Pneumatic pressing type full-automatic high-speed transplanter

Abstract

The invention relates to a pneumatic downward-pressing type full-automatic high-speed transplanter which comprises a tray supply device, a seedling feeding device, a seedling taking device, a planting device, a seedling tray recycling mechanism, a land wheel synchronous driving system, a pressing mechanism, a pneumatic system, a whole machine control system, a three-point suspension frame and the like. Automatic high-speed operation of vegetable transplanting is realized according to the operation procedures of orderly tray supply, continuous seedling feeding, one-by-one high-speed seedling taking and dropping integration, long-time zero-speed planting and soil covering and compacting, and the problems that the seedling taking and dropping processes of a full-automatic transplanter are complicated, and the long-time zero-speed planting process is difficult to realize during high-speed operation are solved. And high-speed seedling taking, throwing and transplanting operation is realized.

Description

Technical Field

[0001] The invention relates to the technical field of transplanting operations in agricultural machinery, and in particular to a pneumatic downward pressure type fully automatic high-speed transplanter. Background Art

[0002] With the development of agricultural machinery in my country, the vegetable planting model has gradually changed from individual farmers to large-scale farm production. Transplanting is an indispensable part of large-scale vegetable planting, with a short operation period and a large transplanting area. Improving transplanting efficiency requires ensuring transplanting quality at the same time. Transplanters are transplanting machines that transplant seedlings from seedling trays to the ground. At present, the commonly used transplanting equipment in my country is semi-automatic transplanters, which still require manual seedling removal and planting. Not only is the efficiency low, but it is also difficult to achieve the ideal transplanting effect. Against the background of my country's vegetable consumption, vegetable planting area and vegetable output increasing year by year, the working efficiency of semi-automatic transplanters can no longer meet my country's demand for vegetable transplanting production. Fully automatic transplanters will be the main direction of future development of vegetable transplanting in my country. Fully automatic transplanters are used in some parts of my country, but the transplanting efficiency and quality are not high, mainly because the transplanter has complex seedling removal and seedling placement mechanisms, a relatively slow movement process, low efficiency, and poor continuity of movement connection, resulting in a bottleneck in improving transplanting efficiency. Summary of the invention

[0003] In view of the defects of the prior art of fully automatic transplanters in the above background, the purpose of the present invention is to provide a fully automatic high-speed transplanter that can simplify the process of taking and planting / simplify the mechanism, that is, "orderly supply trays - continuous seedling delivery - integrated high-speed taking and planting of seedlings one by one - long-term zero-speed planting - soil covering and compacting" processes.

[0004] In order to achieve the above object, the technical solution of the present invention is as follows:

[0005] The present invention provides a pneumatic downward pressure type fully automatic high-speed transplanter, comprising a tray supply device, a seedling delivery device, a seedling retrieval device, a planting device, a seedling tray recovery mechanism, a ground wheel synchronous drive system, a suppression mechanism, a pneumatic system, a whole machine control system and a three-point suspension frame and other parts; the whole machine realizes the automatic high-speed operation of the whole process of vegetable transplanting according to the operation procedure of "orderly tray supply-continuous seedling delivery-one by one high-speed integrated seedling retrieval and delivery-long-time zero-speed planting-soil covering and compacting", solves the problems of complex seedling retrieval and delivery process of the fully automatic transplanter and difficulty in realizing the long-time zero-speed planting process, and realizes the high-speed seedling retrieval and delivery and zero-speed transplanting operation.

[0006] The pneumatic downward pressure fully automatic high-speed transplanter needs to be used with a bottomless plug tray, which is derived from an improved embodiment of the application number 201910208044.6, entitled "A method for raising seedlings to improve the clumping property of large pots and its matching seedling plug tray". The bottomless plug tray is formed by a rectangular array of holes running through the top and bottom, and the cross-sectional shape of the holes can be a regular polygon or a circle, and the three-dimensional shape has a 1-5° upper large and lower small positive cone angle; the two sides have symmetrical and equidistant plug tray side ribs for being driven by the seedling delivery device.

[0007] The tray supply device is an improved embodiment of the application number 202110196721.4, entitled "Automatic tray supply and high-speed seedling taking and throwing device for automatic seedling transplanting machine for seedlings in seedling trays", which includes a tray, a guide rail, a tray supply rack, etc. The tray supply device is installed on the left side of the whole machine (with the forward direction of the whole machine as the front), which can realize the storage and automatic supply of the bottomless tray.

[0008] The seedling delivery device is derived from an improved embodiment of the application number 202110196721.4, entitled "A high-speed seedling delivery device for automatic seedling tray transplanting machine", which includes a seedling delivery chain, a seedling delivery sprocket, a seedling delivery active sprocket shaft, a seedling delivery active sprocket shaft mounting seat, a seedling delivery bottom plate, a seedling delivery paddle, etc. The seedling delivery device is installed above the middle of the whole machine, and its inlet side (left side of the seedling delivery device) is connected with the outlet below the tray device. The seedling delivery paddle is fixed to the seedling delivery chain and is used to drive the side ribs of the bottomless tray to move the bottomless tray from the inlet side to the outlet side (right side of the seedling delivery device) of the seedling delivery device. There are 6 seedling delivery holes on the seedling delivery bottom plate. The seedling delivery holes are regular quadrilaterals that are 1.5 times larger than the hole size. They are arranged in the form of equal steps in the longitudinal direction (the forward direction of the whole machine) with the hole spacing, and are arranged in the horizontal direction with equal spacing of crop planting rows.

