Mechanical slow distance adjusting seedling taking and transplanting mechanism

Abstract

The present application relates to a mechanical slow distance adjustment seedling taking and transferring mechanism, belonging to the technical field of seedling taking and transferring device of transplanter, comprising two guide rails arranged at an angle, a distance adjuster slidingly arranged between the two guide rails and a seedling taker arranged on the distance adjuster, wherein the distance adjuster comprises a multi-stage scissor structure, and the scissor structure comprises two long connecting rods hingedly connected with each other; the seedling taker comprises a rudder installation seat, a rudder, a fixed seat and a clamping body, the clamping body comprises an incomplete gear I and an incomplete gear II rotatably driven connected with the rudder, and further comprises a control system, a pressure sensor is used for measuring the clamping force of the clamping arm, and the processor compares the received signal with the set standard value and intelligently controls. The present application causes the transverse movement by the longitudinal movement through the special structure, the feedback direction and the excitation direction are changed by 90 degrees, so that the impact degree is greatly weakened, the stability in the seedling taking and transferring process and the success rate of seedling taking and transferring are improved, and the damage to the pot seedlings is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of seedling delivery devices for transplanters, specifically to a seedling separation mechanism that uses mechanical slow adjustment of the seedling separation spacing to increase the adaptability, stability and safety of the seedling delivery process, thereby reducing damage to the potted seedlings. Background Technology

[0002] Existing seedling handling devices improve operational efficiency through high-frequency seedling handling. However, high-frequency handling can lead to a decrease in the success rate of seedling handling and an increase in damage to seedlings. The main reasons are: the increased speed of the various components of the seedling handling device causes instability in the overall mechanical structure, resulting in a decrease in the success rate of seedling handling, which is a key indicator for evaluating the quality of the seedling handling device; when the seedling handling speed is too fast, it can easily cause significant damage to the seedlings during the handling and delivery process. For example, rapid clamping of the stem by the seedling clamp can easily cause significant damage during seedling handling, and large acceleration and deceleration of various components during seedling delivery can cause damage to the seedlings due to inertia.

[0003] At the same time, the existing seedling feeding device does not have a stable pressure adjustment mechanism, and the current seedling clamping cannot be done properly. It may cause injury to some seedlings with larger diameter pots, while it may not be able to hold some seedlings with smaller diameter pots stably.

[0004] Therefore, improving the structure of existing seedling handling devices to enhance their stability during seedling handling and to provide a stable and appropriate clamping force for different seedling species, thereby increasing the success rate of seedling handling and reducing damage to potted seedlings, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a mechanical slow-adjustment seedling feeding mechanism to solve the problems of inertial damage and clamping damage to potted seedlings in the prior art.

[0006] This invention is achieved through the following technical solution:

[0007] A mechanical, slow-adjusting seedling delivery mechanism includes two guide rails arranged at an angle, an adjuster slidably disposed between the two guide rails, and a seedling picker disposed on the adjuster. The adjuster includes a multi-stage scissor structure, each scissor structure comprising two mutually hinged long connecting rods, with the long connecting rods between two adjacent scissor structures hinged end-to-end. The ends of the long connecting rods of the front and rearmost scissor structures are each hinged to a short connecting rod, and the two short connecting rods at the front and rear ends are each hinged to a moving rod. The other end of the moving rod is slidably connected to the guide rail on its corresponding side. The seedling picker is configured in a one-to-one correspondence with each scissor structure. The seedling picker includes a servo motor mounting base, a servo motor fixed to the servo motor mounting base, a fixed base fixed to the servo motor, and a clamping body rotatably fixed to the fixed base. The clamping body includes incomplete gear I and incomplete gear II, which are rotaryly driven by the servo motor. The incomplete gear I and incomplete gear II are symmetrically connected and each is provided with a clamping arm. The clamping arm is rotatably connected to incomplete gear I or incomplete gear II through a rotating shaft I. A connecting rod is also provided on the fixed base. The connecting rod is rotatably connected to the clamping arm through a rotating shaft II, thereby realizing the opening and closing restriction of the clamping arm. The system also includes a control system, which includes a processor and a pressure sensor. The processor is electrically connected to the pressure sensor and a servo motor. The pressure sensor is set on the clamping surface of the two clamping arms and is used to measure the clamping force of the clamping arms and transmit the clamping force signal to the processor. After receiving the signal, the processor compares it with a set standard value. If it is higher than the standard value, it issues a pressure reduction command to move the two clamping arms away from each other. If it is lower than the standard value, it issues a pressure increase command to move the two clamping arms closer together, thereby reaching the range specified by the standard value.

[0008] Furthermore, it also includes a base, on which two arc-shaped slide bars are symmetrically arranged. Slide bar supports are provided on both sides of the two arc-shaped slide bars. One end of the guide rail is rotatably fixed to the base, and the other end is provided with a slider that slides in cooperation with the arc-shaped slide bars.

