Transplanting equipment and fixed-depth transplanting method for plug seedling cultivation

Abstract

This invention relates to the field of tray seedling transplanting equipment technology, specifically to a transplanting equipment and a fixed-depth transplanting method for tray seedling cultivation. The transplanting equipment for tray seedling cultivation includes a walking mechanism and a frame, as well as a seedling picking and delivering device, a circulating feeding mechanism, and a planting mechanism mounted on the frame. An adjustment component is provided between the walking mechanism and the frame to adapt to the undulations of the soil on the planting strip. The detection plate of the adjustment component is connected to the frame of the walking mechanism via a rotating shaft. An angle sensor is used to collect the rotation angle formed by the rotation of the detection plate as it rotates with the undulations of the soil on the planting strip. A control module receives the rotation angle, calculates the height change value of the soil undulations on the planting strip based on the rotation angle, and controls the actuator to drive the frame to move according to the height change value, thus compensating for the planting depth. This transplanting equipment for tray seedling cultivation adapts to the undulations of the soil on the planting strip, improving the consistency of seedling planting depth and enhancing the planting effect.

Description

Technical Field

[0001] This invention relates to the field of tray seedling transplanting equipment technology, specifically to a transplanting equipment and a fixed-depth transplanting method for tray seedling cultivation. Background Technology

[0002] Plug seedling cultivation refers to a method of raising seedlings in specially designed seedling trays using lightweight substrates such as peat moss, vermiculite, and perlite as the seedling medium, through precision sowing, and then cultivating seedlings under suitable environmental conditions. Compared to traditional ground seedling cultivation, it can cultivate a large number of seedlings in a limited space. For example, in a small greenhouse, plug seedling cultivation can produce several times more seedlings than ground seedling cultivation.

[0003] When seedlings raised in plug trays reach a suitable stage of growth, they need to be transplanted to dry fields. Existing technologies use fully automatic plug tray seedling transplanters to automate the transplanting process. For example, a seedling tray conveyor belt transports the seedling trays placed on a tray rack to an automatic seedling picking device. The automatic seedling picking device picks up the seedlings from the trays and places them into a circulating feeding mechanism, where a planting mechanism then plants the seedlings. The entire machine is driven by a motor through a transmission mechanism, which drives all components to work together.

[0004] However, existing fully automatic tray seedling transplanters, when operating in the field, suffer from uneven soil distribution in the planting strips after land preparation, leading to inconsistent planting depths and affecting the planting results. In typical field crop transplanting, a soil undulation of 5-10 cm is usually required. When the soil surface in the planting strip is uneven, and the transplanting equipment's walking mechanism moves smoothly within the trench, the actual insertion depth of the planter will vary significantly. For example, if the standard insertion depth of the planter is designed to be 5 cm, the actual insertion depth may reach 7 cm or even deeper at the convex parts of the planting strip, while at the concave parts, the actual insertion depth may only be 3 cm.

[0005] Even under high-standard precision agriculture practices, the soil in the planting strip after land preparation still exhibits a 2-3 cm undulation, leading to variations in the actual planting depth of the seedlings. This uneven planting depth results in varying soil compaction around the seedlings, affecting the effectiveness of transplanting seedlings from trays. For example, in shallower planting areas, the soil provides less support for the seedling roots, making the seedlings more susceptible to lodging under the influence of wind or watering. Conversely, in areas planted too deeply, the soil is more compacted, requiring the roots to overcome greater resistance during growth, resulting in a longer recovery period and weaker 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 in trays, which can adapt to the undulations of the land on the planting strip, improve the consistency of the seedling planting depth, and enhance the transplanting effect.

[0007] To solve the above-mentioned technical problems, in a first aspect, the present invention proposes a transplanting equipment for tray seedling cultivation, including a walking mechanism and a frame, as well as a seedling picking and delivery 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 trench formed between the planting strips. The seedling picking and delivering device is used to clamp the seedlings in the seedling tray to the circulating feeding mechanism. The circulating feeding mechanism transports the seedlings to the planting mechanism in an orderly manner. The planting mechanism plants the seedlings into the soil of the planting strip one by one according to the set planting depth and plant spacing.

