Substrate block seedling transplanting machine and automatic feeding-pushing-seedling separating method

Abstract

This invention relates to the field of seedling transplanting technology, specifically to a substrate block seedling transplanter and an automatic delivery-push-separation method. The substrate block seedling transplanter includes a lifting device, a first conveying device, a separating device, a second conveying device, a pushing and separating device, and a conveying and planting device. The first conveying device transports stacked seedling trays to the lifting device. When the stacked seedling trays are transported to the lifting device, its supporting platform receives the trays. As the supporting platform rises, the topmost single seedling tray enters the lifting channel. Then, the pushing structure pushes the single seedling tray out of the stacked seedling trays and onto the second conveying device. When a single row of substrate block seedlings aligns with the inclined conveying and planting unit, the separating cylinder pushes the substrate block seedlings row by row towards the opposite inclined conveying and planting unit, completing the layer-by-layer grading and automatic delivery and separation of single-row substrate block seedlings from stacked seedling trays to single seedling trays. This substrate block seedling transplanter and automatic delivery-push-separation method improve operational efficiency and enhance transplanting results.

Description

Technical Field

[0001] This invention relates to the field of seedling transplanting technology, specifically to a substrate block seedling transplanting machine and an automatic delivery-push-separation method. Background Technology

[0002] Fast-growing leafy vegetables, such as bok choy, lettuce, and romaine lettuce, are favored for their short growth cycle, ease of management, and high overall economic benefits, enabling multiple harvests throughout the year and making them an important category in vegetable cultivation. To bring these fast-growing leafy vegetables to market earlier, growers typically employ a seedling-then-transplanting cultivation method. However, this method requires high planting density, and current transplanting work mainly relies on manual labor, which is both time-consuming and labor-intensive, urgently necessitating the development of mechanized transplanting techniques.

[0003] In addition, the aforementioned cultivation methods, when implemented with mechanized automation, rely heavily on specialized seedling trays for transplanting equipment, and require high-quality seedlings, making large-scale production difficult. Furthermore, existing transplanting equipment is primarily suitable for vegetable cultivation with a row spacing of 30cm-55cm, such as solanaceous vegetables, cabbages, and cucurbits, and is ill-suited for fully automated multi-row transplanting of high-density, fast-growing leafy vegetables.

[0004] In existing technologies, both domestically and internationally, substrate block seedling raising and transplanting methods have been adopted for fast-growing leafy vegetables. This method involves sowing seeds in square solid substrate blocks composed of various clays, substrates, coconut coir, and other components to promote early plant growth. Substrate block seedlings ensure ample nutrient and water supply, resulting in virtually no recovery period after transplanting and an extremely high survival rate. The excellent stability of the block structure effectively prevents lodging after transplanting.

[0005] In this way, the use of substrate block seedlings is conducive to mechanized transplanting, reducing the requirements of mechanized and automated transplanting equipment on seedling quality. For example, the size of the seedlings and the shape of the plants will not affect the effect of transplanting, which is conducive to meeting the needs of intensive planting of fast-growing leafy vegetables, and thus facilitates the implementation of fully automated transplanting operations.

[0006] A search revealed a vegetable transplanter disclosed in Chinese patent document CN108770423A. This vegetable transplanter involves manually picking seedlings in rows and placing them into a conveyor device, followed by an automatic seedling separation and planting mechanism to transplant the substrate block seedlings onto the ground. However, this model is a semi-automatic model, lacking automatic tray changing and automatic tray seedling picking, resulting in a low degree of automation and low production efficiency.

[0007] For example, Chinese patent document CN113303056A discloses an automatic seedling picking and delivery device for a vegetable transplanter. This device separates the substrate block seedlings in a tray row by row through a rotating seedling conveyor chain. Then, when the rotating chain is aligned with the seedling delivery conveyor belt, a hydraulic pusher pushes the entire row of substrate block seedlings onto the seedling delivery conveyor belt. This device realizes the one-to-one separation and delivery of seedlings from the entire tray.

[0008] However, during the transplanting process, the tray changing action of the above-mentioned automatic seedling picking and delivery device is still a manual operation. The seedling transport chain gradually transports the 3 rows of substrate block seedlings to the same row as the 3 rows of seedling delivery conveyor belt, which makes it difficult to ensure the alignment accuracy. Moreover, the action is intermittent, resulting in low work efficiency. The entire row of substrate block seedlings on the L-shaped seedling picking plate is supported on both sides and is in an unstable state. During the pushing process, the middle of the block is prone to bending, and the seedling blocks are scattered out of the row.

