Bowl jacking-seedling receiving low-loss seedling taking device for automatic transplanter and working method thereof

Abstract

The invention discloses a pot jacking-seedling receiving type low-damage seedling taking device applied to an automatic transplanter and a control method thereof. The device comprises a seedling jacking mechanism, a tray feeding mechanism, a seedling taking mechanism and a control system core assembly. The tray feeding mechanism is fixed on an upper platform of the rack through rigid connection; and the plug tray is accurately positioned on a conveying plane of the tray feeding mechanism. The seedling taking mechanism is arranged right above the tray feeding mechanism in a suspension manner to execute positioning seedling taking operation, and the seedling jacking mechanism is mounted on the rack main body structure in a central symmetry manner and is positioned in a vertical lower area of the tray feeding mechanism. According to the innovative device, a seedling jacking module and a seedling receiving module are integrated, and the morphological integrity of a pot seedling substrate is effectively guaranteed through a mechanical synergistic effect. According to the pot jacking-seedling receiving combined seedling taking method provided by the invention, accurate cooperative control of seedling taking and seedling dropping actions is realized, and the operation efficiency is remarkably improved and the damage rate of the pot body is effectively reduced while the simplicity and the operation reliability of the mechanism are ensured.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, and in particular to a top pot-grafting seedling low-loss seedling taking device for an automatic transplanter and a working method thereof. Background Art

[0002] As a labor-intensive activity, transplanting operations have traditionally relied on a large number of manpower. Not only is the labor intensity high, but the working environment is also harsh, resulting in high production costs and low efficiency. In contrast, mechanized transplanting has significantly reduced the reliance on labor, reduced the labor intensity of workers, and increased work efficiency to more than ten times that of manual operation, effectively reducing production costs and greatly improving work efficiency. In mechanized transplanting production, transplanters can be divided into semi-automatic and fully automatic types according to the degree of automation. Semi-automatic transplanters can automatically complete the planting work. Although it saves labor to a certain extent, its preliminary work still requires manual labor to put the seedlings in the seedling feeding mechanism in turn. In order to overcome the performance limitations of semi-automatic transplanters, fully automatic transplanters are equipped with automatic seedling removal mechanisms. The automatic seedling removal mechanism is the core component for achieving full automation of transplanting, and it is also the key mark to distinguish semi-automatic from fully automatic transplanters. Given the late start of mechanized transplanting in my country, the success rate and damage rate of seedling removal of the end effector, a key component in the automatic seedling removal mechanism, are directly related to the success rate and survival rate of subsequent transplanting.

[0003] At present, the method of grabbing pot seedlings mainly adopts the method of clamping the stems and seedling pots, which will inevitably cause damage to the pot seedlings to a certain extent. Summary of the invention

[0004] In view of the shortcomings in the prior art, the present invention provides a low-loss seedling taking device for an automatic transplanter and a working method thereof. The low-loss seedling taking device can connect seedlings to pots and ensure the integrity of the pot body. This method of top-pot-grafting seedlings can not only accurately control its seedling taking action, but also has a simple structure, high reliability and efficiency, and a low pot breakage rate.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] A low-loss seedling retrieval device for an automatic transplanter includes a seedling lifting mechanism, a tray delivery mechanism, a seedling retrieval mechanism and a control system. The tray delivery mechanism is installed on the upper side of a frame, the hole tray is installed on the tray delivery mechanism, the seedling retrieval mechanism is installed above the tray delivery mechanism, and the seedling lifting mechanism is installed at the center of the frame and below the tray delivery device.

[0007] The seedling pushing mechanism includes a seedling pushing frame, a seedling pushing cylinder, a seedling pushing rod, and a seedling pushing fixing needle. The seedling pushing frame is located in the middle position of the frame and below the tray feeding mechanism. The seedling pushing cylinder is installed on one side of the seedling pushing frame and is symmetrically distributed on the left and right sides of the seedling pushing frame. The seedling pushing rod is fixedly connected to the upper side of the seedling pushing cylinder piston plate, and the seedling pushing fixing needle is fixed at the center position of the seedling pushing rod cylinder.

