Double-track seedling separating device of transplanter and operation method of double-track seedling separating device

Abstract

The invention relates to a transplanting machine double-track seedling separating device which comprises a seedling separating frame and a seedling supplementing frame, an annular conveying belt is arranged on the seedling separating frame, a plurality of seedling containing mechanisms are placed on the annular conveying belt, a detection mechanism is further arranged on the seedling separating frame, and the detection mechanism is arranged over the moving path of the seedling containing mechanisms. The detection mechanism is used for detecting whether seedlings are absent in the seedling containing mechanism located under the detection mechanism or not; the seedling supplementing frame is provided with a U-shaped conveying belt, the U-shaped conveying belt is provided with an input end and an output end, the input end and the output end of the U-shaped conveying belt are connected with the annular conveying belt through a first blocking and pushing mechanism and a second blocking and pushing mechanism respectively, the first blocking and pushing mechanism and the second blocking and pushing mechanism are symmetrically arranged, and a manual material supplementing position is arranged on one side of the U-shaped conveying belt. The manual material supplementing position is used for manually supplementing seedlings to the seedling containing mechanism lacking seedlings. The transplanting machine can effectively prevent the transplanting machine from missing planting.

Description

Technical Field

[0001] The invention relates to the technical field of transplanters, and in particular to a double-track seedling separation device of a transplanter and an operation method thereof. Background Art

[0002] Seedling transplanting is a common operation in agricultural production. It effectively avoids natural factors such as low temperature and frost, reduces pests and diseases, and can effectively improve crop survival rate and quality. Fully automatic transplanting machines can improve transplanting efficiency and transplanting quality, reduce workers' labor intensity and production costs, and are the development direction of vegetable transplanting.

[0003] During the operation of fully automatic transplanting, seedling shortages and missed planting may occur due to reasons such as seedling growth conditions, seedling removal failure, and seedling injury. Missed planting will lead to uneven crop growth, reduced yields, waste of land resources, increased labor costs in the later stages, and affect the mechanized management of crops in the later stages. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a double-track seedling separating device for a transplanter and an operating method thereof.

[0005] The technical solution adopted by the present invention to solve the above technical problems is: a double-track seedling separation device for a transplanter, comprising a seedling separation frame and a seedling supplement frame, the seedling separation frame is provided with an annular conveyor belt, the annular conveyor belt is in the shape of a runway, a plurality of seedling holding mechanisms are placed on the annular conveyor belt, the seedling separation frame is also provided with a detection mechanism, the detection mechanism is arranged just above the moving path of the seedling holding mechanism, and the detection mechanism is used to detect whether there is a lack of seedlings in the seedling holding mechanism located just below the detection mechanism; The seedling storage mechanism includes a seedling cup for storing seedlings, a seedling outlet is provided at the lower end of the seedling cup, the seedling outlet is located outside the annular conveyor belt, a covering part is provided at the seedling outlet of the seedling cup, and a flap mechanism is provided on the seedling cup for driving the covering part to open or close the seedling outlet; A U-shaped conveyor belt is provided on the seedling filling rack, and the U-shaped conveyor belt has an input end and an output end. The input end and the output end of the U-shaped conveyor belt are respectively connected to the circular conveyor belt through a first blocking and pushing mechanism and a second blocking and pushing mechanism. The first blocking and pushing mechanism and the second blocking and pushing mechanism are symmetrically arranged. The first blocking and pushing transfer mechanism is used to block the seedling filling mechanism on the circular conveyor belt that is short of seedlings, and push the seedling filling mechanism that is short of seedlings to the U-shaped conveyor belt. An artificial filling position is provided on one side of the U-shaped conveyor belt, and the artificial filling position is used to manually fill seedlings to the seedling filling mechanism that is short of seedlings. The second blocking and pushing mechanism is used to block the seedling filling mechanism on the circular conveyor belt after the seedlings are filled, and push the seedling filling mechanism after the seedlings are filled to the circular conveyor belt.

[0006] As a preferred solution, the detection mechanism includes an installation truss arranged on the seedling separation rack, a fixed bracket arranged on the installation truss and a detection camera arranged at the lower end of the fixed bracket. The detection camera is connected to the controller. The detection camera can take pictures of the seedling holding mechanism located below it, so that the controller can identify whether there is a lack of seedlings in the seedling holding mechanism.

[0007] As a preferred solution, the seedling holding mechanism includes a seedling cup fixing plate, two wheel axles arranged at the lower end of the seedling cup fixing plate, and wheels fixed at the lower ends of the wheel axles. The seedling cup fixing plate is provided with an installation slot for installing the seedling cup.

[0008] As a preferred solution, the covering portion includes two cover plates hinged at the seedling outlet, the flip mechanism includes a cover opening motor and a connecting rod assembly arranged on the inner side of the seedling cup, a partition is provided in the seedling cup for dividing the inner cavity of the seedling cup into a accommodating cavity and a connecting rod cavity, the accommodating cavity is used to accommodate seedlings, the connecting rod assembly is located in the connecting rod cavity, the connecting rod assembly includes a crank arranged on the output shaft of the cover opening motor, a connecting rod is hinged on the cover plate, and both connecting rods are hinged to the crank.

