A pepper pot seedling taking device

Abstract

The application discloses a pepper pot seedling taking device, which comprises a movable beam, seedling taking claws arranged in a straight line on the movable beam, a driving mechanism for driving the movable beam to move in multiple axes, and a stepping pushing mechanism for driving the pepper pot seedling disc to move; the driving mechanism comprises a first sliding rail and a second sliding rail arranged in an L shape, a connecting rod, a driving rod, a driving motor, a first sliding block and a second sliding block which are respectively arranged to slide on the first sliding rail and the second sliding rail; the two ends of the connecting rod and the two ends of the movable beam are respectively connected with the first sliding block and the second sliding block; one end of the driving rod is connected with the connecting rod, and the other end is fixed on the output shaft of the driving motor; the length of the driving rod is half of the length of the connecting rod. In the application, the stability of the overall movement of the movable beam is high, the movement of the two ends of the movable beam is balanced, the swinging of each seedling taking claw is reduced as much as possible, and the problem that the pepper seedlings are unevenly stressed when being grabbed by each seedling taking claw during the movement of the movable beam is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural transplanting machinery, in particular to a pepper pot seedling taking device. BACKGROUND

[0002] Pepper is an important economic crop and is widely planted worldwide. Its production efficiency and quality are directly related to farmers' income and market supply. Traditional pepper planting relies on manual seedling and transplanting, which is labor-intensive and inefficient, making it 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 robust seedlings in advance under greenhouse or protected land conditions, and then transplants these seedlings together with nutrient soil blocks (i.e., pot seedlings) to the field. This not only improves seedling survival rate but also promotes early growth, enabling crops to enter the fruiting stage more quickly, thereby achieving the purpose of increasing yield and income. In addition, pot seedling transplanting can effectively prevent soil-borne diseases and reduce pesticide use, which is beneficial to environmental protection and agricultural product safety. However, existing pot seedling taking equipment has problems such as unstable taking 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, the three axes cooperate to move for seedling taking operation, which is very low in efficiency. Therefore, many schemes use multiple clamping jaws to take seedlings in a row. However, the efficiency of translation is still low when taking seedlings in a row. Therefore, in some schemes, all clamping jaws are installed on a cantilever beam rotating arm. However, the structure of the rotating arm has the problems of poor stability and uneven force on the pepper seedlings grabbed by each seedling taking clamping jaw. The farther the clamping jaw is from the center of rotation, the greater the centrifugal force it receives, which can easily throw away the pepper seedlings or cause damage to the seedlings. SUMMARY

[0004] The present application provides a pepper pot seedling taking device that is stable and efficient.

[0005] Technical solution: To achieve the above-mentioned purpose, the pepper pot seedling taking device of the present application comprises a movable beam and seedling taking claws arranged in a straight line array on the movable beam, a driving mechanism for driving the movable beam to move in multiple axes, and a stepping pushing mechanism for driving the movement of the pepper pot seedling tray.

[0006] The driving mechanism comprises a first sliding rail and a second sliding rail arranged in an L shape, a connecting rod, a driving rod, a driving motor, and a first slider and a second slider sliding with the first sliding rail and the second sliding rail respectively; the first sliding rail is arranged horizontally, and the second sliding rail is arranged vertically; two ends of the connecting rod and 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 an output shaft of the driving motor; the length of the driving rod is half the length of the connecting rod; in a top view, the output shaft of the driving motor is located at a corner position of the first sliding rail and the second sliding rail; during operation, the pepper seedlings on the pepper pot seedling tray pass under the first sliding rail, and the second sliding rail and the remaining pepper seedlings on the pepper pot seedling tray are located on both sides of the first sliding rail; thus, the movable beam transplants the pepper seedlings away from the remaining pepper seedlings on the pepper pot seedling tray, without affecting the remaining pepper seedlings on the pepper pot seedling tray.

[0008] One row of seedling throwing openings is located at the side of the stepping pushing mechanism, and the arrangement direction of the seedling throwing openings is perpendicular to the movement direction of the pepper pot seedling tray pushed by the stepping pushing mechanism; in an initial state, the first slider is located at an end of the first sliding rail, the second slider is located at a corner position, the movable beam is perpendicular to the movement direction of the pepper pot seedling tray, i.e., in a horizontal state, and one row of seedling taking claws on the movable beam correspond to one horizontal row of pepper seedlings on the pepper pot seedling tray; after the seedlings are taken by the seedling taking claws, the driving motor drives the driving rod to rotate forward; during the rotation of the driving rod, the first slider and the second slider slide along the first sliding rail and the second sliding rail respectively, until the second slider is located at an end of the second sliding rail, and the first slider reaches the corner position; at this time, the movable beam is in a vertical state, and in a top view, the movable beam is located at the side of the stepping pushing mechanism, and each seedling taking claw has a corresponding seedling throwing opening below; the seedling taking claws can throw the pepper seedlings into the corresponding seedling throwing openings; after the seedlings are released by the seedling taking claws, the driving motor drives the driving rod to rotate reversely, so that the first slider and the second slider return to the initial positions respectively.