[0009] In summary, existing technologies lack fully automated transplanting equipment capable of automatically changing trays for large-volume substrate block seedlings and automatically replanting entire trays of seedlings during transplanting operations. Summary of the Invention

[0010] The technical problem to be solved by this invention is how to provide a transplanting device for the process of transplanting substrate block seedlings, so as to realize the automatic distribution of multiple seedling trays to a single whole tray of seedlings and then to a single whole row of seedlings, layer by layer, thereby improving work efficiency and enhancing transplanting and planting results.

[0011] To solve the above-mentioned technical problems, on the one hand, the present invention proposes a substrate block seedling transplanter, including a lifting device for carrying stacked seedling trays, a first conveying device for conveying stacked seedling trays to the lifting device, a separating device, a second conveying device for conveying single seedling trays, a pushing and separating device, and a conveying and planting device.

[0012] The stacked seedling trays are formed by stacking multiple single seedling trays layer by layer. Substrate block seedlings are placed on the single seedling trays, and the substrate block seedlings are arranged in a rectangular array on the single seedling trays.

[0013] The lifting device is located on the discharge side of the first conveying device, and the separating device is located above the lifting device. The separating device is used to separate the stacked seedling trays carried on the lifting device layer by layer, and push the separated single seedling trays to the second conveying device, which is located on one side of the lifting device.

[0014] The lifting device includes a support platform for receiving stacked seedling trays and a lifting mechanism for driving the support platform to move. The output end of the lifting mechanism is connected to the bottom of the support platform.

[0015] The separation device includes a pushing structure and a lifting structure. The lifting structure includes a stop bar for contacting the edge of a single seedling tray. A pair of stop bars are arranged in parallel, forming a lifting channel between the pair of stop bars. The pushing structure is located on one side of the lifting channel and is used to push the single seedling tray in the lifting channel to the second conveying device.

[0016] The second conveying device includes a conveyor belt and a servo motor for driving the conveyor belt to move back and forth. The conveyor belt is equipped with a photoelectric sensor for positioning a single seedling tray.

[0017] Multiple pushing and separating devices are arranged linearly on one side of the conveyor belt along the conveying direction of the second conveyor device. Each pushing and separating device includes a separating cylinder and a pushing plate for pushing the substrate block seedlings on the single seedling tray row by row to the conveying and planting device. The pushing plate is installed at the piston rod end of the separating cylinder.

[0018] The conveying and planting device is located on the opposite side of the pushing and separating device. The conveying and planting device includes multiple inclined conveying and planting units, and each inclined conveying and planting unit corresponds to a seedling separating cylinder.

[0019] The first conveying device transports stacked seedling trays to a lifting device. When the trays arrive, their support platform receives them. A lifting mechanism then raises or lowers the platform as needed to adjust the position of the stacked trays. As the platform rises, the topmost single seedling tray enters the lifting channel, and a pushing structure pushes it out of the stack and onto the second conveying device. The single seedling tray is positioned on the conveyor belt of the second device using photoelectric sensors. When a single row of substrate block seedlings aligns with the inclined conveyor planting unit, a seedling separating cylinder pushes the substrate block seedlings row by row towards the opposite inclined conveyor planting unit, completing the layered grading and automatic distribution from stacked trays to single seedling trays, and then to single rows of substrate block seedlings.

[0020] On the other hand, the present invention also proposes an automatic delivery-pushing-seedling method using the above-mentioned substrate block seedling transplanter, comprising the following steps:

[0021] The stacked seedling trays are transported, the first conveying device is started, the lifting device's carrying platform is adjusted to the initial height, and when the carrying platform is at the initial height, the carrying platform is flush with the conveying plane of the first conveying device. The first conveying device transports the stacked seedling trays to the carrying platform of the lifting device, and the first conveying device is turned off.

[0022] The stacked seedling trays are separated. The lifting device raises the stacked seedling trays, so that the first layer of single seedling trays enters the lifting channel of the lifting structure in the separation device. The lifting device stops raising the stacked seedling trays. The lifting structure uses a pair of levers to further raise the first layer of single seedling trays, so that the first layer of single seedling trays is separated from the stacked seedling trays. Then, the pushing structure pushes the first layer of single seedling trays to the second conveying device. This process is repeated until the separation device separates the stacked seedling trays on the carrying platform layer by layer and pushes the separated single seedling trays to the second conveying device as needed.

[0023] A single row of substrate block seedlings is pushed forward. The conveyor belt of the second conveyor device drives two single seedling trays into the area where the substrate block seedlings are separated one after another. Two photoelectric sensors are used to detect the position of the two single seedling trays on the conveyor belt of the second conveyor device. The servo motor drives the conveyor belt to move back and forth in the conveying direction. The single row of substrate block seedlings is adjusted in a certain order to align with the inclined conveying and planting unit in the conveying and planting device. The seedling separating cylinder in the pushing and separating device corresponding to the inclined conveying and planting unit pushes the single row of substrate block seedlings into the inclined conveying and planting unit. This process is repeated until all the substrate block seedlings in the single seedling trays are separated row by row.

