Rotary type automatic seedling supplementing disc device and control method thereof

Abstract

The invention discloses a rotary type automatic seedling supplementing disc device and a control method thereof.According to the device, a disc taking rod is driven by a motor to move forwards along a guide groove, forward moving and lifting of the disc taking rod can be achieved, disc taking operation is achieved, the disc taking rod is driven by the motor to move backwards along a rail, backward moving of the disc taking rod can be achieved, and meanwhile the disc taking rod can be driven by the motor to move backwards along with lifting of a roller. And the tray taking rod can be overturned backwards, so that the tray placing operation is realized. The disc taking device adopts a mode of combining a tooth track and a wheel track, so that the device can realize movable lifting disc taking and turnover disc supplementing movement in a short distance at the same time, the problem that a traditional disc supplementing device occupies a large space is solved, and rapid and efficient disc taking and supplementing operation is realized. According to the disc taking device, the disc supplementing position can be adjusted through the electric rotating base and the sliding rail, and the disc supplementing operation of the multi-row transplanter can be completed. The device is simple in structure, small in size, large in storage capacity, capable of detecting in real time and automatically supplementing seedling trays for the transplanter, and capable of effectively solving the problems that manual tray placing efficiency is low, and a seedling tray frame occupies a large space.

Description

Technical Field

[0001] The invention relates to the field of agricultural mechanization, and in particular to a rotary automatic seedling replenishing tray device and a control method thereof. Background Art

[0002] With the development of agricultural modernization, traditional transplanting work has gradually exposed problems such as low efficiency, high labor intensity, and large space occupation. Especially in large-scale production and transplanting processes, automatic transplanters often require manual operation to take and place seedling trays, and seedling tray storage requires a lot of space. Therefore, researching and developing an efficient and automated seedling tray device has become an urgent need in modern agricultural production.

[0003] Some existing automatic tray-replenishing devices usually have problems such as complex structure, small storage capacity or large space occupation. In addition, many small and medium-sized automatic transplanters still need to manually refill the seedling trays due to their small size and small seedling tray storage capacity, and lack of suitable automatic seedling tray refilling devices. Therefore, there is an urgent need for a device with large storage capacity, small size and the ability to automatically refill the seedling trays to solve the above problems. Summary of the invention

[0004] The purpose of the embodiment of the present application is to provide a rotary automatic seedling tray replenishing device, which adopts a staggered and stacked tray placement structure, which can effectively increase the storage capacity of the seedling trays of the transplanter. The tray taking device designed in the device can automatically replenish the seedling trays for the transplanter according to the usage of the seedling trays, which can effectively solve the problem of the transplanter needing manual seedling tray placement.

[0005] According to a first aspect of an embodiment of the present application, a rotary automatic seedling replenishing tray device is provided, comprising: Support frame; A rotating seedling tray rack, comprising an electric rotating chassis, an electric lifting column, a limiting ring and a bracket unit; the electric lifting column is fixed on the electric rotating chassis, the limiting column is provided with a limiting groove along the axial direction, at least two limiting rings are installed in the limiting groove, and a plurality of the bracket units are installed on the side of each limiting ring, and the bracket unit is used to place the seedling tray; A disk-taking device, the disk-taking device comprises a disk-taking rod, an electric rotating base, an electric guide slide rail, a first gear, a roller, a first connecting rod, a second connecting rod, a first roller, a second roller, a toothed track, a wheel track, a motor, and a second gear. The electric guide slide rail is fixed on the support frame, the electric rotating base is mounted on the electric guide slide rail, the toothed track and the wheel track are fixed on the electric rotating base, the upper surface of the toothed track has a rack formed by connecting a horizontal section and an inclined section, and the middle part has a first guide groove parallel to the rack; the upper surface of the wheel track has a U-guide surface formed by connecting a first inclined section, a horizontal section and a second inclined section in sequence, and the middle part has a second guide groove parallel to the U-guide surface; the motor is fixed on the disk-taking device. On the first supporting leg at the rear end of the rod, the first gear is installed on the output shaft of the motor, the second gear is pivoted to the first supporting leg at the rear end of the disk retrieval rod, the first gear, the second gear and the rack are meshed and transmitted in sequence, one end of the first connecting rod is pivoted to the first supporting leg at the rear end of the disk retrieval rod, and the other end is installed with the first roller, the first roller is set in the first guide groove and can roll along the first guide groove; one end of the second connecting rod is pivoted to the second supporting leg at the rear end of the disk retrieval rod, and the other end is installed with the second roller, the second roller is set in the second guide groove and can roll along the second guide groove; the roller is pivoted to the second supporting leg at the rear end of the disk retrieval rod, and the roller abuts against the guide surface.

