Floating tray seedling top clamping type automatic seedling taking device and method

Abstract

The invention provides a floating tray seedling top clamping type automatic seedling taking device and method. The floating tray seedling top clamping type automatic seedling taking device comprises a rack, an ejection mechanism, a seedling taking mechanism, a sliding mechanism, an empty tray recycling mechanism and a feeding mechanism. The rack is provided with a feeding mechanism, the feeding mechanism is used for conveying floating trays from front to back, and the ejection mechanism is arranged at the front end of the rack, located below the floating trays and used for ejecting floating tray seedlings of the floating trays; the seedling taking mechanism is located above the floating tray and used for clamping floating tray seedlings, the top of the seedling taking mechanism is connected with the sliding mechanism, the sliding mechanism is arranged at the top of the rack, and the sliding mechanism can drive the seedling taking mechanism to move left, right, front and back; the empty tray recycling mechanism is arranged at the rear end of the rack and used for recycling the floating trays. According to the invention, automatic feeding, automatic seedling taking and throwing can be realized, empty trays can be recycled, the problem of'inorganic availability 'in the existing floating tray seedling mechanical seedling taking field can be effectively solved, the seedling taking efficiency and quality are improved, and the production cost is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of floating tray seedling transplanting and seedling retrieval, and in particular relates to a floating tray seedling top clamp type automatic seedling retrieval device and method. Background Art

[0002] In the development process of modern agricultural plug seedling transplanting technology, floating seedling technology has been widely used in the seedling field of crops such as tobacco, vegetables, and flowers due to its many advantages such as high efficiency, water saving, and labor saving. Floating seedling is to float the foam plug tray filled with lightweight seedling substrate in a seedling pool containing complete nutrient solution to provide good environmental conditions for seedling growth.

[0003] At present, in the transplanting process of floating tray seedlings, most of them still rely on manual seedling retrieval operations. There are many obvious disadvantages of manual seedling retrieval. First, the labor intensity is high, especially in the case of large-scale seedling cultivation, which requires a lot of manpower and time costs. Secondly, the efficiency of seedling retrieval is low, and it is difficult to meet the requirements of modern large-scale agricultural production for transplanting speed and efficiency, resulting in an extension of the transplanting cycle, affecting the growth cycle and time to market of crops. In particular, the quality of manual seedling retrieval is uneven. Due to differences in the proficiency of operators and operating specifications, it is easy to cause damage to the root system of the seedlings, reduce the survival rate of the seedlings and the growth quality after transplanting, and thus affect the yield and quality of the crops.

[0004] With the continuous advancement of agricultural modernization, higher requirements are placed on the automation and intelligence level of agricultural production. The automated seedling removal device can realize efficient and accurate seedling removal operations, improve the efficiency and quality of seedling removal, and reduce labor intensity and production costs. However, some existing seedling removal devices still have some technical difficulties when removing seedlings from floating tray seedlings. For example, the hole size of the existing floating tray is small, and the seedling removal claws of the existing fully automatic seedling removal technology cannot be applied. Since the roots of the floating tray seedlings grow entangled in the matrix and the matrix has a loose texture, the existing devices are also difficult to achieve non-destructive and complete seedling removal of the seedlings. At the same time, in terms of the speed and accuracy of seedling removal, it is also difficult to meet the needs of large-scale and continuous production.

[0005] In addition, the increasing shortage of agricultural labor and the continuous rise in labor costs also urgently require the development of an efficient and reliable automatic seedling removal device for floating tray seedlings to achieve the transformation and upgrading of agricultural production and improve the competitiveness and sustainable development capabilities of agricultural production.

[0006] In summary, designing an efficient, precise, non-destructive or low-destructive automatic seedling removal device for floating tray seedlings has important practical significance and broad application prospects for promoting the development of modern agricultural mechanized transplanting technology, improving agricultural production efficiency and quality, and reducing production costs. Summary of the invention

[0007] In view of the above technical problems, an object of the present invention is to provide a floating tray seedling top clamp type automatic seedling retrieval device to improve the efficiency and quality of seedling retrieval and reduce production costs.

[0008] Another object of the present invention is to provide a floating tray seedling top clamp type automatic seedling retrieval device which can automatically feed, automatically retrieve and drop seedlings, and can recycle empty trays, thereby effectively solving the problem of "no available machinery" faced by the existing floating tray seedling cultivation mechanized seedling retrieval field.

[0009] Another object of the present invention is to provide a seedling retrieval method of a floating tray seedling top clamp type automatic seedling retrieval device, which can effectively reduce the damage to the matrix and the floating tray seedlings, make the matrix easier to push out, thereby improving the transplanting efficiency.

[0010] Note that the description of these objectives does not prevent the existence of other objectives. One embodiment of the present invention does not need to achieve all of the above objectives. Objectives other than the above objectives can be extracted from the description of the specification, drawings, and claims.

[0011] The present invention is achieved through the following technical solutions:

[0012] A floating tray seedling top clamp type automatic seedling taking device, comprising a frame, an ejection mechanism, a seedling taking mechanism, a sliding mechanism, an empty tray recovery mechanism and a feeding mechanism;

[0013] The frame is provided with a feeding mechanism, which is used to transport the floating tray from front to back. The ejecting mechanism is arranged at the front end of the frame and below the floating tray, and is used to eject the floating tray seedlings from the floating tray; the seedling taking mechanism is located above the floating tray, and is used to clamp the floating tray seedlings. The top of the seedling taking mechanism is connected with the sliding mechanism, and the sliding mechanism is arranged on the top of the frame. The sliding mechanism can drive the seedling taking mechanism to move left and right, forward and backward; the empty tray recovery mechanism is arranged at the rear end of the frame and is used to recover the floating tray.

[0014] The above scheme also includes a control unit; the control unit is respectively connected to the ejection mechanism, the seedling removal mechanism, the empty tray recovery mechanism and the feeding mechanism.