[0024] Compared with existing technologies, the substrate block seedling transplanter and automatic delivery-pushing-separation method provided by this invention have the following outstanding substantive features and significant progress:

[0025] 1. The intermittent second conveying device and the orderly combination of the substrate block seedling transplanter are used to realize the orderly separation and pushing of rows of substrate block seedlings in a single seedling tray to the inclined conveying and planting unit. The position of the single seedling tray is located by photoelectric sensor, which is accurate. The multi-group seedling cylinder push control is orderly, and the row automatic seedling separation is efficient, which improves the work efficiency and enhances the transplanting effect.

[0026] 2. This automatic feeding-pushing-seedling separation method realizes the automatic separation of stacked multi-layer substrate block seedling trays. Compared with existing automatic transplanting equipment, which mostly uses manual feeding of individual seedling trays, it eliminates the need for manual handling of seedling trays, significantly reducing the number of workers and labor intensity, and achieving the goal of assembly line factory operation.

[0027] 3. This substrate block seedling transplanter achieves layer-by-layer grading and automatic delivery from stacked seedling trays to single seedling trays, and then to single rows of substrate block seedlings. It has a high degree of automation, does not damage the substrate block seedlings, saves costs and labor, and fills the research gap in automatic substrate block seedling transplanters. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a substrate block seedling transplanter according to an embodiment of the present invention.

[0029] Figure 2 yes Figure 1A top view of a medium-sized substrate block seedling transplanter.

[0030] Figure 3 This is a schematic diagram of the lifting device in an embodiment of the present invention.

[0031] Figure 4 This is a schematic diagram of the assembly structure of the separation device in an embodiment of the present invention.

[0032] Figure 5 yes Figure 4 A schematic diagram of the cross-sectional structure at point AA.

[0033] Figure 6 yes Figure 4 Schematic diagram of the cross-sectional structure at point BB.

[0034] Figure 7 This is a schematic diagram of the assembly structure of the pushing and splitting device in an embodiment of the present invention.

[0035] Figure 8 This is a reference diagram showing the usage state of the second conveying device in an embodiment of the present invention.

[0036] Figure 9 This is a schematic cross-sectional view of the single seedling tray at CC in an embodiment of the present invention.

[0037] Figure 10 This is a schematic diagram illustrating the logical sequence of the two seedling trays working together to push the seedlings in an embodiment of the present invention.

[0038] Figure 11 This is a schematic diagram showing the time sequence of seedlings entering a single row of substrate blocks in the inclined conveying and planting unit in an embodiment of the present invention.

[0039] Reference numerals: 1. Lifting device; 2. Separating device; 3. First conveying device; 4. Pushing and separating device; 5. Second conveying device; 6. First control box; 7. Support; 8. Support; 9. Conveying and planting device; 10. Stacked seedling trays;

[0040] 1-1. Stepper motor; 1-2. Worm gear mechanism; 1-3. Guide mechanism; 1-4. Support plate; 1-5. Load-bearing platform;

[0041] 2-1. Push plate cylinder; 2-2. First control cylinder; 2-3. First U-shaped plate; 2-4. Second control cylinder; 2-5. First slider; 2-6. First guide rail; 2-7. Second U-shaped plate; 2-8. Connecting rod; 2-9. Stop bar; 2-10. Inner folding plate; 2-11. Outer folding plate; 2-12. Third control cylinder; 2-13. Second slider; 2-14. Second guide rail;

[0042] 4-1. Seedling separating cylinder; 4-2. Connecting frame; 4-3. Seedling pushing plate;

[0043] 5-1. First photoelectric sensor; 5-2. Second photoelectric sensor; 5-3. Second control box;

[0044] 9-1 First inclined conveyor planting unit; 9-2 Second inclined conveyor planting unit; 9-3 Third inclined conveyor planting unit; 9-4 Fourth inclined conveyor planting unit; 9-5 Fifth inclined conveyor planting unit; 9-6 Sixth inclined conveyor planting unit;

[0045] 10-1, First single seedling tray; 10-2, Second single seedling tray; 10-1-1, Substrate block seedling; 10-1-2, Empty seedling tray. Detailed Implementation

[0046] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0047] like Figures 1-11 As shown in the present invention, an embodiment of the present invention proposes a substrate block seedling transplanter and an automatic delivery-push-separation method, which aims to achieve automatic delivery and separation from multiple seedling trays to a single whole tray of seedlings and then to a single whole row of seedlings during the substrate block seedling transplanting process, improving work efficiency and enhancing transplanting and planting results by gradually distributing the seedlings from multiple seedling trays to a single whole tray of seedlings.

