Seedling taking and delivering device and seedling taking and delivering method

Abstract

The present invention belongs to the field of agricultural machinery, and discloses a seedling delivery device, comprising: a seedling carrier frame, a seedling delivery mechanism, comprising a plurality of sprockets respectively arranged on the frame, two parallel single-side outer plate chains ringed at the ends of the sprockets, and a tray delivery rod arranged therebetween; a delivery path comprises a first delivery section and a second delivery section, the first delivery section is tilted from high to low, the second delivery section is a straight delivery section, and sprockets are arranged at both ends of the straight delivery section; a transmission mechanism comprises a servo motor connected to the sprocket; a tray protection mechanism is located in the straight delivery section and extends along the straight delivery section to the top of the sprockets at both ends to prevent the seedling tray from falling during transmission; a seedling delivery mechanism comprises a seedling claw frame and a seedling delivery claw installed on the seedling claw frame, and the seedling delivery claw grabs and releases the seedlings in the seedling tray by opening and closing. A seedling delivery method is also disclosed, and the above device and method can not only make the hole pot and the seedling tray easier to separate, but also have the advantages of low hole pot damage and low matrix loss rate.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery, and in particular relates to a seedling taking and delivering device and a seedling taking and delivering method. Background Art

[0002] Transplanting is an important planting method in agricultural production and has many advantages. On the one hand, it can shorten the field growth period of crops, increase the multiple cropping index, and effectively solve the contradiction between the front and back crops in the multi-cropping planting mode; on the other hand, transplanting can prevent the impact of pests and diseases and bad weather on the growth of seedlings and ensure the quality of seedlings. In addition, transplanting is also conducive to the realization of full mechanization of agricultural production and the development of modern agriculture, thereby improving the economic benefits of agricultural production.

[0003] With the growth of demand, fully automatic transplanting machines have gradually been put into production and application. As the key equipment of the fully automatic transplanting machine, the seedling picking and delivering device has the function of automatically picking and delivering seedlings, and its operation effect has become a research hotspot. However, at this stage, there are many problems in the seedling picking and delivering process of the fully automatic transplanting machine. For example, when delivering seedlings, the seedlings in adjacent pots in the seedling tray fall close to each other, resulting in seedling damage when taking seedlings; when taking seedlings, the pots are severely damaged and the seedlings are damaged due to the strong adhesion between the pots and the seedling tray; which further leads to an increase in the loss rate of the seedling matrix, an extension of the seedling acclimatization period after planting, and failure of seedling picking, which seriously hinders the widespread application of fully automatic transplanting machines in agricultural production. Therefore, there is an urgent need for a new seedling picking and delivering device and a seedling picking and delivering method to solve the above problems and provide a reference for realizing the fully automatic operation of pot seedling transplanting. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies and defects mentioned in the above background technology and provide a seedling taking and delivering device and a seedling taking and delivering method which can achieve low pot breakage, low substrate loss rate and reduce seedling damage.

[0005] In order to solve the above technical problems, the technical solution proposed by the present invention is: a seedling taking and delivering device, comprising:

[0006] The seedling carrier frame comprises a base and a bracket arranged on the base;

[0007] The seedling feeding mechanism is used to feed the seedling trays, and comprises a plurality of sprockets respectively arranged on the bracket, two parallel single-side outer plate chains looped on the ends of the sprockets, and a tray feeding rod arranged between the two single-side outer plate chains; the single-side outer plate chains and the tray feeding rod form an annular conveying path, and the annular conveying path comprises a first conveying section and a second conveying section, the first conveying section is inclined from high to low, and the second conveying section is a straight conveying section located at the bottom, and the sprockets are arranged at both ends of the straight conveying section;

[0008] The transmission mechanism includes a servo motor fixed on the base, the servo motor is connected to the sprocket, and is used to drive the sprocket to rotate, thereby driving the two single-side outer plate chains and the disc feeding rod between the single-side outer plate chains to rotate;

[0009] The tray protection mechanism is located in the straight conveying section and extends along the straight conveying section to above the sprockets at both ends to prevent the seedling tray from falling during transportation;

[0010] The seedling picking mechanism comprises a seedling claw frame and a plurality of seedling picking claws mounted on the seedling claw frame. The seedling picking claws can grab and release the seedlings in the seedling tray by opening and closing.

