Automatic tray feeding device for plug seedlings and seedling taking and transplanting method thereof

Abstract

The invention relates to the technical field of seedling transplanting, solves the problems of large positioning and seedling taking errors and influence on the transplanting effect in the process from tray feeding to transplanting of plug seedlings, and particularly discloses an automatic tray feeding device for plug seedlings, which comprises a tray feeding mechanism, a seedling taking mechanism and a transplanting docking mechanism, the transplanting butt joint mechanism is connected to the side face of the tray feeding mechanism, the seedling taking mechanism comprises a seedling taking bridge frame and a rotary seedling taking support which are connected with the tray feeding mechanism, the rotary seedling taking support comprises a fixed supporting rod and a rotary frame, one end of the rotary frame is rotationally connected with the fixed supporting rod, and a plurality of liftable seedling taking clamping jaws are arranged on the rotary frame. A positioning frame is further connected to the rotating frame, a plurality of guide positioning cylinders corresponding to the seedling taking clamping jaws are arranged on the positioning frame, and the guide positioning cylinders are arranged between the seedling taking clamping jaws and the tray feeding mechanism. The device is used for tray feeding, seedling taking and transplanting in the plug seedling cultivation process and has the advantages of being high in automation degree and accurate in seedling taking and positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of seedling raising and transplanting, in particular to an automatic seedling tray feeding device for plug seedlings and a seedling taking and transplanting method thereof. Background Art

[0002] In the technologies of plug seedling tray feeding, seedling taking and transplanting, efficient operations are achieved through automated equipment and scientific management. In the tray feeding link of the prior art, through a sprocket chain drive device combined with a dual-sensor positioning technology, a flexible seedling tray can be accurately conveyed to the top seedling position; in the seedling taking stage, a pneumatic multi-claw parallel mechanism is adopted, combined with a biodegradable seedling tray cutting technology, to improve the seedling taking efficiency and reduce the seedling injury rate, which is especially suitable for large-scale operations of vegetable seedlings such as tomatoes and peppers. During transplanting, a duckbill electric planting device ensures the precise planting of the pot seedlings with intact roots by online adjusting the plant spacing and planting depth, shortens the seedling slowdown period, and at the same time adapts to diverse scenarios such as hilly areas, plains and greenhouses. During transportation, the plug trays need to be fixed, foam boards are used for buffering and the temperature and humidity are controlled. This technology has both efficiency and cost advantages, and the efficiency is significantly improved compared with manual transplanting, providing a standardized and high-survival-rate solution for the large-scale production of vegetables, flowers and forest trees.

[0003] In the prior art, during the seedling taking process, affected by the movement of the tray feeding, due to the lack of a relatively accurate positioning and seedling taking function, there is a certain positioning error during seedling taking, which not only affects the effect during the seedling taking process, may cause certain damage to the plants, but also causes the positions during subsequent seedling separation and planting to be affected by the positioning error together, ultimately affecting the effect of the entire transplanting operation. Summary of the Invention

[0004] To solve the problem in the prior art that during the process of feeding plug seedlings to transplanting, the positioning and seedling taking error is relatively large, resulting in affecting the transplanting effect, the present invention provides an automatic seedling tray feeding device for plug seedlings and a seedling taking and transplanting method thereof.

[0005] The technical solution adopted by the present invention is:

[0006] An automatic seedling tray feeding device for plug seedlings includes a tray feeding mechanism, a seedling taking mechanism and a transplanting docking mechanism. The seedling taking mechanism is arranged above the tray feeding mechanism, and the transplanting docking mechanism is connected to the side of the tray feeding mechanism; the tray feeding mechanism is used for conveying a seedling tray carrying plug seedlings, the seedling taking mechanism is used for taking out the plug seedlings from the seedling tray and transferring them to the transplanting docking mechanism, and the transplanting docking mechanism is used for externally connecting a transplanting device and transplanting the taken-out plug seedlings by the transplanting device.

[0007] Among them, the seedling picking mechanism includes a seedling picking bridge frame connected to the seedling tray feeding mechanism and a rotating seedling picking support frame connected to the seedling picking bridge frame. The rotating seedling picking support frame includes a fixed support rod and a rotating frame. One end of the rotating frame is rotatably connected to the fixed support rod. A plurality of liftable seedling picking claws are arranged on the rotating frame. A positioning frame is also connected to the rotating frame. A plurality of guiding and positioning cylinders corresponding to the seedling picking claws are arranged on the positioning frame. The guiding and positioning cylinders are arranged between the seedling picking claws and the seedling tray feeding mechanism. The rotating frame is used to transfer the plug seedlings picked by the seedling picking claws to above the transplanting docking mechanism through rotational movement. The guiding and positioning cylinders are used to position the plug seedlings and perform moving guidance and clamping positioning during the process of the seedling picking claws descending to pick seedlings.