[0009] As a preferred solution, the first blocking and pushing mechanism and the second blocking and pushing mechanism have the same structure and size. The first blocking and pushing mechanism includes a blocking component, a first pushing component, a second pushing component and a track changing component. The first pushing component is arranged on the blocking component. The blocking component has two states: blocking and passing. In the blocking state, the blocking component blocks the seedling holding mechanism, and the first pushing component is used to push the seedling holding mechanism toward the second pushing component, the second pushing component is used to push the seedling holding mechanism toward the track changing component, and the track changing component is used to transfer the seedling holding mechanism to the U-shaped conveyor belt. When releasing the seedlings, the seedling holding mechanism can pass through the blocking component.

[0010] As a preferred solution, the blocking assembly includes two relatively arranged blocking members, the blocking member includes a vertical moving module, a blocking plate is hingedly provided on the vertical moving module, first arc grooves are relatively provided on the two blocking plates, the two first arc grooves form a first arc groove that cooperates with the wheel axle, the vertical moving module includes a slide groove boss, a screw motor, a screw and a sliding block, the screw is rotatably arranged on the slide groove boss, the screw motor is used to drive the screw to rotate, the sliding block is slidably arranged on the slide groove boss and is threadedly connected to the screw, a connecting plate is hingedly provided between the sliding block and the blocking plate, the first pushing assembly includes a micro cylinder arranged on the blocking plate, an arc pushing block is provided at the end of the piston rod of the micro cylinder, the arc pushing block has a second arc groove, and the two second arc grooves form a second arc groove that cooperates with the wheel axle.

[0011] As a preferred solution, the second pushing assembly includes a fixed base plate, a T-plate slidably arranged on the fixed base plate and a pushing cylinder for driving the T-plate to move horizontally. A T-plate is provided on the receiving plate, and a horizontal moving module perpendicular to the T-plate is provided on the T-plate. There are two horizontal moving modules, which are arranged parallel to the fixed base plate. A claw hand cooperating with the wheel axle is provided on the horizontal moving module, and the claw hand is semi-circular.

[0012] As a preferred solution, the track change assembly includes a horizontal conveyor belt.

[0013] The present application also provides a method for operating the double-track seedling separation device of a transplanter using the double-track seedling separation device of the transplanter, comprising the following steps: S1: placing multiple seedling containing mechanisms on a circular conveyor belt, and a detection mechanism detecting whether a seedling is missing in a seedling containing mechanism located directly below the detection mechanism; S2: When the detection mechanism does not detect the lack of seedlings, the circular conveyor belt continues to transport the seedling holding mechanism. When the detection mechanism detects the lack of seedlings, the first blocking and pushing transfer mechanism blocks the seedling holding mechanism on the circular conveyor belt that is lacking seedlings, and pushes the seedling holding mechanism on the circular conveyor belt that is lacking seedlings to the U-shaped conveyor belt, and then manually replenishes the seedlings to the seedling holding mechanism that is lacking seedlings. After the seedlings are replenished, the second blocking and pushing mechanism blocks the seedling holding mechanism on the circular conveyor belt that has been replenished, and pushes the seedling holding mechanism on the circular conveyor belt that has been replenished to the circular conveyor belt; S3: After the annular conveyor belt transports the seedling-containing mechanism to a suitable position, the flap mechanism opens the seedling outlet to complete the seedling delivery to the planter.

[0014] The beneficial effects of the present application are as follows: 1. The present invention abandons the traditional chain-type hanging cup seedling separation mechanism and adopts a double-track flexible conveying mechanism, which has a wide range of applications and can effectively prevent the phenomenon of missing seedlings during the operation of the fully automatic transplanter, thereby improving the quality and efficiency of the transplanting operation.

[0015] 2. The present application detects whether there is a lack of seedlings in the seedling holding mechanism through a detection mechanism, and then uses a first blocking and pushing transfer mechanism to block the seedling holding mechanism that is lacking seedlings on the circular conveyor belt, and pushes and transfers the seedling holding mechanism that is lacking seedlings to the U-shaped conveyor belt; the second blocking and pushing mechanism blocks the seedling holding mechanism after the seedlings are replenished on the circular conveyor belt, and pushes and transfers the seedling holding mechanism after the seedlings are replenished to the circular conveyor belt, thereby quickly realizing the track change and seedling replenishment of the seedling holding mechanism, and effectively avoiding seedling leakage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a first axonometric view of Embodiment 1 of the present invention; Figure 2 It is a second axonometric view of Embodiment 1 of the present invention; Figure 3 This is an axonometric view of the seedling storage mechanism of Example 1 of the present invention; Figure 4This is an axonometric view of the seedling cup of Example 1 of the present invention; Figure 5 is a cross-sectional view of the seedling cup of Example 1 of the present invention; Figure 6 This is an axonometric view of a blocking assembly according to Embodiment 1 of the present invention; Figure 7 It is a front view of the blocking component in the open state of embodiment 1 of the present invention; Figure 8 This is an axonometric view of the second pushing assembly of Example 1 of the present invention; Fig. 9 This is an axonometric diagram of the track change assembly of Example 2 of the present invention; Fig.10 This is an axonometric view of the positioning mechanism of Example 2 of the present invention.

