Seedling taking and conveying device and seedling taking and conveying method for plug seedling culture

Abstract

The invention relates to the technical field of plug seedling transplanting equipment, in particular to a seedling taking and feeding device and a seedling taking and feeding method for plug seedling. A rack of the seedling taking and feeding device for plug seedling raising is provided with a placing platform, the placing platform is provided with a fixing groove for embedding a seedling tray, a first linear module is used for driving a second linear module to move along a first direction, and the second linear module is used for driving a clamping mechanism to move along the height direction of the seedling tray. The clamping mechanism comprises a mounting frame, a synchronous belt driving module, a sliding rail and seedling taking assemblies used for clamping seedling stalks, the multiple seedling taking assemblies are connected with the sliding rail to form a linear seedling taking unit, the two seedling taking assemblies located at the ends of the linear seedling taking unit are connected with the annular belt, and the synchronous belt driving module is used for driving the two seedling taking assemblies to move in opposite directions. According to the seedling taking and conveying device for plug seedling raising, the seedling taking success rate is increased, damage to root systems during seedling body clamping is reduced, and the seedling taking and conveying efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of plug tray seedling transplanting equipment, and in particular to a seedling taking and delivering device and a seedling taking and delivering method for plug tray seedling cultivation. Background Art

[0002] Plug seedling cultivation refers to a method of using peat, vermiculite, perlite and other light substrates as seedling medium in a special seedling tray, sowing seeds in a precise amount, and then raising seedlings under suitable environmental conditions. Compared with traditional ground bed seedling cultivation, it can cultivate a large number of seedlings in a limited space. For example, in a small greenhouse, using plug seedling cultivation can produce several times more seedlings than ground bed seedling cultivation.

[0003] When the seedlings of the seedling tray grow to a suitable stage, they need to be transplanted to dry fields. In the prior art, a fully automatic seedling tray transplanter is used to automatically transplant the seedling trays. For example, the seedling tray placed on the seedling tray rack is transported to the automatic seedling retrieval device through a seedling tray conveyor belt. The automatic seedling retrieval device grabs the seedling tray on the seedling tray and puts it into the circulating feeding mechanism, and then the planting mechanism plants the seedling into the soil. The whole machine is driven by a motor through the whole machine transmission mechanism to drive various components to work together, and its control system is generally based on PLC to achieve automatic control.

[0004] However, the above-mentioned fully automatic seedling transplanter has the following defects during actual use: 1. When taking seedlings, the seedling tray conveyor belt drives the seedling tray to move toward the seedling taking device. The seedling tray lacks constraints and is prone to sliding on the seedling tray conveyor belt, resulting in the position of the seedlings in the seedling tray being offset, thereby affecting the seedling taking accuracy of the seedling taking device; 2. The seedling taking mechanism in the existing fully automatic transplanter mostly adopts an inserted seedling needle structure to clamp the seedling body in the seedling tray, which is not only easy to damage the root system of the seedling body, but also easy to fail to clamp due to position deviation; 3. The seedling taking mechanism requires more time to complete actions such as seedling taking and posture adjustment during operation, resulting in the difficulty in further improving the seedling taking speed, especially the deployment method of multiple seedling taking claws from one side to the other side, which not only has low positioning efficiency, but also poor repeated positioning accuracy, serious cumulative error, and the seedling taking claws at the end are easy to deviate from the seedling taking area, reducing the success rate of seedling taking, thereby affecting the transplanting efficiency. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a seedling retrieval and delivery device for transplanting seedlings in a plug tray, so as to improve the success rate of seedling retrieval, reduce the damage to the root system when clamping the seedling body, and improve the efficiency of seedling retrieval and delivery.

[0006] In order to solve the above technical problems, in the first aspect, the present invention proposes a seedling taking and delivering device for plug tray seedling cultivation, comprising a frame for being installed on walking equipment, a clamping mechanism and a moving part for driving the clamping mechanism to move; The frame is provided with a placement platform, and the placement platform is provided with a fixing groove for embedding the seedling tray, and the column direction of the seedling tray is defined as the first direction, and the row direction of the seedling tray is defined as the second direction; The moving component includes a first linear module and a second linear module, the first linear module is installed on the placement platform and arranged parallel to the first direction, the first linear module is used to drive the second linear module to move along the first direction, the second linear module is arranged perpendicular to the placement platform, and the second linear module is used to drive the clamping structure to move along the height direction of the seedling tray; The clamping structure spans above the fixing groove, and the clamping structure includes a mounting frame, a synchronous belt driving module, a slide rail, and a seedling taking component for clamping the seedling rod, the mounting frame is connected to the second linear module, the synchronous belt driving module and the slide rail are both installed on the mounting frame, the synchronous belt driving module is arranged parallel to the second direction, the slide rail is arranged parallel to the annular belt of the synchronous belt driving module, a plurality of seedling taking components are connected to the slide rail to form a linear seedling taking unit, and the seedling taking component has a sliding freedom along the slide rail arrangement direction; The two seedling assemblies located at the ends of the linear seedling assemblies are respectively connected to the annular belt, the synchronous belt driving module is used to drive the two seedling assemblies to move in opposite directions, and a connecting piece is arranged between adjacent seedling assemblies.

