Seedling taking and transplanting device and method for plug seedling

Abstract

The present application relates to the technical field of plug seedling transplanting equipment, in particular to a seedling taking and sending device and method for plug seedling. The seedling taking and sending device for plug seedling is provided with a placing platform on the frame, the placing platform is provided with a fixing groove for embedding a seedling tray, a first linear module is used to drive a second linear module to move in a first direction, the second linear module is used to drive a clamping mechanism to move in the height direction of the seedling tray, the clamping mechanism comprises a mounting frame, a synchronous belt driving module, a slide rail and a seedling taking assembly for clamping seedling stems, a plurality of seedling taking assemblies are connected with the slide rail to form a linear seedling taking unit, two seedling taking assemblies at the ends of the linear seedling taking unit are connected with a ring belt respectively, and the synchronous belt driving module is used to drive the two seedling taking assemblies to move in opposite directions. The seedling taking and sending device for plug seedling improves the success rate of seedling taking, reduces the damage to the root system when the seedling body is clamped, and improves the efficiency of seedling taking and sending.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plug seedling transplanting equipment, in particular to a seedling taking and sending device for plug seedling and a seedling taking and sending method. BACKGROUND

[0002] Plug seedling refers to a method of growing seedlings in a specially designed plug tray, using light substrates such as peat, vermiculite, and perlite as the seedling medium, and then growing the seedlings under suitable environmental conditions. Compared with traditional ground bed seedling, plug seedling can grow a large number of seedlings in a limited space. For example, in a small greenhouse, plug seedling can grow several times more seedlings than ground bed seedling.

[0003] When the seedlings grown in the plug tray reach a suitable stage, they need to be transplanted to the field. In the prior art, a fully automatic plug seedling transplanting machine is used to automatically transplant the plug seedlings. For example, the plug tray placed on the plug tray rack is transported to the automatic seedling taking device by the plug tray conveying belt, the plug seedlings on the plug tray are grabbed by the automatic seedling taking device and then dropped into the circulating feeding mechanism, and the seedlings are planted into the soil by the planting mechanism. The whole machine is driven by the motor through the whole machine transmission mechanism to drive the components to work cooperatively, and the control system is generally based on PLC to realize automatic control.

[0004] However, the above-mentioned fully automatic plug seedling transplanting machine has the following defects in actual use: 1. When taking seedlings, the plug tray conveying belt drives the plug tray to move towards the seedling taking device, and the plug tray lacks constraints and is prone to slip on the plug tray conveying belt, which causes the position of the plug seedlings to deviate, thereby affecting the seedling taking accuracy of the seedling taking device; 2. The seedling taking mechanism in the existing fully automatic transplanting machine usually adopts an insertion type seedling needle structure to clamp the seedlings in the plug tray, which not only easily damages the roots of the seedlings, but also easily causes clamping failure due to position deviation; 3. The seedling taking mechanism needs more time to complete the actions of seedling taking and posture adjustment during operation, which makes it difficult to further improve the seedling taking speed, especially the expansion mode of multiple seedling taking claws from one side to the other side, which not only has low positioning efficiency, but also has poor repeated positioning accuracy, serious cumulative error, and the end seedling taking claw is prone to deviate from the seedling taking area, thereby reducing the seedling taking success rate and affecting the transplanting efficiency. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a seedling taking and sending device for plug seedling transplantation, which can improve the seedling taking success rate, reduce the damage to the roots when clamping the seedlings, and improve the efficiency of seedling taking and sending.

[0006] To solve the above technical problems, in a first aspect, the present application provides a seedling taking and sending device for plug seedling, which comprises a rack for installation on a walking equipment, a clamping mechanism, and a moving component for driving the clamping mechanism to move.

