Pepper pot seedling taking device

Abstract

The invention discloses a pepper pot seedling taking device which comprises a movable beam and seedling taking claws arranged on the movable beam in a linear array mode, and further comprises a driving mechanism for driving the movable beam to do multi-axis movement and a stepping pushing mechanism for driving pepper pot seedling trays to move. The driving mechanism comprises a first sliding rail and a second sliding rail which are arranged in an L shape, and further comprises a connecting rod, a driving rod, a driving motor, and a first sliding block and a second sliding block which slide on the first sliding rail and the second sliding rail respectively; the two ends of the connecting rod and the two ends of the movable beam are rotationally connected with the first sliding block and the second sliding block correspondingly. One end of the driving rod is rotationally connected with the connecting rod, and the other end of the driving rod is fixed to an output shaft of the driving motor. According to the pepper seedling picking device, the stability of overall movement of the movable beam is high, movement of the two ends of the movable beam is balanced, swinging of the seedling picking claws is reduced as much as possible, and the problem that pepper seedlings grabbed by the seedling picking claws are uneven in stress when the movable beam moves can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural transplanting and planting machinery, in particular to a seedling taking device for pepper seedlings in pots. Background Art

[0002] As an important economic crop, pepper is widely planted around the world, and its production efficiency and quality are directly related to farmers' income and market supply. Traditional pepper planting mostly relies on manual seedling raising and transplanting, which is labor-intensive and inefficient, and it is difficult to meet the development needs of modern agricultural scale and mechanization. With the advancement of agricultural technology, pot seedling transplanting technology has emerged. This technology cultivates healthy and strong seedlings in advance under greenhouse or protected conditions, and then transplants these seedlings together with nutrient soil blocks (i.e. pot seedlings) into the field, which not only improves the survival rate of seedlings, but also promotes early growth, so that crops can enter the fruiting period faster, thereby achieving the purpose of increasing production and income. In addition, pot seedling transplanting can also effectively avoid soil-borne diseases, reduce the use of pesticides, and is beneficial to environmental protection and agricultural product safety. However, the existing pot seedling removal equipment has problems such as unstable seedling removal and low efficiency in actual application, which limits the further promotion of pot seedling transplanting technology.

[0003] In the prior art, patent CN 222337064 U provides a mechanism for taking seedlings through a three-axis mechanism. In this mechanism, when the three axes move in coordination to take seedlings, the efficiency of taking seedlings is very low. Therefore, many schemes adopt a scheme of setting multiple clamps to take seedlings in a row. When taking seedlings in a row, the efficiency of translation is still low. Therefore, in some schemes, all clamps are installed on a cantilever beam rotating arm. However, the structure of the rotating arm has poor stability and uneven force on the pepper seedlings grasped by each seedling taking clamp. The farther the clamp is from the rotation center, the greater the centrifugal force it is subjected to, which makes it easy to throw off the pepper seedlings or cause seedling damage. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a seedling removal device for pepper pot seedlings with stable and high efficiency.

[0005] Technical solution: To achieve the above-mentioned purpose, the seedling picking device of the pepper seedling pot of the present invention comprises a movable beam and a seedling picking claw arranged in a linear array on the movable beam, a driving mechanism for driving the movable beam to perform multi-axis motion, and a stepping driving mechanism for driving the pepper seedling pot tray to move;

[0006] The driving mechanism includes a first slide rail and a second slide rail arranged in an L-shape, and also includes a connecting rod, a driving rod, a driving motor, and a first slider and a second slider that slide with the first slide rail and the second slide rail respectively; the first slide rail is arranged horizontally, and the second slide rail is arranged vertically; the two ends of the connecting rod and the two ends of the movable beam are respectively rotatably connected to the first slider and the second slider;

[0007] One end of the driving rod is rotatably connected to the connecting rod, and the other end is fixed to the output shaft of the driving motor. The length of the driving rod is half the length of the connecting rod. In the top view, the output shaft of the driving motor is located at the corner of the first slide rail and the second slide rail. During operation, the pepper seedlings on the pepper seedling tray pass under the first slide rail in rows, and the second slide rail and the remaining pepper seedlings on the pepper seedling tray are respectively located on both sides of the first slide rail. In this way, the movable beam transplants the pepper seedlings in a direction away from the remaining pepper seedlings on the pepper seedling tray, without affecting the remaining pepper seedlings on the pepper seedling tray.