[0007] In a second aspect, the present invention further proposes a transplanting equipment, comprising the above-mentioned seedling taking and delivering device for growing seedlings in plug trays.

[0008] In a third aspect, the present invention further proposes a transplanting method using the above-mentioned transplanting equipment, comprising the following steps: Loading seedling trays: placing the seedling trays in the fixed grooves of the placing platform, ensuring that the seedling trays are placed stably and properly embedded, so that the column direction of the seedling trays is consistent with the defined first direction, and the row direction is consistent with the second direction; The seedling picking state and seedling delivery state of the linear seedling picking unit are calibrated. The synchronous belt driving module drives the two seedling picking assemblies located at the ends of the linear seedling picking unit to move toward each other through the annular belt, compresses the spacing of the seedling picking assemblies, so that the seedling picking assemblies correspond one-to-one with the seedling bodies in the row direction of the seedling tray, and completes the calibration of the seedling picking state. The synchronous belt driving module drives the two seedling picking assemblies located at the ends of the linear seedling picking unit to move away from each other through the annular belt, expands the spacing of the seedling picking assemblies, so that the seedling picking assemblies correspond one-to-one with the feeding barrel of the circulating feeding equipment, and completes the calibration of the seedling delivery state. In the seedling picking operation, the first linear module is started, and the second linear module is driven to move along the first direction, so that the clamping mechanism moves in the first direction to the upper position corresponding to the seedling picking area of ​​the seedling tray, and the second linear module is started to drive the clamping mechanism to move downward along the height direction of the seedling tray until the seedling picking component in the clamping mechanism is close to the seedling stalk, and at the same time, the synchronous belt driving module is started so that the linear seedling picking unit is in the seedling picking state, and then the first linear module drives the second linear module again along the first direction to approach the seedling stalk, and drives the pneumatic seedling clamp to clamp the seedling stalk; During the seedling delivery operation, after clamping the seedling stalks, the second linear module drives the clamping mechanism to move upward along the height direction of the seedling tray to pull the seedling stalks out of the seedling tray. The first linear module is started again to drive the second linear module to move along the first direction to move the clamping mechanism that has clamped the seedling stalks above the target position where the seedlings need to be delivered. At the same time, the synchronous belt drives the seedling retrieval components to move apart, so that the linear seedling retrieval unit is in the seedling delivery state. Subsequently, the pneumatic seedling clamp is driven to release the seedling body to complete the seedling delivery.

[0009] Compared with the prior art, the seedling retrieval and delivery device and the seedling retrieval and delivery method for plug tray seedling cultivation provided by the present invention have the following outstanding substantial features and significant improvements: 1. The seedling retrieval and delivery device for hole tray seedling cultivation is specially used to embed the seedling tray through the fixing groove arranged on the placement platform, which can effectively fix the position of the seedling tray, prevent the seedling tray from being displaced during the seedling retrieval and delivery process, and ensure the stability and reliability of operation. The first linear module and the second linear module work together to achieve accurate positioning in the first direction (column direction) and height direction of the seedling tray. When taking the seedlings, the clamping mechanism can be quickly and accurately moved to the side of the stem of the seedling plant at a specific position on the seedling tray, avoiding the failure of taking the seedlings or damage to the seedlings due to inaccurate positioning. When delivering the seedlings, the seedlings can also be accurately placed to the The designated position improves the accuracy and efficiency of the seedling retrieval and delivery operations, and the synchronous belt drive module in the clamping mechanism cooperates with the slide rail to realize the linkage of multiple seedling retrieval components. The synchronous belt drive module can make the two seedling retrieval components at the end move in opposite directions, and drive other seedling retrieval components to slide along the slide rail with the help of the connecting parts, so that the seedling retrieval components can be quickly expanded to both sides from the middle of the linear seedling retrieval unit, or contracted from the end to the middle of the linear seedling retrieval unit, thereby improving the efficiency of the linear seedling retrieval unit in switching between the seedling retrieval state and the seedling delivery state, greatly improving the speed of seedling retrieval and delivery, reducing the seedling retrieval time, and improving the efficiency of seedling retrieval and delivery.