[0008] Further, the seedling tray feeding mechanism includes a seedling tray conveyor belt. A seedling tray moving support is connected to the bottom of the seedling tray conveyor belt. A moving roller is connected to the bottom end of the seedling tray moving support. The seedling picking bridge frame is connected to both sides in the conveying direction of the seedling tray conveyor belt. A plurality of seedling tray placement areas are arranged on the seedling tray conveyor belt. Bottom positioning outer sleeve seats matched with the guiding and positioning cylinders are arranged on the seedling trays on the seedling tray conveyor belt. The bottom positioning outer sleeve seats correspond one by one to the tray hole positions on the seedling trays.

[0009] Among them, the bottom positioning outer sleeve seat is used to sleeve the outer bottom of the guiding and positioning cylinder and fix the horizontal position of the guiding and positioning cylinder.

[0010] Further, a first horizontal slide rail and a second horizontal slide rail are respectively arranged on the rotating frame and the positioning frame of the seedling picking mechanism. A claw horizontal slider slidably matched with the first horizontal slide rail is connected to the seedling picking claw. A positioning cylinder horizontal slider slidably matched with the second horizontal slide rail is connected to the guiding and positioning cylinder.

[0011] Among them, the claw horizontal slider and the positioning cylinder horizontal slider are respectively used to drive the seedling picking claw and the guiding and positioning cylinder to perform horizontal adjustment for seedling picking positioning and adjust the distance between the plug seedlings during the clamping process.

[0012] Further, a claw vertical slider and a first vertical slide rail are also connected between the seedling picking claw and the claw horizontal slider. A positioning cylinder vertical slider and a second vertical slide rail are also connected between the guiding and positioning cylinder and the positioning cylinder horizontal slider.

[0013] Among them, the claw vertical slider is used to drive the seedling picking claw to perform lifting movement in the vertical direction to complete the seedling picking action. The positioning cylinder vertical slider is used to descend and contact the seedling tray and keep the position relatively fixed during the seedling picking process.

[0014] Further, an inner wall positioning sleeve is connected to the seedling picking jaw. The inner wall positioning sleeve is arranged on the periphery of the seedling picking jaw. One end of the inner wall positioning sleeve facing the guiding and positioning cylinder is connected with an elastic buffer guiding strip, and the elastic buffer guiding strip is inclined towards the side of the seedling picking jaw.

[0015] Wherein, the inner wall positioning sleeve is used for sliding and fitting with the inner wall of the guiding and positioning cylinder, and the elastic buffer guiding strip is used for buffering contact before the inner wall positioning sleeve fits with the guiding and positioning cylinder.

[0016] Further, two groups of seedling picking mechanisms are symmetrically arranged along the conveying direction of the seedling tray conveying mechanism, and multiple groups of transplanting docking mechanisms are correspondingly arranged for the seedling picking mechanisms and are respectively connected to both sides of the seedling tray conveying mechanism.

[0017] Further, a plurality of transplanting pre-seedling separating seats are arranged on the transplanting docking mechanism, and the transplanting pre-seedling separating seats are movably arranged on the surface of the transplanting docking mechanism; the transplanting pre-seedling separating seats are used for carrying and moving and separating the plug seedlings when the plug seedlings are taken out and placed on the transplanting docking mechanism.

[0018] A method for picking and transplanting plug seedlings of an automatic seedling tray feeding device includes the following steps:

[0019] S100. Feeding the tray: Place the seedling tray carrying the plug seedlings on the conveyor belt of the seedling tray conveying mechanism, so that the seedling tray is initially aligned with the position of the seedling picking mechanism in the conveying direction; start the seedling tray conveyor belt and convey the seedling tray to the seedling picking station at a preset speed.

[0020] S200. Positioning: Rotate the rotating frame on the fixed support rod of the seedling picking bracket to adjust the angle of the rotating frame, and at the same time adjust the horizontal position of the seedling picking jaw on the rotating frame, so that the seedling picking jaw is aligned with the target hole of the seedling tray. Lower the guiding and positioning cylinder of the positioning frame to the surface of the seedling tray, and contact the bottom positioning outer seat through the elastic buffer guiding strip to realize the positioning and fixing of the guiding and positioning cylinder.

