge points is a parallelogram. The line connecting the hinge points of each pair of rods is perpendicular to the travel plane of the vehicle body 1. The second linkage mechanism 602 is hinged to the planting cup 10 through two parallelogram rods. Since the parallelogram rods are vertical to the two fixed hinge points of the vehicle body 1, the parallelogram structure makes the planting cup 10 also vertical when it moves. The second linkage mechanism 602 enables the planting cup to remain vertical during movement. Therefore, when the planting cup 10 moves forward and upward, the cam 1104 abuts against the pressure roller 1004, but the angle between the protrusion of the cam 1104 and the line connecting the pressure roller 1004 to the hinge point of the first planting duckbill 1002 increases, so it does not exert a downward force on the pressure roller 1004. When the planting cup 10 moves backward and downward, the angle between the protrusion of the cam 1104 and the line connecting the pressure roller 1004 to the hinge point of the first planting duckbill 1002 decreases, and it exerts a downward force on the pressure roller 1004.The planting cup 10 reciprocates from front to top to back to bottom under the drive of the connecting rod 1102 of the first linkage mechanism 11. When the planting cup 10 moves forward and upward, it can just abut against the seedling follower 501, causing the seedling cup 9 to open and the seedlings in the plug tray to fall into the planting cup 10. When the planting cup 10 moves backward and downward, the cam 1104 presses down the pressure roller 1004, causing the first planting beak 1002 and the second planting beak 1003 to open, and the planting cup 10 completes the planting action of inserting into the soil and opening the beak.

[0046] Seedling supply device 2 Figures 5 to 6 As shown, the seedling supply device 2 includes multiple seedling placement plates 201 stacked on the vehicle body 1. Each seedling placement plate 201 has a seedling tray plate 202 for placing plug seedlings. The seedling tray plate 202 is integrally formed with 72 plug trays in 6 rows and 12 columns. The bottom of the seedling tray plate 202 has horizontal and vertical grooves formed due to the inverted truncated pyramid shape of the plug trays. The bottom of the seedling placement plate 201 has six transfer grooves 203, which correspond to the vertical grooves on the bottom of the seedling tray plate 202. The rear side of the seedling placement plate 201 has a... The seedling tray 202 is transferred from the seedling plate 201 to the transfer rod 204 of the seedling delivery device 3; the transfer rod 204 lifts the seedling tray 202 from bottom to top through the transfer groove 203; the transfer rod 204 includes a rod seat fixed on the fourth motion mechanism 205, six rods are fixed on the rod seat, and the outer end of the rod is provided with a cross-shaped structure, and the end of the transfer groove 203 is provided with the cross-shaped structure; this can prevent the seedling tray 202 from slipping off the outer end of the transfer rod 204 when the transfer rod 204 is transferring the seedling tray 202. The lower part of the transfer rod 204 is provided with a fourth motion mechanism 205, which is fixed to the vehicle body 1. The fourth motion mechanism 205 includes a second linear mechanism fixed to the vehicle body 1, a third linear mechanism on the second linear mechanism, a horizontal rotation mechanism on the third linear mechanism, and a fourth linear mechanism on the horizontal rotation mechanism. The transfer rod 204 is fixed to the side of the fourth linear mechanism. The second linear mechanism is used to realize longitudinal translation, the third linear mechanism is used to realize lateral translation, and the fourth linear mechanism is used to realize lifting. The structures of the second, third, and fourth linear mechanisms are similar to those of the first linear mechanism, so they will not be described in detail here. The horizontal rotation mechanism is a third motor fixed to the third linear mechanism. The extended end of the third motor is connected to a second gear, and the side of the second gear meshes with the third gear. A rotating platform is fixed to the upper part of the third gear, and the fourth linear mechanism is fixed to the rotating platform. The fourth motion mechanism 205 is used to realize the lateral translation, longitudinal translation, lifting, and horizontal rotation of the transfer rod 204.