[0008] Preferably, the control system is electrically connected to the seedling pushing mechanism, the tray sending mechanism and the seedling retrieval mechanism. The control system controls the tray sending mechanism to transport the hole tray to the seedling retrieval position. The control system controls the seedling pushing cylinder of the seedling pushing mechanism to work, driving the seedling pushing rod to move upward, so that the pushing rod passes through the holes of the hole tray, and fixes the seedling pot on the tray sending mechanism at the seedling retrieval position. The control system controls the seedling retrieval claw of the seedling retrieval mechanism to take the seedlings.

[0009] Preferably, it also includes a hole tray position sensor, which is installed at the seedling removal position and is electrically connected to the control system for locating the initial insertion position of the hole tray. The hole tray moves to the initial position to trigger the seedling removal movement.

[0010] Preferably, the disc feeding mechanism includes a stepping motor, a disc feeding lever, a sprocket, a chain, a sprocket shaft, a bearing seat, a disc feeding support plate, a disc feeding support plate frame, a disc feeding block net, and a disc feeding block cover. The disc feeding support plate frame is installed above the frame, and the disc feeding support plate is installed on the disc feeding support plate frame. The sprockets are distributed on both sides of the disc feeding support plate and are connected to the bearing seat through the sprocket shaft and are installed on the upper and lower parts of the frame. The chain is arranged in a triangle with the chain, and the disc feeding lever is evenly distributed in the middle of the chain through the chains on both sides. The disc feeding lever acts on the hole disc to move forward, and the disc feeding block cover is positioned and installed above the frame through the sprocket shaft, behind the disc feeding mechanism, for controlling the downward movement direction of the hole disc, and the disc feeding block net is fixed above the disc feeding block cover to prevent the seedling pushing mechanism from pushing the hole disc out due to an error.

[0011] Preferably, the motor shaft of the stepper motor is connected to the sprocket shaft of the disc feeding mechanism to control the disc feeding lever to move forward.

[0012] Preferably, the seedling retrieval mechanism includes a seedling retrieval frame, an L-shaped connecting piece, a seedling separation frame, a seedling separation mechanism, a seedling separation slider, a seedling retrieval slider, a seedling retrieval pushing cylinder, a seedling retrieval bucket, a seedling retrieval claw, and a seedling retrieval claw frame. The seedling separation frame is installed at the front end of the seedling retrieval frame and is installed on the guide rail above the seedling retrieval frame through the L-shaped connecting piece and the seedling retrieval slider. The seedling retrieval pushing cylinder is installed in the middle position above the seedling retrieval frame. The seedling retrieval pushing cylinder piston plate is fixed above the seedling separation frame. The seedling separation mechanism is installed on the guide rail through the seedling separation slider and the seedling retrieval claw frame. The seedling retrieval claw is fixed below the seedling retrieval claw frame, and the seedling retrieval bucket is installed on the front side of the seedling retrieval claw.

[0013] Preferably, the seedling separation mechanism includes a seedling separation cylinder and a scissors fork distance changing mechanism. The seedling separation cylinder is fixedly installed on the rear of the third seedling picking claw frame, the seedling separation cylinder piston plate is fixed to the second seedling picking claw frame, and the scissors fork distance changing mechanism is installed above the seedling separation slider and the seedling picking claw frame.