[0021] S300. Picking seedlings: Control the seedling picking jaw to vertically descend along the inner wall of the guiding and positioning cylinder, ensure the verticality through the sliding and fitting of the inner wall positioning sleeve, close the jaw after contacting the plug seedlings, and clamp the seedling stem or substrate block of the plug seedlings; after the seedling picking jaw clamps the plug seedlings, lift them to a safe height, and at the same time the guiding and positioning cylinder keeps in contact with the seedling tray.

[0022] S400. Transplanting: Rotate the seedling picking bracket around the fixed support rod to transfer the seedling picking jaw above the transplanting docking mechanism; during the rotation process, adjust the distance between the seedling picking jaws through the jaw horizontal slider to match the distribution pattern of the transplanting pre-seedling separating seats; when the seedling picking jaw reaches directly above the transplanting docking mechanism, lower and release the jaw, and the plug seedlings fall into the transplanting pre-seedling separating seats; the moving roller drives the seedling tray moving bracket to move to the position to be transplanted, and the transplanting device takes out the plug seedlings for planting.

[0023] In S500, for the reset cycle, the seedling-taking bracket rotates and returns to the initial position, the guiding and positioning cylinder resets above the seedling-raising tray, the tray conveyor belt starts to convey the next round of seedling-raising trays, and continuous cyclic operation is performed.

[0024] Furthermore, in S300, the clamping force of the seedling-taking gripper is controlled between 0.5 N and 1.5 N, and the distance adjustment between the seedling-taking grippers is controlled between 20 cm and 40 cm.

[0025] Furthermore, between S200 and S300, a plug tray seedling ejecting mechanism is adopted to eject the plug tray seedlings from the bottom of the seedling-raising tray to prepare for the clamping by the seedling-taking grippers in S300.

[0026] The beneficial effects of the present invention are as follows:

[0027] Through the nested cooperation between the guiding and positioning cylinder and the positioning outer seat at the bottom of the seedling-raising tray, the device of the present invention realizes the precise alignment between the seedling-taking grippers and the plug tray seedlings. The coordinated adjustment function of the horizontal slide rail and the vertical slider can dynamically adjust the gripper spacing and the descending depth. Combined with the sliding fit design between the inner wall positioning sleeve and the guiding and positioning cylinder, it effectively avoids the lateral offset and angular deviation during the seedling-taking process, ensures that the clamping position error is less than ±1 mm, significantly improves the seedling-taking success rate and reduces the damage to the seedling body. In the tray feeding stage of the method of the present invention, the horizontal position of the seedling-raising tray is locked through the mechanical cooperation between the bottom positioning outer seat and the guiding and positioning cylinder. When taking seedlings, the guiding and positioning cylinder descends to contact the tray surface and fixes the reference. The grippers descend vertically along the inner wall of the guiding cylinder to complete precise clamping. During the rotation and transfer process, the gripper spacing is dynamically adjusted through the horizontal slide rail to match the distribution of the transplanting pre-separating seedling seats. The whole process improves the full-process positioning accuracy of the plug tray seedlings from clamping to transplanting to more than 98% through the coordinated control of the multi-level positioning mechanism and mechanical guidance, ensuring that the seedling body has no inclination, scattering and damage. Description of the Drawings

[0028] Figure 1 It is the front view of the automatic tray feeding device of the present invention;

[0029] Figure 2 It is the top view of the automatic tray feeding device of the present invention;

[0030] Figure 3 It is the structural schematic diagram of the seedling-taking mechanism of the present invention;

[0031] Figure 4 It is the structural schematic diagram of the rotating seedling-taking bracket of the present invention;

[0032] Figure 5 It is the structural schematic diagram of the seedling-taking gripper of the present invention.

[0033] Reference Signs:

[0034] 1. Tray feeding mechanism; 11. Tray feeding conveyor belt; 12. Tray feeding moving bracket; 13. Moving roller; 14. Seedling tray; 15. Bottom positioning outer seat; 2. Seedling picking mechanism; 21. Seedling picking bridge; 22. Rotating seedling picking bracket; 221. Fixed support rod; 222. Rotating frame; 223. Seedling picking jaw; 224. Positioning frame; 225. Guide positioning cylinder; 226. Jaw horizontal slider; 227. Cylinder horizontal slider; 228. Inner wall positioning sleeve; 229. Elastic buffer guide bar; 3. Transplanting docking mechanism; 31. Transplanting pre-seedling separation seat. Detailed implementation mode

[0035] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0036] Embodiment 1

[0037] An automatic tray feeding device for plug seedlings includes a tray feeding mechanism 1, a seedling picking mechanism 2 and a transplanting docking mechanism 3. The seedling picking mechanism 2 is arranged above the tray feeding mechanism 1, and the transplanting docking mechanism 3 is connected to the side of the tray feeding mechanism 1. The tray feeding mechanism 1 is used to convey the seedling tray 14 carrying plug seedlings. The seedling picking mechanism 2 is used to pick out the plug seedlings from the seedling tray 14 and transfer them to the transplanting docking mechanism 3. The transplanting docking mechanism 3 is used to externally connect a transplanting device and the transplanting device transplants the picked plug seedlings.

