Automatic seedling taking and planting device and method

Abstract

The application discloses an automatic seedling taking and throwing device and method, which comprises a frame, a seedling supplying mechanism installed on the frame, a seedling taking mechanism which realizes the clamping and throwing of pot seedlings by mechanical triggering and comprises a seedling claw installation base, a seedling claw, a seedling throwing triggering plate, a transverse driving component and a longitudinal driving component, the seedling claw installation base and the seedling throwing triggering plate are installed on the frame, the transverse driving component is connected with the seedling claw installation base and drives the seedling claw installation base to reciprocate relative to the frame, the longitudinal driving component is installed on the seedling claw installation base and drives the seedling claw to move between a seedling taking position and a seedling throwing position together with the transverse driving component, a seedling cylinder mechanism installed on the frame, a counting sensor used for identifying and detecting a seedling cylinder signal of the seedling cylinder mechanism, and a controller connected with the counting sensor, the seedling supplying mechanism, the seedling taking mechanism and the seedling cylinder mechanism respectively, used for acquiring the seedling cylinder signal and controlling the seedling supplying mechanism, the seedling taking mechanism and the seedling cylinder mechanism to cooperate to complete the automatic seedling taking and throwing operation. The application further provides an automatic seedling taking and throwing method.

Description

TECHNICAL FIELD

[0001] The present application relates to an agricultural machine, in particular to a mechanical trigger four-needle automatic seedling taking and planting device and method. BACKGROUND

[0002] Vegetable, tobacco and other seedling transplanting has many advantages such as improving seed emergence rate and field seedling survival rate, solving the contradiction of crop succession in the process of agricultural planting, and improving multiple cropping index, and is a planting mode that is continuously promoted in modern agriculture. Automatic seedling taking is the key to improving the efficiency of mechanized transplanting, but the existing automatic seedling taking and planting device requires high seedling cultivation, has large damage to the stems and leaves of seedlings, and has low seedling taking success rate. SUMMARY

[0003] The technical problem to be solved by the present application 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-mentioned purpose, the present application provides an automatic seedling taking and planting device, which comprises:

[0005] a rack;

[0006] a seedling supply mechanism installed on the rack for alternately supplying seedling trays with odd and even seedling positions;

[0007] a seedling taking mechanism corresponding to the seedling supply mechanism and installed on the rack, which is mechanically triggered to realize clamping and taking of pot seedlings, and comprises a seedling claw installation base, a seedling taking claw, a seedling planting trigger plate, a horizontal driving component and a vertical driving component; the seedling claw installation base is installed on the rack, the horizontal driving component is connected with the seedling claw installation base and drives the seedling claw installation base to reciprocate relative to the rack; the vertical driving component is installed on the seedling claw installation base and connected with the seedling taking claw, and drives the seedling taking claw to move between a seedling taking position and a seedling planting position; the seedling planting trigger plate is installed on the rack corresponding to the seedling taking claw;

[0008] a seedling cylinder mechanism corresponding to the seedling taking mechanism and installed on the rack, which is used for receiving the pot seedlings taken by the seedling taking claw and sequentially and orderly planting the pot seedlings into a planting mechanism;

[0009] a counting sensor corresponding to the seedling cylinder mechanism and installed on the rack, which is used for identifying and detecting a seedling cylinder signal of the seedling cylinder mechanism; and

[0010] a controller installed on the rack and connected with the counting sensor, the seedling supply mechanism, the seedling taking mechanism and the seedling cylinder mechanism, which is used for acquiring the seedling cylinder signal and controlling the seedling supply mechanism, the seedling taking mechanism and the seedling cylinder mechanism to complete automatic seedling taking and planting operation.

[0011] The automatic seedling taking and planting device, wherein 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 the two ends of the seedling tray moving push rod are respectively hinged to the frame and the seedling tray supporting plate.

[0012] The automatic seedling taking and planting device, wherein the seedling taking claw comprises:

[0013] A seedling claw base is provided with a limiting pin, and the seedling planting trigger plate drives the limiting pin to slide along the axis relative to the seedling claw base;

[0014] A pressing disc push rod is connected to the limiting plate through the seedling claw base at the top end, the limiting plate cooperates with the limiting pin and the seedling planting trigger plate to realize the mechanical triggering of seedling taking and planting, the bottom end of the pressing disc push rod is connected to a seedling pressing disc, the seedling pressing disc is provided with a plurality of pinholes, and the pressing disc push rod drives the limiting plate and the seedling pressing disc to move along the axis of the pressing disc push rod relative to the seedling claw base;

[0015] A plurality of seedling taking pins are connected to the seedling claw base at one end, the other end of each seedling taking pin respectively penetrates through the pinhole, and the spacing of the plurality of seedling taking pins decreases when the seedling claw base moves downward; and

[0016] An elastic reset member is installed on the pressing disc push rod, and the two ends of the elastic reset member respectively abut against the limiting plate and the inner wall of the seedling claw base.