[0007] The rack is provided with a placing platform, and the placing platform is provided with a fixing groove for embedding a seedling tray, 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;

[0008] The moving component comprises a first linear module and a second linear module, the first linear module is installed on the placing platform and is arranged in parallel to the first direction, the first linear module is used for driving the second linear module to move along the first direction, and the second linear module is arranged perpendicularly to the placing platform and is used for driving the clamping structure to move along the height direction of the seedling tray;

[0009] The clamping structure is arranged above the fixing groove, the clamping structure comprises a mounting frame, a synchronous belt driving module, a sliding rail and a seedling taking assembly for clamping a seedling stem, the mounting frame is connected with the second linear module, the synchronous belt driving module and the sliding rail are both installed on the mounting frame, the synchronous belt driving module is arranged in parallel to the second direction, the sliding rail is arranged in parallel to the annular belt of the synchronous belt driving module, a plurality of seedling taking assemblies are connected with the sliding rail to form a linear seedling taking unit, and the seedling taking assembly has a sliding degree of freedom along the arrangement direction of the sliding rail;

[0010] Two seedling taking assemblies at the ends of the linear seedling taking unit are connected with the annular belt respectively, the synchronous belt driving module is used for driving the two seedling taking assemblies to move in opposite directions, and a connecting piece is arranged between adjacent seedling taking assemblies.

[0011] In the second aspect, the present application further provides a transplanting device comprising the seedling taking and feeding device for plug seedling.

[0012] In the third aspect, the present application further provides a transplanting method using the transplanting device, and the method comprises the following steps:

[0013] In the loading seedling tray operation, the seedling tray is placed in the fixing groove of the placing platform, the seedling tray is ensured to be placed stably and embedded properly, the column direction of the seedling tray is ensured to be consistent with the defined first direction, and the row direction of the seedling tray is ensured to be consistent with the second direction;

[0014] In the calibration of the seedling taking state and the seedling feeding state of the linear seedling taking unit, the two seedling taking assemblies at the ends of the linear seedling taking unit are driven by the synchronous belt driving module to move in opposite directions through the annular belt, the interval of the seedling taking assemblies is compressed, the seedling taking assemblies are one-to-one corresponding to the seedling bodies in the row direction of the seedling tray, the calibration of the seedling taking state is completed, and the two seedling taking assemblies at the ends of the linear seedling taking unit are driven by the synchronous belt driving module to move away from each other through the annular belt, the interval of the seedling taking assemblies is expanded, the seedling taking assemblies are one-to-one corresponding to the feeding cylinders of the circulating feeding device, and the calibration of the seedling feeding state is completed;

[0015] The seedling taking operation is performed, the first linear module is started, the second linear module is driven to move in the first direction, the clamping mechanism is moved to the position above the seedling tray seedling taking area corresponding to the first direction, the second linear module is started, the clamping mechanism is driven to move downward along the height direction of the seedling tray, until the seedling taking assembly in the clamping mechanism approaches the seedling stem, at the same time, the synchronous belt driving module is started, so that the linear seedling taking unit is in the seedling taking state, then the first linear module drives the second linear module to approach the seedling stem in the first direction again, the pneumatic seedling clamp is driven to clamp the seedling stem.

[0016] The seedling taking operation is performed, the first linear module is started, the second linear module is driven to move in the first direction, the clamping mechanism is moved to the position above the seedling tray seedling taking area corresponding to the first direction, the second linear module is started, the clamping mechanism is driven to move downward along the height direction of the seedling tray, until the seedling taking assembly in the clamping mechanism approaches the seedling stem, at the same time, the synchronous belt driving module is started, so that the linear seedling taking unit is in the seedling taking state, then the first linear module drives the second linear module to approach the seedling stem in the first direction again, the pneumatic seedling clamp is driven to clamp the seedling stem.

[0017] The seedling taking operation is performed, the first linear module is started, the second linear module is driven to move in the first direction, the clamping mechanism is moved to the position above the seedling tray seedling taking area corresponding to the first direction, the second linear module is started, the clamping mechanism is driven to move downward along the height direction of the seedling tray, until the seedling taking assembly in the clamping mechanism approaches the seedling stem, at the same time, the synchronous belt driving module is started, so that the linear seedling taking unit is in the seedling taking state, then the first linear module drives the second linear module to approach the seedling stem in the first direction again, the pneumatic seedling clamp is driven to clamp the seedling stem.

[0018] 1、The seedling taking operation is performed, the first linear module is started, the second linear module is driven to move in the first direction, the clamping mechanism is moved to the position above the seedling tray seedling taking area corresponding to the first direction, the second linear module is started, the clamping mechanism is driven to move downward along the height direction of the seedling tray, until the seedling taking assembly in the clamping mechanism approaches the seedling stem, at the same time, the synchronous belt driving module is started, so that the linear seedling taking unit is in the seedling taking state, then the first linear module drives the second linear module to approach the seedling stem in the first direction again, the pneumatic seedling clamp is driven to clamp the seedling stem.

