Pot seedling replacing device based on spiral seedling taking tail end mechanism and seedling taking method

Abstract

The invention discloses a pot seedling replacing device based on a spiral seedling taking tail end mechanism and a seedling taking method.The pot seedling replacing device comprises a support, a transverse moving mechanism, a longitudinal moving mechanism and a seedling taking mechanism, the seedling taking mechanism drives an upper tray and a lower tray to be linked through an air cylinder, and a rotating motor is in transmission connection with a connecting shaft through a worm and a turbine; three groups of arc-shaped racks which are circumferentially and equidistantly distributed and axially staggered in a stepped manner are driven to rotate; the tail end of the seedling needle is in an inward-contracting spiral shape, is driven by a seedling claw motor to do spiral motion along an arc-shaped groove sliding rail, and is matched with stretching and retracting of an air cylinder to realize flexible clamping; the transverse moving mechanism controls transverse positioning through a gear rack and a sliding rail, and the longitudinal moving mechanism achieves longitudinal accurate adjustment through a lead screw sliding rail. Resistance is dispersed through spiral progressive seedling taking, root damage is reduced, the device adapts to pot seedlings of different seedling ages and poses, automatic good and bad seedling replacement is achieved by combining a sensor and motor driving, the transplanting survival rate and production efficiency are remarkably improved, the structure is compact, compatibility is high, and the device is suitable for various plug trays and transplanting scenes.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and particularly relates to a pot seedling replacement device and a seedling taking method based on a spiral seedling taking end mechanism. Background Art

[0002] In the field of modern agricultural seedling raising, plug seedling raising is widely used due to its advantages such as high efficiency and convenience. The seedling screening and seedling taking links in mechanical transplanting operations will directly affect the transplanting survival rate and operation efficiency.

[0003] Affected by multiple factors such as seed characteristics, environmental conditions, and management operations, significant individual differentiation often occurs in the seedlings in the plug tray. The existence of inferior seedlings not only occupies seedling raising resources and affects the group uniformity. At present, the method of manual supplementary seeding in the later stage is mostly adopted, and an effective mechanism for replacing superior and inferior seedlings has not been established in the early stage of transplanting, resulting in inferior seedlings being mixed into the transplanting system, which not only increases the intensity of supplementary seeding operations, but also directly affects the overall transplanting success rate.

[0004] During the operation of replacing superior and inferior seedlings, the traditional clamping or pushing type seedling taking end actuators are significantly limited in their operation trajectory planning due to the layout of the plug tray holes and the natural growth posture of the seedlings. And when extracting single pot seedlings from the densely arranged plug trays, it is easy to damage the roots and stems of the pot seedlings due to uneven seedling taking force or angle deviation, affecting their later growth recovery ability and survival rate. Summary of the Invention

[0005] In order to overcome the above deficiencies, the invention provides a pot seedling replacement device and a seedling taking method based on a spiral seedling taking end mechanism, which are used to solve problems such as high labor intensity and low efficiency of the existing manual supplementary seeding. The end mechanism gradually rotates and cuts into the pot seedlings through a spiral seedling needle, and has characteristics such as evenly dispersing the seedling taking resistance and adjusting the displacement, which can effectively reduce root breakage and stem and leaf damage, significantly reduce the supplementary seeding cost, shorten the seedling raising cycle, and improve the later transplanting success rate.