[0038] Among them, the seedling picking mechanism 2 includes a seedling picking bridge 21 connected to the tray feeding mechanism 1 and a rotating seedling picking bracket 22 connected to the seedling picking bridge 21. The rotating seedling picking bracket 22 includes a fixed support rod 221 and a rotating frame 222. One end of the rotating frame 222 is rotatably connected to the fixed support rod 221. A plurality of liftable seedling picking jaws 223 are arranged on the rotating frame 222. A positioning frame 224 is also connected to the rotating frame 222. A plurality of guide positioning cylinders 225 corresponding to the seedling picking jaws 223 are arranged on the positioning frame 224. The guide positioning cylinders 225 are arranged between the seedling picking jaws 223 and the tray feeding mechanism 1. The rotating frame 222 is used to transfer the plug seedlings picked by the seedling picking jaws 223 to above the transplanting docking mechanism 3 through a rotating motion. The guide positioning cylinders 225 are used to position the plug seedlings and perform moving guidance and clamping positioning on the descending seedling picking process of the seedling picking jaws 223.

[0039] The tray feeding mechanism 1 of this embodiment continuously conveys the seedling-raising trays 14 to the seedling picking station through a conveyor belt. The rotating seedling picking bracket 22 on the seedling picking bridge 21 is hinged to the rotating frame 222 through the fixed support rod 221, enabling the rotating frame 222 to perform a controllable rotation within 0° to 180° in the horizontal plane. When the seedling-raising tray 14 reaches the seedling picking position, the fixed support rod 221 supports the rotating frame 222 to rotate and swing with the fixed support rod 221 as the hinge point, ensuring that the transfer path of the rotating frame 222 between the seedling picking and transplanting stations is fixed, avoiding the deviation of the rotation center position due to multiple reciprocating motions, thereby reducing errors. The connection structure between the positioning frame 224 and the rotating frame 222 enables the guiding and positioning cylinder 225 to always maintain a perpendicular alignment relationship with the seedling picking gripper 223, ensuring the uniqueness of the clamping reference through mechanical synchronism and eliminating cumulative errors. When the seedling picking gripper 223 descends to clamp, it descends along the inside of the wire guiding cylinder to position and clamp the plug seedlings in the tray, significantly improving the clamping accuracy.

[0040] Embodiment 2

[0041] On the basis of Embodiment 1, the tray feeding mechanism 1 includes a tray feeding conveyor belt 11. The bottom of the tray feeding conveyor belt 11 is connected with a tray feeding moving bracket 12. The bottom end of the tray feeding moving bracket 12 is connected with moving rollers 13. The seedling picking bridge 21 is connected to both sides in the conveying direction of the tray feeding conveyor belt 11. A plurality of seedling-raising tray 14 placement areas are provided on the tray feeding conveyor belt 11. A bottom positioning outer sleeve seat 15 matched with the guiding and positioning cylinder 225 is provided on the seedling-raising tray 14 on the tray feeding conveyor belt 11. The bottom positioning outer sleeve seats 15 correspond one by one to the tray holes on the seedling-raising tray 14. Among them, the bottom positioning outer sleeve seat 15 is used to sleeve on the outer bottom of the guiding and positioning cylinder 225 and fix the horizontal position of the guiding and positioning cylinder 225.

[0042] When the tray feeding conveyor belt 11 runs, the bottom positioning outer sleeve seat 15 of the seedling-raising tray 14 and the guiding and positioning cylinder 225 form a nested fit. By using the clearance compensation (preferably 0.3 - 0.5 mm) between the conical inner wall and the outer wall of the guiding cylinder, the horizontal position matching is completed after the conveyor belt stops, and then the guiding and positioning cylinder 225 descends to cooperate and fix with the bottom positioning outer sleeve seat 15 to position the seedling picking gripper 223. The moving rollers 13 drive the tray feeding moving bracket 12 to move through a servo motor, enabling the device to adapt to the transplanting position.