[0009] Further, the first sliding rail and the second sliding rail are both through structures vertically; the first slider and the second slider respectively have a first shaft and a second shaft; two ends of the connecting rod are respectively connected to upper ends of the first shaft and the second shaft; the first shaft and the second shaft respectively extend downward from the corresponding sliders; two ends of the movable beam are respectively slidably connected to lower ends of the first shaft and the second shaft; the driving mechanism further comprises a lifting driving mechanism for driving the movable beam to lift.

[0010] With the above structure, the connecting rod, the driving rod and the driving motor are arranged above the slide rail, and the movable beam and the seedling taking claw hand are arranged below the slide rail, so that the movable beam and the seedling taking claw hand do not interfere with each other, sufficient longitudinal space is left for the seedling taking operation, and the seedling taking operation is not interfered.

[0011] Further, the lifting driving mechanism comprises a lifting driving unit which is an electric cylinder or an oil cylinder, and a fixed beam fixed between the first shaft and the second shaft; the lifting driving unit has a fixed seat fixed on the fixed beam and a telescopic rod connected to the movable beam.

[0012] Further, the seedling taking claw hand comprises a first claw part, a second claw part and a rotating shaft; the rotating shaft is fixed on the side of the rotating shaft, and the first claw part and the second claw part are both in rotating cooperation with the rotating shaft.

[0013] The first claw part and the second claw part have the same structure, and each comprises a rotating part, a clamping rod fixed on the lower end of the front side of the rotating part, and a control rod fixed on the upper end of the rear side of the rotating part.

[0014] Further, the movable beam is provided with a first sliding part and a second sliding part; the first sliding part and the second sliding part are respectively provided with a first slot and a second slot; the control rod corresponding to each first claw part is arranged in a separate first slot, and the control rod corresponding to each second claw part is arranged in a separate second slot corresponding to each first claw part; the first sliding part and the second sliding part slide at the same speed in opposite directions.

[0015] Further, the first sliding part and the second sliding part are respectively provided with a tooth part, and the tooth parts on the first sliding part and the second sliding part are opposite to each other; a gear meshing with the tooth parts on the first sliding part and the second sliding part is arranged between the first sliding part and the second sliding part; the gear is driven to rotate by a second motor.

[0016] With the above structure, by controlling the forward and reverse rotation of the central shaft of the second motor, all the seedling taking claw hands can be opened and closed synchronously, the synchronization of seedling taking and seedling releasing is good, and the cost and the failure rate can be reduced.

[0017] The side of the step pushing mechanism is provided with a guide piece, the guide piece has an outer side plate, a plurality of vertical partition plates are fixed on the outer side plate, a baffle is fixed on the movable beam, and the baffle blocks the part of the clamping rod on the upper side of the seedling claw hand from the rear side. In the initial state, the movable beam is horizontally arranged, the seedling clamping operation is performed from the front side of the baffle, and the baffle can prevent branches and leaves of the pepper seedlings from entering the inside of the mechanism and being damaged. Then, the lifting driving unit drives the movable beam to rise, so that the root part of the pepper seedling is separated from the pepper pot seedling disc. Then, the driving motor drives the driving rod to be transmitted in a positive direction, and drives the movable beam to change from the horizontal state to the vertical state. At this time, the baffle is located on the opposite side of the outer side plate, the baffle, the outer side plate and the partition plate enclose the seedling throwing opening, the pepper seedling is released by the seedling claw hand, and each pepper seedling slides along the corresponding seedling throwing opening, so that the accuracy of seedling throwing can be ensured.

[0018] Beneficial effects: the pepper pot seedling taking device has the following beneficial effects: the movable beam has a sliding block support on both sides, and the two sliding blocks move along two mutually perpendicular sliding rails, so that, on the one hand, the stability of the overall movement of the movable beam is high, and the movement of the two ends of the movable beam is balanced, thereby reducing the swinging of each seedling claw hand as much as possible, reducing the problem of uneven force on the pepper seedlings grasped by each seedling claw hand when the movable beam moves, and preventing the pepper seedlings from being thrown off and preventing seedling damage. BRIEF DESCRIPTION OF DRAWINGS

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

[0020] Figure 2 It is a perspective view of other parts of the seedling taking device except the step pushing mechanism;

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

[0022] Figure 4 It is Figure 3 It is an enlarged structure diagram of part A;

[0023] Figure 5 It is a partial enlarged view of the seedling claw hand part;

[0024] Figure 6 It is a first state view of the seedling taking device from the bottom;

[0025] Figure 7 It is a second state view of the seedling taking device from the bottom;

[0026] Figure 8 It is a third state view of the seedling taking device from the bottom.