[0017] The automatic seedling taking and planting device, wherein the seedling taking mechanism further comprises 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 comprises:

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

[0019] A spacing adjustment sliding bearing is installed on the seedling claw installation base and slides in the slide channel of the spacing adjustment slide plate;

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

[0021] A spacing adjustment pull rod is hinged to the spacing adjustment sliding bearing and the outermost seedling taking claw at the two ends respectively;

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

[0023] A spacing adjustment slide block is adapted to and connected to the spacing adjustment slide rail, and the seedling claw base is installed on the spacing adjustment slide block.

[0024] The automatic seedling taking and planting device, wherein the distance adjusting component further comprises a distance adjusting piece, and the distance adjusting piece is installed on the seedling claw base.

[0025] The automatic seedling taking and planting device, wherein the longitudinal driving component comprises:

[0026] A longitudinal sliding rail is installed on the seedling claw installation base.

[0027] A longitudinal driving push rod, wherein a base end of the longitudinal driving push rod is installed on the seedling claw installation base, and a push rod end of the longitudinal driving push rod is connected with the distance adjusting sliding rail.

[0028] The automatic seedling taking and planting device, wherein the transverse driving component comprises:

[0029] A transverse driving motor is installed on the rack.

[0030] A ball screw is installed on the rack and connected with the seedling claw installation base, and the ball screw is connected with the transverse driving motor through a shaft coupling.

[0031] A transverse sliding rail, wherein a rail of the transverse sliding rail is installed on the rack.

[0032] The automatic seedling taking and planting device, wherein the seedling tube mechanism comprises a rotation driving component and a plurality of seedling tubes, the rotation driving component is connected with the plurality of seedling tubes and drives the plurality of seedling tubes to move sequentially and rotationally on the rack.

[0033] In order to better achieve the above-mentioned purpose, the application further provides an automatic seedling taking and planting method, wherein the automatic seedling taking and planting device is used for automatic seedling taking and planting operation, and the method comprises the following steps:

[0034] A seedling taking step, wherein the transverse driving component drives the seedling taking claw to move to the upper side of the odd number seedling pots, the longitudinal driving component drives the seedling taking claw to move downward, the pressing disc push rod of the seedling taking claw is pressed on the seedling tray, the seedling taking needle of the seedling taking claw is inserted into the pot body along the outer side of the pot body and is inwardly collected to take the seedling pot, when the limiting plate of the seedling taking claw moves upward and passes the limiting pin, the longitudinal driving component is triggered to drive the seedling taking claw to move upward in the reverse direction, and the pressing disc push rod drives the seedling taking needle to take out the seedling pot and separate from the seedling tray pot hole.

[0035] A seedling planting step, wherein the seedling taking claw moves to the seedling planting position, when the rotation number of the seedling tube recognized by the counting sensor is equal to the number of the seedling taking claws, the transverse driving component drives the seedling taking claw to move transversely, the seedling planting trigger plate pushes the limiting pin outward to separate from the limiting plate, the pressing disc push rod moves downward under the action of the elastic reset member, drives the seedling taking needle to open outward, the taken seedling pot is pushed to the seedling tube, and the seedling planting is completed.

[0036] The seedling tray moving step is that the seedling tray moving push rod is extended by one pot hole distance, the seedling tray is driven to move, the seedling tongs are located above the even bit to be clamped, and the above steps are circulated until the whole seedling taking and planting work is completed.

[0037] The automatic seedling taking and planting method, wherein, further comprising a spacing adjustment step, when planting, the transverse driving part drives multiple seedling tongs to move to the seedling cylinder, the spacing adjustment mechanism drives the two end seedling tongs to move outward by the spacing adjustment lever, and drives the middle seedling tongs to move outward to be uniformly distributed above the seedling cylinder by the spacing adjustment chain; when taking seedlings, the transverse driving part drives multiple seedling tongs to move to the seedling tray, the spacing adjustment mechanism drives the two end seedling tongs to move inward by the spacing adjustment lever, and drives the middle seedling tongs to move inward and close to the seedling tray pot hole by the spacing adjustment piece.

[0038] The technical effect of the present application is that:

[0039] In the seedling taking process, the four-needle type seedling tongs are clamped and planted in the pot body by the seedling tong movement trigger, the seedling tong control is simplified, and the seedling taking efficiency is improved.

[0040] The present application will be described in detail below in combination with the drawings and specific embodiments, but is not limited to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 It is a device structure schematic diagram of an embodiment of the present application;

[0042] Figure 2 It is a front view of the device of an embodiment of the present application;

[0043] Figure 3A It is a seedling tong structure schematic diagram of an embodiment of the present application;

[0044] Figure 3B It is a front view of Figure 3A ;

[0045] Figures 4A-4C It is a schematic diagram of the position before, during and after seedling taking of an embodiment of the present application, respectively;

[0046] Figure 5A , 5B It is a schematic diagram of the position before and after seedling planting of an embodiment of the present application, respectively;

[0047] Figure 6A , 6B It is a schematic diagram of the odd and even seedling bit alternate supply of an embodiment of the present application, respectively.