[0008] A row of seedling ports is located on the side of the step-by-step push mechanism, and the arrangement direction of the seedling ports is perpendicular to the movement direction of the pepper seedling pot tray pushed by the step-by-step push mechanism. In the initial state, the first slider is located at the end of the first slide rail, the second slider is located at the corner position, and the movable beam is perpendicular to the movement direction of the pepper seedling pot tray, that is, it is in a horizontal state, and a row of seedling claws on the movable beam corresponds to a horizontal row of pepper seedlings on the pepper seedling pot tray; after the seedling claws take the seedlings, the driving motor rotates the driving rod forward, and during the rotation of the driving rod, the first slider and the second slider slide along the first slide rail and the second slide rail respectively until the second slider is located at the end of the second slide rail, and the first slider reaches the corner position. At this time, the movable beam is in a vertical state, and the movable beam is located on the side of the step-by-step push mechanism in the top view direction, and each seedling claw has a corresponding seedling port below, and the seedling claw can deliver the pepper seedlings to the corresponding seedling port. After the seedling claw releases the seedlings, the driving motor rotates the driving rod in the opposite direction, so that the first slider and the second slider return to the initial position respectively.

[0009] Furthermore, the first slide rail and the second slide rail are both structures that penetrate from top to bottom; the first slider and the second slider have a first axis and a second axis respectively; the two ends of the connecting rod are respectively connected to the upper ends of the first axis and the second axis; the first axis and the second axis respectively extend downward from the corresponding sliders, and the two ends of the movable beam are respectively slidably connected relative to the lower ends of the first axis and the second axis; the driving mechanism also includes a lifting driving mechanism that drives the movable beam to move up and down.

[0010] With the above structure, the connecting rod, the driving rod and the driving motor are placed above the slide rail, while the movable beam and the seedling picking claw are placed below the slide rail. The two will not interfere with each other, and sufficient longitudinal space can be left for the seedling picking operation without interfering with the seedling picking operation.

[0011] Furthermore, the lifting drive mechanism includes a lifting drive unit, which is an electric cylinder or an oil cylinder, and also includes a fixed beam erected and fixed between the first axis and the second axis; the lifting drive unit has a fixed seat fixed on the fixed beam and a telescopic rod connected to the movable beam.

[0012] Further, the seedling picking claw comprises a first claw, a second claw and a rotating shaft; the rotating shaft is fixed to the side of the rotating shaft, and the first claw and the second claw are both rotatably matched with the rotating shaft;

[0013] The first claw portion and the second claw portion have the same structure, and both include a rotating portion, a clamping rod fixed to the front lower end of the rotating portion, and a control rod fixed to the rear upper end of the rotating portion.

[0014] Furthermore, a first sliding member and a second sliding member are installed on the movable beam; the first sliding member and the second sliding member are respectively provided with a first strip hole and a second strip hole; the control rod member corresponding to each first claw is respectively placed in an independent first strip hole, and the control rod member corresponding to each second claw is respectively placed in a corresponding independent second strip hole; the first sliding member and the second sliding member slide in opposite directions at the same speed.

[0015] Furthermore, the first sliding member and the second sliding member each have a tooth portion, and the tooth portions on the two are opposite to each other; a gear meshing with the tooth portions on the first sliding member and the second sliding member is installed between the two; and the gear is driven to operate by the second motor.

[0016] By adopting the above structure, by controlling the forward and reverse rotation of the central axis of the second motor, all the seedling picking claws can be opened and closed synchronously, the synchronization of picking and releasing the seedlings is good, and the cost and failure rate can be reduced.

[0017] A guide is installed on the side of the stepping push mechanism, and the guide has an outer plate, and a plurality of partitions perpendicular to the outer plate are fixed; a baffle is fixed on the movable beam, and the baffle blocks the upper part of the clamping rod in the seedling claw hand at its rear side. In the initial state, the movable beam is horizontally placed left and right, and the clamping rod implements the seedling clamping operation from the front side of the baffle, and the baffle can prevent the branches and leaves of the pepper seedlings from entering the mechanism and being damaged; then, the lifting drive unit drives the movable beam to rise, so that the roots of the pepper seedlings are separated from the pepper seedling pot tray, and then, the driving motor makes the driving rod forward, driving the movable beam from the horizontal state to the vertical state, at this time, the baffle is located on the opposite side of the outer plate, and the baffle, the outer plate and the partition surround the seedling outlet, and the seedling claw hand releases the pepper seedlings, and each pepper seedling slides along the corresponding seedling outlet, which can ensure the accuracy of seedling delivery.

