Unmanned automatic seedling taking transplanter and intelligent control method

Abstract

The invention discloses an unmanned automatic seedling taking transplanter and an intelligent control method, belongs to the technical field of intelligent agricultural machinery, and aims at solving the problems that an existing transplanter seedling taking device is low in intelligent and automatic degree and tedious in operation. Comprising a successive seedling supply mechanism, a seedling skin dumping mechanism and a seedling tray recovery mechanism. Seedling trays are loaded on each seedling tray storage bin, a plurality of seedling skins are arranged on the seedling trays, the successive seedling supply mechanism is responsible for successively placing each layer of seedling trays on the two translation guide rails, the translation mechanism is responsible for pushing the seedling trays on the translation guide rails to the turning plate frame, and the seedling skin dumping mechanism is responsible for dumping the plurality of seedling skins on the seedling trays to a seedling box. According to the unmanned automatic seedling taking machine, the complete process of unmanned automatic seedling taking can be achieved, the weight of the whole machine is light, loads borne by all the mechanisms are small, operation is stable and reliable, and the automation degree and the intelligent degree are high.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent agricultural machinery, and particularly relates to an unmanned automatic seedling picking and transplanting machine and an intelligent control method. Background Art

[0002] A transplanting machine is an agricultural machine for implanting rice seedlings into paddy fields. Mechanized rice planting can not only greatly reduce the labor intensity of farmers, but also reduce the total cost of rice planting.

[0003] However, during the operation of the transplanting machine, manual seedling feeding is generally still required. The person standing for the seedlings needs to stand on the transplanting machine, take out the seedlings from the seedling storage rack, and place them on the seedling box board, without achieving true unmanned operation. Therefore, there is an urgent need for an unmanned transplanting machine with automatic continuous seedling feeding to solve the above problems. The Chinese invention patent with publication number CN118476359A discloses a seedling picking device and a transplanting machine of an unmanned transplanting machine with automatic continuous seedling feeding, realizing automatic continuous seedling picking and feeding of the unmanned transplanting machine. However, the seedling storage racks of this unmanned transplanting machine are distributed at both ends of the vehicle body, and the seedling picking mechanism is arranged in the middle position of the seedling storage rack. The process of picking and delivering seedlings is realized by means of rotation and lifting. The overall structure is large, the weight is large, the force load capacity of the seedling picking mechanism is poor, and the center of gravity is prone to shift when installed on the transplanting machine.

[0004] The Chinese invention patent with publication number CN113243174A discloses a transplanting machine capable of automatically replenishing seedlings. A scissor lift mechanism is arranged on the vehicle body, and a transmission box is arranged below the vehicle body. The overall structure of this structure has a large modification amount to the transplanting machine, occupies a large space of the transplanting machine, the structure is relatively complex, and a high precision requirement for the mechanism is required during the operation of the mechanism.

[0005] The Chinese invention patent with publication number CN119452840A discloses a small high-speed transplanting machine for rice planting, which mainly solves the problem that the number of seedlings picked during the transplanting process of the transplanting machine cannot be adjusted, and does not solve the problem of replenishing seedlings after the self-carried seedlings are used up.

[0006] Moreover, the seedling picking of the existing transplanting machine still depends on the driver to operate inside the vehicle body, without achieving true intelligence. The operation process is cumbersome and affects driving. Summary of the Invention

[0007] The purpose of the present invention is to provide an unmanned automatic seedling picking and transplanting machine and an intelligent control method to solve the problems of low intelligent automation degree and cumbersome operation of the seedling picking device of the existing transplanting machine. The technical solutions adopted by the present invention are as follows:

[0008] An unmanned automatic seedling picking and transplanting machine includes a vehicle body, a main frame, a sequential seedling feeding mechanism, a seedling skin dumping mechanism, and a seedling tray recycling mechanism. The main frame is fixed above the vehicle body, and a seedling box is arranged in front of the vehicle body;

[0009] A number of limiting rods are provided on the seedling tray. The number of limiting rods divides the seedling tray into a number of storage units for placing seedling skins. Magnetic material blocks are respectively provided on the left and right sides of the seedling tray. Two guiding grooves are arranged in parallel on the left and right at the bottom of the seedling tray;

[0010] The sequential seedling supply mechanism includes two sets of lifting mechanisms. Each lifting mechanism includes 2n horizontally arranged supporting beams and two closed lifting chains. The 2n supporting beams are evenly fixed on the outer circumference of the two lifting chains. The first driving mechanism drives the two lifting chains to rotate synchronously and intermittently. When the lifting chains are stationary, n supporting beam positions are formed on the descending side of the lifting chains and n supporting beam positions are formed on the ascending side. The 2n supporting beams are respectively located at the 2n said supporting beam positions. The two sets of lifting mechanisms are arranged on the left and right sides of the main frame. The descending sides of the lifting chains of the two sets of lifting mechanisms are arranged opposite to each other;

[0011] The translation mechanism includes two translation guide rails and a closed translation chain. The second driving mechanism drives the translation chain to rotate intermittently. A translation push block is arranged on the translation chain. The two translation guide rails are arranged in parallel on the left and right. Define the supporting beam position at the lowermost end of the descending side of the lifting chain as the seedling tray release position, and the remaining supporting beam positions on the descending side as the seedling tray storage positions. The supporting beam at the seedling tray release position is lower than the upper end surface of the translation guide rail, and the supporting beams at the seedling tray storage positions are all higher than the upper end surface of the translation guide rail. A pair of supporting beams with the same height in the two sets of lifting mechanisms is a group. Two front and rear seedling tray storage bins are formed between the supporting beams at the seedling tray storage positions in each group. The seedling tray storage bins are loaded with seedling trays. When the supporting beam at the seedling tray storage position descends to the said seedling tray release position, the two guiding grooves of the seedling tray are in sliding fit with the two translation guide rails one by one. When the second driving mechanism works, the translation push block pushes the seedling tray on the translation guide rail forward;

[0012] The seedling skin dumping mechanism includes a support seat and a flap frame. The support seat is connected to the front side of the bottom of the main frame. The third driving mechanism drives the flap frame to swing reciprocally and intermittently between the upper side position and the front side position of the support seat. When the flap frame is in the said upper side position, the flap frame is in a horizontal state and is aligned with the upper end surface of the translation guide rail. When the flap frame is in the said front side position, the front end of the flap frame is lower than the rear end and the flap frame is in an inclined state;

[0013] The seedling tray recycling mechanism includes a recycling frame body and a mounting seat. The recycling frame body is fixed to the upper end of the main frame. The fourth driving mechanism drives the mounting seat to move back and forth on the recycling frame body. A lifting rotating shaft is rotatably arranged on the mounting seat. A lifting motor is connected to the mounting seat. The output shaft of the lifting motor is connected to the lifting rotating shaft. The lifting motor is a worm and gear motor. Two winches are sleeved on the lifting rotating shaft. Ropes are wound on the winches. The movable ends of the ropes are connected to a lifting beam. The lifting beam is arranged horizontally. Sliding seats are provided at both ends of the lifting beam. Electromagnets are provided on the lower sides of the sliding seats.

[0014] Further, the number of supporting beams is eight. When the lifting chain is stationary, four supporting beam positions are formed on the descending side of the lifting chain, and four supporting beam positions are formed on the ascending side. The eight supporting beams are respectively located at the eight supporting beam positions. The first driving mechanism includes two transmission components, a lifting driving shaft and a lifting driven shaft. The lifting driving shaft and the lifting driven shaft are respectively rotatably arranged at the top and bottom of the main frame. The transmission component includes a lifting driving sprocket and a lifting driven sprocket. The lifting driving sprocket is sleeved on the lifting driving shaft, and the lifting driven sprocket is sleeved on the lifting driven shaft. The lifting driving sprocket and the lifting driven sprocket are connected by a lifting chain. The lifting driving motor is connected to the main frame, and the output shaft of the lifting driving motor is connected to the lifting driving shaft. The lifting driving motor is a worm and worm gear motor;

[0015] The lifting mechanism further includes two vertically arranged first slide rails. Both of the two first slide rails are arranged on the descending side of the lifting chain. The first slide rails are connected to the main frame. First rollers are provided at the front and rear ends of the supporting beam. When the lifting chain drives the supporting beam to descend, the first rollers at both ends of the supporting beam respectively rollingly cooperate with the two first slide rails.

[0016] Further, the transmission component further includes a tensioning sprocket, a first support rod, a second support rod and a third support rod. The upper end of the first support rod is rotatably matched with the lifting driving shaft, and the lower end of the third support rod is rotatably matched with the lifting driven shaft. The tensioning sprocket is rotatably arranged at the upper end of the third support rod. The lower end of the second support rod is hinged to the third support rod. A first adjusting nut is provided at the bottom of the first support rod, and a second adjusting nut is provided at the top of the second support rod. The thread rotation directions of the first adjusting nut and the second adjusting nut are opposite. The two ends of the double-headed screw are respectively threadedly matched with the first adjusting nut and the second adjusting nut. The lifting driving sprocket, the lifting driven sprocket and the tensioning sprocket are connected by a lifting chain.

