A low-damage seedling delivery device for plug seedling transplanters

Abstract

This application relates to a low-damage seedling placement device for a plug seedling transplanter, comprising a frame, an arc-shaped slide rail disposed at the front end of the frame, a movable component slidably disposed on the arc-shaped slide rail, and a vertical moving module disposed at the front end of the movable component. The frame is equipped with a drive mechanism for moving the movable component on the arc-shaped slide rail, and a blocking mechanism for preventing the movable component from moving on the arc-shaped slide rail. The vertical moving module is equipped with a seedling clamping mechanism for gripping seedlings. This application can reduce the damage to the seedlings in the transplanter caused by the difference between the seedling placement speed direction of the robotic arm and the rotation direction of the seedling cup during seedling placement, effectively ensuring accurate and low-damage placement of seedlings into the seedling cup.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery transplanting technology, and in particular to a low-damage seedling delivery device for a plug seedling transplanter. Background Technology

[0002] Transplanting seedlings requires a significant amount of manual labor, with an average speed of 800-1000 seedlings per hour. Continuous work leads to fatigue, making it difficult to maintain high efficiency for extended periods. Plug seedling cultivation technology offers advantages such as labor saving, energy conservation, ease of management, and protection of the agricultural ecological environment, and is widely used in vegetable and flower production. Transplanting is necessary to ensure crops have adequate space for root development and growth. Researching automatic plug seedling transplanters is crucial for improving labor productivity, reducing labor intensity, and promoting the development of plug seedling cultivation technology. However, during automatic transplanting, various factors influence the process at each stage—seedling collection, seedling placement, and seedling planting—potting can cause some damage to the seedlings.

[0003] During high-speed operation of automatic transplanters, the mechanical claw typically moves vertically downwards while the seedling cup rotates to the left. As the seedling is placed into the seedling cup, the speed of the mechanical claw and the rotation speed of the seedling cup will collide, causing some damage to the seedling and reducing the efficiency of the transplanting operation. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides a low-loss seedling delivery device for a plug seedling transplanter.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a low-loss seedling delivery device for a plug seedling transplanter, comprising a frame, an arc-shaped slide rail disposed at the front end of the frame, a moving component slidably disposed on the arc-shaped slide rail, and a vertical moving module disposed at the front end of the moving component. The frame is provided with a drive mechanism for driving the moving component to move on the arc-shaped slide rail, the arc-shaped slide rail is provided with a blocking mechanism for blocking the moving component from moving on the arc-shaped slide rail, and the vertical moving module is provided with a seedling clamping mechanism for clamping seedlings.

[0006] Furthermore, the arc-shaped slide rail is provided with an arc-shaped moving groove, the moving component passes through the arc-shaped moving groove and can slide within the arc-shaped moving groove, the moving component includes two oppositely arranged elliptical fixing plates, and two connecting rods are provided between the two elliptical fixing plates.

[0007] Furthermore, the driving mechanism includes a swing motor and a swing rod mounted on the frame. The upper and lower ends of the swing rod are rotatably connected to the moving component and the frame, respectively. The output shaft end of the swing motor is provided with a swing handle. The end of the swing handle is provided with a limiting protrusion. The swing rod is provided with an oblong through hole. The limiting protrusion passes through the oblong through hole and can move along the length direction of the oblong through hole.

[0008] Furthermore, the blocking mechanism includes an arc-shaped moving block slidably mounted on an arc-shaped slide rail and a blocking motor mounted on the arc-shaped slide rail. The output shaft end of the blocking motor is provided with a sprocket. The arc-shaped moving block is provided with two vertical parts facing each other. Fixed blocks are provided on the surfaces of the two vertical parts facing each other. A chain that cooperates with the sprocket is provided between the two fixed blocks. Two blocking components are provided on the chain facing each other.

[0009] The baffle includes a baffle base plate, a baffle motor is mounted on the baffle base plate, an upper baffle gear is mounted on the output shaft of the baffle motor, a baffle is rotatably mounted on one side of the baffle base plate, a lower baffle gear is fixedly mounted on the baffle, the lower baffle gear meshes with the upper baffle gear, and an arc-shaped groove is provided on the baffle for cooperating with the connecting rod.

[0010] Furthermore, the base plate of the baffle is provided with an upper groove that cooperates with the upper baffle gear, the baffle is provided with a lower groove that cooperates with the lower baffle gear, and the arc-shaped slide rail is provided with an arc-shaped moving groove that slides with the arc-shaped moving block, and the arc-shaped moving groove is connected to the arc-shaped moving through groove.