[0047] Seedling delivery device 3 Figure 7As shown, the seedling delivery device 3 includes a first side plate 301 mounted on the vehicle body 1, with a second side plate 302 inclinedly mounted at the end of the first side plate 301. A first conveyor belt 303 is mounted on the inner side of the first side plate 301, and a second conveyor belt 304 is mounted on the inner side of the second side plate 302. A fifth motion mechanism 305 is mounted at the bottom of the second side plate 302 and is fixed to the vehicle body 1. The fifth motion mechanism 305 is used to realize the lateral translation of the second side plate 302. The structure of the fifth motion mechanism 305 is similar to that of the first linear mechanism, so it will not be described in detail here. When the seedling picking claws 8 pick up the seedlings in the tray, since the spacing of the seedling picking claws 8 is fixed, the tray plate 202 needs to be moved so that the seedling picking claws 8 pick up the seedlings in sequence. The seedlings are picked from the seedling trays. In the first round of picking the first row, the four picking claws 8 from left to right pick the seedlings in the first, fourth, seventh, and tenth columns from left to right, respectively. In the second round, the four picking claws 8 from left to right pick the seedlings in the second, fifth, eighth, and eleventh columns from left to right, respectively. In the third round, the four picking claws 8 from left to right pick the seedlings in the third, sixth, ninth, and twelfth columns from left to right, respectively. After that, the second conveyor belt 304 continues to convey the seedlings from the second to sixth rows to the picking claws 8, and repeats the above picking pattern. The fifth motion mechanism 305 moves the second side plate 302 (i.e., the seedling tray plate 202 on the second conveyor belt 304) laterally according to the above picking pattern. The rear end of the second conveyor belt 304 is rotatably equipped with a recovery roller 306. The recovery roller 306 is provided with recovery teeth corresponding to the grooves of the seedling tray 202. The recovery teeth can be fitted into the transverse grooves. The second side plate 302 covers the outside of the recovery roller 306, which serves to limit the seedling tray 202. Rotating the recovery roller 306 can transport the empty seedling tray 202. The recovery roller 306 is used to transport the empty seedling tray 202 to the recovery channel 704 of the recovery device 7. The upper part of the second side plate 302 is provided with a limiting grid 307, which is used to limit the seedling tray 202 and prevent the seedling tray 202 from falling out of the seedling delivery device 3 during transportation. The inner side of the second side plate 302 is provided with a guide groove 308 for limiting and guiding the seedling tray 202. The side of the seedling tray 202 can be fitted into the guide groove 308.

[0048] Recycling device 7, etc. Figures 17 to 19As shown, the recycling device 7 includes two recycling baskets 701 arranged front and rear at the bottom of the vehicle body 1; a pair of tray clamps 702 are provided on the upper part of the recycling baskets 701; a sixth motion mechanism 703 is provided on the upper part of the tray clamps 702, the sixth motion mechanism 703 is fixed on the vehicle body 1, the sixth motion mechanism 703 is used to realize the longitudinal translation of the tray clamps 702, the structure of the sixth motion mechanism 703 is similar to the first linear mechanism, so it will not be described in detail here; the end of the tray clamps 702 is provided with a recycling channel 704 at an incline, the end of the recycling channel 704 is connected to the seedling delivery device 3, the seedling tray plate 202 conveyed to the recycling channel 704 by the recycling roller 306 is in a bottom-up state, the seedling tray plate 202 slides into the tray clamp 702 through the inclined recycling channel 704; the side of the recycling baskets 701 is provided with A contact plate 705 is provided, and a release groove 706 is provided in the middle of the contact plate 705. The release groove 706 is a structure in which the contact plate 705 is bent outward. A retrieval follower 707 is fixed to the side of the tray clamp 702, and the upper part of the retrieval follower 707 is hinged to the sixth motion mechanism 703. A torsion spring 708 is sleeved on the retrieval follower 707. The bottom of the retrieval follower 707 is attached to the inner side of the contact plate 705 by the torsion of the torsion spring 708. When the retrieval follower 707 moves to the release groove 706, due to the torsion of the torsion spring 708, the bottom of the retrieval follower 707 continues to be attached to the inner side of the release groove 706. At this time, the bottom of the retrieval follower 707 rotates outward, driving the tray clamp 702 to rotate outward, so that the bottom of the tray plate 202 on the tray clamp 702 falls into the retrieval basket 701 with the bottom facing upward.