[0009] The seedling retrieval device is an improved embodiment of the application number 202110196721.4 and the name "A high-speed seedling retrieval device for automatic tray supply of plug tray seedlings automatic transplanter", which includes a seedling retrieval device mounting frame and a seedling retrieval device. The seedling retrieval device is installed directly above the seedling delivery device. The seedling retrieval device mounting frame is arranged horizontally at equal spacings as the crop planting row spacing. There are a total of 6 seedling retrieval device mounting holes on the seedling retrieval device mounting frame, and the hole spacing is equal to the hole spacing; the seedling retrieval device and the seedling retrieval device mounting frame form 6 groups of seedling retrieval devices with different seedling retrieval positions through the 6 seedling retrieval device mounting holes, and the seedling retrieval device of each group of seedling retrieval devices is installed directly above the above-mentioned one seedling delivery hole. Seedling extractor No. 1 is installed at the first hole position of the first seedling extractor mounting frame, which corresponds to the center line of the first row of holes in the bottomless hole tray, forming seedling extractor No. 1; seedling extractor No. 2 is installed at the second hole position of the second seedling extractor mounting frame, which corresponds to the center line of the second row of holes in the bottomless hole tray, forming seedling extractor No. 2; and so on, seedling extractor No. 6 is installed at the sixth hole position of the sixth seedling extractor mounting frame, which corresponds to the center line of the sixth row of holes in the bottomless hole tray, forming seedling extractor No. 6; when the bottomless hole tray moves from the inlet side to the outlet side of the seedling delivery device, the six rows of holes are traversed and seedlings are extracted in an arithmetic and isochronous sequence.

[0010] The planting device is composed of a hanging cup, a Z-shaped piece, a Z-shaped piece mounting seat, a planting chain, a planting sprocket, a displaced triangular sprocket mounting frame, a planting sprocket shaft, a front mounting cover, and a rear mounting cover. There are 6 groups of the planting devices, which are installed directly below the seedling delivery device in the form of equal steps in the vertical direction with hole spacing, and are arranged equidistantly in the horizontal direction with crop planting row spacing, that is, each planting device seedling receiving position is correspondingly installed directly below one of the seedling delivery holes. The offset triangle sprocket mounting frame is based on the horizontal right-angled side of the triangle and is offset downwardly parallel to a fixed distance; the planting sprocket shaft is mounted on the three mounting angles of the offset triangle sprocket mounting frame; the planting sprocket is mounted on the planting sprocket shaft, and 6 planting sprocket shafts are respectively mounted with 6 planting sprockets, and the center planes of the 3 planting sprockets on the same side are coplanar; the planting chain is meshed and mounted on the 3 coplanar planting sprockets on the same side of the offset triangle sprocket mounting frame, and there are 2 planting chains in total; the hanging cup is mounted on the Z-shaped piece, and the Z-shaped piece is fixedly connected to the planting chain at equal distances through the Z-shaped piece mounting seat. By adjusting the number of Z-shaped piece mounting seats on the planting chain, the number of hanging cups is adjusted accordingly, so as to achieve the adjustment of different planting spacings for different crops. The front mounting cover includes a cover plate and a hanging cup opening cam, which is mounted on the front end of the offset triangle sprocket mounting frame; the rear mounting cover is composed of a mounting plate, a tensioning mounting frame, and a prism frame, and is mounted on the rear end of the offset triangle sprocket mounting frame.

[0011] The hanging cup is composed of a hanging cup body, a hanging cup connecting rod, and a hanging cup opening rod; the hanging cup connecting rod is fixedly connected to the right side of the hanging cup to realize connection with the Z-shaped part; the hanging cup opening rod is fixedly connected to the left side of the hanging cup body; the hanging cup opening cam is installed on the outer side of the front cover plate, and the hanging cup is opened and closed by cooperating with the hanging cup opening rod; the mounting plate is fixedly connected to the front end of the prism frame to realize the installation of the planting device on the frame; the tensioning mounting frame is installed on the same side of the mounting plate for the installation of the tensioning device.

[0012] The seedling tray recovery mechanism is composed of a recovery conveyor belt, a recovery trough, a recovery conveyor belt shaft, a recovery drive shaft, and a seedling tray recovery mechanism body. The seedling tray recovery mechanism is installed on the right side of the whole machine and is connected with the outlet side of the seedling delivery device to realize the recovery of the bottomless plug tray after the seedlings are taken out; the recovery conveyor belt shaft is installed on the seedling tray recovery mechanism; the recovery conveyor belt is installed on the recovery transfer belt shaft; the recovery trough is installed behind the seedling tray recovery mechanism body, and is used to store the recovered bottomless plug trays; the recovery drive shaft is installed on the left side of the seedling tray recovery mechanism body, and is connected with the recovery conveyor belt shaft to realize power transmission.

[0013] The ground wheel synchronous drive system is composed of a ground wheel, a ground wheel mounting frame, a ground wheel shaft, a one-way bearing, a ground wheel shaft end sprocket, a driving shaft, a driving shaft end driving sprocket, a driving shaft end driven sprocket, a tensioning sprocket, a tensioning sprocket mounting mechanism, a ground wheel transmission chain, a planting driving sprocket, a planting driven sprocket, a planting transmission chain, a gear box, a gear box input sprocket, a gear box transmission chain, a return disk transmission shaft, a recovery transmission shaft end sprocket A, a recovery transmission shaft end sprocket B, a recovery driving shaft end driving sprocket, and a recovery driving chain, and is used to provide power to the seedling delivery device, the planting device, and the seedling tray recovery mechanism, and synchronously drive the seedling delivery device and the planting device to move in time. The gear box includes two bevel gears, a gear input shaft, a gear output shaft, and a box body, etc. By adjusting the transmission ratio of the two bevel gears, the synchronous coordination relationship between the hanging cup movement and the seedling retrieval timing is achieved.