[0011] Furthermore, the vertical moving module includes a vertical plate, a lead screw, a lead screw motor mounted on the vertical plate, and a fixed plate. The output shaft end of the lead screw motor is connected to one end of the lead screw via a coupling, and the other end of the lead screw is rotatably connected to the fixed plate. A sliding block is threaded onto the lead screw, a groove is provided on the vertical plate, a sliding protrusion that mates with the groove is provided on the sliding block, a horizontal plate is provided on the sliding block, and a seedling clamping mechanism is located at the upper end of the horizontal plate.

[0012] Furthermore, the seedling clamping mechanism includes a servo electric cylinder mounted on a horizontal plate and a connecting plate mounted on the end of the servo electric cylinder push rod. The horizontal plate is provided with a fixed clamping plate and a rectangular sink groove. A movable clamping plate is slidably mounted in the rectangular sink groove along its length direction. The connecting plate is fixedly connected to the movable clamping plate.

[0013] Furthermore, the bottom surface of the rectangular sink is provided with a movable groove, and the bottom of the movable clamp is provided with a movable protrusion that slides in cooperation with the movable groove.

[0014] Furthermore, limiting rubber plates are respectively provided on the opposing surfaces of the movable clamping plate and the fixed clamping plate.

[0015] The beneficial effects of this application are as follows: 1. After the seedling clamping mechanism of this application completes the clamping of the seedling, the driving mechanism drives the clamping mechanism to move on the arc-shaped slide rail to perform flat throwing of the seedling. When the clamping mechanism clamps the seedling to the throwing point, it is given a certain initial velocity so that when it falls to the seedling cup, it is consistent with the rotation speed of the seedling cup, thereby achieving low-damage seedling throwing. This can reduce the damage to the seedlings in the transplanter due to the different throwing speed direction of the robotic arm and the rotation direction of the seedling cup during the seedling throwing operation, and can effectively ensure that the seedlings are accurately and with low damage thrown into the seedling cup.

[0016] 2. When the arc-shaped moving block of this application moves to the seedling picking position, the baffle of the blocking mechanism is lowered to stop it and complete the operation. After the seedling is picked up, the baffle is raised, and the stability of seedling picking is ensured by the blocking mechanism.

[0017] 3. The arc-shaped groove of the blocking mechanism in this application matches the shape of the connecting rod, making it more stable and improving the stability of seedling removal; and the blocking component is installed on the arc-shaped moving block, which can move a certain distance with the arc-shaped moving block to achieve blocking at different positions.

[0018] 4. The seedling clamping mechanism is driven by a servo electric cylinder and works with a rubber limit plate to achieve flexible clamping and reduce mechanical damage to the seedlings.

[0019] 5. The baffle of the blocking mechanism in this application can also block the moving component at the seedling placement point. The cooperation between the arc-shaped slide rail and the moving component optimizes the seedling placement trajectory. At this time, the blocking mechanism can also accurately control the seedling placement timing and improve planting accuracy. Attached Figure Description

[0020] Figure 1 This is an isometric view of the overall structure of the present invention;

[0021] Figure 2 This is an isometric view of the arc-shaped moving block of the present invention;

[0022] Figure 3 This is a schematic diagram of the blocking mechanism of the present invention;

[0023] Figure 4 This is a schematic diagram of the structure of the baffle of the present invention;

[0024] Figure 5 for Figure 1 Top view;

[0025] Figure 6 This is a schematic diagram of the vertical moving module of the present invention;

[0026] Figure 7 This is a schematic diagram of the seedling clamping mechanism in Embodiment 1 of the present invention;

[0027] Figure 8 This is a schematic diagram of the gear connecting plate in Embodiment 2 of the present invention.

[0028] Figure 9 This is a schematic diagram showing the direction of seedling placement speed and the direction of seedling cup rotation in this invention.