[0019] 2、The seedling taking and sending method can flexibly calibrate the seedling taking state and the seedling sending state through the control of the opposite or away movement of the linear seedling taking unit end seedling taking assembly by the synchronous belt driving module, so that the transplanting equipment can adapt to the seedling taking of different specifications of seedling trays and the seedling sending demand of different circulating feeding mechanisms, when different row distance seedling trays or different size feeding barrels are replaced, only the action of the synchronous belt driving module needs to be simply adjusted, the adaptation of the equipment can be realized, the overall structure of the equipment does not need to be massively reconstructed, the universality and flexibility of the equipment are improved, the dependence on specific seedling trays and feeding equipment is reduced, the transplanting equipment can be applied to different crop types and different seedling standards of agricultural production scenes, the application range of the equipment is widened, and the comprehensive utilization rate of agricultural production resources is improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a perspective structural schematic diagram of a transplanting equipment with a seedling taking and sending device for plug seedling in the embodiment of the present application.

[0021] Figure 2 is Figure 1 a perspective structural schematic diagram of the transplanting equipment with the seedling taking and sending device for plug seedling in another view.

[0022] Figure 3 is Figure 1 a front view of the transplanting equipment.

[0023] Figure 4 is Figure 3 a top view of the transplanting equipment.

[0024] Figure 5 is an assembly structural schematic diagram of the seedling taking and sending device for plug seedling in the embodiment of the present application.

[0025] Figure 6 is a use state reference diagram of the clamping mechanism adopting a chain connection in the embodiment of the present application.

[0026] The drawings show that: 1, walking equipment; 2, rack; 3, clamping mechanism; 4, moving part; 5, placing platform; 6, fixed groove; 7, supporting cylinder; 8, conveying belt; 9, seedling tray box; 31, mounting frame; 32, synchronous belt driving module; 33, slide rail; 34, seedling taking assembly; 35, ring belt; 36, connecting piece; 41, first linear module; 42, second linear module; 341, slide; 342, connecting rod; 343, pneumatic seedling clamp. DETAILED DESCRIPTION

[0027] The specific embodiments of the present application will be described in detail below with reference to the drawings.

[0028] As Figures 1-6As shown, the embodiment of the present application provides a seedling taking and transplanting device for plug seedling, which aims to improve the success rate of seedling taking, reduce the damage to the root system when the seedling is taken, and improve the efficiency of seedling taking and transplanting during the plug seedling transplanting process.

[0029] The seedling taking and transplanting device for plug seedling provided in the embodiment of the present application can effectively fix the position of the seedling tray by setting the fixing groove on the placing platform, which is specially used for embedding the seedling tray, so as to prevent the seedling tray from moving during the seedling taking and transplanting process, and ensure the stability and reliability of the operation. Through the cooperative work of the first linear module and the second linear module, accurate positioning can be realized in the first direction (column direction) and the height direction of the seedling tray, which avoids the failure of seedling taking or damage to the seedling caused by inaccurate positioning, and improves the accuracy and efficiency of seedling taking and transplanting operation. Moreover, the synchronous belt driving module in the clamping mechanism cooperates with the sliding rail, the synchronous belt driving module can make the two seedling taking assemblies at the end move reversely, and drive other seedling taking assemblies to slide along the sliding rail by means of the connecting piece, so that the seedling taking assemblies can quickly expand to both sides from the middle of the linear seedling taking unit, or shrink from the end to the middle of the linear seedling taking unit, thereby improving the efficiency of the linear seedling taking unit switching between the seedling taking state and the seedling transplanting state, greatly improving the speed of seedling taking and transplanting, reducing the seedling taking time, and improving the efficiency of seedling taking and transplanting.

[0030] As shown in Figure 1 In combination with Figure 2 As shown, a seedling taking and transplanting device for plug seedling includes a rack 2 for mounting on a walking equipment 1, a clamping mechanism 3, and a moving part 4 for driving the clamping mechanism 3 to move. The rack 2 is provided with a placing platform 5. The placing platform 5 is provided with a fixing groove 6 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. For example, in combination with Figure 4 As shown, 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.

[0031] As shown in Figure 2 In combination with 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 placing platform 5 and is 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 placing 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.