[0018] Beneficial effects: The seedling retrieval device for pepper seedlings in pots of the present invention has the following beneficial effects: both sides of the movable beam are supported by sliders, and the two sliders move along two mutually perpendicular slide rails. In this way, on the one hand, the overall movement stability of the movable beam is high, and the movement of both ends of the movable beam is balanced, which minimizes the swinging of each seedling retrieval claw, and can reduce the problem of uneven force on the pepper seedlings grasped by each seedling retrieval claw when the movable beam moves, thereby preventing the pepper seedlings from being thrown off and preventing the seedlings from being damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural diagram of the seedling taking device;

[0020] Figure 2 It is a three-dimensional structural diagram of the other parts of the seedling taking device except the stepping pushing mechanism;

[0021] Figure 3 It is a rear view structural diagram of the other parts of the seedling taking device except the stepping pushing mechanism;

[0022] Figure 4 for Figure 3 The enlarged structure diagram of part A in the middle;

[0023] Figure 5 This is a partial enlarged picture of the hand part of the seedling removal claw;

[0024] Figure 6 A diagram of the first state of the seedling taking device when viewed from above;

[0025] Figure 7 A bottom-up diagram of the seedling taking device in the second state;

[0026] Figure 8 This is a third state diagram of the seedling removal device when viewed from above.

[0027] In the figure: 1-movable beam; 2-seedling claw hand; 21-first claw; 22-second claw; 23-rotating axis; 2a-rotating part; 2b-clamping rod; 2c-control rod; 3-driving mechanism; 31-first slide rail; 32-second slide rail; 33-connecting rod; 34-driving rod; 35-driving motor; 36-first slider; 37-second slider; 38-first axis; 39-second axis; 310-lifting driving unit; 311-fixed beam; 4-stepping pushing mechanism; 51-first sliding member; 51a-first strip hole; 52-second sliding member; 52a-second strip hole; 53-gear; 54-second motor; 6-guide member; 61-outer plate; 62-partition plate; 7-baffle plate; a-pepper seedling tray. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings.

[0029] like Figure 1 The seedling picking device for pepper seedlings shown in the figure comprises a movable beam 1 and seedling picking claws 2 arranged in a linear array on the movable beam 1, a driving mechanism 3 for driving the movable beam 1 to perform multi-axis motion, and a stepping driving mechanism 4 for driving the pepper seedling tray a to move;

[0030] like Figure 2 and Figure 3 As shown, the driving mechanism 3 includes a first slide rail 31 and a second slide rail 32 arranged in an L shape, and also includes a connecting rod 33, a driving rod 34, a driving motor 35, and a first slider 36 and a second slider 37 sliding with the first slide rail 31 and the second slide rail 32 respectively; the first slide rail 31 is arranged horizontally, and the second slide rail 32 is arranged vertically; the two ends of the connecting rod 33 and the two ends of the movable beam 1 are rotatably connected to the first slider 36 and the second slider 37 respectively;

[0031] One end of the driving rod 34 is rotatably connected to the connecting rod 33, and the other end is fixed to the output shaft of the driving motor 35. The length of the driving rod 34 is half the length of the connecting rod 33. In the top view, the output shaft of the driving motor 35 is located at the corner of the first slide rail 31 and the second slide rail 32. During operation, the pepper seedlings on the pepper seedling tray a pass under the first slide rail 31 in a row, and the second slide rail 32 and the remaining pepper seedlings on the pepper seedling tray a are respectively located on both sides of the first slide rail 31. In this way, the movable beam 1 transplants the pepper seedlings in a direction away from the remaining pepper seedlings on the pepper seedling tray a, without affecting the remaining pepper seedlings on the pepper seedling tray a.

[0032] A row of seedling ports is located on the side of the stepping pushing mechanism 4, and the arrangement direction of the seedling ports is perpendicular to the movement direction of the pepper seedling tray a pushed by the stepping pushing mechanism 4. In the initial state, the first slider 36 is located at the end of the first slide rail 31, the second slider 37 is located at the corner position, the movable beam 1 is perpendicular to the movement direction of the pepper seedling pot plate a, that is, it is in a horizontal state, and a row of seedling claws 2 on the movable beam 1 corresponds to a horizontal row of pepper seedlings on the pepper seedling pot plate a; after the seedling claws 2 take the seedlings, the driving motor 35 makes the driving rod 34 rotate forward, and during the rotation of the driving rod 34, the first slider 36 and the second slider 37 slide along the first slide rail 31 and the second slide rail 32 respectively until the second slider 37 is located at the end of the second slide rail 32, and the first slider 36 reaches the corner position. At this time, the movable beam 1 is in a vertical state, and in the top view direction, the movable beam 1 is located on the side of the stepping pushing mechanism 4, and each seedling claw 2 has a corresponding seedling delivery port below, and the seedling claw 2 can deliver the pepper seedlings to the corresponding seedling delivery port. After the seedling-taking claw hand 2 releases the seedling, the driving motor 35 causes the driving rod 34 to rotate in the opposite direction, so that the first sliding block 36 and the second sliding block 37 return to their initial positions respectively.