[0029] The diagram shows the following components: 1. Frame, 2. Swing rod, 3. Swing handle, 4. Swing motor, 5. Elliptical fixed plate, 6. Connecting rod, 7. Fixed plate, 8. Lead screw, 9. Sliding block, 10. Seedling clamping mechanism, 11. Lead screw motor, 12. Sprocket, 13. Barrier motor, 14. Chain, 15. Fixed block, 16. Arc-shaped moving block, 17. Baffle base plate, 18. Upper baffle gear, 19. Baffle motor, 20. Baffle, 21. First gear connecting plate, 22. Sensor, 23. Movable gear, 24. Fixed gear, 25. Gripper motor, 26. Coupling, 27. Second gear connecting plate, 28. Gear fixed shaft, 29. Horizontal plate, 291. Rectangular trough, 2911. Moving groove, 30. Servo cylinder, 31. Connecting plate, 32. Fixed clamping plate, 33. Limiting rubber plate, 34. Moving clamping plate. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that, in the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] Please see Figures 1-7 and Figure 9 Embodiment 1 of the present invention provides a low-damage seedling delivery device for a plug seedling transplanter, including a frame 1, an arc-shaped slide rail disposed at the front end of the frame 1, a moving component slidably disposed on the arc-shaped slide rail, and a vertical moving module disposed at the front end of the moving component. The frame 1 is provided with a drive mechanism for driving the moving component to move on the arc-shaped slide rail, and a blocking mechanism for blocking the moving component from moving on the arc-shaped slide rail is provided on the arc-shaped slide rail. The vertical moving module is provided with a seedling clamping mechanism 10 for clamping seedlings.

[0032] The arc-shaped slide rail is provided with an arc-shaped moving groove. The moving component passes through the arc-shaped moving groove and can slide within it. The moving component includes two opposing elliptical fixing plates 7, and two connecting rods 6 are provided between the two elliptical fixing plates 7. An elliptical limiting plate is also provided in the middle of the connecting rod 6, and the elliptical limiting plate has mounting holes for the connecting rod 6.

[0033] The curved slide rail is also equipped with three sensors: a first sensor, a second sensor, and a third sensor. These sensors are laser sensors, located at the left, middle, and right ends of the curved slide rail, respectively. The first sensor corresponds to the seedling throwing position, the seedling picking position, and the initial position.

[0034] Specifically, in combination Figure 1 As shown, the drive mechanism includes a swing motor 4 and a swing rod 2 mounted on the frame 1. The upper and lower ends of the swing rod 2 are rotatably connected to the moving component and the frame 1, respectively. A rocker arm is mounted on the frame 1, and the upper end of the swing rod 2 is rotatably connected to the rocker arm. A swing handle 3 is fixedly mounted on the output shaft end of the swing motor 4. A limiting protrusion is provided at the end of the swing handle 3. An oblong through hole is provided on the swing rod 2, and the limiting protrusion passes through the oblong through hole and can move along the length of the oblong through hole. The swing rod 2 is rotatably connected to the elliptical fixing plate 7 at the rear end of the moving component.

[0035] Furthermore, the blocking mechanism includes an arc-shaped moving block 16 slidably mounted on an arc-shaped slide rail and a blocking motor 13 mounted on the arc-shaped slide rail. The output shaft end of the blocking motor 13 is provided with a sprocket 12. The arc-shaped moving block 16 is provided with two vertical parts facing each other. The surfaces of the two vertical parts facing each other are provided with fixed blocks 7. A chain 14 that cooperates with the sprocket 12 is provided between the two fixed blocks 7. Two blocking components are provided facing each other on the chain 14. The blocking component includes a baffle base plate 17. A baffle motor 19 is provided on the baffle base plate 17. An upper baffle gear 18 is provided on the output shaft of the baffle motor 19. A baffle 20 is rotatably mounted on one side of the baffle base plate 17. A lower baffle gear is fixedly mounted on the baffle 20. The lower baffle gear meshes with the upper baffle gear 18. An arc-shaped groove for cooperating with the connecting rod 6 is provided on the baffle 20. The upper baffle gear 18 and the lower baffle gear are provided with a first gear connecting piece 21 on one side, and the first gear connecting piece 21 is rotatably connected to the upper baffle gear 18 and the lower baffle gear respectively.

[0036] More specifically, the baffle base plate 17 is provided with an upper groove that cooperates with the upper baffle gear 18, the baffle 20 is provided with a lower groove that cooperates with the lower baffle gear, and the arc-shaped slide rail is provided with an arc-shaped moving groove that slides with the arc-shaped moving block 16. The arc-shaped moving groove is connected to the arc-shaped moving through groove.

[0037] In addition, the vertical movement module includes a vertical plate, a lead screw 8, a lead screw motor 11 mounted on the vertical plate, and a fixed plate 7. The output shaft of the lead screw motor 11 is connected to one end of the lead screw 8 via a coupling 26, and the other end of the lead screw 8 is rotatably connected to the fixed plate 7. A sliding block 9 is threaded onto the lead screw 8, a groove is provided on the vertical plate, a sliding protrusion that mates with the groove is provided on the sliding block 9, a horizontal plate 29 is provided on the sliding block 9, and a seedling clamping mechanism 10 is located on the upper end of the horizontal plate 29. It should be noted that any parts not described in detail in this application are prior art.