[0014] The ground wheel mounting frame is installed on the whole machine frame; the ground wheel is installed below the ground wheel mounting frame; the one-way bearing is installed on the ground wheel, and the reversal of the ground wheel will not affect the transmission system; the ground wheel shaft is installed on the one-way bearing and the ground wheel mounting frame; the ground wheel shaft end sprocket is installed on the ground wheel shaft; the tensioning sprocket mounting mechanism is installed above the whole machine frame; the tensioning sprocket is installed on the tensioning sprocket mounting frame to realize the tensioning of the ground wheel transmission chain; the driving shaft is installed in front of the planting device; the driving sprocket at the driving shaft end is installed on the right side of the driving shaft; the ground wheel transmission chain is meshed between the ground wheel shaft end sprocket, the driving sprocket at the driving shaft end and the tensioning sprocket; the driven sprocket at the driving shaft end is installed on the right side of the driving shaft; the gear box is installed in front of the outlet side of the seedling delivery device; the gear box input sprocket is installed At the input shaft end of the gear box; the planting driven sprocket is installed on the planting sprocket shaft; the 6 planting driving sprockets are installed on the driving shaft accordingly, and the lateral positions correspond to 6 groups of planting devices; the planting transmission chain is meshed between the planting driving sprocket and the planting driven sprocket to realize the transmission of power from the driving shaft to the planting sprocket shaft; the return disk drive shaft is installed at the lower right side of the whole machine frame; the recovery drive shaft end sprocket A is installed at the right end of the return disk drive shaft and meshed with the gear box drive chain; the return disk drive shaft end sprocket B is installed at the left end of the return disk drive shaft; the recovery drive shaft end driving sprocket is installed on the recovery drive shaft of the seedling tray recovery mechanism; the recovery drive chain is meshed with the recovery drive shaft end driving sprocket and the return disk drive shaft end sprocket B to transmit the return disk drive shaft power to the recovery drive shaft.

[0015] The suppressing mechanism is composed of a suppressing wheel, a suppressing wheel mounting plate, a T-shaped mounting frame, a spring, a lower telescopic frame, an upper telescopic frame, and an adjustable fixing rod. There are 6 groups of suppressing mechanisms, each of which is correspondingly mounted at the rear of the planting device to achieve soil compaction after the seedlings are planted in the plug tray; the suppressing wheel mounting plate is mounted at both ends of the short side of the T-shaped mounting frame to achieve the adjustment of the distance between the two suppressing wheels; the spring is mounted between the T-shaped mounting frame and the lower telescopic frame to achieve the adjustment of the suppressing angle of the suppressing mechanism; the upper telescopic frame is mounted on the upper end of the lower telescopic frame, and the downward pressing distance of the suppressing mechanism is adjusted by adjusting the fixing rod.

[0016] The pneumatic system consists of an air pump, an air tank, a manifold (not shown), a cylinder solenoid valve (not shown), a tray-pushing cylinder, a seedling-taking cylinder, a pressure regulating valve, and an air pipe. The air pump is installed in the middle of the front of the three-point suspension frame; the air tank is installed in the upper rear of the whole machine; the tray-pushing cylinder is installed at the tray-feeding position of the tray-feeding device; and the seedling-taking cylinder is installed in the seedling-taking device. Specifically, the tray-pushing cylinder is used to push the bottomless hole tray, and the seedling-taking cylinder is used to press down to take the seedlings.

[0017] The whole machine control system consists of a control cabinet, a power supply, a control button, a control panel, an optocoupler isolation relay, a stepper motor driver, a tray initial position sensor, a seedling tray detachment position sensor, a supply tray position sensor, a first seedling retrieval position sensor, an encoder, a supply tray chain motor and a high-speed seedling retrieval timing control system. The control cabinet is installed on the upper end of the whole machine and behind the seedling delivery device. By detecting information such as the position and displacement of the bottomless hole tray on the seedling delivery bottom plate, the speed of the supply tray device and the seedling retrieval device is adaptively controlled.

[0018] On the basis of the above scheme, the planting devices are installed and distributed in a step-shaped manner, that is, each row of holes in the bottomless hole tray passes directly above a seedling receiving position of a planting device.

[0019] The beneficial effects of the present invention are:

[0020] During the seedling planting stage, the hanging cup moves in the vertical direction and in the same line as the seedling planting direction, i.e., the movement direction of the seedlings out of the hole tray is extended, thereby improving the success rate of high-speed seedling planting.

[0021] During the planting stage, the zero-speed "static" trajectory and time of the hanging cup relative to the ground are extended to improve the uprightness and qualified rate of high-speed planting of plug tray seedlings.

[0022] The synchronous driving system of the ground wheel realizes the timing movement of the seedling delivery device, the planting device and the seedling tray recovery mechanism by using the ground wheel as the power source.

[0023] The present invention realizes efficient and high-quality operation by integrating the processes of collecting supply trays, high-speed seedling taking and planting, and long-time zero-speed planting, and connecting the efficient and high-speed seedling taking and planting links, and can be widely used in the product development and practical application of vegetable transplanters. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the structure of the transplanting machine of the present invention.

[0026] Figure 2 It is a schematic diagram of a bottomless plug tray of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the seedling delivery device and the seedling retrieval device of the present invention;

[0028] Figure 4It is a schematic diagram of the structure of the planting device of the present invention;

[0029] Figure 5 It is a schematic diagram of the seedling tray recovery mechanism of the present invention;

[0030] Figure 6 is a schematic diagram of the suppression mechanism of the present invention;

[0031] Figure 7 is a schematic diagram of the ground wheel synchronous drive system of the present invention;

[0032] Figure 8 It is a schematic diagram of the principle of seedling delivery operation and high-speed seedling retrieval of each row independently according to the present invention;

[0033] Fig. 9 It is a schematic diagram of the principle of long-term seedling grafting and long-term planting of the present invention;

[0034] The accompanying drawings are denoted as follows:

[0035] 1. tray supply device, 2. seedling delivery device, 3. seedling removal device, 4. planting device, 5. seedling tray recovery mechanism, 6. ground wheel synchronous drive system, 7. pneumatic system, 8. suppression mechanism, 9. whole machine control system, 10. three-point suspension frame, 201. seedling delivery chain, 202. seedling delivery paddle, 203. seedling delivery bottom plate, 204. seedling delivery sprocket, 205. seedling delivery active sprocket shaft, 206. seedling delivery active sprocket shaft mounting seat, 207. encoder, 301. seedling removal device mounting frame, 302. seedling removal device , 303. Seedling position sensor, 401. Hanging cup, 40101. Hanging cup connecting rod, 40102. Hanging cup opening rod, 402. Z-shaped part, 403. Z-shaped part mounting seat, 404. Planting sprocket, 405. Planting chain, 406. Offset triangular sprocket mounting frame, 407. Front mounting cover, 40701. Hanging cup opening cam, 408. Rear mounting cover, 40801. Mounting sheet, 40802. Tensioning mounting frame, 409. Planting sprocket shaft, 501. Recycling conveyor belt, 5 02. Recovery drive shaft, 503. Recovery trough, 504. Recovery conveyor belt shaft, 601. Ground wheel, 602. Tensioning sprocket installation mechanism, 603. Ground wheel transmission chain, 604. Tensioning sprocket, 605. One-way shaft end sprocket, 606. One-way bearing, 607. Driven sprocket at the driving shaft end, 608. Driving sprocket at the driving shaft end, 609. Driving shaft, 610. Planting driving sprocket, 611. Planting driven sprocket, 612. Planting transmission chain, 613. Gearbox input sprocket, 614 . Gearbox transmission chain, 615. Gearbox, 616. Return plate transmission shaft, 617. Return plate transmission shaft end sprocket A, 618. Return plate transmission shaft end sprocket B, 619. Recover active shaft end active sprocket, 620. Recover active chain, 621. Ground wheel shaft, 801. Suppression wheel, 802. Suppression wheel mounting plate, 803. T-type mounting frame, 804. Spring, 805. Lower telescopic frame, 806. Adjustment fixing rod, 807. Upper telescopic frame, 11. Bottomless plug tray, 1101. Plug tray side ribs DETAILED DESCRIPTION

[0036] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0037] like Figure 1 As shown, a pneumatic downward pressure type fully automatic high-speed transplanter includes a tray supply device, a seedling delivery device, a seedling retrieval device, a planting device, a seedling tray recovery mechanism, a ground wheel synchronous drive system, a suppression mechanism, a pneumatic system, a whole machine control system and a three-point suspension frame; the whole machine follows the operating procedures of "orderly tray supply - continuous seedling delivery - integrated high-speed retrieval and planting of seedlings one by one - long-term zero-speed planting - soil covering and compaction" to achieve automatic high-speed operation of the whole process of vegetable transplanting.

[0038] The tray supply device is an improved embodiment of the application number 202110196721.4, entitled "Automatic tray supply and high-speed seedling taking and throwing device for automatic seedling transplanting machine for seedlings in seedling trays", which includes a tray, a guide rail, a tray supply rack, etc. The tray supply device is installed on the left side of the whole machine (with the forward direction of the whole machine as the front), which can realize the storage and automatic supply of the bottomless tray.

[0039] like Figure 2 As shown, the pneumatic downward pressure fully automatic high-speed transplanter needs to be used with a bottomless plug tray, which is derived from an improved embodiment of the application number 201910208044.6, entitled "A method for raising seedlings to improve the clumping property of large pots and its matching seedling plug tray". The bottomless plug tray is formed by a rectangular array of holes running through the top and bottom, and the cross-sectional shape of the holes can be a regular polygon or a circle, and the three-dimensional shape has a 1-5° upper large and lower small positive cone angle; the two sides have symmetrical and equidistant plug tray side ribs for being driven by the seedling delivery device.

[0040] like Figure 3 As shown, the seedling delivery device is derived from an improved embodiment of the application number 202110196721.4, entitled "A high-speed seedling delivery device for automatic seedling tray transplanting machine", including a seedling delivery chain, a seedling delivery sprocket, a seedling delivery active sprocket shaft, a seedling delivery active sprocket shaft mounting seat, a seedling delivery bottom plate, a seedling delivery paddle, etc. The seedling delivery device is installed above the middle of the whole machine, and its inlet side (left side of the seedling delivery device) is connected with the outlet below the tray device. The seedling delivery paddle is fixed to the seedling delivery chain and is used to drive the side ribs of the bottomless tray to move the bottomless tray from the inlet side of the seedling delivery device to the outlet side (right side of the seedling delivery device). There are 6 seedling delivery holes on the seedling delivery bottom plate. The seedling delivery holes are regular quadrilaterals that are 1.5 times larger than the hole size. They are arranged in the form of equal steps in the longitudinal direction (the forward direction of the whole machine) with the hole spacing, and are arranged in the horizontal direction with equal spacing of crop planting rows.

[0041] The seedling retrieval device is an improved embodiment of the application number 202110196721.4 and the name "A high-speed seedling retrieval device for automatic tray supply of plug tray seedlings automatic transplanter", which includes a seedling retrieval device mounting frame and a seedling retrieval device. The seedling retrieval device is installed directly above the seedling delivery device. The seedling retrieval device mounting frame is arranged horizontally at equal spacings as the crop planting row spacing. There are a total of 6 seedling retrieval device mounting holes on the seedling retrieval device mounting frame, and the hole spacing is equal to the hole spacing; the seedling retrieval device and the seedling retrieval device mounting frame form 6 groups of seedling retrieval devices with different seedling retrieval positions through the 6 seedling retrieval device mounting holes, and the seedling retrieval device of each group of seedling retrieval devices is installed directly above the above-mentioned one seedling delivery hole. Seedling extractor No. 1 is installed at the first hole position of the first seedling extractor mounting frame, which corresponds to the center line of the first row of holes in the bottomless hole tray, forming seedling extractor No. 1; seedling extractor No. 2 is installed at the second hole position of the second seedling extractor mounting frame, which corresponds to the center line of the second row of holes in the bottomless hole tray, forming seedling extractor No. 2; and so on, seedling extractor No. 6 is installed at the sixth hole position of the sixth seedling extractor mounting frame, which corresponds to the center line of the sixth row of holes in the bottomless hole tray, forming seedling extractor No. 6; when the bottomless hole tray moves from the inlet side to the outlet side of the seedling delivery device, the six rows of holes are traversed and seedlings are extracted in an arithmetic and isochronous sequence.