[0017] Further, the second driving mechanism includes a translation frame body, a translation driving sprocket and a translation driven sprocket. The first wheel shaft is rotatably arranged at the front end of the translation frame body, and the second wheel shaft is arranged at the rear end of the translation frame body. The translation frame body is fixed to the bottom of the main frame. The translation driving sprocket is sleeved on the first wheel shaft, and the translation driven sprocket is rotatably arranged on the second wheel shaft. The first translation motor is connected to the translation frame body, and the output shaft of the first translation motor is connected to the first wheel shaft. The translation driving sprocket and the translation driven sprocket are connected by a translation chain.

[0018] Further, the translation frame body includes a left half frame body and a right half frame body. The translation driving sprocket and the translation driven sprocket are both arranged between the left half frame body and the right half frame body. A support bar is provided between the translation driving sprocket and the translation driven sprocket. The support bar is respectively connected to the left half frame body and the right half frame body. The upper translation chain slides on the support bar;

[0019] The rear ends of the left half-frame body and the right half-frame body are provided with long holes that penetrate through left and right, and the long direction of the long holes extends forward and backward. The second round shaft passes through the long holes, and the second round shaft is in sliding fit with the long holes. The fish eyes of two loose bolts are respectively sleeved at both ends of the second round shaft, and the threaded ends of the loose bolts are arranged backward. The threaded ends of the two loose bolts are respectively matched with the translation frame body and tightened.

[0020] Further, the third driving mechanism includes a driving arm group and a driven arm group. The upper end of the driving arm group is hinged to the rear part of the flap frame, the upper end of the driven arm group is hinged to the front part of the flap frame, the lower end of the driving arm group is connected to the flipping drive shaft, the flipping drive shaft is in rotational fit with the support seat, the flipping drive motor is connected to the support seat, the output shaft of the flipping drive motor is connected to the flipping drive shaft, the lower end of the driven arm group is hinged to the support seat through the flipping driven shaft, and the support seat, the driving arm group, the flap frame and the driven arm group form a four-bar linkage mechanism. The output shaft of the flipping drive motor rotates reciprocally and intermittently, driving the flap frame to swing reciprocally between the upper side position and the front side position of the support seat.

[0021] Two nylon short tracks are provided on the flap frame. When the flap frame is in the upper horizontal position, the two nylon short tracks are aligned with the two translation guide rails in the front-back direction one by one. When the translation mechanism pushes the seedling tray on the translation guide rail onto the flap frame, the two nylon short tracks are in sliding fit with the two guide grooves of the seedling tray one by one.

[0022] Further, a plurality of limit blocks are provided on the front side of the seedling tray, and a plurality of stop blocks are provided on the front side of the upper end face of the flap frame. When the seedling tray slides to the front end of the flap frame, the plurality of limit blocks are in contact and limit with the plurality of stop blocks one by one.

[0023] A plurality of V-shaped positioning blocks are provided on the front side and the rear side of the flap frame. V-shaped positioning grooves are provided on the V-shaped positioning blocks. A plurality of first positioning rods are provided on the front side of the main frame. A first positioning ring group is sleeved on the first positioning rods. When the flap frame is in the upper side position, the plurality of first positioning ring groups are in snap-fit limit with the V-shaped positioning grooves of the plurality of V-shaped positioning blocks on the rear side of the flap frame one by one.

[0024] A plurality of second positioning rods are provided on the top of the seedling box. A second positioning ring group is sleeved on the second positioning rods. When the flap frame is in the front side position, the plurality of second positioning ring groups are in snap-fit limit with the V-shaped positioning grooves of the plurality of V-shaped positioning blocks on the front side of the flap frame one by one.

[0025] Further, a connection component is further included. The connection component is hoisted on the front side of the bottom of the main frame through a plurality of long screws and fastening nuts. A plurality of optical axis fixing seats are provided on the connection component, and a plurality of adjusting optical axes arranged in the front-back direction are provided on the support seat. The plurality of adjusting optical axes are connected to the plurality of optical axis fixing seats one by one.

[0026] Further, the fourth driving mechanism includes a transmission screw and two guide optical shafts, the transmission screw is arranged front and rear, the transmission screw is rotationally matched with the recovery frame, the second translation motor is fixed on the recovery frame, the output shaft of the second translation motor is connected to the transmission screw, the guide optical shaft is parallel to the transmission screw, the guide optical shaft is fixed on the recovery frame, the mounting seat is threadedly matched with the transmission screw, and the mounting seat is slidingly matched with the guide optical shaft;

[0027] Second slide rails are vertically arranged on the left and right sides of the seedling skin unloading mechanism, and the second slide rails are respectively connected to the main frame and the recovery frame. Second rollers are arranged on the outer side of the slide seat. When the mounting seat slides to the front end of the guide light axis and the rope is retracted and released, the two second rollers roll in correspondence with the two second slide rails.

[0028] The present invention also provides an intelligent control method for an unmanned automatic seedling taking and transplanting machine, which is implemented based on the above-mentioned unmanned automatic seedling taking and transplanting machine and includes the following steps:

[0029] Step 1: a first proximity switch is arranged at the bottom of the first slide rail, and a second proximity switch is arranged at the front end of the translation frame. When the supporting beam is in the seedling tray release position, the first proximity switch is triggered. When a seedling tray is placed at the front of the translation guide rail, the seedling tray triggers the second proximity switch.

[0030] Step 2: a first travel switch and a second travel switch are arranged on the flap frame. When the flap frame is at the upper side position of the support seat, the main frame triggers the first travel switch. When the translation mechanism pushes the seedling tray onto the flap frame, the seedling tray triggers the second travel switch.

[0031] Step 3: a plurality of pressure sensors are arranged on the seedling box, and the plurality of pressure sensors are used to monitor the consumption of the seedling skin on the seedling box;

[0032] Step 4: a third travel switch is arranged at the top end of the second slide rail, and a fourth travel switch is arranged at the bottom end of the second slide rail. When the second roller slides up and leaves the second slide rail, the slide seat triggers the third travel switch. When the second roller slides down and makes the electromagnet approach the magnetic material block corresponding to the seedling tray on the flap frame, the slide seat triggers the fourth travel switch.

[0033] Step 5: Mark the rear seedling tray storage bin at the top seedling tray storage position as No. 1 bin, and mark the front seedling tray storage bin as No. 2 bin, set a first photoelectric switch and a second photoelectric switch on the top of the main frame, and trigger the first photoelectric switch when the No. 1 bin is loaded with seedling trays, and trigger the second photoelectric switch when the No. 2 bin is loaded with seedling trays;

[0034] Step 6: Set a code disc on the recovery frame, the code disc shaft is connected to the transmission screw, the second roller is matched with the second slide rail, and the code disc is marked as the zero position of the code disc, and the backward movement stroke of the mounting seat is obtained through the code disc;

[0035] Step 7: Install a tension sensor between the rope and the lifting beam;

[0036] Step 8: The first travel switch, the second travel switch, the third travel switch, the fourth travel switch, the first photoelectric switch, the second photoelectric switch, the code disk, the tension sensor, the electromagnet, several pressure sensors, the first proximity switch, the second proximity switch, the lifting drive motor, the first translation motor, the flipping drive motor, the second translation motor, and the lifting motor are respectively electrically connected to the PLC;

[0037] Step 9: Mark the supporting beam at the seedling tray release position as the first supporting beam, mark the supporting beams at the seedling tray storage positions from bottom to top as the second supporting beam, the third supporting beam, and the fourth supporting beam in sequence, mark the supporting beams on the ascending side of the lifting chain from top to bottom as the fifth supporting beam, the sixth supporting beam, the seventh supporting beam, and the eighth supporting beam in sequence. Load seedling trays on each seedling tray storage bin, and arrange and place several seedling skins on the seedling trays;

[0038] Step 10: When the second proximity switch does not detect a seedling tray on the translation guide rail, the PLC controls the two lifting drive motors to run synchronously, so that several supporting beams move synchronously to the next supporting beam position, that is, the second supporting beam moves to the seedling tray release position, the fifth supporting beam moves to the uppermost seedling tray storage position. When the first proximity switch detects that the second supporting beam has descended to the seedling tray release position and the second proximity switch detects that there is already a seedling tray on the translation guide rail, the PLC controls the two lifting drive motors to stop;

[0039] Step 11: When the main frame triggers the first travel switch, and the second travel switch is not triggered, and the seedling tray triggers the second proximity switch, the PLC controls the first translation motor to run, and the translation push block pushes the two seedling trays on the translation guide rail to slide forward;

[0040] Step 12: The seedling tray at the front side slides onto the flap frame and triggers the second travel switch, and the PLC controls the first translation motor to stop;

[0041] Step 13: When the seedling skins on the seedling box are used up, several pressure sensors are not triggered, and the seedling tray triggers the second travel switch, the PLC controls the flipping drive motor to run, and the flipping drive motor drives the flap frame to swing forward and flip to the front side position, dumping several seedling skins on the seedling tray onto the seedling box to complete the seedling discharging operation;

