Automatic seedling taking and throwing device and method

Abstract

The invention relates to an automatic seedling taking and throwing device and method. The seedling supply mechanism is mounted on the rack; the seedling taking mechanism adopts mechanical triggering to realize clamping and throwing of pot seedlings, and comprises a seedling claw mounting base, a seedling taking claw, a seedling throwing touch plate, a transverse driving part and a longitudinal driving part; the seedling claw mounting base and the seedling dropping touch plate are mounted on the rack; the transverse driving part is connected with the seedling claw mounting base and drives the seedling claw mounting base to reciprocate relative to the rack; the longitudinal driving part is mounted on the seedling claw mounting base and is matched with the transverse driving part to drive the seedling taking claw to move between a seedling taking position and a seedling dropping position; the seedling cylinder mechanism is mounted on the rack; the counting sensor is used for identifying and detecting a seedling cylinder signal of the seedling cylinder mechanism; and the controller is respectively connected with the counting sensor, the seedling supply mechanism, the seedling taking mechanism and the seedling cylinder mechanism, and is used for acquiring a seedling cylinder signal and controlling the seedling supply mechanism, the seedling taking mechanism and the seedling cylinder mechanism to cooperate to complete automatic seedling taking and throwing operation. The invention further provides an automatic seedling taking and throwing method.

Description

Technical Field

[0001] The invention relates to agricultural machinery, in particular to a mechanically triggered four-needle automatic seedling taking and planting device and method. Background Art

[0002] Seedling transplanting of vegetables, tobacco, etc. has many advantages, such as increasing seed germination rate and field seedling survival rate, solving the contradiction of crop connection in agricultural planting process, and improving the multiple cropping index. It is a planting model that is continuously promoted in modern agriculture. Automatic seedling picking is the key to improving the efficiency of mechanized transplanting, but the existing automatic seedling picking and seedling throwing device has high requirements for seedling raising, causes great damage to the stems and leaves of the seedlings, and causes great damage to the root system of the pot, and the success rate of seedling picking is low. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an automatic seedling taking and planting device and method in view of the above-mentioned defects of the prior art.

[0004] In order to achieve the above object, the present invention provides an automatic seedling taking and throwing device, which comprises:

[0005] frame;

[0006] A seedling supply mechanism, installed on the frame, for supplying seedlings in odd and even positions of seedling trays alternately;

[0007] The seedling taking mechanism is installed on the frame corresponding to the seedling supply mechanism, and adopts mechanical triggering to realize the clamping and dropping of the seedlings in the pot. The seedling taking mechanism includes a seedling claw mounting base, a seedling taking claw, a seedling dropping touch plate, a transverse driving component and a longitudinal driving component; the seedling claw mounting base is installed on the frame, the transverse driving component is connected to the seedling claw mounting base and drives the seedling claw mounting base to reciprocate relative to the frame; the longitudinal driving component is installed on the seedling claw mounting base and connected to the seedling taking claw, and the longitudinal driving component drives the seedling taking claw to move between the seedling taking position and the seedling dropping position; the seedling dropping touch plate is installed on the frame corresponding to the seedling taking claw;

[0008] A seedling tube mechanism is installed on the frame corresponding to the seedling taking mechanism, and is used to receive the potted seedlings dropped by the seedling taking claws and drop them into the planting mechanism in sequence and in an orderly manner;

[0009] a counting sensor, mounted on the frame corresponding to the seedling tube mechanism, and used for identifying and detecting the seedling tube signal of the seedling tube mechanism; and

[0010] The controller is installed on the frame and is connected to the counting sensor, the seedling supply mechanism, the seedling retrieval mechanism and the seedling tube mechanism respectively, and is used to obtain the seedling tube signal and control the seedling supply mechanism, the seedling retrieval mechanism and the seedling tube mechanism to cooperate to complete the automatic seedling retrieval operation.

[0011] The above-mentioned automatic seedling taking and planting device, wherein the seedling supply mechanism includes a seedling tray moving push rod, a seedling tray moving slide rail and a seedling tray supporting plate, the seedling tray moving slide rail is installed on the frame, the seedling tray supporting plate is installed on the seedling tray moving slide rail, and the two ends of the seedling tray moving push rod are respectively hinged to the frame and the seedling tray supporting plate.

[0012] The above-mentioned automatic seedling taking and throwing device, wherein the seedling taking claw comprises:

[0013] The seedling claw seat has a limit pin on the outside, and the seedling-dropping trigger plate drives the limit pin to slide along the axis relative to the seedling claw seat;

[0014] The top end of the pressure plate push rod passes through the seedling claw seat and is connected to the limit plate, and the limit plate cooperates with the limit pin and the seedling throwing touch plate to realize the mechanical triggering of taking and throwing seedlings; the bottom end of the pressure plate push rod is connected to the seedling pressing tray, and a plurality of pinholes are arranged on the seedling pressing tray; the pressure plate push rod drives the limit plate and the seedling pressing tray to move relative to the seedling claw seat along the axis of the pressure plate push rod;

[0015] A plurality of seedling retrieval needles, one end of each seedling retrieval needle is connected to the seedling claw seat, the other end of each seedling retrieval needle passes through the needle hole, and the spacing between the plurality of seedling retrieval needles decreases as the seedling claw seat moves downward; and

[0016] An elastic reset component is installed on the pressure plate push rod, and two ends of the elastic reset component are respectively abutted against the inner walls of the limiting plate and the seedling claw seat.