[0017] Markings in the figure: 1. Annular conveyor belt, 2. Seedling filling mechanism, 201. Seedling cup, 202. Cover opening motor, 203. Seedling cup fixing plate, 204. Wheel, 205. Wheel axle, 206. Limiting groove, 207. Partition, 208. Cover plate, 209. Connecting rod, 210. Crank; 3. Seedling separation rack, 4. Image acquisition position sensor, 5. First pushing component, 6. Track change component, 601. Reversing plate, 602. Limiting part, 603. Guide wheel, 604. Rectangular hole, 605. Positioning cylinder, 606. Connecting plate, 607. Synchronous belt module, 608. Fixed plate, 609. Sliding shaft, 610. Guide sleeve, 7. Seedling supplement rack, 8. Second guide edge, 9. U-shaped conveyor belt, 10. Second pushing component, 1001. Fixed bottom plate, 1002. Linear guide, 1003, slider, 1004, receiving seat, 1005, screw, 1006, claw, 1007, sliding claw, 1008, hinged rod, 1009, micro electric push rod, 1010, first coupling, 1011, screw motor, 1012, T-plate, 1013, push cylinder, 11, blocking member, 1101, screw motor, 1102, second coupling, 1103, screw, 1104, slide groove boss, 1105, connecting plate, 1106, sliding block, 1107, blocking plate, 1108, micro cylinder, 1109, cylinder fixing bracket, 1110, arc push block, 12, cross plate, 13, installation truss, 14, fixing bracket, 15, detection camera, 16, seedling position sensor, 17, first guide edge. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that in the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more; the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0019] See also Figure 1-8 , Embodiment 1 of the present invention provides a double-track seedling separation device for a transplanter, including a seedling separation frame 3 and a seedling supplement frame 7, the seedling separation frame 3 is provided with an annular conveyor belt 1, the annular conveyor belt 1 is in the shape of a runway, a plurality of seedling holding mechanisms 2 are placed on the annular conveyor belt 1, the seedling separation frame 3 is also provided with a detection mechanism, the detection mechanism is arranged just above the moving path of the seedling holding mechanism 2, the detection mechanism is used to detect whether there is a lack of seedlings in the seedling holding mechanism 2 located just below the detection mechanism; the seedling holding mechanism 2 includes a seedling cup 201 for storing seedlings, the seedling cup 201 has a seedling outlet at the lower end, the seedling outlet is located outside the annular conveyor belt 1, a covering portion is provided at the seedling outlet of the seedling cup 201, and a flap mechanism for driving the covering portion to open or close the seedling outlet is provided on the seedling cup 201; the seedling supplement frame 7 is provided with a U-shaped conveyor belt 9, which has an input end and an output end. The input end and the output end of the U-shaped conveyor belt 9 are respectively connected to the circular conveyor belt 1 through a first blocking and pushing mechanism and a second blocking and pushing mechanism. The first blocking and pushing mechanism and the second blocking and pushing mechanism are symmetrically arranged. The first blocking and pushing transfer mechanism is used to block the seedling filling mechanism 2 on the circular conveyor belt 1 that is short of seedlings, and push the seedling filling mechanism 2 that is short of seedlings to the U-shaped conveyor belt 9. An artificial filling position is provided on one side of the U-shaped conveyor belt 9. The artificial filling position is used to manually fill seedlings to the seedling filling mechanism 2 that is short of seedlings. The second blocking and pushing mechanism is used to block the seedling filling mechanism 2 on the circular conveyor belt 1 after the seedlings are filled, and push the seedling filling mechanism 2 after the seedlings are filled to the circular conveyor belt 1.

[0020] Among them, when the seedling filling mechanism 2 is located on the U-shaped conveyor belt 9, the seedling outlet of the seedling cup 201 is located outside the U-shaped conveyor belt 9, the annular conveyor belt 1 includes a first conveyor belt and a first conveying motor arranged on the seedling separation frame 3 that can drive the first conveyor belt to move, the annular conveyor belt 1 can also use the commonly used annular conveyor belt in the existing, the U-shaped conveyor belt 9 is in the shape, and includes a second conveyor belt and a second conveying motor arranged on the seedling supplement frame 7 that can drive the second conveyor belt to move, the U-shaped conveyor belt 9 can use the commonly used U-shaped conveyor belt in the existing, the annular conveyor belt 1 and the U-shaped conveyor belt 9 can both use the conveyor belt in CN219278503U. The annular conveyor belt 1 has two straight parts and two semi-annular parts, and the two straight parts are located between the input end and the output end of the U-shaped conveyor belt 9.