[0009] Furthermore, a locking screw is provided on the slider.

[0010] Furthermore, the guide rail is provided with a rotating lead screw and a rotating motor at the end of the rotating lead screw. The moving rod is rotatably connected to the rotating lead screw through a guide slider, and the guide slider is provided with an internal thread that cooperates with the rotating lead screw.

[0011] Furthermore, the scissor structure is also provided with a support block, one end of which is hinged to the scissor structure and the other end is slidably connected to the scissor structure, and the clamping body is fixed on the support block.

[0012] Furthermore, a flexible protective body is provided on the clamping surface of the clamping arm.

[0013] Furthermore, the distance between the two ends of the two guide rails is adjustable.

[0014] The beneficial effects of this invention are as follows:

[0015] This invention utilizes guide rails arranged at an angle, allowing the distance between the rails to vary. When the seedling picker, mounted on the guide rails, moves parallel to the rails, the distance between the picker and the two guide rails changes simultaneously. Furthermore, a multi-stage scissor structure, similar to a spring being stretched or compressed, causes corresponding changes between adjacent scissor structures. A seedling picker is mounted on any of the scissor structures, thus adjusting the distance between the pickers. By adjusting the angle between the two guide rails, the distance difference between their front and rear ends is kept within a set range, adapting to seedling trays of any size and planting row spacing, significantly improving adaptability.

[0016] Because the above scheme causes lateral movement due to longitudinal movement, the feedback direction changes by 90 degrees from the excitation direction, thereby greatly reducing the impact force, achieving stability and success rate in the seedling handling process, and reducing damage to the seedlings in pots.

[0017] This invention, through its special clamping structure, allows for precise control of the rotation angle and speed, ensuring accurate clamping amount and stem clamping rate, thereby reducing damage to the seedlings.

[0018] This invention also achieves intelligent and safe control by controlling the pressure in real time and adjusting the clamping force precisely in real time, so that the seedlings will not fall off or be injured, making the transportation of seedlings more convenient. Attached Figure Description

[0019] Figure 1 This is the front view of the present invention;

[0020] Figure 2 This is a schematic diagram of the guide rail of the present invention;

[0021] Figure 3 This is a schematic diagram of the combination of the distance adjuster and the seedling picker of the present invention;

[0022] Figure 4 This is a schematic diagram of the seedling extractor of the present invention;

[0023] Figure 5 This is a schematic diagram of the adjusting device of the present invention;

[0024] Figure 6 This is a diagram showing the relationship between the longitudinal and lateral displacements of the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1-Guide rail; 2-Adjustable distance device; 3-Seedling picker; 4-Long connecting rod; 5-Short connecting rod; 6-Servo motor mounting base; 7-Servo motor; 8-Fixed base; 9-Incomplete gear I; 10-Incomplete gear II; 11-Clamping arm; 12-Shaft I; 13-Connecting rod; 14-Shaft II; 15-Processor; 16-Pressure sensor; 17-Base; 18-Arc-shaped slide bar; 19-Slide bar support; 20-Slider; 21-Locking screw; 22-Rotating lead screw; 23-Rotating motor; 24-Guide slider; 25-Support block; 26-Flexible protective body. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] In the above description of the present invention, it should be noted that the terms "one side," "the other side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is conventionally placed during use. These terms are used only for the convenience of describing the present invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] Furthermore, terms such as "identical" do not imply that components must be absolutely identical; minor differences are permissible. The term "perpendicular" simply means that the positional relationship between components is more perpendicular than "parallel," not that the structure must be perfectly perpendicular; a slight tilt is acceptable.

[0032] like Figures 1 to 5As shown, the mechanical slow-adjustment seedling feeding mechanism of this embodiment includes two guide rails 1, an adjuster 2, and a seedling feeder 3. The two guide rails are set at an angle, i.e., in a figure-eight shape, so that there is a distance difference between the front and rear ends of the two. The difference between the two is calculated by the spacing between the potted seedlings and the spacing between the seedlings, and then multiplied by the number of seedling feeders to obtain this distance difference.

[0033] The adjusting mechanism includes a multi-stage scissor mechanism, each consisting of two hinged long connecting rods 4. The long connecting rods between adjacent scissor structures are hinged end-to-end, allowing the front and rear scissor structures to be sequentially connected, forming a retractable whole, similar to a spring that can extend or shorten. To connect with the guide rail, a short connecting rod 5 is hinged to the ends of the two long connecting rods of the frontmost scissor structure. These two short connecting rods are then simultaneously hinged to a moving rod, allowing relative rotation between them. The other end of this moving rod extends outward to the guide rail on the same side and is slidably connected via a slide rail. Similarly, a short connecting rod is hinged to the ends of the two long connecting rods of the rearmost scissor structure. These two short connecting rods are then simultaneously hinged to another moving rod, allowing relative rotation between them. The other end of this moving rod extends outward to another guide rail and is slidably connected via a slide rail. This constitutes a horizontally movable mechanism, creating conditions for seedling picking and separating.