[0042] Step 14: Several seedling skins respectively trigger the corresponding pressure sensors, and the PLC controls the flipping drive motor to rotate in the reverse direction, and the flipping drive motor drives the flap frame to swing upward to the upper side position;

[0043] Step Fifteen: When the main frame triggers the first travel switch again, the PLC controls the flipping drive motor to stop and controls the lifting motor to operate. The lifting rotating shaft rotates to drive the winch to release the rope, causing the lifting beam to descend. When the sliding seat triggers the fourth travel switch, the electromagnet approaches the magnetic material block corresponding to the seedling tray on the flipping frame. The PLC controls the lifting motor to stop and controls the electromagnet to be energized to attract the corresponding magnetic material block;

[0044] Step Sixteen: After the lifting beam lifts the seedling tray on the flipping frame through the electromagnet, the tension received by the tension sensor changes. The tension sensor sends a signal to control the lifting motor to rotate in the reverse direction through the PLC. The lifting rotating shaft rotates to drive the winch to wind the rope, lifting the empty seedling tray on the lifting beam. At the same time, the seedling tray disengages from the second travel switch, and the second travel switch sends a signal to control the first translation motor to operate. The translation push block pushes another seedling tray on the translation guide rail to the flipping frame;

[0045] Step Seventeen: When the sliding seat moves upward to trigger the third travel switch, the second roller disengages from the corresponding second slide rail. The third travel switch sends a signal to control the lifting motor to stop through the PLC and controls the second translation motor to operate. The transmission lead screw rotates to drive the mounting seat to slide backward. If neither the first tray bin nor the second tray bin is loaded with a seedling tray, the PLC controls the fourth driving mechanism to move the empty seedling tray above the first tray bin. If the first tray bin is loaded and the second tray bin is not loaded with a seedling tray, the PLC controls the fourth driving mechanism to move the empty seedling tray above the second tray bin. After obtaining the data that the empty seedling tray has moved into place through the code disk, the PLC controls the second translation motor to stop and controls both electromagnets to be powered off simultaneously;

[0046] The empty seedling tray falls into the first tray bin or the second tray bin, and the tension received by the tension sensor changes. The tension sensor sends a signal to control the second translation motor to rotate in the reverse direction through the PLC to make the mounting seat slide forward. When the second roller re - mates with the corresponding second slide rail, the code disk returns to zero, and the PLC controls the second translation motor to stop;

[0047] Step Eighteen: The seedling tray recycling mechanism loads two empty seedling trays into the first bin and the second bin respectively. The two seedling trays trigger the first photoelectric switch and the second photoelectric switch respectively, then the PLC is allowed to control the two lifting drive motors to operate synchronously again, starting the next seedling - taking process in a cycle.

[0048] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0049] 1. Load seedling trays on each seedling tray storage bin, arrange a number of seedling skins on the seedling trays. The sequential seedling supply mechanism is responsible for sequentially placing each layer of seedling trays on two translation guide rails. The translation mechanism is responsible for pushing the seedling trays on the translation guide rails onto the tipping frame. The seedling skin dumping mechanism is responsible for dumping a number of seedling skins on the seedling trays onto the seedling box to achieve the seedling placement operation. The seedling tray recycling mechanism is responsible for recycling the empty seedling trays and placing them in the empty seedling tray storage bin. The present invention can realize the complete process of unmanned automatic seedling picking, with the whole machine being light in weight, each mechanism having a small load, stable and reliable operation, and high automation and intelligence levels.

[0050] 2. By setting components such as tension sensors, travel switches, and photoelectric switches that can provide signals for actions, and sending opening and closing signals and forward and reverse signals to each motor through the PLC, the present invention can fully automatically supply seedlings, place seedlings, and recycle seedling trays during the operation of the transplanter without any further operation by the driver, with high automation and intelligence levels. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 Is an isometric view of the present invention;

[0052] Figure 2 Is an isometric view of the present invention from another perspective;

[0053] Figure 3 Is Figure 2 An enlarged view of part A of

[0054] Figure 4 Is an isometric view of the seedling tray from a top-down perspective;

[0055] Figure 5 Is an isometric view of the seedling tray from a bottom-up perspective;

[0056] Figure 6 Is a schematic diagram of the sequential seedling placement mechanism loading the seedling tray;

[0057] Figure 7 Is an isometric view of the lifting mechanism;

[0058] Figure 8 Is an isometric view of the first driving mechanism;

[0059] Figure 9 Is an isometric view of the first driving mechanism from another perspective;

[0060] Figure 10 Is a schematic diagram of the translation mechanism pushing the seedling tray forward;

[0061] Figure 11 Is a structural schematic diagram of the translation mechanism;

[0062] Figure 12 Is Figure 11 An enlarged view of part B of

[0063] Figure 13 is Figure 11 the enlarged view at position C of

[0064] Figure 14 the axonometric view of the connection between the seedling skin dumping mechanism and the main frame;

[0065] Figure 15 the side view of the connection between the seedling skin dumping mechanism and the main frame;

[0066] Figure 16 the schematic diagram of the connection between the tipping frame and the main frame;

[0067] Figure 17 the axonometric view of the seedling skin dumping mechanism;

[0068] Figure 18 the axonometric view of the seedling skin dumping mechanism from another perspective;

[0069] Figure 19 the side view of the seedling skin dumping mechanism;

[0070] Figure 20 is Figure 19 the bottom view of

[0071] Figure 21 the axonometric view of the seedling tray recycling mechanism;

[0072] Figure 22 the axonometric view of the seedling tray recycling mechanism from another perspective;

[0073] Figure 23 the schematic diagram of the structure of the seedling tray recycling mechanism without the recycling frame;

[0074] Figure 24 the schematic diagram of the cooperation between the lifting beam and the second slide rail;

[0075] Figure 25 the schematic diagram of the connection for the lifting motor to drive the lifting beam to move up and down.

[0076] In the figure, 1. vehicle body, 2. seedling box, 21. pressure sensor, 22. second positioning ring group, 3. seedling skin dumping mechanism, 31. support seat, 32. driven arm group, 33. flap frame, 34. V-shaped positioning block, 35. stop block, 36. nylon short track, 37. V-shaped positioning groove, 38. adjusting optical axis, 39. driving arm group, 310. flipping drive shaft, 311. flipping drive motor, 312. flipping driven shaft, 313. first travel switch, 314. second travel switch, 4. seedling tray, 41. tray frame, 42. magnetic material block, 43. limiting rod, 44. tray panel, 45. guiding groove, 46. limiting block, 5. seedling tray recycling mechanism, 51. lifting rotating shaft, 52. recycling frame body, 53. second translation motor, 54. transmission lead screw, 55. guiding optical axis, 56. lifting beam, 57. mounting seat, 58. lifting motor, 59. second slide rail, 510. second roller, 511. sliding seat, 512. winch, 513. electromagnet, 6. main frame, 61. connection component, 62. long screw, 63. first positioning ring group, 64. optical axis fixing seat 7. lifting mechanism, 71. first slide rail, 72. lifting drive motor, 73. lifting drive shaft, 74. bearing seat, 75. first roller, 76. supporting beam, 77. lifting chain, 78. lifting driven shaft, 79, lifting driving sprocket, 710. tensioning sprocket, 711. lifting driven sprocket, 712. third support rod, 713. second support rod, 714. second adjusting nut, 715. double-headed screw, 716. first adjusting nut, 717, first support rod, 718, first proximity switch, 8. translation mechanism, 81. second proximity switch, 82. loose joint bolt, 83. translation driven sprocket, 84. translation push block, 85. translation chain, 86. translation driving sprocket, 87. first translation motor, 88. translation frame body, 89. translation guide rail, 810. support bar. Detailed implementation mode

[0077] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be described below through specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0078] The connections mentioned in the present invention are divided into fixed connections and detachable connections. The fixed connections, that is, non-detachable connections, include but are not limited to conventional fixed connection methods such as hemming connection, rivet connection, bonding connection, and welding connection, etc. The detachable connections include but are not limited to conventional disassembly methods such as bolt connection, snap connection, pin connection, and hinge connection, etc. When the specific connection method is not clearly defined, it is default that at least one connection method can be found among the existing connection methods to achieve this function, and those skilled in the art can select according to their needs. For example: for fixed connection, welding connection is selected; for detachable connection, bolt connection is selected.

[0079] The present invention will be further described in detail below in conjunction with the accompanying drawings. The following embodiments are explanations of the present invention, and the present invention is not limited to the following embodiments.