[0011] In one embodiment, it also includes a seedling separation guide rail, which includes a plurality of parallel and spaced seedling separation rods, and the seedling separation rods are used to separate the stems and leaves of adjacent seedlings in the seedling tray being transported.

[0012] In one embodiment, the tray protection mechanism includes a plurality of parallel and spaced seedling protection rods; the seedling separation rods are provided in two groups, which are respectively connected to the two ends of the tray protection mechanism; among the two groups of seedling rods, one group of seedling rods at the entrance end of the seedling separation guide rail is composed of a plurality of parallel polygonal brackets, which form a plurality of parallel seedling separation spaces along the extension direction of the stems and leaves of the seedlings in the seedling tray to separate the adjacent stems and leaves of the seedlings; the other group of seedling rods is composed of a plurality of parallel straight rods; the two groups of seedling rods are fixed to the brackets or the base by fixed connecting rods, and the spacing between adjacent seedling separation rods is greater than the spacing between adjacent seedling protection rods.

[0013] In one embodiment, the seedling separation rod and the seedling protection rod are designed to be integrally formed, and the seedling separation rods at both ends of the seedling protection device are forked into two or three rods to form the seedling protection rod.

[0014] In one embodiment, the seedling retrieval mechanism includes: a screw module fixed on the seedling retrieval frame, the screw module is fixed on the seedling claw frame through a connecting plate, the seedling claw is opened and closed by a reset spring and a connecting plate, the connecting plate is installed on the seedling claw frame through a guide rail slider, and an electric push rod is installed on the seedling claw frame, one end of which is fixed on the seedling claw frame and the other end is connected to the connecting plate, thereby realizing the reciprocating motion of the connecting plate; wherein, a flexible element is installed at the seedling retrieval position of the seedling claw.

[0015] In one embodiment, it also includes a tray-out guide rail fixed on the bracket and arranged at the top of the annular conveying path, so as to convey out the empty seedling tray after the seedlings are delivered.

[0016] In one embodiment, a vibration mechanism is further included, wherein the vibration mechanism includes a vibration part, and the vibration part is located in the straight conveying section and above the tray sending rod, and the seedling tray being conveyed is beaten by the vibration part.

[0017] In one embodiment, the vibration mechanism also includes a speed regulating motor, a large gear connected to the speed regulating motor, a small gear meshing with the large gear, a cam transmission-connected to the small gear, a connecting rod connected to the cam, and a vibration part arranged at the end of the connecting rod.

[0018] Based on the general inventive concept, the present application also provides a seedling taking and delivering method using the above-mentioned seedling taking and delivering device, comprising:

[0019] Place the seedling tray on the tray delivery rod and align the groove at the bottom of the seedling tray with the tray delivery rod;

[0020] Start the servo motor to drive the sprocket to rotate, so that the tray-feeding rod on the single-side outer plate chain drives the seedling tray to do intermittent motion;

[0021] The seedling picking claws first arrive at the seedling picking port in an open state, and the seedling picking claws are aligned with the hole pots or the stems of the seedlings in the hole pots transported from bottom to top. When the seedling tray moves from bottom to top to the seedling picking port through a turning motion along the fixed motion path of the seedling delivery mechanism; when the hole pots of the seedling tray or the stems of the seedlings in the hole pots are transferred to the open seedling picking claws, the seedling picking claws are closed to take out the hole pots or the seedlings in the hole pots;

[0022] After all the seedlings in the hole pot or the hole pot are taken out, the seedling tray moves to the top of the seedling loading frame together with the tray sending rod and is sent out through the tray out guide rail, completing a seedling taking and sending movement.

[0023] In one embodiment, during the transport of the seedling tray, adjacent seedlings are separated by a seedling separation guide rail;