[0015] In the above scheme, the frame includes a left side plate, a main frame, a right side plate and a U-shaped cross brace;

[0016] The left side plate and the right side plate are arranged symmetrically, the main frame is arranged above the left side plate and the right side plate, one side of the main frame is connected to the left side plate, and the other side is connected to the right side plate; U-shaped cross braces are respectively arranged on the front and rear sides between the left side plate and the right side plate;

[0017] The feeding mechanism is installed between the left side plate and the right side plate;

[0018] The ejection mechanism is connected to the U-shaped cross brace on the front side between the left plate and the right plate;

[0019] The empty tray recovery mechanism is connected to the U-shaped cross brace at the rear side between the left side plate and the right side plate;

[0020] The sliding mechanism is arranged on the top of the main frame.

[0021] The above scheme also includes a seedling guide tube and a frame support plate;

[0022] The seedling guide tube is arranged on the outside of the right side plate and connected to the right side plate through an L-shaped bracket;

[0023] The other side of the main frame is connected to the right side plate through a frame support plate.

[0024] In the above scheme, the ejection mechanism includes a plurality of ejector rods, an ejection base plate, a double-rod cylinder, a rodless cylinder and a first displacement sensor;

[0025] The double-rod cylinder is connected to the rodless cylinder, and the rodless cylinder is used to drive the double-rod cylinder to move left and right; the bottom of the ejection base plate is connected to the double-rod cylinder, and multiple ejector rods are arranged in a row on the top of the ejection base plate; the rodless cylinder can move left and right, thereby driving the double-rod cylinder to move, which is convenient for taking out the seedlings in a whole row. The extension and retraction of the double-rod cylinder can make the ejector rod move up and down, making it easier to eject the floating tray seedlings; the first displacement sensor is connected to the control unit, and the first displacement sensor is used to detect the displacement signal of the rodless cylinder moving left and right and transmit it to the control unit.

[0026] In the above scheme, the seedling picking mechanism includes a U-shaped plate, a slide plate, a seedling picking bracket, a seedling picking clamp bracket, a thin cylinder, two round steel transverse axes I, a round steel transverse axis II, a seedling picking clamp round steel, multiple pairs of seedling picking claws, multiple springs, multiple seedling picking clamp bushings, a second displacement sensor and a speed sensor;

[0027] The upper and lower ends of the seedling bracket are provided with a transversely arranged round steel horizontal axis I, and the middle of the seedling bracket is provided with a transversely arranged round steel horizontal axis II, and the round steel horizontal axis II is located between the two round steel horizontal axes I; a plurality of seedling clamp brackets are longitudinally arranged in pairs in the seedling bracket, and the upper ends are connected to the round steel horizontal axis I and the round steel horizontal axis II; one of each pair of seedling clamp brackets is connected to the round steel horizontal axis I and the round steel horizontal axis II and is locked by the seedling clamp bushing so as not to move, and the other is slidably connected to the round steel horizontal axis I and the round steel horizontal axis II and can move along the round steel horizontal axis I and the round steel horizontal axis II; a spring is provided on the round steel horizontal axis II between each pair of seedling clamp brackets; seedling claws are respectively provided at the lower ends of the seedling clamp brackets, and the seedling claws of each pair of seedling clamp brackets are arranged relatively;

[0028] The telescopic rod of the thin cylinder is connected to one end of the round steel horizontal axis II, and the telescopic movement of the thin cylinder pushes the round steel horizontal axis II to move left and right, thereby pushing the seedling claw on one side to move to the other side, thereby clamping the floating tray seedlings;

[0029] The second displacement sensor and speed sensor are connected to the control unit respectively. The second displacement sensor is used to monitor the displacement of the seedling picking claws when clamping the seedlings and transmit the displacement signal to the control unit; the speed sensor is used to monitor the moving speed of the round steel horizontal axis II and transmit it to the control unit.

[0030] In the above scheme, the sliding mechanism includes a rack, a gear, a cylinder, a cross brace and a pulley motor;

[0031] The rack and the cross brace are both transversely mounted on the top of the main frame and arranged horizontally, one end of the cylinder is connected to the cross brace, and the other end is connected to the rack;

[0032] The pulley motor is located on the seedling picking mechanism, and the output shaft of the pulley motor is provided with a gear, which is meshed with the rack. The pulley motor is used to drive the gear to move along the rack, thereby driving the seedling picking mechanism to move left and right to realize seedling picking and throwing;

[0033] The extension and retraction of the cylinder can drive the rack to move forward and backward, thereby driving the seedling taking mechanism to move forward and backward.

[0034] In the above scheme, the empty tray recovery mechanism includes an empty tray recovery cylinder, an empty tray recovery transition plate, an empty tray recovery bottom plate, an L bracket, a flip block, a flip bracket and a pin shaft;

[0035] One end of the empty tray recovery cylinder is connected to the U-shaped cross brace, and the other end is connected to the empty tray recovery transition plate, and the empty tray recovery transition plate is connected to the empty tray recovery bottom plate;

[0036] The left and right plates on both sides of the empty tray recovery bottom plate are respectively provided with a flip block, one end of the flip block is provided with an L bracket, and the other end can be flipped with the L bracket as a fulcrum, and flip brackets are respectively provided on both sides of the flip block, and the pin shaft is located at the bottom of the flip block, and the two ends are respectively connected to the flip bracket;

[0037] The height of the empty disc recovery bottom plate is lower than that of the flip block. The extension and retraction of the empty disc recovery cylinder controls the up and down movement of the floating disc. During the upward movement, when the two sides of the floating disc pass through the flip block, the flip block flips with the L bracket as the fulcrum. After the floating disc passes the flip block, the flip block returns to its original position, and the empty disc recovery cylinder controls the floating disc to move down and place it on the flip block.