[0021] The annular conveyor belt 1 has a first conveying surface in the shape of a runway, and the seedling separation rack 3 is provided with first guide edges 17 in the shape of a runway on both sides of the first conveying surface. The U-shaped conveyor belt 9 has a U-shaped second conveying surface, and the seedling supplement rack 7 is provided with second U-shaped guide edges 8 on both sides of the first conveying surface. The second guide edge 8 located on the inner side of the seedling supplement rack 7 is symmetrically provided with first notches for the seedling holding mechanism 2 to pass through. Among the two first notches, one is the input end of the U-shaped conveyor belt 9, and the other is the output end of the U-shaped conveyor belt 9. The first guide edge 17 located on the outer side of the seedling separation rack 3 is provided with a second notch for the seedling holding mechanism 2 to pass through corresponding to the first notch.

[0022] Combination Figure 1 As shown, the detection mechanism includes a mounting truss 13 arranged on the seedling separation rack 3, a fixed bracket 14 arranged on the mounting truss 13 and a detection camera 15 arranged at the lower end of the fixed bracket 14. A horizontal plate 12 is provided on the seedling separation rack 3 on the inner side of the circular conveyor belt 1. The mounting truss 13 is fixed to the upper end of the horizontal plate 12. The mounting truss 13 has a vertical portion fixedly connected to the horizontal plate 12 and a horizontal portion connected to the vertical portion. The fixed bracket 14 is fixedly installed at the lower end of the horizontal portion.

[0023] An image acquisition position sensor 4 and a seedling placement position sensor 16 are respectively provided on both sides of the endless conveyor belt 1 on the seedling separation frame 3 , and the image acquisition position sensor 4 is arranged close to the mounting truss 13 .

[0024] The detection camera 15 is connected to the controller. The detection camera 15 can take pictures of the seedling holding mechanism 2 located below it, so that the controller can identify whether there is a lack of seedlings in the seedling holding mechanism 2. The controller is electrically connected to the flip mechanism, the image acquisition position sensor 4, the seedling position sensor 16, the annular conveyor belt 1, the U-shaped conveyor belt 9, the first blocking and pushing mechanism and the second blocking and pushing mechanism respectively.

[0025] Combination Figure 3-5As shown, the seedling holding mechanism 2 includes a seedling cup fixing plate 203, two wheel axles 205 arranged at the lower end of the seedling cup fixing plate 203, and a wheel 204 fixedly arranged at the lower end of the wheel axle 205. The seedling cup fixing plate 203 is provided with an installation slot for installing the seedling cup 201. The seedling cup fixing plate 203 is fixed at the installation notch, the covering part includes two cover plates 208 hinged at the seedling outlet, the flap mechanism includes a cover opening motor 202 and a connecting rod assembly arranged on the inner side of the seedling cup 201, the seedling cup 201 is provided with a partition 207 for dividing the inner cavity of the seedling cup 201 into a receiving cavity and a connecting rod cavity, the receiving cavity is used to receive the seedling, the connecting rod assembly is located in the connecting rod cavity, the partition 207, on the one hand, prevents the seedling from falling into the connecting rod assembly to cause damage to the seedling, and on the other hand, prevents dust pollution from affecting the operation, the connecting rod assembly includes a crank 210 arranged on the output shaft of the cover opening motor 202, and a connecting rod 209 is hinged on the cover plate 208, and both connecting rods 209 are hinged to the crank 210. The cover opening motor 202 drives the crank 210 to move, thereby driving the connecting rod 209 to move, thereby realizing the opening and closing action of the cover plate 208.

[0026] Specifically, the first blocking and pushing mechanism and the second blocking and pushing mechanism have the same structure and size. The first blocking and pushing mechanism includes a blocking component, a first pushing component 5, a second pushing component 10 and a track changing component 6. The first pushing component 5 is arranged on the blocking component. The blocking component has two states: blocking and passing. In the blocking state, the blocking component blocks the seedling holding mechanism 2, and the first pushing component 5 is used to push the seedling holding mechanism 2 toward the second pushing component 10. The second pushing component 10 is used to push the seedling holding mechanism 2 toward the track changing component 6. The track changing component 6 is used to transfer the seedling holding mechanism 2 to the U-shaped conveyor belt 9. When releasing the seedlings, the seedling holding mechanism 2 can pass through the blocking component. The track changing component 6 is installed between the first notch and the second notch relative to each other.

[0027] The blocking component and the second pushing component 10 of the first blocking and pushing mechanism are located on the seedling separation rack 3, the blocking component of the first blocking and pushing mechanism is located behind the detection mechanism, the blocking component and the second pushing component 10 of the second blocking and pushing mechanism are located on the seedling supplement rack 7, and the track changing component 6 of the second blocking and pushing mechanism is used to transfer the seedling containing mechanism 2 on the U-shaped conveyor belt 9 to the circular conveyor belt 1.