[0048] The first conveying device 3 of the substrate block seedling transplanter proposed in this embodiment of the invention is used to convey stacked seedling trays 10 to the lifting device 1. When the stacked seedling trays 10 are conveyed to the lifting device 1, their supporting platform 1-5 receives the seedling trays. Then, the lifting mechanism raises or lowers the supporting platform 1-5 as needed to adjust the position of the stacked seedling trays 10. As the supporting platform 1-5 rises, the topmost single seedling tray enters the lifting channel, and then the pushing structure pushes the single seedling tray out of the stacked seedling trays 10 and pushes it to the second conveying device 5. The single seedling tray is positioned on the conveyor belt of the second conveying device 5 by a photoelectric sensor. When a single row of substrate block seedlings is aligned with the inclined conveying and planting unit, the seedling separating cylinder 4-1 pushes the substrate block seedlings row by row to the opposite inclined conveying and planting unit, completing the layer-by-layer grading and automatic distribution from the stacked seedling trays 10 to the single seedling trays, and then to the single row of substrate block seedlings, improving work efficiency and enhancing the transplanting effect.

[0049] like Figure 1 As shown, a substrate block seedling transplanter includes a lifting device 1 for carrying stacked seedling trays 10, a first conveying device 3 for conveying the stacked seedling trays 10 to the lifting device 1, a separating device 2, a second conveying device 5 for conveying single seedling trays, a pushing device 4, and a conveying and planting device 9.

[0050] like Figure 1 Combination Figure 2As shown, the stacked seedling tray 10 is formed by stacking multiple single seedling trays layer by layer. Substrate block seedlings 10-1-1 are placed on each single seedling tray. The substrate block seedlings 10-1-1 are arranged in a rectangular array on the single seedling trays.

[0051] like Figure 1 As shown, the lifting device 1 is positioned on the discharge side of the first conveying device 3. The separating device 2 is positioned above the lifting device 1. Combined Figure 2 As shown, the separating device 2 is used to separate the stacked seedling trays 10 carried on the lifting device 1 layer by layer, and push the separated single seedling trays to the second conveying device 5. The second conveying device 5 is arranged on one side of the lifting device 1.

[0052] like Figure 3 As shown, the lifting device 1 includes a support platform 1-5 for receiving stacked seedling trays 10 and a lifting mechanism for driving the support platform 1-5. The output end of the lifting mechanism is connected to the bottom of the support platform 1-5.

[0053] The lifting mechanism includes a support plate 1-4, a worm gear mechanism 1-2, a guide mechanism 1-3, and a stepper motor 1-1. The worm gear mechanism 1-2, guide mechanism 1-3, and stepper motor 1-1 are all mounted on the support plate 1-4. The output end of the worm gear mechanism 1-2 is connected to the bottom of the support platform 1-5. The input end of the worm gear mechanism 1-2 is connected to the output shaft of the stepper motor 1-1. The guide mechanism 1-3 is used to improve the stability of the lifting mechanism in raising the stacked seedling trays 10. For example, the guide mechanism 1-3 may use a structure of guide columns and linear bearings.

[0054] Preferably, the lifting mechanism is configured such that each time the separation device 2 pushes the stacked seedling trays 10 to push one layer of single seedling tray, the lifting mechanism drives the carrying platform 1-5 to rise to the height of one layer of single seedling tray.

[0055] like Figures 4-6 As shown, the separation device 2 includes a pushing structure and a lifting structure. The lifting structure includes a baffle 2-9 for contacting the edge of a single seedling tray. A pair of baffles 2-9 are arranged in parallel. A lifting channel is formed between the pair of baffles 2-9. The pushing structure is located on one side of the lifting channel. The pushing structure is used to push the single seedling tray in the lifting channel to the second conveying device 5.

[0056] like Figure 5As shown, the lifting structure also includes a first control cylinder 2-2, a second control cylinder 2-4, a first U-shaped plate 2-3, a second U-shaped plate 2-7, and a connecting rod 2-8. A first slider 2-5 is mounted on the first U-shaped plate 2-3. A first guide rail 2-6, matching the first slider 2-5, is mounted on the second U-shaped plate 2-7. The first guide rail 2-6 is arranged perpendicular to the stop rod 2-9. The first slider 2-5 is connected to the first guide rail 2-6. The first U-shaped plate 2-3 slides along the first guide rail 2-6 relative to the second U-shaped plate 2-7.