[0027] In the diagram: 1-Moving beam; 2-Seedling claw; 21-First claw; 22-Second claw; 23-Rotating shaft; 2a-Rotating part; 2b-Clamping rod; 2c-Control rod; 3-Drive mechanism; 31-First slide rail; 32-Second slide rail; 33-Connecting rod; 34-Drive rod; 35-Drive motor; 36-First slider; 37-Second slider; 38-First shaft; 39-Second shaft; 310-Lifting drive unit; 311-Fixed beam; 4-Stepping push 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 side plate; 62-Partition; 7-Baffle; a-Chili seedling tray. Detailed Implementation

[0028] The invention will now be further described with reference to the accompanying drawings.

[0029] like Figure 1 The chili seedling picking device shown includes a movable beam 1 and seedling picking claws 2 arranged in a linear array on the movable beam 1, as well as a drive mechanism 3 that drives the movable beam 1 to perform multi-axis motion, and a stepping push mechanism 4 that drives the chili 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 that slide 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 respectively rotatably connected to the first slider 36 and the second slider 37;

[0031] One end of the drive rod 34 is rotatably connected to the connecting rod 33, and the other end is fixed to the output shaft of the drive motor 35. The length of the drive rod 34 is half the length of the connecting rod 33. In a top-view orientation, the output shaft of the drive motor 35 is located at the corner of the first slide rail 31 and the second slide rail 32. During operation, the chili seedlings in the chili seedling tray a pass in rows below the first slide rail 31. The second slide rail 32 and the remaining chili seedlings in the chili seedling tray a are located on either side of the first slide rail 31. Thus, the movable beam 1 transplants the chili seedlings away from the remaining chili seedlings in the chili seedling tray a, without affecting the remaining chili seedlings in the chili seedling tray a.

[0032] A row of seedling dropping openings is located at the side of the step pushing mechanism 4, and the arrangement direction of the seedling dropping openings is perpendicular to the movement direction of the step pushing mechanism 4 for pushing the pepper pot seedling tray a. In the initial state, the first sliding block 36 is located at the end of the first sliding rail 31, the second sliding block 37 is located at the corner position, the movable beam 1 is perpendicular to the movement direction of the pepper pot seedling tray a, that is, in the horizontal state, and one row of seedling gripping hands 2 on the movable beam 1 correspond to one horizontal row of pepper seedlings on the pepper pot seedling tray a; after the seedling gripping hands 2 take the seedlings, the driving motor 35 drives the driving rod 34 to rotate forward, in the process of rotation of the driving rod 34, the first sliding block 36 and the second sliding block 37 slide along the first sliding rail 31 and the second sliding rail 32 respectively, until the second sliding block 37 is located at the end of the second sliding rail 32, and the first sliding block 36 reaches the corner position, at this time, the movable beam 1 is in the vertical state, and in the top view direction, the movable beam 1 is located at the side of the step pushing mechanism 4, and each seedling gripping hand 2 has a corresponding seedling dropping opening below, and the seedling gripping hand 2 can deliver the pepper seedlings to the corresponding seedling dropping opening. After the seedling gripping hand 2 releases the seedlings, the driving motor 35 drives the driving rod 34 to rotate reversely, so that the first sliding block 36 and the second sliding block 37 return to the initial positions respectively.

[0033] By adopting the above structure, the movable beam 1 has sliding blocks on both sides, and the two sliding blocks move along two mutually perpendicular sliding rails, so that, on the one hand, the stability of the overall movement of the movable beam 1 is high, and the movement of the two ends of the movable beam 1 is balanced, so as to reduce the swing of each seedling gripping hand 2 as much as possible, so as to reduce the problem of uneven force on the pepper seedlings gripped by each seedling gripping hand 2 when the movable beam 1 moves, and prevent the pepper seedlings from being thrown off and prevent the seedlings from being damaged.

[0034] Preferably, the first sliding rail 31 and the second sliding rail 32 are both through structures from top to bottom; the first sliding block 36 and the second sliding block 37 respectively have 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 sliding blocks, and the two ends of the movable beam 1 are respectively slidably connected to the lower ends of the first shaft 38 and the second shaft 39; the driving mechanism 3 further comprises a lifting driving mechanism for driving the lifting movement of the movable beam 1.

[0035] By adopting the above structure, the connecting rod 33, the driving rod 34 and the driving motor 35 are arranged above the sliding rails, and the movable beam 1 and the seedling gripping hands 2 are arranged below the sliding rails, so that they do not interfere with each other, and sufficient longitudinal space can be left for the seedling taking operation, and the seedling taking operation is not disturbed.