[0028] Combination Figure 6 and Figure 7 As shown, the blocking assembly includes two blocking members 11 disposed opposite to each other. The blocking member 11 includes a vertical moving module. A blocking plate 1107 is hingedly provided on the vertical moving module. The two blocking plates 1107 are arranged opposite to each other, and the two blocking plates 1107 are provided with first arc grooves opposite to each other. The two first arc grooves form a first arc groove that cooperates with the wheel shaft 205, and the first arc groove is semicircular. The vertical movement module includes a slide groove boss 1104, a screw motor 1101, a screw rod 1103 and a sliding block 1106. The screw rod 1103 is rotatably arranged on the slide groove boss 1104, and the screw motor 1101 is used to drive the screw rod 1103 to rotate. The screw motor 1101 is connected to the screw rod 1103 through a second coupling 1102. The sliding block 1106 is slidably arranged on the slide groove boss 1104 and is threadedly connected to the screw rod 1103. Horizontal rods are respectively provided on both sides of the sliding block 1106, and a waist-shaped long hole for the horizontal rod to slide up and down is provided on the slide groove boss 1104. A U-shaped frame is provided on the sliding block 1106, and the U-shaped frame is respectively It is fixedly connected to the two horizontal rods, and a connecting plate 1105 is hinged between the sliding block 1106 and the blocking plate 1107. There are two connecting plates 1105 and they are respectively located on both sides of the sliding block 1106. One end of the connecting plate 1105 is hinged to the horizontal rod on the same side, and the other end is hinged to the blocking plate 1107. The first pushing component 5 includes a micro cylinder 1108 arranged on the blocking plate 1107. The micro cylinder 1108 is installed on the blocking plate 1107 through a cylinder fixing frame 1109. The cylinder fixing frame 1109 is U-shaped and has a mounting groove that matches the micro cylinder 1108. The cylinder fixing frame 1109 is installed on the blocking plate 1107 by bolts. The piston rod end of the micro cylinder 1108 is provided with an arc-shaped push block 1110. The arc-shaped push block 1110 has a second arc-shaped groove. The two second arc-shaped grooves form a second arc-shaped groove that matches the wheel axle 205.

[0029] Combination Figure 8 As shown, the second pushing assembly 10 includes a fixed base plate 1001, a T-shaped plate 1012 slidably arranged on the fixed base plate 1001 and a pushing cylinder 1013 for driving the T-shaped plate 1012 to move horizontally, two linear guide rails 1002 are arranged on the fixed base plate 1001, a slider 1003 is slidably arranged on the linear guide rail 1002, a receiving plate 1004 is fixed on the slider 1003, a T-shaped plate is arranged on the receiving plate 1004, a horizontal moving module perpendicular to the T-shaped plate is arranged on the T-shaped plate, there are two horizontal moving modules, the horizontal moving modules are arranged parallel to the fixed base plate 1001, a claw hand 1006 cooperating with the wheel axle 205 is arranged on the horizontal moving module, and the claw hand 1006 is semi-circular.

[0030] The T-shaped plate has a horizontal end and a vertical end, and the horizontal moving module is vertically fixed on the vertical end. The horizontal moving module includes a screw 1005, a screw motor 1011 for driving the screw 1005 to rotate, a receiving seat 1004 fixedly connected to the vertical end, and a 7-shaped seat slidably arranged on the receiving seat 1004. The screw 1005 is connected to the screw motor 1011 through a first coupling 1010. The 7-shaped seat includes a vertical connecting portion and a horizontal positioning portion. The vertical connecting portion is slidably connected to the receiving seat 1004, and the receiving seat 1004 is provided with a sliding groove that slidably cooperates with the vertical connecting portion. The vertical connecting portion is threadedly connected to the screw 1005, and the vertical connecting portion is provided with a threaded hole that cooperates with the screw 1005. The claw hand 1006 is fixed to the end of the horizontal positioning portion.

[0031] The track changing assembly 6 includes a horizontal conveyor belt and a third conveying motor for driving the horizontal conveyor belt to move. The track changing assembly 6 also includes a conveyor belt bracket. The horizontal conveyor belt and the third conveying motor are both installed on the conveyor belt bracket. The conveyor belt bracket is installed between the relative first notch and the second notch. The horizontal conveyor belt can adopt an existing commonly used conveyor belt.

[0032] A method for operating the double-track seedling separation device of a transplanter using the double-track seedling separation device of the transplanter comprises the following steps: S1: placing a plurality of seedling containing mechanisms 2 on the endless conveyor belt 1, and a detection mechanism detecting whether there is a lack of seedlings in the seedling containing mechanism 2 located directly below the detection mechanism; S2: When the detection mechanism does not detect the lack of seedlings, the circular conveyor belt 1 continues to transport the seedling holding mechanism 2. When the detection mechanism detects the lack of seedlings, the first blocking and pushing transfer mechanism blocks the seedling holding mechanism 2 on the circular conveyor belt 1 that is lacking seedlings, and pushes the seedling holding mechanism 2 that is lacking seedlings to the U-shaped conveyor belt 9, and then manually replenishes the seedlings to the seedling holding mechanism 2 that is lacking seedlings. After the seedlings are replenished, the second blocking and pushing mechanism blocks the seedling holding mechanism 2 on the circular conveyor belt 1 that has been replenished, and pushes the seedling holding mechanism 2 that has been replenished to the circular conveyor belt 1; S3: After the annular conveyor belt 1 transports the seedling containing mechanism 2 to a suitable position, the flap mechanism opens the seedling outlet to complete the seedling delivery to the planter.