[0024] In the straight conveying section, the bottom of the seedling tray is beaten by a vibration mechanism to reduce the adhesion of the matrix of the seedling tray to the inner wall of the seedling tray.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: when the seedling tray is placed on the tray delivery rod, the servo motor is started, the servo motor moves intermittently, drives the sprocket to rotate, and drives the seedling tray to do intermittent movement through the tray delivery rod on the single-side outer plate chain. The initial position of the seedling tray is located above one of the sprockets at the end of the straight conveying section. When the seedling tray runs along the seedling delivery mechanism (such as clockwise), when passing through the two sprockets at the end of the straight conveying section, during the two rotations at the turning point, the tray delivery rod squeezes the bottom of the seedling tray, so that the hole pot in the seedling tray is slightly deformed without breaking, and the adhesion between the hole pot and the seedling tray is greatly reduced, which is convenient for subsequent seedling removal operations. At the same time, after the seedling tray passes through the straight conveying section, the seedling tray entering the seedling picking stage moves from bottom to top, and the seedlings tilt downward under the action of gravity, and the seedling picking claws of the seedling picking mechanism first reach the seedling picking port in an open state, and the seedling picking claws are aligned with the hole pot or the seedling stems in the hole pot that are transported from bottom to top, when the seedling tray moves from bottom to top to the seedling picking port after turning along the fixed motion path of the seedling delivery mechanism; when the hole pot of the seedling tray or the seedling stems in the hole pot are transmitted to the opened seedling picking claws, the seedling picking claws are closed to take out the seedlings in the hole pot or the hole pot. In other words, the seedling picking claws are opened in advance to wait for the hole pot or the seedling stems in the hole pot that are transported by the seedling delivery device, so it is less likely to cause damage to the taken seedlings or adjacent seedlings, thereby achieving accurate alignment of seedling picking and significantly reducing damage to the seedlings. In addition, the good coordination of the seedling picking and delivery device of the present patent application with the planting mechanism can reduce manual labor, reduce the seedling injury rate, realize the automation of the seedling transplanting process, and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the side structure of a seedling taking and delivering device according to one embodiment;

[0028] Figure 2 It is a structural schematic diagram of another side of the seedling taking and delivering device according to one embodiment;

[0029] Figure 3 It is a schematic diagram of the structure of the seedling separation guide rail and the tray protection mechanism of the seedling taking and delivering device according to one embodiment;

[0030] Figure 4 The present invention is a schematic structural diagram of a vibration mechanism of a seedling taking and delivering device according to one embodiment. DETAILED DESCRIPTION

[0031] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and meticulously below in conjunction with the accompanying drawings and preferred embodiments of the present invention, but the protection scope of the present invention is not limited to the following specific embodiments.

[0032] Unless otherwise defined, all professional terms used below have the same meanings as those generally understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present invention.

[0033] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0034] See also Figure 1-4 In one embodiment, the seedling delivery device mainly includes a seedling carrier frame 2, a seedling delivery mechanism, a transmission mechanism, a tray protection mechanism and a seedling delivery mechanism. Among them, the seedling delivery mechanism is used to deliver the seedling tray, including a plurality of sprockets 6 respectively arranged on the bracket, two parallel single-sided outer plate chains 7 ringed at the ends of the sprockets 6, and a tray delivery rod 8 arranged between the two single-sided outer plate chains 7. The single-sided outer plate chain 7 and the tray delivery rod 8 form an annular conveying path, and the annular conveying path includes a first conveying section and a second conveying section. The first conveying section is inclined from high to low, and the second conveying section is a straight conveying section located at the bottom, and the sprockets 6 are arranged at both ends of the straight conveying section. The transmission mechanism includes a servo motor 3 fixed on the base, and the servo motor 3 is connected to the sprocket 6, which is used to drive the sprocket 6 to rotate, thereby driving the two single-sided outer plate chains 7 and the tray delivery rod 8 between the single-sided outer plate chains to rotate. The tray protection mechanism 17 is located in the straight conveying section and extends along the straight conveying section to above the sprocket wheels 6 at both ends to prevent the seedling tray from falling during transportation. The seedling picking mechanism includes a seedling claw frame 30 and a plurality of seedling picking claws 31 installed on the seedling claw frame 30. The seedling picking claws 31 grab and release the seedlings in the seedling tray by opening and closing.