[0038] Furthermore, the seedling clamping mechanism 10 includes a servo cylinder 30 mounted on a horizontal plate 29 and a connecting plate 31 mounted on the end of the push rod of the servo cylinder 30. A fixed clamping plate 32 and a rectangular sink 291 are provided on the horizontal plate 29. A movable clamping plate 34 is slidably mounted within the rectangular sink 291 along its length. The connecting plate 31 is fixedly connected to the movable clamping plate 34. A movable groove 2911 is provided on the bottom surface of the rectangular sink 291, and a movable protrusion is provided on the bottom of the movable clamping plate 34 that slides in conjunction with the movable groove 2911. Limiting rubber plates 33 are respectively provided on the opposing surfaces of the movable clamping plate 34 and the fixed clamping plate 32. The servo cylinder 30 drives the movable clamping plate 34 to slide within the rectangular sink 291, forming a clamping force with the fixed clamping plate 32. The limiting rubber plates 33 buffer the clamping force, protecting the seedling stems. The upper surfaces of the movable clamping plate 34 and the fixed clamping plate 32 are located on the same horizontal plane.

[0039] This application also includes a control unit, which includes a PLC controller. The PLC controller is electrically connected to the swing motor 4, the blocking motor 13, the lead screw motor 11, the servo cylinder 30, the first sensor, the second sensor, and the third sensor, respectively.

[0040] like Figure 9 The seedlings in the pot are thrown out on the curved slide rail with a certain initial velocity V0. When they fall into the seedling cup, their velocity is V2, which is consistent with the magnitude and direction of the seedling cup's leftward rotation velocity V1, thus achieving low-loss seedling placement.

[0041] This invention is applicable to the operation of transplanters. In use, the swing motor 4 is started, and the swing handle 3 rotates, causing the swing rod 2 to swing. As the swing rod 2 swings, the moving component in front of it also swings, and consequently, the vertical moving module on the moving component also swings. When the second sensor detects the vertical plate, the vertical moving module reaches the seedling-picking position. The blocking motor 13 on the blocking mechanism starts, and the sprocket 12 rotates in conjunction with the chain 14 until the arc-shaped moving block 16 reaches the seedling-picking position. Upon reaching the position, the backstop motor 19 starts, and the upper and lower baffle gears engage, thereby causing the baffle 20 to lower and block. The blocking mechanism can be adjusted according to the position of the seedling in the tray. The position of the arc-shaped moving block 16 can be changed to achieve blocking at different positions. After the baffle 20 is stably lowered to block, the lead screw motor 11 is started. Through the rotation of the lead screw 8, the sliding block 9 slides up and down. When the sliding block 9 slides to the appropriate position for picking up the seedling, the seedling clamping mechanism 10 clamps the seedling in the pot. After the seedling is picked up, the baffle 20 is lifted, and the drive mechanism continues to drive the moving component to move on the arc-shaped slide rail until it reaches the seedling placement point. When the first sensor detects the vertical plate, the vertical moving module reaches the seedling throwing position, and the seedling clamping mechanism 10 releases the seedling in the pot to complete the delivery of the seedling in the pot and complete the seedling placement operation.

[0042] In addition, as the drive mechanism continues to move the moving component on the arc-shaped slide rail, the blocking motor 13 on the blocking mechanism starts, the sprocket 12 rotates in coordination with the chain 14, until the arc-shaped moving block 16 reaches the seedling throwing position. When the first sensor detects the vertical plate, the baffle 20 on the left side is stably lowered to block the moving component. At this time, the blocking mechanism precisely controls the timing of seedling throwing and improves planting accuracy.

[0043] Of course, the present invention is not limited to the embodiments described above. Several other embodiments based on the design concept of the present invention are also provided below.

[0044] For example, in Embodiment 2, unlike the implementation method described above, as follows... Figure 1 , Figure 6 and Figure 8 As shown. The seedling clamping mechanism 10 includes a seedling clamping motor, a fixed gear 24, and multiple movable gears 23. The multiple movable gears 23 are fitted with a housing, which is a metal bellows. The output shaft end of the seedling clamping motor is provided with a drive gear that meshes with the fixed gear 24. The multiple movable gears 23 are connected in sequence to form a strip, and the movable gear 23 at the foremost end meshes with the fixed gear 24. Adjacent movable gears 23 are connected by a second gear connecting piece 27 and a gear fixing shaft 28.