[0080] Embodiment 1: As Figures 1 to 25 shown, an unmanned automatic seedling picking and transplanting machine includes a vehicle body 1, a main frame 6, a sequential seedling supply mechanism, a seedling skin dumping mechanism 3, and a seedling tray recycling mechanism 5. The main frame 6 is fixed above the vehicle body 1, and a seedling box 2 is provided in front of the vehicle body 1;

[0081] A number of limiting rods 43 are provided on the seedling tray 4. The number of limiting rods 43 divides the seedling tray 4 into a number of storage units for placing seedling skins. The limiting rods 43 can limit the seedling skins and can also increase the strength of the seedling tray 4. Magnetic material blocks 42 are respectively provided on the left and right sides of the seedling tray 4, and two guiding grooves 45 are arranged in parallel at the bottom of the seedling tray 4;

[0082] The seedling tray 4 includes a tray panel 44 and a tray frame 41. The tray panel 44 is arranged on the tray frame 41, and the frame of the tray frame 41 surrounds the edge of the tray panel 44. Among them, the frame on the front side is lower than the tray panel 44 for the seedling skin to slide out, and the frames on the left and right sides and the rear side are higher than the tray panel 44 to form edges for limiting the seedling skin. The limiting rods 43 are arranged on the tray panel 44, the magnetic material blocks 42 are arranged on the frames on both sides of the tray frame 41, and a number of limiting blocks 46 are respectively arranged on the lower end surface of the tray panel 44;

[0083] The sequential seedling supply mechanism includes two sets of lifting mechanisms 7. The lifting mechanism 7 includes 2n horizontally arranged supporting beams 76 and two closed lifting chains 77. The 2n supporting beams 76 are evenly fixed on the outer periphery of the two lifting chains 77. The first driving mechanism drives the two lifting chains 77 to rotate synchronously and intermittently. When the lifting chains 77 are stationary, n supporting beam positions are formed on the descending side of the lifting chains 77 and n supporting beam positions are formed on the ascending side. The 2n supporting beams 76 are respectively located at the 2n said supporting beam positions. The two sets of lifting mechanisms 7 are arranged on the left and right sides of the main frame 6, and the descending sides of the lifting chains 77 of the two sets of lifting mechanisms 7 are arranged opposite to each other;

[0084] The translation mechanism 8 includes two translation guide rails 89 and a closed translation chain 85. The second driving mechanism drives the translation chain 85 to rotate intermittently. A translation push block 84 is arranged on the translation chain 85. The two translation guide rails 89 are arranged parallel to each other left and right. Define the supporting beam position at the lowermost end of the descending side of the lifting chain 77 as the seedling tray release position, and the other supporting beam positions on the descending side as the seedling tray storage positions. The supporting beam 76 at the seedling tray release position is lower than the upper end surface of the translation guide rail 89, and the supporting beams 76 at the seedling tray storage positions are all higher than the upper end surface of the translation guide rail 89. A pair of supporting beams 76 with the same height in the two sets of lifting mechanisms 7 are taken as a group. Between the supporting beams 76 at the seedling tray storage positions in each group, there are formed two front and rear seedling tray storage bins. The seedling tray storage bins are loaded with seedling trays 4. When the supporting beam 76 at the seedling tray storage position descends to the seedling tray release position, the two guiding grooves 45 of the seedling tray 4 are in sliding fit with the two translation guide rails 89 one by one. When the second driving mechanism works, the translation push block 84 pushes the seedling tray 4 on the translation guide rail 89 forward;

[0085] The seedling skin dumping mechanism 3 includes a support base 31 and a flap frame 33. The support base 31 is connected to the front side of the bottom of the main frame 6. The third driving mechanism drives the flap frame 33 to swing reciprocally and intermittently between the upper side position and the front side position of the support base 31. When the flap frame 33 is in the upper side position, the flap frame 33 is in a horizontal state and is aligned with the upper end surface of the translation guide rail 89. When the flap frame 33 is in the front side position, the front end of the flap frame 33 is lower than the rear end, and the flap frame 33 is in an inclined state;

[0086] The seedling tray recycling mechanism 5 includes a recycling frame body 52 and a mounting seat 57. The recycling frame body 52 is fixed to the upper end of the main frame 6. The fourth driving mechanism drives the mounting seat 57 to move back and forth on the recycling frame body 52. The lifting rotating shaft 51 is rotatably arranged on the mounting seat 57. The lifting motor 58 is connected to the mounting seat 57, and the output shaft of the lifting motor 58 is connected to the lifting rotating shaft 51. The lifting motor 58 is a worm and worm gear motor. Two winches 512 are sleeved on the lifting rotating shaft 51. Ropes are wound on the winches 512. The movable ends of the ropes are connected to the lifting beam 56. The lifting beam 56 is arranged left and right. Sliding seats 511 are provided at both ends of the lifting beam 56. Electromagnets 513 are provided on the lower sides of the sliding seats 511.

[0087] Seedling trays 4 are loaded on each seedling tray storage bin. A number of seedling skins are arranged and placed on the seedling trays 4. The successive seedling supply mechanism is responsible for successively placing each layer of seedling trays on the two translation guide rails 89. The translation mechanism 8 is responsible for pushing the seedling trays 4 on the translation guide rails 89 onto the flap frame 33. The seedling skin dumping mechanism 3 is responsible for dumping a number of seedling skins on the seedling trays 4 onto the seedling box 2 to realize the seedling placing operation. The seedling tray recycling mechanism 5 is responsible for recycling the empty seedling trays and placing them in the seedling tray storage bin at the uppermost seedling tray storage position. The present invention can realize the complete process of unmanned automatic seedling picking, with a light weight of the whole machine, small loads on each mechanism, stable and reliable operation, and high degree of automation and intelligence.

[0088] Each lifting mechanism 7 has eight supporting beams 76. When the lifting chain 77 is stationary, four supporting beam positions are formed on the descending side of the lifting chain 77 and four supporting beam positions are formed on the ascending side. The eight supporting beams 76 are correspondingly located at the eight said supporting beam positions. The first driving mechanism includes two sets of transmission components, a lifting driving shaft 73 and a lifting driven shaft 78. The lifting driving shaft 73 and the lifting driven shaft 78 are respectively rotatably arranged at the top and bottom of the main frame 6. The transmission component includes a lifting driving sprocket 79 and a lifting driven sprocket 711. The lifting driving sprocket 79 is sleeved on the lifting driving shaft 73, the lifting driven sprocket 711 is sleeved on the lifting driven shaft 78. The lifting driving sprocket 79 and the lifting driven sprocket 711 are connected by the lifting chain 77. The lifting driving motor 72 is connected to the main frame 6, and the output shaft of the lifting driving motor 72 is connected to the lifting driving shaft 73. The lifting driving motor 72 is a worm and gear motor. When the lifting driving motor 72 stops driving the lifting chain 77, it can be self-locked to prevent the lifting chain 77 from rotating. The front and rear parts of the supporting beam 76 are respectively fixed on the corresponding two lifting chains 77. The lifting chain 77 is a bent plate chain, or at least eight bent plate links are evenly spaced on the lifting chain 77. The supporting beam 76 is connected to the bent plate link;

[0089] The lifting mechanism 7 further includes two vertically arranged first slide rails 71. Both of the two first slide rails 71 are arranged on the descending side of the lifting chain 77. The first slide rails 71 are connected to the main frame 6. First rollers 75 are provided at both the front and rear ends of the supporting beam 76. When the lifting chain 77 drives the supporting beam 76 to descend, the first rollers 75 at both ends of the supporting beam 76 are correspondingly in rolling cooperation with the two first slide rails 71. The supporting beam 76 passing around the lifting driving sprocket 79 is provided to cooperate with the first slide rail 71 and moves vertically downward along the first slide rail 71. When the supporting beam 76 is at the lower end of the first slide rail 71, the first rollers 75 at both ends of the supporting beam 76 can respectively disengage from the corresponding first slide rails 71, bypass the lifting driven sprocket 711, and ascend from the other side. By guiding the supporting beam 76 through the two first slide rails 71, the seedling tray 4 can be accurately placed on the translation mechanism 8.

[0090] The transmission assembly further includes a tensioning sprocket 710, a first support rod 717, a second support rod 713, and a third support rod 712. The upper end of the first support rod 717 is rotatably engaged with the lifting drive shaft 73, and the lower end of the third support rod 712 is rotatably engaged with the lifting driven shaft 78. The tensioning sprocket 710 is rotatably arranged at the upper end of the third support rod 712. The lower end of the second support rod 713 is hinged to the third support rod 712. A first adjusting nut 716 is provided at the bottom of the first support rod 717, and a second adjusting nut 714 is provided at the top of the second support rod 713. The thread rotation directions of the first adjusting nut 716 and the second adjusting nut 714 are opposite. The two ends of the double-headed screw rod 715 are respectively threadedly engaged with the first adjusting nut 716 and the second adjusting nut 714. The lifting drive sprocket 79, the lifting driven sprocket 711, and the tensioning sprocket 710 are connected by a lifting chain 77, and the lifting drive sprocket 79, the lifting driven sprocket 711, and the tensioning sprocket 710 are all located on the inner circumference of the lifting chain 77. By screwing the double-headed screw rod 715, the relative distance between the first support rod 717 and the second support rod 713 can be adjusted, and thus the relative position of the tensioning sprocket 710 can be adjusted to adjust the tension degree of the lifting chain 77.