[0006] Furthermore, the limiting ring is connected to six bracket units, there are three limiting rings, and the bracket units on each limiting ring are arranged in a staggered and stacked manner.

[0007] Furthermore, the bracket unit includes a bottom rod, a seedling tray limiting rod, an electric telescopic rod and a connecting rod, the two ends of the connecting rod are respectively pivoted to the middle end of the bottom rod and the wide end of the seedling tray limiting rod, the electric telescopic rod is telescopically installed in the bottom rod, the electric telescopic rod can perform telescopic movement along the bottom rod, and the outer end of the electric telescopic rod is pivoted to the narrow end of the seedling tray limiting rod.

[0008] Furthermore, the support frame includes a bracket and a disk delivery rack installed on the bracket, and the disk retrieval device is arranged on the bracket and located at the entrance of the disk delivery rack.

[0009] Furthermore, it also includes a single chip microcomputer and a detection part, the detection part is electrically connected to the single chip microcomputer, the detection part includes a first photoelectric sensor, a second photoelectric sensor, and a third photoelectric sensor, the first photoelectric sensor and the second photoelectric sensor are fixed on the side of the tray delivery rack to detect the position of the seedling tray in use; the third photoelectric sensor is fixed on the side of the bracket and can be used to detect the position of the seedling tray of the rotary seedling tray rack; the motor, electric rotating chassis, electric rotating base, electric lifting column, electric telescopic rod, and electric guide slide are electrically connected to the single chip microcomputer respectively.

[0010] Furthermore, the electric rotating base includes a driving motor, a pinion, a rotating platform, a bearing and a fixed base. The rotating platform is connected to the fixed base through a bearing, the pinion is connected to the motor, and the pinion is meshed with an internal gear on the rotating platform. The driving motor drives the pinion to rotate to realize the rotation of the rotating platform.

[0011] According to a second aspect of an embodiment of the present application, a control method for a rotary automatic seedling replenishing tray device is provided, comprising the following steps: Replenishment tray detection: The first photoelectric sensor and the second photoelectric sensor detect the position of the seedling tray in the seedling delivery rack to determine whether the seedling tray needs to be replenished; Seedling tray position adjustment: The position of the seedling tray on the rotary seedling tray rack is detected by the third photoelectric sensor, and the electric rotating base is driven to rotate so that the seedling trays on each side of the rotary seedling tray rack correspond to the direction of the tray-taking device. If one circle has been rotated, the electric lifting column is driven to drop the height of the two-layer interval so that the height of the upper seedling tray corresponds to the height of the tray-taking device, and the position of the upper seedling tray is detected by the third photoelectric sensor; Seedling tray leveling: By driving the electric telescopic rod of the corresponding bracket unit to extend, the seedling tray limit frame is driven to change from vertical tilt to horizontal, so that the seedling tray changes from vertical tilt to horizontal placement; Take the tray: The electric guide rail drives the electric rotating base close to the rotating seedling tray rack. The motor drives the first gear to move the tray taking rod forward and gradually rise along the track. After the seedling tray on the seedling tray limit rack is lifted, the rotating column rotates 30°. At the same time, the motor drives the first gear to make the tray taking rack descend and move backward. Replenishing the tray: The electric guide slide rail drives the electric rotating base to move to the tray delivery rack track position where the tray needs to be replenished. The electric rotating chassis rotates 90° to align the narrow end of the seedling tray with the tray delivery rack track. The motor drives the first gear to drive the tray retrieval rod to move backward along the tooth track. At the same time, the roller moves upward along the wheel track, causing the tray retrieval rod to tilt backward and flip over, allowing the seedling tray to slide into the tray delivery rack track to complete the replenishment.