[0045] When picking up the seedling, the seedling clamping motor starts, the fixed gear 24 and the movable gear 23 rotate, the multiple movable gears 23 mesh with each other, and the rotation of the fixed gear 24 drives the movable gears to rotate around the fixed gear 24 to the stem of the seedling, thus completing the picking up of the seedling.

[0046] When placing the seedling, the fixed gear 24 and the movable gear 23 rotate, and multiple movable gears 23 mesh with each other. The rotation of the fixed gear 24 drives the movable gears 23 to rotate in the opposite direction around the fixed gear 24, slowly moving away from the stem of the seedling, thus completing the placement of the seedling and the seedling placement operation.

[0047] It should be noted that the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A low-loss seedling delivery device for a plug seedling transplanter, characterized in that, It includes a frame (1), an arc-shaped slide rail at the front end of the frame (1), a moving component slidably mounted on the arc-shaped slide rail, and a vertical moving module at the front end of the moving component. The frame (1) is provided with a drive mechanism for moving the moving component on the arc-shaped slide rail, and a blocking mechanism for blocking the moving component from moving on the arc-shaped slide rail. The vertical moving module is provided with a seedling clamping mechanism (10) for clamping seedlings. The arc-shaped slide rail is provided with an arc-shaped moving groove, the moving component passes through the arc-shaped moving groove and can slide in the arc-shaped moving groove, the moving component includes two oppositely arranged elliptical fixing plates (5), and two connecting rods (6) are provided between the two elliptical fixing plates (5). The blocking mechanism includes an arc-shaped moving block (16) slidably mounted on an arc-shaped slide rail and a blocking motor (13) mounted on the arc-shaped slide rail. The output shaft end of the blocking motor (13) is provided with a sprocket (12). The arc-shaped moving block (16) is provided with two vertical parts facing each other. The surfaces of the two vertical parts facing each other are provided with fixed blocks (15). A chain (14) cooperating with the sprocket (12) is provided between the two fixed blocks (15). Two blocking parts are provided on the chain (14) facing each other. The baffle includes a baffle base plate (17), a baffle motor (19) is provided on the baffle base plate (17), an upper baffle gear (18) is provided on the output shaft of the baffle motor (19), a baffle (20) is rotatably provided on one side of the baffle base plate (17), a lower baffle gear is fixedly provided on the baffle (20), the lower baffle gear meshes with the upper baffle gear (18), and an arc-shaped groove is provided on the baffle (20) for cooperating with the connecting rod (6); The seedling clamping mechanism (10) includes a seedling clamping motor, a fixed gear (24) and multiple movable gears (23). The multiple movable gears (23) are fitted with a housing, which is a metal bellows. The output shaft of the seedling clamping motor is provided with a drive gear that meshes with the fixed gear (24). The multiple movable gears (23) are connected in sequence into a strip shape. The movable gear (23) at the front end meshes with the fixed gear (24). Two adjacent movable gears (23) are connected by a second gear connecting piece (27) and a gear fixing shaft (28).

2. The low-loss seedling delivery device for a plug seedling transplanter according to claim 1, characterized in that: The drive mechanism includes a swing motor (4) and a swing rod (2) mounted on the frame (1). The upper and lower ends of the swing rod (2) are rotatably connected to the moving component and the frame (1) respectively. The output shaft end of the swing motor (4) is provided with a swing handle (3). The end of the swing handle (3) is provided with a limiting protrusion. The swing rod (2) is provided with a waist-shaped through hole. The limiting protrusion passes through the waist-shaped through hole and can move along the length direction of the waist-shaped through hole.

3. The low-loss seedling delivery device for a plug seedling transplanter according to claim 1, characterized in that: The baffle base plate (17) is provided with an upper groove that cooperates with the upper baffle gear (18), the baffle (20) is provided with a lower groove that cooperates with the lower baffle gear, and the arc-shaped slide rail is provided with an arc-shaped moving groove that slides with the arc-shaped moving block (16). The arc-shaped moving groove is connected to the arc-shaped moving through groove.

4. The low-loss seedling delivery device for a plug seedling transplanter according to claim 1, characterized in that: The vertical moving module includes a vertical plate, a lead screw (8), a lead screw motor (11) set on the vertical plate, and a fixed plate (7). The output shaft end of the lead screw motor (11) is connected to one end of the lead screw (8) through a coupling (26). The other end of the lead screw (8) is rotatably connected to the fixed plate (7). A sliding block (9) is threaded on the lead screw (8). A groove is provided on the vertical plate. A sliding protrusion that cooperates with the groove is provided on the sliding block (9). A horizontal plate (29) is provided on the sliding block (9). A seedling clamping mechanism (10) is set on the upper end of the horizontal plate (29).

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