Transplanting equipment for plug seedling and fixed-depth transplanting method

Abstract

The invention relates to the technical field of plug seedling transplanting equipment, in particular to transplanting equipment for plug seedling and a fixed-depth transplanting method. The transplanting equipment comprises a walking mechanism, a rack, a seedling taking and feeding device, a circulating feeding mechanism and a planting mechanism, the seedling taking and feeding device, the circulating feeding mechanism and the planting mechanism are installed on the rack, an adjusting assembly used for adapting to land fluctuation on a planting belt is arranged between the walking mechanism and the rack, and a detection plate of the adjusting assembly is connected with a frame body of the walking mechanism through a rotating shaft; the angle sensor is used for collecting a rotation angle formed by rotation of the detection plate along with land fluctuation on the planting belt, and the control module is used for receiving the rotation angle, calculating a height change value of the land fluctuation on the planting belt according to the rotation angle, and controlling the execution component to drive the rack to move according to the height change value so as to compensate the planting depth. The transplanting equipment for plug seedling culture is adaptive to land fluctuation on a planting belt, the consistency of seedling planting depth is improved, and the planting effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of plug tray seedling transplanting equipment, and in particular to a transplanting equipment for plug tray seedling cultivation and a fixed-depth transplanting method. 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 seedlings. 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 seedlings. The whole machine is driven by a motor through the whole machine transmission mechanism to drive various components to work together.

[0004] However, when the existing fully automatic seedling transplanter is working in the field, the soil on the planting belt after land preparation has undulations, resulting in uneven distribution of the planting depth of the seedlings, which in turn affects the planting effect of the seedlings. In ordinary field crop transplanting, the land undulation is usually required to be 5cm-10cm. When the soil surface on the planting belt is uneven, and the walking device of the transplanting equipment moves smoothly in the groove, the actual insertion depth of the planter of the transplanting equipment will be significantly different. For example, the standard insertion depth of the planter is designed to be 5cm. At the raised part of the planting belt, the actual insertion depth of the planter may reach 7cm or even deeper, while at the recessed part of the planting belt, the actual insertion depth of the planter may be only 3cm.

[0005] Even under high-standard precision agriculture operations, the soil on the planting belt after land preparation still has undulations of 2cm-3cm, which leads to differences in the actual planting depth of the seedlings. Uneven planting depth will cause different soil compactness around the seedlings, affecting the effect of transplanting and planting in plug trays. For example, in areas with shallow planting, the soil has a weaker effect on fixing the roots of the seedlings, and the seedlings are prone to lodging under the influence of external factors such as wind or watering. In areas where planting is too deep, the soil is more compact, and the roots need to overcome greater resistance when growing, resulting in a long seedling acclimatization period and weak seedling growth. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a transplanting equipment for transplanting seedlings from trays, so as to adapt to the undulations of the land on the planting belt, improve the consistency of the planting depth of the seedlings, and enhance the transplanting and planting effect.

[0007] In order to solve the above technical problems, in the first aspect, the present invention proposes a transplanting device for seedling cultivation in a plug tray, comprising a walking mechanism and a frame, and a seedling taking and delivering device, a circulating feeding mechanism and a planting mechanism installed on the frame;

[0008] The walking mechanism is used to drive the frame to move in the grooves formed between the planting belts, and the seedling picking and feeding device is used to clamp the seedlings in the seedling tray and send them to the circulating feeding mechanism. The circulating feeding mechanism transports the seedlings in an orderly manner to the planting mechanism. The planting mechanism implants the seedlings into the soil of the planting belt one by one according to the set planting depth and plant spacing.

[0009] An adjustment component for adapting to the ups and downs of the land on the planting belt is arranged between the walking mechanism and the frame;

[0010] The adjustment assembly includes a detection plate, an angle sensor, a control module and an actuator for driving the frame and the walking mechanism to form relative motion;

[0011] The detection plate is provided with a contact portion for contacting the surface of the soil of the planting belt, the detection plate is connected to the frame of the walking mechanism through a rotating shaft, and the detection plate is provided with a rotational freedom of rotation around the axis of the rotating shaft;

[0012] The angle sensor is used to collect the rotation angle formed by the detection plate rotating with the ups and downs of the land on the planting belt, and transmit the rotation angle to the control module;

[0013] The control module is used to receive the rotation angle, calculate the height change value of the land undulation on the planting belt according to the rotation angle, and control the execution component to drive the frame to move according to the height change value to form compensation for the planting depth.