[0033] With the above structure, both sides of the movable beam 1 are supported by sliders, and the two sliders move along two mutually perpendicular slide rails. Thus, on the one hand, the overall movement stability of the movable beam 1 is high, and the movement at both ends of the movable beam 1 is balanced, which minimizes the swinging of each seedling claw 2. This can reduce the problem of uneven force on the pepper seedlings grasped by each seedling claw 2 when the movable beam 1 moves, prevent the pepper seedlings from being thrown off, and prevent the seedlings from being damaged.

[0034] Preferably, the first slide rail 31 and the second slide rail 32 are structures that are connected from top to bottom; the first slider 36 and the second slider 37 have a first shaft 38 and a second shaft 39 respectively; the two ends of the connecting rod 33 are respectively connected to the upper ends of the first shaft 38 and the second shaft 39; the first shaft 38 and the second shaft 39 extend downward from the corresponding sliders respectively, and the two ends of the movable beam 1 are respectively slidably connected relative to the lower ends of the first shaft 38 and the second shaft 39; the driving mechanism 3 also includes a lifting driving mechanism for driving the movable beam 1 to move up and down.

[0035] With the above structure, the connecting rod 33, the driving rod 34 and the driving motor 35 are placed above the slide rail, while the movable beam 1 and the seedling picking claw 2 are placed below the slide rail. The two will not interfere with each other, and sufficient longitudinal space can be left for the seedling picking operation without interfering with the seedling picking operation.

[0036] Preferably, the lifting drive mechanism includes a lifting drive unit 310, which is an electric cylinder or an oil cylinder, and also includes a fixed beam 311 erected and fixed between the first shaft 38 and the second shaft 39; the lifting drive unit 310 has a fixed seat fixed on the fixed beam 311 and a telescopic rod connected to the movable beam 1.

[0037] Preferably, the seedling picking claw hand 2 includes a first claw portion 21, a second claw portion 22 and a rotating shaft 23; the rotating shaft 23 is fixed to the side of the rotating shaft 23, and the first claw portion 21 and the second claw portion 22 are both rotatably matched with the rotating shaft 23;

[0038] like Figure 4 and Figure 5 As shown, the first claw portion 21 and the second claw portion 22 have the same structure, both comprising a rotating portion 2a, a clamping rod 2b fixed at the front lower end of the rotating portion 2a, and a control rod 2c fixed at the rear upper end of the rotating portion 2a.

[0039] Preferably, a first sliding member 51 and a second sliding member 52 are installed on the movable beam 1; the first sliding member 51 and the second sliding member 52 respectively have a first strip hole 51a and a second strip hole 52a; the control rod member 2c corresponding to each first claw portion 21 is respectively placed in an independent first strip hole 51a, and the control rod member 2c corresponding to each second claw portion 22 is respectively placed in a corresponding independent second strip hole 52a; the first sliding member 51 and the second sliding member 52 slide in opposite directions at the same speed.

[0040] Preferably, the first sliding member 51 and the second sliding member 52 both have teeth, and the teeth on the two are opposite to each other; a gear 53 meshing with the teeth on the first sliding member 51 and the second sliding member 52 is installed between them; the gear 53 is driven by the second motor 54 to operate.

[0041] By adopting the above structure, by controlling the forward and reverse rotation of the middle axis of the second motor 54, all the seedling picking claws 2 can be opened and closed synchronously, the synchronization of picking and releasing the seedlings is good, and the cost and failure rate can be reduced.

