Graded seedling transplanting and filling machine

Abstract

The invention relates to a grading seedling transplanting and supplementing machine which comprises a frame, a conveying module, a visual module, a transplanting and supplementing module and a controller. The conveying module is installed in the middle of the frame, the moving and supplementing module is installed at the upper end of the frame and located above the conveying module, and the vision module is installed on the moving and supplementing module. The conveying module, the visual module and the moving and supplementing module are all connected with the controller. The device has the advantages that hole trays with materials are placed on the conveying module, products of different grades are screened out through the vision module, and the controller controls the conveying module to convey seedling raising trays according to the sizes and characteristics of the hole trays; the moving and supplementing module grabs the waste materials to a waste soil collecting position; the transplanting and supplementing module is used for transplanting seedlings to an empty tray area, a row of trays are moved forwards by a conveying module after the trays in the seedling transplanting area are filled with grids, and the trays in the seedling transplanting area are conveyed to a seedling transplanting conveying line outside equipment by a chain after being filled with grids; the whole working process is accurate in positioning, the gripper is accurate in grabbing, and the average moving and supplementing success rate is 98%.

Description

Technical Field

[0001] The invention relates to the technical field of seedling transplanting and seedling supplementing machines, in particular to a graded seedling transplanting and seedling supplementing machine. Background Art

[0002] With the development of human civilization, people have accumulated countless experiences in the history of crop cultivation, and constantly innovated, providing the most basic guarantee for human survival and reproduction on the earth. At present, greenhouse cultivation, which is more widely used in crop cultivation technology, is to cultivate seeds into strong seedlings in the greenhouse, and then transplant the strong seedlings for further cultivation. In the process of cultivating strong seedlings, a grading seedling transplanter is needed.

[0003] The existing complete sets of seedling transplanting and seedling supplementing machines are relatively large in size and cannot meet the actual production needs. They also have problems such as high price, poor versatility, difficulty in control, and high maintenance costs.

[0004] On the other hand, restricted by factors such as positioning accuracy, grasping efficiency, and production cost, seedling transplanting equipment has a low degree of automation, high cost, complex structure, poor reliability, and cannot adapt to the actual requirements of seedling factory production.

[0005] With the rapid development of science and technology, the quality of hardware has been steadily improved, and the diversification of software products and functions has greatly improved the functions of hardware equipment. However, in actual applications, these devices still face challenges in production efficiency, machine cost performance, utilization rate, and ease of operation. At present, the deep integration of agronomy and agricultural machinery is the key to improving the efficiency of equipment application.

[0006] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the invention

[0007] The purpose of the present invention is to provide a grading seedling transplanting and seedling supplementing machine and a control method, which can solve the problems of uneven seedlings and poor seedlings in the seedling raising process and meet the actual needs of factory production of seedlings.

[0008] The present invention provides a graded seedling transplanting and filling machine, comprising a frame, a transmission module, a visual module, a transplanting and filling module and a controller; the transmission module is installed in the middle of the frame, the transplanting and filling module is installed at the upper end of the frame, the transplanting and filling module is located above the transmission module, and the visual module is installed on the transplanting and filling module; the transmission module, the visual module and the transplanting and filling module are all connected to the controller.

[0009] Furthermore, two of the conveying modules are installed in parallel and side by side in the middle of the frame, and the conveying module includes a rotating rod, a conveyor belt, a conveying chain, a first conveying sprocket, a second conveying sprocket, a motor sprocket and a first motor; the rotating rods are rotatably connected at both ends of the middle of the frame, and the first conveying sprockets are fixedly sleeved at both ends of the rotating rods, and a motor sprocket is also fixedly sleeved at the end of one of the rotating rods; the first motor is fixed to the lower part of the frame, and a motor sprocket is sleeved at the output end of the first motor; the motor sprocket on the rotating rod and the motor sprocket on the first motor are connected by chain transmission, and the first motor is connected to the controller; three second conveying sprockets are rotatably connected between the two rotating rods on the frame, and the three second conveying sprockets are arranged in a triangle; the chain is sleeved on the first conveying sprocket and the second conveying sprocket; the conveyor belt is fixedly laid on the conveying chain.

[0010] Furthermore, the shifting and compensating module includes a linear module and a shifting and compensating module; the linear module includes a Y guide rail, an X guide rail, a first electric slider and a second electric slider, two Y guide rails are installed in parallel on both sides of the upper part of the frame, both ends of the X guide rail are fixedly connected with the first electric slider, and the two first electric sliders are slidably installed on the two Y guide rails respectively; the second electric slider is slidably installed on the X guide rail, and the shifting and compensating module is fixedly connected to the second electric slider.