[0048] Among them, the reference signs

[0049] 1 rack

[0050] 2 seedling supply agency

[0051] 21 seedling tray moving push rod

[0052] 22 seedling tray moving slide

[0053] 23 seedling tray support

[0054] 3Seedling removal mechanism

[0055] 31 seedling claw mounting base

[0056] 32 Take the seedling claws

[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 parts

[0064] 328 seedling tray

[0065] 329 pinholes

[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 lateral drive components

[0076] 351 horizontal slide rail

[0077] 352 lateral drive motor

[0078] 353 ball screw

[0079] 36 longitudinal driving component

[0080] 361 longitudinal slide rail

[0081] 362 longitudinal driving push rod

[0082] 4 controller

[0083] 5 seedling cylinder mechanism DETAILED DESCRIPTION

[0084] The structural principle and working principle of the present application will be described in detail below in combination with the drawings:

[0085] Referring to Figure 1 and Figure 2 , Figure 1 the device structure diagram of an embodiment of the present application, Figure 2 the front view of the device of an embodiment of the present application. The automatic seedling taking and planting device of the present application comprises: a rack 1; a seedling supply mechanism 2 installed on the rack 1 for alternately supplying seedling trays with odd and even seedling positions; a seedling taking mechanism 3 installed on the rack 1 corresponding to the seedling supply mechanism 2, which realizes the clamping and taking of pot seedlings and the planting of the pot seedlings by mechanical triggering, the seedling taking mechanism 3 comprising a seedling claw installation base 31, a seedling taking claw 32, a seedling planting triggering plate 34, a transverse driving component 35 and a longitudinal driving component 36; the seedling claw installation base 31 is installed on the rack 1, the transverse driving component 35 is connected with the seedling claw installation base 31 and drives the seedling claw installation base 31 to reciprocally move relative to the rack 1; the longitudinal driving component 36 is installed on the seedling claw installation base 31 and connected with the seedling taking claw 32, the longitudinal driving component 36 cooperates with the transverse driving component 35 to drive the seedling taking claw 32 to move between a seedling taking position and a seedling planting position; the seedling planting triggering plate 34 is installed on the rack 1 corresponding to the seedling taking claw 32; a seedling cylinder mechanism 5 is installed on the rack 1 corresponding to the seedling taking mechanism 3, which is used for receiving the pot seedlings taken by the seedling taking claw 32 and sequentially and orderly planting the pot seedlings into a planting mechanism; a counting sensor is installed on the rack 1 corresponding to the seedling cylinder mechanism 5, which is used for identifying and detecting the seedling cylinder signal of the seedling cylinder mechanism 5 and transmitting the seedling cylinder signal detected by the seedling cylinder to a controller 4 for the controller 4 to judge and issue a control instruction; and the controller 4 is installed on the rack 1 and connected with the counting sensor, the seedling supply mechanism 2, the seedling taking mechanism 3 and the seedling cylinder mechanism 5, which is used for acquiring the seedling cylinder signal and controlling the seedling supply mechanism 2, the seedling taking mechanism 3 and the seedling cylinder mechanism 5 to cooperatively complete the automatic seedling taking and planting operation, specifically, the automatic seedling taking and planting operation can be completed by the cooperation of the longitudinal driving push rod 362, the transverse driving motor 352 and the seedling tray moving push rod 21.

[0086] The seedling tube mechanism 5 of the embodiment comprises a rotary driving part and a plurality of seedling tubes, the rotary driving part is connected with the plurality of seedling tubes and drives the plurality of seedling tubes to move in sequence on the frame 1, performs rotary motion, receives the pot seedlings thrown by the seedling taking claw 32, and then is sequentially and orderly thrown into the planting mechanism.