[0014] In a second aspect, the present invention further proposes a fixed-depth transplanting method using the above-mentioned transplanting equipment for growing seedlings in plug trays, comprising the following steps:

[0015] The walking mechanism of the transplanting equipment drives the frame forward in the grooves between the planting belts, and the seedling picking and feeding device clamps the seedlings in the seedling tray and sends them to the circulating feeding mechanism, which then transports the seedlings in an orderly manner to the planting mechanism for transplanting;

[0016] The adjustment component installed between the walking mechanism and the frame starts to work, and the contact part of the detection plate is closely attached to the surface of the planting belt. When the planting belt is undulating, the detection plate will rotate around the rotating shaft relative to the frame of the walking mechanism. The rotation angle of the detection plate reflects the undulation of the planting belt in real time.

[0017] The angle sensor collects the rotation angle of the detection plate in real time and transmits the rotation angle data to the control module. After receiving the rotation angle data, the control module calculates the height change value of the land undulation on the planting belt according to the rotation angle;

[0018] The control module sends a command to the execution component according to the calculated height change value, and the execution component drives the frame to move relative to the walking mechanism after receiving the command;

[0019] If the soil in the planting belt rises, the executive component drives the frame to rise by the corresponding height change value; if the soil in the planting belt drops, the executive component drives the frame to drop by the corresponding height change value, thereby compensating for the planting depth and ensuring that the seedlings are planted in the soil of the planting belt one by one according to the set planting depth.

[0020] Compared with the prior art, the transplanting equipment and fixed-depth transplanting method for seedling cultivation in plug trays provided by the present invention have the following outstanding substantive features and significant improvements:

[0021] 1. The transplanting equipment for hole tray seedling cultivation integrates the functional modules of the walking mechanism, the seedling picking and delivering device, the circulating feeding mechanism and the planting mechanism, realizing a fully automated operation process from seedling grabbing, conveying to planting. The various mechanisms cooperate closely with each other, and the transplanting operation can be carried out in an orderly manner according to the set plant spacing and planting depth, which greatly improves the efficiency of the transplanting operation and reduces the labor intensity and labor cost. In addition, by adjusting the coordinated work of the detection board, angle sensor, control module and execution component in the assembly, the undulation of the land in the planting zone can be monitored in real time, the height change value can be calculated according to the undulation of the land, and the position of the frame relative to the walking mechanism can be adjusted accordingly, so as to realize dynamic compensation of the planting depth, ensure that each seedling can be implanted in the soil according to the set planting depth, avoid the phenomenon of planting too deep or too shallow due to uneven land, greatly improve the survival rate and growth consistency of the transplanted seedlings, and be beneficial to the subsequent agricultural production management and crop yield increase.

[0022] 2. This fixed-depth transplanting method can operate stably in planting areas with different terrains and landforms by virtue of the dynamic response ability of the adjustment component to the undulations of the land. Whether it is relatively flat large-scale farmland or complex land with certain slopes, potholes or local height differences, it can automatically adapt to and maintain good transplanting effects, greatly broadening the scope of application of transplanting operations, reducing the stringent requirements for the preliminary preparation of land, reducing land preparation costs and time investment, making it easier for transplanting operations to be carried out efficiently in a more diverse agricultural production environment, and enhancing the flexibility and reliability of agricultural production in dealing with complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is a three-dimensional structural schematic diagram of a transplanting equipment for growing seedlings in a plug tray according to an embodiment of the present invention.

[0024] Figure 2 The present invention is a schematic diagram of the assembly structure of an adjustment component in a transplanting device for growing seedlings in a plug tray according to an embodiment of the present invention.

[0025] Figure 3 It is a schematic diagram of the principle of the adjustment component compensating the planting depth in the embodiment of the present invention.

[0026] Figure 4 yes Figure 1 A schematic diagram of the three-dimensional structure of a transplanting equipment for growing seedlings in plug trays from another perspective.

[0027] Figure 5 yes Figure 1 main view.

[0028] Figure 6 yes Figure 5 Top view of the .

[0029] Figure 7 It is a schematic diagram of the assembly structure of the seedling picking and delivering device in an embodiment of the present invention.