[0034] Meanwhile, since the seedling pickers and scissor structures are set up in a one-to-one correspondence, when the slider moves along the guide rail, the distance between adjacent seedling pickers also changes, that is, the distance between the seedlings in the pot changes. Thus, during the movement, the state changes: when the seedling pickers are close to each other, it is picking seedlings, and vice versa, it is separating seedlings. The distance is also changed, with a short distance when picking seedlings and a long distance when separating seedlings.

[0035] This process transforms longitudinal movement into horizontal movement, resulting in significantly less impact compared to traditional direct horizontal movement. This improvement is even more pronounced when the longitudinal distance is set sufficiently long or the guide rail angle is sufficiently small.

[0036] like Figure 6 As shown, with the seedling tray width at the seedling collection point being 280mm, AB = 280mm; the seedling placement point is related to the diameter of the seedling cup. Assuming a seedling cup diameter of 90mm, a center-to-center distance of 110mm between two seedling cups, and a total of 8 seedling cups, CF = 860mm. Therefore, CD = (860-280) / 2 = 290. If H is 900mm, then the ratio of longitudinal to transverse displacement is:

[0037] H / S = 900 / 290 = 3.18

[0038] This value can be further increased when H increases or the included angle α decreases.

[0039] However, this comes at a cost, as it increases the movement time, thereby affecting the efficiency of seedling removal and increasing the cost of use. To address this, the inventors conducted a series of experiments and concluded that a ratio of 3 to 6 between longitudinal and lateral movement is the most suitable. At this ratio, the impact on the clamping is relatively weak, and the movement speed can be relatively fast without affecting the efficiency of the seedling removal operation.

[0040] The seedling extractor includes a servo motor mounting base 6, a servo motor 7 fixed on the servo motor mounting base, a fixed base 8 fixed on the servo motor, and a clamping body rotatably fixed on the fixed base. The clamping body includes an incomplete gear I 9 and an incomplete gear II 10 that are rotatably driven by the servo motor. The incomplete gear I and incomplete gear II are symmetrically connected and each is provided with a clamping arm 11. The clamping arm is rotatably connected to the incomplete gear I or incomplete gear II through a rotating shaft I 12. A connecting rod 13 is also provided on the fixed base. The connecting rod is rotatably connected to the clamping arm through a rotating shaft II 14, thereby realizing the opening and closing restriction of the clamping arm. Through this reverse restriction, the clamping is relatively strong and will not deform too much, so that the front end cannot reach the predetermined clamping amount.

[0041] In this embodiment, a control system is also included. The control system includes a processor 15 and a pressure sensor 16. The processor is electrically connected to the pressure sensor and the servo motor. The pressure sensor is set on the clamping surface of the two clamping arms and is used to measure the clamping force of the clamping arms and transmit the clamping force signal to the processor. After receiving the signal, the processor compares it with the set standard value. If it is higher than the standard value, it issues a pressure reduction command to move the two clamping arms away from each other. If it is lower than the standard value, it issues a pressure increase command to move the two clamping arms closer together, thereby reaching the range specified by the standard value.

[0042] This embodiment uses guide rails arranged at an angle, making the distance between the guide rails a variable value. When the seedling picker set on the guide rail moves parallel to the guide rail, the distance between the seedling picker and the two guide rails on both sides changes simultaneously. Furthermore, through a multi-stage scissor structure, with a seedling picker set on any scissor structure, the distance between the seedling pickers can be adjusted. By adjusting the angle between the two guide rails, the distance difference between their front and rear ends is kept within a set value range, thus adapting to seedling trays of any size and planting row and plant spacing, significantly improving adaptability.

[0043] Since the above method changes the lateral distance through longitudinal movement, it is an indirect process. The movement is smooth and the impact is reduced, thus avoiding inertial damage to the seedlings.

[0044] This embodiment uses a special clamping structure to precisely control the rotation angle, rotation speed, and stability level, ensuring accurate clamping amount and stem clamping rate, thereby reducing damage to the potted seedlings.

[0045] This embodiment also uses a control system to provide real-time feedback and control of pressure, and adjusts the clamping force precisely in real time to prevent the seedlings from falling off or being injured, thereby achieving intelligent and safe control.