[0009] An adjustment component is provided between the walking mechanism and the frame to adapt to the undulations of the land on the planting strip.

[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 a relative motion;

[0011] The detection plate is provided with a contact part for adhering to the soil surface of the planting strip. The detection plate is connected to the frame of the walking mechanism through a rotating shaft. The detection plate is provided with a rotational degree of freedom to rotate 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 undulation of the land on the planting strip, 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 strip based on the rotation angle, and control the actuator to drive the frame to move based on the height change value, thereby compensating for the planting depth.

[0014] Secondly, the present invention also proposes a method for fixed-depth transplanting using the above-mentioned transplanting equipment for plug seedling cultivation, comprising the following steps:

[0015] The walking mechanism of the transplanting equipment drives the frame forward in the trench between the planting strips. The seedling picking and delivery device clamps the seedlings in the seedling tray to the circulating feeding mechanism, which then transports the seedlings to the planting mechanism in an orderly manner for transplanting.

[0016] The adjustment component installed between the walking mechanism and the frame starts to work. The contact part of the detection plate is in close contact with the soil surface of the planting strip. When the soil in the planting strip is uneven, the detection plate will rotate around the pivot relative to the frame of the walking mechanism. The rotation angle of the detection plate reflects the changes in the undulation of the soil in the planting strip in real time.

[0017] 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 undulation of the land on the planting strip based on the rotation angle.

[0018] The control module sends instructions to the execution component based on the calculated height change value. After receiving the instructions, the execution component drives the frame to move relative to the traveling mechanism.

[0019] If the soil in the planting zone rises, the actuator drives the frame to rise by the corresponding height change value; if the soil in the planting zone falls, the actuator drives the frame to fall by the corresponding height change value, thereby compensating for the planting depth and ensuring that the seedlings are planted into the soil of the planting zone one by one according to the set planting depth.

[0020] The transplanting equipment and method for seedling tray cultivation provided by this invention have the following outstanding substantive features and significant progress compared with the prior art:

[0021] 1. This transplanting equipment for tray seedling cultivation integrates functional modules of a walking mechanism, a seedling picking and delivery device, a circulating feeding mechanism, and a planting mechanism. It realizes a fully automated operation process from seedling grabbing and transportation to planting. The various mechanisms work closely together and can carry out transplanting operations in an orderly manner according to the set plant spacing and planting depth, which greatly improves the efficiency of transplanting operations, reduces manual labor intensity and labor costs. Furthermore, by adjusting the coordinated work of the detection plate, angle sensor, control module, and execution components in the adjustment components, it can monitor the undulation of the planting strip in real time, calculate the height change value based on the undulation of the land, and adjust the position of the frame relative to the walking mechanism accordingly, thereby realizing dynamic compensation for planting depth. This ensures that each seedling is planted into the soil at the set planting depth, avoiding planting too deep or too shallow due to uneven land, greatly improving the survival rate and growth uniformity of transplanted seedlings, which is beneficial to subsequent agricultural production management and crop yield improvement.

[0022] 2. This fixed-depth transplanting method, with the help of the adjustment components' dynamic response to land undulations, can operate stably in planting areas with different terrains. Whether it is a relatively flat large-scale farmland or a complex land with certain slopes, pits, or local elevation differences, it can automatically adapt and maintain a good transplanting effect, greatly expanding the scope of application of transplanting operations, reducing the stringent requirements for land preparation in the early stage, reducing land preparation costs and time investment, making transplanting operations easier to carry out efficiently in more diverse agricultural production environments, and enhancing the flexibility and reliability of agricultural production in dealing with complex terrains. Attached Figure Description

[0023] Figure 1This is a three-dimensional structural schematic diagram of a transplanting equipment for tray seedling cultivation in an embodiment of the present invention.