[0091] The second driving mechanism includes a translation frame body 88, a translation drive sprocket 86, and a translation driven sprocket 83. The first wheel shaft is rotatably arranged at the front end of the translation frame body 88, and the second wheel shaft is arranged at the rear end of the translation frame body 88. The translation frame body 88 is fixed to the bottom of the main frame 6. The translation drive sprocket 86 is sleeved on the first wheel shaft, and the translation driven sprocket 83 is rotatably arranged on the second wheel shaft. The first translation motor 87 is connected to the translation frame body 88, and the output shaft of the first translation motor 87 is connected to the first wheel shaft. The translation drive sprocket 86 and the translation driven sprocket 83 are connected by a translation chain 85.

[0092] The translation frame body 88 includes a left half frame body and a right half frame body. The translation drive sprocket 86 and the translation driven sprocket 83 are both arranged between the left half frame body and the right half frame body. A support bar 810 is provided between the translation drive sprocket 86 and the translation driven sprocket 83. The support bar 810 is respectively connected to the left half frame body and the right half frame body. The upper translation chain 85 slides on the support bar 810 to prevent the translation drive sprocket 86 from sagging excessively due to gravity;

[0093] The rear ends of the left half-frame and the right half-frame are provided with long holes that penetrate from left to right, and the long direction of the long holes extends forward and backward. The second round shaft passes through the long holes, and the second round shaft is slidably matched with the long holes. The eyes of two loose bolts 82 are respectively sleeved at both ends of the second round shaft, and the threaded ends of the loose bolts 82 are arranged backward. The threaded ends of the two loose bolts 82 are respectively cooperated with and tightened by the translation frame 88. The method given in this embodiment is to provide connecting ears on the translation frame 88. The connecting ears are located behind the loose bolts 82. The threaded ends of the loose bolts 82 pass through the connecting ears and are connected to the tightening nuts. By screwing the tightening nuts, the relative positions of the two loose bolts 82 and the translation frame 88 can be adjusted, and the relative positions of the translation driven sprocket 83 and the translation driving sprocket 86 can be adjusted to change the tension degree of the translation chain 85.

[0094] The third driving mechanism includes a driving arm group 39 and a driven arm group 32. The upper end of the driving arm group 39 is hinged to the rear part of the flap frame 33, and the upper end of the driven arm group 32 is hinged to the front part of the flap frame 33. The lower end of the driving arm group 39 is connected to the flipping driving shaft 310. The flipping driving shaft 310 is rotatably matched with the support seat 31. The flipping driving motor 311 is connected to the support seat 31, and the output shaft of the flipping driving motor 311 is connected to the flipping driving shaft 310. The lower end of the driven arm group 32 is hinged to the support seat 31 through the flipping driven shaft 312. The support seat 31, the driving arm group 39, the flap frame 33, and the driven arm group 32 form a four-bar linkage mechanism. The output shaft of the flipping driving motor 311 rotates reciprocally and intermittently, driving the flap frame 33 to swing reciprocally between the upper side position and the front side position of the support seat 31;

[0095] Two nylon short tracks 36 are provided on the flap frame 33. When the flap frame 33 is in the upper horizontal position, the two nylon short tracks 36 are aligned with the two translation guide rails 89 in the front-back direction one by one. When the translation mechanism 8 pushes the seedling tray 4 on the translation guide rail 89 onto the flap frame 33, the two nylon short tracks 36 are slidably matched with the two guide grooves 45 of the seedling tray 4 one by one.

[0096] A number of limit blocks 46 are provided on the front side of the seedling tray 4, and a number of stop blocks 35 are provided on the front side of the upper end surface of the flap frame 33. When the seedling tray 4 slides to the front end of the flap frame 33, the number of limit blocks 46 abuts against the number of stop blocks 35 one by one for limiting, preventing the seedling tray 4 from sliding out of the flap frame 33;

[0097] A number of V-shaped positioning blocks 34 are provided on the front side and the rear side of the flap frame 33. V-shaped positioning grooves 37 are opened on the V-shaped positioning blocks 34. A number of first positioning rods are provided on the front side of the main frame 6, and a first positioning ring group 63 is sleeved on the first positioning rods. When the flap frame 33 is in the upper side position, the number of first positioning ring groups 63 is snap-fitted and limited with the V-shaped positioning grooves 37 of the number of V-shaped positioning blocks 34 on the rear side of the flap frame 33 one by one;

[0098] A plurality of second positioning rods are provided at the top of the seedling box 2. A second positioning ring group 22 is sleeved on the second positioning rods. When the flap frame 33 is in the front position, a plurality of second positioning ring groups 22 are respectively and correspondingly clamped and limited with the V-shaped positioning grooves 37 of a plurality of V-shaped positioning blocks 34 on the front side of the flap frame 33, so as to accurately position the upper side position and the front side position of the flap frame 33.

[0099] It further includes a connecting component 61. The connecting component 61 is hoisted at the front side of the bottom of the main frame 6 through a plurality of long screw rods 62 and fastening nuts. A plurality of optical axis fixing seats 64 are provided on the connecting component 61. A plurality of adjusting optical axes 38 arranged front and back are provided on the support seat 31. A plurality of adjusting optical axes 38 are respectively and correspondingly connected with a plurality of optical axis fixing seats 64. Four groups of fastening nut assemblies are provided on the long screw rod 62. The fastening nut assemblies include fastening nuts, spring washers and flat washers. The two upper fastening nut assemblies clamp and fasten the main frame 6, and the two lower fastening nut assemblies clamp and fasten the connecting component. By adjusting the relative positions of the fastening nut assemblies and the long screw rod 62, the vertical distance between the seedling skin dumping mechanism 3 and the main frame 6 can be adjusted. By changing the relative positions of the adjusting optical axis 38 and a plurality of optical axis fixing seats 64, the horizontal distance between the seedling skin dumping mechanism 3 and the main frame 6 can be adjusted.

[0100] The fourth driving mechanism includes a transmission lead screw 54 and two guiding optical axes 55. The transmission lead screw 54 is arranged front and back. The transmission lead screw 54 is rotationally matched with the recovery frame body 52. The second translation motor 53 is fixed on the recovery frame body 52. The output shaft of the second translation motor 53 is connected with the transmission lead screw 54. The guiding optical axes 55 are parallel to the transmission lead screw 54. The guiding optical axes 55 are fixed on the recovery frame body 52. The mounting seat 57 is in threaded fit with the transmission lead screw 54, and the mounting seat 57 is in sliding fit with the guiding optical axes 55;

[0101] Second slide rails 59 are vertically arranged on both the left and right sides of the seedling skin dumping mechanism 3. The second slide rails 59 are respectively connected with the main frame 6 and the recovery frame body 52. Second rollers 510 are arranged on the outer sides of the sliding seats 511. When the mounting seat 57 slides to the front end of the guiding optical axis 55 and the ropes are wound and unwound, the two second rollers 510 are respectively and correspondingly in rolling fit with the two second slide rails 59. When the two second rollers 510 slide and disengage from the two second slide rails 59 respectively, the mounting seat 57 can slide backward along the guiding optical axis 55.

[0102] Embodiment 2: As Figures 1 to 25 shown, an intelligent control method for an unmanned automatic seedling-taking and transplanting machine is realized relying on the unmanned automatic seedling-taking and transplanting machine described in Embodiment 1, and includes the following steps:

[0103] Step 1: A first proximity switch 718 is arranged at the bottom of the first slide rail 71, and a second proximity switch 81 is arranged at the front end of the translation frame 88. When the supporting beam 76 is in the seedling tray release position, the first proximity switch 718 is triggered. When a seedling tray 4 is placed at the front part of the translation guide rail 89, the seedling tray 4 triggers the second proximity switch 81;

[0104] Step 2: A first travel switch 313 and a second travel switch 314 are arranged on the flap frame 33. When the flap frame 33 is in the upper position of the support seat 31, the main frame 6 triggers the first travel switch 313. When the translation mechanism 8 pushes the seedling tray 4 onto the flap frame 33, the seedling tray 4 triggers the second travel switch 314. To avoid the situation that the translation mechanism 8 fails to push the seedling tray 4 in place, the second travel switch 314 can be arranged in the middle of the flap frame 33. After the flap frame 33 flips forward, the seedling tray 4 can completely slide onto the flap frame 33;

[0105] Step 3: A number of pressure sensors 21 are arranged on the seedling box 2, and the number of pressure sensors 21 is used to monitor the consumption of the seedling skin on the seedling box 2;

[0106] Step 4: A third travel switch is arranged at the top end of the second slide rail 59, and a fourth travel switch is arranged at the bottom end of the second slide rail 59. When the second roller 510 slides upward and disengages from the second slide rail 59, the slide seat 511 triggers the third travel switch. When the second roller 510 slides downward and the electromagnet 513 approaches the magnetic material block 42 corresponding to the seedling tray 4 on the flap frame 33, the slide seat 511 triggers the fourth travel switch;

[0107] Step 5: Mark the rear seedling tray storage bin at the uppermost seedling tray storage position as the first tray bin, and mark the front seedling tray storage bin as the second tray bin. A first photoelectric switch and a second photoelectric switch are arranged at the top of the main frame 6. When the seedling tray 4 is loaded in the first tray bin, the first photoelectric switch is triggered. When the seedling tray 4 is loaded in the second tray bin, the second photoelectric switch is triggered;