[0030] Figure numerals: 1. walking mechanism; 2. frame; 3. clamping mechanism; 4. moving part; 5. placing platform; 6. fixing groove; 7. supporting cylinder; 8. conveyor belt; 9. seedling tray box; 11. circulating feeding mechanism; 12. planting mechanism; 13. adjustment component; 14. groove; 15. planting belt; 31. mounting frame; 32. synchronous belt drive module; 33. slide rail; 34. seedling removal component; 35. annular belt; 36. connecting piece; 41. first linear module; 42. second linear module; 341. slide seat; 342. connecting rod; 343. pneumatic seedling clamp; 131. detection plate; 132. angle sensor; 133. control module; 134. actuator; 135. rotating shaft. DETAILED DESCRIPTION

[0031] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] like Figure 1-Figure 7 As shown, in the embodiment of the present invention, a transplanting device and a transplanting method for seedlings in a tray are proposed, which are intended to adapt to the undulations of the land on the planting belt during the transplanting of seedlings in the tray, improve the consistency of the planting depth of the seedlings, and improve the transplanting effect. Among them, the transplanting effect is reflected by parameters such as the survival rate of the seedlings after transplanting, the growth rate of the seedlings, and the root development.

[0033] A transplanting equipment for hole tray seedling cultivation proposed in an embodiment of the present invention can monitor the undulation of the land in the planting zone in real time through the coordinated work of the detection plate, angle sensor, control module and execution component in the adjustment component, calculate the height change value according to the undulation of the land, and adjust the position of the frame relative to the walking mechanism accordingly, thereby realizing dynamic compensation of the planting depth, ensuring that each seedling can be implanted in the soil according to the set planting depth, avoiding the phenomenon of planting too deep or too shallow due to uneven land, greatly improving the survival rate and growth consistency of the transplanted seedlings, and facilitating subsequent agricultural production management and crop yield improvement.

[0034] like Figure 1 As shown, a transplanting equipment for growing seedlings in a plug tray includes a traveling mechanism 1 and a frame 2, as well as a seedling picking and delivering device, a circulating feeding mechanism 11 and a planting mechanism 12 installed on the frame 2. The traveling mechanism 1 is used to drive the frame 2 to move in the groove 14 formed between the planting belts 15. The seedling picking and delivering device is used to clamp the seedlings in the seedling tray and deliver them to the circulating feeding mechanism 11. The circulating feeding mechanism 11 transports the seedlings to the planting mechanism 12 in an orderly manner. The planting mechanism 12 implants the seedlings into the soil of the planting belt 15 one by one according to the set planting depth and plant spacing.

[0035] like Figure 1 Combination Figure 2 As shown, an adjustment component 13 for adapting to the undulation of the soil on the planting belt 15 is provided between the traveling mechanism and the frame 2. The adjustment component 13 includes a detection plate 131, an angle sensor 132, a control module 133 and an actuator 134 for driving the frame 2 and the traveling mechanism to form a relative motion. The detection plate 131 is provided with a contact portion for fitting the surface of the soil of the planting belt 15. The detection plate 131 is connected to the frame of the traveling mechanism through a rotating shaft 135. The detection plate 131 is provided with a rotational freedom of rotation around the axis of the rotating shaft 135.

[0036] The angle sensor 132 is used to collect the rotation angle formed by the detection plate 131 rotating with the undulation of the land on the planting belt 15, and transmit the rotation angle to the control module 133. The control module 133 is used to receive the rotation angle, calculate the height change value of the undulation of the land on the planting belt 15 according to the rotation angle, and control the execution component 134 to drive the frame 2 to move according to the height change value, so as to compensate for the planting depth. The specific calculation method of the height change value is as follows.

[0037] like Figure 3 As shown, the initial angle formed by the detection plate 131 and the ground surface of the planting belt 15 is α, and the length from the contact portion of the detection plate 131 to the axis of the rotating shaft 135 is L, then the initial height of the rotating shaft 135 relative to the ground surface of the planting belt 15 is H, H=Lsinα.

[0038] The rotation angle collected by the angle sensor 132 is θ. After the detection plate 131 rotates by θ along with the ups and downs of the land on the planting belt 15, the height of the rotation shaft 135 relative to the land surface of the planting belt 15 is H. 1 , H 1 =Lsin(α+θ).

[0039] The height variation of the land undulation on the planting belt 15 is ΔH, ΔH=H 1 -H = Lsin(α+θ) - Lsinα.

[0040] like Figure 2 Combination Figure 3 As shown, when the detection plate 131 rotates clockwise, it indicates that the land surface of the planting belt 15 is depressed downward; when the detection plate 131 rotates counterclockwise, it indicates that the land surface of the planting belt 15 is convex upward. The angle value of the detection plate 131 rotating clockwise is defined as positive, and the angle value of the detection plate 131 rotating counterclockwise is defined as negative.