[0024] Figure 2 This is a schematic diagram of the assembly structure of the adjustment component in a transplanting equipment for tray seedling cultivation according to an embodiment of the present invention.

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

[0026] Figure 4 yes Figure 1 A three-dimensional structural diagram of a transplanting device used for tray seedling cultivation from another perspective.

[0027] Figure 5 yes Figure 1 The main view.

[0028] Figure 6 yes Figure 5 Top view.

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

[0030] Reference numerals: 1. Walking mechanism; 2. Frame; 3. Clamping mechanism; 4. Moving part; 5. Placement platform; 6. Fixing groove; 7. Support cylinder; 8. Conveyor belt; 9. Seedling tray box; 11. Circulating feeding mechanism; 12. Planting mechanism; 13. Adjustment component; 14. Trench; 15. Planting belt; 31. Mounting frame; 32. Synchronous belt drive module; 33. Slide rail; 34. Seedling picking component; 35. Circular belt; 36. Connector; 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. Actuating component; 135. Rotating shaft. Detailed Implementation

[0031] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0032] like Figures 1-7 As shown in the embodiments of the present invention, a transplanting equipment and method for plug seedling cultivation are proposed. The aim is to adapt to the undulations of the soil in the planting strip during the transplanting process of plug seedlings, improve the consistency of seedling planting depth, and enhance the transplanting effect. The transplanting effect is reflected by parameters such as seedling survival rate, seedling growth rate, and root development after transplanting.

[0033] The transplanting equipment for tray seedling cultivation proposed in this embodiment of the invention can monitor the undulation of the planting strip in real time by adjusting the detection plate, angle sensor, control module and execution component in the adjustment assembly. It calculates the height change value based on the undulation of the land and adjusts the position of the frame relative to the walking mechanism accordingly, thereby realizing dynamic compensation for the planting depth. This ensures that each seedling can be planted into the soil at the set planting depth, avoiding the phenomenon of planting too deep or too shallow due to uneven land. It greatly improves the survival rate and growth uniformity of transplanted seedlings, which is beneficial to subsequent agricultural production management and crop yield improvement.

[0034] like Figure 1 As shown, a transplanting device for tray seedling cultivation includes a walking 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 mounted on the frame 2. The walking mechanism 1 drives the frame 2 to move within the trenches 14 formed between planting strips 15. The seedling picking and delivering device picks up and delivers seedlings from the seedling trays 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, according to the set planting depth and spacing, sequentially plants the seedlings into the soil of the planting strips 15.

[0035] like Figure 1 Combination Figure 2 As shown, an adjustment assembly 13 is provided between the walking mechanism and the frame 2 to adapt to the undulations of the land on the planting strip 15. The adjustment assembly 13 includes a detection plate 131, an angle sensor 132, a control module 133, and an execution component 134 for driving the frame 2 and the walking mechanism to form a relative motion. The detection plate 131 is provided with a contact portion for conforming to the soil surface of the planting strip 15. The detection plate 131 is connected to the frame of the walking mechanism via a rotating shaft 135. The detection plate 131 is provided with a rotational degree of freedom to rotate about the axis of the rotating shaft 135.

[0036] The angle sensor 132 is used to collect the rotation angle formed by the rotation of the detection plate 131 as it rotates with the undulations of the land on the planting strip 15, and transmits the rotation angle to the control module 133. The control module 133 receives the rotation angle, calculates the height change value of the undulations of the land on the planting strip 15 based on the rotation angle, and controls the actuator 134 to drive the frame 2 to move according to the height change value, thereby compensating for the planting depth. The specific calculation method for the height change value is shown below.

[0037] like Figure 3 As shown, the initial angle between the detection plate 131 and the soil surface of the planting strip 15 is α, and the length from the contact part 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 soil surface of the planting strip 15 is H, where H = Lsinα.

[0038] If the rotation angle collected by the angle sensor 132 is θ, then after the detection plate 131 rotates by θ with the undulation of the land on the planting strip 15, the height of the rotating shaft 135 relative to the land surface of the planting strip 15 is H1, where H1 = Lsin(α + θ).