[0042] like Figure 4 As shown, the planting device is composed of a hanging cup, a Z-shaped piece, a Z-shaped piece mounting seat, a planting chain, a planting sprocket, a displaced triangular sprocket mounting frame, a planting sprocket shaft, a front mounting cover, and a rear mounting cover. There are 6 groups of planting devices, which are installed directly below the seedling delivery device in the form of equal steps in the vertical direction with hole spacing, and are arranged equidistantly in the horizontal direction with crop planting row spacing, that is, each planting device seedling receiving position is correspondingly installed directly below one of the seedling delivery holes. The offset triangle sprocket mounting frame is based on the horizontal right-angled side of the triangle and is offset downwardly parallel to a fixed distance; the planting sprocket shaft is mounted on the three mounting angles of the offset triangle sprocket mounting frame; the planting sprocket is mounted on the planting sprocket shaft, and 6 planting sprocket shafts are respectively mounted with 6 planting sprockets, and the center planes of the 3 planting sprockets on the same side are coplanar; the planting chain is meshed and mounted on the 3 coplanar planting sprockets on the same side of the offset triangle sprocket mounting frame, and there are 2 planting chains in total; the hanging cup is mounted on the Z-shaped piece, and the Z-shaped piece is fixed on the planting chain at equal distances through the Z-shaped piece mounting seat. By adjusting the number of Z-shaped piece mounting seats on the planting chain, the number of hanging cups is adjusted accordingly, so as to achieve different planting spacing adjustment for different crops. The front mounting cover includes a cover plate and a hanging cup opening cam, which is mounted on the front end of the offset triangle sprocket mounting frame; the rear mounting cover is composed of a mounting plate, a tensioning mounting frame, and a prism frame, and is mounted on the rear end of the offset triangle sprocket mounting frame.

[0043] The hanging cup is composed of a hanging cup body, a hanging cup connecting rod, and a hanging cup opening rod; the hanging cup connecting rod is fixedly connected to the right side of the hanging cup to realize connection with the Z-shaped part; the hanging cup opening rod is fixedly connected to the left side of the hanging cup body; the hanging cup opening cam is installed on the outside of the front cover plate, and the hanging cup is opened and closed by cooperating with the hanging cup opening rod; the mounting plate is fixedly connected to the front end of the prism frame to realize the installation of the planting device on the frame; the tensioning mounting frame is installed on the same side of the mounting plate for the installation of the tensioning device.

[0044] like Figure 5 As shown, the seedling tray recovery mechanism is composed of a recovery conveyor belt, a recovery trough, a recovery conveyor belt shaft, a recovery drive shaft, and a seedling tray recovery mechanism body. The seedling tray recovery mechanism is installed on the right side of the whole machine and is connected with the outlet side of the seedling delivery device to realize the recovery of the bottomless plug tray after the seedlings are taken out; the recovery conveyor belt shaft is installed on the seedling tray recovery mechanism; the recovery conveyor belt is installed on the recovery transfer belt shaft; the recovery trough is installed behind the seedling tray recovery mechanism body to store the recovered bottomless plug tray; the recovery drive shaft is installed on the left side of the seedling tray recovery mechanism body and is connected with the recovery conveyor belt shaft to realize power transmission.

[0045] like Figure 6 As shown, the suppression mechanism is composed of a suppression wheel, a suppression wheel mounting plate, a T-shaped mounting frame, a spring, a lower telescopic frame, an upper telescopic frame, and an adjustable fixing rod. There are 6 groups of the suppression mechanism, each group is correspondingly installed at the rear of the planting device to achieve soil compaction after the plug seedlings are planted; the suppression wheel mounting plate is installed at both ends of the short side of the T-shaped T-shaped mounting frame to achieve the adjustment of the distance between the two suppression wheels; the spring is installed between the T-shaped mounting frame and the lower telescopic frame to achieve the adjustment of the suppression angle of the suppression mechanism; the upper telescopic frame is installed at the upper end of the lower telescopic frame, and the downward pressure distance of the suppression mechanism is adjusted by adjusting the fixing rod.

[0046] like Figure 7 As shown, the ground wheel synchronous drive system is composed of a ground wheel, a ground wheel mounting frame, a ground wheel shaft, a one-way bearing, a ground wheel shaft end sprocket, a driving shaft, a driving shaft end driving sprocket, a driving shaft end driven sprocket, a tensioning sprocket, a tensioning sprocket mounting mechanism, a ground wheel transmission chain, a planting driving sprocket, a planting driven sprocket, a planting transmission chain, a gear box, a gear box input sprocket, a gear box transmission chain, a return plate transmission shaft, a recovery transmission shaft end sprocket A, a recovery transmission shaft end sprocket B, a recovery driving shaft end driving sprocket, and a recovery driving chain, and is used to provide power to the seedling delivery device, the planting device, and the seedling tray recovery mechanism, and synchronously drive the seedling delivery device and the planting device to move in time. The gear box includes two bevel gears, a gear input shaft, a gear output shaft, and a box body, etc. By adjusting the transmission ratio of the two bevel gears, the synchronous coordination relationship between the hanging cup movement and the seedling retrieval timing is achieved.