[0010] 2. The seedling retrieval and delivery method controls the toward or away movement of the seedling retrieval component at the end of the linear seedling retrieval unit through the synchronous belt drive module, and can flexibly calibrate the seedling retrieval state and the seedling delivery state, so that the transplanting equipment can adapt to the seedling retrieval of seedling trays of different specifications and the seedling delivery requirements of different circulating feeding mechanisms. When replacing the feeding equipment with seedling trays of different row spacings or feeding barrels of different sizes, it is only necessary to simply adjust the action of the synchronous belt drive module to achieve the adaptation of the equipment without large-scale modification of the overall structure of the equipment. This improves the versatility and flexibility of the equipment and reduces the dependence on specific seedling trays and feeding equipment. This allows the transplanting equipment to be applied to agricultural production scenarios with different crop types and different seedling cultivation standards, broadens the scope of application of the equipment, and improves the comprehensive utilization rate of agricultural production resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The present invention is a three-dimensional structural schematic diagram of a transplanting device with a seedling picking and delivering device for growing seedlings in a plug tray according to an embodiment of the present invention.

[0012] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of a transplanting equipment with a seedling picking and delivering device for plug tray seedling cultivation from another perspective.

[0013] Figure 3 yes Figure 1 main view.

[0014] Figure 4 yes Figure 3 Top view of the .

[0015] Figure 5 The present invention is a schematic diagram of the assembly structure of a seedling removal and delivery device for growing seedlings in a plug tray in an embodiment of the present invention.

[0016] Figure 6 This is a reference diagram of the use status of the clamping mechanism in the embodiment of the present invention connected by a chain.

[0017] Figure numerals: 1. walking equipment; 2. frame; 3. clamping mechanism; 4. moving parts; 5. placement platform; 6. fixing groove; 7. supporting cylinder; 8. conveyor belt; 9. seedling tray box; 31. mounting frame; 32. synchronous belt drive module; 33. slide rail; 34. seedling removal assembly; 35. annular belt; 36. connecting piece; 41. first linear module; 42. second linear module; 341. slide seat; 342. connecting rod; 343. pneumatic seedling clamp. DETAILED DESCRIPTION

[0018] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0019] like Figure 1-Figure 6As shown, in the embodiment of the present invention, a seedling retrieval and delivery device and transplanting equipment for plug tray seedling cultivation are proposed, which aims to improve the success rate of seedling retrieval during the transplanting of plug tray seedlings, reduce the damage to the root system caused by clamping the seedling body, and improve the efficiency of seedling retrieval and delivery.

[0020] In the embodiment of the present invention, a seedling picking and delivering device and transplanting equipment for seedling cultivation in a plug tray are provided. The fixing groove arranged on the placement platform is specially used for embedding the seedling tray, which can effectively fix the position of the seedling tray, prevent the seedling tray from being displaced during the seedling picking and delivering process, and ensure the stability and reliability of the operation. By using the coordinated work of the first linear module and the second linear module, accurate positioning can be achieved in the first direction (column direction) and height direction of the seedling tray, avoiding the failure of seedling picking or damage to the seedlings caused by inaccurate positioning, and improving the accuracy and efficiency of the seedling picking and delivering operation. In addition, the synchronous belt driving module in the clamping mechanism cooperates with the slide rail, and the synchronous belt driving module can make the two seedling picking assemblies at the end move in the opposite direction, and drive other seedling picking assemblies to slide along the slide rail with the help of the connecting piece, so that the seedling picking assembly can be quickly expanded from the middle of the linear seedling picking unit to both sides, or contracted from the end of the linear seedling picking unit to the middle, thereby improving the efficiency of the linear seedling picking unit switching between the seedling picking state and the seedling delivering state, greatly improving the speed of seedling picking and delivering, reducing the seedling picking time, and improving the efficiency of seedling picking and delivering.

[0021] like Figure 1 Combination Figure 2 As shown, a seedling delivery device for seedling cultivation in a plug tray includes a frame 2 for installation on a walking device 1, a clamping mechanism 3, and a moving part 4 for driving the clamping mechanism 3 to move. A placement platform 5 is provided on the frame 2. A fixing groove 6 for embedding the seedling tray is provided on the placement platform 5, and the column direction of the seedling tray is defined as a first direction, and the row direction of the seedling tray is defined as a second direction. For example, in combination with Figure 4 As shown in the figure, the direction indicated by the arrow pointing to the right in the figure is the first direction, and the direction indicated by the arrow pointing downward in the figure is the second direction.

[0022] like Figure 2 Combination Figure 4 As shown, the moving part 4 includes a first linear module 41 and a second linear module 42. The first linear module 41 is installed on the placement platform 5 and arranged parallel to the first direction. The first linear module 41 is used to drive the second linear module 42 to move along the first direction. The second linear module 42 is arranged perpendicular to the placement platform 5. The second linear module 42 is used to drive the clamping mechanism 3 to move along the height direction of the seedling tray.