[0012] The rotary automatic seedling replanting device of the present invention has the advantages of simple structure, large storage capacity, convenient operation, etc., can effectively improve the efficiency of seedling replanting, and greatly save manual labor. At the same time, the device is suitable for seedling trays of various sizes, has strong adaptability, and is an ideal agricultural automation equipment.

[0013] The technical solution provided by the embodiments of the present application may have the following beneficial effects: It can be seen from the above embodiments that the present application adopts a rotating lifting and staggered stacking seedling tray storage method. By converting the horizontal space storage into a vertical storage space, it overcomes the problem of the small storage capacity and inconvenient placement of the traditional horizontal seedling tray, and ensures the convenience of taking out the seedlings while increasing the storage capacity. The tray taking device adopts a combination of toothed tracks and wheel tracks, so that the device can simultaneously realize the movement of moving and lifting to take the tray and flipping the tray to replenish the tray over a short distance, solving the problem of the traditional tray replenishment device occupying a large space, and realizing fast and efficient tray taking and replenishment operations. The use and storage conditions of the seedling tray are detected by photoelectric detection, which solves the problem of manual observation and replenishment of the seedling tray, improves the efficiency of transplanting operations, and reduces manual labor.

[0014] The device is suitable for automatic seedling tray work during transplanting, which can effectively improve the efficiency of transplanting, reduce manual labor, and improve the intelligence of transplanting equipment.

[0015] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] Figure 1 It is a three-dimensional structural schematic diagram of a rotary automatic seedling replenishing tray device (with seedling tray installed) shown in an embodiment of the present invention.

[0018] Figure 2 It is a three-dimensional structural schematic diagram of a rotary automatic seedling replenishing tray device shown in an embodiment of the present invention (without seedling tray).

[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the bracket unit.

[0020] Figure 4 It is a schematic diagram of the disk retrieval device.

[0021] Figure 5 It is the left side view of the disk retrieval device.

[0022] Figure 6 It is a schematic diagram of the first connecting rod structure.

[0023] Figure 7 It is a schematic diagram of the second connecting rod structure.

[0024] Figure 8 It is a schematic diagram of the plate-taking rod rising state.

[0025] Fig. 9 It is a schematic diagram of the translation state of the disk-taking rod.

[0026] Fig.10 It is a schematic diagram of the disk-taking rod flipping state.

[0027] In the figure, the reference numerals are: 100, rotating seedling tray rack; 110, electric rotating chassis; 120, electric lifting column; 121, column base; 122, limiting column; 130, bracket unit; 131, bottom rod; 132, connecting rod; 133, seedling tray limiting rod; 134, electric telescopic rod; 140, limiting ring; 150, limiting groove; 200, disk-taking device; 210, disk-taking rod; 211, first gear; 212, first connecting rod; 213, first roller; 214, roller; 215, second connecting rod; 216, second roller; 217, second gear; 218, motor; 219, wheel track; 220, gear track; 221, electric guide rail; 222, electric rotating base; 223, first guide groove; 224, second guide groove; 225, first support leg; 226, second support leg; 300, support frame; 310, tray delivery frame; 410, a first photoelectric sensor; 420, a second photoelectric sensor; 430, a third photoelectric sensor; 500. Seedling tray. DETAILED DESCRIPTION

[0028] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0029] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0030] It should be understood that although the terms first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0031] like Figure 1-7 As shown, the present invention provides a rotary automatic seedling tray device, which includes a rotary seedling tray frame 100, a tray taking device 200, and a support frame 300, wherein: The support frame 300 may include a bracket and a disk delivery rack 310 mounted on the bracket, and the disk retrieval device is disposed on the bracket and located at an entrance of the disk delivery rack 310 .