[0039] The height variation of the land undulation on planting strip 15 is ΔH, where ΔH = H1 - 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 soil surface of the planting strip 15 has a downward depression; when the detection plate 131 rotates counterclockwise, it indicates that the soil surface of the planting strip 15 has an upward bulge. The angle value of clockwise rotation of the detection plate 131 is defined as positive, and the angle value of counterclockwise rotation is defined as negative.

[0041] For example, assuming the initial angle α between the detection board and the soil surface of the planting strip is 30°, and the length L from the contact part of the detection board to the axis of rotation is 10cm, then the initial height H is 0.5×10=5cm.

[0042] When the angle sensor detects a rotation angle θ = 15°, then H1 = 0.707 × 10 ≈ 7.07 cm. Therefore, the change in the height of the undulation of the land in the planting strip, ΔH = 7.07 - 5 = 2.07 cm, indicates that the land surface in the planting strip has sunk downwards by 2.07 cm. The control module needs to control the actuator to drive the frame downwards to compensate for the planting depth and ensure that the seedlings are planted into the soil at the set planting depth.

[0043] like Figure 2 As shown, the fixed end of the actuator 134 is mounted on the frame of the traveling mechanism. The telescopic end of the actuator 134 is connected to the frame 2. For example, a servo electric cylinder can be used as the actuator. 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 frame 2. The placement platform 5 is provided with fixing slots 6 for embedding seedling trays, defining the column direction of the seedling trays as the first direction and the row direction as the second direction. For example, combined with... Figure 6 As shown in the figure, the direction pointed to by the arrow to the right is the first direction, and the direction pointed to by the arrow pointing downwards is the second direction.

[0045] like Figure 4 Combination Figure 6As shown, the moving component 4 includes a first linear module 41 and a second linear module 42. The first linear module 41 is mounted on the placement 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 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 across the fixed groove 6. The clamping mechanism 3 includes a mounting frame 31, a synchronous belt drive module 32, a slide rail 33, and a seedling-grabbing assembly 34 for clamping seedling stalks. The mounting frame 31 is connected to the second linear module 42. Both the synchronous belt drive module 32 and the slide rail 33 are mounted 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. Multiple seedling-grabbing assemblies 34 are connected to the slide rail 33 to form a linear seedling-grabbing unit. The seedling-grabbing assembly 34 has a sliding degree of freedom along the direction of the slide rail 33.

[0047] like Figure 6 Combination Figure 7 As shown, two seedling-taking components 34 located at the ends of the linear seedling-taking unit are connected to an annular belt 35. A synchronous belt drive module 32 is used to drive the two seedling-taking components 34 to move in opposite directions. A connector 36 is provided between adjacent seedling-taking components 34.

[0048] The connector 36 serves two purposes: firstly, it transmits power between adjacent seedling-taking components 34, enabling the seedling-taking components 34 to rapidly expand from the center of the linear seedling-taking unit to both sides, or to retract from the end of the linear seedling-taking unit to the center; secondly, it enhances the support strength of the seedling-taking components 34, thereby reducing swaying.

[0049] The linear seedling picking unit is equipped with a seedling picking state and a seedling delivery state. When the linear seedling picking unit is in the seedling picking state, the synchronous belt drive module 32 drives the two seedling picking components 34 located at the end of the linear seedling picking unit to move towards each other through the annular belt 35, compressing the spacing between the seedling picking components 34, so that the seedling picking components 34 correspond one-to-one with the seedlings in the row direction of the seedling tray.

[0050] When the linear seedling unit is in the seedling delivery state, the synchronous belt drive module 32 drives the two seedling taking components 34 located at the end of the linear seedling taking unit to move away from each other through the annular belt 35, thereby expanding the distance between the seedling taking components 34, so that the seedling taking components 34 correspond one-to-one with the feed cylinder of the circulating feeding device.