[0087] The seedling providing mechanism 2 of the embodiment comprises 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 fixedly installed on the frame 1, the seedling tray supporting plate 23 is fixedly installed on the seedling tray moving slide rail 22, and 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] Referring to Figures 3A-3B , Figure 3A The structure diagram of the seedling taking claw 32 of an embodiment of the application is shown in Figure 3B The structure diagram of the seedling taking claw 32 of an embodiment of the application is shown in Figure 3AThe main view of the seedling taking claw 32. The seedling taking claw 32 of the embodiment comprises a seedling claw base 321, an outer side of which is provided with a limiting pin 322, the seedling throwing touch plate 34 can drive the limiting pin 322 to slide linearly along the axis relative to the seedling claw base 321; a pressing disc push rod 324, a top end of which is fixedly connected with a limiting plate 323 through the seedling claw base 321, the limiting plate 323 is matched with the limiting pin 322; a bottom end of the pressing disc push rod 324 is connected with a seedling pressing disc 328, a plurality of pinholes 329 are arranged on the seedling pressing disc 328; the pressing disc push rod 324 drives the limiting plate 323 and the seedling pressing disc 328 to slide linearly and move relative to the seedling claw base 321 along the axis of the pressing disc push rod 324, in the embodiment, the axis of the pressing disc push rod 324 is perpendicular to the axis of the limiting pin 322, the axis of the pressing disc push rod 324 is arranged vertically, and the axis of the limiting pin 322 is arranged horizontally; a guide 327 can also be arranged on one side of the pressing disc push rod 324 to ensure that the pressing disc push rod 324 slides linearly relative to the seedling claw base 321 smoothly; a plurality of seedling taking needles 325, preferably four, are arranged in a rectangular shape, one end of each seedling taking needle 325 is fixedly connected with the seedling claw base 321, and the other end of each seedling taking needle 325 respectively penetrates through the pinhole 329, each seedling taking needle 325 has a bending part, and when the plurality of seedling taking needles 325 move downward with the seedling claw base 321, the bending parts of the seedling taking needles 325 are close to each other, so that the spacing between the seedling taking needles 325 is reduced; and a resilient reset member 326, preferably a spring, is installed on the pressing disc push rod 324, two ends of the resilient reset member 326 respectively abut against the inner wall of the limiting plate 323 and the seedling claw base 321, that is, one end abuts against the limiting plate 323 and one end abuts against the seedling claw base 321. The pot seedling pot body is usually in the shape of a regular quadrangular prism, four seedling taking needles 325 are used for seedling taking, compared with other forms, the stability of clamping the pot body is better, and the clamping force required to be applied to the pot body is smaller, and the deformation degree of the pot body is smaller. Four seedling taking needles 325 are the most suitable structure and number for clamping the pot body, and other numbers of seedling taking needles 325 can also realize the seedling taking function.

[0089] The seedling taking mechanism 3 further comprises a spacing adjustment component 33, the seedling taking claws 32 are connected with the longitudinal driving component 36 through the spacing adjustment component 33, the spacing adjustment component 33 comprises: a spacing adjustment sliding track plate 331 installed on the rack 1; a spacing adjustment sliding bearing 332 installed on the seedling claw installation base 31 and sliding in the sliding track of the spacing adjustment sliding track plate 331; a spacing adjustment chain 333 used for connecting adjacent seedling taking claws 32 and hinged with adjacent seedling taking claws 32; a spacing adjustment lever 334 hinged at both ends with the spacing adjustment sliding bearing 332 and the seedling taking claw 32 respectively; a spacing adjustment sliding rail 335 connected with the longitudinal driving component 36; a spacing adjustment sliding block 336 matched and connected with the spacing adjustment sliding rail 335, and the seedling claw base 321 is installed on the spacing adjustment sliding block 336. The spacing adjustment component 33 further comprises a spacing adjustment piece 337, the spacing adjustment piece 337 is installed on the seedling claw base 321 corresponding to the spacing adjustment sliding block 336, that is, the spacing adjustment sliding block 336 is fixedly installed on the seedling claw base 321, and the spacing adjustment piece 337 is installed on the seedling claw base 321 relative to the spacing adjustment sliding block 336. By replacing different specifications of the spacing adjustment sliding track plate 331, the spacing adjustment chain 333 and the spacing adjustment piece 337, the number of seedling taking claws 32 is increased or decreased, so that different specifications of seedling trays can be adapted.

[0090] The longitudinal driving component 36 comprises: a longitudinal sliding rail 361 fixedly installed on the seedling claw installation base 31; and a longitudinal driving push rod 362, a base end of the longitudinal driving push rod 362 is installed on the seedling claw installation base 31, and a push rod end of the longitudinal driving push rod 362 is connected with a rail of the spacing adjustment sliding rail 335. The transverse driving component 35 comprises: a transverse driving motor 352 installed on the rack 1; a ball screw 353 installed on the rack 1 and connected with the seedling claw installation base 31, the ball screw 353 is connected with the transverse driving motor 352 through a shaft coupling; and a transverse sliding rail 351, a rail of the transverse sliding rail 351 is installed on the rack 1.