[0023] like Figure 2 Combination Figure 3As shown, the clamping mechanism 3 spans over the fixing groove 6. The clamping mechanism 3 includes a mounting frame 31, a synchronous belt drive module 32, a slide rail 33 and a seedling retrieval assembly 34 for clamping the seedling stalk. The mounting frame 31 is connected to the second linear module 42. The synchronous belt drive module 32 and the slide rail 33 are both installed on the mounting frame 31. The synchronous belt drive module 32 is arranged parallel to the second direction. The slide rail 33 is arranged parallel to the annular belt 35 of the synchronous belt drive module 32. A plurality of seedling retrieval assemblies 34 are connected to the slide rail 33 to form a linear seedling retrieval unit. The seedling retrieval assembly 34 has a sliding freedom along the arrangement direction of the slide rail 33; like Figure 4 Combination Figure 5 As shown, two seedling assemblies 34 located at the ends of the linear seedling assemblies are respectively connected to the annular belt 35. The synchronous belt drive module 32 is used to drive the two seedling assemblies 34 to move relative to each other. A connecting piece 36 is provided between adjacent seedling assemblies 34.

[0024] On the one hand, the connecting member 36 is used to transmit power between adjacent seedling assemblies 34, so that the seedling assemblies 34 can quickly expand from the middle of the linear seedling assemblies to both sides, or shrink from the ends of the linear seedling assemblies to the middle; on the other hand, it is used to increase the supporting strength of the seedling assemblies 34, thereby reducing shaking.

[0025] The linear seedling taking unit is provided with a seedling taking state and a seedling delivering state. When the linear seedling taking unit is in the seedling taking state, the synchronous belt driving module 32 drives the two seedling taking components 34 at the ends of the linear seedling taking unit to move toward each other through the annular belt 35, compressing the spacing between the seedling taking components 34, so that the seedling taking components 34 correspond to the seedling bodies in the row direction of the seedling tray one by one.

[0026] When the linear seedling taking unit is in the seedling feeding state, the synchronous belt driving module 32 drives the two seedling taking components 34 located at the ends of the linear seedling taking unit to move away from each other through the annular belt 35, thereby expanding the spacing between the seedling taking components 34, so that the seedling taking components 34 correspond one to one with the feeding barrel of the circulating feeding equipment.

[0027] In this way, compared with the expansion or contraction method of multiple seedling picking claws from one side to the other in the prior art, the switching of the seedling picking state and the seedling delivery state is formed, the synchronous belt drive module 32 in the clamping mechanism 3 cooperates with the slide rail 33 to realize the linkage of multiple seedling picking components 34, and the synchronous belt drive module 32 can make the two seedling picking components 34 at the end move in the opposite direction, and drive the other seedling picking components 34 to slide along the slide rail 33 with the help of the connecting piece 36, so that the seedling picking component 34 can be quickly expanded to both sides from the middle of the linear seedling picking unit, or contracted from the end of the linear seedling picking unit to the middle, thereby improving the efficiency of the linear seedling picking unit switching between the seedling picking state and the seedling delivery state, greatly improving the speed of seedling picking and delivering, reducing the seedling picking time, and improving the efficiency of seedling picking and delivering.

[0028] like Figure 5 As shown, the linear seedling unit is divided into a left unit and a right unit. The seedling assemblies 34 in the left unit are all connected to the bottom side of the annular belt 35. The seedling assemblies 34 in the right unit are all connected to the top side of the annular belt 35. With such an arrangement, when the synchronous belt drive module 32 is working, the force distribution of the seedling assemblies 34 on both sides is more uniform. When the annular belt 35 is driven to move to adjust the spacing of the seedling assemblies 34 or to perform the seedling retrieval and seedling delivery actions, the force arms of the units on both sides are relatively balanced, reducing the lateral deviation, shaking or stuck phenomenon caused by uneven force. For example, when high-speed seedling retrieval or frequent switching of the seedling retrieval and seedling delivery states, this balanced force structure can ensure the stable operation of the entire linear seedling unit, improve the accuracy of the seedling retrieval and seedling delivery actions, avoid damage to the seedling body or deviation in the seedling delivery position due to equipment shaking, thereby ensuring the high-quality completion of the transplanting operation.