[0017] The above-mentioned automatic seedling taking and throwing device, wherein the seedling taking mechanism further includes a spacing adjustment component, the seedling taking claw is connected to the longitudinal driving component through the spacing adjustment component, and the spacing adjustment component includes:

[0018] A spacing adjustment slide plate is installed on the rack;

[0019] A spacing adjustment sliding bearing is mounted on the seedling claw mounting base and slides in the slideway of the spacing adjustment slideway plate;

[0020] A spacing adjustment chain is used to connect adjacent seedling picking claws and is hinged with adjacent seedling picking claws;

[0021] The spacing adjustment lever has two ends respectively hinged to the spacing adjustment sliding bearing and the outermost seedling picking claw;

[0022] A spacing adjustment slide rail connected to the longitudinal driving component;

[0023] The spacing adjustment slider is adapted to and connected with the spacing adjustment slide rail, and the seedling claw seat is installed on the spacing adjustment slider.

[0024] In the above-mentioned automatic seedling taking and planting device, the spacing adjustment component also includes a spacing adjustment plate, and the spacing adjustment plate is installed on the seedling claw seat corresponding to the spacing adjustment slider.

[0025] The above-mentioned automatic seedling taking and throwing device, wherein the longitudinal driving component comprises:

[0026] A longitudinal slide rail mounted on the seedling claw mounting base; and

[0027] A longitudinal driving push rod, the base end of which is mounted on the seedling claw mounting base, and the push rod end of which is connected to the spacing adjustment slide rail.

[0028] The above-mentioned automatic seedling taking and throwing device, wherein the lateral driving component comprises:

[0029] A transverse driving motor is mounted on the frame;

[0030] A ball screw is mounted on the frame and connected to the seedling claw mounting base, and the ball screw is connected to the lateral drive motor through a coupling; and

[0031] A transverse slide rail, the track of which is installed on the rack.

[0032] The above-mentioned automatic seedling taking and throwing device, wherein the seedling tube mechanism includes a rotary driving component and a plurality of seedling tubes, and the rotary driving component is connected to the plurality of seedling tubes and drives the plurality of seedling tubes to rotate and move sequentially on the frame.

[0033] In order to better achieve the above-mentioned purpose, the present invention also provides an automatic seedling taking and throwing method, wherein the above-mentioned automatic seedling taking and throwing device is used to perform automatic seedling taking and throwing operations, comprising the following steps:

[0034] In the seedling picking step, the horizontal driving component drives the seedling picking claw to move to just above the odd-numbered seedlings to be clamped; the longitudinal driving component drives the seedling picking claw to move downward, the pressure plate push rod of the seedling picking claw presses on the seedling tray, and the seedling picking needle of the seedling picking claw is inserted into the pot body along the outer side of the pot body of the seedling and retracted inward to clamp the seedling; when the limit plate of the seedling picking claw moves upward and passes over the limit pin, the longitudinal driving component is triggered to drive the seedling picking claw to move upward in the opposite direction, and the pressure plate push rod drives the seedling picking needle to clamp the seedling and remove it from the pot hole of the seedling tray;

[0035] Seedling throwing step, the seedling picking claw moves to the seedling throwing position; when the counting sensor recognizes that the number of rotations of the seedling barrel is equal to the number of seedling picking claws, the transverse driving component drives the seedling picking claw to move transversely, the seedling throwing touch plate pushes the limit pin outward to disengage from the limit plate, and the pressure plate push rod moves downward under the action of the elastic reset member, driving the seedling picking needle to open outward, and the clamped pot seedlings are pushed into the seedling barrel, completing the seedling throwing; and

[0036] In the seedling tray moving step, the seedling tray moving push rod extends a distance of a pot hole to drive the seedling tray to move, and the seedling claw is located just above the pot seedlings to be clamped in the even-numbered positions, and the above steps are repeated until all the seedling taking and dropping work is completed.

[0037] The above-mentioned automatic seedling taking and planting method also includes a spacing adjustment step. When planting seedlings, the horizontal driving component drives the multiple seedling picking claws to move toward the seedling tube, and the spacing adjustment mechanism drives the seedling picking claws at both ends to move outwards through the spacing adjustment lever, and pulls the seedling picking claws in the middle to move outwards until they are evenly distributed just above the seedling tube through the spacing adjustment chain; when taking seedlings, the horizontal driving component drives the multiple seedling picking claws to move toward the seedling tray, and the spacing adjustment mechanism adjusts the seedling picking claws at both ends to move inwards through the spacing adjustment lever, and pushes the seedling picking claws in the middle to move inwards and close together to just above the seedling tray pot hole through the spacing adjustment plate.