[0108] Step 6: A code disk is arranged on the recycling frame 52, the code disk shaft is connected to the transmission lead screw 54, and the position where the second roller 510 cooperates with the second slide rail 59 is marked as the zero position of the code disk. The stroke of the mounting seat 57 moving backward is obtained through the code disk;

[0109] Step 7: A tension sensor is arranged between the rope and the lifting beam 56;

[0110] The first travel switch 313, the second travel switch 314, the third travel switch, the fourth travel switch, the first photoelectric switch, the second photoelectric switch, the code disk, the tension sensor, the electromagnet 513, the number of pressure sensors 21, the first proximity switch 718, the second proximity switch, the lifting drive motor 72, the first translation motor 87, the flipping drive motor 311, the second translation motor 53 and the lifting motor 58 are respectively electrically connected to the PLC;

[0111] Step Nine: Mark the supporting beam 76 at the seedling tray release position as the first supporting beam, mark the supporting beams 76 at the seedling tray storage positions from bottom to top as the second supporting beam, the third supporting beam, and the fourth supporting beam in sequence, mark the supporting beams 76 on the ascending side of the lifting chain 77 from top to bottom as the fifth supporting beam, the sixth supporting beam, the seventh supporting beam, and the eighth supporting beam in sequence. Load the seedling trays 4 on each seedling tray storage bin, and arrange a number of seedling skins on the seedling trays 4;

[0112] Step Ten: When the second proximity switch does not recognize that there is a seedling tray 4 on the translation guide rail 89, the PLC controls the two lifting drive motors 72 to run synchronously, so that a number of supporting beams 76 move synchronously to the next supporting beam position, that is, the second supporting beam moves to the seedling tray release position, and the fifth supporting beam moves to the uppermost seedling tray storage position. When the first proximity switch 718 recognizes that the second supporting beam has descended to the seedling tray release position and the second proximity switch recognizes that there is already a seedling tray 4 on the translation guide rail 89, the PLC controls the two lifting drive motors 72 to shut down;

[0113] Step Eleven: When the main frame 6 triggers the first travel switch 313, and the second travel switch 314 is not triggered, and the seedling tray 4 triggers the second proximity switch, the PLC controls the first translation motor 87 to run, and the translation push block 84 pushes the two seedling trays 4 on the translation guide rail 89 to slide forward;

[0114] Step Twelve: The seedling tray 4 located at the front side slides onto the flap frame 33 and triggers the second travel switch 314, and the PLC controls the first translation motor 87 to shut down;

[0115] Step Thirteen: When the seedling skins on the seedling box 2 are used up, a number of pressure sensors 21 are not triggered, and the seedling tray 4 triggers the second travel switch 314, the PLC controls the flip drive motor 311 to run, and the flip drive motor 311 drives the flap frame 33 to swing forward and flip to the front side position, dumping a number of seedling skins on the seedling tray 4 onto the seedling box 2 to complete the seedling releasing operation;

[0116] Step Fourteen: A number of seedling skins respectively trigger the corresponding pressure sensors 21, and the PLC controls the flip drive motor 311 to rotate in the reverse direction, and the flip drive motor 311 drives the flap frame 33 to swing upward to the upper side position;

[0117] Step Fifteen: When the main frame 6 triggers the first travel switch 313 again, the PLC controls the flip drive motor 311 to shut down and controls the lifting motor 58 to run. The lifting shaft 51 rotates to drive the winch 512 to release the rope, so that the lifting beam 56 descends. When the slide block 511 triggers the fourth travel switch, the electromagnet 513 approaches the magnetic material block 42 corresponding to the seedling tray 4 on the flap frame 33. The PLC controls the lifting motor 58 to shut down and controls the electromagnet 513 to be energized to attract the corresponding magnetic material block 42;

[0118] Step Sixteen: After the lifting beam 56 lifts the seedling tray 4 on the tipping frame 33 through the electromagnet 513, the tension received by the tension sensor changes. The tension sensor sends a signal to control the lifting motor 58 to rotate in the reverse direction through the PLC. The lifting rotating shaft 51 rotates to drive the winch 512 to wind the rope, so as to lift the empty seedling tray 4 on the lifting beam 56. At the same time, the seedling tray 4 disengages from the second travel switch 314. The second travel switch 314 sends a signal to control the operation of the first translation motor 87. The translation push block 84 pushes another seedling tray 4 on the translation guide rail 89 onto the tipping frame 33;

[0119] Step Seventeen: When the sliding seat 511 moves upward to trigger the third travel switch, the second roller 510 disengages from the corresponding second slide rail 59. The third travel switch sends a signal to control the shutdown of the lifting motor 58 through the PLC and control the operation of the second translation motor 53. The transmission lead screw 54 rotates to drive the mounting seat 57 to slide backward. If neither the first tray bin nor the second tray bin is loaded with the seedling tray 4, the PLC controls the fourth driving mechanism to move the empty seedling tray 4 above the first tray bin. If the first tray bin is loaded with 4 and the second tray bin is not loaded with the seedling tray 4, the PLC controls the fourth driving mechanism to move the empty seedling tray 4 above the second tray bin. After obtaining the data that the empty seedling tray 4 has moved in place through the code disk, the PLC controls the shutdown of the second translation motor 53 and controls the two electromagnets 513 to be powered off simultaneously;

[0120] The empty seedling tray 4 falls into the first tray bin or the second tray bin. The tension received by the tension sensor changes. The tension sensor sends a signal to control the second translation motor 53 to rotate in the reverse direction through the PLC, so that the mounting seat 57 slides forward. When the second roller 510 is re-mated with the corresponding second slide rail 59, the code disk returns to the zero position, and the PLC controls the shutdown of the second translation motor 53;

[0121] Step Eighteen: The seedling tray recycling mechanism 5 loads the two empty seedling trays 4 into the first bin position and the second bin position respectively. The two seedling trays 4 trigger the first photoelectric switch and the second photoelectric switch respectively, then the PLC is allowed to control the two lifting drive motors 72 to run synchronously again, and the next seedling-taking process is cycled.

[0122] By setting components such as tension sensors, travel switches, and photoelectric switches that can provide signals for actions, and sending opening and closing signals and forward and reverse signals to each motor through the PLC, the present invention can automatically supply seedlings, release seedlings, and recycle seedling trays during the progress of the transplanter without any further operation by the driver, with high automation and intelligence.

[0123] The above embodiments are only exemplary descriptions of the present invention and do not limit its protection scope. Those skilled in the art can also make partial changes to it as long as they do not exceed the spirit of the present invention, and they are all within the protection scope of the present invention.

Claims

1. An unmanned automatic seedling transplanter, characterized in that: The vehicle comprises a vehicle body (1), a main frame (6), a sequential seedling supply mechanism, a seedling skin dumping mechanism (3) and a seedling tray recovery mechanism (5); the main frame (6) is fixed above the vehicle body (1); and a seedling box (2) is provided in front of the vehicle body (1); A plurality of limiting rods (43) are arranged on the seedling tray (4), and the plurality of limiting rods (43) divide the seedling tray (4) into a plurality of storage units for placing seedling skins. Magnetic material blocks (42) are respectively arranged on the left and right sides of the seedling tray (4), and two guide grooves (45) are arranged in parallel on the left and right sides of the bottom of the seedling tray (4); The seedling supply mechanism comprises two groups of lifting mechanisms (7), the lifting mechanisms (7) comprising 2n horizontally arranged supporting beams (76) and two closed lifting chains (77), the 2n supporting beams (76) being evenly fixed on the outer peripheries of the two lifting chains (77), the first driving mechanism driving the two lifting chains (77) to rotate synchronously and intermittently, when the lifting chains (77) are stationary, n supporting beam positions are formed on the descending side of the lifting chains (77) and n supporting beam positions are formed on the ascending side, the 2n supporting beams (76) are located in one-to-one correspondence at the 2n supporting beam positions, the two groups of lifting mechanisms (7) are arranged on the left and right sides of the main frame (6), and the descending sides of the lifting chains (77) of the two groups of lifting mechanisms (7) are arranged opposite to each other; The translation mechanism (8) comprises two translation guide rails (89) and a closed translation chain (85). The second driving mechanism drives the translation chain (85) to rotate intermittently. A translation push block (84) is arranged on the translation chain (85). The two translation guide rails (89) are arranged parallel to each other. The lowermost supporting beam position on the descending side of the lifting chain (77) is defined as the seedling tray releasing position, and the remaining supporting beam positions on the descending side are defined as the seedling tray storing positions. The supporting beam (76) at the seedling tray releasing position is lower than the upper end surface of the translation guide rail (89), and the supporting beam (76) at the seedling tray storing position is higher than the translation guide rail (89). On the upper end surface of the guide rail (89), a pair of supporting beams (76) of equal height in the two groups of lifting mechanisms (7) are formed as one group, and two front and rear seedling tray storage bins are formed between each group of supporting beams (76) in the seedling tray storage position, and the seedling tray storage bins are loaded with seedling trays (4). When the supporting beams (76) in the seedling tray storage position descend to the seedling tray release position, the two guide grooves (45) of the seedling tray (4) are slidably matched with the two translation guide rails (89) in a one-to-one correspondence, and when the second driving mechanism is working, the translation push block (84) pushes the seedling tray (4) on the translation guide rail (89) forward; The seedling peel unloading mechanism (3) comprises a support seat (31) and a flap frame (33), wherein the support seat (31) is connected to the bottom front side of the main frame (6), and a third driving mechanism drives the flap frame (33) to swing back and forth intermittently between the upper side position and the front side position of the support seat (31). When the flap frame (33) is in the upper side position, the flap frame (33) is in a horizontal state, and the flap frame (33) is aligned with the upper end surface of the translation guide rail (89). When the flap frame (33) is in the front side position, the front end of the flap frame (33) is lower than the rear end, and the flap frame (33) is in an inclined state. The seedling tray recovery mechanism (5) comprises a recovery frame (52) and a mounting seat (57), wherein the recovery frame (52) is fixed to the upper end of the main frame (6), and the fourth driving mechanism drives the mounting seat (57) to move forward and backward on the recovery frame (52). The lifting shaft (51) is rotatably arranged on the mounting seat (57), and the lifting motor (58) is connected to the mounting seat (57). The output shaft of the lifting motor (58) is connected to the lifting shaft (51), and the lifting motor (58) is a worm gear motor. Two capstans (512) are sleeved on the lifting shaft (51), and a rope is wound on the capstan (512). The movable end of the rope is connected to the lifting beam (56), and the lifting beam (56) is arranged on the left and right. Both ends of the lifting beam (56) are provided with a slide seat (511), and the lower side of the slide seat (511) is provided with an electromagnet (513).