[0032] The rotary seedling tray rack 100 includes an electric rotary chassis 110, an electric lifting column 120, a limiting ring 140 and a bracket unit 130; the electric lifting column 120 is fixed on the electric rotary chassis 110, the limiting column 122 is provided with a limiting groove along the axial direction, at least two limiting rings 140 are installed in the limiting groove, and a plurality of the bracket units 130 are installed on the side of each limiting ring 140, and the bracket unit 130 is used to place the seedling tray 500. The rotary seedling tray rack 100 can make the seedling trays on each layer and each surface of the rotary seedling tray rack 100 correspond to the tray taking device 200 through the lifting and lowering of the electric lifting column 120 and the rotation of the electric rotary chassis 110, so that the position of the rotary seedling tray rack can be flexibly adjusted in the case of limited space, while ensuring the convenience and reliability of taking the tray.

[0033] In one embodiment, the limiting ring 140 is connected to six bracket units 130, there are three limiting rings 140, and the bracket units 130 on each limiting ring 140 are arranged in an alternating and stacked manner, which can effectively save storage space, increase the storage capacity of the seedling tray, and the number of stacking layers can be adjusted according to actual needs.

[0034] In one embodiment, the support unit 130 includes a bottom bar 131, a seedling tray limiting rod 133, an electric telescopic rod 134 and a connecting rod 132. The two ends of the connecting rod 132 are respectively pivoted to the middle end of the bottom bar 131 and the wide end of the seedling tray limiting rod 133. The electric telescopic rod 134 is telescopically installed in the bottom bar 131. The electric telescopic rod 134 can perform telescopic movement along the bottom bar 131. The outer end of the electric telescopic rod 134 is pivoted to the narrow end of the seedling tray limiting rod 133. Each of the support units 130 adjusts the angle of the seedling tray by moving the electric telescopic rod 134. When the tray is stored, the electric telescopic rod 134 remains in a retracted state, and the seedling tray is in a vertically inclined state, which can save storage space; when the tray needs to be taken out, the electric telescopic rod 134 is extended, and the seedling tray becomes horizontal, so that it is convenient and stable to take out the tray.

[0035] The disk retrieval device 200 includes a disk retrieval rod 210, an electric rotating base 222, an electric guide rail 221, a first gear 211, a roller 214, a first connecting rod 212, a second connecting rod 215, a first roller 213, a second roller 216, a toothed track 220, a wheel track 219, a motor 218, and a second gear 217. The electric guide rail 221 is fixed to the support frame 300, the electric rotating base 222 is mounted on the electric guide rail 221, the toothed track 220 and the wheel track 219 are fixed to the electric rotating base 222, the upper surface of the toothed track 220 has a rack formed by connecting a horizontal section and an inclined section, and the middle part has a first guide groove 223 parallel to the rack; the upper surface of the wheel track has a U guide surface formed by connecting a first inclined section, a horizontal section and a second inclined section in sequence, and the middle part has a second guide groove 224 parallel to the U guide surface; the electric The motor 218 is fixed on the first supporting leg at the rear end of the disk-taking rod 210, the first gear 211 is installed on the output shaft of the motor 218, the second gear 217 is pivoted to the first supporting leg at the rear end of the disk-taking rod 210, the first gear 211, the second gear 217 and the rack are meshed and transmitted in sequence, one end of the first connecting rod 212 is pivoted to the first supporting leg 225 at the rear end of the disk-taking rod 210, and the other end is installed with the first roller, the first roller is set in the first guide groove and can roll along the first guide groove; one end of the second connecting rod 215 is pivoted to the second supporting leg 226 at the rear end of the disk-taking rod 210, and the other end is installed with the second roller, the second roller is set in the second guide groove and can roll along the second guide groove; the roller 214 is pivoted to the second supporting leg at the rear end of the disk-taking rod 210, and the roller 214 abuts against the guide surface.