[0057] like Figure 4 Combination Figure 5 As shown, the cylinder body of the first control cylinder 2-2 is mounted on the first U-shaped plate 2-3. The piston rod of the first control cylinder 2-2 is arranged along the height direction of the single seedling disc. The stop lever 2-9 is connected to the piston rod of the first control cylinder 2-2 via the connecting rod 2-8. The rod body of the second control cylinder 2-4 is mounted on the second U-shaped plate 2-7. The piston rod of the second control cylinder 2-4 is arranged along the extension direction of the first guide rail 2-6. The piston rod of the second control cylinder 2-4 is connected to the first U-shaped plate 2-3.

[0058] like Figure 4 Combination Figure 6 As shown, the pushing structure includes a pushing cylinder 2-1, an inner folding plate 2-10, an outer folding plate 2-11, and a third control cylinder 2-12. The pushing cylinder 2-1 is arranged along the extension direction of the stop lever 2-9. The outer folding plate 2-11 is connected to the piston rod of the pushing cylinder 2-1. A second slider 2-13 is provided on the inner folding plate 2-10. A second guide rail 2-14 matching the second slider 2-13 is provided on the outer folding plate 2-11. The second guide rail 2-14 is arranged along the height direction of the single seedling tray. The second slider 2-13 is connected to the second guide rail 2-14, and the inner folding plate 2-10 slides along the second guide rail 2-14 relative to the outer folding plate 2-11 in the height direction of the single seedling tray.

[0059] like Figure 6 As shown, the third control cylinder 2-12 is arranged parallel to the second guide rail 2-14. The cylinder body of the third control cylinder 2-12 is mounted on the outer folding plate 2-11, and the inner folding plate 2-10 is connected to the piston rod of the third control cylinder 2-12. The third control cylinder 2-12 is used to drive the inner folding plate 2-10 to limit the top of the single seedling tray.

[0060] like Figure 8 As shown, the second conveying device 5 includes a conveyor belt and a servo motor for driving the conveyor belt to reciprocate. A photoelectric sensor for positioning individual seedling trays is installed on the conveyor belt.

[0061] like Figure 2 Combination Figure 8As shown, multiple pushing and separating devices 4 are linearly arranged on one side of the conveyor belt along the conveying direction of the second conveying device 5. Figure 7 As shown, the seedling separating device 4 includes a seedling separating cylinder 4-1 and a seedling pushing plate 4-3 for pushing the substrate block seedlings 10-1-1 on the single seedling tray row by row to the conveying and planting device. The seedling pushing plate 4-3 is installed at the piston rod end of the seedling separating cylinder 4-1. For example, the seedling separating cylinder 4-1 is installed on one side of the second conveying device 5 via a connecting frame 4-2.

[0062] like Figure 2 As shown, the conveying and planting device is located on the opposite side of the pushing and separating device 4. The conveying and planting device includes multiple inclined conveying and planting units, and each inclined conveying and planting unit corresponds to a seedling separating cylinder 4-1.

[0063] like Figure 2 As shown, the second conveying device 5 is arranged parallel to the first conveying device 3, and the pushing direction of the separating device 2 is perpendicular to the conveying direction of the first conveying device 3. This arrangement facilitates the formation of a rotary structure between the first conveying device 3 and the second conveying device 5, thereby significantly reducing the footprint of the substrate block seedling transplanter.

[0064] like Figure 1 As shown, a support 7 is provided at the bottom of the lifting device 1, and a support 8 is provided at the bottom of the first conveying device 3. The initial height of the bearing platform 1-5 in the lifting device 1 is flush with the conveying plane of the first conveying device 3. A first control box 6 is provided on the support 8, which is used to control the feeding speed of the conveying stacked seedling trays 10 of the first conveying device 3.

[0065] When using the substrate block seedling transplanter proposed in this embodiment of the invention, such as... Figure 2 As shown, the second conveying device 5 realizes the orderly separation and pushing of rows of substrate block seedlings in the two sets of substrate block seedling trays onto the inclined conveying and planting unit. The push control of multiple sets of cylinders is orderly, and the automatic separation of rows of seedlings is efficient. Compared with the supply of seedlings from a single seedling tray, the efficiency of seedling separation and planting is further improved.

[0066] When using the substrate block seedling transplanter proposed in this embodiment of the invention, the following steps are included:

[0067] The stacked seedling trays 10 are transported, the first conveying device 3 is started, and the supporting platform 1-5 of the lifting device 1 is adjusted to the initial height. When the supporting platform 1-5 is at the initial height, the supporting platform 1-5 is flush with the conveying plane of the first conveying device 3. The first conveying device 3 transports the stacked seedling trays 10 onto the supporting platform 1-5 of the lifting device 1, and then the first conveying device 3 is turned off.