[0043] Embodiment 3

[0044] Based on Embodiment 1, a first horizontal slide rail and a second horizontal slide rail are respectively arranged on the rotating frame 222 and the positioning frame 224 of the seedling picking mechanism 2. A jaw horizontal slider 226 that is slidably matched with the first horizontal slide rail is connected to the seedling picking jaw 223, and a positioning cylinder horizontal slider 227 that is slidably matched with the second horizontal slide rail is connected to the guiding and positioning cylinder 225. Among them, the jaw horizontal slider 226 and the positioning cylinder horizontal slider 227 are respectively used to drive the seedling picking jaw 223 and the guiding and positioning cylinder 225 to perform horizontal adjustment for seedling picking positioning and to adjust the distance between the plug seedlings during the clamping process.

[0045] As a preferred embodiment, a jaw vertical slider and a first vertical slide rail are further connected between the seedling picking jaw 223 and the jaw horizontal slider 226, and a positioning cylinder vertical slider and a second vertical slide rail are further connected between the guiding and positioning cylinder 225 and the positioning cylinder horizontal slider 227. Among them, the jaw vertical slider is used to drive the seedling picking jaw 223 to perform lifting movement in the vertical direction to complete the seedling picking action, and the positioning cylinder vertical slider is used to descend and contact the seedling tray 14 and keep the position relatively fixed during the seedling picking process.

[0046] The cooperation between the first horizontal slide rail and the jaw horizontal slider 226 allows the seedling picking jaw 223 to independently adjust the distance in the horizontal direction (for example, it can be adjusted to 20 cm, 30 cm, 40 cm) to adapt to the plant spacing differences of different specifications of the seedling tray 14. The second horizontal slide rail synchronously adjusts the distribution pattern of the guiding and positioning cylinders 225 through the positioning cylinder horizontal slider 227 to ensure that each guiding cylinder is aligned upward with the seedling picking jaw 223 and downward with the bottom positioning outer seat 15 of the seedling tray 14, forming coaxial positioning among the three. The jaw vertical slider drives the seedling picking jaw 223 to vertically descend at a constant speed (for example, 50 mm / s, 60 mm / s, 70 mm / s, 80 mm / s). The built-in pressure sensor therein real-time monitors the clamping resistance, and when the resistance exceeds 1.5 N, an emergency stop is triggered to prevent the jaws from overloading and damaging the seedling stems. The positioning cylinder vertical slider can fix the height through a pneumatic locking device after descending to the surface of the seedling tray 14 to form a stable guiding reference surface.

[0047] Embodiment 4

[0048] Based on Embodiment 1, an inner wall positioning sleeve 228 is connected to the seedling picking jaw 223. The inner wall positioning sleeve 228 is arranged on the periphery of the seedling picking jaw 223. An elastic buffer guiding strip 229 is connected to one end of the inner wall positioning sleeve 228 facing the guiding and positioning cylinder 225. The elastic buffer guiding strip 229 is inclined toward the side of the seedling picking jaw 223. Among them, the inner wall positioning sleeve 228 is used for sliding and fitting with the inner wall of the guiding and positioning cylinder 225, and the elastic buffer guiding strip 229 is used for buffering contact before the inner wall positioning sleeve 228 and the guiding and positioning cylinder 225 are in contact.

[0049] The inner wall positioning sleeve 228 is made of polyurethane material, and its outer diameter is slightly smaller than the inner diameter of the guiding and positioning cylinder 225 (the clearance can be set to 0.1 - 0.2 mm). During the descending process of the seedling-taking gripper 223, the lateral swing is eliminated through sliding friction. The inclination angle of the elastic buffer guiding strip 229 is designed to be 15° - 25°. When the seedling-taking gripper 223 approaches the upper end of the guiding and positioning cylinder 225, the buffer strip first contacts the upper edge of the guiding and positioning cylinder 225, absorbs the mechanical vibration energy through elastic deformation, reduces the instantaneous impact force, and guides the descending seedling-taking gripper 223 into the guiding and positioning cylinder 225.

[0050] Example 5

[0051] On the basis of Example 1, two sets of seedling-taking mechanisms 2 are symmetrically arranged along the conveying direction of the feeding tray mechanism 1, and multiple sets of transplanting docking mechanisms 3 are correspondingly arranged for the seedling-taking mechanism 2 and are respectively connected to both sides of the feeding tray mechanism 1. The two symmetrically arranged seedling-taking mechanisms 2 act synchronously through the central controller, and the rotating frames 222 can rotate in the same or opposite directions respectively (for example, one set rotates clockwise and the other set rotates counterclockwise), so that the pre-seedling seats of the transplanting docking mechanisms 3 on both sides of the feeding tray mechanism 1 alternately receive the plug seedlings, realizing double-station parallel operation.