[0011] Furthermore, the shifting and compensating module includes a telescopic cylinder, a support plate, a transverse plate, a gripper, a Z-guide rail, a third slider, a mounting plate and a fixed plate; the transverse plate is connected to the lower end in front of the support plate, and a plurality of grippers are connected to the transverse plate, and the plurality of grippers are arranged in parallel at equal intervals; two Z-guide rails are connected in parallel and at intervals behind the support plate, and the third slider is slidably connected to the Z-guide rail; both ends of the mounting plate are fixed to the third slider, and the second electric slider is connected to the side of the mounting plate away from the third slider, and two fixed plates are connected to the other side of the mounting plate, and the telescopic cylinder is fixed to the fixed plate; the output end of the telescopic cylinder is connected to the lower end of the support plate.

[0012] Furthermore, 8, 16 or 20 grippers are connected to the transverse plate.

[0013] Furthermore, the gripper includes a circular cylinder, a mounting seat, a plastic part and a chuck; the circular cylinder is connected to the upper end of the mounting seat, and the chuck is fixed to the lower end of the mounting seat; the chuck includes a base plate and a spring sheet, the base plate is rectangular, and two spring sheets are vertically connected to both sides of the base plate, and the spring sheets opposite to each other on both sides of the base plate are close to each other in a natural state; four adjustment holes cooperating with the spring sheets are provided on the plastic part, a connecting hole is provided in the middle of the plastic part, a guide hole is provided on the mounting seat, and a through hole is provided in the middle of the base plate; four chucks are inserted into the adjusting holes, the telescopic rod of the circular cylinder passes through the guide hole and the through hole, and the end of the telescopic rod is connected to the connecting hole; when the telescopic rod is extended, it will push the plastic part forward, and the adjusting hole on the plastic part will stretch the spring sheet; when the telescopic rod is contracted, it will pull the plastic part backward, and the spring sheets will be close to each other.

[0014] Furthermore, the cross section of the mounting seat is L-shaped.

[0015] Furthermore, the grading seedling transplanting and filling machine also includes a seedling pressing assembly, which is installed on both ends of the conveying module on the frame; the seedling pressing assembly includes a square tube and a guide device, both ends of the square tube are respectively connected to the frame, and four guide devices are connected to the square tube at intervals.

[0016] Furthermore, the guide device includes a guide plate and a guide bracket; the cross-section of the guide bracket is L-shaped, the side of the guide bracket is fixedly connected to the square tube, the guide plate is connected to the lower end of the guide bracket, and the lower end of the guide plate is provided with an arc-shaped guide slope, and the bending direction of the arc-shaped guide slope is the same as the moving direction of the conveyor belt.

[0017] Furthermore, two guide devices are provided above each conveyor belt.

[0018] Furthermore, the visual module includes a light source, a lens, a camera, an image processing unit, a monitor and a communication unit; the light source, the lens, the camera, the image processing unit, the monitor and the communication unit are all connected to the controller.

[0019] Furthermore, the grading seedling transplanting and filling machine also includes a waste collection frame and a waste funnel. The waste collection frame is installed at the bottom of the frame. The waste funnel includes a funnel mouth and a guide tube. The funnel mouth is fixed on the frame. The funnel mouth is located between the two conveying modules. The guide tube is connected to the lower end of the funnel mouth, and the guide tube is located directly above the waste collection frame.

[0020] Furthermore, the grading seedling transplanting and supplementing machine also includes a safety grating, and the safety grating is wrapped on the frame.

[0021] The graded seedling transplanting and filling machine provided by the present invention is miniaturized and movable, and is convenient for entering the greenhouse; the hole tray with materials is placed on the conveying module, and different levels of products are screened out by the visual module, and the controller controls the conveying module to transport the seedling tray according to the size and characteristics of the hole tray; the transplanting and filling module grabs the waste to the waste soil collection point; the transplanting and filling module transplants the seedlings to the empty tray area, and after a row of hole trays in the seedling transplanting area is full, a row of hole trays is moved forward by the conveying module, and after the hole trays in the seedling transplanting area are full, the chain is transmitted to the seedling transplanting transmission line outside the equipment; the entire work process is accurately positioned, the gripper grabs accurately, and the average transplanting and filling success rate is 98%; in the graded seedling transplanting and filling machine of the present invention, when clearing waste, the linear module drives the gripper to take out the waste in the hole tray, move it above the funnel mouth, put down the waste, and drop it into the waste collection frame through the guide tube to complete the waste clearing; the present invention integrates the waste clearing function into the gripper part, and gives full play to the gripper The hand is used to effectively clean the waste in the hole tray into the waste collection frame. While completing the cleaning of the hole tray, the self-cleaning function of the machine is also enhanced; the gripper of the present invention pushes the plastic part, the spring sheet opens the angle, and explores the bottom from both sides of the hole tray. After reaching the bottom, the plastic part spring sheet is pulled to contract and the material in the hole tray is taken out; the linear module is moved forward, backward, left and right to remove the waste and place the good seedlings into the holes of the hole tray; the gripper structure of the present invention is applied to the shifting and filling of seedlings at different levels, which can improve the accuracy of clamping and improve the working efficiency of the machine at the same time; the seedling pressing component of the present invention, the guide device is pressed in the grooves on both sides of the hole tray, which fully ensures the stability of the hole tray during the material grabbing process; it solves the displacement problem that may occur in the hole tray, and the gripper structure repeatedly grabs and shifts the material, causing the hole tray to move, especially the hole tray to move up and down. After using the seedling pressing component, the position is more stable and the operation is more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of a graded seedling transplanting and supplementing machine provided in an embodiment of the present invention.