[0006] In order to achieve the above purpose, the technical solution adopted by the invention is as follows: The pot seedling replacement device based on the spiral seedling taking end mechanism includes a seedling taking mechanism. The seedling taking mechanism includes a circular top plate, a rotation driving unit and a connecting shaft. The lower end surface of the circular top plate is connected with a cylinder, and the telescopic end of the cylinder is fixed on the upper end surface of the upper tray. The rotation driving unit includes a rotation motor fixed inside the upper tray, a worm connected to the output shaft of the rotation motor, and a turbine meshing with the worm. The turbine realizes power transmission through the connecting shaft. The lower end of the connecting shaft sequentially penetrates and fixes the lower tray, the circular bottom plate and three groups of arc-shaped racks. The lower tray is coaxially arranged with the circular top plate, and the circular bottom plate and the arc-shaped racks are arranged from top to bottom along the axial direction of the connecting shaft. Each group of arc-shaped racks is correspondingly provided with a seedling claw motor, a seedling needle and a seedling claw gear. Three arc-shaped groove rails distributed along the circumference are correspondingly opened on the circular bottom plate and each group of arc-shaped racks. The upper end of the seedling needle is slidably placed in the arc-shaped groove rail opened on the circular bottom plate, and its lower end passes through the arc-shaped groove rail of the arc-shaped rack. The seedling claw motor drives the seedling claw gear to mesh with the side of the arc-shaped rack, driving the seedling needle to move spirally along the arc-shaped groove rail.

[0007] Further optimization: The three groups of arc-shaped racks are circumferentially equally spaced with the central axis of the connecting shaft as the reference. The central angle between adjacent two groups of arc-shaped racks is 120°, and the three groups of arc-shaped racks are arranged in a stepped staggered manner in the axial dimension.

[0008] Further optimization: The cross-section of the arc-shaped rack is in a fan-shaped structure. One side of it is provided with a meshing rack, and the central angle part is a hollow columnar structure, and it is axially fixedly connected with the connecting shaft through this hollow columnar part.

[0009] Further optimization: The seedling needle is in an inwardly retracted spiral shape and is made of soft rubber material. When the three groups of seedling needles move relative to each other, their ends gradually shrink into a circle, and a humidity sensor is installed on the seedling needle.

[0010] Further optimization: It further includes a bracket and a transverse movement mechanism. The transverse movement mechanism includes a transverse movement rack, a transverse movement gear, a transverse movement motor, a transverse movement rail, a support plate and a transverse movement slider. The transverse movement rack is fixed above the bracket. The transverse movement rail is fixed on both sides of the bracket through an L-shaped plate. The support plate is used to carry the seedling taking mechanism, and a transverse movement slider cooperating with the transverse movement rail is arranged below it. The transverse movement rail is parallel to the transverse movement rack, the transverse movement gear meshes with the transverse movement rack, the transverse movement motor is fixed above the support plate, and the transverse movement motor drives the transverse movement gear to rotate, thereby driving the transverse movement motor and the support plate to move along the transverse movement rack.

[0011] For further optimization, it further includes a longitudinal movement mechanism, which includes a longitudinal movement motor, a longitudinal movement slider, a longitudinal movement slide rail, a lead screw, a fixed seat and a clamping plate. The longitudinal movement motor and the fixed seat are fixed below the support plate. The lead screw passes through the fixed seat and one end is connected to the output shaft of the longitudinal movement motor. The longitudinal movement slide rails are fixed on both sides of the longitudinal movement motor. The longitudinal movement slide rails are matched with the longitudinal movement slider through grooves. The upper end of the clamping plate passes through the lead screw through internal threads and is fixed to the longitudinal movement slider. The clamping plate is fixed to the circular top plate through screws and nuts.

[0012] The seedling taking method of the plug seedling replacement device based on the spiral seedling taking end mechanism specifically includes the following steps: (1) Movement direction control: Determine the position of the plug seedling. The controller drives and controls the transverse movement motor to drive the transverse movement gear to rotate. By using the meshing action of the transverse movement gear and the transverse movement rack, the longitudinal movement mechanism and the seedling taking mechanism move horizontally along the transverse movement slide rail to the target position through the transverse movement slider. The longitudinal movement motor drives the lead screw to push the clamping plate to move, driving the seedling taking mechanism to move longitudinally along the longitudinal movement slide rail through the longitudinal movement slider. The rotation motor drives the worm to mesh with the turbine, so that the seedling needle rotates to directly above the seedling taking point of the seedling tray. (2) Clamping the plug seedling: The seedling claw motor drives the seedling claw gear to mesh with the arc rack, so that the seedling needle moves along the arc groove in the circular bottom plate and the arc rack. At the same time, the air cylinder extends, pushing the upper tray to drive the seedling needle to close and clamp the plug seedling. (3) Releasing the plug seedling: After the plug seedling is successfully clamped, the air cylinder contracts, the transverse movement motor and the longitudinal movement motor reverse, transporting the plug seedling to the seedling throwing point. The seedling claw motor reverses and resets, and the seedling needle opens to release the plug seedling.