[0038] In the above scheme, the feeding mechanism includes a synchronous pulley, a synchronous belt, a pulley connecting shaft, a tensioning shaft, a tensioning adjustment device, an adjustment plate and a tensioning pulley;

[0039] The left plate and the right plate are symmetrically provided with synchronous pulleys on the front and rear sides; there are two synchronous belts, which form a synchronous belt transmission with the synchronous pulleys; the synchronous pulleys on both sides are respectively connected to the pulley connecting shaft through bearings to ensure the stability and reliability of the transmission system; the pulley connecting shaft is connected to the driving mechanism to drive the synchronous belt to rotate and realize the feeding of the floating disc;

[0040] The tensioning wheel is installed in the middle of the left plate and the right plate, and the two ends of the tensioning shaft are connected to the tensioning wheel through deep groove ball bearings respectively; the pulley connecting shaft at the rear end passes through the right plate and is connected to the adjustment plate, and the tensioning adjustment device passes through the adjustment plate to support the bearing and is fastened by bolts.

[0041] An operating method according to the floating tray seedling top clamp type automatic seedling taking device comprises the following steps:

[0042] The control unit controls the feeding mechanism to transport the drift plate from front to back, and the control unit controls the sliding mechanism to move forward a certain distance.

[0043] When the floating tray and the seedling taking mechanism reach the preset position, the control unit controls the ejection mechanism to eject the floating tray seedlings from the floating tray, and controls the seedling taking mechanism to clamp the floating tray seedlings. The seedling taking is completed at one time, and the control unit controls the sliding mechanism to move backward a certain distance, and drives the seedling taking mechanism to move to the left or right to complete the seedling placement;

[0044] The control unit controls the feeding mechanism to transport the floating tray from front to back until the seedlings of a tray of floating tray are taken out, and the control unit controls the empty tray recovery mechanism to recover the floating tray.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] In one embodiment of the present invention, a floating tray seedling top clamp type automatic seedling retrieval device is provided to improve the efficiency and quality of seedling retrieval and reduce production costs.

[0047] In one embodiment of the present invention, the present invention can automatically feed, automatically take out, and drop seedlings, and can recycle empty trays, which can effectively solve the problem of "no machine available" faced by the existing floating tray seedling cultivation and mechanized seedling taking field.

[0048] In one embodiment of the present invention, the ejection mechanism, under the control of the double-rod cylinder, can eject the floating tray seedlings at a uniform speed without the need for manual speed control, and adopts the method of intermittent ejection and multiple plants at a time. After one seedling ejection is completed, it moves to the position for the next seedling ejection under the action of the rodless cylinder.

[0049] In one embodiment of the present invention, the power of the seedling removal mechanism of the present invention is transmitted by a pulley motor, and the left and right movements are achieved through gear meshing transmission to complete the removal of a whole row of seedlings, and the forward and backward movements are achieved through the extension and contraction of the cylinder to complete the seedling planting.

[0050] In one embodiment of the present invention, the present invention has an empty disc recovery device. When working, the empty disc recovery cylinder transmits power to transport the empty floating disc upward to the flip block, and can gradually accumulate the empty discs upward, without the need for manual closing of the discs, which can reduce labor costs.

[0051] Note that the description of these effects does not prevent the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 It is a schematic diagram of the overall structure of a floating tray seedling top clamp type automatic seedling taking device according to one embodiment of the present invention.

[0054] Figure 2 It is a schematic structural diagram of an ejection mechanism according to an embodiment of the present invention.

[0055] Figure 3 The present invention is a schematic diagram of the structure of a seedling removal mechanism according to an embodiment of the present invention.

[0056] Figure 4 It is a schematic diagram of the sliding mechanism structure according to one embodiment of the present invention.

[0057] Figure 5 It is a schematic structural diagram of an empty tray recovery mechanism according to one embodiment of the present invention.

[0058] Figure 6 for Figure 5 Schematic diagram of the structure at A.

[0059] Figure 7 for Figure 5 Schematic diagram of the structure at B.

[0060] Figure 8 It is a schematic structural diagram of a feeding mechanism according to one embodiment of the present invention.

[0061] Fig. 9 The figure is a schematic diagram of the floating plate structure according to one embodiment of the present invention.

[0062] Fig.10 The present invention is a schematic structural diagram of a seedling guide tube according to an embodiment of the present invention.

[0063] Fig.11 It is a schematic structural diagram of the right side panel according to one embodiment of the present invention.

[0064] Fig.12 The present invention is a schematic diagram of the working process of the seedling taking mechanism according to one embodiment of the present invention.

[0065] Fig.13 The figure is a schematic diagram of the overall device working process according to one embodiment of the present invention.

[0066] In the figure: 1-floating plate, 2-ejection mechanism, 201-elevator, 202-elevation bottom plate, 203-double-rod cylinder, 204-rodless cylinder, 3-left side plate, 4-main frame, 5-seedling mechanism, 501-U-shaped plate, 502-slide plate, 503-seedling clamp bracket, 504-thin cylinder, 505-round steel horizontal axis I, 506-round steel horizontal axis II, 507-seedling clamp round steel, 508-seedling claw, 509-spring, 510-seedling clamp bushing, 6-sliding mechanism, 601-rack, 602-gear, 603-cylinder, 604-cross brace, 605-pulley motor, 7-air Disc recovery mechanism, 701-empty disc recovery cylinder, 702-empty disc recovery transition plate, 703-empty disc recovery bottom plate, 704-L bracket, 705-flip block, 706-flip bracket, 707-pin shaft, 8-feed mechanism, 801-synchronous pulley, 802-synchronous belt, 803-pulley tensioning shaft, 804--tensioning shaft, 805-tensioning adjustment device, 806-adjusting plate, 807-tensioning wheel, 9-right side plate, 901-knife-shaped hole, 902-notch, 903-limiting bracket, 10-frame support plate, 11-seedling guide tube, 12-U-shaped cross brace, 13-L-shaped bracket. DETAILED DESCRIPTION