[0023] Figure 2 for Figure 1 A schematic diagram of the structure of the medium-grading seedling transplanting and supplementing machine from another perspective.

[0024] Figure 3 for Figure 1 Schematic diagram of the planar structure of the medium-grade seedling transplanting and filling machine.

[0025] Figure 4 for Figure 1 Schematic diagram of the structure of the conveying module of the medium-grade seedling transplanting and filling machine.

[0026] Figure 5 for Figure 1A schematic structural diagram of the conveying module of the medium-grading seedling transplanter from another perspective.

[0027] Figure 6 for Figure 1 Module schematic diagram of the vision module of the medium-grading seedling transplanting and filling machine.

[0028] Figure 7 for Figure 1 Schematic diagram of the top view of the transplanting and filling module of the medium-grade seedling transplanting and filling machine.

[0029] Figure 8 for Figure 1 Schematic diagram of the structure of the transplanting and filling module of the medium-grade seedling transplanting and filling machine.

[0030] Fig. 9 for Figure 1 Schematic diagram of the structure of the transplanting and filling module of the medium-grade seedling transplanting and filling machine.

[0031] Fig.10 for Figure 1 A schematic structural diagram of the transplanting and filling module of the medium-grade seedling transplanting and filling machine from another perspective.

[0032] Fig.11 for Figure 1 A side structural schematic diagram of the transplanting and filling module of the medium-grade seedling transplanting and filling machine.

[0033] Fig.12 for Figure 1 Schematic diagram of the structure of the support plate of the transplanting and filling module of the medium-grade seedling transplanting and filling machine.

[0034] Fig.13 for Figure 1 A plan view of the gripper of the medium-grade seedling transplanting and filling machine.

[0035] Fig.14 for Figure 1 Schematic diagram of the structure of the gripper of the medium-grade seedling transplanting and filling machine.

[0036] Fig.15 for Figure 1 A schematic structural diagram of the gripper of the mid-level seedling transplanter from another perspective.

[0037] Fig.16 for Figure 1 Schematic diagram of the structure of the plastic parts of the medium-grading seedling transplanting and filling machine.

[0038] Fig.17 for Figure 1 Schematic diagram of the structure of the waste collection frame and waste funnel of the medium-grading seedling transplanting and supplementing machine.

[0039] Fig.18 for Figure 1 Schematic diagram of the structure of the seedling pressing component of the medium-grade seedling transplanting and seedling supplementing machine.

[0040] Fig.19 for Figure 1 Schematic diagram of the structure of the guide device of the medium-grade seedling transplanting and supplementing machine.

[0041] Fig. 20 for Figure 1 Schematic plan view of the waste collection frame and waste hopper of the medium-grading seedling transplanter.

[0042] Fig.21 for Figure 1 Another structural schematic diagram of the waste collection frame and waste hopper of the medium-grading seedling transplanting and supplementing machine.

[0043] The reference numerals and components involved in the drawings are as follows:

[0044] 1. Frame 2. Transmission module 21. Rotation rod

[0045] 22. conveyor belt 23. conveyor chain 24. first conveyor sprocket

[0046] 25, second transmission sprocket 26, motor sprocket 27, first motor

[0047] 3. Visual module 31, light source 32, lens

[0048] 33. Camera 34. Image processing unit 35. Monitor

[0049] 36, communication unit 4, shift compensation module 41, linear module

[0050] 411, Y guide rail 412, X guide rail 413, first electric slide

[0051] 414, second electric slide block 42, shifting and compensating module 421, telescopic cylinder

[0052] 422, support plate 423, transverse plate 424, gripper

[0053] 4241, round cylinder 4242, mounting seat 4243, plastic parts

[0054] 4244, chuck 4245, film 4246, spring

[0055] 4247, adjustment hole 4248, connection hole 425, Z guide rail

[0056] 426, third slider 427, mounting plate 428, fixing plate

[0057] 5. Controller 6. Seedling pressing component 61. Square tube

[0058] 692, guide device 6921, guide plate 6922, guide bracket

[0059] 6923, arc-shaped guide slope 7, waste collection frame 8, waste funnel

[0060] 81. Funnel mouth 82. Guide tube 9. Safety grating DETAILED DESCRIPTION

[0061] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0062] The terms "first", "second", "third", "fourth" and the like in the description and claims of the present invention are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence.