[0013] The beneficial effects of the present invention are as follows: 1. During the spiral seedling taking process of the seedling taking mechanism of the present invention, the seedling taking resistance can be evenly dispersed, avoiding the root pulling fracture and stem and leaf mechanical damage caused by traditional rigid clamping or top pulling, and improving the growth recovery ability and survival rate of the plug seedlings after transplanting; 2. The spiral progressive seedling taking method adopted by the flexible end of the present invention is suitable for plug seedlings with different postures and seedling ages. By controlling its rotation and telescopic distance, plugging or clamping the stem can be completed, and it can be ensured that it falls in a vertical state, effectively improving the later transplanting success rate; 3. All components of the seedling taking mechanism of the present invention are driven by motors, with a compact structure and simple operation. It can not only be used for replacing good and bad seedlings, but also be used in combination with different seedling trays or transplanting machines according to actual situations; In summary, the present invention realizes the automatic and precise replacement of good and bad seedlings in the seedling tray seedlings. Compared with the traditional manual replacement method, it can not only greatly improve the production efficiency, but also significantly reduce the labor intensity and production cost. Description of the Drawings

[0014] Figure 1This is the front view of the present invention; Figure 2 This is the side view of the present invention; Figure 3 This is the structural schematic diagram of the seedling taking mechanism of the present invention; Figure 4 This is the structural schematic diagram of the circular bottom plate; Figure 5 This is the structural schematic diagram of the arc rack; Figure 6 This is the structural schematic diagram of the longitudinal movement mechanism; Reference numerals: 1, support; 2, transverse movement rack; 3, transverse movement gear; 4, transverse movement motor; 5, transverse movement slider; 6, support plate; 7, transverse movement slide rail; 8, seedling tray; 9, longitudinal movement motor; 10, longitudinal movement slide rail; 11, longitudinal movement slider; 12, lead screw; 13, fixed seat; 14, clamping plate; 15, circular top plate; 16, cylinder; 17, upper tray; 18, rotation motor; 19, worm; 20, turbine; 21, lower tray; 22, connecting shaft; 23, circular bottom plate; 24, seedling claw motor; 25, arc rack; 26, seedling needle; 27, seedling claw gear. Detailed implementation manners

[0015] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be described in detail below with reference to specific embodiments. The following embodiments are implemented on the premise of the technical solution of the present invention, and detailed implementation manners and specific operation processes are given. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the following embodiments.

[0016] The plug seedling replacement device based on the spiral seedling taking end mechanism includes a support 1, a transverse movement mechanism, a longitudinal movement mechanism and a seedling taking mechanism. The transverse movement mechanism includes a transverse movement rack 2, a transverse movement gear 3, a transverse movement motor 4, a transverse movement slide rail 7, a support plate 6 and a transverse movement slider 5. The transverse movement rack 2 is fixed above one side of the support 1 by screw nuts. The transverse movement motor 4 is fixed above the support plate 6 by bolts. The output shaft of the transverse movement motor 4 is clamped with the transverse movement gear 3 through a coupling and a key. The transverse movement gear 3 meshes with the transverse movement rack 2. The transverse movement slide rail 7 is fixed on both sides of the support 1 by an L-shaped plate. The support plate 6 is used to carry the seedling taking mechanism, and a transverse movement slider 5 matched with the transverse movement slide rail 7 is arranged below it. The transverse movement slide rail 7 is parallel to the transverse movement rack 2, and the transverse movement gear 3 meshes with the transverse movement rack 2. The transverse movement motor 4 is fixed above the support plate 6, and the transverse movement motor 4 drives the transverse movement gear 3 to rotate, thereby driving the transverse movement motor 4 and the support plate 6 to move along the transverse movement rack 2.