[0049] Working Principle: In use, the seedlings in the plug tray are placed on the plug tray plate 202 of the seedling supply device 2. The seedling supply device 2 transfers the seedlings to the seedling delivery device 3, which then delivers them to the seedling retrieval device 4. The seedling retrieval claw 8 picks up the seedlings and places them into the seedling placement device 5. The seedling placement device 5 then places the seedlings into the planting device 6, which completes the transplanting of the plug tray seedlings. In addition, the recycling device 7 can recycle the empty plug tray plate 202. The planting device 6 of this invention can insert the roots of the plug tray seedlings into the soil to complete the transplanting. The transplanting of plug tray seedlings has a good fixing effect, and the plug tray seedlings are not easy to fall over. This invention can meet the agronomic requirements of transplanting crop seedlings on film, with high transplanting efficiency and precision. The whole machine has a rigorous structure and a high degree of automation, which can effectively ensure the uprightness of the seedlings and has the advantages of saving time and labor in transplanting.

[0050] The above embodiments merely illustrate implementation methods of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. Furthermore, in these embodiments, "up," "down," "left," "right," "front," and "back" represent relative positions only, not absolute positions. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A fully automatic electric-driven transplanter for plug seedlings, comprising a vehicle body (1); characterized in that: The vehicle body (1) is provided with a seedling supply device (2), a seedling delivery device (3) is provided on the rear side of the seedling supply device (2), a seedling taking device (4) is provided on the rear side of the seedling delivery device (3), a seedling feeding device (5) is provided at the lower part of the seedling taking device (4), and a planting device (6) is provided at the lower part of the seedling feeding device (5); a recycling device (7) is provided at the lower part of the seedling delivery device (3). In use, the seedlings are placed on the seedling tray plate of the seedling supply device (2). The seedling supply device (2) transfers the seedlings to the seedling delivery device (3). Then, the seedling delivery device (3) delivers the seedlings to the seedling retrieval device (4). The seedling retrieval claw (8) of the seedling retrieval device (4) takes out the seedlings and puts them into the seedling placement device (5). The seedling placement device (5) puts the seedlings into the planting device (6). Finally, the planting device (6) completes the transplanting of the seedlings. After transplanting, the empty seedling tray plate is retrieved by the recycling device (7). The seedling taking device (4) includes a connecting body (801) mounted on the seedling delivery device (3); a stepper motor (802) is fixed on the connecting body (801), and a fixing block (803) is fixed below the connecting body (801); a lead screw (804) is provided between the extended end of the stepper motor (802) and the fixing block (803), a movable block (805) is sleeved on the lead screw (804), a plurality of pulley blocks (806) are hinged to the side of the movable block (805), a movable rod (807) is embedded in the pulley block (806), and a shovel (808) is fixed to the lower part of the movable rod (807); the side of the fixing block (803) is hinged to the movable rod (807); the seedling taking device (4) also includes a dividing plate (401) mounted at the rear end of the vehicle body (1). The partition plate (401) is provided with a plurality of partition grooves (402); a roller (403) is embedded in the partition groove (402), and a claw seat (404) is provided on the side of the roller (403). The connecting body (801) is hinged to the side of the claw seat (404); a slide rail seat (405) is sleeved on the side of the partition plate (401), and a first slide rail (406) is fixed on the side of the slide rail seat (405). The claw seat (404) is slidably disposed on the first slide rail (406); a first motion mechanism (407) is provided on the side of the partition plate (401). The first motion mechanism (407) is fixed on the vehicle body (1). The first motion mechanism (407) is used to realize the longitudinal translation of the partition plate (401) and the lifting of the slide rail seat (405). The seedling delivery device (3) includes a first side plate (301) mounted on the vehicle body (1), a second side plate (302) inclined at the end of the first side plate (301), a first conveyor belt (303) on the inner side of the first side plate (301), and a second conveyor belt (304) on the inner side of the second side plate (302); a fifth motion mechanism (305) is provided at the bottom of the second side plate (302), the fifth motion mechanism (305) is fixed on the vehicle body (1), and the fifth motion mechanism (305) is used to realize the lateral translation of the second side plate (302); a recovery roller (306) is rotatably provided at the rear end of the second conveyor belt (304), and the recovery roller (306) is used to transport the empty seedling tray (202) into the recovery device (7); The recycling device (7) includes a recycling basket (701) located at the bottom of the vehicle body (1); a tray clamp (702) is provided on the upper part of the recycling basket (701); a sixth motion mechanism (703) is provided on the upper part of the tray clamp (702), the sixth motion mechanism (703) is fixed on the vehicle body (1), and the sixth motion mechanism (703) is used to realize the longitudinal translation of the tray clamp (702); a recycling channel (704) is provided at the end of the tray clamp (702), and the end of the recycling channel (704) is connected to the seedling delivery device (3); a touch plate (705) is provided on the side of the recycling basket (701), and a release groove (706) is provided in the middle of the touch plate (705); a recycling follower (707) is fixed on the side of the tray clamp (702), and the recycling follower (707) is hinged to the sixth motion mechanism (703); a torsion spring (708) is sleeved on the recycling follower (707).