[0014] A working method of a top pot-grafting low-loss seedling taking device for an automatic transplanter comprises the following steps:

[0015] S1: The plug tray is installed on the tray support plate of the tray feeding device, and the control system controls the stepper motor to drive the tray feeding lever to move the first row of the plug tray to the seedling removal position, and the plug tray position sensor sends a signal to the control system;

[0016] S2: After receiving the signal from the plug tray position sensor, the control system controls the movement of the seedling pushing cylinder of the seedling pushing mechanism, so that the seedling pushing rod pushes out the seedling pots separated in the plug tray, and the seedling pushing fixing needle fixes the seedling pots in the air seedling taking position;

[0017] S3: the seedling separation mechanism is in an expanded state, the seedling retrieval mechanism is in an open state, and the seedling retrieval mechanism is located at the seedling throwing position. After receiving the signal from the plug tray position sensor, the control system controls the seedling retrieval mechanism to move the seedling retrieval claws, and the seedling retrieval claws are closed;

[0018] S4: The control system controls the movement of the seedling separation cylinder of the seedling separation mechanism, and the scissor fork pitch changer is in a retracted state;

[0019] S5: The control system controls the seedling picking mechanism to pick up the seedlings and push the cylinder to move, and pushes the seedling picking mechanism to the seedling picking point;

[0020] S6: The control system controls the movement of the seedling pushing cylinder of the seedling pushing mechanism, and the seedling pushing rod retracts, so that the seedling bucket catches the seedling pot;

[0021] S7: The control system controls the seedling picking mechanism to pick up seedlings and push the cylinder to move, so that the seedling picking mechanism is retracted to the seedling dropping point;

[0022] S8: The control system controls the movement of the seedling separation cylinder of the seedling separation mechanism, and the scissor fork pitch changer moves to the expansion state;

[0023] S9: Control the movement of the seedling picking claws of the seedling picking mechanism, open the seedling picking claws, and make the seedling pot fall. This is a seedling picking cycle;

[0024] S10: The controller controls the stepper motor to drive the plug tray rack to continue to transport a row of plug trays to the seedling picking position, starting the next seedling picking cycle until all the seedling pots are picked.

[0025] Beneficial effects of the present invention:

[0026] 1) The seedling lifting mechanism of the present invention lifts the seedling pots out at intervals and then catches the seedlings, which can reduce the breakage rate of the seedling pots, reduce the damage to the roots and stems of the seedling pots, and improve the survival rate of the seedling pots;

[0027] 2) The present invention has a simple structure, reliable movement, and is easy to promote and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the structure of the top bowl-seedling combination seedling taking device of the present invention;

[0029] Figure 2 This is a front view of the top-joined combined seedling-taking device of the present invention;

[0030] Figure 3 It is a rear view of the top-joined combined seedling-taking device of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the seedling lifting mechanism of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the seedling taking mechanism of the present invention;

[0033] Figure 6 This is a structural schematic diagram of the seedling delivery mechanism of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the seedling separation mechanism of the present invention;

[0035] Figure 8 This is a schematic diagram of the low-damage seedling removal process of the present invention;

[0036] Fig. 9 It is a schematic diagram of the seedling picking process of the top pot-seedling grafting combined seedling picking device of the present invention.

[0037] 1. Seedling picking mechanism; 101. Seedling picking push cylinder; 102. Seedling picking frame; 103. Seedling picking guide rail; 104. Seedling picking slider; 105. Seedling picking claw frame; 106. Seedling separation mechanism; 106a. Scissor fork pitch-changing mechanism; 106b. Seedling separation cylinder; 106c. Seedling separation slider; 107. Seedling picking claw; 108. Seedling picking bucket; 109. Seedling separation frame; 110. L-shaped connector; 2. Seedling lifting mechanism; 201. Seedling lifting rod; 202. Seedling lifting cylinder; 203. Seedling lifting frame; 204. Seedling lifting fixing needle; 3. Plate delivery mechanism; 301. Plate delivery shield; 302. Chain; 303. Plate delivery lever; 304. Sprocket; 305. Plate delivery support plate; 306. Plate delivery support plate frame; 307. Bearing seat; 308. Stepper motor; 309. Feeding plate and screen; 4. Seedling pot; 5. Plug tray; 6. Frame. DETAILED DESCRIPTION