[0017] The longitudinal movement mechanism includes a longitudinal movement motor 9, a longitudinal movement slider 11, a longitudinal movement slide rail 10, a lead screw 12, a fixed seat 13, and a clamping plate 14. The longitudinal movement motor 9 and the fixed seat 13 are both fixed to the lower side of the support plate 6 by bolts. The lead screw 12 passes through the fixed seat 13 and is connected to the output shaft of the longitudinal movement motor 9 at one end. The longitudinal movement slide rail 10 is fixed on both sides of the longitudinal movement motor 9. The longitudinal movement slide rail 10 is matched with the longitudinal movement slider 11 through a groove. The upper end of the clamping plate 14 passes through the lead screw 12 through an internal thread and is fixed to the longitudinal movement slider 11. The clamping plate 14 is fixed to the circular top plate 15 of the seedling picking mechanism by screws and nuts.

[0018] The seedling picking mechanism includes a circular top plate 15, a rotation drive unit, and a connecting shaft 22. The lower end surface of the circular top plate 15 is connected to a cylinder 16. The telescopic end of the cylinder 16 is fixed to the upper end surface of the upper tray 17. The rotation drive unit includes a rotation motor 18 fixed inside the upper tray 17, a worm 19 connected to the output shaft of the rotation motor 18, and a turbine 20 meshed with the worm 19. The turbine 20 realizes power transmission through the connecting shaft 22. The lower end of the connecting shaft 22 sequentially passes through and is fixed to the lower tray 21, the circular bottom plate 23, and three groups of arc-shaped racks 25. The lower tray 21 is coaxially arranged with the circular top plate 15. The circular bottom plate 23 and the arc-shaped racks 25 are arranged in sequence from top to bottom along the axial direction of the connecting shaft 22. Each group of arc-shaped racks 25 is correspondingly provided with a seedling claw motor 24, a seedling needle 26, and a seedling claw gear 27. The seedling claw motor 24, the arc-shaped rack 25, and the seedling claw gear 27 are arranged inside the lower tray 21, and the seedling claw motor 24 is fixed to the inner wall of the lower tray 21.

[0019] The three groups of arc-shaped racks 25 are circumferentially equidistributed with the central axis of the connecting shaft 22 as the reference. The central angle between adjacent two groups of arc-shaped racks 25 is 120°. The three groups of arc-shaped racks 25 are arranged in a stepped staggered manner in the axial dimension. The cross-section of the arc-shaped rack 25 is in a fan-shaped structure. One side of it is provided with a meshing rack, and the central angle part is a hollow columnar structure. This hollow columnar structure is axially fixedly connected to the connecting shaft 22 through a bearing and forms a stepped staggered arrangement from top to bottom along the axial direction of the connecting shaft 22. The upper end of the seedling needle 26 is slidably installed in the corresponding arc-shaped groove slide rail of the circular bottom plate 23, and its lower end passes through the internal arc-shaped groove slide rail of the arc-shaped rack 25, forming a double guiding structure. When the seedling claw motor 24 drives the seedling claw gear 27 to mesh and drive with the rack side of the arc-shaped rack 25, the seedling needle 26 synchronously performs a spiral movement under the constraint of the slide rail, thereby realizing the precise operation of three-station collaborative seedling picking and replacement of good and bad seedlings. This structure combines spatial spiral arrangement and mechanical transmission, significantly improving the operation efficiency and stability of the end mechanism.