[0067] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0068] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0069] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0070] Figure 1 The figure shows a preferred embodiment of the floating tray seedling top clamp type automatic seedling taking device of the present invention, wherein the floating tray seedling top clamp type automatic seedling taking device comprises a frame, an ejection mechanism 2, a seedling taking mechanism 5, a sliding mechanism 6, an empty tray recovery mechanism 7, a feeding mechanism 8 and a control unit;

[0071] The frame is provided with a feeding mechanism 8, which is used to transport the floating tray 1 from front to back, and the floating tray 1 is used to cultivate and load the floating tray seedlings; the ejection mechanism 2 is arranged at the front end of the frame and below the floating tray 1, and is used to eject the floating tray seedlings of the floating tray 1; the seedling taking mechanism 5 is located above the floating tray 1, and is used to clamp the floating tray seedlings, and the top of the seedling taking mechanism 5 is connected to the sliding mechanism 6, and the sliding mechanism 6 is arranged on the top of the frame, and the sliding mechanism 6 can drive the seedling taking mechanism 5 to move left and right and forward and backward; the empty tray recovery mechanism 7 is arranged at the rear end of the frame for placing the empty floating tray 1 after the seedlings are taken; the control unit is respectively connected to the ejection mechanism 2, the seedling taking mechanism 5, the empty tray recovery mechanism 7 and the feeding mechanism 8. The seedling taking mechanism 5 is used to clamp the floating tray seedlings.

[0072] In a specific embodiment of the present invention, the frame includes a left side plate 3, a main frame 4, a right side plate 9 and a U-shaped cross brace 12; the left side plate 3 and the right side plate 9 are arranged symmetrically, the main frame 4 is arranged above the left side plate 3 and the right side plate 9, one side of the main frame 4 is connected to the left side plate 3, and the other side is connected to the right side plate 9; U-shaped cross braces 12 are respectively arranged on the front and rear sides between the left side plate 3 and the right side plate 9;

[0073] The feeding mechanism 8 is installed between the left side plate 3 and the right side plate 9; the ejection mechanism 2 is connected to the U-shaped cross brace 12 on the front side between the left side plate 3 and the right side plate 9; the empty tray recovery mechanism 7 is connected to the U-shaped cross brace 12 on the rear side between the left side plate 3 and the right side plate 9; the sliding mechanism 6 is arranged on the top of the main frame 4.

[0074] like Figure 2As shown, the ejection mechanism 2 includes multiple ejector rods 201, an ejection bottom plate 202, a double-rod cylinder 203 and a rodless cylinder 204; the double-rod cylinder 203 is connected to the rodless cylinder 204, and the rodless cylinder 204 is used to drive the double-rod cylinder 203 to move left and right; the bottom of the ejection bottom plate 202 is connected to the double-rod cylinder 203, and multiple ejector rods 201 are arranged in a row on the top of the ejection bottom plate 202; the rodless cylinder 204 can move left and right, thereby driving the double-rod cylinder 203 to move, which is convenient for taking out the seedlings in a whole row, and the extension and contraction of the double-rod cylinder 203 can make the ejector rod 201 move up and down, making it easier to eject the floating tray seedlings. Out; for example, when a row of seedlings in the floating tray 1 is fed to the seedling retrieval position, the double-rod cylinder 203 drives the push rod 201 to eject the seedlings from the floating tray, and the seedling retrieval claws clamp the seedlings from the floating tray to complete one ejection work, the double-rod cylinder 203 retracts, and the push rod 201 moves to its original position. Further, the rodless cylinder 204 drives the double-rod cylinder 203 to move left to the next working position to complete the next ejection work; preferably, the ejection mechanism 2 is provided with a first displacement sensor, which is connected to the control unit, and the first displacement sensor is used to detect the displacement signal of the rodless cylinder 204 moving left and right and transmit it to the control unit.

[0075] like Figure 3 As shown, the seedling picking mechanism 5 includes a U-shaped plate 501, a slide plate 502, a seedling picking bracket, a seedling picking clamp bracket 503, a thin cylinder 504, two round steel transverse axes I 505, a round steel transverse axis II 506, a seedling picking clamp round steel 507, multiple pairs of seedling picking claws 508, multiple springs 509 and multiple seedling picking clamp bushings 510; the upper and lower ends of the seedling picking bracket are both provided with a transversely arranged round steel transverse axis I 505, the middle of the seedling picking bracket is provided with a transversely arranged round steel transverse axis II 506, and the round steel transverse axis II 506 is located between the two round steel transverse axes I 505; multiple seedling picking clamp brackets 503 are longitudinally arranged in pairs in the seedling picking bracket, and the upper ends are connected to the round steel transverse axis I 505 and the round steel transverse axis II 506; one of each pair of seedling picking clamp brackets 503 is connected to the round steel transverse axis The horizontal axis I 505 is connected to the round steel horizontal axis II 506 and is locked by the seedling clamp bushing 510 so as not to move. The other one is slidably connected to the round steel horizontal axis I 505 and the round steel horizontal axis II 506 and can move along the round steel horizontal axis I 505 and the round steel horizontal axis II 506; a spring 509 is provided on the round steel horizontal axis II 506 between each pair of seedling clamp brackets 503; seedling claws 508 are respectively provided at the lower ends of the seedling clamp brackets 503, and the seedling claws 508 of each pair of seedling clamp brackets 503 are arranged relatively; the telescopic rod of the thin cylinder 504 is connected to one end of the round steel horizontal axis II 506, and the telescopic movement of the thin cylinder 504 pushes the round steel horizontal axis II 506 to move left and right, thereby pushing the seedling claws on one side to move to the other side, thereby clamping the floating tray seedlings, thereby realizing seedling removal.