[0038] like Figure 1 , 2As shown in 3, a seedling-grafting low-loss seedling-taking device for an automatic transplanter comprises a seedling-pushing mechanism (2), a tray-delivering mechanism (3), a seedling-taking mechanism (1) and a control system, wherein the tray-delivering mechanism (3) is mounted on a frame (6), a plug tray (5) is mounted on the tray-delivering mechanism (3), the seedling-taking mechanism (1) is mounted above the tray-delivering mechanism (3), and the seedling-pushing mechanism (2) is mounted at the center of the frame (6) and below the tray-delivering mechanism (3).

[0039] The control system is electrically connected to the seedling pushing mechanism (2), the tray delivery mechanism (3) and the seedling retrieval mechanism (1), and the control system controls the tray delivery mechanism (3) to transport the plug tray (5) to the seedling retrieval position. When the plug tray (5) reaches the detection position, the photoelectric sensor (7a) (mounted on the left side of the frame (6) by the sensor fixing seat (7)) detects the position of the plug tray (5), and then the control system controls the seedling pushing cylinder (202) of the seedling pushing mechanism (2) to work, driving the seedling pushing rod (201) to move upward, so that the seedling pushing fixing needle (204) passes through the hole of the plug tray (5), and fixes the seedling pot (4) at the seedling retrieval position; the control system further controls the seedling separating mechanism (106) and the seedling retrieval clamp (107) to complete the seedling retrieval.

[0040] like Figure 4 As shown, the seedling pushing mechanism (2) comprises a seedling pushing frame (203), a seedling pushing cylinder (202), a seedling pushing rod (201) and a seedling pushing fixing needle (204). The seedling pushing frame (203) is located in the middle of the frame (6) and below the tray feeding mechanism (3), the seedling pushing cylinder (202) is symmetrically distributed on both sides of the seedling pushing frame (203), the seedling pushing rod (201) is fixedly connected to the piston plate of the seedling pushing cylinder (202), and the seedling pushing fixing needle (204) is fixed to the center position of the seedling pushing rod (201).

[0041] like Figure 5 As shown, the disc delivery mechanism (3) comprises a stepping motor (308), a disc delivery lever (303), a sprocket (304), a chain (302), a sprocket shaft, a bearing seat (307), a disc delivery support plate (305), a disc delivery support plate frame (306), a disc delivery blocking net (309) and a disc delivery blocking cover (301). The tray delivery support plate frame (306) is installed above the frame (6), and the tray delivery support plate (305) is fixed on the tray delivery support plate frame (306); the sprocket (304) is installed above and below the frame (6) through the sprocket shaft and the bearing seat (307); the chain (302) is arranged in a triangular shape, and the tray delivery lever (303) is evenly distributed in the middle of the chain (302); the stepping motor (308) drives the chain (302) to move through the sprocket shaft, the tray delivery baffle (301) is installed at the rear of the frame (6) to guide the movement direction of the hole plate (5), and the tray delivery baffle net (309) is fixed on the tray delivery baffle (301) to prevent the hole plate (5) from deflecting.

[0042] like Figure 6 As shown, the seedling retrieval mechanism (1) comprises a seedling retrieval frame (102), a seedling retrieval guide rail (103), an L-shaped connecting piece (110), a seedling separation frame (109), a seedling separation mechanism (106), a seedling separation slider, a seedling retrieval slider (104), a seedling retrieval pushing cylinder (101), a seedling retrieval bucket (108) and a seedling retrieval clamp (107). The seedling separation frame (109) is installed on the seedling removal guide rail (103) via the L-shaped connecting piece (110) and the seedling removal slider (104); the seedling removal pushing cylinder (101) is fixed in the middle of the seedling removal frame (102), and its piston plate is fixedly connected to the seedling separation frame (109); the seedling separation mechanism (106) is installed on the guide rail via the seedling separation slider (106c) and the seedling removal claw frame (105); the seedling removal claw (107) is fixed below the seedling removal claw frame (105); and the seedling removal bucket (108) is located in front of the seedling removal claw (107).