[0038] The technical effects of the present invention are:

[0039] In the process of taking out seedlings, the present invention realizes the action of clamping and placing the seedling body in the pot by triggering the movement of the seedling claws, thereby simplifying the control of the seedling claws and improving the efficiency of taking out seedlings.

[0040] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the structure of a device according to an embodiment of the present invention;

[0042] Figure 2 A front view of a device according to an embodiment of the present invention;

[0043] Figure 3A This is a schematic diagram of the structure of a seedling removal claw according to an embodiment of the present invention;

[0044] Figure 3B for Figure 3A The main view of

[0045] Figures 4A-4C They are schematic diagrams of positions before, during and after seedling removal according to an embodiment of the present invention;

[0046] Figure 5A , 5B They are schematic diagrams of positions before and after seedling planting according to an embodiment of the present invention;

[0047] Fig. 6A , 6B They are schematic diagrams of alternating supply of odd and even seedling positions according to an embodiment of the present invention.

[0048] Among them, the reference numerals

[0049] 1 rack

[0050] 2 Seedling supply agency

[0051] 21 Seedling tray moving push rod

[0052] 22 seedling tray moving slide rail

[0053] 23 seedling tray support

[0054] 3. Seedling removal mechanism

[0055] 31 seedling claw installation base

[0056] 32. Take the seedling claw

[0057] 321 seedling claw seat

[0058] 322 limit pin

[0059] 323 limit plate

[0060] 324 pressure plate push rod

[0061] 325 seedling needle

[0062] 326 elastic reset piece

[0063] 327 guide

[0064] 328 seedling tray

[0065] 329 pinhole

[0066] 33 Spacing adjustment components

[0067] 331 spacing adjustment slide plate

[0068] 332 spacing adjustment sliding bearing

[0069] 333 spacing adjustment chain

[0070] 334 Spacing adjustment lever

[0071] 335 spacing adjustment slide rail

[0072] 336 spacing adjustment slider

[0073] 337 spacing adjustment piece

[0074] 34 Seedling trigger plate

[0075] 35 Transverse drive components

[0076] 351 Horizontal Slide

[0077] 352 lateral drive motor

[0078] 353 Ball Screw

[0079] 36 Longitudinal drive components

[0080] 361 longitudinal slide rail

[0081] 362 longitudinal drive push rod

[0082] 4 Controller

[0083] 5. Seedling tube mechanism DETAILED DESCRIPTION

[0084] The structural principle and working principle of the present invention are described in detail below in conjunction with the accompanying drawings:

[0085] See also Figure 1 and Figure 2 , Figure 1 is a schematic diagram of the structure of a device according to an embodiment of the present invention, Figure 2 The front view of the device of one embodiment of the present invention. The automatic seedling taking and throwing device of the present invention comprises: a frame 1; a seedling supply mechanism 2, which is installed on the frame 1 and is used for alternating odd and even seedling positions of the seedling tray; a seedling taking mechanism 3, which is installed on the frame 1 corresponding to the seedling supply mechanism 2, and adopts mechanical triggering to realize the clamping and throwing of pot seedlings, and the seedling taking mechanism 3 comprises a seedling claw mounting base 31, a seedling taking claw 32, a seedling throwing touch plate 34, a horizontal driving component 35 and a longitudinal driving component 36; the seedling claw mounting base 31 is installed on the frame 1, and the horizontal driving component 35 is connected to the seedling claw mounting base 31 and drives the seedling claw mounting base 31 to reciprocate relative to the frame 1; the longitudinal driving component 36 is installed on the seedling claw mounting base 31 and is connected to the seedling taking claw 32, and the longitudinal driving component 36 cooperates with the horizontal driving component 35 to drive the seedling taking claw 32 to move between the seedling taking position and the seedling throwing position; the seedling throwing touch plate 34 4 is mounted on the frame 1 corresponding to the seedling-taking claw 32; a seedling tube mechanism 5 is mounted on the frame 1 corresponding to the seedling-taking mechanism 3, and is used to receive the pot seedlings dropped by the seedling-taking claw 32, and drop them into the planting mechanism in sequence and in an orderly manner; a counting sensor is mounted on the frame 1 corresponding to the seedling tube mechanism 5, and is used to identify and detect the seedling tube signal of the seedling tube mechanism 5, and transmit the seedling tube signal detected by the identified seedling tube to the controller 4, so that the controller 4 can issue a control instruction after judgment; and a controller 4 is mounted on the frame 1, and is respectively connected with the counting sensor, the seedling supply mechanism 2, the seedling-taking mechanism 3 and the seedling tube mechanism 5, and is used to obtain the seedling tube signal and control the seedling supply mechanism 2, the seedling-taking mechanism 3 and the seedling tube mechanism 5 to cooperate to complete the automatic seedling-taking and dropping operation, and specifically, the automatic seedling-taking and dropping operation can be completed by controlling the longitudinal driving push rod 362, the transverse driving motor 352 and the seedling tray moving push rod 21 to cooperate to work.