[0035] With the seedling taking and delivering device of the present application, after the seedling tray is placed on the tray delivery rod 8, the servo motor 3 is started, the servo motor 3 moves intermittently, drives the sprocket 6 to rotate, and drives the seedling tray to do intermittent movement through the tray delivery rod 8 on the single-side outer plate chain 7. The initial position of the seedling tray is located above one of the sprockets 6 at the end of the straight conveying section. When the seedling tray runs along the seedling delivery mechanism (such as clockwise), when passing through the two sprockets 6 at the end of the straight conveying section, during the two rotations at the turning point, the tray delivery rod squeezes the bottom of the seedling tray, so that the hole pot in the seedling tray is slightly deformed without breaking, and the adhesion between the hole pot and the seedling tray is greatly reduced, which is convenient for the subsequent seedling taking operation. At the same time, after the seedling tray passes through the straight conveying section, the seedling tray entering the seedling picking stage moves from bottom to top, and the seedlings tilt downward under the action of gravity, and the seedling picking claws of the seedling picking mechanism first reach the seedling picking port in an open state, and the seedling picking claws are aligned with the hole pot or the seedling stems in the hole pot that are transported from bottom to top, when the seedling tray moves from bottom to top to the seedling picking port after turning along the fixed motion path of the seedling delivery mechanism; when the hole pot of the seedling tray or the seedling stems in the hole pot are transmitted to the opened seedling picking claws, the seedling picking claws are closed to take out the seedlings in the hole pot or the hole pot. In other words, the seedling picking claws are opened in advance to wait for the hole pot or the seedling stems in the hole pot that are transported by the seedling delivery device, so it is less likely to cause damage to the taken seedlings or adjacent seedlings, thereby achieving accurate alignment of seedling picking and significantly reducing damage to the seedlings. In addition, the good coordination of the seedling picking and delivery device of the present patent application with the planting mechanism can reduce manual labor, reduce the seedling injury rate, realize the automation of the seedling transplanting process, and improve production efficiency.

[0036] Specifically, in one embodiment, the main components of the above-mentioned seedling taking and delivering device include: a control box 1, a seedling loading frame 2, a servo motor 3, a sprocket chain 4, a transmission shaft 5, a sprocket 6, a single-sided outer plate chain 7, a tray delivery rod 8, a seedling tray 9, a seedling separation guide rail 10, a speed regulating motor 11, a large gear 12, a small gear 13, a cam 14, a connecting rod 15, a vibration plate 16, a tray protection mechanism 17, a tray output guide rail 18, a seedling claw frame 30, a seedling taking claw 31, a screw module 32, a connecting plate 33, a guide rail 34, and an electric push rod 35.

[0037] Specifically, the control box 1 is electrically connected to the servo motor 3 and the speed regulating motor 11, and is used to control the motor drive, start and stop, and speed regulation. The seedling carrier 2 includes a base 20 and a bracket 22 arranged on the base. Preferably, the base 20 is a steel structure, which is used to support the entire seedling delivery device. The bracket 22 is fixed on the base, and the bracket 22 is in a triangular or trapezoidal shape, which is used to support the conveying mechanism and form a triangular, trapezoidal, or other annular conveying path. The conveying mechanism includes sprockets 6 respectively arranged at the ends of the bracket 22, two parallel single-sided outer plate chains 7 arranged around the two ends of the sprocket 6, and a feeding rod 8 arranged between the two single-sided outer plate chains 7, and the feeding rod 8 is fixed to the single-sided outer plate chain 7. Specifically, in the present embodiment, the bracket 22 is a triangle, and the ends of the three corners of the triangle are provided with sprockets 6. Specifically, the feeding rod 8 includes a plurality of cross bars arranged at intervals and arranged horizontally between the two parallel single-sided outer plate chains 7. When the seedling tray 9 is placed, the groove at the bottom of the seedling tray 9 is aligned with the tray delivery rod 8, and the seedling tray 9 is engaged on the tray delivery rod 8, so that it will not fall.

[0038] Furthermore, due to the situation that the seedling root and stem may be tilted during the growth of the seedling, the adjacent seedling leaves in the seedling tray 9 may touch or be close to each other. In this case, the seedlings are easily damaged during the process of taking or sending the seedlings. To avoid this situation, a seedling separation guide 10 is also included. The seedling separation guide 10 includes a plurality of parallel and spaced seedling separation rods 110, which are used to separate the adjacent seedling stems and leaves in the seedling tray being transmitted. The tray protection mechanism 17 includes a plurality of parallel and spaced protection rods, which are located between the two sprocket wheels 6 at the end of the linear conveying section and extend above the two sprocket wheels 6 at the end of the linear conveying section. Specifically, the spacing between adjacent seedling separation rods 110 is greater than the spacing between adjacent protection rods. The spacing between adjacent seedling separation rods 110 is approximately the width of a hole pot in the seedling tray 9. The spacing of the protection rods is less than the spacing between adjacent hole pots, thereby preventing the seedling tray from falling during the transmission of the linear transmission section. That is to say, the spacing between adjacent tray guard rods is smaller than the width of a hole pot, so that when the seedling tray 9 moves along the conveying path to the straight conveying section, the seedling tray 9 will not fall. The tray exit guide rail 18 is fixed on the bracket 22 and is arranged at the top of the annular conveying path, and is used to convey the empty seedling tray after the seedlings are delivered. The tray exit guide rail 18 includes a plurality of parallel guide rails.