[0043] like Figure 7 As shown, the seedling separation mechanism (106) comprises a seedling separation cylinder (106b) and a scissor fork pitch changing mechanism (106a). The seedling separation cylinder (106b) is installed behind the third seedling picking claw frame (105), and the scissor fork pitch changing mechanism (106a) connects the seedling separation slider (106c) and the seedling picking claw frame (105).

[0044] The working method of the top pot-grafting low-loss seedling taking device for the automatic transplanter comprises the following steps:

[0045] S1: The plug tray (5) is mounted on the tray delivery support plate (305) of the tray delivery mechanism (3), the control system controls the stepping motor (308) to drive the tray delivery lever (303) to move the first row of the plug tray (5) to the seedling removal position, and the plug tray position sensor (7a) sends a signal to the control system;

[0046] S2: After receiving the signal, the control system controls the seedling pushing cylinder (202) of the seedling pushing mechanism (2) to move, so that the seedling pushing rod (201) pushes the seedling pot (4) upward, and the seedling pushing fixing needle (204) fixes the seedling pot (4) at the seedling taking position;

[0047] S3: the seedling separation mechanism (106) is in an expanded state, the seedling picking claw (107) of the seedling picking mechanism (1) is opened, and the control system controls the seedling picking claw (107) to close and pick up the seedling pot (4);

[0048] S4: the control system controls the movement of the seedling separation cylinder (106b) of the seedling separation mechanism (106) to drive the scissor fork pitch change mechanism (106a) to contract;

[0049] S5: The control system controls the seedling picking pushing cylinder (101) of the seedling picking mechanism (1) to move, and pushes the seedling picking claw (107) to the seedling picking point;

[0050] S6: The control system controls the seedling pushing cylinder (202) to retract the seedling pushing rod (201), and the seedling taking bucket (108) receives the seedling pot (4);

[0051] S7: the seedling taking push cylinder (101) drives the seedling taking mechanism (1) to move backward to the seedling dropping point;

[0052] S8: the seedling separation cylinder (106b) drives the scissor fork pitch changing mechanism (106a) to expand and reset;

[0053] S9: the seedling picking claw (107) opens and releases the seedling pot (4), completing a single seedling picking cycle;

[0054] S10: The stepping motor (308) drives the tray delivery mechanism (3) to deliver the next row of plug trays (5), and steps S1-S9 are repeated until all seedling pots (4) are taken.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-loss seedling-taking device for an automatic transplanter, characterized in that: The invention comprises a frame (6), a tray delivery mechanism (3), a seedling lifting mechanism (2), a seedling taking mechanism (1) and a control system; the tray delivery mechanism (3) is mounted on the frame (6) and is used to transport the plug tray (5); the seedling lifting mechanism (2) is mounted at the center of the frame (6) and is located below the tray delivery mechanism (3) and is used to lift the seedling pot (4); the seedling taking mechanism (1) is mounted above the tray delivery mechanism (3) and is used to receive the seedling pot (4); The control system is electrically connected to the seedling pushing mechanism (2), the tray delivery mechanism (3) and the seedling retrieval mechanism (1), and the control system controls the tray delivery mechanism (3) to transport the plug tray (5) to the seedling retrieval position. When the plug tray (5) reaches the detection position, the photoelectric sensor (7a) (mounted on the left side of the frame (6) by the sensor fixing seat (7)) detects the position of the plug tray (5), and then the control system controls the seedling pushing cylinder (202) of the seedling pushing mechanism (2) to work, driving the seedling pushing rod (201) to move upward, so that the seedling pushing fixing needle (204) passes through the hole of the plug tray (5), and fixes the seedling pot (4) at the seedling retrieval position; the control system further controls the seedling separating mechanism (106) and the seedling retrieval clamp (107) to complete the seedling retrieval.