[0086] The seedling tube mechanism 5 of this embodiment includes a rotary drive component and multiple seedling tubes. The rotary drive component is connected to the multiple seedling tubes and drives the multiple seedling tubes to rotate and move sequentially on the frame 1 to perform rotary motion. The seedling tubes receive the pot seedlings dropped by the seedling claws 32 and then drop them into the planting mechanism in sequence and in an orderly manner.

[0087] The seedling supply mechanism 2 of the present embodiment includes a seedling tray moving push rod 21, a seedling tray moving slide rail 22 and a seedling tray supporting plate 23. The seedling tray moving slide rail 22 is installed and fixed on the frame 1, and the seedling tray supporting plate 23 is installed and fixed on the seedling tray moving slide rail 22. The two ends of the seedling tray moving push rod 21 are respectively hinged to the frame 1 and the seedling tray supporting plate 23. The base end of the seedling tray moving push rod 21 is hinged to the frame 1, and the push rod end is hinged to the seedling tray supporting plate 23.

[0088] See also Figure 3A-3B , Figure 3A This is a schematic diagram of the structure of the seedling removal claw 32 according to an embodiment of the present invention. Figure 3B for Figure 3AThe cam 322 is provided with a plurality of holes 329 on the top of the cam 324, and the cam 324 is provided with a plurality of holes 329 on the top of the cam 324. The cam 322 is provided with a plurality of holes 329 on the top of the cam 324, and the cam 324 is provided with a plurality of holes 329 on the bottom of the cam 324. The cam 324 is provided with a plurality of holes 329 on the top of the cam 324, and the cam 324 is provided with a plurality of holes 329 on the bottom of the cam 324. The cam 324 is provided with a plurality of holes 329 on the bottom of the cam 324, and the cam 324 is provided with a plurality of holes 329 on the bottom of the cam 324. The cam 324 is provided with a plurality of holes 329 on the bottom of the cam 324, and the cam 324 is provided with a plurality of holes 329 on the bottom of the cam 324. The cam 327 is a block diagram of a block diagram of a cam 327. The cam 327 is a block diagram of a block diagram of a cam 327. The cam 327 is a block diagram of a block diagram of a cam 327. The seedling pot body is usually in the shape of a regular quadrangular pyramid, and four seedling needles 325 are used for four-needle seedling removal. Compared with other forms, the stability of the pot body is better, and the clamping force required for the pot body is small, and the deformation of the pot body is smaller. Four seedling needles 325 are the most suitable structure and number for clamping the pot body, and other numbers of seedling needles 325 can also achieve the seedling removal function.

[0089] In this embodiment, the seedling picking mechanism 3 also includes a spacing adjustment component 33, and the seedling picking claw 32 is connected to the longitudinal driving component 36 through the spacing adjustment component 33, and the spacing adjustment component 33 includes: a spacing adjustment slide plate 331, which is installed on the frame 1; a spacing adjustment sliding bearing 332, which is installed on the seedling claw mounting base 31 and slides in the slide of the spacing adjustment slide plate 331; a spacing adjustment chain 333, which is used to connect adjacent seedling picking claws 32 and is hinged to adjacent seedling picking claws 32; a spacing adjustment lever 334, whose two ends are respectively hinged to the spacing adjustment sliding bearing 332 and the seedling picking claw 32; a spacing adjustment slide rail 335, which is connected to the longitudinal driving component 36; a spacing adjustment slider 336, which is adapted and connected to the spacing adjustment slider 335, and the seedling claw seat 321 is installed on the spacing adjustment slider 336. The spacing adjustment component 33 further includes a spacing adjustment piece 337, and the spacing adjustment piece 337 is mounted on the seedling claw seat 321 corresponding to the spacing adjustment slider 336, that is, the spacing adjustment slider 336 is fixedly mounted on the seedling claw seat 321, and the spacing adjustment piece 337 is mounted on the seedling claw seat 321 relative to the spacing adjustment slider 336. By replacing spacing adjustment slide plates 331, spacing adjustment chains 333 and spacing adjustment pieces 337 of different specifications, and increasing or decreasing the number of seedling claws 32, seedling trays of different specifications can be adapted.

[0090] The longitudinal driving component 36 of this embodiment includes: a longitudinal slide rail 361, which is fixed on the seedling claw mounting base 31; and a longitudinal driving push rod 362, the base end of which is mounted on the seedling claw mounting base 31, and the push rod end of which is connected to the track of the spacing adjustment slide rail 335. The transverse driving component 35 includes: a transverse driving motor 352, which is mounted on the frame 1; a ball screw 353, which is mounted on the frame 1 and connected to the seedling claw mounting base 31, and the ball screw 353 is connected to the transverse driving motor 352 through a coupling; and a transverse slide rail 351, the track of which is mounted on the frame 1.