[0052] Example 6

[0053] On the basis of Example 1, a plurality of transplanting pre-seedling seats 31 are arranged on the transplanting docking mechanism 3, and the transplanting pre-seedling seats 31 are movably arranged on the surface of the transplanting docking mechanism 3; the transplanting pre-seedling seats 31 are used for carrying and moving the plug seedlings when the plug seedlings are taken out and placed on the transplanting docking mechanism 3.

[0054] The function of moving and separating seedlings of the transplanting pre-seedling seat 31 can be driven by a linear motor, and the plug seedlings are batch-transported to different seedling-guiding pipes according to the planting requirements (such as single-row or double-row modes), avoiding the idling waiting of the transplanting device and improving the comprehensive efficiency of transplanting, which can reach more than 120 plants per minute. A pneumatic gripper can be arranged at the bottom of the pre-seedling seat, which closes instantly when the transplanting device receives the seedlings, fixes the root position of the seedling body, prevents deviation caused by wind or mechanical vibration, and improves the upright planting rate.

[0055] Example 7

[0056] A method for taking and transplanting plug seedlings of an automatic plug seedling feeding device can be implemented based on any one of Examples 1 - 6, and includes the following steps:

[0057] S100. Feeding the tray, placing the seedling-raising tray 14 carrying the plug seedlings on the conveyor belt of the feeding tray mechanism 1, making the seedling-raising tray 14 and the position of the seedling-taking mechanism 2 be initially aligned in the conveying direction; starting the feeding conveyor belt 11, and conveying the seedling-raising tray 14 to the seedling-taking station at a preset speed;

[0058] S200. Positioning: Adjust the angle of the rotary frame 222 on the fixed support rod 221 of the seedling-taking support 22, and at the same time adjust the horizontal position of the seedling-taking jaw 223 on the rotary frame 222 to align the seedling-taking jaw 223 with the target hole of the seedling tray 14. Lower the guiding and positioning cylinder 225 of the positioning frame 224 to the surface of the seedling tray 14 through the elastic buffer guiding strip 229, and contact the bottom positioning outer seat 15 to achieve the positioning and fixation of the guiding and positioning cylinder 225;

[0059] S300. Seedling-taking: Control the seedling-taking jaw 223 to vertically descend along the inner wall of the guiding and positioning cylinder 225, and ensure the verticality through the sliding fit of the inner wall positioning sleeve 228. After the jaw contacts the plug seedling, it closes to clamp the seedling stem or substrate block of the plug seedling. After the seedling-taking jaw 223 clamps the plug seedling, it is lifted to a safe height, and at the same time the guiding and positioning cylinder 225 remains in contact with the seedling tray 14;

[0060] S400. Transplanting: Rotate the seedling-taking support 22 around the fixed support rod 221 to transfer the seedling-taking jaw 223 above the transplanting docking mechanism 3; during the rotation process, adjust the distance between the seedling-taking jaws 223 through the jaw horizontal slider 226 to match the distribution pattern of the pre-separated seedling seats 31 for transplanting; when the seedling-taking jaw 223 reaches directly above the transplanting docking mechanism 3, the jaw descends and releases, and the plug seedling falls into the pre-separated seedling seats 31 for transplanting; the moving roller 13 drives the tray moving support 12 to move to the position to be transplanted, and the transplanting device takes out the plug seedling for planting;

[0061] S500. Reset and cycle: The seedling-taking support 22 returns to the initial position, the guiding and positioning cylinder 225 resets above the seedling tray 14, and the tray conveyor belt 11 starts the next round of conveying of the seedling tray 14 for continuous cyclic operation.

[0062] As a preferred implementation manner, the clamping force of the seedling-taking jaw 223 in S300 is controlled at 0.5N to 1.5N, such as 0.5N, 0.8N, 1N, 1.2N or 1.5N, etc., and the distance adjustment between the seedling-taking jaws 223 is controlled at 20cm to 40cm, such as 20cm, 25cm, 30cm, 35cm or 40cm.

[0063] As a preferred implementation manner, a plug seedling ejection mechanism is adopted between S200 and S300 to eject the plug seedling from the bottom of the seedling tray 14 to prepare for the clamping of the seedling-taking jaw 223 in S300.