[0039] In one embodiment, there are two groups of seedling rods 110, which are respectively connected to the two ends of the disc protection mechanism 17, and the two groups of seedling rods 110 are fixed to the bracket or base by two groups of fixed connecting rods 120. In the two groups of seedling rods 110, one group of seedling rods 110 at the entrance end of the seedling guide 10 is composed of a plurality of parallel polygonal brackets, and the polygonal bracket forms a plurality of parallel seedling spaces along the extension direction of the stems and leaves of the seedlings in the seedling tray, which is used to separate the stems and leaves of the adjacent seedlings, and the other group of seedling rods 110 is composed of a plurality of parallel straight rods. In one embodiment, the seedling rod 110 is a triangular or T-shaped polygonal bracket, and is fixed to the bracket 22 or the base 20 by one of the fixed connecting rods 120. Preferably, in one embodiment, the seedling rod 110 and the disc protection rod are integrally designed, and the seedling rods 110 at the two ends of the disc protection mechanism 17 are bifurcated into 2 or 3 rods to form a disc protection rod. The seedling guide 10 and the disc protection mechanism are integrally designed and U-shaped. Preferably, both ends of the seedling separation guide rail 10 are fixed to the bracket 22 by two sets of fixed connecting rods 120, so that the structure is simple and the stability is good.

[0040] The transmission mechanism includes a servo motor 3 fixed on a base 20, a sprocket 6 connected to the servo motor 3, and the sprockets 6 are connected through a sprocket chain 4 and a transmission shaft 5. The sprocket 6 includes a plurality of groups of sprockets of different sizes. For example, the sprocket 6 may include a first sprocket, a second sprocket, and a third sprocket of different sizes, and the sprocket may also include a first sprocket and a second sprocket of different sizes. Specifically, in one embodiment, the servo motor 3 is connected to the sprocket 6 (only one of the sprockets is marked, and the other sprockets are not marked) through the sprocket chain 4 and the transmission shaft 5. After the servo motor 3 is started, the sprocket 6 is driven to rotate, thereby driving the two single-sided outer plate chains 7 and the disc feeding rod 8 between the single-sided outer plate chains 7 to rotate.

[0041] Furthermore, the seedling delivery device further includes a vibration mechanism, which includes a vibration part, which is located between the two sprockets 6 at the end of the linear conveying section and above the delivery rod 8. The vibrating part beats the seedling tray 9 in transmission, and beats the bottom of the seedling tray 9 by high-frequency intermittent up and down motion, which can reduce the adhesion of the matrix of the seedling tray 9 to the inner wall of the seedling tray 9, prepare for subsequent seedling removal, achieve better seedling removal and reduce seedling damage. In one embodiment, the vibration part can be a vibration plate, which adopts a vibration plate structure, which is simple to manufacture and can better transmit the vibration force to each hole pot in the seedling tray, so as to achieve better separation of the matrix from the hole pot body.

[0042] Specifically, the vibration mechanism mainly includes a speed regulating motor 11, a large gear 12 connected to the speed regulating motor, a small gear 13 meshing with the large gear 12, a cam 14 connected to the small gear 13 through a transmission rod, a connecting rod 15 connected to the cam 14, and a vibration plate 16 arranged at the bottom of the connecting rod 15. The speed of the speed regulating motor 11 is amplified by the large gear 12 and the small gear 13 to the cam 14, that is, the speed is increased by the large and small gears. The cam 14 drives the connecting rod 15 to move up and down through friction, so that the connecting rod 15 and the vibration plate 16 can achieve high-frequency up and down intermittent movement. The vibration plate 16 beats the bottom of the seedling tray 9 through high-frequency intermittent up and down movement, which can reduce the adhesion of the seedling tray 9 matrix to the inner wall of the seedling tray 9, and prepare for subsequent seedling removal.