[0091] In this embodiment, the seedling claw 32 is fixedly mounted on the spacing adjustment slider 336, the spacing adjustment slide rail 335 is fixedly mounted on the slider of the longitudinal slide rail 361, the track of the longitudinal slide rail 361 is fixedly mounted on the seedling claw mounting base 31, the base end of the longitudinal drive push rod 362 is fixedly mounted on the seedling claw mounting base 31, the push rod end of the longitudinal drive push rod 362 is connected to the track of the spacing adjustment slide rail 335, the seedling claw mounting base 31 is fixedly mounted on the slider of the transverse slide rail 351, the track of the transverse slide rail 351 is fixedly mounted on the frame 1, the transverse drive motor 352 is fixedly mounted on the frame 1, and the nut of the ball screw 353 is fixedly mounted It is mounted on the seedling claw mounting base 31, the screw of the ball screw 353 is mounted on the frame 1 through a bearing, one end of the screw of the ball screw 353 is connected to the motor shaft of the horizontal drive motor 352 through a coupling, the spacing adjustment slide plate 331 is fixedly mounted on the frame 1, the spacing adjustment sliding bearing 332 is fixedly mounted on the seedling claw mounting base 31, the spacing adjustment sliding bearing 332 slides in the slideway of the spacing adjustment slide plate 331, the spacing adjustment sliding bearing 332 is hinged to the spacing adjustment lever 334, the spacing adjustment lever 334 is hinged to the outermost seedling picking claw 32, and the adjacent seedling picking claws 32 are hinged and connected through a spacing adjustment chain 333.

[0092] When working, the controller 4 controls the lateral drive motor 352 to work, and drives the seedling claw 32 to move to the top of the pot seedling to be clamped through the ball screw 353 (see Figure 4A ), the longitudinal driving push rod 362 drives the seedling claw 32 to move downward, the pressing plate push rod 324 presses on the seedling plate, and the four seedling needles 325 are inserted into the pot body along the outer side of the pot body of the seedling pot. At the same time, under the action of the needle hole 329 of the seedling pressing plate 328, the four seedling needles 325 are retracted inward to clamp the seedlings in the pot (see Figure 4B ), when the limit plate 323 moves upward over the limit pin 322, the longitudinal driving push rod 362 drives the seedling claw 32 to move upward in the opposite direction, and the seedling claw 32 is separated from the seedling tray pot hole, and the seedling clip is taken out of the pot by the four-needle seedling claw 32 (see Figure 4C ), the controller 4 controls the lateral drive motor 352 and the longitudinal drive push rod 362 to work, driving the seedling claw 32 to move to the seedling throwing position (see Figure 5A ), the counting sensor identifies the seedling barrel, and when the number of rotations of the seedling barrel is equal to the number of the seedling claws 32, the horizontal drive motor 352 works, the seedling claws 32 move horizontally, and the seedling-dropping touch plate 34 pushes the limit pin 322 outward. Under the action of the spring, the pressure plate push rod 324 moves downward. At the same time, under the action of the pinhole 329 of the seedling pressing plate 328, the four seedling-dropping needles 325 open outward, and the pot seedlings clamped by the seedling needles 325 are pushed down to the seedling barrel, completing the seedling drop (see Figure 5B ). After that, the seedling tray moving push rod 21 extends a distance of the pot hole, driving the seedling tray to move, entering the next seedling taking cycle, and the seedling taking claw 32 is located just above the even-numbered seedling position, and this cycle is repeated (see Figure 6A-6B).

[0093] The outermost two seedling claws 32 at both ends are moved outward by the spacing adjustment lever 334, and the remaining seedling claws 32 in the middle are moved outward under the pull of the spacing adjustment chain 333 to achieve uniform distribution, and the spacing distance between the seedling claws is equal to the spacing between adjacent seedling cylinders, and they are located directly above the seedling cylinder when the seedlings are cast; when the horizontal driving motor 352 is working, the plurality of seedling claws 32 are driven to move toward the seedling tray through the ball screw 353, the spacing adjustment sliding bearings 332 slide in the slideway of the spacing adjustment slide plate 331, and the spacing adjustment lever 334 drives the two outermost seedling claws 32 to move inward, and the remaining seedling claws 32 in the middle move inward under the push of the spacing adjustment plate 337 to achieve closeness, and the spacing distance between the seedling claws is equal to the spacing between the seedling trays and the pot holes, and they are located directly above the seedling tray pot holes when the seedlings are taken.