[0029] In addition, when the synchronous belt drive module 32 drives the annular belt 35 to move, the seedling retrieval components 34 of the left unit and the right unit can achieve precise reverse movement. For the operations of moving towards each other to compress the spacing in the seedling retrieval state and moving away from each other to expand the spacing in the seedling delivery state, the reverse synchronous movement of the units on both sides can better ensure the linearity and consistency of the seedling retrieval components 34 in the direction of the seedling tray row or the direction of docking with the feed barrel of the circulating feeding device. For example, when processing seedling trays with closely arranged seedlings and requiring high-precision seedling retrieval, the seedling retrieval components 34 on both sides can accurately approach or move away from the seedlings at the same time, achieving precise clamping and release of each seedling, thereby improving the motion control accuracy and reliability of the entire linear seedling retrieval unit.

[0030] According to some preferred embodiments of the present invention, the number of seedling retrieval components 34 in the linear seedling retrieval unit is an even number. An even number of seedling retrieval components 34 can better adapt to the symmetrical structure of the seedling tray. For example, when the number of seedlings in the row direction of the seedling tray is an even number, an even number of seedling retrieval components 34 can achieve one-to-one precise clamping without the need for additional complex adjustments or special processing, thereby simplifying the seedling retrieval operation process and improving the compatibility and adaptability of the equipment to the seedling tray. At the same time, when docking with the circulating feeding equipment, an even number of seedling retrieval components 34 can also more conveniently match the equipment with a symmetrical feed barrel layout to ensure a smooth and efficient seedling delivery process. For example, the number of seedling retrieval components 34 is preferably 8.

[0031] like Figure 6As shown, the seedling taking assembly 34 in the clamping mechanism 3 can be flexibly connected by a chain. The two seedling taking assemblies 34 located at the ends of the linear seedling taking unit are respectively connected to the endless belt 35. The synchronous belt drive module 32 is used to drive the two seedling taking assemblies 34 to move in reverse, and transmit power between adjacent seedling taking assemblies 34 through the chain. In order to further improve the stability of the expansion and contraction of the linear seedling taking unit, the two seedling taking assemblies 34 located in the middle of the linear seedling taking unit are connected by a tension spring. The tension spring is used to provide a restoring force for the expansion or contraction of the linear seedling taking unit.

[0032] like Figure 3 As shown, the seedling removal assembly 34 includes a slide 341, a connecting rod 342 and a pneumatic seedling clamp 343 for clamping the seedling stem. The slide 341 is connected to the slide rail 33, and the pneumatic seedling clamp 343 is connected to the slide 341 through the connecting rod 342. In this way, the pneumatic seedling clamp 343 is used to clamp the seedling stem of the plug tray seedling, and the clamping force can be accurately controlled according to the thickness and material characteristics of the seedling stem, so as to avoid damaging the stem of the seedling plant due to excessive clamping force, and realize gentle seedling removal. In particular, compared with the insertion type seedling needle structure for clamping the seedling body in the seedling tray, it not only avoids damage to the root system of the seedling body, but also greatly improves the success rate of clamping.

[0033] like Figure 4 As shown, a support cylinder 7 is provided on one side of the placement platform 5. The support cylinder 7 is arranged parallel to the first direction. The cylinder body of the support cylinder 7 is connected to the placement platform 5. The piston rod of the support cylinder 7 supports the seedling tray at the bottom of the fixed groove 6. In this way, the support cylinder 7 provides support for the seedling tray at the bottom of the fixed groove 6, which can effectively enhance the stability of the seedling tray placement. In the process of taking and delivering seedlings, especially when the clamping mechanism 3 is in action, slight vibration or shaking may occur. The supporting force of the support cylinder 7 can prevent the seedling tray from being displaced or shaken due to these external forces, ensuring that the seedling taking component 34 can accurately clamp the seedlings.

[0034] like Figure 3 Combination Figure 4 As shown, a conveyor belt 8 for receiving empty seedling trays is provided below the fixed groove 6, and the conveying direction of the conveyor belt 8 is parallel to the second direction. When the seedling picking operation is completed, the support cylinder 7 retracts, and the empty seedling tray can directly fall into the conveyor belt 8 below without manual handling or the use of additional handling equipment. The conveyor belt 8 can automatically transport the empty seedling trays to the designated collection area in a direction parallel to the second direction (seedling tray row direction), which greatly improves the efficiency of empty seedling tray processing and reduces manual operation links and labor intensity.

[0035] For example, Figure 4 As shown, the exit of the conveyor belt 8 is provided with a seedling tray box 9, which is connected to the frame 2. The seedling tray box 9 is used to collect the empty seedling trays and realize the centralized storage of the empty seedling trays.

[0036] When used, a transplanting equipment with a seedling retrieval and delivery device for hole tray seedling cultivation proposed in the implementation of the present invention includes the following steps: loading the seedling tray, placing the seedling tray in the fixed groove 6 of the placement platform 5, ensuring that the seedling tray is placed stably and properly embedded, so that the column direction of the seedling tray is consistent with the defined first direction, and the row direction is consistent with the second direction.