2. The fully automatic electric-driven transplanter for plug seedlings according to claim 1, characterized in that: The seedling feeding device (5) includes a first cup body (901) disposed below the seedling taking device (4); the lower part of the first cup body (901) is respectively hinged with a first seedling feeding spout (902) and a second seedling feeding spout (903); a seedling feeding follower (501) is fixed on the front side of the first seedling feeding spout (902), and a first connecting rod (904) is hinged between the first seedling feeding spout (902) and the second seedling feeding spout (903).

3. The fully automatic electric-driven transplanter for plug seedlings according to claim 1, characterized in that: The planting device (6) includes a second cup body (1001) disposed at the lower part of the seedling feeding device (5); the lower part of the second cup body (1001) is respectively hinged with a first planting duckbill (1002) and a second planting duckbill (1003); the side of the first planting duckbill (1002) is rotatably connected with a pressure roller (1004), and a second linkage rod (1005) is hinged between the first planting duckbill (1002) and the second planting duckbill (1003); the planting device (6) also includes a planting cup (10) disposed at the lower part of the seedling feeding device (5), the side of the planting cup (10) is connected to a third motion mechanism (601) via a first linkage mechanism (11), and the third motion mechanism (601) is fixed on the vehicle body (1), so The third motion mechanism (601) is used to realize the rotation of the first linkage mechanism (11); the first linkage mechanism (11) includes a crank rod (1101) hinged to the side of the third motion mechanism (601), a connecting rod (1102) hinged to the end of the crank rod (1101), and a swing rod (1103) hinged to the middle of the connecting rod (1102); the end of the connecting rod (1102) is hinged to the planting cup (10); a cam (1104) is fixed to the end of the connecting rod (1102); the cam (1104) abuts against the pressure roller (1004); one end of the second linkage mechanism (602) is hinged to the side of the planting cup (10); the other end of the second linkage mechanism (602) is hinged to the vehicle body (1).

4. The fully automatic electric-driven transplanter for plug seedlings according to claim 1, characterized in that: The seedling supply device (2) includes multiple seedling placement plates (201) stacked on the vehicle body (1), and seedling placement plates (202) for placing seedling trays are provided on the seedling placement plates (201); the bottom of the seedling placement plate (201) is provided with a transfer groove (203), and the rear side of the seedling placement plate (201) is provided with a transfer rod (204) for transferring the seedling tray (202) from the seedling placement plate (201) to the seedling delivery device (3); the transfer rod (204) lifts the seedling tray (202) from bottom to top through the transfer groove (203); the lower part of the transfer rod (204) is provided with a fourth motion mechanism (205), the fourth motion mechanism (205) is fixed on the vehicle body (1), and the fourth motion mechanism (205) is used to realize the lateral translation, longitudinal translation, lifting and lowering and horizontal rotation of the transfer rod (204).

5. The fully automatic electric-driven transplanter for plug seedlings according to claim 1, characterized in that: The slide rail seat (405) is hinged to an electric push rod (408) on its side, and the extended end of the electric push rod (408) is hinged to a connecting rod (409). The front side of the connecting body (801) is hinged to the connecting rod (409).

6. The fully automatic electric-driven transplanter for plug seedlings according to claim 2, characterized in that: The seedling feeding device (5) includes a seedling cup (9) set below the seedling taking device (4). A lifting seat (502) is fixed on the side of the seedling cup (9). A second motion mechanism (503) is provided on the side of the lifting seat (502). The second motion mechanism (503) is fixed on the vehicle body (1). The second motion mechanism (503) is used to realize the lifting of the lifting seat (502). A second slide rail (504) is slidably provided at both ends of the lifting seat (502). The second slide rail (504) is fixed on the vehicle body (1).

7. The fully automatic electric-driven transplanter for plug seedlings according to claim 1, characterized in that: The upper part of the second side plate (302) is provided with a limiting grille (307); the inner side of the second side plate (302) is provided with a guide groove (308) for limiting and guiding the cavity plate (202).

Images