[0047] The ground wheel mounting frame is mounted on the whole machine frame; the ground wheel is mounted below the ground wheel mounting frame; the one-way bearing is mounted on the ground wheel, and the reverse rotation of the ground wheel will not affect the transmission system; the ground wheel shaft is mounted on the one-way bearing and the ground wheel mounting frame; the ground wheel shaft end sprocket is mounted on the ground wheel shaft; the tensioning sprocket mounting mechanism is mounted above the whole machine frame; the tensioning sprocket is mounted on the tensioning sprocket mounting frame to realize the tensioning of the ground wheel transmission chain; the driving shaft is mounted in front of the planting device; the driving sprocket at the driving shaft end is mounted on the right side of the driving shaft; the ground wheel transmission chain is meshed between the ground wheel shaft end sprocket, the driving sprocket at the driving shaft end and the tensioning sprocket; the driven sprocket at the driving shaft end is mounted on the right side of the driving shaft; the gear box is mounted just in front of the outlet side of the seedling delivery device; the gear box input sprocket is mounted Installed on the input shaft end of the gear box; the planting driven sprocket is installed on the planting sprocket shaft; the 6 planting driving sprockets are installed on the driving shaft accordingly, and the lateral positions correspond to 6 groups of planting devices; the planting transmission chain is meshed between the planting driving sprocket and the planting driven sprocket to realize the transmission of power from the driving shaft to the planting sprocket shaft; the return disk drive shaft is installed at the lower right side of the whole machine frame; the recovery drive shaft end sprocket A is installed at the right end of the return disk drive shaft and meshed with the gear box drive chain; the return disk drive shaft end sprocket B is installed at the left end of the return disk drive shaft; the recovery drive shaft end driving sprocket is installed on the recovery drive shaft of the seedling tray recovery mechanism; the recovery drive chain is meshed with the recovery drive shaft end driving sprocket and the return disk drive shaft end sprocket B to transmit the return disk drive shaft power to the recovery drive shaft.

[0048] like Figure 8 As shown in the figure, this is a schematic diagram of the working principle of the seedling delivery device and the seedling removal device; in the figure, the six holes of equal size along the forward direction of the whole machine are the hole holes, and the movement direction of the bottomless hole tray is as follows Figure 7As shown by the arrow in the middle, and perpendicular to the forward direction of the whole machine. The seedling extractor and the seedling extractor mounting frame in the figure form 6 groups of different seedling extractors through 6 seedling extractor mounting holes, and the seedling extractor of each group of seedling extractors is installed directly above the corresponding seedling holes; the No. 1 seedling extractor is installed in the first hole position of the first seedling extractor mounting frame, which corresponds to the center line of the first row of holes in the bottomless hole tray, forming the No. 1 seedling extractor; the No. 2 seedling extractor is installed in the second hole position of the second seedling extractor mounting frame, which corresponds to the center line of the second row of holes in the bottomless hole tray, forming the No. 2 seedling extractor; and so on, the No. 6 seedling extractor is installed in the sixth hole position of the sixth seedling extractor mounting frame, corresponding to the center line of the sixth row of holes in the bottomless hole tray, forming the No. 6 seedling extractor. This arrangement makes the seedling extractors in the figure evenly arranged longitudinally, so that the bottomless hole tray is completely extracted. According to the displacement information of the bottomless plug tray; when a hole in the first row of the bottomless plug tray reaches the seedling taking position directly below the No. 1 seedling taker, the control system controls the No. 1 seedling taker to reset after pressing down, and takes out the plug tray seedling from the hole; when a hole in the second row of the bottomless plug tray reaches the seedling taking position directly below the No. 2 seedling taker, the control system controls the No. 2 seedling taker to reset after pressing down, and takes out the plug tray seedling from the hole; and so on, the No. 6 seedling taker acts intermittently, and takes out the plug tray seedlings in the sixth row of the bottomless plug tray one by one; the six seedling takers distributed along an oblique line independently take out the plug tray seedlings in each row at high speed. The oblique distribution of the seedling takers is to ensure that the motion trajectory and seedling throwing process of the plug tray seedlings are stable and consistent after the six seedling takers take out the seedlings, thereby improving the efficiency and accuracy of seedling throwing.

[0049] like Fig. 9 As shown, the figure explains the principle of the process of dropping seedlings into the cup with overlapping motion trajectories and planting seedlings into the soil at zero speed for a long time.

[0050] (1) The seedling throwing movement coincides with the movement trajectory of the hanging cup. The seedling throwing stage: The link between high-speed seedling retrieval and high-speed transplanting is to achieve high-speed seedling throwing. In order to achieve accurate seedling picking with the high-speed hanging cup, the overlapping distance of the movement trajectory of the hanging cup and the seedlings in the plug tray, that is, the vertical downward movement distance, is extended. When the plug tray seedlings are taken out of the plug tray by the seedling taker, they move vertically downward. At this time, the hanging cup waiting for the seedlings also enters the vertical downward movement trajectory section, and the movement trajectories of the two coincide; the movement speed of the plug tray seedlings is greater than that of the hanging cup, and they catch up and fall into the hanging cup. This process reduces the complex process of separating seedlings after the traditional whole row seedling picking, and improves the problem of low success rate of high-speed seedling throwing caused by the misalignment of the movement trajectory of the plug tray seedlings and the hanging cup during the seedling throwing process.

[0051] (2) Long-term zero-speed seedling planting stage: In order to improve the qualified rate and uprightness of seedlings during high-speed planting operations, the continuous motion trajectory and time of zero-speed planting are extended, which improves the problem of low uprightness during instantaneous zero-speed planting of traditional circular trajectory motion hanging cups, and realizes long-term zero-speed planting.

[0052] Based on the above two points, the planting device is designed as a double-row staggered chain structure of a right triangle.

[0053] The working process of the present invention is as follows:

[0054] The whole machine control system is powered on and reset; the plug tray is placed on the tray of the tray supply device, and a start button is pressed; and the transplanter is pulled forward by a tractor.