[0037] To calibrate the seedling retrieval state and seedling delivery state of the linear seedling retrieval unit, the synchronous belt driving module 32 drives the two seedling retrieval components 34 located at the end of the linear seedling retrieval unit to move toward each other through the annular belt 35, compressing the spacing between the seedling retrieval components 34 so that the seedling retrieval components 34 correspond one-to-one with the seedling bodies in the row direction of the seedling tray, thereby completing the calibration of the seedling retrieval state; the synchronous belt driving module 32 drives the two seedling retrieval components 34 located at the end of the linear seedling retrieval unit to move away from each other through the annular belt 35, expanding the spacing between the seedling retrieval components 34 so that the seedling retrieval components 34 correspond one-to-one with the feeding barrel of the circulating feeding equipment, thereby completing the calibration of the seedling delivery state.

[0038] Among them, the seedling removal state calibration includes starting the synchronous belt drive module 32. At this time, the current signal is transmitted to the motor of the synchronous belt drive module 32, and the motor starts to run, driving the annular belt 35 to rotate in a preset direction and speed. The rotation of the annular belt 35 causes the two seedling removal components 34 located at the ends of the linear seedling removal unit to start moving toward each other along the slide rail 33. During the movement, the position information of the seedling removal component 34 is monitored in real time by the displacement sensor installed on the slide rail 33, and the data is fed back to the control system. The control system compares the spacing information of the current seedling removal component 34 with the preset seedling spacing data in the seedling tray row direction, accurately controls the motor speed and rotation direction of the synchronous belt drive module 32, and continuously adjusts the spacing of the seedling removal components 34 until the spacing of the seedling removal components 34 corresponds to the seedling spacing in the seedling tray row direction, and completes the precise calibration of the seedling removal state.

[0039] The seedling delivery state calibration includes starting the synchronous belt drive module 32, reversing the motor, and driving the annular belt 35 to rotate in the opposite direction. The two seedling retrieval components 34 located at the ends of the linear seedling retrieval unit move away from each other along the slide rail 33. Similarly, the displacement sensor continuously monitors the position change of the seedling retrieval component 34 and transmits the data to the control system. The control system regulates the synchronous belt drive module 32 according to the spacing parameters of the feed barrel of the circulating feeding equipment, so that the seedling retrieval component 34 gradually expands the spacing until it accurately corresponds to the feed barrel of the circulating feeding equipment, thereby completing the calibration of the seedling delivery state.

[0040] During the seedling retrieval operation, the first linear module 41 is started, and the second linear module 42 is driven to move along the first direction, so that the clamping mechanism 3 moves in the first direction to the upper position corresponding to the area of ​​the seedling tray to be retrieved, and the second linear module 42 is started to drive the clamping mechanism 3 to move downward along the height direction of the seedling tray until the seedling retrieval component 34 in the clamping mechanism 3 is close to the seedling stalk. At the same time, the synchronous belt drive module 32 is started to put the linear seedling retrieval unit in the seedling retrieval state. Subsequently, the first linear module 41 drives the second linear module 42 again along the first direction to approach the seedling stalk, and drives the pneumatic seedling clamp 343 to clamp the seedling stalk.

[0041] In the above-mentioned seedling removal operation, the control system issues a command to activate the drive motor of the first linear module 41. The motor drives the screw to rotate, and the nut on the screw is connected to the second linear module 42. The nut begins to move along the first direction under the rotation of the screw, thereby driving the second linear module 42 to move smoothly along the first direction toward the top of the seedling tray to be removed. During the movement, the position encoder installed on the second linear module 42 records its position information in real time and feeds it back to the control system. When it reaches the corresponding coordinate position above the preset seedling tray to be removed, the control system stops the drive motor of the first linear module 41.

[0042] Next, the control system starts the drive motor of the second linear module 42, and the motor drives the transmission chain or screw (depending on the specific design) to operate, so that the clamping mechanism 3 moves downward along the height direction of the seedling tray. At this time, the laser distance sensor installed on the clamping mechanism 3 starts to work, constantly measuring the distance between the clamping mechanism 3 and the surface of the seedling tray, and transmitting the data to the control system. When the distance data reaches the preset safe distance close to the seedling stalk, the control system stops the drive motor of the second linear module 42, so that the seedling removal component 34 in the clamping mechanism 3 is just close to the seedling stalk.