[0091] In this embodiment, the seedling taker 32 is fixedly installed on the spacing adjustment sliding block 336, the spacing adjustment sliding rail 335 is fixedly installed on the sliding block of the longitudinal sliding rail 361, the rail of the longitudinal sliding rail 361 is fixedly installed on the seedling taker installation base 31, the base end of the longitudinal driving push rod 362 is fixedly installed on the seedling taker installation base 31, the push rod end of the longitudinal driving push rod 362 is connected with the rail of the spacing adjustment sliding rail 335, the seedling taker installation base 31 is fixedly installed on the sliding block of the transverse sliding rail 351, the rail of the transverse sliding rail 351 is fixedly installed on the rack 1, the transverse driving motor 352 is fixed on the rack 1, the nut of the ball screw 353 is fixedly installed on the seedling taker installation base 31, the screw of the ball screw 353 is installed on the rack 1 through a bearing, one end of the screw of the ball screw 353 is connected with the motor shaft of the transverse driving motor 352 through a shaft coupling, the spacing adjustment sliding way plate 331 is fixedly installed on the rack 1, the spacing adjustment sliding bearing 332 is fixedly installed on the seedling taker installation base 31, the spacing adjustment sliding bearing 332 slides in the sliding way of the spacing adjustment sliding way plate 331, the spacing adjustment sliding bearing 332 is hinged with the spacing adjustment lever 334, the spacing adjustment lever 334 is hinged with the outermost seedling taker 32, and the adjacent seedling takers 32 are connected through the spacing adjustment chain 333.

[0092] In work, the controller 4 controls the transverse driving motor 352 to work, drives the seedling taker 32 to move to the upper of the pot seedlings to be clamped (see Figure 4A ) through the ball screw 353, the longitudinal driving push rod 362 works to drive the seedling taker 32 to move downward, the pressing plate push rod 324 is pressed on the seedling tray, and the four seedling taking needles 325 are inserted into the pot body along the outer side of the pot body, and at the same time, under the action of the needle hole 329 of the seedling pressing plate 328, the four seedling taking needles 325 are inwardly closed to clamp the pot seedlings (see Figure 4B ), when the limiting plate 323 moves upward to pass the limiting pin 322, the longitudinal driving push rod 362 reversely drives the seedling taker 32 to move upward, the seedling taker 32 is separated from the seedling tray pot hole, and the pot seedlings are clamped out by the four-needle seedling taker 32 (see Figure 4C ), the controller 4 controls the transverse driving motor 352 and the longitudinal driving push rod 362 to work, and drives the seedling taker 32 to move to the seedling throwing position (see Figure 5A ), the counting sensor recognizes the seedling cylinder, when the number of the seedling cylinder rotation is equal to the number of the seedling takers 32, the transverse driving motor 352 works, the seedling taker 32 moves transversely, the limiting pin 322 is pushed outward by the seedling throwing touch plate 34, under the action of the spring, the pressing plate push rod 324 moves downward, at the same time, under the action of the needle hole 329 of the seedling pressing plate 328, the four seedling taking needles 325 are outwardly opened, the pot seedlings clamped by the seedling taking needle 325 are pushed to fall into the seedling cylinder, and the seedling throwing is completed (see Figure 5B ). Then the seedling tray moving push rod 21 is extended by a pot hole distance, the seedling tray is driven to move, and enters the next seedling taking cycle, the seedling taker 32 is located above the even seedling position, and the cycle is repeated (see Figures 6A-6B).

[0093] When the lateral drive motor 352 works, the plurality of seedling tongs 32 are driven to move to the seedling cylinder by the ball screw 353, the pitch adjusting sliding bearing 332 slides in the slide of the pitch adjusting slide plate 331, the pitch adjusting lever 334 drives the two outermost seedling tongs 32 at both ends to move outward, the remaining seedling tongs 32 in the middle move outward under the traction of the pitch adjusting chain 333, uniform distribution is realized, the interval distance of the seedling tongs is equal to the interval distance of the adjacent seedling cylinders, and the seedling tongs are located directly above the seedling cylinder during seedling planting; when the lateral drive motor 352 works, the plurality of seedling tongs 32 are driven to move to the seedling tray by the ball screw 353, the pitch adjusting sliding bearing 332 slides in the slide of the pitch adjusting slide plate 331, the pitch adjusting lever 334 drives the two outermost seedling tongs 32 to move inward, the remaining seedling tongs 32 in the middle move inward under the pushing of the pitch adjusting piece 337, convergence is realized, the interval distance of the seedling tongs is equal to the interval distance of the pot holes of the seedling tray, and the seedling tongs are located directly above the pot hole of the seedling tray during seedling taking.