[0032] As shown in Figure 2 In combination with Figure 3As shown, the clamping mechanism 3 is arranged above the fixed groove 6. The clamping mechanism 3 comprises a mounting frame 31, a synchronous belt driving module 32, a slide rail 33 and a seedling taking assembly 34 for clamping seedlings. The mounting frame 31 is connected with the second linear module 42. The synchronous belt driving module 32 and the slide rail 33 are both mounted on the mounting frame 31. The synchronous belt driving module 32 is arranged parallel to the second direction. The slide rail 33 is arranged parallel to a looped belt 35 of the synchronous belt driving module 32. A plurality of seedling taking assemblies 34 are connected with the slide rail 33 to form a linear seedling taking unit. The seedling taking assembly 34 has a sliding degree of freedom along the arrangement direction of the slide rail 33;

[0033] As shown in the drawings, Figure 4 In combination Figure 5 As shown, two seedling taking assemblies 34 at the ends of the linear seedling taking unit are connected with the looped belt 35 respectively. The synchronous belt driving module 32 is used to drive the two seedling taking assemblies 34 to move oppositely. A connecting piece 36 is arranged between the adjacent seedling taking assemblies 34.

[0034] The connecting piece 36 is used to transmit power between the adjacent seedling taking assemblies 34 on one hand, so that the seedling taking assemblies 34 can be quickly expanded from the middle to both sides of the linear seedling taking unit, or contracted from the ends to the middle of the linear seedling taking unit; and used to improve the support strength of the seedling taking assemblies 34 on the other hand, thereby reducing the shaking.

[0035] The linear seedling taking unit is provided with a seedling taking state and a seedling feeding state. When the linear seedling taking unit is in the seedling taking state, the synchronous belt driving module 32 drives the two seedling taking assemblies 34 at the ends of the linear seedling taking unit to move oppositely through the looped belt 35, so as to compress the interval of the seedling taking assemblies 34, so that the seedling taking assemblies 34 are one-to-one corresponding to the seedlings in the row direction of the seedling tray.

[0036] When the linear seedling taking unit is in the seedling feeding state, the synchronous belt driving module 32 drives the two seedling taking assemblies 34 at the ends of the linear seedling taking unit to move away from each other through the looped belt 35, so as to expand the interval of the seedling taking assemblies 34, so that the seedling taking assemblies 34 are one-to-one corresponding to the feeding cylinders of the circulating feeding equipment.

[0037] In this way, compared with the expansion or contraction mode of multiple seedling tongs from one side to the other side in the prior art, the switching of the seedling taking state and the seedling feeding state is realized by the cooperation of the synchronous belt driving module 32 and the sliding rail 33 in the clamping mechanism 3, the synchronous belt driving module 32 can drive the two seedling taking assemblies 34 at the end to move in opposite directions, and the other seedling taking assemblies 34 are driven to slide along the sliding rail 33 by the connecting piece 36, so that the seedling taking assemblies 34 can be quickly expanded from the middle to both sides of the linear seedling taking unit, or contracted from the end to the middle of the linear seedling taking unit, thereby improving the efficiency of the linear seedling taking unit in switching between the seedling taking state and the seedling feeding state, greatly improving the speed of seedling taking and feeding, reducing the seedling taking time, and improving the efficiency of seedling taking and feeding.

[0038] As shown in Figure 5 The linear seedling taking unit is divided into a left unit and a right unit. The seedling taking assemblies 34 in the left unit are connected to the bottom side of the ring-shaped belt 35. The seedling taking assemblies 34 in the right unit are connected to the top side of the ring-shaped belt 35. In this way, when the synchronous belt driving module 32 is working, the force distribution of the seedling taking assemblies 34 on both sides is more uniform. When the ring-shaped belt 35 is driven to move to adjust the distance between the seedling taking assemblies 34 or to perform the seedling taking and feeding action, the force arms of the two units are relatively balanced, reducing the lateral deviation, shaking or jamming phenomenon caused by uneven force. For example, in high-speed seedling taking or frequent switching between the seedling taking and feeding states, this balanced force structure can ensure stable operation of the entire linear seedling taking unit, improve the accuracy of the seedling taking and feeding action, avoid damage to the seedlings or deviation of the seedling feeding position caused by equipment shaking, and thus ensure high-quality completion of the transplanting operation.