[0063] Figure 1 A schematic diagram of the structure of a grading seedling transplanting and supplementing machine provided in an embodiment of the present invention, Figure 2 for Figure 1 The structural diagram of the medium-grade seedling transplanter from another perspective. Figure 3 for Figure 1 Schematic diagram of the planar structure of the medium-grade seedling transplanting and seedling supplementing machine. Figure 6 for Figure 1 Module diagram of the visual module of the medium-grade seedling transplanter. Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 6 The grading seedling transplanting and filling machine provided by the embodiment of the present invention includes a frame 1, a transmission module 2, a visual module 3, a transplanting and filling module 4 and a controller 5; the transmission module 2 is installed in the middle of the frame 1, the transplanting and filling module 4 is installed on the upper end of the frame 1, the transplanting and filling module 4 is located above the transmission module 2, and the visual module 3 is installed on the transplanting and filling module 4; the transmission module 2, the visual module 3 and the transplanting and filling module 4 are all connected to the controller 5.

[0064] It should be noted that the graded seedling transplanting and filling machine of the present invention, when in use, places the hole tray with materials on the conveying module 2, selects different grades of products through the visual module 3, and the controller 5 controls the conveying module 2 to transport the seedling tray according to the size and characteristics of the hole tray; the transplanting and filling module 4 grabs the waste material to the waste soil collection point; the transplanting and filling module 4 transplants the seedlings to the empty tray area, and after a row of hole trays in the transplanting area are full, the conveying module 2 moves a row of hole trays forward, and after the hole trays in the transplanting area are full, the chain is transmitted to the transplanting conveyor line outside the equipment; the entire work process has accurate positioning, the gripper 424 has precise gripping, and the average transplanting and filling success rate is 98%.

[0065] Figure 4 for Figure 1 The schematic diagram of the structure of the conveying module of the medium-grade seedling transplanter. Figure 5 for Figure 1 Another structural diagram of the conveyor module of the medium-grade seedling transplanter. Figure 4 , Figure 5 In the present invention, two conveying modules 2 are installed in parallel and side by side in the middle of the frame 1, and the conveying module 2 includes a rotating rod 21, a conveyor belt 22, a conveyor chain 23, a first conveyor sprocket 24, a second conveyor sprocket 25, a motor sprocket 26 and a first motor 27; the rotating rods 21 are rotatably connected at both ends of the middle of the frame 1, and the first conveyor sprocket 24 is fixedly sleeved at both ends of the rotating rods 21, and a motor sprocket 26 is also fixedly sleeved at the end of one of the rotating rods 21; the first motor 27 is fixed at the lower part of the frame 1, and the A motor sprocket 26 is sleeved on the output end of the first motor 27; the motor sprocket 26 on the rotating rod 21 and the motor sprocket 26 on the first motor 27 are connected by chain transmission, and the first motor 27 is connected to the controller 5; three second transmission sprockets 25 are rotatably connected between the two rotating rods 21 on the frame 1, and the three second transmission sprockets 25 are arranged in a triangle; the chain is sleeved on the first transmission sprocket 24 and the second transmission sprocket 25; the conveyor belt 22 is fixedly laid on the conveying chain 23.

[0066] Figure 7 for Figure 1 A top view of the transplanting and filling module of the medium-grade transplanting and filling machine. Figure 8 for Figure 1 The structural diagram of the transplanting and filling module of the medium-grade seedling transplanting and filling machine. Fig. 9 for Figure 1 The structural diagram of the transplanting and filling module of the medium-grade seedling transplanting and filling machine. Fig.10 for Figure 1 A structural diagram of the transplanting and filling module of the medium-grade transplanting and filling machine from another perspective. Fig.11 for Figure 1 The side view structural diagram of the transplanting and filling module of the medium-grade seedling transplanting and filling machine. Fig.12 for Figure 1 Schematic diagram of the structure of the support plate of the transplanting module of the medium-grade transplanting and seedling-filling machine. Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12The shifting and compensating module 4 of the present invention includes a linear module 41 and a shifting and compensating module 42; the linear module 41 includes a Y guide rail 411, an X guide rail 412, a first electric slider 413 and a second electric slider 414, two Y guide rails 411 are installed in parallel on both sides of the upper part of the frame 1, and the first electric slider 413 is fixedly connected to both ends of the X guide rail 412, and the two first electric sliders 413 are slidably installed on the two Y guide rails 411 respectively; the second electric slider 414 is slidably installed on the X guide rail 412, and the shifting and compensating module 42 is fixedly connected to the second electric slider 414.