[0043] At the same time, the synchronous belt drive module 32 starts according to the previously calibrated seedling picking state parameters, drives the two seedling picking components 34 at the ends of the linear seedling picking unit to move towards each other, and accurately adjusts the spacing of the seedling picking components 34 to match the seedlings in the row direction of the seedling tray. When the spacing of the seedling picking components 34 is adjusted to the right position, the control system sends a command to the pneumatic seedling clamp 343, and compressed air quickly enters the cylinder of the pneumatic seedling clamp 343, pushing the piston to move, so that the clamp arm of the seedling clamp is closed, and the seedling stalk is firmly clamped.

[0044] During the seedling delivery operation, after clamping the seedling stalk, the second linear module 42 drives the clamping mechanism 3 to move upward along the height direction of the seedling tray to pull the seedling stalk out of the seedling tray, and the first linear module 41 is started again to drive the second linear module 42 to move along the first direction to move the clamping mechanism 3 that has clamped the seedling stalk to above the target position where the seedlings need to be delivered. The second linear module 42 drives the clamping mechanism 3 to move downward along the height direction of the seedling tray until it reaches the appropriate position. At the same time, the synchronous belt drive module 32 is activated again to put the linear seedling taking unit in the seedling delivery state, and then drives the pneumatic seedling clamp 343 to release the seedling body to complete the seedling delivery.

[0045] During the seedling delivery operation, the drive motor of the second linear module 42 is reversed to drive the clamping mechanism 3 to move upward along the height direction of the seedling tray. The laser distance sensor continuously monitors the distance between the clamping mechanism 3 and the surface of the seedling tray. When the distance reaches a height sufficient to completely pull the seedling stalk out of the seedling tray, the control system stops the drive motor of the second linear module 42. At this time, the seedling stalk has been successfully pulled out of the seedling tray.

[0046] The first linear module 41 is started again, and its driving motor drives the screw to rotate, so that the second linear module 42 moves along the first direction, and the clamping mechanism 3 clamping the seedling stalk moves toward the target position where the seedling needs to be delivered. The position encoder monitors the moving position in real time, and when the corresponding coordinates above the target position are reached, the control system stops the driving motor of the first linear module 41.

[0047] Then, the driving motor of the second linear module 42 is started again, driving the clamping mechanism 3 to move downward along the height direction of the seedling tray. The laser distance sensor works again, and when the clamping mechanism 3 drops to a suitable relative height with the feeding barrel of the circulating feeding equipment, the control system stops the driving motor of the second linear module 42.

[0048] At the same time, the synchronous belt drive module 32 is started according to the seedling delivery state parameters, driving the two seedling assemblies 34 at the ends of the linear seedling retrieval unit to move away from each other, accurately adjusting the spacing of the seedling retrieval assemblies 34 so that they correspond one to one with the feeding barrel of the circulating feeding equipment. When the spacing of the seedling retrieval assemblies 34 is adjusted to the right position, the control system sends a command to the pneumatic seedling clamp 343 to exhaust the cylinder of the pneumatic seedling clamp 343, open the clamp arm of the seedling clamp, release the seedling body, and the seedling body accurately falls into the feeding barrel of the circulating feeding equipment, completing the seedling delivery operation.

[0049] The present invention is not limited to the specific technical solutions described in the above embodiments. In addition to the above embodiments, the present invention may also have other implementation modes. For those skilled in the art, any technical solutions formed by any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A seedling taking and delivering device for plug tray seedling cultivation, characterized in that: It includes a frame for mounting on walking equipment, a clamping mechanism and a moving part for driving the clamping mechanism to move; The frame is provided with a placement platform, and the placement platform is provided with a fixing groove for embedding the seedling tray, and the column direction of the seedling tray is defined as the first direction, and the row direction of the seedling tray is defined as the second direction; The moving component includes a first linear module and a second linear module, the first linear module is installed on the placement platform and arranged parallel to the first direction, the first linear module is used to drive the second linear module to move along the first direction, the second linear module is arranged perpendicular to the placement platform, and the second linear module is used to drive the clamping mechanism to move along the height direction of the seedling tray; The clamping mechanism spans above the fixed groove, and the clamping mechanism includes a mounting frame, a synchronous belt drive module, a slide rail, and a seedling retrieval assembly for clamping the seedling stalk. The mounting frame is connected to the second linear module, and the synchronous belt drive module and the slide rail are both installed on the mounting frame. The synchronous belt drive module is arranged parallel to the second direction, and the slide rail is arranged parallel to the annular belt of the synchronous belt drive module. A plurality of seedling retrieval assemblies are connected to the slide rail to form a linear seedling retrieval unit, and the seedling retrieval assembly has a sliding freedom along the slide rail arrangement direction; The two seedling assemblies located at the ends of the linear seedling assemblies are respectively connected to the annular belt, the synchronous belt driving module is used to drive the two seedling assemblies to move relative to each other, and a connecting piece is arranged between adjacent seedling assemblies.