[0036] The motor 218 drives the first gear 211 to rotate, and then drives the second gear 217 to rotate in turn. The second gear 217 is meshed with the rack for transmission, which in turn drives the tray-taking rod 210 to move. Since the first roller 213 and the second roller 216 slide in the first guide groove and the second guide groove respectively, and the roller 214 rolls on the guide surface, under the constraints of the two, the tray-taking rod 210 can achieve lifting, translation and flipping movements to achieve the operation of taking the seedling tray and replenishing the seedling tray. In addition, the position of the seedling tray can be adjusted by the electric rotating base 222 and the electric guide rail 221.

[0037] The electric guide rail 221 can adopt a screw slider mechanism and be driven by a motor.

[0038] refer to Figure 8-Figure 10 The motor 218 drives the disk-taking rod 210 to move forward along the guide groove, so that the disk-taking rod 210 can be moved forward and lifted to realize the disk-taking operation. The motor 218 drives the disk-taking rod 210 to move backward along the track, so that the disk-taking rod can be moved backward. At the same time, as the roller 214 is lifted, the disk-taking rod can be flipped backward to realize the disk-releasing operation.

[0039] The tray-taking device 200 adopts a combination of a toothed track 220 and a wheel track 219, so that the device can simultaneously realize the movement of moving and lifting trays and flipping trays in a short distance, thereby solving the problem that the traditional tray-replacing device occupies a large space and realizing fast and efficient tray-taking and tray-replacing operations. The tray-taking device 200 can adjust the tray-replacing position through an electric rotating base 222 and a slide rail, and can complete the tray-replacing operation of a multi-row transplanter.

[0040] In one embodiment, the electric rotating base and the electric rotating chassis have similar structures and can both include a driving motor, a pinion, a rotating platform, a bearing and a fixed base. The rotating platform is connected to the fixed base via a bearing, the pinion is connected to the motor, and the pinion is meshed with the internal gear on the rotating platform. The rotating platform rotates by driving the pinion to rotate via the driving motor.

[0041] In one embodiment, in order to achieve automation, it also includes a single chip microcomputer and a detection part, the detection part is electrically connected to the single chip microcomputer, the detection part includes a first photoelectric sensor 410, a second photoelectric sensor 420, and a third photoelectric sensor 430. The first photoelectric sensor 410 and the second photoelectric sensor 420 are fixed on the side of the tray delivery rack 310 to detect the position of the seedling tray in use, while ensuring the accuracy of recognition, avoiding the trouble of manually checking the use of the seedling tray; the third photoelectric sensor 430 is fixed on the side of the bracket and can be used to detect the position of the seedling tray of the rotary seedling tray rack 100; the motor 218, the electric rotating chassis 110, the electric rotating base 222, the electric lifting column 120, the electric telescopic rod 134, and the electric guide rail 221 are respectively electrically connected to the single chip microcomputer.

[0042] The embodiment of the present invention also provides a control method for a rotary automatic seedling replenishing tray device, comprising the following steps: Replenishment detection: The first photoelectric sensor 410 and the second photoelectric sensor 420 detect the position of the seedling tray in the seedling delivery rack to determine whether the seedling tray needs to be replenished; that is, when the first photoelectric sensor 410 and the second photoelectric sensor 420 do not detect signals at the same time, it means that the seedling tray in use is about to be exhausted, and the replenishment operation is performed. If the third photoelectric sensor 430 has a signal, it means that there are seedling trays on the shelf, and the operation continues.