[0033] First, the seedling holding mechanisms 2 on the U-shaped conveyor belt 9 are all loaded with seedlings suitable for transplanting, and then the existing seedling taking mechanism puts the seedlings in the seedling tray into multiple seedling holding mechanisms 2 equidistantly distributed on the annular conveyor belt 1. The annular conveyor belt 1 drives the seedling holding mechanisms 2 to move continuously. When the seedling holding mechanisms 2 are close to the image acquisition position sensor 4, the image acquisition position sensor 4 monitors the position of the seedling holding mechanisms 2 in real time and feeds back the information to the controller. The controller controls the camera 15 to capture images of the passing seedling holding mechanisms 2. The controller identifies whether there is a lack of seedlings or whether there are high-quality seedlings in the seedling cup 201. If there are high-quality seedlings in the seedling cup 201, the screw motor 1101 is started, and the sliding block 1106 moves up, driving the blocking plate 1107 to rotate around its hinge point with the slide groove boss 1104. The blocking component is in a pass state, and the seedling holding mechanism 2 moves normally with the circular conveyor belt 1. When the seedling holding mechanism 2 is close to the seedling dropping point, the seedling dropping position sensor 16 detects the position of the seedling holding mechanism 2 in real time and feeds back the information to the controller. The controller controls the cover opening motor 202 installed on the seedling cup 201 to start, and the crank 211 rotates under the action of the cover opening motor 202, driving the connecting rod 209 to move and push open the cover plate 208. At this time, the plug tray seedlings in the seedling cup 201 fall into the planter below due to gravity, completing the planting operation; if there are no seedlings or inferior seedlings in the seedling cup 201, the controller controls the screw motor 1101 to start, and the sliding block 1106 moves downward, driving the blocking plate 1107 to rotate around its hinge point with the slide groove boss 1104, and the blocking component is in a pass state. In the blocking state, the seedling holding mechanism 2 stays in the first arc groove formed by the two first arc grooves, and then the micro cylinder 1108 is started, driving the arc push block 1110 to move forward, pushing the seedling holding mechanism 2 to move backward to the corresponding position that can be pushed by the pushing mechanism 10, and then the pushing cylinder 1013 is started, pushing the T-plate 1012 and the slider 1003 to move forward in a straight line on the linear guide rail 1002, and the claw hand 1006 moves forward to cooperate with the wheel shaft 205 of the seedling holding mechanism 2. At this time, the screw motor 1011 is started, and the power is transmitted through the first coupling 1010 to push the claw hand 1006 to continue to move forward, and push the seedling holding mechanism 2 to the track changing assembly 6 under the push of the horizontal moving module. When the seedling holding mechanism 2 is pushed to the track changing assembly 6, the track changing assembly 6 drives the seedling holding mechanism 2 to move forward. The seedling mechanism 2 moves to the U-shaped conveyor belt 9, and the seedlings suitable for transplanting are manually put into the seedling cup 203. The U-shaped conveyor belt 9 transfers the seedling holding mechanism 2 with seedlings on the other side to the normally closed blocking component on the other side. The same process is carried out by the second pushing component 10 and the track changing component 6 to push the seedling holding mechanism 2 with seedlings to the circular conveyor belt 1. When it is close to the seedling placement point, the seedling placement position sensor 16 detects the position of the seedling holding mechanism 2 in real time and feeds back the information to the controller. The controller controls the cover opening motor 202 installed on the seedling cup 201 to start, and the crank 211 rotates under the action of the cover opening motor 202, driving the connecting rod 209 to move and push open the cover plate 208. At this time, the seedlings in the seedling cup 201 fall into the planter below due to gravity, completing the planting operation.

[0034] Of course, the present invention is not limited to the above-described embodiments. Several other embodiments based on the design concept of the present invention are also provided below.

[0035] For example, in Example 2, different from the above-described implementation, Fig. 9 and Fig.10 As shown, in this embodiment, a limiting groove 206 is provided at the lower end of the wheel 204, the track change assembly 6 includes a reversing plate 601 and two driving assemblies arranged at the lower end of the reversing plate 601, two limiting parts 602 are relatively provided at the upper end of the reversing plate 601, a through groove for the seedling mechanism 2 to pass through is formed between the two limiting parts 602, and movable grooves are provided on the opposite surfaces of the two limiting parts 602, and a plurality of guide wheels 603 are rotatably provided in the movable grooves, and the guide wheels 603 can be tangent to the wheel 204.