[0055] (1) Tray supply stage: When the tray reaches the tray supply position, the tray pushing cylinder pushes the bottomless hole tray on the tray into the inlet side of the seedling delivery bottom plate.

[0056] (2) Seedling delivery stage: The seedling delivery paddle on the seedling delivery chain moves the side ribs of the plug tray, pushing the bottomless plug tray to continuously move toward the outlet side of the seedling delivery bottom plate.

[0057] (3.1) First seedling operation: When the seedling position sensor detects that the hole in the first row and first column has reached the seedling position No. 1 ( Figure 8 ), the seedling extractor in the first row is pressed down to extract the seedlings in the hole and then reset. The first seedling extraction process of other seedling extractors is similar.

[0058] (3.2) Subsequent seedling picking operation: Starting from the first seedling picking position, the encoder records the displacement of the bottomless plug tray. When the displacement of the holes in the first row of the plug tray is greater than or equal to the hole spacing, it means that the holes in the second column of the first row have reached the No. 1 seedling picking position below the No. 1 seedling picker. The No. 1 seedling picker is pressed down to pick the seedling and then reset. The subsequent seedling picking process for other corresponding seedling pickers is similar.

[0059] (4) Seedling throwing stage: When the seedlings are taken out from the bottomless plug tray by the seedling remover, they are thrown vertically downward, chasing and falling into the vertically downward moving hanging cup below.

[0060] (5) Planting stage: After the hanging cup changes from vertical motion to horizontal motion, its movement speed is the same as the forward speed of the whole machine but in the opposite direction. It is stationary at zero speed relative to the ground. After entering the soil, the hanging cup is opened by the hanging cup opening mechanism. The running distance of the zero-speed planting process is increased, which is beneficial to improve the uprightness of the seedlings in the plug tray during high-speed planting.

[0061] (6) Bottomless plug tray recovery stage: When all the seedlings in a bottomless plug tray are taken out, the plug tray moves to the exit side along with the seedling feeding chain and falls onto the seedling tray recovery conveyor belt of the seedling tray recovery mechanism. The bottomless plug tray follows the movement of the seedling tray recovery conveyor belt and falls into the return tray slot, completing the bottomless plug tray recovery.

[0062] In summary, the present invention realizes the operation process of "orderly supply tray - continuous seedling delivery - integrated high-speed seedling retrieval and planting one by one - long-term zero-speed planting - soil covering and compacting" to realize automated high-speed vegetable transplanting operation, solves the problems of complex seedling retrieval and planting process of full-automatic transplanters, and difficulty in realizing long-term zero-speed planting process during high-speed operation, and realizes high-speed seedling retrieval and transplanting operations.

[0063] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the essence and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The scope of patent protection of the present invention should be limited by the claims.

[0064] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

Claims

1. A pneumatic downward pressure fully automatic high-speed transplanter, comprising a tray supply device, a seedling delivery device, a seedling retrieval device, a planting device, a seedling tray recovery mechanism, a ground wheel synchronous drive system, a suppression mechanism, a pneumatic system, a whole machine control system and a three-point suspension frame. The present invention realizes the automatic high-speed operation of vegetable transplanting according to the operation process of "orderly tray supply - continuous seedling delivery - integrated high-speed seedling retrieval and planting one by one - long-term zero-speed planting - soil covering and compaction".

2. A pneumatic downward pressure fully automatic high-speed transplanter as described in claim 1 needs to be used in conjunction with a bottomless plug tray, which is derived from an improved embodiment of the application number 201910208044.6, entitled "A method for raising seedlings to improve the clumping property of large pots and its matching seedling plug tray". The bottomless plug tray is formed by a rectangular array of holes running through the top and bottom, and the cross-sectional shape of the holes can be a regular polygon or a circle, and the three-dimensional shape has a 1-5° upper large and lower small positive cone angle; the two sides have symmetrical and equidistant plug tray side ribs for being driven by the seedling delivery device.

3. The tray supply device as claimed in claim 1 is an improved embodiment of the application number 202110196721.4, entitled "Automatic tray supply and high-speed seedling taking and throwing device for automatic seedling transplanting machine for seedlings in seedling trays", comprising a tray, a guide rail, a tray supply rack, etc. The tray supply device is installed on the left side of the whole machine (with the forward direction of the whole machine as the front), which can realize the storage and automatic supply of the bottomless tray.

4. The seedling delivery device as claimed in claim 1 is derived from an improved embodiment of the application number 202110196721.4, entitled "A high-speed seedling delivery device for automatic seedling tray transplanting machine", comprising a seedling delivery chain, a seedling delivery sprocket, a seedling delivery active sprocket shaft, a seedling delivery active sprocket shaft mounting seat, a seedling delivery bottom plate, a seedling delivery paddle, etc. The seedling delivery device is installed above the middle of the whole machine, and its inlet side (left side of the seedling delivery device) is connected to the outlet below the tray device. The seedling delivery paddle is fixed to the seedling delivery chain and is used to drive the side ribs of the bottomless tray to move the bottomless tray from the inlet side of the seedling delivery device to the outlet side (right side of the seedling delivery device). The seedling delivery bottom plate is provided with 6 seedling delivery holes, which are regular quadrilaterals 1.5 times larger than the hole size. They are arranged in the form of equal steps in the longitudinal direction (the forward direction of the whole machine) with hole spacing, and are arranged in the horizontal direction with equal spacing of crop planting rows.