[0094] See also Figures 4A-6B , Figures 4A-4C They are schematic diagrams of positions before, during and after seedling removal according to an embodiment of the present invention, Figure 5A , 5B They are schematic diagrams of the positions before and after seedling planting according to an embodiment of the present invention, Fig. 6A , 6B The automatic seedling taking and throwing method of the present invention adopts the above-mentioned automatic seedling taking and throwing device to perform automatic seedling taking and throwing operation, and comprises the following steps:

[0095] In the seedling taking step, the controller 4 controls the horizontal driving motor 352 to work, and drives the seedling claw to move to the odd position to be clamped just above the seedling pot to be clamped through the ball screw 353; the longitudinal driving push rod 362 works to drive the seedling claw 32 to move downward, the pressing plate push rod 324 presses on the seedling tray, and the seedling needle 325 is inserted into the pot body along the outer side of the seedling pot body. Under the action of the pinhole 329 of the seedling pressing plate 328, multiple seedling needles 325 are retracted inward to clamp the seedling pot; when the limit plate 323 moves upward and passes over the limit pin 322, the longitudinal driving push rod 362 drives the seedling claw 32 to move upward in the opposite direction, and the seedling claw 32 is separated from the seedling tray pot hole, and the seedling claw 32 takes out the seedling pot clamp;

[0096] In the seedling throwing step, the controller 4 controls the horizontal driving motor 352 and the longitudinal driving push rod 362 to work, driving the seedling picking claw 32 to move to the seedling throwing position; when the counting sensor recognizes that the number of rotations of the seedling barrel is equal to the number of the seedling picking claws 32, the horizontal driving motor 352 works, the seedling picking claws 32 move horizontally, and the seedling throwing touch plate 34 pushes the limit pin 322 outward. Under the action of the elastic reset member 326, the pressure plate push rod 324 moves downward, driving the seedling picking needle 325 to open outward, and the pot seedling clamped by the seedling picking needle 325 is pushed into the seedling barrel, completing the seedling throwing; and

[0097] In the seedling tray moving step, the seedling tray moving push rod 21 extends a distance of a pot hole to drive the seedling tray to move, and the seedling claw 32 is located just above the pot seedlings to be clamped at the even-numbered positions, and the above steps are circulated until all the seedling taking and throwing work is completed.

[0098] The present embodiment also includes a spacing adjustment step. When the transverse driving motor 352 is working, the plurality of seedling claws are driven to move toward the seedling tube through the ball screw 353. The spacing adjustment sliding bearing 332 slides in the slideway of the spacing adjustment slide plate 331. The two seedling claws at the outermost position at the beginning are moved outward through the spacing adjustment lever 334. The remaining seedling claws 32 in the middle are moved outward under the pull of the spacing adjustment chain 333 to achieve uniform distribution. The spacing distance between the seedling claws is equal to the spacing between adjacent seedling tubes. When the seedlings are cast, they are directly above the seedling tubes. When the transverse driving motor 352 is working, the plurality of seedling claws are driven to move toward the seedling tray through the ball screw 353. The spacing adjustment sliding bearing 332 slides in the slideway of the spacing adjustment slide plate 331. The two seedling claws at the outermost position at the beginning are moved inward through the spacing adjustment lever 334. The remaining seedling claws 32 in the middle are moved inward under the push of the spacing adjustment sheet 337 to achieve closeness. The spacing distance between the seedling claws is equal to the spacing between the seedling trays and the pot holes. When the seedlings are taken, they are directly above the seedling tray pot holes.

[0099] The present invention is triggered by a machine to complete the seedling removal and seedling planting. When the seedling is removed, refer to FIG. Figure 4C , the controller 4 controls the longitudinal driving push rod 362 to drive the seedling claw 32 located above the seedling tray to move downward, and the seedling needle 325 is inserted into the pot body. The pressure plate push rod 324 presses on the seedling tray, and under the reaction force, the seedling claw 32 moving downward moves upward in the opposite direction. The upward movement simultaneously drives the four seedling needles 325 to contract inward and clamp the pot seedlings. When the limit plate 323 passes over the limit pin 322, the limit pin 322 limits the pressure plate push rod 324 to return downward (compression spring action). Then the controller 4 controls the longitudinal driving push rod 362 to drive the seedling claw 32 to move upward. At this time, the four seedling needles 325 are acted upon by the pressure plate push rod 324 to clamp the pot body inward to complete the seedling removal. When the seedlings are planted, refer to Figure 3A-3B and Figure 5A-5BThe controller 4 controls the longitudinal driving push rod 362 and the transverse driving motor 352 to jointly drive the seedling taking claw 32 to move to the seedling throwing position. At this time, the seedling throwing touch plate 34 is located between the limit pin 322 and the seedling claw seat 321, and the transverse driving motor 352 drives the seedling taking claw 32 to move a fixed distance toward the side close to the seedling claw seat 321. In this process, the seedling throwing touch plate 34 pushes the limit pin 322 to move away from the seedling claw seat 321, so that the limit plate 323 is disengaged from the limit pin 322, and the pressure plate push rod 324 moves downward under the action of the compression spring, and the downward movement simultaneously drives the four seedling taking needles 325 to open outward and release the seedling pot, so that the seedling pot falls off and the seedling is thrown.