[0036] The driving assembly includes a chain and a driving motor. The output shaft of the driving motor is provided with a main sprocket that cooperates with the chain. The lower end of the reversing plate 601 is rotatably provided with a slave sprocket that cooperates with the chain. The chain includes a plurality of chain links, one of which is provided with a positioning mechanism. The positioning mechanism includes a connecting plate 606 fixed to the chain link, a vertical plate arranged on the connecting plate 606 and in a 7-shape with the connecting plate 606, and a synchronous belt module arranged on the vertical plate. The synchronous belt module is an existing commonly used synchronous belt module. The synchronous belt module has a synchronous belt. A fixed plate 608 is provided on the synchronous belt. A guide sleeve 610 is also provided on the vertical plate. A sliding shaft 609 that passes through the connecting plate 606 is slidably provided in the guide sleeve 610. A positioning cylinder 605 that cooperates with the limiting groove 206 is provided at the end of the sliding shaft 609. The synchronous belt module can also be a lifting cylinder. The fixed plate 608 is provided at the end of the piston rod of the lifting cylinder. A rectangular hole 604 for the positioning cylinder 605 to pass through is provided on the reversing plate 601.

[0037] When the seedling holding mechanism 2 is pushed into the through groove, the driving assembly drives the positioning mechanism to move. When it moves to the lower end of the seedling holding mechanism 2, the synchronous belt module drives the sliding shaft 609 to rise, so that the positioning cylinder 605 is stuck in the limiting groove 206. The driving assembly continues to drive the positioning mechanism to move. When it moves to the end of the rectangular hole 604, the seedling holding mechanism 2 stays at the end position of the rectangular hole 604, so that the positioning cylinder 605 is out of the limiting groove 206, and then the above operation is repeated. The next seedling holding mechanism 2 that changes track will collide it onto another conveyor belt to complete the track changing operation.

[0038] For example, in Example 3, different from the above-described implementation, Figure 8As shown, a micro electric push rod 1009 is provided at the upper end of the horizontal positioning part, two arc-shaped sink grooves are symmetrically provided at the upper end of the claw hand 1006, a sliding rod is slidably provided in the arc-shaped sink groove, a sliding claw hand 1007 is provided at the upper end of the sliding rod, and two arc-shaped slide rails can be symmetrically provided at the upper end of the claw hand 1006, a slide table is provided on the arc-shaped slide rail, and the sliding claw hand 1007 is installed on the slide table. Two hinged rods 1008 are hinged at the end of the micro electric push rod 1009, and the hinged rods on the same side are hinged to the sliding claw hand 1007 on the same side. The micro electric push rod 1009 pushes the sliding claw hand 1007 to move, so as to limit the wheel shaft 205 and ensure the stability of the push.

[0039] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention fall within the protection scope of the present invention.

Claims

1. A double-track seedling separation device for a transplanter, characterized in that: The invention comprises a seedling separation frame (3) and a seedling supplement frame (7), wherein an annular conveyor belt (1) is provided on the seedling separation frame (3), the annular conveyor belt (1) is in the shape of a runway, a plurality of seedling holding mechanisms (2) are placed on the annular conveyor belt (1), and a detection mechanism is also provided on the seedling separation frame (3), the detection mechanism is arranged directly above the moving path of the seedling holding mechanism (2), and the detection mechanism is used to detect whether there is a lack of seedlings in the seedling holding mechanism (2) located directly below the detection mechanism; The seedling storage mechanism (2) comprises a seedling cup (201) for storing seedlings, a seedling outlet is provided at the lower end of the seedling cup (201), the seedling outlet is located outside the annular conveyor belt (1), a covering portion is provided at the seedling outlet of the seedling cup (201), and a flap mechanism is provided on the seedling cup (201) for driving the covering portion to open or close the seedling outlet; A U-shaped conveyor belt (9) is provided on the seedling replenishment frame (7). The U-shaped conveyor belt (9) has an input end and an output end. The input end and the output end of the U-shaped conveyor belt (9) are connected to the circular conveyor belt (1) via a first blocking and pushing mechanism and a second blocking and pushing mechanism, respectively. The first blocking and pushing mechanism and the second blocking and pushing mechanism are symmetrically arranged. The first blocking and pushing mechanism is used to block the seedling-filling mechanism (2) on the circular conveyor belt (1) that is short of seedlings, and push the seedling-filling mechanism (2) that is short of seedlings to the U-shaped conveyor belt (9). A manual replenishment position is provided on one side of the U-shaped conveyor belt (9). The manual replenishment position is used to manually replenish seedlings to the seedling-filling mechanism (2) that is short of seedlings. The second blocking and pushing mechanism is used to block the seedling-filling mechanism (2) on the circular conveyor belt (1) after the seedlings are replenished, and push the seedling-filling mechanism (2) after the seedlings are replenished to the circular conveyor belt (1).

2. A double-track seedling separation device for a transplanter according to claim 1, characterized in that: The detection mechanism comprises a mounting truss (13) arranged on the seedling separation frame (3), a fixed bracket (14) arranged on the mounting truss (13), and a detection camera (15) arranged at the lower end of the fixed bracket (14); the detection camera (15) is connected to a controller; the detection camera (15) is capable of taking a photo of a seedling storage mechanism (2) located below the detection camera (15), so that the controller can identify whether there is a lack of seedlings in the seedling storage mechanism (2).

3. A double-track seedling separation device for a transplanter according to claim 1, characterized in that: The seedling holding mechanism (2) comprises a seedling cup fixing plate (203), two wheel axles (205) arranged at the lower end of the seedling cup fixing plate (203), and wheels (204) fixedly arranged at the lower ends of the wheel axles (205); and the seedling cup fixing plate (203) is provided with a mounting notch for mounting the seedling cup (201).