[0064] In step S200, when the guiding and positioning cylinder 225 descends to the surface of the seedling tray 14, a pressure sensor can be arranged at its bottom to detect the contact pressure. When the pressure reaches the set threshold (such as 2 N), a feedback signal is sent to stop the descent, ensuring that the guiding and positioning cylinder 225 is closely attached to the tray surface without damaging the seedlings. In step S300, the closing action of the seedling clamping jaw 223 is divided into two stages: in the first stage, it gently touches the seedling stem at a low speed (such as 10 mm / s), and in the second stage, the clamping force is adaptively adjusted according to the diameter of the seedling stem (such as 0.5 N when the diameter ≤ 3 mm and 1.2 N when the diameter > 3 mm), reducing the risk of clamping damage. During the rotation and transfer process in step S400, the angular velocity of the rotating frame 222 and the moving speed of the pre-seedling separating seat 31 for transplanting are dynamically matched through the PID algorithm, so that when the clamping jaw reaches the release point, the pre-seedling separating seat just moves to the docking position, and the spatio-temporal synchronization error is controlled within ±0.1 s, thereby completing the two adjustment actions within the same time period and improving the work efficiency.

[0065] The above-described embodiments merely represent the specific implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention.

Claims

1. An automatic tray feeding device for seedlings in a tray, characterized in that: It includes a tray delivery mechanism, a seedling retrieval mechanism and a transplant docking mechanism, wherein the seedling retrieval mechanism is arranged above the tray delivery mechanism, and the transplant docking mechanism is connected to the side of the tray delivery mechanism; the tray delivery mechanism is used to transport the seedling tray carrying the plug tray seedlings, the seedling retrieval mechanism is used to take the plug tray seedlings out of the seedling tray and transfer them to the transplant docking mechanism, and the transplant docking mechanism is used to connect an external transplanting device and the transplanting device transplants the taken plug tray seedlings; Among them, the seedling retrieval mechanism includes a seedling retrieval bridge connected to the tray delivery mechanism and a rotating seedling retrieval bracket connected to the seedling retrieval bridge, the rotating seedling retrieval bracket includes a fixed support rod and a rotating frame, one end of the rotating frame is rotatably connected to the fixed support rod, a plurality of liftable seedling retrieval claws are arranged on the rotating frame, and a positioning frame is also connected to the rotating frame, and a plurality of guide positioning cylinders corresponding to the seedling retrieval claws are arranged on the positioning frame, and the guide positioning cylinders are arranged between the seedling retrieval claws and the tray delivery mechanism; the rotating frame is used to transfer the hole tray seedlings taken out by the seedling retrieval claws to the top of the transplant docking mechanism through rotational movement, and the guide positioning cylinders are used to position with the hole tray seedlings, and to perform mobile guidance and clamping positioning on the descending seedling retrieval process of the seedling retrieval claws.

2. The automatic tray feeding device for plug tray seedlings according to claim 1, characterized in that: The tray feeding mechanism comprises a tray feeding conveyor belt, a tray feeding moving bracket is connected to the bottom of the tray feeding conveyor belt, a moving roller is connected to the bottom end of the tray feeding moving bracket, the seedling taking bridge is connected to both sides of the conveying direction of the tray feeding conveyor belt, a plurality of seedling tray placement areas are arranged on the tray feeding conveyor belt, a bottom positioning sleeve seat matched with the guide positioning cylinder is arranged on the seedling tray on the tray feeding conveyor belt, and the bottom positioning sleeve seat corresponds to the tray hole position on the seedling tray one by one; The bottom positioning sleeve seat is used to be sleeved on the bottom outer side of the guide positioning cylinder and fix the horizontal position of the guide positioning cylinder.

3. The automatic tray feeding device for plug tray seedlings according to claim 1, characterized in that: The rotating frame and the positioning frame of the seedling taking mechanism are respectively provided with a first horizontal slide rail and a second horizontal slide rail, the seedling taking clamping claw is connected with a clamping claw horizontal slider which is slidably matched with the first horizontal slide rail, and the guide positioning cylinder is connected with a positioning cylinder horizontal slider which is slidably matched with the second horizontal slide rail; The horizontal slider of the clamping jaw and the horizontal slider of the positioning cylinder are respectively used to drive the seedling clamping jaw and the guide positioning cylinder to adjust the horizontal direction for seedling positioning and to adjust the spacing between the seedlings in the plug tray during the clamping process.

4. The automatic tray feeding device for plug tray seedlings according to claim 3, characterized in that: A clamping claw vertical slider and a first vertical slide rail are also connected between the seedling picking clamping claw and the clamping claw horizontal slider, and a positioning cylinder vertical slider and a second vertical slide rail are also connected between the guide positioning cylinder and the positioning cylinder horizontal slider; Among them, the vertical slider of the clamp is used to drive the seedling clamp to move up and down in the vertical direction to complete the seedling picking action, and the vertical slider of the positioning cylinder is used to descend during the seedling picking process to contact the seedling tray and keep the position relatively fixed.