2. The seedling taking and delivering device for plug tray seedling cultivation according to claim 1, characterized in that: The seedling taking component comprises a sliding seat, a connecting rod and a pneumatic seedling clamp for clamping the seedling stalk; the sliding seat is connected to the slide rail, and the pneumatic seedling clamp is connected to the sliding seat through the connecting rod.

3. The seedling taking and delivering device for plug tray seedling cultivation according to claim 1, characterized in that: The linear seedling taking unit is divided into a left unit and a right unit, the left end seedling taking component in the left unit is connected to the bottom side of the annular belt, and the right end seedling taking component in the right unit is connected to the top side of the annular belt.

4. The seedling taking and delivering device for plug tray seedling cultivation according to claim 1, characterized in that: A supporting cylinder is arranged on one side of the placing platform, and the supporting cylinder is arranged parallel to the first direction. The cylinder body of the supporting cylinder is connected to the placing platform, and the piston rod of the supporting cylinder supports the seedling tray at the bottom of the fixing groove.

5. The seedling taking and delivering device for plug tray seedling cultivation according to claim 4, characterized in that: A conveyor belt for receiving empty seedling trays is arranged below the fixed groove, and the conveying direction of the conveyor belt is parallel to the second direction.

6. The seedling taking and delivering device for plug tray seedling cultivation according to claim 5, characterized in that: A seedling tray box is arranged at the outlet of the conveyor belt, and the seedling tray box is connected with the frame.

7. The seedling taking and delivering device for plug tray seedling cultivation according to claim 1, characterized in that: The number of the seedling picking components in the linear seedling picking unit is an even number.

8. The seedling taking and delivering device for plug tray seedling cultivation according to claim 1, characterized in that: The linear seedling taking unit is provided with a seedling taking state and a seedling sending state; The linear seedling picking unit is in a seedling picking state, and the synchronous belt driving module drives two seedling picking assemblies at the ends of the linear seedling picking unit to move toward each other through an annular belt, thereby compressing the spacing between the seedling picking assemblies, so that the seedling picking assemblies correspond to the seedling bodies in the row direction of the seedling tray one by one; The linear seedling retrieval unit is in a seedling delivery state, and the synchronous belt driving module drives the two seedling retrieval components located at the ends of the linear seedling retrieval unit to move away from each other through an annular belt, thereby expanding the spacing between the seedling retrieval components, so that the seedling retrieval components correspond one to one with the feeding barrel of the circulating feeding equipment.

9. The seedling taking and delivering method of the seedling taking and delivering device for plug tray seedling cultivation according to any one of claims 1 to 8, characterized in that: The steps include: Loading seedling trays: placing the seedling trays in the fixed grooves of the placing platform, ensuring that the seedling trays are placed stably and properly embedded, so that the column direction of the seedling trays is consistent with the defined first direction, and the row direction is consistent with the second direction; The seedling picking state and seedling delivery state of the linear seedling picking unit are calibrated. The synchronous belt driving module drives the two seedling picking assemblies located at the ends of the linear seedling picking unit to move toward each other through the annular belt, compresses the spacing of the seedling picking assemblies, so that the seedling picking assemblies correspond one-to-one with the seedling bodies in the row direction of the seedling tray, and completes the calibration of the seedling picking state. The synchronous belt driving module drives the two seedling picking assemblies located at the ends of the linear seedling picking unit to move away from each other through the annular belt, expands the spacing of the seedling picking assemblies, so that the seedling picking assemblies correspond one-to-one with the feeding barrel of the circulating feeding equipment, and completes the calibration of the seedling delivery state. In the seedling picking operation, the first linear module is started, and the second linear module is driven to move along the first direction, so that the clamping mechanism moves in the first direction to the upper position corresponding to the seedling picking area of ​​the seedling tray, and the second linear module is started to drive the clamping mechanism to move downward along the height direction of the seedling tray until the seedling picking component in the clamping mechanism is close to the seedling stalk, and at the same time, the synchronous belt driving module is started so that the linear seedling picking unit is in the seedling picking state, and then the first linear module drives the second linear module again along the first direction to approach the seedling stalk, and drives the pneumatic seedling clamp to clamp the seedling stalk; During the seedling delivery operation, after clamping the seedling stalks, the second linear module drives the clamping mechanism to move upward along the height direction of the seedling tray to pull the seedling stalks out of the seedling tray. The first linear module is started again to drive the second linear module to move along the first direction to move the clamping mechanism that has clamped the seedling stalks above the target position where the seedlings need to be delivered. At the same time, the synchronous belt drives the seedling retrieval components to move apart, so that the linear seedling retrieval unit is in the seedling delivery state. Subsequently, the pneumatic seedling clamp is driven to release the seedling body to complete the seedling delivery.

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