[0043] The seedling picking device includes a screw rod module 32 fixed on the seedling picking frame 30, the screw rod module 32 is fixedly connected to the seedling claw frame 30 through a connecting plate 33, and the seedling picking claw 31 is installed on the seedling claw frame 30. There are generally multiple seedling picking claws, which are used in conjunction with the seedling feeding mechanism. The seedling picking claw 31 is opened and closed by a reset spring and a connecting plate 33. Among them, a flexible element is installed at the seedling picking position of the seedling picking claw 31 to prevent damage to the seedlings; the connecting plate 33 is installed on the seedling claw frame 30 through a guide rail slider 34, and the connecting plate 33 can slide back and forth on the seedling claw frame 30. An electric push rod 35 is installed on the seedling claw frame 30, one end of which is fixed on the seedling claw frame 30, and the other end is connected to the connecting plate 33, which can realize the reciprocating motion of the connecting plate 33, thereby driving the seedling picking claw 31 to reciprocate.

[0044] The screw rod module 32 is controlled by a program to drive the plurality of seedling claws 31 installed on the seedling claw frame 30 to move to the seedling picking point, and the seedling claws 31 arrive at the seedling picking point in an open posture, and then the feeding rod 8 transports the seedling tray 9 to the seedling picking point, at which time the stems and leaves of the seedlings in the seedling tray 9 slide into the opened seedling claws 31. Since the seedling claws 31 first arrive at the seedling picking point in an open state, and the seedlings are then transported to the seedling picking point, this seedling picking and sending method can reduce the damage of the seedling claws 31 to the stems and leaves of the seedlings; then the electric push rod 35 drives the connecting plate 33 to move downward, and the seedling claws 31 close and clamp the seedlings under the action of the reset spring and the connecting plate 33, and the screw rod module 32 then moves in the reverse direction to drive the seedling claws 31 to move in the reverse direction to take the seedlings out of the seedling tray, and after reaching the specified position, the electric push rod 35 moves in the reverse direction again, driving the seedling claws 31 to open to realize the seedling dropping action, thereby completing a seedling picking movement.

[0045] Working principle: After the control box 1 is powered on, the seedling tray 9 is placed on the tray delivery rod 8, and the groove at the bottom of the seedling tray 9 is aligned with the tray delivery rod 8. At the same time, the tray delivery rod 8 is fixed to the single-side outer plate chain 7, and the servo motor 3 drives the sprocket 6 to rotate, so that the tray delivery rod 8 fixed to the single-side outer plate chain 7 drives the seedling tray 9 to do intermittent movement. When the tray delivery rod 8 drives the seedling tray 9 to move to the entrance position of the seedling separation guide rail 10, the seedling separation guide rail 10 uses the seedling separation rod 110 to separate the seedlings, and the seedling tray 9 moves closely following the tray delivery rod 8 to ensure that the movement path of the seedling tray 9 is correct. When the seedling tray 9 passes the end of the straight conveying section, the bottom of the seedling tray is patted by the vibration mechanism to reduce the adhesion of the seedling tray matrix to the inner wall of the seedling tray, and then reaches the seedling separation guide rail 10 near the exit position after turning. The seedling picking claw 31 waits at the seedling picking point in an open state. When the hole pot or the hole pot of the seedling tray is transferred to the seedling picking claw 31, the seedling picking claw 31 is closed to take out the seedlings in the hole pot or the hole pot. After all the seedlings in the hole pot or the hole pot are taken out, the seedling tray moves to the top of the seedling loading frame 2 together with the tray sending rod 8 and is sent out through the tray outlet guide rail 18, completing a seedling picking and sending movement.

[0046] The present application also provides a seedling taking and delivering method using the above-mentioned seedling taking and delivering device, comprising:

[0047] Place the seedling tray 9 on the tray delivery rod 8, and align the groove at the bottom of the seedling tray 9 with the tray delivery rod 8;

[0048] The servo motor 3 is started to drive the sprocket 6 to rotate, so that the tray delivery rod 8 on the single-side outer plate chain 7 drives the seedling tray 9 to do intermittent motion;

[0049] The seedling picking claw 31 first reaches the seedling picking port in an open state, and the seedling picking claw 31 is aligned with the hole pot or the seedling stem in the hole pot that is transported from bottom to top. When the seedling tray moves from bottom to top to the seedling picking port through a turning motion along the fixed motion path of the seedling delivery mechanism; when the hole pot of the seedling tray or the seedling stem in the hole pot is transferred to the open seedling picking claw 31, the seedling picking claw 31 is closed to take out the hole pot or the seedling in the hole pot;

[0050] After all the seedlings in the hole pot or the hole pot are taken out, the seedling tray 9 moves to the top of the seedling carrying frame 2 along with the tray sending rod 8 and is transmitted through the tray out guide rail 18, completing a seedling taking and sending movement.