[0067] It should be noted that the shifting and compensating module 42 can move forward and backward along the Y-guide rail 411 , and can move left and right along the X-guide rail 412 .

[0068] Further references Fig.10 , Fig.11 The shifting and compensating module 42 of the present invention comprises a telescopic cylinder 421, a support plate 422, a transverse plate 423, a gripper 424, a Z-direction guide rail 425, a third slider 426, a mounting plate 427 and a fixed plate 428; the transverse plate 423 is connected to the lower end in front of the support plate 422, and a plurality of grippers 424 are connected to the transverse plate 423, and the plurality of grippers 424 are arranged in parallel at equal intervals; two Z-direction guide rails 425 are connected in parallel and at intervals behind the support plate 422, and the third slider 426 is slidably connected to the Z-direction guide rail 425; both ends of the mounting plate 427 are fixed to the third slider 426, the mounting plate 427 is connected to the second electric slider 414 on a surface away from the third slider 426, and two fixed plates 428 are connected to the other surface of the mounting plate 427, and the telescopic cylinder 421 is fixed to the fixed plate 428; the output end of the telescopic cylinder 421 is connected to the lower end of the support plate 422.

[0069] It should be noted that when the telescopic cylinder 421 is extended or retracted, it will drive the support plate 422 to move up and down, and further drive the gripper 424 to move up and down.

[0070] Furthermore, 8, 16 or 20 grippers 424 are connected to the transverse plate 423 .

[0071] Fig.12 for Figure 1 Schematic diagram of the structure of the support plate of the transplanting and filling module of the medium-grade transplanting and filling machine. Fig.13 for Figure 1 A schematic diagram of the gripper of the medium-grade seedling transplanter. Fig.14 for Figure 1 Schematic diagram of the structure of the gripper of the medium-grade seedling transplanting and seedling supplementing machine. Fig.15 for Figure 1 A structural diagram of the gripper of the medium-grade seedling transplanter from another perspective. Fig.16 for Figure 1 Schematic diagram of the structure of the plastic parts of the medium-grade seedling transplanter. Please refer to Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 The gripper 424 of the present invention comprises a circular cylinder 4241, a mounting seat 4242, a plastic part 4243 and a chuck 4244; the circular cylinder 4241 is connected to the upper end of the mounting seat 4242, and the chuck 4244 is fixed to the lower end of the mounting seat 4242; the chuck 4244 comprises a bottom plate 4245 and a spring 4246, the bottom plate 4245 is rectangular, and two springs 4246 are vertically connected to both sides of the bottom plate 4245, and the springs 4246 on both sides of the bottom plate 4245 are opposite to each other. 246 are close to each other in a natural state; four adjustment holes 4247 cooperating with the spring sheet 4246 are provided on the plastic part 4243, a connecting hole 4248 is provided in the middle of the plastic part 4243, a guide hole is provided on the mounting seat 4242, and a through hole is provided in the middle of the bottom plate 4245; four chucks 4244 are inserted into the adjustment holes 4247, the telescopic rod of the circular cylinder 4241 passes through the guide hole and the through hole, and the end of the telescopic rod is connected to the connecting hole 4248;

[0072] When the telescopic rod is extended, the plastic part 4243 is pushed forward, and the adjustment hole 4247 on the plastic part 4243 opens the spring sheet 4246 ; when the telescopic rod is contracted, the plastic part 4243 is pulled backward, and the spring sheets 4246 are moved closer to each other.

[0073] It should be noted that the plastic part 4243 is pushed, the spring sheet 4246 opens an angle, and the bottom is probed from both sides of the plug tray. After reaching the bottom, the plastic part 4243 and the spring sheet 4246 are pulled to contract and the material in the plug tray is taken out; the linear module 41 is moved forward, backward, left and right to remove the waste material and place the good seedlings into the holes of the plug tray. The gripper 424 structure of the present invention is applied to seedling transplanting and filling, which can improve the accuracy of clamping and the working efficiency of the machine. Specifically, the cross section of the mounting seat 4242 is L-shaped.