[0076] In a specific embodiment of the present invention, there are 5 pairs of seedling claws 508 and 10 seedling clamp bushings 510; there are three through holes with a diameter of 12 mm on the seedling clamp bracket 503, the round steel horizontal axis I 505 passes through the through holes at the upper and lower ends of the seedling clamp bracket 503, the round steel horizontal axis II 506 passes through the through hole in the middle of the seedling clamp bracket 503, the seedling clamp round steel 507 is welded to the lower end side of the seedling clamp bracket 503, the seedling claws 508 are welded to the side of the seedling clamp round steel 507, and the two seedlings are taken. The claws 508 are symmetrically distributed at both ends of the spring 509 and are regarded as a pair of seedling picking claws; the seedling picking claw on the left side can move, and the seedling picking claw on the right side is locked by the seedling picking clamp bushing 510 and cannot move; the spring 509 is connected to the round steel horizontal axis II 506 and is located in the middle of a pair of seedling picking claws; when the thin cylinder 504 is extended, under the action of the spring 509, the round steel horizontal axis II 506 is pushed to move to the right at a uniform speed, and the left part of the pair of seedling picking claws will move to the right, but the right side is fixed, thereby clamping the floating tray seedlings to complete the seedling picking process.

[0077] Preferably, the seedling picking mechanism 5 is further provided with a second displacement sensor and a speed sensor, which are respectively connected to the control unit. The second displacement sensor is installed on the seedling picking claw 508, and is used to monitor the displacement of the seedling picking claw 508 when clamping the seedling, and transmit the displacement signal to the control unit; the speed sensor is installed on the round steel horizontal axis II 506, and is used to monitor the moving speed of the round steel horizontal axis II 506 and transmit it to the control unit.

[0078] like Figure 4 As shown, the sliding mechanism 6 includes a rack 601, a gear 602, a cylinder 603, a cross brace 604 and a pulley motor 605; the rack 601 and the cross brace 604 are both transversely installed on the top of the main frame 4 and arranged horizontally, one end of the cylinder 603 is connected to the cross brace 604, and the other end is connected to the rack 601; the extension and contraction of the cylinder 603 can drive the rack 601 to move forward and backward, thereby driving the seedling-taking mechanism 5 to move forward and backward to achieve seedling taking; the pulley motor 605 is located on the seedling-taking mechanism 5, and the output shaft of the pulley motor 605 is provided with a gear 602, which is meshed with the rack 601, and the pulley motor 605 is used to drive the gear 602 to move along the rack 601, thereby driving the seedling-taking mechanism 5 to move left and right to achieve seedling throwing.

[0079] like Figure 5 , 6As shown in Figure 7, the empty tray recovery mechanism 7 includes an empty tray recovery cylinder 701, an empty tray recovery transition plate 702, an empty tray recovery bottom plate 703, an L bracket 704, a flip block 705, a flip bracket 706 and a pin 707; one end of the empty tray recovery cylinder 701 is connected to the U-shaped cross brace 12, and the other end is connected to the empty tray recovery transition plate 702, and the empty tray recovery transition plate 702 is connected to the empty tray recovery bottom plate 703; flip blocks 705 are respectively provided on the left plate 3 and the right plate 9 on both sides of the empty tray recovery bottom plate 703, one end of the flip block 705 is provided with an L bracket 704, and the other end can be connected with the L bracket 704 is a fulcrum for flipping, flip brackets 706 are respectively provided on both sides of the flip block 705, and the pin 707 is located at the bottom of the flip block 705, and the two ends are respectively connected to the flip brackets 706; the height of the empty plate recovery bottom plate 703 is lower than the flip block 705, and the telescopic movement of the empty plate recovery cylinder 701 controls the up and down movement of the floating plate 1. When the two sides of the floating plate 1 pass through the flip block 705 during the upward movement, the flip block 705 is flipped with the L bracket 704 as the fulcrum. After the floating plate 1 passes through the flip block 705, the flip block 705 returns to its original position, and the empty plate recovery cylinder 701 controls the floating plate 1 to move down and place it on the flip block 705. The telescopic movement of the empty plate recovery cylinder 701 controls the up and down movement of the floating plate 1, thereby controlling the flipping of the flip block 705.

[0080] Preferably, a pressure sensor is provided on the empty tray recovery bottom plate 703, and the pressure sensor is connected to the control unit. The pressure sensor is used to detect whether there is a floating tray 1 on the empty tray recovery bottom plate 703, and transmit a pressure signal to the control unit. When the pressure sensor detects that the floating tray 1 is transported to the empty tray recovery bottom plate 703, the empty tray recovery cylinder 701 extends to push the empty tray recovery bottom plate 703 upward, thereby driving the floating tray 1 to move upward, and the floating tray 1 moves upward, so that the flip block 705 flips upward, and the floating tray 1 moves to the platform above the flip block 705. At this time, the flip block 705 returns to its original position under the action of gravity, and the empty tray recovery cylinder 701 retracts at a uniform speed, and the floating tray 1 stays on the flip block 705, completing the recovery of the empty tray.

[0081] like Figure 8As shown, the feeding mechanism 8 includes four synchronous pulleys 801, a synchronous belt 802, a pulley connecting shaft 803, a tensioning shaft 804, a tensioning adjustment device 805, an adjustment plate 806 and a tensioning wheel 807; the synchronous pulleys 801 are symmetrically distributed on the front and rear sides of the left plate 3 and the right plate 9; there are two synchronous belts 802, which form a synchronous belt transmission with the synchronous pulleys 801; the synchronous pulleys 801 on both sides are respectively connected to the pulley connecting shaft 803 through bearings to ensure the stability and reliability of the transmission system; the pulley connecting shaft 803 is connected to the driving mechanism to drive the synchronous belt to rotate and realize the feeding of the floating disc 1; the tensioning wheel 807 is installed in the middle of the left plate 3 and the right plate 9, and the two ends of the tensioning shaft 804 are respectively connected to the tensioning wheel 807 through deep groove ball bearings; the pulley connecting shaft 803 at the rear end passes through the right plate 9 and is connected to the adjustment plate 806, and the tensioning adjustment device 805 passes through the adjustment plate 806 to support the bearing and is fastened by bolts, which is conducive to ensuring the stability and reliability of the transmission system.