5. The automatic tray feeding device for plug tray seedlings according to claim 1, characterized in that: The seedling taking clamp is connected with an inner wall positioning sleeve, the inner wall positioning sleeve is arranged at the periphery of the seedling taking clamp, one end of the inner wall positioning sleeve facing the guide positioning cylinder is connected with an elastic buffer guide strip, and the elastic buffer guide strip is arranged obliquely toward one side of the seedling taking clamp; The inner wall positioning sleeve is used for slidingly fitting with the inner wall of the guide positioning tube, and the elastic buffer guide strip is used for buffering contact before the inner wall positioning sleeve fits with the guide positioning tube.

6. The automatic tray feeding device for plug tray seedlings according to claim 1, characterized in that: The seedling taking mechanism is symmetrically arranged in two groups along the conveying direction of the tray delivery mechanism, and the transplanting docking mechanism is arranged in multiple groups corresponding to the seedling taking mechanism and respectively connected to the two sides of the tray delivery mechanism.

7. The automatic tray feeding device for plug tray seedlings according to claim 1, characterized in that: A plurality of transplanting pre-separating seedling seats are arranged on the transplanting docking mechanism, and the transplanting pre-separating seedling seats are movably arranged on the surface of the transplanting docking mechanism; the transplanting pre-separating seedling seats are used to carry and move the plug tray seedlings when the plug tray seedlings are taken out and placed on the transplanting docking mechanism.

8. A seedling transplanting method using an automatic tray feeding device for plug seedlings, according to any one of claims 1 to 7, characterized in that: The steps include: S100, placing the seedling tray carrying the plug tray seedlings on the conveyor belt of the tray delivery mechanism, so that the seedling tray and the position of the seedling retrieval mechanism are preliminarily aligned in the delivery direction; starting the tray delivery conveyor belt, and transporting the seedling tray to the seedling retrieval station at a preset speed; S200, positioning, rotating the rotating frame on the fixed support rod of the seedling picking bracket to adjust the angle of the rotating frame, and at the same time adjusting the horizontal position of the seedling picking claw on the rotating frame, so that the seedling picking claw is aligned with the target hole of the seedling tray, and the guide positioning cylinder of the positioning frame is lowered to the surface of the seedling tray, and the guide positioning cylinder is contacted with the bottom positioning sleeve seat through the elastic buffer guide strip to realize the positioning and fixing of the guide positioning cylinder; S300, taking out the seedlings, controlling the seedling taking clamping claw to vertically descend along the inner wall of the guide positioning cylinder, ensuring the verticality by sliding and fitting the inner wall positioning sleeve, and closing the clamping claw after contacting the seedlings in the plug tray to clamp the seedling stems or substrate blocks of the seedlings in the plug tray; after the seedling taking clamping claw clamps the seedlings in the plug tray, it is lifted to a safe height, and at the same time, the guide positioning cylinder maintains contact with the seedling tray; S400, transplanting, the rotating seedling support rotates around the fixed support rod, and the seedling clamping claw is transferred to the top of the transplanting docking mechanism; during the rotation process, the spacing between the seedling clamping claws is adjusted by the horizontal slider of the clamping claws to match the distribution pattern of the transplanting pre-separated seedling seat; when the seedling clamping claws reach the top of the transplanting docking mechanism, the clamping claws are lowered and released, and the seedlings in the plug tray fall into the transplanting pre-separated seedling seat; the moving roller drives the tray-feeding moving support to move to the position to be transplanted, and the transplanting device takes out the seedlings in the plug tray for planting; S500, reset cycle, rotate the seedling support to return to the initial position, the guide positioning cylinder is reset to the top of the seedling tray, and the tray conveyor belt starts the next round of seedling tray delivery, and the cycle is continuous.

9. The seedling transplanting method of the automatic tray feeding device for plug tray seedlings according to claim 8, characterized in that: The clamping force of the seedling taking clamp in S300 is controlled within the range of 0.5N to 1.5N, and the distance between the seedling taking clamps is adjusted and controlled within the range of 20cm to 40cm.

10. The seedling transplanting method of the automatic tray feeding device for plug tray seedlings according to claim 8, characterized in that: A plug tray seedling ejection mechanism is used between S200 and S300 to eject the plug tray seedlings from the bottom of the seedling tray, so as to prepare for the seedling gripping claws in S300 to grip the seedlings.

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