[0039] In addition, when the synchronous belt driving module 32 drives the ring-shaped belt 35 to move, the seedling taking assemblies 34 in the left unit and the right unit can realize precise reverse movement. For the operation of compressing the distance by moving towards each other in the seedling taking state and expanding the distance by moving away from each other in the seedling feeding state, the reverse synchronous movement of the two units can better ensure the linearity and consistency of the seedling taking assemblies 34 in the seedling tray row direction or the direction of interfacing with the feeding cylinder of the circulating feeding device. For example, when dealing with seedling trays with closely arranged seedlings and requiring high-precision seedling taking, the two seedling taking assemblies 34 can accurately approach or move away from the seedlings at the same time, realizing accurate clamping and releasing of each seedling, and improving the motion control precision and reliability of the entire linear seedling taking unit.

[0040] According to some preferred embodiments of the present application, the number of seedling taking assemblies 34 in the linear seedling taking unit is even. The even number of seedling taking assemblies 34 can better adapt to the symmetrical structure of the plug tray. For example, when the number of seedlings in the plug tray row direction is even, the even number of seedling taking assemblies 34 can achieve one-to-one accurate clamping without additional complex adjustments or special processing, simplifying the seedling taking operation process and improving the compatibility and adaptability of the equipment to the plug tray. At the same time, when interfacing with the circulating feeding equipment, the even number of seedling taking assemblies 34 can also more conveniently match the equipment with a symmetrical feeding cylinder layout, ensuring the smoothness and efficiency of the seedling delivery process. For example, the number of seedling taking assemblies 34 is preferably 8.

[0041] As shown in Figure 6 , the seedling taking assemblies 34 in the clamping mechanism 3 can be flexibly connected by chains. Two seedling taking assemblies 34 located at the ends of the linear seedling taking unit are 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 opposite directions, and the power is transmitted between adjacent seedling taking assemblies 34 through the chains. In order to further improve the stability of the linear seedling taking unit during expansion and contraction, two seedling taking assemblies 34 located in the middle of the linear seedling taking unit are connected by a tension spring. The tension spring provides a restoring force for the expansion or contraction of the linear seedling taking unit.

[0042] As shown in Figure 3 , the seedling taking assembly 34 includes a sliding seat 341, a connecting rod 342, and a pneumatic seedling clamp 343 for clamping the seedling stem. The sliding seat 341 is connected to the sliding rail 33, and the pneumatic seedling clamp 343 is connected to the sliding seat 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, and the clamping force can be accurately controlled according to the thickness and material properties of the seedling stem, avoiding damage to the stem of the seedling due to excessive clamping force, and achieving gentle seedling taking. In particular, compared to the insertion type seedling needle structure for clamping the seedling body in the plug tray, not only is damage to the root system of the seedling body avoided, but the success rate of clamping is also greatly improved.

[0043] As shown in Figure 4 , one side of the placement platform 5 is provided with a supporting cylinder 7. The supporting cylinder 7 is arranged parallel to the first direction. The cylinder body of the supporting cylinder 7 is connected to the placement platform 5. The piston rod of the supporting cylinder 7 supports the plug tray at the bottom of the fixed groove 6. In this way, the supporting cylinder 7 provides support for the plug tray at the bottom of the fixed groove 6, which can effectively enhance the stability of the plug tray placement. During the seedling taking and delivering process, especially when the clamping mechanism 3 is in action, slight vibration or shaking may occur, and the supporting force of the supporting cylinder 7 can prevent the plug tray from shifting or shaking due to these external forces, ensuring that the seedling taking assembly 34 can accurately clamp the seedling.

[0044] As shown in Figure 3 in combination with Figure 4As shown, the lower part of the fixed groove 6 is provided with a conveying belt 8 for receiving the empty seedling tray, and the conveying direction of the conveying belt 8 is parallel to the second direction. After the seedling taking operation is completed, the supporting cylinder 7 is retracted, and the empty seedling tray can directly fall into the conveying belt 8 below, without manual manual handling or with the help of additional handling equipment. The conveying belt 8 can automatically convey the empty seedling tray along the parallel direction (the row direction of the seedling tray) to the designated collection area, greatly improving the efficiency of the empty seedling tray processing, and reducing the manual operation link and labor intensity.

[0045] For example, as shown in the drawings, Figure 4 As shown, the outlet of the conveying belt 8 is provided with a seedling tray box 9 connected with the rack 2. The seedling tray box 9 is used to collect the empty seedling tray and realize the centralized storage of the empty seedling tray.