[0051] In one embodiment, during the transportation of the seedling tray, adjacent seedlings are separated by the seedling separation guide rail 10; in one embodiment, in the straight conveying section, the bottom of the seedling tray is beaten by a vibration mechanism to reduce the adhesion of the matrix of the seedling tray to the inner wall of the seedling tray.

[0052] In the seedling taking and delivering device and seedling taking and delivering method of the present application, after the seedling tray is placed on the tray delivery rod 8, the servo motor 3 is started, the servo motor 3 moves intermittently, drives the sprocket 6 to rotate, and drives the seedling tray to do intermittent movement through the tray delivery rod on the single-side outer plate chain 7. The initial position of the seedling tray is above the sprocket 6 at the end of the straight conveying section. When the seedling tray runs along the seedling delivery mechanism (clockwise or counterclockwise), when passing through the two sprockets 6 at the end of the straight conveying section, during the two rotations at the turning point, the tray delivery rod squeezes the bottom of the seedling tray, causing the hole pots in the seedling tray to be slightly deformed but not broken, and the adhesion between the hole pots and the seedling tray is greatly reduced, making the hole pots and the seedling tray easier to separate, and having the advantages of low hole pot damage and low matrix loss rate; at the same time, when the seedling tray is on the straight conveying After the delivery section, the seedling tray moves from bottom to top in the seedling picking stage, and the seedlings tilt downward under the action of gravity, and the seedling picking claws of the seedling picking mechanism first reach the seedling picking port in an open state, and the seedling picking claws are aligned with the hole pot or the seedling stems in the hole pot that are transported from bottom to top, when the seedling tray moves from bottom to top to the seedling picking port after turning along the fixed movement path of the seedling sending mechanism; when the hole pot of the seedling tray or the seedling stems in the hole pot are transmitted to the opened seedling picking claws, the seedling picking claws are closed to take out the hole pot or the seedlings in the hole pot. In other words, the seedling picking claws are opened in advance to wait for the hole pot or the seedling stems in the hole pot that are transported by the seedling sending device, so it is less likely to cause damage to the taken seedlings or adjacent seedlings, thereby achieving accurate alignment of seedling picking and significantly reducing damage to the seedlings. In addition, the good coordination of the seedling picking and sending device of the present patent application with the planting mechanism can reduce manual labor, reduce the seedling injury rate, realize the automation of the seedling transplanting process, and improve production efficiency. In the prior art, in the commonly used translational transport, the holes and pots of the seedling tray are located on the same straight line, and the gap between adjacent seedlings is small, which can easily damage the seedlings when taking them out. In the top-down inclined transport, when taking seedlings, the seedlings are taken out from the lowest position (seedling delivery outlet position), the seedlings of adjacent seedling trays will tilt toward the seedling taker, and the seedling taker can also easily damage the seedlings. The technical solution of the present application can solve this technical problem. Furthermore, the vibration mechanism can reduce the adhesion of the seedling tray matrix to the inner wall of the seedling tray by slapping the bottom of the seedling tray through high-frequency intermittent up and down motion, so as to prepare for the subsequent seedling removal, and significantly improve the success rate of seedling removal and the integrity of the holes and pots.