[0042] A guide member 6 is installed on the side of the stepping mechanism 4, and the guide member 6 has an outer plate 61, and a plurality of partitions 62 perpendicular to the outer plate 61 are fixed on the outer plate 61; a baffle 7 is fixed on the movable beam 1, and the baffle 7 blocks the upper part of the clamping rod 2b in the seedling picking claw 2 at its rear side. Figure 6As shown, the movable beam 1 is horizontally placed left and right, and the clamping rod 2b performs the seedling clamping operation from the front side of the baffle 7. The baffle 7 can prevent the branches and leaves of the pepper seedlings from entering the interior of the mechanism and being damaged; then, the lifting drive unit 310 drives the movable beam 1 to rise, so that the roots of the pepper seedlings are separated from the pepper seedling pot tray a, and then, the driving motor 35 drives the driving rod 34 to rotate forward, driving the movable beam 1 from the horizontal state to the vertical state (such as Figures 6 to 8 The process of changing from a horizontal state to a vertical state is shown). At this time, the baffle 7 is located on the opposite side of the outer plate 61. The baffle 7, the outer plate 61 and the partition 62 surround the seedling outlet. The seedling claw hand 2 releases the pepper seedlings, and each pepper seedling slides down the corresponding seedling outlet to ensure the accuracy of seedling delivery.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A seedling picking device for pepper seedlings in pots, comprising a movable beam (1) and seedling picking claws (2) arranged in a linear array on the movable beam (1), a driving mechanism (3) for driving the movable beam (1) to perform multi-axis motion, and a stepping driving mechanism (4) for driving the pepper seedling tray (a) to move; characterized in that: The driving mechanism (3) comprises a first slide rail (31) and a second slide rail (32) arranged in an L shape, and also comprises a connecting rod (33), a driving rod (34), a driving motor (35), and a first slider (36) and a second slider (37) respectively sliding with the first slide rail (31) and the second slide rail (32); the two ends of the connecting rod (33) and the two ends of the movable beam (1) are respectively rotatably connected to the first slider (36) and the second slider (37); One end of the driving rod (34) is rotatably connected to the connecting rod (33), and the other end is fixed on the output shaft of the driving motor (35). The length of the driving rod (34) is half the length of the connecting rod (33).

2. The seedling removal device for pepper seedlings in pots according to claim 1, characterized in that: The first slide rail (31) and the second slide rail (32) are both structures that are connected from top to bottom; the first slider (36) and the second slider (37) are respectively provided with a first shaft (38) and a second shaft (39); the two ends of the connecting rod (33) are respectively connected to the upper ends of the first shaft (38) and the second shaft (39); the first shaft (38) and the second shaft (39) respectively extend downward from the corresponding sliders, and the two ends of the movable beam (1) are respectively slidably connected relative to the lower ends of the first shaft (38) and the second shaft (39); the driving mechanism (3) also includes a lifting driving mechanism for driving the movable beam (1) to move up and down.

3. The seedling removal device for pepper seedlings in pots according to claim 2, characterized in that: The lifting drive mechanism comprises a lifting drive unit (310), and also comprises a fixed beam (311) erected and fixed between the first shaft (38) and the second shaft (39); the lifting drive unit (310) has a fixed seat fixed on the fixed beam (311) and a telescopic rod connected to the movable beam (1).

4. The seedling removal device for pepper seedlings in pots according to claim 1, characterized in that: The seedling picking claw hand (2) comprises a first claw portion (21), a second claw portion (22) and a rotating shaft (23); the rotating shaft (23) is fixed to the side of the rotating shaft (23), and the first claw portion (21) and the second claw portion (22) are both rotatably matched with the rotating shaft (23); The first claw portion (21) and the second claw portion (22) have the same structure, and both comprise a rotating portion (2a), a clamping rod (2b) fixed at the front lower end of the rotating portion (2a), and a control rod (2c) fixed at the rear upper end of the rotating portion (2a).

5. The seedling removal device for pepper seedlings in pots according to claim 4, characterized in that: A first sliding member (51) and a second sliding member (52) are mounted on the movable beam (1); the first sliding member (51) and the second sliding member (52) are respectively provided with a first strip hole (51a) and a second strip hole (52a); the control rod member (2c) corresponding to each of the first claws (21) is respectively placed in an independent first strip hole (51a), and the control rod member (2c) corresponding to each of the second claws (22) is respectively placed in a corresponding independent second strip hole (52a); the first sliding member (51) and the second sliding member (52) slide in opposite directions at the same speed.

6. The seedling removal device for pepper seedlings in pots according to claim 5, characterized in that: The first sliding member (51) and the second sliding member (52) are both provided with teeth, and the teeth on the two members are opposite to each other; a gear (53) is installed between the first sliding member (51) and the second sliding member (52) to mesh with the teeth on the two members; the gear (53) is driven to operate by a second motor (54).

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