[0043] Seedling tray position adjustment: The position of the seedling tray on the rotary seedling tray rack 100 is detected by the third photoelectric sensor 430, and the electric rotating base is driven to rotate so that the seedling trays on each side of the rotary seedling tray rack 100 correspond to the direction of the tray-taking device. If one rotation has been completed, the electric lifting column is driven to descend the height of the two-layer interval so that the height of the upper seedling tray corresponds to the height of the tray-taking device (a fixed descending height can be set), and the position of the upper seedling tray is detected by the third photoelectric sensor; Seedling tray leveling: by driving the electric telescopic rod 134 of the corresponding bracket unit 130 to extend, the seedling tray limit frame is driven to change from vertical tilt to horizontal, so that the seedling tray is changed from vertical tilt to horizontal placement; Taking out the tray: the electric guide rail 221 drives the electric rotating base 222 to approach the rotating seedling tray rack, and the motor 218 drives the first gear 211 to move the tray taking rod 210 forward, and gradually rises along the track, and after the seedling tray on the seedling tray limiting frame is lifted up, the rotating column rotates 30°, and at the same time, the motor 218 drives the first gear 211 to make the tray taking frame descend and move backward; Replenishing the tray: the electric guide slide 221 drives the electric rotating base 222 to move to the track position of the tray delivery rack where the tray needs to be replenished, and the electric rotating chassis 110 rotates 90° to align the narrow end of the seedling tray with the track of the tray delivery rack 310. The motor 218 drives the first gear to drive the tray taking rod 210 to move backward along the tooth track 220. At the same time, the roller 214 moves upward along the wheel track 219, so that the tray taking rod 210 is tilted and flipped backward, so that the seedling tray slides into the track of the tray delivery rack 310 to complete the replenishment.

[0044] The present invention has strong stability and reliability, and specifically has the following advantages: 1) Compared with the general seedling rack, the present invention adopts inclined staggered stacking, which can store more seedling trays and save space.

[0045] 2) The rotating seedling tray rack can adjust the position of the seedling tray rack by rotating and lifting, making it easy to store and retrieve the seedling trays.

[0046] 3) The rotating seedling tray rack adopts a column type, which takes up less space at the bottom and can be used in a variety of small transplanting machines with good adaptability.

[0047] 4) The detection and control system can automatically replenish the seedling trays by judging the usage of the seedling trays, which can improve transplanting efficiency and reduce labor.

[0048] 5) The plate-taking device can realize the movement of lifting and retrieving the plate and flipping the plate in a short distance, which occupies a small space and can take the plate accurately and efficiently.

[0049] Those skilled in the art will readily appreciate other embodiments of the present application after considering the description and practicing the contents disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The description and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

[0050] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A rotary automatic seedling tray device, characterized in that: include: Support frame; A rotating seedling tray rack, comprising an electric rotating chassis, an electric lifting column, a limiting ring and a bracket unit; the electric lifting column is fixed on the electric rotating chassis, the limiting column is provided with a limiting groove along the axial direction, at least two limiting rings are installed in the limiting groove, and a plurality of the bracket units are installed on the side of each limiting ring, and the bracket unit is used to place the seedling tray; A disk-taking device, the disk-taking device comprises a disk-taking rod, an electric rotating base, an electric guide slide rail, a first gear, a roller, a first connecting rod, a second connecting rod, a first roller, a second roller, a toothed track, a wheel track, a motor, and a second gear. The electric guide slide rail is fixed on the support frame, the electric rotating base is mounted on the electric guide slide rail, the toothed track and the wheel track are fixed on the electric rotating base, the upper surface of the toothed track has a rack formed by connecting a horizontal section and an inclined section, and the middle part has a first guide groove parallel to the rack; the upper surface of the wheel track has a U-guide surface formed by connecting a first inclined section, a horizontal section and a second inclined section in sequence, and the middle part has a second guide groove parallel to the U-guide surface; the motor is fixed on the disk-taking device. On the first supporting leg at the rear end of the rod, the first gear is installed on the output shaft of the motor, the second gear is pivoted to the first supporting leg at the rear end of the disk retrieval rod, the first gear, the second gear and the rack are meshed and transmitted in sequence, one end of the first connecting rod is pivoted to the first supporting leg at the rear end of the disk retrieval rod, and the other end is installed with the first roller, the first roller is set in the first guide groove and can roll along the first guide groove; one end of the second connecting rod is pivoted to the second supporting leg at the rear end of the disk retrieval rod, and the other end is installed with the second roller, the second roller is set in the second guide groove and can roll along the second guide groove; the roller is pivoted to the second supporting leg at the rear end of the disk retrieval rod, and the roller abuts against the guide surface.