[0036] Preferably, the lifting driving mechanism comprises a lifting driving unit 310, which is an electric cylinder or an oil cylinder, and a fixed beam 311 fixed between the first shaft 38 and the second shaft 39; the lifting driving 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 taking claw hand 2 comprises a first claw part 21, a second claw part 22 and a rotating shaft 23; the rotating shaft 23 is fixed on the side of the rotating shaft 23, and the first claw part 21 and the second claw part 22 are both rotationally connected to the rotating shaft 23.

[0038] As shown in Figure 4 With Figure 5 The first claw part 21 and the second claw part 22 are the same in structure, both comprising a rotating part 2a, a clamping rod 2b fixed on the lower front end of the rotating part 2a, and a control rod 2c fixed on the upper rear end of the rotating part 2a.

[0039] Preferably, the movable beam 1 is provided with a first sliding part 51 and a second sliding part 52; the first sliding part 51 and the second sliding part 52 are respectively provided with a first strip-shaped hole 51a and a second strip-shaped hole 52a; the control rod 2c of each first claw part 21 is respectively arranged in a separate first strip-shaped hole 51a, and the control rod 2c of each second claw part 22 is respectively arranged in a separate second strip-shaped hole 52a corresponding to the first strip-shaped hole 51a; the first sliding part 51 and the second sliding part 52 slide at the same speed in opposite directions.

[0040] Preferably, the first sliding part 51 and the second sliding part 52 are respectively provided with a tooth part, and the tooth parts on the first sliding part 51 and the second sliding part 52 are opposite to each other; a gear 53 meshing with the tooth parts on the first sliding part 51 and the second sliding part 52 is arranged between the first sliding part 51 and the second sliding part 52; the gear 53 is driven to rotate by a second motor 54.

[0041] With the above structure, by controlling the forward and reverse rotation of the central shaft of the second motor 54, all the seedling taking claw hands 2 can be opened and closed synchronously, the synchronization of seedling taking and releasing is good, and the cost and the failure rate can be reduced.

[0042] The step pushing mechanism 4 is provided with a guide 6 on the side, the guide 6 has an outer side plate 61, and a plurality of vertical partition plates 62 are fixed on the outer side plate 61; the movable beam 1 is provided with a baffle 7, and the baffle 7 blocks the part on the upper side of the clamping rod 2b of the seedling taking claw hand 2 on the rear side. In the initial state, as shown in Figure 6As shown, the movable beam 1 is horizontally placed, the clamping rod 2b performs the clamping operation from the front side of the baffle 7, and the baffle 7 can prevent branches and leaves of the pepper seedlings from entering the inside of the mechanism and being damaged; then, the lifting driving unit 310 drives the movable beam 1 to rise, so that the root part of the pepper seedlings is separated from the pepper pot seedling disc a, and then, the driving motor 35 drives the driving rod 34 to be transmitted in a positive direction, and the movable beam 1 is changed from the horizontal state to the vertical state (as shown in Figures 6 to 8 The process of changing from the horizontal state to the vertical state is shown), at this time, the baffle 7 is located at the opposite side of the outer side plate 61, the baffle 7, the outer side plate 61 and the partition plate 62 enclose the seedling dropping opening, the seedling claw hand 2 releases the pepper seedlings, and each pepper seedling slides along the corresponding seedling dropping opening, so that the accuracy of the seedling dropping can be ensured.

[0043] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled persons in the technical field, some improvements and refinements can be made without departing from the principles of the present application, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

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

2. The seedling-taking device for chili seedlings according to claim 1, characterized in that, The first slide rail (31) and the second slide rail (32) are both vertically continuous structures; 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) 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.

3. The seedling-taking device for chili seedlings according to claim 2, characterized in that, The lifting drive mechanism includes a lifting drive unit (310) and a fixed beam (311) mounted 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 connecting the movable beam (1).

4. The seedling-taking device for chili seedlings according to claim 1, characterized in that, The seedling-picking claw (2) includes a first claw part (21), a second claw part (22), and a rotating shaft (23); the first claw part (21) and the second claw part (22) are both rotatably engaged with the rotating shaft (23); The first claw (21) and the second claw (22) have the same structure, each including a rotating part (2a), a clamping rod (2b) fixed to the lower front end of the rotating part (2a), and a control rod (2c) fixed to the upper rear end of the rotating part (2a).

5. The seedling-taking device for chili seedlings according to claim 4, characterized in that, The movable beam (1) is equipped with a first sliding member (51) and a second sliding member (52); 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 (2c) corresponding to each first claw (21) is placed in an independent first strip hole (51a), and the control rod (2c) corresponding to each second claw (22) is placed in an 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-taking device for pepper potted seedlings according to claim 5, characterized in that, The first sliding member (51) and the second sliding member (52) each have teeth, and the teeth on the two are opposite 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 both; the gear (53) is driven to operate by the second motor (54).

Images