[0051] In this way, compared with the existing technology where multiple seedling claws expand or contract from one side to the other, resulting in the switching between seedling picking and seedling delivery states, the synchronous belt drive module 32 in the clamping mechanism 3 works in conjunction with the slide rail 33 to realize the linkage of multiple seedling picking components 34. The synchronous belt drive module 32 can make the two seedling picking components 34 at the end move in opposite directions, and drive other seedling picking components 34 to slide along the slide rail 33 with the help of the connector 36. This allows the seedling picking components 34 to quickly expand from the middle of the linear seedling picking unit to both sides, or contract from the end of the linear seedling picking unit to the middle, thereby improving the efficiency of the linear seedling picking unit in switching between seedling picking and seedling delivery states, greatly improving the speed of seedling picking and delivery, reducing seedling picking time, and improving the efficiency of seedling picking and delivery.

[0052] like Figure 7 As shown, the linear seedling picking unit is divided into a left unit and a right unit. The seedling picking components 34 in the left unit are all connected to the bottom side of the annular belt 35. The seedling picking components 34 in the right unit are all connected to the top side of the annular belt 35. This configuration ensures a more uniform force distribution on the seedling picking components 34 on both sides when the synchronous belt drive module 32 is operating. When the annular belt 35 is driven to adjust the spacing of the seedling picking components 34 or to perform seedling picking and delivery actions, the lever arms of the two units are relatively balanced, reducing lateral offset, swaying, or jamming caused by uneven force. For example, during high-speed seedling picking or frequent switching between seedling picking and delivery states, this balanced force structure ensures stable operation of the entire linear seedling picking unit, improves the accuracy of seedling picking and delivery actions, and avoids seedling damage or delivery position deviation due to equipment swaying, thereby ensuring high-quality completion of transplanting operations.

[0053] In addition, when the synchronous belt drive module 32 drives the annular belt 35, the seedling picking components 34 of the left and right units can achieve precise reverse movement. For operations involving opposite movement to compress the gap during seedling picking and opposite movement to expand the gap during seedling delivery, the reverse synchronous movement of the two units can better ensure the linearity and consistency of the seedling picking components 34 in the seedling tray direction or in the docking direction with the feed cylinder of the circulating feeding equipment. For example, when handling seedling trays with tightly packed seedlings and requiring high-precision seedling picking, the seedling picking components 34 on both sides can accurately approach or move away from the seedlings simultaneously, achieving precise gripping and release of each seedling, improving the motion control accuracy and reliability of the entire linear seedling picking unit.

[0054] According to some preferred embodiments of the present invention, the number of seedling-picking components 34 in the linear seedling-picking unit is an even number. An even number of seedling-picking 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 even, an even number of seedling-picking components 34 can achieve precise one-to-one picking without additional complex adjustments or special treatments, simplifying the seedling-picking operation process and improving the equipment's compatibility and adaptability to the seedling tray. At the same time, when docking with circulating feeding equipment, an even number of seedling-picking components 34 can also more easily match equipment with a symmetrical feed cylinder layout, ensuring a smooth and efficient seedling delivery process. For example, the preferred number of seedling-picking components 34 is eight.

[0055] like Figure 5 As shown, the seedling-picking assembly 34 includes a slide 341, a connecting rod 342, and a pneumatic seedling clamp 343 for holding the seedling stalk. The slide 341 is connected to the slide rail 33, and the pneumatic seedling clamp 343 is connected to the slide 341 via the connecting rod 342. This configuration allows the pneumatic seedling clamp 343 to precisely control the clamping force based on the thickness and material characteristics of the seedling stalk, avoiding damage to the seedling stem due to excessive clamping force and achieving gentle seedling picking. In particular, compared to the insertion-type seedling needle structure for clamping and placing seedlings in the seedling tray, this not only avoids damage to the seedling's root system but also significantly improves the success rate of picking.