[0068] The stacked seedling trays 10 are separated. The lifting device 1 raises the stacked seedling trays 10, so that the first layer of single seedling trays of the stacked seedling trays 10 enters the lifting channel of the lifting structure in the separating device 2. The lifting device 1 stops raising the stacked seedling trays 10. The lifting structure uses a pair of levers 2-9 to further raise the first layer of single seedling trays, so that the first layer of single seedling trays is separated from the stacked seedling trays 10. Then, the pushing structure pushes the first layer of single seedling trays to the second conveying device 5. This process is repeated until the separating device 2 separates the stacked seedling trays 10 on the carrying platform 1-5 layer by layer and pushes the separated single seedling trays to the second conveying device 5 as needed.

[0069] The second conveyor device 5 pushes a single row of substrate block seedlings. The conveyor belt of the second conveyor device 5 drives two single seedling trays into the area where the substrate block seedlings are separated. Two photoelectric sensors are used to detect the position of the single seedling trays on the conveyor belt of the second conveyor device 5. The servo motor drives the conveyor belt to move back and forth in the conveying direction. The single row of substrate block seedlings is adjusted in a certain order to align with the inclined conveying and planting unit in the conveying and planting device. The seedling separating cylinder 4-1 in the pushing and separating device 4 corresponding to the inclined conveying and planting unit pushes the single row of substrate block seedlings into the inclined conveying and planting unit. This process is repeated until all the substrate block seedlings 10-1-1 in the single seedling tray are separated row by row.

[0070] Preferably, during the single-row substrate block seedling pushing stage, multiple seedling cylinders 4-1 simultaneously and efficiently push single-row substrate block seedlings in a certain order, based on the alignment of the single-row substrate block seedlings with the inclined conveying and planting unit.

[0071] In addition, during the single-row substrate block seedling delivery stage, each tilted delivery planting unit will receive the same number of 10-1-1 substrate block seedlings.

[0072] When the substrate block seedling transplanter proposed in this embodiment of the invention is used in a specific way, such as... Figure 2 Combination Figure 5 As shown, firstly, the stacked seedling trays 10 are transported by the stacked seedling tray 10 conveyor to the top of the support 7 via the first conveyor 3. Then, through the cooperation of the lifting device 1 and the separating device 2, the multi-layered stacked seedling trays 10 are separated one by one, and the single substrate block seedling trays are pushed onto the second conveyor 5. The second conveyor 5 consists of two separately controlled conveyor belts. When the first single seedling tray 10-1 and the second single seedling tray 10-2 are placed on the two conveyor belts and move to the designated positions, the pushing device 4 starts working. By controlling the pushing sequence of the six sets of cylinders, the two trays of seedlings are pushed sequentially and orderly until all the seedling blocks in the two trays are emptied. At this point, the two empty trays continue to move forward until they fall into the designated collection frame (not shown). Then, two more substrate block seedling trays enter the second conveyor 5, and the above actions are repeated.

[0073] When the separation device 2 is working, the lifting mechanism is as follows: Figure 3 As shown, the stacked seedling trays are raised as a whole by a stepper motor driving a worm gear. After the first set of single seedling trays is pushed out, the lifting mechanism starts to work, lifting the multi-layer stacked seedling trays at the bottom upwards until the second set of single seedling trays rises to the position of the first set of single seedling trays, thus stopping the work to ensure that single seedling trays are always supplied in an orderly manner.

[0074] The lifting structure uses the baffles 2-9 on both sides to lift individual substrate block seedling trays, preparing for subsequent pushing and separation. Initially, the second control cylinder 2-4 is in the extended state, and the baffle 2-9 is in the laterally retracted state, with the upper edge of the baffle 2-9 just touching the edge of the substrate block seedling tray. Then, the extension length of the first control cylinder 2-2 is adjusted until it supports a single substrate block seedling tray. Then, the third control cylinder 2-12 works, driving the outer folding plate 2-11 and the inner folding plate 2-10 to move upward together until the entire tray of substrate block seedlings in the first layer is lifted and separated from the second layer below. Then, it moves upward until the bottom of the substrate block seedling tray in the first layer is at the same level as the bottom edge of the inner folding plate 2-10.

[0075] At the same time, such as Figure 4 As shown, the extension movement of the two sets of pusher cylinders 2-1 drives the outer folding plate 2-11 and the inner folding plate 2-10 forward, thereby pushing the entire tray of substrate block seedlings onto the second conveying device 5. After the operation is completed, the pusher cylinder 2-1 retracts and resets, and then the second control cylinder 2-4 drives the stop bar 2-9 to open laterally, and activates the first control cylinder 2-2 and the third control cylinder 2-12, driving the inner and outer folding plates and the stop bar 2-9 to descend together, preparing for the overall separation of the second layer of substrate block seedlings below.