4. A double-track seedling separation device for a transplanter according to claim 1, characterized in that: The covering portion comprises two cover plates (208) hingedly connected at the seedling outlet, the flap mechanism comprises a cover opening motor (202) and a connecting rod assembly arranged inside the seedling cup (201), a partition plate (207) for dividing the inner cavity of the seedling cup (201) into a receiving cavity and a connecting rod cavity is arranged inside the seedling cup (201), the receiving cavity is used to receive the seedlings, the connecting rod assembly is located in the connecting rod cavity, the connecting rod assembly comprises a crank (210) arranged on the output shaft of the cover opening motor (202), a connecting rod (209) is hingedly provided on the cover plate (208), and the two connecting rods (209) are both hingedly connected to the crank (210).

5. The double-track seedling separation device for a transplanter according to claim 3, characterized in that: The first blocking and pushing mechanism and the second blocking and pushing mechanism have the same structure and size. The first blocking and pushing mechanism comprises a blocking component, a first pushing component (5), a second pushing component (10) and a track changing component (6). The first pushing component (5) is arranged on the blocking component. The blocking component has two states: blocking and passing. In the blocking state, the blocking component blocks the seedling holding mechanism (2), and the first pushing component (5) is used to push the seedling holding mechanism (2) toward the second pushing component (10). The second pushing component (10) is used to push the seedling holding mechanism (2) toward the track changing component (6). The track changing component (6) is used to transfer the seedling holding mechanism (2) to the U-shaped conveyor belt (9). When placing seedlings, the seedling holding mechanism (2) can pass through the blocking component.

6. A double-track seedling separation device for a transplanter according to claim 5, characterized in that: The blocking assembly comprises two blocking members (11) arranged opposite to each other, the blocking member (11) comprising a vertically movable module, a blocking plate (1107) being hingedly provided on the vertically movable module, first arcuate grooves being arranged opposite to each other on the two blocking plates (1107), the two first arcuate grooves forming a first arcuate groove cooperating with the wheel shaft (205), the vertically movable module comprising a slide groove boss (1104), a screw motor (1101), a screw (1103) and a sliding block (1106), the screw (1103) being rotatably arranged on the slide groove boss (1104), the screw motor (1101) being used to drive the vertically movable module to move ... The movable screw (1103) rotates, and the sliding block (1106) is slidably arranged on the slide groove boss (1104) and is threadedly connected to the screw (1103). A connecting plate (1105) is hingedly arranged between the sliding block (1106) and the blocking plate (1107). The first pushing assembly (5) includes a micro cylinder (1108) arranged on the blocking plate (1107). The end of the piston rod of the micro cylinder (1108) is provided with an arc-shaped pushing block (1110). The arc-shaped pushing block (1110) has a second arc-shaped groove. The two second arc-shaped grooves form a second arc-shaped groove that matches the wheel shaft (205).

7. A double-track seedling separation device for a transplanter according to claim 6, characterized in that: The second pushing assembly (10) comprises a fixed bottom plate (1001), a T-shaped plate (1012) slidably arranged on the fixed bottom plate (1001), and a pushing cylinder (1013) for driving the T-shaped plate (1012) to move horizontally. The receiving plate (1004) is provided with a T-shaped plate, and the T-shaped plate is provided with a horizontal moving module perpendicular to the T-shaped plate. There are two horizontal moving modules, which are arranged parallel to the fixed bottom plate (1001). The horizontal moving modules are provided with a claw hand (1006) that cooperates with the wheel shaft (205), and the claw hand (1006) is semi-annular.

8. A double-track seedling separation device for a transplanter according to claim 7, characterized in that: The track change assembly (6) comprises a horizontal conveyor belt.

9. An operating method of a double-track seedling separation device for a transplanter using the double-track seedling separation device for a transplanter as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1: placing a plurality of seedling containing mechanisms (2) on an endless conveyor belt (1), and using a detection mechanism to detect whether a seedling containing mechanism (2) located directly below the detection mechanism is missing; S2: When the detection mechanism does not detect the lack of seedlings, the circular conveyor belt (1) continues to transport the seedling holding mechanism (2). When the detection mechanism detects the lack of seedlings, the first blocking and pushing mechanism blocks the seedling holding mechanism (2) on the circular conveyor belt (1) that is lacking seedlings, and pushes the seedling holding mechanism (2) that is lacking seedlings to the U-shaped conveyor belt (9). Then, seedlings are manually added to the seedling holding mechanism (2) that is lacking seedlings. After the seedlings are added, the second blocking and pushing mechanism blocks the seedling holding mechanism (2) on the circular conveyor belt (1) that has been filled with seedlings, and pushes the seedling holding mechanism (2) that has been filled with seedlings to the circular conveyor belt (1). S3: After the annular conveyor belt (1) transports the seedling holding mechanism (2) to a suitable position, the flap mechanism opens the seedling outlet, completing the seedling delivery to the planter.

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