[0041] For example, assuming that the initial angle α formed by the detection plate and the surface of the planting belt is 30°, and the length L from the contact portion of the detection plate to the axis of the rotating shaft is 10 cm, the initial height H is 0.5×10=5 cm.

[0042] When the angle sensor detects a rotation angle of θ = 15°, H 1 =0.707×10≈7.07cm. Then the height change value of the undulating land on the planting belt is ΔH=7.07-5=2.07cm, which means that the land surface on the planting belt is sunken 2.07cm. The control module needs to control the actuator to drive the frame to move downward to compensate for the planting depth and ensure that the seedlings are planted in the soil according to the set planting depth.

[0043] like Figure 2 As shown, the fixed end of the actuator 134 is mounted on the frame of the walking mechanism. The telescopic end of the actuator 134 is connected to the frame 2. For example, the actuator is a servo electric cylinder. The angle sensor 132 can be an incremental photoelectric encoder or an absolute photoelectric encoder.

[0044] like Figure 1 Combination Figure 4 As shown, a placement platform 5 is provided on the rack 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 the first direction, and the row direction of the seedling tray is defined as the second direction. Figure 6 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.

[0045] like Figure 4 Combination Figure 6As 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 structure 3 to move along the height direction of the seedling tray.

[0046] like Figure 4 Combination Figure 5 As 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;

[0047] like Figure 6 Combination Figure 7 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 in opposite directions. A connecting piece 36 is provided between adjacent seedling assemblies 34.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] like Figure 7 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.

[0053] 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 row direction of the seedling tray or in the direction of docking with the feed barrel of the circulating feeding equipment. 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.

[0054] 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.

[0055] like Figure 5 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.

[0056] like Figure 6 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.

[0057] like Figure 5 Combination Figure 6 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 retrieval 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.

[0058] For example, Figure 6As 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.

[0059] When used, a transplanting equipment for growing seedlings in hole trays 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] During the seedling retrieval operation, the first linear module 41 is started, and the second linear module 42 is driven to move in 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 structure 3 to move downward in 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, and then the pneumatic seedling clamp 343 is driven to clamp the seedling stalk.

[0064] 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.

[0065] Next, the control system starts the drive motor of the second linear module 42, and the motor drives the transmission chain or screw rod (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.

[0066] 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.

[0067] During the seedling delivery operation, after clamping the seedling stalk, the second linear module 42 drives the clamping structure 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 structure 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 structure 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 taking unit is in the seedling delivery state, and then the pneumatic seedling clamp 343 is driven to release the seedling body to complete the seedling delivery.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] When the walking mechanism of the transplanting equipment drives the frame 2 forward in the groove 14 between the planting belts 15, the seedling picking and sending device clamps the seedlings in the seedling tray to the circulating feeding mechanism 11, and the circulating feeding mechanism 11 then transports the seedlings in an orderly manner to the planting mechanism 12 for transplanting.

[0073] The adjusting assembly 13 installed between the traveling mechanism and the frame 2 starts to work, and the contact portion of the detection plate 131 fits tightly against the surface of the planting belt 15. When the planting belt 15 has ups and downs, the detection plate 131 will rotate around the rotating shaft 135 relative to the frame of the traveling mechanism. The rotation angle of the detection plate 131 reflects the ups and downs of the planting belt 15 in real time.

[0074] The angle sensor 132 collects the rotation angle of the detection plate 131 in real time and transmits the rotation angle data to the control module 133. After receiving the rotation angle data, the control module 133 calculates the height change value of the land undulation on the planting belt 15 according to the rotation angle.

[0075] The control module 133 sends an instruction to the execution component 134 according to the calculated height change value, and the execution component 134 drives the frame 2 to move relative to the walking mechanism after receiving the instruction.

[0076] If the soil of the planting belt 15 rises, the executive component 134 drives the frame 2 to rise by the corresponding height change value; if the soil of the planting belt 15 drops, the executive component 134 drives the frame 2 to drop by the corresponding height change value, thereby compensating for the planting depth and ensuring that the seedlings are successively implanted in the soil of the planting belt 15 according to the set planting depth.