[0074] Fig.17 for Figure 1 Schematic diagram of the structure of the waste collection frame and waste hopper of the medium-grade seedling transplanter. Fig.18 for Figure 1 The schematic diagram of the structure of the seedling pressing component of the medium-grade seedling transplanter. Fig.17 , Fig.18The grading seedling transplanting and seedling supplementing machine of the present invention further includes a seedling pressing assembly 6, which is installed at both ends of the conveying module 2 on the frame 1; the seedling pressing assembly 6 includes a square tube 61 and a guide device 692, both ends of the square tube 61 are respectively connected to the frame 1, and four guide devices 692 are connected to the square tube 61 at intervals;

[0075] It should be noted that when the plug tray on the conveyor belt 22 moves forward, the guide device 692 will press on the plug tray. When the present invention is used for limiting, the guide device 692 will press in the grooves on both sides of the plug tray, fully ensuring the stability of the plug tray during the material grabbing process. The problem of displacement of the plug tray that may occur is solved. The gripper 424 structure repeatedly grabs and moves the material, causing the plug tray to move, especially the plug tray moves up and down. After using the seedling pressing component 6, the position is more stable and the operation is more precise.

[0076] Fig.19 for Figure 1 Schematic diagram of the structure of the guide device of the medium-level seedling transplanting and seedling supplementing machine. Fig.18 , Fig.19 The seedling pressing assembly 6 of the present invention also includes a guide device 692; the guide device 692 includes a guide plate 6921 and a guide bracket 6922; the cross-section of the guide bracket 6922 is L-shaped, the side of the guide bracket 6922 is fixedly connected to the inner surface of the square frame 62, the guide plate 6921 is connected to the lower end of the guide bracket 6922, and the lower end of the guide plate 6921 is provided with an arc-shaped guide slope 6923, and the bending direction of the arc-shaped guide slope 6923 is the same as the moving direction of the conveyor belt 22.

[0077] Furthermore, two guide devices 692 are provided above each conveyor belt 22, and the two guide devices 692 cooperate with the grooves on both sides of the hole tray.

[0078] It should be noted that when the plug tray moves on the conveyor belt 22, the arc-shaped guiding inclined surface 6923 will press the groove of the plug tray, fully ensuring the stability of the plug tray during the movement and more precise operation.

[0079] Further references Figure 6 The visual module 3 of the present invention includes a light source 31, a lens 32, a camera 33, an image processing unit 34, a monitor 35 and a communication unit 36; the light source 31, the lens 32, the camera 33, the image processing unit 34, the monitor 35 and the communication unit 36 ​​are all connected to the controller 5.

[0080] Fig. 20 for Figure 1 Schematic diagram of the waste collection frame and waste hopper of the medium-grade seedling transplanter. Fig.21 for Figure 1Another structural diagram of the waste collection frame and waste hopper of the medium-grade seedling transplanting and seedling supplementing machine. Figure 5 , Fig.17 , Fig. 20 , Fig.21 The grading seedling transplanting and filling machine of the present invention also includes a waste collection frame 7 and a waste funnel 8. The waste collection frame 7 is installed at the bottom of the frame 1. The waste funnel 8 includes a funnel mouth 81 and a guide tube 82. The funnel mouth 81 is fixed on the frame 1. The funnel mouth 81 is located between the two conveying modules 2. The guide tube 82 is connected to the lower end of the funnel mouth 81. The guide tube 82 is located directly above the waste collection frame 7.

[0081] When cleaning the waste, the linear module 41 drives the gripper 424 to take out the waste in the hole tray, move it above the funnel mouth 81, put the waste down, and drop it to the waste collection frame 7 through the guide tube 82 to complete the cleaning.

[0082] The present invention integrates the waste cleaning function into the gripper 424, giving full play to the gripper 424, and effectively cleaning the waste in the hole tray to the waste collection frame 7. While completing the hole tray cleaning, it also enhances the self-cleaning function of the machine.

[0083] Further references Figure 1 , Figure 2 The grading seedling transplanting and supplementing machine of the present invention further includes a safety grating 9, which is wrapped around the frame 1.

[0084] In summary, the working process of the present invention is as follows: the hole tray with material is sent to the scanning area through the conveyor belt 22, the detected target is converted into an image signal, and according to the pixel distribution and brightness, color, area and other information, it is converted into a digital signal, and transmitted to the image processing unit 34; the image processing unit 34 operates on the above signal, extracts the target feature, and outputs three characteristic values ​​of serial number, position signal and judgment result to the controller 5, so as to screen out products of different grades; according to the size and characteristics of the hole tray, the conveying line of the conveying module 2 is selected to convey the seedling tray, and the material is moved to the working area by the conveying module 2 with the detected hole tray; the gripper 424 grabs the waste and moves it to the waste funnel 8, and the waste falls into the waste collection frame 7 through the waste funnel 8, and the waste is sent to the waste soil collection area.