Claims

1. A seedling taking and delivering device, characterized in that: include: The seedling carrier frame comprises a base and a bracket arranged on the base; The seedling feeding mechanism is used to feed the seedling trays, and comprises a plurality of sprockets respectively arranged on the bracket, two parallel single-side outer plate chains looped on the ends of the sprockets, and a tray feeding rod arranged between the two single-side outer plate chains; the single-side outer plate chains and the tray feeding rod form an annular conveying path, and the annular conveying path comprises a first conveying section and a second conveying section, the first conveying section is inclined from high to low, and the second conveying section is a straight conveying section located at the bottom, and the sprockets are arranged at both ends of the straight conveying section; The transmission mechanism includes a servo motor fixed on the base, the servo motor is connected to the sprocket, and is used to drive the sprocket to rotate, thereby driving the two single-side outer plate chains and the disc feeding rod between the single-side outer plate chains to rotate; The tray protection mechanism is located in the straight conveying section and extends along the straight conveying section to above the sprockets at both ends to prevent the seedling tray from falling during transportation; The seedling picking mechanism includes a seedling claw frame and a seedling picking claw installed on the seedling claw frame. The seedling picking claw grabs and releases the seedlings in the seedling tray by opening and closing; the seedling picking claw is aimed at the hole pot or the seedling stem in the hole pot transported upward from the bottom; The seedling separation guide rail includes a plurality of parallel and spaced seedling separation rods, which are used to separate the stems and leaves of adjacent seedlings in the seedling tray being transported; The tray protection mechanism includes a plurality of parallel and spaced seedling protection rods; the seedling separation rods include two groups, which are respectively connected to the two ends of the tray protection mechanism; among the two groups of seedling rods, one group of seedling rods at the entrance end of the seedling separation guide rail is composed of a plurality of parallel polygonal brackets, which form a plurality of parallel seedling separation spaces along the extension direction of the stems and leaves of the seedlings in the seedling tray to separate the adjacent stems and leaves of the seedlings; the other group of seedling rods is composed of a plurality of parallel straight rods; the two groups of seedling rods are fixed to the brackets or the base by two fixed connecting rods, and the spacing between adjacent seedling separation rods is greater than the spacing between adjacent seedling protection rods.

2. The seedling taking and delivering device according to claim 1, characterized in that: The seedling separation rod and the seedling protection rod are designed to be integrally formed, and the seedling separation rods at both ends of the tray protection mechanism are forked into two or three rods to form the seedling protection rod.

3. The seedling taking and delivering device according to claim 1, characterized in that: The seedling retrieval mechanism includes: a screw module fixed on the seedling retrieval frame, the screw module is fixed on the seedling claw frame through a connecting plate, the seedling claw is opened and closed by a reset spring and a connecting plate, the connecting plate is installed on the seedling claw frame through a guide rail slider, and an electric push rod is installed on the seedling claw frame, one end of which is fixed on the seedling claw frame and the other end is connected to the connecting plate, thereby realizing the reciprocating motion of the connecting plate; wherein, a flexible element is installed at the seedling retrieval position of the seedling claw.

4. The seedling taking and delivering device according to claim 1, characterized in that: It also includes a tray-out guide rail fixed on the bracket and arranged at the top of the annular conveying path, and is used for conveying out the empty seedling tray after the seedlings are delivered.

5. The seedling taking and delivering device according to claim 1, characterized in that: It also includes a vibration mechanism, which includes a vibration part. The vibration part is located in the straight conveying section and above the tray sending rod, and the seedling tray being conveyed is beaten by the vibration part.

6. The seedling taking and delivering device according to claim 5, characterized in that: The vibration mechanism also includes a speed regulating motor, a large gear connected to the speed regulating motor, a small gear meshing with the large gear, a cam drivingly connected to the small gear, a connecting rod connected to the cam, and a vibration part arranged at the end of the connecting rod.

7. A method for taking and delivering seedlings using the seedling taking and delivering device according to any one of claims 1 to 6, characterized in that: include: Place the seedling tray on the tray delivery rod and align the groove at the bottom of the seedling tray with the tray delivery rod; Start the servo motor to drive the sprocket to rotate, so that the tray-feeding rod on the single-side outer plate chain drives the seedling tray to do intermittent motion; The seedling picking claws first arrive at the seedling picking port in an open state, and the seedling picking claws are aligned with the hole pots or the stems of the seedlings in the hole pots transported from bottom to top. When the seedling tray moves from bottom to top to the seedling picking port after turning along the fixed movement path of the seedling delivery mechanism; when the hole pots of the seedling tray or the stems of the seedlings in the hole pots are transferred to the open seedling picking claws, the seedling picking claws are closed to take out the hole pots or the seedlings in the hole pots; After all the seedlings in the hole pot or the hole pot are taken out, the seedling tray moves to the top of the seedling loading frame together with the tray sending rod and is sent out through the tray out guide rail, completing a seedling taking and sending movement.

8. The seedling taking and delivering method of the seedling taking and delivering device according to claim 7, characterized in that: During the transportation of the seedling tray, the adjacent seedlings are separated by the seedling separation guide rail; In the straight conveying section, the bottom of the seedling tray is beaten by a vibration mechanism to reduce the adhesion of the matrix of the seedling tray to the inner wall of the seedling tray.

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