[0094] Referring to Figures 4A-6B , Figures 4A-4C are respectively schematic diagrams of positions before seedling taking, during seedling taking and after seedling taking of an embodiment of the present application, Figure 5A 、 5B are respectively schematic diagrams of positions before seedling planting and after seedling planting of an embodiment of the present application, Figure 6A 、 6B are respectively schematic diagrams of odd and even seedling position alternate supply of an embodiment of the present application. The automatic seedling taking and planting method of the present application adopts the automatic seedling taking and planting device described above to perform automatic seedling taking and planting operation, including the following steps:

[0095] The seedling taking step: the controller 4 controls the lateral drive motor 352 to work, drives the seedling tongs to move to the odd position directly above the pot seedlings to be clamped; the longitudinal drive push rod 362 works to drive the seedling tongs 32 to move downward, the seedling tray push rod 324 is pressed on the seedling tray, the seedling taking needle 325 is inserted into the pot body along the outer side of the pot body, under the action of the needle hole 329 of the seedling tray 328, the plurality of seedling taking needles 325 are inwardly converged to clamp the pot seedlings; when the limiting plate 323 moves upward and passes the limiting pin 322, the longitudinal drive push rod 362 reversely drives the seedling tongs 32 to move upward, the seedling tongs 32 are separated from the pot hole of the seedling tray, and the seedling tongs 32 clamp the pot seedlings out;

[0096] The seedling throwing step, the controller 4 controls the horizontal drive motor 352 and the longitudinal drive push rod 362 to work, and drives the seedling tongs 32 to move to the seedling throwing position; when the counting sensor identifies that the number of rotations of the seedling cylinder is equal to the number of seedling tongs 32, the horizontal drive motor 352 works, the seedling tongs 32 moves horizontally, the seedling throwing touch plate 34 pushes the limiting pin 322 outward, under the action of the elastic reset member 326, the pressure plate push rod 324 moves downward, drives the seedling tongs 325 to open outward, the seedling tongs 325 clamps the pot seedlings and pushes them to fall into the seedling cylinder, and the seedling throwing is completed; and

[0097] The seedling disc moving step, the seedling disc moving push rod 21 extends by a distance of a pot hole, drives the seedling disc to move, the seedling tongs 32 is located at an even position above the seedling disc to clamp the pot seedlings, and the above steps are repeated until the whole seedling taking and throwing work is completed.

[0098] The spacing adjustment step in the embodiment, the horizontal drive motor 352 works, drives the plurality of seedling tongs to move to the seedling cylinder through the ball screw 353, the spacing adjustment sliding bearing 332 slides in the slide of the spacing adjustment slide plate 331, the initial two seedling tongs on the outermost side move outward through the spacing adjustment lever 334, the remaining seedling tongs 32 in the middle move outward under the traction of the spacing adjustment chain 333, the uniform distribution is realized, the spacing distance of the seedling tongs is equal to the spacing distance of the adjacent seedling cylinder, and the seedling tongs are above the seedling cylinder during seedling throwing; when the horizontal drive motor 352 works, drives the plurality of seedling tongs to move to the seedling disc through the ball screw 353, the spacing adjustment sliding bearing 332 slides in the slide of the spacing adjustment slide plate 331, the initial two seedling tongs on the outermost side move inward through the spacing adjustment lever 334, the remaining seedling tongs 32 in the middle move inward under the pushing of the spacing adjustment piece 337, the convergence is realized, the spacing distance of the seedling tongs is equal to the spacing distance of the pot hole of the seedling disc, and the seedling tongs are above the pot hole of the seedling disc during seedling taking.

[0099] The seedling taking and throwing are completed by mechanical triggering in the application, when the seedling taking, referring to Fig. 3- Figure 4C , the controller 4 controls the longitudinal drive push rod 362 to drive the seedling tongs 32 above the seedling disc to move downward, the seedling tongs 325 is inserted into the pot body, the pressure plate push rod 324 is pressed on the seedling disc, under the reaction force, the seedling tongs 32 moving downward is reversely moved upward, the upward movement drives the four seedling tongs 325 to shrink inward and clamp the pot seedlings, when the limiting plate 323 passes the limiting pin 322, the pressure plate push rod 324 is limited to reset downward (compression spring action) by the limiting pin 322. Then the controller 4 controls the longitudinal drive push rod 362 to drive the seedling tongs 32 to move upward, at this time, the four seedling tongs 325 is clamped inward under the action of the pressure plate push rod 324, and the seedling taking is completed; when the seedling throwing, referring to Figures 3A-3B and Figures 5A-5B, the controller 4 controls the longitudinal drive push rod 362 and the transverse drive motor 352 to drive the seedling tongs 32 to move to the seedling throwing position, at this time, the seedling throwing trigger plate 34 is located between the limiting pin 322 and the seedling tong seat 321, the transverse drive motor 352 drives the seedling tongs 32 to move a fixed distance towards the side close to the seedling tong seat 321, and in this process, the seedling throwing trigger plate 34 drives the limiting pin 322 to move away from the seedling tong seat 321, so that the limiting plate 323 is separated from the limiting pin 322, and under the action of the compression spring, the pressing disc push rod 324 moves downward, and simultaneously drives the four seedling taking needles 325 to open outward to loosen the pot seedlings, so that the pot seedlings are separated to complete the seedling throwing.