[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 provides support for the seedling tray at the bottom of the fixing groove 6. With this arrangement, the support cylinder 7 provides support for the seedling tray at the bottom of the fixing groove 6, which can effectively enhance the stability of the seedling tray placement. During the seedling picking and delivery process, especially when the clamping mechanism 3 is activated, slight vibrations or shaking may occur. The supporting force of the support cylinder 7 can prevent the seedling tray from being displaced or shaking due to these external forces, ensuring that the seedling picking 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 installed below the fixed trough 6, and the conveying direction of the conveyor belt 8 is parallel to the second direction. After the seedling removal operation is completed, the support cylinder 7 retracts, and the empty seedling tray can fall directly into the conveyor belt 8 below, without the need for manual handling or additional handling equipment. The conveyor belt 8 can automatically transport the empty seedling trays to the designated collection area along the direction parallel to the second direction (the direction of the seedling tray row), which greatly improves the efficiency of empty seedling tray processing and reduces manual operation and labor intensity.

[0058] For example, such as Figure 6As shown, a seedling tray box 9 is installed at the outlet of the conveyor belt 8, and the seedling tray box 9 is connected to the frame 2. The seedling tray box 9 is used to collect empty seedling trays and realize the centralized storage of empty seedling trays.

[0059] When using the transplanting equipment for tray seedling cultivation proposed in this invention, the following steps are included: feeding the seedling tray, placing the seedling tray in the fixing 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] The synchronous belt drive module 32 drives two seedling taking components 34 located at the end of the linear seedling taking unit to move towards each other via the annular belt 35, compressing the distance between the seedling taking components 34 so that each seedling taking component 34 corresponds one-to-one with the seedlings in the row direction of the seedling tray, thus completing the calibration of the seedling taking state. The synchronous belt drive module 32 drives two seedling taking components 34 located at the end of the linear seedling taking unit to move away from each other via the annular belt 35, expanding the distance between the seedling taking components 34 so that each seedling taking component 34 corresponds one-to-one with the feed cylinder of the circulating feeding equipment, thus completing the calibration of the seedling feeding state.

[0061] The seedling-taking status calibration includes activating the synchronous belt drive module 32. A current signal is transmitted to the motor of the synchronous belt drive module 32, causing the motor to start running and driving the annular belt 35 to rotate at a preset direction and speed. The rotation of the annular belt 35 causes the two seedling-taking components 34 located at the ends of the linear seedling-taking unit to move towards each other along the slide rail 33. During this movement, displacement sensors mounted on the slide rail 33 monitor the position information of the seedling-taking components 34 in real time and feed the data back to the control system. The control system, based on preset seedling spacing data in the seedling tray direction, compares the current spacing information of the seedling-taking components 34 with the motor speed and rotation direction of the synchronous belt drive module 32, continuously adjusting the spacing of the seedling-taking components 34 until the spacing of the seedling-taking components 34 corresponds one-to-one with the seedling spacing in the seedling tray direction, thus completing the precise calibration of the seedling-taking status.

[0062] The seedling delivery calibration involves activating the synchronous belt drive module 32, causing the motor to reverse and drive the annular belt 35 to rotate in the opposite direction. Two seedling-taking components 34 located at the ends of the linear seedling-taking unit move separately along the slide rail 33. Similarly, displacement sensors continuously monitor the position changes of the seedling-taking components 34 and transmit the data to the control system. Based on the spacing parameters of the feed cylinders of the circulating feed equipment, the control system adjusts the synchronous belt drive module 32, gradually expanding the spacing of the seedling-taking components 34 until they precisely correspond one-to-one with the feed cylinders of the circulating feed equipment, thus completing the seedling delivery calibration.

[0063] In the seedling taking operation, the first linear module 41 is activated, driving the second linear module 42 to move along the first direction, so that the clamping mechanism 3 moves to the position above the seedling area to be taken in the seedling tray in the first direction. The second linear module 42 is activated, driving the clamping mechanism 3 to move downward along the height direction of the seedling tray until the seedling taking component 34 in the clamping mechanism 3 is close to the seedling stalk. At the same time, the synchronous belt drive module 32 is activated, so that the linear seedling taking unit is in the seedling taking state. Subsequently, the pneumatic seedling clamp 343 is driven to clamp the seedling stalk.