[0020] The seedling needle 26 is in a retracted spiral shape. When the three groups of seedling needles 26 move relative to each other, their ends gradually shrink to a circular shape, and a humidity sensor is installed. The whole is made of soft rubber material.

[0021] The seedling-taking method of the pot seedling replacement device based on the spiral seedling-taking end mechanism is characterized in that it specifically includes the following steps: (1) Movement direction control: Determine the position of the pot seedling. The controller drives and controls the transverse movement motor 4 to drive the transverse movement gear 3 to rotate. By using the meshing effect of the transverse movement gear 3 and the transverse movement rack 2, the longitudinal movement mechanism and the seedling-taking mechanism move horizontally along the transverse movement slide rail 7 to the target position through the transverse movement slider 5; the longitudinal movement motor 9 drives the lead screw 12 to push the clamping plate 14 to move, driving the seedling-taking mechanism to move longitudinally along the longitudinal movement slide rail 10 through the longitudinal movement slider 11; the rotation motor 18 drives the worm 19 to mesh with the turbine 20, so that the seedling needle 26 rotates to directly above the seedling-taking point of the seedling tray 8. (2) Clamp the pot seedling: The seedling claw motor 24 drives the seedling claw gear 27 to mesh with the arc rack 25, so that the seedling needle 26 moves along the arc groove in the circular bottom plate 23 and the arc rack 25. At the same time, the cylinder 16 extends, pushing the upper tray 17 to drive the seedling needle 26 to close and clamp the pot seedling. (3) Release the pot seedling: After the pot seedling is successfully clamped, the cylinder 16 contracts, the transverse movement motor 4 and the longitudinal movement motor 9 reverse, transport the pot seedling to the seedling release point, the seedling claw motor 24 reverses and resets, and the seedling needle 26 opens to release the pot seedling.

[0022] The present invention can also change the movement distance or length of the seedling needle 26. When facing inferior seedlings, by increasing the movement distance or extending the length of the seedling needle 26, the needle body is inserted into the root area of young seedlings or inferior seedlings with short stems and leaves; when facing high-quality seedlings, by shortening the stroke of the seedling needle 26, such as uniform morphology or neat plant height, accurately clamp the stems of high-quality seedlings; it is also possible to control the insertion depth through the humidity sensor at the end of the seedling needle to achieve simultaneous pot insertion and stem clamping type seedling taking.

[0023] The above shows and describes the main features, usage methods, basic principles and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various changes and improvements according to the actual situation. These changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A pot seedling replacement device based on a spiral seedling-taking end mechanism, characterized in that It includes a seedling picking mechanism. The seedling picking mechanism includes a circular top plate (15), a rotation driving unit, and a connecting shaft (22). The lower end face of the circular top plate (15) is connected to a cylinder (16). The telescopic end of the cylinder (16) is fixed to the upper end face of the upper tray (17). The rotation driving unit includes a rotation motor (18) fixed inside the upper tray (17), a worm (19) connected to the output shaft of the rotation motor (18), and a turbine (20) meshing with the worm (19). The turbine (20) transmits power through the connecting shaft (22). The lower end of the connecting shaft (22) sequentially penetrates and is fixed to the lower tray (21), the circular bottom plate (23), and three groups of arc-shaped racks (25). The lower tray (21) is coaxially arranged with the circular top plate (15). The circular bottom plate (23) and the arc-shaped racks (25) are arranged from top to bottom along the axial direction of the connecting shaft (22). Each group of arc-shaped racks (25) is correspondingly provided with a seedling claw motor (24), a seedling needle (26), and a seedling claw gear (27). Three arc-shaped groove slides distributed along the circumference are correspondingly opened on the circular bottom plate (23) and each group of arc-shaped racks (25). The upper end of the seedling needle (26) is slidably placed in the arc-shaped groove slide opened on the circular bottom plate (23), and its lower end passes through the arc-shaped groove slide of the arc-shaped rack (25). The seedling claw motor (24) drives the seedling claw gear (27) to mesh with the side of the arc-shaped rack (25), driving the seedling needle (26) to move spirally along the arc-shaped groove slide.