[0100] Referring to the accompanying drawings Figures 4A-5B In the working process, the height position, left and right position of the seedling tongs 32 and the relative position of the pressing disc push rod 324 and the seedling taking needles 325 are different, for example Figure 4A Before taking seedlings, the pressing disc push rod 324 is located below the seedling taking needles 325, and the seedling tongs 32 are located directly above the pot seedlings; for example Figure 4B During seedling taking, the seedling tongs 32 move downward, the seedling taking needles 325 are inserted into the pot body, and the pressing disc push rod 324 is pressed on the seedling tray and located above the seedling taking needles 325; for example Figure 4C After taking seedlings, the seedling tongs 32 move upward, and the seedling taking needles 325 hold the pot seedlings and separate from the seedling tray; for example Figure 5A Before throwing seedlings, the seedling tongs 32 move downward and move to the seedling throwing position away from the seedling tray, and the seedling throwing trigger plate 34 is located between the limiting pin 322 and the seedling tong seat 321; for example Figure 5B After throwing seedlings, the seedling tongs 32 move a fixed distance towards the side close to the seedling tong seat 321, and the pressing disc push rod 324 moves to the lower side of the seedling taking needles 325. Referring to Figure 6A 、 6B In the embodiment, a total of nine seedling tongs 32 are arranged, and the seedling tray has a total of 18 seedlings in one row. The seedling tray moving push rod 21 drives the seedling tray to move back and forth, so that the nine seedling tongs 32 alternately clamp all the pot seedlings in different odd and even rows.

[0101] The seedling supply mechanism 2 can realize the alternate supply of odd and even seedling positions of the seedling tray, and the seedling taking mechanism 3 can realize the mechanical triggering of the four-needle type seedling tongs 32 clamping and throwing the pot body during the seedling taking process by controlling the movement of the seedling tongs 32, so as to complete the automatic seedling taking and throwing, simplify the control of the seedling tongs 32 and improve the seedling taking efficiency.

[0102] Of course, the present application can also have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, but these corresponding changes and modifications should all belong to the protection scope of the claims attached to the present application.

Claims

1. An automatic seedling taking and planting device characterized by comprising: The utility model relates to a kind of automatic seedling taking and throwing mechanism, including: Rack; Seedling supply mechanism, installed on the rack, for seedling tray odd-even seedling alternate supply; Seedling taking mechanism, corresponding to the seedling supply mechanism is installed on the rack, and the mechanical trigger is used to realize the clamping and throwing of pot seedling, and the seedling taking mechanism includes seedling claw installation base, seedling claw, seedling throwing touch plate, transverse driving component and longitudinal driving component;The seedling claw installation base is installed on the rack, and the transverse driving component is connected with the seedling claw installation base and drives the seedling claw installation base reciprocating movement relative to the rack;The longitudinal driving component is installed on the seedling claw installation base and is connected with the seedling claw, and the longitudinal driving component cooperates with the transverse driving component to drive the seedling claw to move between seedling taking position and seedling throwing position;The seedling throwing touch plate is installed on the rack corresponding to the seedling claw; Seedling tube mechanism, corresponding to the seedling taking mechanism is installed on the rack, for receiving the pot seedling thrown by the seedling claw, and sequentially ordered to be thrown into planting mechanism; Counting sensor, corresponding to the seedling tube mechanism is installed on the rack, for identifying detecting seedling tube signal of the seedling tube mechanism; And Controller, installed on the rack, is connected with the counting sensor, seedling supply mechanism, seedling taking mechanism and seedling tube mechanism respectively, for obtaining the seedling tube signal and controlling the seedling supply mechanism, seedling taking mechanism and seedling tube mechanism to complete automatic seedling taking and throwing operation; Wherein, the seedling claw includes: Seedling claw seat, outside limit pin is provided, the seedling throwing touch plate drives the limit pin to slide along axis relative to the seedling claw seat; Pressure disc push rod, top end passes through the seedling claw seat and limit plate connection, the limit plate is matched with the limit pin, and the limit plate cooperates with the limit pin and the seedling throwing touch plate to realize the mechanical trigger of seedling taking and throwing;The bottom end of the pressure disc push rod is connected with pressure seedling plate, and a plurality of pinholes are provided on the pressure seedling plate;The limit plate and pressure seedling plate are moved along the axis of the pressure disc push rod relative to the seedling claw seat by the pressure disc push rod; Multiple seedling taking needles, the bottom end of each seedling taking needle is connected with the seedling claw seat, and the top end of each seedling taking needle respectively passes through the pinhole, and the spacing between the top end of multiple seedling taking needles decreases with the seedling claw seat descending;And Elastic reset piece, installed on the pressure disc push rod, and the two ends of the elastic reset piece are respectively in contact with the limit plate and the inner wall of the seedling claw seat.