[0085] Based on the above description, it can be seen that the advantages of the present invention are:

[0086] 1. The graded seedling transplanting and seedling supplementing machine provided by the present invention places the plug tray with materials on the conveying module, selects different levels of products through the visual module, and the controller controls the conveying module to transport the seedling tray according to the size and characteristics of the plug tray; the transplanting and supplementing module grabs the waste material to the waste soil collection area; the transplanting and supplementing module transplants the seedlings to the empty tray area, and after a row of plug trays in the transplanting area is full, the conveying module moves a row of plug trays forward, and after the plug trays in the transplanting area are full, the chain is transmitted to the transplanting transmission line outside the equipment; the entire work process is accurately positioned, the gripper grabs accurately, and the average transplanting and supplementing success rate is 98%;

[0087] 2. In the grading seedling transplanting and seedling supplementing machine of the present invention, when cleaning waste, the linear module drives the gripper to take out the waste in the plug tray, move it above the funnel mouth, put the waste down, and drop it into the waste collection frame through the guide tube to complete the waste cleaning; the present invention integrates the waste cleaning function into the gripper part, gives full play to the gripper, effectively cleans the waste in the plug tray to the waste collection frame, and while completing the cleaning of the plug tray, also enhances the self-cleaning function of the machine;

[0088] 3. The gripper of the present invention pushes the plastic part, and the spring sheet opens an angle to probe the bottom from both sides of the plug tray. After reaching the bottom, the plastic part spring sheet is pulled to contract and the material in the plug tray is taken out; the linear module is moved forward, backward, left and right to remove the waste material and place the good seedlings into the holes of the plug tray; the gripper structure of the present invention is applied to seedling transplanting and filling, which can improve the accuracy of clamping and improve the working efficiency of the machine;

[0089] 4. In the seedling pressing assembly of the present invention, the guide device is pressed into the grooves on both sides of the plug tray, which fully ensures the stability of the plug tray during the material grabbing process; it solves the problem of possible displacement of the plug tray, and the gripper structure repeatedly grabs and moves the material, causing the plug tray to move, especially the plug tray moves up and down. After using the seedling pressing assembly, the position is more stable and the operation is more precise.

[0090] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A grading seedling transplanting and seedling supplementing machine, characterized in that: It comprises a frame (1), a transmission module (2), a vision module (3), a displacement module (4) and a controller (5); The transmission module (2) is installed in the middle of the frame (1); the shifting and compensating module (4) is installed at the upper end of the frame (1); the shifting and compensating module (4) is located above the transmission module (2); and the visual module (3) is installed on the shifting and compensating module (4); the transmission module (2), the visual module (3) and the shifting and compensating module (4) are all connected to the controller (5).

2. The hierarchical seedling transplanting and seedling supplementing machine according to claim 1 is characterized in that: Two conveying modules (2) are installed in parallel in the middle of the frame (1), and the conveying module (2) comprises a rotating rod (21), a conveyor belt (22), a conveyor chain (23), a first conveyor sprocket (24), a second conveyor sprocket (25), a motor sprocket (26) and a first motor (27); The rotating rod (21) is rotatably connected at both ends of the middle part of the frame (1); the first transmission sprocket (24) is fixedly sleeved at both ends of the rotating rod (21); a motor sprocket (26) is also fixedly sleeved at the end of one of the rotating rods (21); the first motor (27) is fixed at the lower part of the frame (1); the output end of the first motor (27) is sleeved with a motor sprocket (26); the motor sprocket (26) on the rotating rod (21) and the motor sprocket (26) on the first motor (27) are connected through a chain transmission, and the first motor (27) is connected to the controller (5); Three second transmission sprockets (25) are rotatably connected between the two rotating rods (21) on the frame (1), and the three second transmission sprockets (25) are arranged in a triangle; the chain is sleeved on the first transmission sprocket (24) and the second transmission sprocket (25); and the conveyor belt (22) is fixedly laid on the transmission chain (23).

3. The hierarchical seedling transplanting and seedling supplementing machine according to claim 1 is characterized in that: The shift compensation module (4) comprises a linear module (41) and a shift compensation module (42); the linear module (41) comprises a Y-direction guide rail (411), an X-direction guide rail (412), a first electric slider (413) and a second electric slider (414); two Y-direction guide rails (411) are installed in parallel on both sides of the upper part of the frame (1); both ends of the X-direction guide rail (412) are fixedly connected with the first electric slider (413); and the two first electric sliders (413) are respectively slidably installed on the two Y-direction guide rails (411); The second electric slider (414) is slidably mounted on the X-guide rail (412), and the shifting and compensating module (42) is fixedly connected to the second electric slider (414).