[0076] When the second conveying device is working, such as Figure 8 As shown, there are two separately controlled conveyor belts, each controlled by a separate servo motor (not shown). These can be reversed as needed via encoders, enabling precise forward or backward transport of the seedling trays for accurate positioning. During operation, the two conveyor belts move in the same direction. The first seedling tray 10-1, carrying seedlings, moves first to the position required by the first photoelectric sensor 5-1, followed by the second seedling tray 10-2, which moves to the position required by the second photoelectric sensor 5-2. Then, pressing... Figure 10 The sequence is as follows: the control system in the second control box 5-3 operates, controlling the forward and backward movement of the two sets of seedling trays. The six group seedling cylinders operate a total of six times. Not all cylinders work simultaneously each time; which group operates depends on... Figure 10 The logical order is followed.

[0077] like Figure 10 As shown in the diagram, ① represents the working sequence of the seedling separation cylinders when two rows of substrate block seedlings in two seedling trays are aligned with six inclined conveyor planting units (9-1 to 9-6). Figure 11 As shown, in the first round, all six grouping cylinders need to operate; the other numbered cylinders have similar meanings. Finally, in the sixth round, only two grouping cylinders (the two rows of dividing cylinders corresponding to 9-1 and 9-4) operate, ultimately forming the following... Figure 11 The diagram shows the overall seedling delivery sequence of the conveying and planting device.

[0078] In addition, such as Figure 11 As shown, the seedling tray is a rectangular seedling tray with 12 columns × N (N≥6) rows. The 12 columns are exactly matched with 6 inclined conveying planting units (9-1 to 9-6). If the number of inclined conveying planting units changes, the corresponding seedling pushing logic order will also change. Figure 11 In the diagram, black dots and circles represent seedlings entering the plant, while blank spaces represent seedlings not entering the plant.

[0079] This invention is not limited to the specific technical solutions described in the above embodiments. Besides the above embodiments, this invention may have other implementation methods. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A substrate block seedling transplanter, characterized in that, It includes a lifting device for carrying stacked seedling trays, a first conveying device for conveying stacked seedling trays to the lifting device, a separating device, a second conveying device for conveying single seedling trays, a pushing device, and a conveying and planting device. The stacked seedling trays are formed by stacking multiple single seedling trays layer by layer. Substrate block seedlings are placed on the single seedling trays, and the substrate block seedlings are arranged in a rectangular array on the single seedling trays. The lifting device is located on the discharge side of the first conveying device, and the separating device is located above the lifting device. The separating device is used to separate the stacked seedling trays carried on the lifting device layer by layer, and push the separated single seedling trays to the second conveying device, which is located on one side of the lifting device. The lifting device includes a support platform for receiving stacked seedling trays and a lifting mechanism for driving the support platform to move. The output end of the lifting mechanism is connected to the bottom of the support platform. The separation device includes a pushing structure and a lifting structure. The lifting structure includes a stop bar for contacting the edge of a single seedling tray. A pair of stop bars are arranged in parallel, forming a lifting channel between the pair of stop bars. The pushing structure is located on one side of the lifting channel and is used to push the single seedling tray in the lifting channel to the second conveying device. The second conveying device includes a conveyor belt and a servo motor for driving the conveyor belt to move back and forth. The conveyor belt is equipped with a photoelectric sensor for positioning a single seedling tray. Multiple pushing and separating devices are arranged linearly on one side of the conveyor belt along the conveying direction of the second conveyor device. Each pushing and separating device includes a separating cylinder and a pushing plate for pushing the substrate block seedlings on the single seedling tray row by row to the conveying and planting device. The pushing plate is installed at the piston rod end of the separating cylinder. The conveying and planting device is located on the opposite side of the pushing and separating device. The conveying and planting device includes multiple inclined conveying and planting units, and each inclined conveying and planting unit corresponds to a seedling separating cylinder. In this process, the conveyor belt of the second conveyor device carries two single seedling trays into the area for separating substrate block seedlings. Two photoelectric sensors detect the positions of the two single seedling trays on the conveyor belt of the second conveyor device. A servo motor drives the conveyor belt to move back and forth in the conveying direction. The single row of substrate block seedlings is aligned with the inclined conveying and planting unit in the conveying and planting device in a certain order. The seedling separating cylinder in the pushing device corresponding to the inclined conveying and planting unit pushes the single row of substrate block seedlings into the inclined conveying and planting unit. This process is repeated until all the substrate block seedlings in the single seedling trays are separated row by row.

2. The substrate block seedling transplanter according to claim 1, characterized in that, The lifting structure further includes a first control cylinder, a second control cylinder, a first U-shaped plate, a second U-shaped plate, and a connecting rod. A first slider is provided on the first U-shaped plate, and a first guide rail matching the first slider is provided on the second U-shaped plate. The first guide rail is arranged perpendicular to the stop bar. The first slider is connected to the first guide rail. The first U-shaped plate slides relative to the second U-shaped plate along the first guide rail. The cylinder body of the first control cylinder is mounted on the first U-shaped plate, and the piston rod of the first control cylinder is arranged along the height direction of the single seedling tray. The stop bar is connected to the piston rod of the first control cylinder via the connecting rod. The rod body of the second control cylinder is mounted on the second U-shaped plate, and the piston rod of the second control cylinder is arranged along the extension direction of the first guide rail. The piston rod of the second control cylinder is connected to the first U-shaped plate.