2. The device according to claim 1, characterized in that: The seedling pushing mechanism (2) comprises a seedling pushing frame (203), a seedling pushing cylinder (202), a seedling pushing rod (201) and a seedling pushing fixing needle (204); the seedling pushing cylinder (202) is symmetrically mounted on both sides of the seedling pushing frame (203); the seedling pushing rod (201) is connected to a piston plate of the seedling pushing cylinder (202); and the seedling pushing fixing needle (204) is fixed at the center of the seedling pushing rod (201).

3. The device according to claim 1, characterized in that: The disk delivery mechanism (3) comprises a stepping motor (308), a chain (302), a sprocket (304), a disk delivery lever (303), a disk delivery support plate (305) and a disk delivery shield (301); The chain (302) forms a triangular transmission path through the sprocket (304); the tray-feeding lever (303) is evenly distributed on the chain (302) and is used to push the hole tray (5); and the stepping motor (308) drives the sprocket (304) to rotate.

4. The device according to claim 1, characterized in that: The seedling picking mechanism (1) comprises a seedling picking frame (102), a seedling picking pushing cylinder (101), a seedling separation mechanism (106) and a seedling picking clamp (107); the seedling separation mechanism (106) comprises a seedling separation cylinder (106b) and a scissor fork pitch-changing mechanism (106a) for adjusting the spacing between the seedling picking clamps (107); the seedling picking pushing cylinder (101) drives the seedling separation frame (109) to move along the seedling picking guide rail (103); and the seedling picking bucket (108) is mounted on the front side of the seedling picking clamp (107).

5. The device according to claim 4, characterized in that: The seedling separation mechanism (106) is connected to the seedling picking claw frame (105) via a seedling separation slider (106c), and the seedling separation cylinder (106b) drives the scissor fork pitch changing mechanism (106a) to achieve pitch change.

6. The working method of the top pot-grafting low-loss seedling taking device for an automatic transplanter according to claim 1, characterized in that: The following steps are involved: S1: The plug tray (5) is mounted on the tray delivery support plate (305) of the tray delivery mechanism (3), the control system controls the stepping motor (308) to drive the tray delivery lever (303) to move the first row of the plug tray (5) to the seedling removal position, and the photoelectric sensor (7a) sends a signal to the control system; S2: After receiving the signal, the control system controls the seedling pushing cylinder (202) of the seedling pushing mechanism (2) to move, so that the seedling pushing rod (201) pushes the seedling pot (4) upward, and the seedling pushing fixing needle (204) fixes the seedling pot (4) at the seedling taking position; S3: the seedling separation mechanism (106) is in an expanded state, the seedling picking claw (107) of the seedling picking mechanism (1) is opened, and the control system controls the seedling picking claw (107) to close and pick up the seedling pot (4); S4: the control system controls the movement of the seedling separation cylinder (106b) of the seedling separation mechanism (106) to drive the scissor fork pitch change mechanism (106a) to contract; S5: The control system controls the seedling picking pushing cylinder (101) of the seedling picking mechanism (1) to move, and pushes the seedling picking claw (107) to the seedling picking point; S6: The control system controls the seedling pushing cylinder (202) to retract the seedling pushing rod (201), and the seedling taking bucket (108) receives the seedling pot (4); S7: the seedling taking push cylinder (101) drives the seedling taking mechanism (1) to move backward to the seedling dropping point; S8: the seedling separation cylinder (106b) drives the scissor fork pitch changing mechanism (106a) to expand and reset; S9: the seedling picking claw (107) opens and releases the seedling pot (4), completing a single seedling picking cycle; S10: The stepping motor (308) drives the tray delivery mechanism (3) to deliver the next row of plug trays (5), and steps S1-S9 are repeated until all seedling pots (4) are taken.

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