4. The hierarchical seedling transplanting and seedling supplementing machine according to claim 3 is characterized in that: The shifting and compensating module (42) comprises a telescopic cylinder (421), a supporting plate (422), a transverse plate (423), a gripper (424), a Z-direction guide rail (425), a third sliding block (426), a mounting plate (427) and a fixing plate (428); The lower end in front of the support plate (422) is connected to the transverse plate (423), and a plurality of grippers (424) are connected to the transverse plate (423), and the plurality of grippers (424) are arranged in parallel at equal intervals; Two Z-direction guide rails (425) are connected in parallel and spaced apart behind the support plate (422), and the third slider (426) is slidably connected to the Z-direction guide rail (425); Both ends of the mounting plate (427) are fixed on the third slider (426); the mounting plate (427) is connected to the second electric slider (414) on a surface away from the third slider (426); two fixing plates (428) are connected to the other surface of the mounting plate (427); the telescopic cylinder (421) is fixed on the fixing plate (428); and the output end of the telescopic cylinder (421) is connected to the lower end of the support plate (422).

5. The hierarchical seedling transplanting and seedling supplementing machine according to claim 4 is characterized in that: Eight, sixteen or twenty grippers (424) are connected to the transverse plate (423).

6. The hierarchical seedling transplanting and seedling supplementing machine according to claim 4 is characterized in that: The gripper (424) comprises a circular cylinder (4241), a mounting seat (4242), a plastic part (4243) and a clamp (4244); The circular cylinder (4241) is connected to the upper end of the mounting seat (4242), and the chuck (4244) is fixed to the lower end of the mounting seat (4242); the chuck (4244) comprises a bottom plate (4245) and a spring sheet (4246); the bottom plate (4245) is rectangular, and two spring sheets (4246) are vertically connected to both sides of the bottom plate (4245); the spring sheets (4246) on both sides of the bottom plate (4245) are close to each other in a natural state; The plastic part (4243) is provided with four adjustment holes (4247) that cooperate with the spring sheet (4246), a connection hole (4248) is provided in the middle of the plastic part (4243), a guide hole is provided on the mounting seat (4242), and a through hole is provided in the middle of the bottom film (4245); The four clamps (4244) are inserted into the adjustment hole (4247), the telescopic rod of the circular cylinder (4241) passes through the guide hole and the through hole, and the end of the telescopic rod is connected to the connection hole (4248); When the telescopic rod is extended, the plastic part (4243) is pushed forward, and the adjustment hole (4247) on the plastic part (4243) opens the spring sheet (4246); when the telescopic rod is contracted, the plastic part (4243) is pulled backward, and the spring sheets (4246) are moved closer to each other.

7. The hierarchical seedling transplanting and seedling supplementing machine according to claim 6, characterized in that: The cross section of the mounting seat (4242) is L-shaped.

8. The hierarchical seedling transplanting and seedling supplementing machine according to claim 2, characterized in that: The grading seedling transplanting and seedling supplementing machine further comprises a seedling pressing component (6), and the seedling pressing component (6) is installed on both ends of the transmission module (2) on the frame (1); The seedling pressing assembly (6) comprises a square tube (61) and a guide device (692), the two ends of the square tube (61) are respectively connected to the frame (1), and four guide devices (692) are connected to the square tube (61) at intervals.

9. The hierarchical seedling transplanting and seedling supplementing machine according to claim 8, characterized in that: The guide device (692) comprises a guide plate (6921) and a guide bracket (6922); The cross section of the guide bracket (6922) is L-shaped, the side surface of the guide bracket (6922) is fixedly connected to the square tube (61), the guide plate (6921) is connected to the lower end of the guide bracket (6922), and the lower end of the guide plate (6921) is provided with an arc-shaped guide inclined surface (6923), and the bending direction of the arc-shaped guide inclined surface (6923) is the same as the moving direction of the conveyor belt (22).

10. The grading seedling transplanting and supplementing machine according to claim 9, characterized in that: Two guide devices (692) are provided above each conveyor belt (22).

11. The hierarchical seedling transplanting and seedling supplementing machine according to claim 8, characterized in that: The visual module (3) comprises a light source (31), a lens (32), a camera (33), an image processing unit (34), a monitor (35) and a communication unit (36); the light source (31), the lens (32), the camera (33), the image processing unit (34), the monitor (35) and the communication unit (36) are all connected to the controller (5).

12. The hierarchical seedling transplanting and seedling supplementing machine according to claim 2, characterized in that: The grading seedling transplanting and seedling-filling machine also includes a waste collection frame (7) and a waste funnel (8); the waste collection frame (7) is installed at the bottom of the frame (1); the waste funnel (8) includes a funnel mouth (81) and a guide tube (82); the funnel mouth (81) is fixed on the frame (1); the funnel mouth (81) is located between the two conveying modules (2); the guide tube (82) is connected to the lower end of the funnel mouth (81); and the guide tube (82) is located directly above the waste collection frame (7).

13. The hierarchical seedling transplanting and seedling supplementing machine according to claim 1, characterized in that: The grading seedling transplanting and supplementing machine also includes a safety grating (9), and the safety grating (9) is wrapped around the frame (1).

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