3. The substrate block seedling transplanter according to claim 2, characterized in that, The pushing structure includes a pushing cylinder, an inner folding plate, an outer folding plate, and a third control cylinder. The pushing cylinder is arranged along the extension direction of the stop lever. The outer folding plate is connected to the piston rod of the pushing cylinder. A second slider is provided on the inner folding plate. A second guide rail matching the second slider is provided on the outer folding plate. The second guide rail is arranged along the height direction of the single seedling tray. The second slider is connected to the second guide rail. The inner folding plate slides relative to the outer folding plate along the second guide rail in the height direction of the single seedling tray. The third control cylinder is arranged parallel to the second guide rail. The cylinder body of the third control cylinder is mounted on the outer folding plate. The inner folding plate is connected to the piston rod of the third control cylinder. The third control cylinder is used to drive the inner folding plate to limit the top of the single seedling tray.

4. The substrate block seedling transplanter according to claim 1, characterized in that, The lifting mechanism includes a support plate, a worm gear mechanism, a guide mechanism, and a stepper motor. The worm gear mechanism, the guide mechanism, and the stepper motor are all mounted on the support plate. The output end of the worm gear mechanism is connected to the bottom of the support platform, and the input end of the worm gear mechanism is connected to the output shaft of the stepper motor.

5. The substrate block seedling transplanter according to claim 1, characterized in that, The lifting mechanism is configured such that each time the stacked seedling trays are pushed up to the next single seedling tray, the lifting mechanism drives the carrying platform to rise to the height of one single seedling tray.

6. The substrate block seedling transplanter according to claim 1, characterized in that, The second conveying device is arranged parallel to the first conveying device, and the pushing direction of the separating device is perpendicular to the conveying direction of the first conveying device.

7. The substrate block seedling transplanter according to claim 1, characterized in that, The bottom of the lifting device is provided with a bracket, and the bottom of the first conveying device is provided with a support. The initial height of the bearing platform in the lifting device is flush with the conveying plane of the first conveying device.

8. The automatic delivery-pushing-seedling method of the substrate block seedling transplanter according to any one of claims 1-7, characterized in that, Includes the following steps: The stacked seedling trays are transported, the first conveying device is started, the lifting device's carrying platform is adjusted to the initial height, and when the carrying platform is at the initial height, the carrying platform is flush with the conveying plane of the first conveying device. The first conveying device transports the stacked seedling trays to the carrying platform of the lifting device, and the first conveying device is turned off. The stacked seedling trays are separated. The lifting device raises the stacked seedling trays, so that the first layer of single seedling trays enters the lifting channel of the lifting structure in the separation device. The lifting device stops raising the stacked seedling trays. The lifting structure uses a pair of levers to further raise the first layer of single seedling trays, so that the first layer of single seedling trays is separated from the stacked seedling trays. Then, the pushing structure pushes the first layer of single seedling trays to the second conveying device. This process is repeated until the separation device separates the stacked seedling trays on the carrying platform layer by layer and pushes the separated single seedling trays to the second conveying device as needed. A single row of substrate block seedlings is pushed forward. The conveyor belt of the second conveyor device drives two single seedling trays into the area where the substrate block seedlings are separated one after another. Two photoelectric sensors are used to detect the position of the two single seedling trays on the conveyor belt of the second conveyor device. The servo motor drives the conveyor belt to move back and forth in the conveying direction. The single row of substrate block seedlings is adjusted in a certain order to align with the inclined conveying and planting unit in the conveying and planting device. The seedling separating cylinder in the pushing and separating device corresponding to the inclined conveying and planting unit pushes the single row of substrate block seedlings into the inclined conveying and planting unit. This process is repeated until all the substrate block seedlings in the single seedling trays are separated row by row.

9. The automatic delivery-pushing-seedling method of the substrate block seedling transplanter according to claim 8, characterized in that, During the single-row substrate block seedling pushing stage, multiple seedling cylinders push the single-row substrate block seedlings simultaneously or in batches, depending on the alignment of the single-row substrate block seedlings with the inclined conveying and planting unit.

10. The automatic delivery-pushing-seedling method of the substrate block seedling transplanter according to claim 8, characterized in that, During the single-row substrate block seedling delivery phase, each tilted delivery planting unit will receive the same number of substrate block seedlings.

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