2. A rotary automatic seedling replenishing tray device according to claim 1, characterized in that: The limiting ring is connected to six bracket units, there are three limiting rings, and the bracket units on each limiting ring are arranged in a staggered and stacked manner.

3. A rotary automatic seedling replenishing tray device according to claim 1, characterized in that: The bracket unit includes a bottom rod, a seedling tray limiting rod, an electric telescopic rod and a connecting rod. The two ends of the connecting rod are respectively pivoted to the middle end of the bottom rod and the wide end of the seedling tray limiting rod. The electric telescopic rod is telescopically installed in the bottom rod. The electric telescopic rod can perform telescopic movement along the bottom rod. The outer end of the electric telescopic rod is pivoted to the narrow end of the seedling tray limiting rod.

4. A rotary automatic seedling replenishing tray device according to claim 3, characterized in that: The support frame comprises a bracket and a disk delivery rack installed on the bracket, and the disk taking device is arranged on the bracket and located at the entrance of the disk delivery rack.

5. A rotary automatic seedling replenishing tray device according to claim 4, characterized in that: It also includes a single chip microcomputer and a detection part, the detection part is electrically connected to the single chip microcomputer, the detection part includes a first photoelectric sensor, a second photoelectric sensor, and a third photoelectric sensor, the first photoelectric sensor and the second photoelectric sensor are fixed on the side of the tray delivery rack to detect the position of the seedling tray in use; the third photoelectric sensor is fixed on the side of the bracket and can be used to detect the position of the seedling tray of the rotary seedling tray rack; The motor, the electric rotating chassis, the electric rotating base, the electric lifting column, the electric telescopic rod and the electric guide slide rail are electrically connected to the single chip microcomputer respectively.

6. A rotary automatic seedling replenishing tray device according to claim 1, characterized in that: The electric rotating base includes a driving motor, a pinion, a rotating platform, a bearing and a fixed base. The rotating platform is connected to the fixed base through the bearing, the pinion is connected to the motor, and the pinion is meshed with the internal gear on the rotating platform. The driving motor drives the pinion to rotate to realize the rotation of the rotating platform.

7. The control method of a rotary automatic seedling replenishing tray device according to claim 5, characterized in that: The steps include: Replenishment tray detection: The first photoelectric sensor and the second photoelectric sensor detect the position of the seedling tray in the seedling delivery rack to determine whether the seedling tray needs to be replenished; Seedling tray position adjustment: The position of the seedling tray on the rotary seedling tray rack is detected by the third photoelectric sensor, and the electric rotating base is driven to rotate so that the seedling trays on each side of the rotary seedling tray rack correspond to the direction of the tray-taking device. If one circle has been rotated, the electric lifting column is driven to drop the height of the two-layer interval so that the height of the upper seedling tray corresponds to the height of the tray-taking device, and the position of the upper seedling tray is detected by the third photoelectric sensor; Seedling tray leveling: By driving the electric telescopic rod of the corresponding bracket unit to extend, the seedling tray limit frame is driven to change from vertical tilt to horizontal, so that the seedling tray changes from vertical tilt to horizontal placement; Take the tray: The electric guide rail drives the electric rotating base close to the rotating seedling tray rack. The motor drives the first gear to move the tray taking rod forward and gradually rise along the track. After the seedling tray on the seedling tray limit rack is lifted, the rotating column rotates 30°. At the same time, the motor drives the first gear to make the tray taking rack descend and move backward. Replenishing the tray: The electric guide slide rail drives the electric rotating base to move to the tray delivery rack track position where the tray needs to be replenished. The electric rotating chassis rotates 90° to align the narrow end of the seedling tray with the tray delivery rack track. The motor drives the first gear to drive the tray retrieval rod to move backward along the tooth track. At the same time, the roller moves upward along the wheel track, causing the tray retrieval rod to tilt backward and flip over, allowing the seedling tray to slide into the tray delivery rack track to complete the replenishment.

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