5. The seedling retrieval device as claimed in claim 1 is an improved embodiment of the application number 202110196721.4 and the name "A high-speed seedling retrieval device for automatic tray supply of plug tray seedlings automatic transplanter", which includes a seedling retrieval device mounting frame and a seedling retrieval device. The seedling retrieval device is installed directly above the seedling delivery device. The seedling retrieval device mounting frame is arranged horizontally at equal spacings as the crop planting row spacing. There are a total of 6 seedling retrieval device mounting holes on the seedling retrieval device mounting frame, and the hole spacing is equal to the hole spacing; the seedling retrieval device and the seedling retrieval device mounting frame form 6 groups of seedling retrieval devices with different seedling retrieval positions through the 6 seedling retrieval device mounting holes, and the seedling retrieval device of each group of seedling retrieval devices is installed directly above the above-mentioned one seedling delivery hole.

6. A pneumatic downward pressure fully automatic high-speed transplanter as claimed in claim 1, characterized in that: The planting device is composed of a hanging cup, a Z-shaped piece, a Z-shaped piece mounting seat, a planting chain, a planting sprocket, a displaced triangular sprocket mounting frame, a planting sprocket shaft, a front mounting cover, and a rear mounting cover. There are 6 groups of the planting devices, which are installed directly below the seedling delivery device in the form of equal steps in the vertical direction with hole spacing, and are arranged equidistantly in the horizontal direction with crop planting row spacing, that is, each planting device seedling receiving position is correspondingly installed directly below one of the seedling delivery holes.

7. As claimed in claim 6, the planting sprocket shaft is installed on the three mounting angles of the staggered triangle sprocket mounting frame; the planting sprocket is installed on the planting sprocket shaft, and 6 planting sprocket shafts are respectively installed with 6 planting sprockets, and the center planes of the 3 planting sprockets on the same side are coplanar; the planting chain is meshed and installed on the 3 coplanar planting sprockets on the same side of the staggered triangle sprocket mounting frame, and there are 2 planting chains in total; the hanging cup is installed on the Z-shaped piece, and the Z-shaped piece is fixedly connected to the planting chain at equal distances through the Z-shaped piece mounting seat. By adjusting the number of Z-shaped piece mounting seats on the planting chain, the number of hanging cups is correspondingly adjusted to achieve different planting spacings for different crops.

8. A pneumatic downward pressure fully automatic high-speed transplanter as claimed in claim 1, characterized in that: The seedling tray recovery mechanism is composed of a recovery conveyor belt, a recovery trough, a recovery conveyor belt shaft, a recovery active shaft, and a seedling tray recovery mechanism body. The seedling tray recovery mechanism is installed on the right side of the whole machine and connected with the outlet side of the seedling delivery device to realize the recovery of the bottomless plug tray after the seedlings are taken out; the recovery conveyor belt shaft is installed inside the seedling tray recovery mechanism body; the recovery conveyor belt is installed on the recovery transfer belt shaft; the recovery trough is installed behind the seedling tray recovery mechanism body to store the recovered bottomless plug tray; the recovery active shaft is installed on the left side of the seedling tray recovery mechanism body and connected with the recovery conveyor belt shaft to realize power transmission.

9. A pneumatic downward pressure fully automatic high-speed transplanter as claimed in claim 1, characterized in that: The ground wheel synchronous drive system is composed of a ground wheel, a ground wheel mounting frame, a ground wheel shaft, a one-way bearing, a ground wheel shaft end sprocket, a driving shaft, a driving shaft end driving sprocket, a driving shaft end driven sprocket, a tensioning sprocket, a tensioning sprocket mounting mechanism, a ground wheel transmission chain, a planting driving sprocket, a planting driven sprocket, a planting transmission chain, a gear box, a gear box input sprocket, a gear box transmission chain, a return disk transmission shaft, a recovery transmission shaft end sprocket A, a recovery transmission shaft end sprocket B, a recovery driving shaft end driving sprocket, and a recovery driving chain, and is used to provide power to the seedling delivery device, the planting device, and the seedling tray recovery mechanism, and synchronously drive the seedling delivery device and the planting device to move in time. The gear box includes two bevel gears, a gear input shaft, a gear output shaft, and a box body, etc. By adjusting the transmission ratio of the two bevel gears, the synchronous coordination relationship between the hanging cup movement and the seedling retrieval timing is achieved.

10. A pneumatic downward pressure fully automatic high-speed transplanter as claimed in claim 1, characterized in that: The suppressing mechanism is composed of a suppressing wheel, a suppressing wheel mounting plate, a T-shaped mounting frame, a spring, a lower telescopic frame, an upper telescopic frame, and an adjustable fixing rod. There are 6 groups of suppressing mechanisms, each of which is correspondingly mounted at the rear of the planting device to achieve soil compaction after the seedlings are planted in the plug tray; the suppressing wheel mounting plate is mounted at both ends of the short side of the T-shaped mounting frame to achieve the adjustment of the distance between the two suppressing wheels; the spring is mounted between the T-shaped mounting frame and the lower telescopic frame to achieve the adjustment of the suppressing angle of the suppressing mechanism; the upper telescopic frame is mounted on the upper end of the lower telescopic frame, and the downward pressing distance of the suppressing mechanism is adjusted by adjusting the fixing rod.

11. A pneumatic downward pressure fully automatic high-speed transplanter as claimed in claim 1, characterized in that: The pneumatic system includes an air pump, an air tank, a manifold (not shown), a cylinder solenoid valve (not shown), a plate pushing cylinder, a seedling taking cylinder, a pressure regulating valve, and an air pipe, and is used to complete the plate pushing action of the plate pushing cylinder and the seedling taking action of the seedling taking device.

12. A pneumatic downward pressure fully automatic high-speed transplanter as claimed in claim 1, characterized in that: The whole machine control system consists of a control cabinet, a power supply, a control button, a control panel, an optocoupler isolation relay, a stepper motor driver, a tray initial position sensor, a seedling tray detachment position sensor, a supply tray position sensor, a first seedling retrieval position sensor, an encoder, a supply tray chain motor and a high-speed seedling retrieval timing control system. By detecting information such as position displacement, the speed of the supply tray device and the seedling retrieval device is adaptively controlled.

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