[0077] 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 transplanting device for seedling cultivation in a plug tray, comprising a walking mechanism and a frame, and a seedling taking and delivering device, a circulating feeding mechanism and a planting mechanism installed on the frame; The walking mechanism is used to drive the frame to move in the grooves formed between the planting belts, and the seedling picking and feeding device is used to clamp the seedlings in the seedling tray and send them to the circulating feeding mechanism. The circulating feeding mechanism transports the seedlings in an orderly manner to the planting mechanism. The planting mechanism implants the seedlings into the soil of the planting belt one by one according to the set planting depth and plant spacing; It is characterized in that An adjustment component for adapting to the ups and downs of the land on the planting belt is arranged between the walking mechanism and the frame; The adjustment assembly includes a detection plate, an angle sensor, a control module and an actuator for driving the frame and the walking mechanism to form relative motion; The detection plate is provided with a contact portion for contacting the surface of the soil of the planting belt, the detection plate is connected to the frame of the walking mechanism through a rotating shaft, and the detection plate is provided with a rotational freedom of rotation around the axis of the rotating shaft; The angle sensor is used to collect the rotation angle formed by the detection plate rotating with the ups and downs of the land on the planting belt, and transmit the rotation angle to the control module; The control module is used to receive the rotation angle, calculate the height change value of the land undulation on the planting belt according to the rotation angle, and control the execution component to drive the frame to move according to the height change value to form compensation for the planting depth.

2. The transplanting equipment for growing seedlings in plug trays according to claim 1, characterized in that: The fixed end of the actuating component is installed on the frame of the walking mechanism, and the telescopic end of the actuating component is connected to the frame.

3. The transplanting equipment for growing seedlings in plug trays according to claim 1, characterized in that: The initial angle formed by the detection plate and the soil surface of the planting belt is α, the length from the contact part of the detection plate to the axis of the rotating shaft is L, and the initial height of the rotating shaft relative to the soil surface of the planting belt is H, H = Lsinα; The rotation angle collected by the angle sensor is θ. After the detection plate rotates by θ as the land on the planting belt rises and falls, the height of the rotation axis relative to the land surface of the planting belt is H1, H1 = Lsin (α + θ); The height variation value of the land undulation on the planting belt is ΔH, ΔH=H1-H=Lsin(α+θ)-Lsinα.

4. The transplanting equipment for growing seedlings in plug trays according to claim 1, characterized in that: The seedling taking and delivering device comprises a clamping mechanism and a moving part for driving the clamping structure 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. The second linear module is used to drive the clamping mechanism to move along the height direction of the seedling tray.

5. The transplanting equipment for growing seedlings in plug trays according to claim 4, characterized in that: The clamping mechanism spans above the fixed groove, and the clamping structure includes a mounting frame, a synchronous belt driving module, a slide rail and a seedling retrieval component for clamping the seedling stalk. The mounting frame is connected to the second linear module, and 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, and the slide rail is arranged parallel to the annular belt of the synchronous belt driving module. A plurality of seedling retrieval components are connected to the slide rail to form a linear seedling retrieval unit, and the seedling retrieval component has a sliding freedom along the arrangement direction of the slide rail. The two seedling retrieval components located at the ends of the linear seedling retrieval unit are respectively connected to the annular belts. The synchronous belt driving module is used to drive the two seedling retrieval components to move relative to each other, and a connecting piece is arranged between adjacent seedling retrieval components.

6. The transplanting equipment for growing seedlings in plug trays according to claim 5, 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.

7. The transplanting equipment for growing seedlings in plug trays according to claim 4, 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.

8. The transplanting equipment for growing seedlings in plug trays according to claim 7, 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.

9. The fixed-depth transplanting method of the transplanting equipment for tray seedling cultivation according to any one of claims 1 to 8, characterized in that: The steps include: The walking mechanism of the transplanting equipment drives the frame forward in the grooves between the planting belts, and the seedling picking and feeding device clamps the seedlings in the seedling tray and sends them to the circulating feeding mechanism, which then transports the seedlings in an orderly manner to the planting mechanism for transplanting; The adjustment component installed between the walking mechanism and the frame starts to work, and the contact part of the detection plate is closely attached to the surface of the planting belt. When the planting belt is undulating, the detection plate will rotate around the rotating shaft relative to the frame of the walking mechanism. The rotation angle of the detection plate reflects the undulation of the planting belt in real time. The angle sensor collects the rotation angle of the detection plate in real time and transmits the rotation angle data to the control module. After receiving the rotation angle data, the control module calculates the height change value of the land undulation on the planting belt according to the rotation angle; The control module sends a command to the execution component according to the calculated height change value, and the execution component drives the frame to move relative to the walking mechanism after receiving the command; If the soil in the planting belt rises, the executive component drives the frame to rise by the corresponding height change value; if the soil in the planting belt drops, the executive component drives the frame to drop by the corresponding height change value, thereby compensating for the planting depth and ensuring that the seedlings are successively implanted in the soil of the planting belt according to the set planting depth.

Images