[0082] In a specific embodiment of the present invention, the feeding mechanism 8 is powered by a motor to drive the synchronous belt to run. At the same time, under the action of the tensioning shaft 804 and the tensioning adjustment device 805, the tension can be maintained, so that the belt maintains a suitable tension to ensure effective power transmission; at the same time, it can reduce noise and vibration, avoid local excessive wear, and improve the efficiency of transportation.

[0083] like Fig. 9 As shown, in a specific embodiment of the present invention, the floating plate 1 has a size of 68×34 cm, the number of circular holes is distributed as 20×10, the center distance between adjacent small holes is 32 mm, the thickness is 52 mm, the circular holes are stepped holes, the small hole diameter is 7 mm, the large hole diameter is 24 mm, and the large hole depth is 43 mm.

[0084] like Figure 1 and 10In a specific embodiment of the present invention, a seedling guide tube 11 and a frame support plate 10 are also included; the seedling guide tube 11 is arranged on the outside of the right side plate 9 and connected to the right side plate 9 through an L-shaped bracket 13; the other side of the main frame 4 is connected to the right side plate 9 through the frame support plate 10. The seedling guide tube 11 is used to receive floating tray seedlings. In a specific embodiment of the present invention, the seedling guide tube 11 has a size of 336mm×250mm, and is provided with 5 tube openings, which are 48mm long and 42mm wide, and the center distance between adjacent tube openings is 66mm. After the seedling retrieval mechanism 5 clamps the floating tray seedlings, the control unit controls the cylinder 603 to first drive the rack 601 backward to drive the seedling retrieval mechanism 5 to move backward a distance to avoid damage to the remaining seedlings on the floating tray. The control unit then controls the pulley motor 605 to drive the gear 602 to move along the rack 601, thereby driving the seedling retrieval mechanism 5 to move rightward, and transporting it to the seedling guide tube 11 through the notch 902 on the right side plate 9. The thin cylinder 504 retracts, and the floating tray seedlings fall into the seedling guide tube 11, completing the seedling delivery process.

[0085] like Figure 1 and 11 As shown, the left side plate 3 and the right side plate 9 have the same structure, and the upper ends of the middle parts of the left side plate 3 and the right side plate 9 are respectively provided with limit brackets 903 to limit the position of the floating tray 1 during the ejection process; a notch 902 is provided at the middle ends of the left side plate 3 and the right side plate 9 to facilitate the movement of the seedling taking mechanism 5 to the seedling guide tube 11 for seedling throwing.

[0086] The left side plate 3 and the right side plate 9 are also provided with knife-shaped holes 901 in the middle for placing the tensioning shaft 804 and the tensioning wheel 807 to ensure the normal operation of the feeding mechanism.

[0087] like Fig.12 As shown, the control unit controls the cylinder 603 and the pulley motor 605 of the sliding mechanism 6 to drive the seedling picking mechanism 5 to the seedling picking position, controls the thin cylinder 504 to extend the seedling picking claw 508 to pick up the seedlings, and the control unit controls the cylinder 603 to drive the seedling picking mechanism 5 to move backward a certain distance, and then controls the pulley motor 605 to drive the seedling picking mechanism 5 to move to the left or right side to reach the seedling throwing position, and then controls the thin cylinder 504 to retract, and puts the seedlings into the seedling guide tube 11 to complete the seedling throwing.

[0088] The floating tray seedling top clamp type automatic seedling taking device of the present invention is used to realize the ejection, taking, throwing and empty tray recovery of floating tray seedlings, which can reduce labor costs and improve transplanting efficiency.

[0089] like Fig.13 As shown, an operating method according to the floating tray seedling top clamp type automatic seedling taking device comprises the following steps:

[0090] The control unit controls the feeding mechanism 8 to transport the drift plate 1 from front to back, and the control unit controls the sliding mechanism 6 to move forward a certain distance.

[0091] When the floating tray 1 and the seedling taking mechanism 5 reach the preset position, the control unit controls the ejection mechanism 2 to eject the floating tray seedlings of the floating tray 1, and controls the seedling taking mechanism 5 to clamp the floating tray seedlings. The seedling taking is completed at one time, and the control unit controls the sliding mechanism 6 to move backward a certain distance, and drives the seedling taking mechanism 5 to move to the left or right to complete the seedling throwing;

[0092] The control unit controls the feeding mechanism 8 to transport the floating tray 1 from front to back until the seedlings of one tray of floating tray are taken out, and the control unit controls the empty tray recovery mechanism 7 to recover the floating tray 1.

[0093] In a specific embodiment of the present invention, it can automatically feed, automatically take out, and drop seedlings, and can recycle empty trays, which can effectively solve the problem of "no available machinery" faced by the existing floating tray seedling cultivation and mechanized seedling taking field.

[0094] In a specific embodiment of the present invention, the ejection mechanism 2, under the control of the double-rod cylinder 203, can eject the floating tray seedlings at a uniform speed without the need for manual speed control, and adopts the method of intermittent ejection and multiple plants at a time. After one seedling ejection is completed, it moves to the position for the next seedling ejection under the action of the rodless cylinder 204.

[0095] In a specific embodiment of the present invention, the feeding mechanism 8 uses a synchronous belt for transmission, and the power is provided by a motor. Compared with other transmissions, it is more conducive to increasing the friction between the synchronous belt and the float plate, ensuring that when the ejection mechanism 2 is working, the position of the float plate 1 is fixed, providing a basis for the accurate operation of the subsequent seedling removal mechanism.