[0100] See attached Figures 4A-5B During the working process, the height position, left and right position of the seedling claw 32 and the relative position of the pressure plate push rod 324 and the seedling needle 325 are all different. Figure 4A Before taking the seedlings, the pressing plate push rod 324 is located at the lower side of the seedling taking needle 325, and the seedling taking claw 32 is located just above the seedlings in the pot; Figure 4B During the seedling picking process, the seedling picking claw 32 moves downward, the seedling picking needle 325 is inserted into the pot body, and the pressing plate push rod 324 is pressed on the seedling plate, which is located on the upper side of the seedling picking needle 325; Figure 4C After the seedlings are taken, the seedling claw 32 moves upward, and the seedling needle 325 clamps the pot seedlings out of the seedling tray; Figure 5A Before planting the seedlings, the seedling claw 32 is moved downward to the side away from the seedling tray to the planting position, and the seedling touching plate 34 is located between the limit pin 322 and the seedling claw seat 321; Figure 5B After the seedlings are planted, the seedling claw 32 moves a fixed distance toward the side close to the seedling claw seat 321, and the pressure plate push rod 324 moves to the lower side of the seedling needle 325. Fig. 6A , 6B In this embodiment, 9 seedling claws 32 are provided, and there are 18 seedlings in a row of seedling trays. The seedling tray moving push rod 21 drives the seedling tray to move back and forth, so that the 9 seedling claws 32 alternately clamp all the pot seedlings in different odd and even rows.

[0101] The seedling supply mechanism 2 of the present invention can realize the alternating supply of odd and even seedling positions in the seedling tray, and the seedling picking mechanism 3 can realize the mechanical triggering of the four-needle seedling picking claws 32 clamping and placing the seedling pot body during the seedling picking process by controlling the movement of the seedling picking claws 32, thereby completing automatic seedling picking and placing, simplifying the control of the seedling picking claws 32, and improving the seedling picking efficiency.

[0102] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. An automatic seedling taking and throwing device, characterized in that: include: frame; A seedling supply mechanism, installed on the frame, for supplying seedlings in odd and even positions of seedling trays alternately; The seedling taking mechanism is installed on the frame corresponding to the seedling supply mechanism, and adopts mechanical triggering to realize the clamping and dropping of the seedlings in the pot. The seedling taking mechanism includes a seedling claw mounting base, a seedling taking claw, a seedling dropping touch plate, a transverse driving component and a longitudinal driving component; the seedling claw mounting base is installed on the frame, the transverse driving component is connected with the seedling claw mounting base and drives the seedling claw mounting base to reciprocate relative to the frame; the longitudinal driving component is installed on the seedling claw mounting base and connected with the seedling taking claw, and the longitudinal driving component cooperates with the transverse driving component to drive the seedling taking claw to move between the seedling taking position and the seedling dropping position; the seedling dropping touch plate is installed on the frame corresponding to the seedling taking claw; A seedling tube mechanism is installed on the frame corresponding to the seedling taking mechanism, and is used to receive the potted seedlings dropped by the seedling taking claws and drop them into the planting mechanism in sequence and in an orderly manner; A counting sensor, mounted on the frame corresponding to the seedling tube mechanism, and used for identifying and detecting the seedling tube signal of the seedling tube mechanism; as well as The controller is installed on the frame and is connected to the counting sensor, the seedling supply mechanism, the seedling retrieval mechanism and the seedling tube mechanism respectively, and is used to obtain the seedling tube signal and control the seedling supply mechanism, the seedling retrieval mechanism and the seedling tube mechanism to cooperate to complete the automatic seedling retrieval operation.

2. The automatic seedling taking and throwing device according to claim 1, characterized in that: The seedling supply mechanism comprises a seedling tray moving push rod, a seedling tray moving slide rail and a seedling tray supporting plate, the seedling tray moving slide rail is installed on the frame, the seedling tray supporting plate is installed on the seedling tray moving slide rail, and both ends of the seedling tray moving push rod are respectively hinged to the frame and the seedling tray supporting plate.

3. The automatic seedling taking and throwing device according to claim 1, characterized in that: The seedling claws include: The seedling claw seat has a limit pin on the outside, and the seedling-dropping touch plate moves the limit pin to slide along the axis relative to the seedling claw seat; The top end of the pressure plate push rod passes through the seedling claw seat and is connected to the limit plate, and the limit plate cooperates with the limit pin and the seedling throwing touch plate to realize the mechanical triggering of taking and throwing seedlings; the bottom end of the pressure plate push rod is connected to the seedling pressing tray, and a plurality of pinholes are arranged on the seedling pressing tray; the pressure plate push rod drives the limit plate and the seedling pressing tray to move relative to the seedling claw seat along the axis of the pressure plate push rod; A plurality of seedling retrieval needles, the bottom end of each seedling retrieval needle is connected to the seedling claw seat, the top end of each seedling retrieval needle passes through the needle hole respectively, and the spacing between the top ends of the plurality of seedling retrieval needles decreases as the seedling claw seat moves downward; and An elastic reset component is installed on the pressure plate push rod, and two ends of the elastic reset component are respectively abutted against the inner walls of the limiting plate and the seedling claw seat.