[0064] In the above-described seedling retrieval operation, the control system issues a command to activate the drive motor of the first linear module 41. The motor drives the lead screw to rotate, and the nut on the lead screw is connected to the second linear module 42. Under the rotation of the lead screw, the nut begins to move along the first direction, thereby driving the second linear module 42 to move smoothly above the seedling tray area in the first direction. 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 preset coordinate position above the seedling tray area, the control system stops the drive motor of the first linear module 41.

[0065] Next, the control system activates the drive motor of the second linear module 42. The motor drives the transmission chain or lead screw (depending on the specific design) to move the clamping mechanism 3 downwards along the height of the seedling tray. At this time, the laser rangefinder sensor installed on the clamping mechanism 3 starts working, continuously 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 picking component 34 in the clamping mechanism 3 is just close to the seedling stalk.

[0066] 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.

[0067] In the seedling delivery operation, after the seedling stalk is picked up, the second linear module 42 drives the clamping structure 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 is activated again, driving the second linear module 42 to move along the first direction, moving the clamping structure 3, which has picked up the seedling stalk, above the target position 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 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] Simultaneously, the synchronous belt drive module 32 starts according to the seedling delivery status parameters, driving the two seedling picking components 34 located at the end of the linear seedling picking unit to move out of phase, precisely adjusting the spacing between the seedling picking components 34 so that they correspond one-to-one with the feed cylinder of the circulating feeding equipment. When the spacing between the seedling picking components 34 is adjusted to the correct position, the control system sends a command to the pneumatic seedling clamp 343, causing the cylinder of the pneumatic seedling clamp 343 to exhaust air, the clamp arm to open, and the seedling body to fall accurately into the feed cylinder 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 ditch 14 between the planting belts 15, the seedling picking and delivering device clamps the seedlings in the seedling tray to the circulating feeding mechanism 11, and the circulating feeding mechanism 11 then orderly delivers the seedlings to the planting mechanism 12 in preparation for transplanting.

[0073] The adjustment component 13 installed between the walking mechanism and the frame 2 starts to work. The contact part of the detection plate 131 is in close contact with the soil surface of the planting strip 15. When the soil of the planting strip 15 is uneven, the detection plate 131 will rotate around the rotating shaft 135 relative to the frame of the walking mechanism. The rotation angle of the detection plate 131 reflects the undulation changes of the soil of the planting strip 15 in real time.

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

[0075] The control module 133 sends a command to the execution component 134 based on the calculated height change value. After receiving the command, the execution component 134 drives the frame 2 to move relative to the walking mechanism.

[0076] If the soil in planting strip 15 rises, the actuator 134 drives the frame 2 to rise by the corresponding height change value; if the soil in planting strip 15 falls, the actuator 134 drives the frame 2 to fall by the corresponding height change value, thereby compensating for the planting depth and ensuring that the seedlings are planted into the soil of planting strip 15 one by one according to the set planting depth.