[0046] The use of the transplanting equipment with the seedling taking and feeding device for plug seedling includes the following steps: loading the seedling tray, placing the seedling tray in the fixed groove 6 of the placing platform 5, ensuring that the seedling tray is placed stably and embedded properly, and making the row direction of the seedling tray consistent with the defined first direction and the line direction consistent with the second direction.

[0047] The seedling taking state and the seedling feeding state of the linear seedling taking unit are calibrated, the synchronous belt driving module 32 drives the two seedling taking assemblies 34 at the ends of the linear seedling taking unit to move oppositely through the annular belt 35, the interval of the seedling taking assemblies 34 is compressed, the seedling taking assemblies 34 are one-to-one corresponding to the seedlings in the row direction of the seedling tray, the calibration of the seedling taking state is completed, and the synchronous belt driving module 32 drives the two seedling taking assemblies 34 at the ends of the linear seedling taking unit to move away from each other through the annular belt 35, the interval of the seedling taking assemblies 34 is expanded, the seedling taking assemblies 34 are one-to-one corresponding to the feeding cylinders of the circulating feeding equipment, and the calibration of the seedling feeding state is completed.

[0048] The seedling taking state calibration includes starting the synchronous belt driving module 32, at this time the current signal is transmitted to the motor of the synchronous belt driving module 32, the motor starts to operate, and drives the annular belt 35 to rotate at a preset direction and speed. The rotation of the annular belt 35 makes the two seedling taking assemblies 34 at the ends of the linear seedling taking unit start to move oppositely along the slide rail 33. During the movement, the position information of the seedling taking assemblies 34 is monitored in real time through the displacement sensor installed on the slide rail 33, and the data is fed back to the control system. The control system compares the current interval information of the seedling taking assemblies 34 with the preset seedling row direction seedling interval data, accurately controls the motor speed and rotation direction of the synchronous belt driving module 32, continuously adjusts the interval of the seedling taking assemblies 34, until the interval of the seedling taking assemblies 34 is one-to-one corresponding to the seedling interval in the row direction of the seedling tray, and the accurate calibration of the seedling taking state is completed.

[0049] The seedling sending state calibration includes starting the synchronous belt driving module 32, reversing the motor, and driving the ring belt 35 to rotate in the opposite direction. The two seedling taking assemblies 34 located at the end of the linear seedling taking unit move away along the slide rail 33. Similarly, the displacement sensor continuously monitors the position change of the seedling taking assembly 34 and transmits the data to the control system. The control system controls the synchronous belt driving module 32 according to the spacing parameters of the seedling taking assembly 34 in the feeding cylinder of the circulating feeding equipment, so that the seedling taking assembly 34 gradually expands the spacing until it accurately corresponds to the feeding cylinder of the circulating feeding equipment, thereby completing the calibration of the seedling sending state.

[0050] The seedling taking operation starts the first linear module 41 to drive the second linear module 42 to move in the first direction, so that the clamping mechanism 3 moves to the position above the seedling tray to be taken in the first direction. 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 taking assembly 34 in the clamping mechanism 3 approaches the seedling stem. At the same time, the synchronous belt driving module 32 is started so that the linear seedling taking unit is in the seedling taking state. Then, the first linear module 41 drives the second linear module 42 to approach the seedling stem in the first direction again, and drives the pneumatic seedling clamp 343 to form clamping on the seedling stem.

[0051] In the above seedling taking operation, the control system issues an instruction 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 with the second linear module 42. The nut starts to move in the first direction under the rotation of the screw, thereby driving the second linear module 42 to move smoothly in the first direction above the seedling tray to be taken. During the movement, the position encoder installed on the second linear module 42 records the position information in real time and feeds back to the control system. When reaching the corresponding coordinate position above the seedling tray to be taken, the control system stops the drive motor of the first linear module 41.

[0052] Then, the control system starts the drive motor of the second linear module 42, and the motor drives the transmission chain or screw (according to 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 ranging sensor installed on the clamping mechanism 3 starts to work, constantly measures the distance between the clamping mechanism 3 and the surface of the seedling tray, and transmits the data to the control system. When the distance data reaches the preset safe distance close to the seedling stem, the control system stops the drive motor of the second linear module 42, so that the seedling taking assembly 34 in the clamping mechanism 3 approaches the seedling stem.