2. The unmanned automatic seedling transplanter according to claim 1, characterized in that: The number of the supporting beams (76) is eight. When the lifting chain (77) is stationary, four supporting beam positions are formed on the descending side of the lifting chain (77) and four supporting beam positions are formed on the ascending side. The eight supporting beams (76) are located in the eight supporting beam positions in a one-to-one correspondence. The first driving mechanism includes two sets of transmission components, a lifting drive shaft (73) and a lifting driven shaft (78). The lifting drive shaft (73) and the lifting driven shaft (78) are rotatably arranged at the top and bottom of the main frame (6) respectively. The transmission component includes a lifting drive shaft (73) and a lifting driven shaft (78). A driving sprocket (79) and a lifting driven sprocket (711), the lifting driving sprocket (79) is sleeved on the lifting drive shaft (73), the lifting driven sprocket (711) is sleeved on the lifting driven shaft (78), the lifting driving sprocket (79) and the lifting driven sprocket (711) are connected through a lifting chain (77), the lifting drive motor (72) is connected to the main frame (6), the output shaft of the lifting drive motor (72) is connected to the lifting drive shaft (73), and the lifting drive motor (72) is a worm gear motor; The lifting mechanism (7) further comprises two first slide rails (71) arranged vertically. The two first slide rails (71) are arranged on the side where the lifting chain (77) descends. The first slide rails (71) are connected to the main frame (6). The front and rear ends of the supporting beam (76) are provided with first rollers (75). When the lifting chain (77) drives the supporting beam (76) to descend, the first rollers (75) at the two ends of the supporting beam (76) correspond one to one and roll with the two first slide rails (71).

3. The unmanned automatic seedling transplanter according to claim 2, characterized in that: The transmission assembly further comprises a tensioning sprocket (710), a first support rod (717), a second support rod (713) and a third support rod (712); the upper end of the first support rod (717) is rotationally matched with the lifting drive shaft (73); the lower end of the third support rod (712) is rotationally matched with the lifting driven shaft (78); the tensioning sprocket (710) is rotationally arranged on the upper end of the third support rod (712); the lower end of the second support rod (713) is hinged to the third support rod (712); ... A first adjusting nut (716) is provided at the bottom of the second support rod (717), and a second adjusting nut (714) is provided at the top of the second support rod (713). The thread rotation directions of the first adjusting nut (716) and the second adjusting nut (714) are opposite. The two ends of the double-headed screw rod (715) are respectively matched with the corresponding threads of the first adjusting nut (716) and the second adjusting nut (714). The lifting active sprocket (79), the lifting driven sprocket (711) and the tensioning sprocket (710) are connected by the lifting chain (77).

4. The unmanned automatic seedling transplanter according to claim 3, characterized in that: The second driving mechanism comprises a translation frame (88), a translation driving sprocket (86) and a translation driven sprocket (83); a first wheel axle is rotatably arranged at the front end of the translation frame (88); a second wheel axle is arranged at the rear end of the translation frame (88); the translation frame (88) is fixed to the bottom of the main frame (6); the translation driving sprocket (86) is sleeved on the first wheel axle; the translation driven sprocket (83) is rotatably arranged on the second wheel axle; a first translation motor (87) is connected to the translation frame (88); an output shaft of the first translation motor (87) is connected to the first wheel axle; and the translation driving sprocket (86) and the translation driven sprocket (83) are connected via a translation chain (85).

5. The unmanned automatic seedling-picking and transplanting machine according to claim 4, characterized in that: The translation frame (88) comprises a left half frame and a right half frame, a translation driving sprocket (86) and a translation driven sprocket (83) are both arranged between the left half frame and the right half frame, a support bar (810) is arranged between the translation driving sprocket (86) and the translation driven sprocket (83), the support bar (810) is connected to the left half frame and the right half frame respectively, and the translation chain (85) on the upper side slides on the support bar (810); The rear ends of the left half frame and the right half frame are provided with long holes extending forward and backward, and the second wheel axle passes through the long holes. The second wheel axle is slidably matched with the long holes. The fish eyes of the two movable bolts (82) are respectively sleeved on the two ends of the second wheel axle, and the threaded ends of the movable bolts (82) are arranged backward. The threaded ends of the two movable bolts (82) are respectively tightened with the translation frame (88).

6. The unmanned automatic seedling-picking and transplanting machine according to claim 5, characterized in that: The third driving mechanism comprises a driving arm group (39) and a driven arm group (32), the upper end of the driving arm group (39) is hinged to the rear of the flip frame (33), the upper end of the driven arm group (32) is hinged to the front of the flip frame (33), the lower end of the driving arm group (39) is connected to the flip driving shaft (310), the flip driving shaft (310) is rotationally matched with the support seat (31), the flip driving motor (311) is connected to the support seat (31), and the flip driving motor (311) is connected to the support seat (31). The output shaft of the motor (311) is connected to the flip driving shaft (310), the lower end of the driven arm group (32) is hinged to the support seat (31) through the flip driven shaft (312), the support seat (31), the driving arm group (39), the flip frame (33) and the driven arm group (32) form a four-bar linkage mechanism, the output shaft of the flip driving motor (311) reciprocates and intermittently rotates, driving the flip frame (33) to swing back and forth between the upper side position and the front side position of the support seat (31); Two nylon short rails (36) are arranged on the flap frame (33). When the flap frame (33) is in the upper horizontal position, the two nylon short rails (36) are aligned front and back with the two translation guide rails (89) in a one-to-one correspondence. When the translation mechanism (8) pushes the seedling tray (4) on the translation guide rail (89) onto the flap frame (33), the two nylon short rails (36) are slidably matched with the two guide grooves (45) of the seedling tray (4) in a one-to-one correspondence.

7. The unmanned automatic seedling-picking and transplanting machine according to claim 6, characterized in that: A plurality of limit blocks (46) are provided on the front side of the seedling tray (4), and a plurality of stop blocks (35) are provided on the front side of the upper end of the flap frame (33). When the seedling tray (4) slides to the front end of the flap frame (33), the plurality of limit blocks (46) and the plurality of stop blocks (35) are respectively pressed against each other for limiting position; a plurality of V-shaped positioning blocks (34) are respectively provided on the front side and the rear side of the flap frame (33), and a V-shaped positioning groove (37) is formed on the V-shaped positioning block (34); a plurality of first positioning rods are provided on the front side of the main frame (6), and a first positioning ring group (63) is sleeved on the first positioning rod; when the flap frame (33) is in the upper side position, the plurality of first positioning ring groups (63) and the V-shaped positioning grooves (37) of the plurality of V-shaped positioning blocks (34) on the rear side of the flap frame (33) are respectively engaged and limited for limiting position; A plurality of second positioning rods are provided on the top of the seedling box (2), and a second positioning ring group (22) is sleeved on the second positioning rods. When the flap frame (33) is in the front position, the plurality of second positioning ring groups (22) correspond to the V-shaped positioning grooves (37) of the plurality of V-shaped positioning blocks (34) on the front side of the flap frame (33) in a one-to-one manner to be locked and limited.

8. The unmanned automatic seedling-picking and transplanting machine according to claim 7, characterized in that: The invention also comprises a connecting assembly (61), wherein the connecting assembly (61) is suspended on the front side of the bottom of the main frame (6) through a plurality of long screws (62) and fastening nuts, a plurality of optical axis fixing seats (64) are provided on the connecting assembly (61), a plurality of adjusting optical axes (38) arranged front and rear are provided on the supporting seat (31), and the plurality of adjusting optical axes (38) are connected to the plurality of optical axis fixing seats (64) in a one-to-one correspondence.