[0077] This invention is not limited to the specific technical solutions described in the above embodiments. Besides the above embodiments, this invention may have other implementation methods. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A transplanting equipment for tray seedling cultivation, comprising a walking mechanism and a frame, as well as a seedling picking and delivery 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 trenches formed between the planting strips. The seedling picking and delivering device is used to clamp the seedlings in the seedling tray to the circulating feeding mechanism. The circulating feeding mechanism transports the seedlings to the planting mechanism in an orderly manner. The planting mechanism plants the seedlings into the soil of the planting strip one by one according to the set planting depth and plant spacing. Its features are, An adjustment component is provided between the walking mechanism and the frame to adapt to the undulations of the land on the planting strip. 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 a relative motion; The detection plate is provided with a contact part for adhering to the soil surface of the planting strip. The detection plate is connected to the frame of the walking mechanism through a rotating shaft. The detection plate is provided with a rotational degree of freedom to rotate 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 undulation of the land on the planting strip, 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 strip based on the rotation angle, and control the actuator to drive the frame to move based on the height change value, thereby compensating for the planting depth. The seedling picking and delivering device includes a clamping mechanism and a moving component for driving the clamping mechanism to move. The frame is provided with a placement platform, and the placement platform is provided with a fixing groove for embedding seedling trays. The column direction of the seedling trays is defined as the first direction, and the row direction of the seedling trays is defined as the second direction. The moving component includes a first linear module and a second linear module. The first linear module is mounted 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. The clamping mechanism spans above the fixed groove. The clamping structure includes a mounting frame, a synchronous belt drive module, a slide rail, and a seedling-grabbing component for clamping seedling stalks. The mounting frame is connected to the second linear module. The synchronous belt drive module and the slide rail are both mounted on the mounting frame. The synchronous belt drive module is arranged parallel to the second direction. The slide rail is arranged parallel to the annular belt of the synchronous belt drive module. Multiple seedling-grabbing components are connected to the slide rail to form a linear seedling-grabbing unit. The seedling-grabbing component has a sliding degree of freedom along the slide rail arrangement direction. Two seedling-grabbing components located at the ends of the linear seedling-grabbing unit are respectively connected to the annular belt. The synchronous belt drive module is used to drive the two seedling-grabbing components to move relative to each other. Connectors are provided between adjacent seedling-grabbing components. The linear seedling collection unit is divided into a left unit and a right unit. The seedling collection components in the left unit are all connected to the bottom side of the annular belt, and the seedling collection components in the right unit are all connected to the top side of the annular belt.

2. The transplanting equipment for tray seedling cultivation according to claim 1, characterized in that, The fixed end of the actuator is mounted on the frame of the traveling mechanism, and the telescopic end of the actuator is connected to the frame.

3. The transplanting equipment for tray seedling cultivation according to claim 1, characterized in that, The initial angle between the detection plate and the soil surface of the planting strip is α, and the length from the contact part of the detection plate to the axis of the rotating shaft is L. Then, the initial height of the rotating shaft relative to the soil surface of the planting strip is H. ; The rotation angle collected by the angle sensor is θ. After the detection plate rotates by θ with the undulation of the land on the planting strip, the height of the rotating shaft relative to the land surface of the planting strip is H1. ; The height variation of the land undulations in the planting strip is ΔH. .

4. The transplanting equipment for tray seedling cultivation according to claim 1, characterized in that, A support cylinder is provided on one side of the placement platform. The support cylinder is arranged parallel to the first direction. The cylinder body of the support cylinder is connected to the placement platform. The piston rod of the support cylinder provides support to the seedling tray at the bottom of the fixing groove.

5. The transplanting equipment for tray seedling cultivation according to claim 4, characterized in that, Below the fixed groove is a conveyor belt for receiving empty seedling trays, and the conveying direction of the conveyor belt is parallel to the second direction.

6. The method for fixed-depth transplanting of seedling trays using transplanting equipment according to any one of claims 1-5, characterized in that, Includes the following steps: The walking mechanism of the transplanting equipment drives the frame forward in the trench between the planting strips. The seedling picking and delivery device clamps the seedlings in the seedling tray to the circulating feeding mechanism, which then transports the seedlings to the planting mechanism in an orderly manner for transplanting. The adjustment component installed between the walking mechanism and the frame starts to work. The contact part of the detection plate is in close contact with the soil surface of the planting strip. When the soil in the planting strip is uneven, the detection plate will rotate around the pivot relative to the frame of the walking mechanism. The rotation angle of the detection plate reflects the changes in the undulation of the soil in the planting strip in real time. 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 undulation of the land on the planting strip based on the rotation angle. The control module sends instructions to the execution component based on the calculated height change value. After receiving the instructions, the execution component drives the frame to move relative to the traveling mechanism. If the soil in the planting zone rises, the actuator drives the frame to rise by the corresponding height change value; if the soil in the planting zone falls, the actuator drives the frame to fall by the corresponding height change value, thereby compensating for the planting depth and ensuring that the seedlings are planted into the soil of the planting zone one by one according to the set planting depth.

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