[0096] In a specific embodiment of the present invention, the power of the seedling removal mechanism 5 of the present invention is transmitted by a pulley motor 605, and the left and right movements are realized through gear meshing transmission to complete the removal of a whole row of seedlings, and the forward and backward movements are realized through the extension and contraction of the cylinder 603 to complete the seedling planting.

[0097] In a specific embodiment of the present invention, the ejection mechanism 2 is provided with a first displacement sensor for detecting the displacement signal of the rodless cylinder 204 moving left and right and transmitting it to the control unit; the seedling picking mechanism 5 is provided with a second displacement sensor and a speed sensor, the second displacement sensor is used to monitor the displacement of the seedling picking claw 508 when clamping the seedlings; the speed sensor is used to monitor the moving speed of the round steel horizontal axis II 506. The setting of the sensor can detect the position and movement state of the seedling ejection mechanism 2 and the seedling picking mechanism 5, can adapt to the position requirements of different working processes, and significantly improve the transplanting efficiency. In one embodiment of the present invention, the present invention has an empty tray recovery device 7. When working, the empty tray recovery cylinder 701 transmits power to transport the empty floating tray 1 upward to the flip block 705, and can gradually accumulate empty trays upward, without the need for manual closing of the trays, which can reduce labor costs.

[0098] The present invention can effectively solve the problems of high labor intensity, unstable seedling quality and high labor cost during transplanting floating tray seedlings in hilly and mountainous areas, improves the transplanting efficiency and enhances the mechanization level of floating tray seedling transplanting.

[0099] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0100] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A floating tray seedling top clamp type automatic seedling taking device, characterized in that: It comprises a frame, an ejection mechanism (2), a seedling removal mechanism (5), a sliding mechanism (6), an empty tray recovery mechanism (7) and a feeding mechanism (8); The frame is provided with a feeding mechanism (8), which is used to transport the floating tray (1) from front to back; the ejection mechanism (2) is arranged at the front end of the frame and below the floating tray (1), and is used to eject the floating tray seedlings from the floating tray (1); the seedling retrieval mechanism (5) is located above the floating tray (1), and is used to clamp the floating tray seedlings; the top of the seedling retrieval mechanism (5) is connected to a sliding mechanism (6), which is arranged at the top of the frame, and the sliding mechanism (6) can drive the seedling retrieval mechanism (5) to move left and right and forward and backward; the empty tray recovery mechanism (7) is arranged at the rear end of the frame, and is used to recover the floating tray (1).

2. The floating tray seedling top clamp type automatic seedling taking device according to claim 1, characterized in that: It also comprises a control unit; the control unit is respectively connected to the ejection mechanism (2), the seedling removal mechanism (5), the empty tray recovery mechanism (7) and the feeding mechanism (8).

3. The floating tray seedling top clamp type automatic seedling taking device according to claim 1, characterized in that: The frame comprises a left side plate (3), a main frame (4), a right side plate (9) and a U-shaped cross brace (12); The left side plate (3) and the right side plate (9) are arranged symmetrically, the main frame (4) is arranged above the left side plate (3) and the right side plate (9), one side of the main frame (4) is connected to the left side plate (3), and the other side is connected to the right side plate (9); U-shaped cross braces (12) are respectively arranged on the front and rear sides between the left side plate (3) and the right side plate (9); The feeding mechanism (8) is installed between the left side plate (3) and the right side plate (9); The ejection mechanism (2) is connected to a U-shaped cross brace (12) on the front side between the left side plate (3) and the right side plate (9); The empty tray recovery mechanism (7) is connected to a U-shaped cross brace (12) on the rear side between the left side plate (3) and the right side plate (9); The sliding mechanism (6) is arranged on the top of the main frame (4).

4. The floating tray seedling top clamp type automatic seedling taking device according to claim 3, characterized in that: It also includes a seedling guide tube (11) and a frame support plate (10); The seedling guide tube (11) is arranged on the outer side of the right side plate (9) and is connected to the right side plate (9) via an L-shaped bracket (13); The other side of the main frame (4) is connected to the right side plate (9) via a frame support plate (10).

5. The floating tray seedling top clamp type automatic seedling taking device according to claim 2, characterized in that: The ejection mechanism (2) comprises a plurality of ejector rods (201), an ejection base plate (202), a double-rod cylinder (203), a rodless cylinder (204) and a first displacement sensor; The double-rod cylinder (203) is connected to the rodless cylinder (204), and the rodless cylinder (204) is used to drive the double-rod cylinder (203) to move left and right; the bottom of the ejection bottom plate (202) is connected to the double-rod cylinder (203), and a plurality of ejector rods (201) are arranged in a row on the top of the ejection bottom plate (202); the rodless cylinder (204) can move left and right, thereby driving the double-rod cylinder (203) to move, so as to facilitate the removal of seedlings in a row; the extension and retraction of the double-rod cylinder (203) can make the ejector rod (201) move up and down, so that the floating tray seedlings are easier to eject; the first displacement sensor is connected to the control unit, and the first displacement sensor is used to detect the displacement signal of the rodless cylinder (204) moving left and right and transmit it to the control unit.