[0053] Simultaneously, the synchronous belt drive module 32 starts according to the previously calibrated seedling-taking state parameters, driving the two seedling-taking components 34 located at the end of the linear seedling-taking unit to move towards each other, precisely adjusting the spacing of the seedling-taking components 34 to match the seedlings in the seedling tray direction. Once the spacing of the seedling-taking components 34 is adjusted to the correct position, the control system sends a command to the pneumatic seedling clamp 343. Compressed air quickly enters the cylinder of the pneumatic seedling clamp 343, pushing the piston to move, causing the clamp arms to close and firmly hold the seedling stalk.

[0054] In the seedling delivery operation, after the seedling stalk is picked up, the second linear module 42 drives the clamping mechanism 3 to move upward along the height direction of the seedling tray, pulling the seedling stalk out of the seedling tray. The first linear module 41 starts again, driving the second linear module 42 to move along the first direction, moving the clamping mechanism 3, which has picked up the seedling stalk, above the target position 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, so that the linear seedling picking unit is in the seedling delivery state. Then, the pneumatic seedling clamp 343 is driven to release the seedling body, completing the seedling delivery.

[0055] During the seedling delivery operation, the drive motor of the second linear module 42 reverses, causing the clamping mechanism 3 to move upward along the height direction of the seedling tray. The laser rangefinder 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 stem out of the seedling tray, the control system stops the drive motor of the second linear module 42. At this time, the seedling stem has been successfully pulled out of the seedling tray.

[0056] The first linear module 41 restarts, and its drive motor rotates the lead screw, causing the second linear module 42 to move along the first direction, moving the clamping mechanism 3, which has gripped the seedling stalk, towards the target position where the seedling needs to be delivered. The position encoder monitors the movement position in real time, and when it reaches the coordinates corresponding to the target position, the control system stops the drive motor of the first linear module 41.

[0057] Then, the drive motor of the second linear module 42 starts again, driving the gripping mechanism 3 to move downwards along the height direction of the seedling tray. The laser rangefinder sensor works again, and when the gripping mechanism 3 descends to a suitable relative height with the feed cylinder of the circulating feeding equipment, the control system stops the drive motor of the second linear module 42.

[0058] At the same time, the synchronous belt drive module 32 is started according to the seedling feeding state parameter, and drives the two seedling taking assemblies 34 at the end of the linear seedling taking unit to move away from each other, and the interval of the seedling taking assemblies 34 is accurately adjusted to correspond to the feeding cylinder of the circulating feeding equipment. After the interval of the seedling taking assemblies 34 is adjusted in place, the control system sends an instruction to the pneumatic seedling clamp 343, the cylinder of the pneumatic seedling clamp 343 is exhausted, the clamping arm of the seedling clamp is opened, the seedling is released, and the seedling is accurately dropped into the feeding cylinder of the circulating feeding equipment to complete the seedling feeding operation.

[0059] The present application is not limited to the specific technical solutions described in the above embodiments, and in addition to the above embodiments, the present application can also have other implementation manners. For those skilled in the art, any modifications, equivalent replacements, improvements, etc. formed within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A seedling taking and transplanting device for plug seedling, characterized by, The machine frame comprises a machine frame for being mounted on walking equipment, a clamping mechanism and a moving component for driving the clamping mechanism to move; The machine frame is provided with a placing platform, and the placing platform is provided with a fixing groove for embedding a seedling tray. The moving component comprises a first linear module and a second linear module. The first linear module is installed on the placing platform and is arranged in parallel to the first direction. The second linear module is arranged perpendicularly to the placing platform and is used for driving the clamping mechanism to move along the height direction of the seedling tray. The clamping mechanism is arranged above the fixing groove. The clamping mechanism comprises a mounting frame, a synchronous belt driving module, a slide rail and a seedling taking assembly for clamping seedlings. The mounting frame is connected with the second linear module. The synchronous belt driving module and the slide rail are both installed on the mounting frame.

2. The seedling picking and transplanting apparatus for plug seedlings according to claim 1, wherein The synchronous belt driving module is arranged in parallel to the second direction.

3. The seedling picking and transplanting apparatus for plug seedlings according to claim 1, wherein The slide rail is arranged in parallel to the annular belt of the synchronous belt driving module.

4. The seedling picking and transplanting apparatus for plug seedlings according to claim 1, wherein A plurality of seedling taking assemblies are connected with the slide rail to form a linear seedling taking unit.