[0046] In this embodiment, a base 17 is also included, on which two arc-shaped slide bars 18 are symmetrically arranged. Slide bar supports 19 are provided on both sides of each arc-shaped slide bar. One end of the guide rail is rotatably fixed to the base, and the other end is provided with a slider 20 that slides with the arc-shaped slide bar. A locking screw 21 is provided on the slider. In use, the slider can be manually slid to move along the arc-shaped slide bar, thereby moving the proximal end of the guide rail, while the other end rotates along the base, thus rotating the guide rail. Similarly, the rotation of the other guide rail can be adjusted to ultimately adjust the guide rail angle. After adjustment, the guide rail can be fixed using the locking screw 21.

[0047] In this embodiment, a rotating lead screw 22 and a rotary motor 23 are provided on the guide rail. The moving rod is rotatably connected to the rotating lead screw via a guide slider 24, which has an internal thread that mates with the rotating lead screw. In use, the rotary motor rotates, thereby driving the rotating lead screw to rotate. Through the mating thread, the guide slider rotates. The guide slider is located in a groove on the guide rail, thus restricting its rotation. To counteract the displacement changes caused by the rotation, the guide slider can only move along the groove, thereby driving the moving rod and the entire seedling picking mechanism to move, thus achieving the driving function.

[0048] In this embodiment, a support block 25 is also provided on the scissor structure. One end of the support block is hinged to the scissor structure, and the other end is slidably connected to the scissor structure. The clamping body is fixed on the support block.

[0049] In this embodiment, a flexible protective body 26 is provided on the clamping surface of the clamping arm, which can provide good protection for the seedlings in pots.

[0050] As one possibility, the distance between the two ends of the two guide rails can be adjusted. This allows for a wider range of adjustments and further improves adaptability.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A mechanical, slow-adjusting seedling delivery mechanism, characterized in that: The device includes two guide rails arranged at an angle, an adjuster slidably disposed between the two guide rails, and a seedling picker disposed on the adjuster. The adjuster includes a multi-stage scissor structure, each scissor structure comprising two long connecting rods hinged together, with the long connecting rods between two adjacent scissor structures hinged end-to-end. The ends of the long connecting rods of the frontmost and rearmost scissor structures are each hinged to a short connecting rod, and the two short connecting rods at the front and rear ends are each hinged to a moving rod. The other end of the moving rod is slidably connected to the guide rail on its corresponding side. The seedling picker is configured in a one-to-one correspondence with the scissor structure, and includes a servo motor mounting base, a servo motor fixed to the servo motor mounting base, a fixed base fixed to the servo motor, and a clamping body rotatably fixed to the fixed base. The clamping body includes an incomplete gear I and an incomplete gear II, which are rotatably driven by the servo motor. The complete gears II are symmetrically connected and each is equipped with a clamping arm. The clamping arms are rotatably connected to the incomplete gears I or II via a rotating shaft I. A connecting rod is also provided on the fixed base. The connecting rod is rotatably connected to the clamping arms via a rotating shaft II, thereby realizing the opening and closing restriction of the clamping arms. The system also includes a control system, which includes a processor and a pressure sensor. The processor is electrically connected to the pressure sensor and a servo motor. The pressure sensor is set on the clamping surface of the two clamping arms and is used to measure the clamping force of the clamping arms and transmit the clamping force signal to the processor. After receiving the signal, the processor compares it with a set standard value. If it is higher than the standard value, it issues a pressure reduction command to move the two clamping arms away from each other. If it is lower than the standard value, it issues a pressure increase command to move the two clamping arms closer together, thereby reaching the range specified by the standard value.

2. The mechanical slow-adjustment seedling delivery mechanism according to claim 1, characterized in that: It also includes a base, on which two arc-shaped slide bars are symmetrically arranged. Slide bar supports are provided on both sides of the two arc-shaped slide bars. One end of the guide rail is rotatably fixed to the base, and the other end is provided with a slider that slides in cooperation with the arc-shaped slide bars.

3. The mechanical slow-distance adjusting seedling delivery mechanism according to claim 2, characterized in that: The slider is equipped with a locking screw.

4. The mechanical slow-adjustment seedling delivery mechanism according to claim 3, characterized in that: The guide rail is equipped with a rotating lead screw and a rotating motor at the end of the rotating lead screw. The moving rod is rotatably connected to the rotating lead screw through a guide slider, and the guide slider is provided with an internal thread that mates with the rotating lead screw.

5. The mechanical slow-distance adjusting seedling delivery mechanism according to any one of claims 1-4, characterized in that: The scissor lift structure is also provided with a support block. One end of the support block is hinged to the scissor lift structure, and the other end is slidably connected to the scissor lift structure. The clamping body is fixed on the support block.

6. The mechanical slow-distance adjusting seedling delivery mechanism according to any one of claims 1-4, characterized in that: A flexible protective body is provided on the clamping surface of the clamping arm.

7. The mechanical slow-distance adjusting seedling delivery mechanism according to claim 1, characterized in that: The distance between the two ends of the two guide rails is adjustable.

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