6. The floating tray seedling top clamp type automatic seedling taking device according to claim 2, characterized in that: The seedling picking mechanism (5) comprises a U-shaped plate (501), a slide plate (502), a seedling picking bracket, a seedling picking clamp bracket (503), a thin cylinder (504), two round steel transverse axes I (505), a round steel transverse axis II (506), a seedling picking clamp round steel (507), a plurality of pairs of seedling picking claws (508), a plurality of springs (509), a plurality of seedling picking clamp bushings (510), a second displacement sensor and a speed sensor; The upper and lower ends of the seedling picking bracket are both provided with a transversely arranged round steel transverse axis I (505), and the middle of the seedling picking bracket is provided with a transversely arranged round steel transverse axis II (506), and the round steel transverse axis II (506) is located between the two round steel transverse axes I (505); a plurality of seedling picking clamp brackets (503) are longitudinally arranged in pairs in the seedling picking bracket, and the upper ends are connected to the round steel transverse axis I (505) and the round steel transverse axis II (506); one of each pair of seedling picking clamp brackets (503) is connected to the round steel transverse axis I (505) and the round steel transverse axis II (506); Ⅱ (506) are connected and locked by the seedling clamp bushing (510), and the other is slidably connected to the round steel horizontal axis I (505) and the round steel horizontal axis II (506) and can move along the round steel horizontal axis I (505) and the round steel horizontal axis II (506); a spring (509) is provided on the round steel horizontal axis II (506) between each pair of seedling clamp brackets (503); the lower ends of the seedling clamp brackets (503) are respectively provided with seedling claws (508), and the seedling claws (508) of each pair of seedling clamp brackets (503) are arranged opposite to each other; The telescopic rod of the thin cylinder (504) is connected to one end of the round steel horizontal axis II (506), and the telescopic movement of the thin cylinder (504) pushes the round steel horizontal axis II (506) to move left and right, thereby pushing the seedling claw on one side to move to the other side; The second displacement sensor and the speed sensor are connected to the control unit respectively. The second displacement sensor is used to monitor the displacement of the seedling picking claw (508) when clamping the seedlings and transmit the displacement signal to the control unit; the speed sensor is used to monitor the moving speed of the round steel horizontal axis II (506) and transmit it to the control unit.

7. The floating tray seedling top clamp type automatic seedling taking device according to claim 1, characterized in that: The sliding mechanism (6) comprises a rack (601), a gear (602), a cylinder (603), a cross brace (604) and a pulley motor (605); The rack (601) and the cross brace (604) are both transversely mounted on the top of the main frame (4) and arranged horizontally; one end of the cylinder (603) is connected to the cross brace (604), and the other end is connected to the rack (601); The pulley motor (605) is located on the seedling removal mechanism (5); the output shaft of the pulley motor (605) is provided with a gear (602); the gear (602) is meshed with the rack (601); the pulley motor (605) is used to drive the gear (602) to move along the rack (601), thereby driving the seedling removal mechanism (5) to move left and right; The extension and retraction of the cylinder (603) can drive the rack (601) to move forward and backward, thereby driving the seedling removal mechanism (5) to move forward and backward.

8. The floating tray seedling top clamp type automatic seedling taking device according to claim 3, characterized in that: The empty tray recovery mechanism (7) comprises an empty tray recovery cylinder (701), an empty tray recovery transition plate (702), an empty tray recovery bottom plate (703), an L bracket (704), a turning block (705), a turning bracket (706) and a pin (707); One end of the empty tray recovery cylinder (701) is connected to the U-shaped cross brace (12), and the other end is connected to the empty tray recovery transition plate (702), and the empty tray recovery transition plate (702) is connected to the empty tray recovery bottom plate (703); A turning block (705) is provided on the left plate (3) and the right plate (9) on both sides of the empty tray recovery bottom plate (703), respectively; an L bracket (704) is provided at one end of the turning block (705), and the other end can turn with the L bracket (704) as a fulcrum; turning brackets (706) are provided on both sides of the turning block (705), and a pin shaft (707) is located at the bottom of the turning block (705), and the two ends are respectively connected to the turning brackets (706); The height of the empty tray recovery bottom plate (703) is lower than that of the flip block (705). The telescopic movement of the empty tray recovery cylinder (701) controls the up and down movement of the floating tray (1). During the upward movement, when both sides of the floating tray (1) pass through the flip block (705), the flip block (705) flips with the L bracket (704) as a fulcrum. After the floating tray (1) passes through the flip block (705), the flip block (705) returns to its original position, and the empty tray recovery cylinder (701) controls the floating tray (1) to move downward and be placed on the flip block (705).

9. The floating tray seedling top clamp type automatic seedling taking device according to claim 1, characterized in that: The feeding mechanism (8) comprises a synchronous pulley (801), a synchronous belt (802), a pulley connecting shaft (803), a tensioning shaft (804), a tensioning adjustment device (805), an adjustment plate (806) and a tensioning wheel (807); Synchronous pulleys (801) are symmetrically distributed on the front and rear sides of the left plate (3) and the right plate (9); there are two synchronous belts (802) that form a synchronous belt transmission with the synchronous pulleys (801); the synchronous pulleys (801) on both sides are connected to the pulley connecting shaft (803) through bearings respectively to ensure the stability and reliability of the transmission system; the pulley connecting shaft (803) is connected to the driving mechanism to drive the synchronous belt to rotate, thereby realizing the feeding of the floating disc (1); The tensioning wheel (807) is installed in the middle of the left plate (3) and the right plate (9), and the two ends of the tensioning shaft (804) are respectively connected to the tensioning wheel (807) through deep groove ball bearings; the pulley connecting shaft (803) at the rear end passes through the right plate (9) and is connected to the adjustment plate (806), and the tensioning adjustment device (805) passes through the adjustment plate (806) to support the bearing and is fastened by bolts.

10. An operating method of the floating tray seedling top clamp type automatic seedling taking device according to any one of claims 1 to 9, characterized in that: The following steps are involved: The control unit controls the feeding mechanism (8) to transport the drift plate (1) from front to back, and the control unit controls the sliding mechanism (6) to move forward a certain distance. When the floating tray (1) and the seedling picking mechanism (5) reach a preset position, the control unit controls the ejection mechanism (2) to eject the floating tray seedlings from the floating tray (1), and controls the seedling picking mechanism (5) to clamp the floating tray seedlings. The seedling picking is completed in one step. The control unit controls the sliding mechanism (6) to move backwards a certain distance, and drives the seedling picking mechanism (5) to move to the left or right, thereby completing the seedling planting. The control unit controls the feeding mechanism (8) to transport the floating tray (1) from front to back until the seedlings of a tray of floating tray are harvested, and the control unit controls the empty tray recovery mechanism (7) to recover the floating tray (1).

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