2. The automatic seedling taking and planting apparatus according to claim 1, wherein The seedling supply mechanism includes seedling plate movement push rod, seedling plate movement sliding rail and seedling plate support plate, the seedling plate movement sliding rail is installed on the rack, the seedling plate support plate is installed on the seedling plate movement sliding rail, and the two ends of the seedling plate movement push rod are respectively hinged with the rack and seedling plate support plate.

3. The automatic seedling taking and planting apparatus according to claim 1, wherein The seedling taking mechanism further includes spacing adjustment component, and the seedling claw is connected with the longitudinal driving component through the spacing adjustment component, and the spacing adjustment component includes: Spacing adjustment sliding channel plate, installed on the rack; Spacing adjustment sliding bearing, installed on the seedling claw installation base, connected with the spacing adjustment sliding channel plate, and sliding in the sliding channel of the spacing adjustment sliding channel plate; Spacing adjustment chain, for connecting adjacent seedling claws, and being respectively hinged with adjacent seedling claws. The spacing adjustment lever is hingedly connected with the spacing adjustment sliding bearing and the seedling tongs at two ends respectively. The spacing adjustment sliding rail is connected with the longitudinal driving component; and The spacing adjustment sliding block is matched with and connected with the spacing adjustment sliding rail, and the seedling tongs seat is installed on the spacing adjustment sliding block.

4. The automatic seedling taking and planting apparatus according to claim 3, wherein The spacing adjustment component further comprises a spacing adjustment piece which is installed on the seedling tongs seat corresponding to the spacing adjustment sliding block.

5. The automatic seedling taking and planting apparatus according to claim 3, wherein The longitudinal driving component comprises: The longitudinal sliding rail is installed on the seedling tongs installation base; and The longitudinal driving push rod is installed on the seedling tongs installation base at a base end, and a push rod end of the longitudinal driving push rod is connected with the spacing adjustment sliding rail.

6. The automatic seedling taking and planting apparatus according to claim 1, wherein The transverse driving component comprises: The transverse driving motor is installed on the rack; The ball screw is installed on the rack and connected with the seedling tongs installation base, and the ball screw is connected with the transverse driving motor through a shaft coupling; and The transverse sliding rail is installed on the rack, and the seedling tongs installation base is installed on the transverse sliding rail.

7. The automatic seedling taking and planting apparatus according to claim 1, wherein The seedling cylinder mechanism comprises a rotation driving component and a plurality of seedling cylinders, and the rotation driving component is connected with the plurality of seedling cylinders and drives the plurality of seedling cylinders to move in sequence on the rack.

8. An automatic seedling taking and planting method, characterized by The automatic seedling taking and planting device of any one of claims 1-7 is used to perform automatic seedling taking and planting operation, comprising the following steps: In the seedling taking step, the transverse driving component drives the seedling tongs to move to the upper side of the odd-numbered seedling pots, the longitudinal driving component drives the seedling tongs to move downward, the pressing plate push rod of the seedling tongs is pressed on the seedling pot, the seedling taking needle of the seedling tongs is inserted into the seedling pot along the outer side of the seedling pot body and is inwardly retracted to clamp the seedling pot, when the limiting plate of the seedling tongs moves upward and passes the limiting pin, the longitudinal driving component is triggered to drive the seedling tongs to move upward in the reverse direction, the pressing plate push rod drives the seedling taking needle to clamp and take out the seedling pot and separate from the seedling pot hole of the seedling pot; In the seedling planting step, the seedling tongs are moved to the seedling planting position, when the count sensor identifies that the rotation number of the seedling cylinder is equal to the number of the seedling tongs, the transverse driving component drives the seedling tongs to move transversely, the planting touch plate drives the limiting pin to move outward and separate from the limiting plate, the pressing plate push rod moves downward under the action of the elastic restoring member, drives the seedling taking needle to open outward, the clamped seedling pot is pushed to fall to the seedling cylinder, and the seedling planting is completed; and In the seedling pot moving step, the seedling pot moving push rod is extended by a distance of one seedling pot hole, drives the seedling pot to move, the seedling tongs are located above the even-numbered seedling pots, and the above steps are repeated until the seedling taking and planting work is completed.

9. The method of claim 8, wherein the automatic seedling taking and planting method is characterized by, Further comprising a spacing adjustment step, when the seedling tongs are moved to the seedling cylinder, the transverse driving component drives the plurality of seedling tongs to move to the seedling cylinder, the spacing adjustment mechanism drives the seedling tongs at two ends to move outward through the spacing adjustment lever, and drives the seedling tongs in the middle to move outward to be uniformly distributed above the seedling cylinder through the spacing adjustment chain; when the seedling tongs are moved to the seedling pot, the transverse driving component drives the plurality of seedling tongs to move to the seedling pot, the spacing adjustment mechanism drives the seedling tongs at two ends to move inward through the spacing adjustment lever, and drives the seedling tongs in the middle to move inward and close to the seedling pot hole through the spacing adjustment piece.

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