9. The unmanned automatic seedling picking and transplanting machine according to claim 8, characterized in that: The fourth driving mechanism comprises a transmission screw (54) and two guide light shafts (55), the transmission screw (54) is arranged front and rear, the transmission screw (54) is rotationally matched with the recovery frame (52), the second translation motor (53) is fixed on the recovery frame (52), the output shaft of the second translation motor (53) is connected with the transmission screw (54), the guide light shaft (55) is parallel to the transmission screw (54), the guide light shaft (55) is fixed on the recovery frame (52), the mounting seat (57) is threadedly matched with the transmission screw (54), and the mounting seat (57) is slidingly matched with the guide light shaft (55); Second slide rails (59) are vertically arranged on both sides of the seedling peel unloading mechanism (3), and the second slide rails (59) are respectively connected to the main frame (6) and the recovery frame (52). Second rollers (510) are arranged on the outer side of the slide seat (511). When the mounting seat (57) slides to the front end of the guide light axis (55), and when the rope is retracted or released, the two second rollers (510) roll and cooperate with the two second slide rails (59) in a one-to-one correspondence.

10. An intelligent control method for an unmanned automatic seedling picking and transplanting machine, implemented based on the unmanned automatic seedling picking and transplanting machine according to claim 9, characterized in that: The following steps are involved: Step 1: a first proximity switch (718) is arranged at the bottom of the first slide rail (71), and a second proximity switch (81) is arranged at the front end of the translation frame (88); when the supporting beam (76) is in the seedling tray release position, the first proximity switch (718) is triggered; when a seedling tray (4) is placed at the front of the translation guide rail (89), the seedling tray (4) triggers the second proximity switch (81); Step 2: a first travel switch (313) and a second travel switch (314) are arranged on the flap frame (33); when the flap frame (33) is at the upper side position of the support seat (31), the main frame (6) triggers the first travel switch (313); when the translation mechanism (8) pushes the seedling tray (4) onto the flap frame (33), the seedling tray (4) triggers the second travel switch (314); Step 3: a plurality of pressure sensors (21) are arranged on the seedling box (2), wherein the plurality of pressure sensors (21) are used to monitor the consumption of the seedling skin on the seedling box (2); Step 4: a third travel switch is arranged at the top end of the second slide rail (59), and a fourth travel switch is arranged at the bottom end of the second slide rail (59); when the second roller (510) slides up and detaches from the second slide rail (59), the slide seat (511) triggers the third travel switch; when the second roller (510) slides down and makes the electromagnet (513) approach the magnetic material block (42) corresponding to the seedling tray (4) on the flap frame (33), the slide seat (511) triggers the fourth travel switch; Step 5: Mark the rear seedling tray storage bin at the top seedling tray storage position as No. 1 bin and the front seedling tray storage bin as No. 2 bin, set a first photoelectric switch and a second photoelectric switch on the top of the main frame (6), and trigger the first photoelectric switch when the seedling tray (4) is loaded in the No. 1 bin, and trigger the second photoelectric switch when the seedling tray (4) is loaded in the No. 2 bin; Step 6: a code disc is arranged on the recovery frame (52), the code disc shaft is connected to the transmission screw (54), the second roller (510) is matched with the second slide rail (59), and the zero position of the code disc is marked, and the backward movement stroke of the mounting seat (57) is obtained through the code disc; Step 7: Install a tension sensor between the rope and the lifting beam (56); Step 8: The first travel switch (313), the second travel switch (314), the third travel switch, the fourth travel switch, the first photoelectric switch, the second photoelectric switch, the encoder, the tension sensor, the electromagnet (513), the plurality of pressure sensors (21), the first proximity switch (718), the second proximity switch, the lifting drive motor (72), the first translation motor (87), the flip drive motor (311), the second translation motor (53) and the lifting motor (58) are electrically connected to the PLC respectively; Step 9, marking the supporting beam (76) at the seedling tray release position as the No. 1 supporting beam, marking the supporting beam (76) at the seedling tray storage position as the No. 2 supporting beam, the No. 3 supporting beam and the No. 4 supporting beam from bottom to top, marking the supporting beam (76) at the rising side of the lifting chain (77) as the No. 5 supporting beam, the No. 6 supporting beam, the No. 7 supporting beam and the No. 8 supporting beam from top to bottom, loading the seedling tray (4) on each seedling tray storage bin, and arranging a plurality of seedling skins on the seedling tray (4); Step 10: When the second proximity switch does not recognize that there is a seedling tray (4) on the translation guide rail (89), the PLC controls the two lifting drive motors (72) to operate synchronously, so that the plurality of supporting beams (76) are synchronously moved to the next supporting beam position, that is, the No. 2 supporting beam moves to the seedling tray release position, and the No. 5 supporting beam moves to the uppermost seedling tray storage position. When the first proximity switch (718) recognizes that the No. 2 supporting beam has dropped to the seedling tray release position, and the second proximity switch recognizes that a seedling tray (4) has been placed on the translation guide rail (89), the PLC controls the two lifting drive motors (72) to shut down; Step 11: When the main frame (6) triggers the first travel switch (313), and the second travel switch (314) is not triggered, and the seedling tray (4) triggers the second proximity switch, the PLC controls the first translation motor (87) to operate, and the translation push block (84) pushes the two seedling trays (4) on the translation guide rail (89) to slide forward; Step 12: The seedling tray (4) located at the front side slides onto the flap frame (33) and triggers the second travel switch (314), and the PLC controls the first translation motor (87) to shut down; Step 13: When the seedling skins on the seedling box (2) are consumed, the plurality of pressure sensors (21) are not triggered, and the seedling tray (4) triggers the second travel switch (314), the PLC controls the flipping drive motor (311) to operate, and the flipping drive motor (311) drives the flap frame (33) to swing forward and flip to the front position, and dumps the plurality of seedling skins on the seedling tray (4) onto the seedling box (2), thereby completing the seedling placing operation; Step 14: a plurality of seedling skins trigger the corresponding pressure sensors (21) respectively, and the PLC controls the flipping drive motor (311) to rotate in the opposite direction, and the flipping drive motor (311) drives the flap frame (33) to swing upward to the upper side position; Step 15, when the main frame (6) triggers the first stroke switch (313) again, the PLC controls the flipping drive motor (311) to shut down, and controls the lifting motor (58) to run, the lifting shaft (51) rotates to drive the winch (512) to release the rope, so that the lifting beam (56) descends, and when the slide (511) triggers the fourth stroke switch, the electromagnet (513) approaches the magnetic material block (42) corresponding to the seedling tray (4) on the flap frame (33), the PLC controls the lifting motor (58) to shut down, and controls the electromagnet (513) to energize and attract the corresponding magnetic material block (42); Step 16: After the lifting beam (56) lifts the seedling tray (4) on the flap frame (33) through the electromagnet (513), the tension on the tension sensor changes, and the tension sensor sends a signal to control the lifting motor (58) to rotate in the opposite direction through the PLC, and the lifting shaft (51) rotates to drive the winch (512) to wind the rope, so that the seedling tray (4) on the lifting beam (56) is lifted up, and at the same time the seedling tray (4) is separated from the second stroke switch (314), and the second stroke switch (314) sends a signal to control the operation of the first translation motor (87), and the translation push block (84) pushes another seedling tray (4) on the translation guide rail (89) onto the flap frame (33); Step 17, when the slide (511) moves up and triggers the third travel switch, the second roller (510) disengages from the corresponding second slide rail (59), and the third travel switch sends a signal to control the lifting motor (58) to stop through the PLC, and controls the second translation motor (53) to run, and the transmission screw (54) rotates to drive the mounting seat (57) to slide backward. If the No. 1 bin and the No. 2 bin are not loaded with seedling trays (4), the PLC controls the fourth drive mechanism to move the empty seedling tray (4) to the top of the No. 1 bin. If the No. 1 bin is loaded with (4) and the No. 2 bin is not loaded with seedling trays (4), the PLC controls the fourth drive mechanism to move the empty seedling tray (4) to the top of the No. 2 bin. After obtaining the data of the empty seedling tray (4) moving into place through the code disk, the PLC controls the second translation motor (53) to stop, and controls the two electromagnets (513) to be powered off at the same time; When the empty seedling tray (4) falls into the No. 1 tray bin or the No. 2 tray bin, the tension applied to the tension sensor changes, and the tension sensor sends a signal to control the second translation motor (53) to rotate in the opposite direction through the PLC, so that the mounting seat (57) slides forward. When the second roller (510) re-matches with the corresponding second slide rail (59), the code disc returns to the zero position, and the PLC controls the second translation motor (53) to shut down. Step 18: The seedling tray recovery mechanism (5) loads the two empty seedling trays (4) into the No. 1 bin and the No. 2 bin respectively. The two seedling trays (4) trigger the first photoelectric switch and the second photoelectric switch respectively, allowing the PLC to control the two lifting drive motors (72) to run synchronously again, and the next seedling retrieval process is cycled.

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