4. The automatic seedling taking and throwing device according to claim 1, characterized in that: The seedling picking mechanism further includes a spacing adjustment component, through which the seedling picking claw is connected to the longitudinal driving component, and the spacing adjustment component includes: A spacing adjustment slide plate is installed on the rack; A spacing adjustment sliding bearing is installed on the seedling claw mounting base, connected to the spacing adjustment slide plate, and slides in the slideway of the spacing adjustment slide plate; A spacing adjustment chain is used to connect adjacent seedling picking claws and is respectively hinged to adjacent seedling picking claws; The spacing adjustment lever has two ends respectively hinged to the spacing adjustment sliding bearing and the seedling taking claw; A spacing adjustment slide rail connected to the longitudinal driving component; and The spacing adjustment slider is adapted to and connected with the spacing adjustment slide rail, and the seedling claw seat is installed on the spacing adjustment slider.

5. The automatic seedling taking and throwing device according to claim 4, characterized in that: The spacing adjustment component also includes a spacing adjustment piece, and the spacing adjustment piece is installed on the seedling claw seat corresponding to the spacing adjustment slider.

6. The automatic seedling taking and throwing device according to claim 4, characterized in that: The longitudinal driving component comprises: A longitudinal slide rail mounted on the seedling claw mounting base; and A longitudinal driving push rod, the base end of which is mounted on the seedling claw mounting base, and the push rod end of which is connected to the spacing adjustment slide rail.

7. The automatic seedling taking and throwing device according to claim 1, characterized in that: The lateral driving component comprises: A transverse driving motor is mounted on the frame; A ball screw is mounted on the frame and connected to the seedling claw mounting base, and the ball screw is connected to the lateral drive motor through a coupling; and A transverse slide rail is installed on the frame, and the seedling claw mounting base is installed on the transverse slide rail.

8. The automatic seedling taking and throwing device according to claim 1, characterized in that: The seedling tube mechanism comprises a rotary drive component and a plurality of seedling tubes. The rotary drive component is connected to the plurality of seedling tubes and drives the plurality of seedling tubes to rotate and move sequentially on the frame.

9. An automatic seedling taking and planting method, characterized in that: The automatic seedling taking and throwing device according to any one of claims 1 to 8 is used to perform automatic seedling taking and throwing operations, comprising the following steps: In the seedling picking step, the horizontal driving component drives the seedling picking claw to move to just above the odd-numbered seedlings to be clamped; the longitudinal driving component drives the seedling picking claw to move downward, the pressure plate push rod of the seedling picking claw presses on the seedling tray, and the seedling picking needle of the seedling picking claw is inserted into the pot body along the outer side of the pot body of the seedling and retracted inward to clamp the seedling; when the limit plate of the seedling picking claw moves upward and passes over the limit pin, the longitudinal driving component is triggered to drive the seedling picking claw to move upward in the opposite direction, and the pressure plate push rod drives the seedling picking needle to clamp the seedling and remove it from the pot hole of the seedling tray; Seedling throwing step, the seedling picking claw moves to the seedling throwing position; when the counting sensor recognizes that the number of rotations of the seedling barrel is equal to the number of seedling picking claws, the transverse driving component drives the seedling picking claw to move transversely, the seedling throwing touch plate pushes the limit pin outward to disengage from the limit plate, and the pressure plate push rod moves downward under the action of the elastic reset member, driving the seedling picking needle to open outward, and the clamped pot seedlings are pushed into the seedling barrel, completing the seedling throwing; and In the seedling tray moving step, the seedling tray moving push rod extends a distance of a pot hole to drive the seedling tray to move, and the seedling claw is located just above the pot seedlings to be clamped in the even-numbered positions, and the above steps are repeated until all the seedling taking and dropping work is completed.

10. The automatic seedling taking and planting method according to claim 9, characterized in that: It also includes a spacing adjustment step. When planting seedlings, the transverse driving component drives multiple seedling picking claws to move toward the seedling tube, and the spacing adjustment mechanism drives the seedling picking claws at both ends to move outwards through the spacing adjustment lever, and pulls the seedling picking claws in the middle to move outwards until they are evenly distributed just above the seedling tube through the spacing adjustment chain; when picking seedlings, the transverse driving component drives multiple seedling picking claws to move toward the seedling tray, and the spacing adjustment mechanism adjusts the seedling picking claws at both ends to move inwards through the spacing adjustment lever, and pushes the seedling picking claws in the middle to move inwards and close together to just above the seedling tray pot hole through the spacing adjustment plate.

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