5. The seedling picking and transplanting apparatus for plug seedlings according to claim 4, wherein The seedling taking assembly has a sliding degree of freedom along the arrangement direction of the slide rail.

6. The seedling picking and transplanting apparatus for plug seedlings according to claim 1, wherein Two seedling taking assemblies at the ends of the linear seedling taking unit are connected with the annular belt respectively.

7. The seedling picking and transplanting method for the seedling picking and transplanting apparatus for plug seedlings according to any one of claims 1 to 6, characterized in that, The synchronous belt driving module is used for driving the two seedling taking assemblies to move oppositely. Adjacent seedling taking assemblies are provided with a connecting piece. One side of the placing platform is provided with a supporting air cylinder. The cylinder body of the supporting air cylinder is connected with the placing platform. The piston rod of the supporting air cylinder supports the seedling tray at the bottom of the fixing groove. The linear seedling taking unit has a seedling taking state and a seedling feeding state. When the linear seedling taking unit is in the seedling taking state, the synchronous belt driving module drives the two seedling taking assemblies at the ends of the linear seedling taking unit to move oppositely through the annular belt. The distance between the seedling taking assemblies is compressed, so that the seedling taking assemblies correspond to seedlings in the row direction of the seedling tray one by one. When the linear seedling taking unit is in the seedling feeding state, the synchronous belt driving module drives the two seedling taking assemblies at the ends of the linear seedling taking unit to move away from each other through the annular belt. The distance between the seedling taking assemblies is expanded, so that the seedling taking assemblies correspond to the feeding barrels of the circulating feeding equipment one by one. The seedling taking assembly comprises a sliding seat, a connecting rod and a pneumatic seedling clamp for clamping seedlings. The sliding seat is connected with the slide rail. The pneumatic seedling clamp is connected with the sliding seat through the connecting rod. The linear seedling taking unit is divided into a left side unit and a right side unit. The left end seedling taking assembly in the left side unit is connected with the bottom side of the annular belt. The right end seedling taking assembly in the right side unit is connected with the top side of the annular belt. The bottom of the fixing groove is provided with a conveying belt for receiving empty seedling trays. The conveying direction of the conveying belt is parallel to the second direction. The outlet of the conveying belt is provided with a seedling tray box connected with the machine frame. The number of seedling taking assemblies in the linear seedling taking unit is even. The method comprises the following steps: The seedling tray is placed in the fixed groove of the placing platform, and the seedling tray is placed stably and embedded appropriately, 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; The taking state and the feeding state of the linear seedling taking unit are calibrated, the synchronous belt driving module drives two seedling taking assemblies at the ends of the linear seedling taking unit to move oppositely through the annular belt, the interval of the seedling taking assemblies is compressed, the seedling taking assemblies are one-to-one corresponding to the seedlings in the row direction of the seedling tray, the calibration of the taking state is completed, the synchronous belt driving module drives two seedling taking assemblies at the ends of the linear seedling taking unit to move away from each other through the annular belt, the interval of the seedling taking assemblies is expanded, the seedling taking assemblies are one-to-one corresponding to the feeding cylinders of the circulating feeding equipment, the calibration of the feeding state is completed; The seedling taking operation is as follows: the first linear module is started, the second linear module is driven to move in the first direction, the clamping mechanism is moved to the position above the seedling taking area of the seedling tray, the second linear module is started, the clamping mechanism is driven to move downward along the height direction of the seedling tray, until the seedling taking assembly in the clamping mechanism approaches the seedling stem, at the same time, the synchronous belt driving module is started, so that the linear seedling taking unit is in the taking state, then the first linear module drives the second linear module to move in the first direction to approach the seedling stem, and the pneumatic seedling clamp forms clamping on the seedling stem; The seedling feeding operation is as follows: after the seedling stem is clamped, the second linear module drives the clamping mechanism to move upward along the height direction of the seedling tray, the seedling stem is pulled out of the seedling tray, the first linear module is started again, the second linear module is driven to move in the first direction, the clamping mechanism with the seedling stem is moved to the position above the target position where the seedling stem needs to be fed, at the same time, the synchronous belt driving module drives the seedling taking assembly to move away from each other, so that the linear seedling taking unit is in the feeding state, then the pneumatic seedling clamp releases the seedling stem, and the seedling feeding is completed.

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