2. The plug seedling replacement device based on the spiral seedling taking end mechanism according to claim 1, characterized in that, Taking the central axis of the connecting shaft (22) as a reference, the three groups of arc-shaped racks (25) are evenly distributed along the circumferential direction, and the central angle between adjacent two groups of arc-shaped racks (25) is 120°. The three groups of arc-shaped racks (25) are arranged in a stepped staggered manner in the axial dimension.

3. The pot seedling replacement device based on the spiral seedling-taking end mechanism according to claim 1, characterized in that The cross-section of the arc-shaped rack (25) is in a fan-shaped structure. One side is provided with a meshing rack, and the hollow columnar structure is at the central angle. The hollow columnar structure is axially fixedly connected to the connecting shaft (22) through a bearing.

4. The pot seedling replacement device based on the spiral seedling taking end mechanism according to claim 1, wherein The seedling needle (26) is in an inwardly retracted spiral shape and is made of soft rubber material. When the three groups of seedling needles (26) move relative to each other, their ends gradually shrink into a circle. A humidity sensor is installed on the seedling needle (26).

5. The plug seedling replacement device based on the spiral seedling taking end mechanism according to claim 1, characterized in that It further includes a bracket (1) and a transverse movement mechanism. The transverse movement mechanism includes a transverse movement rack (2), a transverse movement gear (3), a transverse movement motor (4), a transverse movement slide rail (7), a support plate (6), and a transverse movement slider (5). The transverse movement rack (2) is fixed above the bracket (1). The transverse movement slide rail (7) is fixed to both sides of the bracket (1) through an L-shaped plate. The support plate (6) is used to carry the seedling picking mechanism, and a transverse movement slider (5) cooperating with the transverse movement slide rail (7) is arranged below it. The transverse movement slide rail (7) is parallel to the transverse movement rack (2). The transverse movement gear (3) meshes with the transverse movement rack (2). The transverse movement motor (4) is fixed above the support plate (6). The transverse movement motor (4) drives the transverse movement gear (3) to rotate, thereby driving the transverse movement motor (4) and the support plate (6) to move along the transverse movement rack (2).

6. The pot seedling replacement device based on the spiral seedling taking end mechanism according to claim 5, characterized in that, It further includes a longitudinal movement mechanism, and the longitudinal movement mechanism includes a longitudinal movement motor (9), a longitudinal movement slide rail (10), a longitudinal movement slider (11), a lead screw (12), a fixed seat (13) and a clamping plate (14). The longitudinal movement motor (9) and the fixed seat (13) are fixed under the support plate (6). The lead screw (12) passes through the fixed seat (13), and one end is connected to the output shaft of the longitudinal movement motor (9). The longitudinal movement slide rail (10) is fixed on both sides of the longitudinal movement motor (9). The longitudinal movement slide rail (10) is matched with the longitudinal movement slider (11) through a groove. The upper end of the clamping plate (14) passes through the lead screw (12) through an internal thread and is fixed to the longitudinal movement slider (11). The clamping plate (14) is fixed to the circular top plate (15) through screws and nuts.

7. The seedling picking method of the pot seedling replacement device based on the spiral seedling picking end mechanism according to claim 5, characterized in that, Specifically, it includes the following steps: (1) Movement direction control: Determine the position of the pot seedlings. The controller drives and controls the transverse movement motor (4) to drive the transverse movement gear (3) to rotate. By using the meshing action of the transverse movement gear (3) and the transverse movement rack (2), the longitudinal movement mechanism and the seedling picking mechanism move horizontally along the transverse movement slide rail (7) to the target position through the transverse movement slider (5). The longitudinal movement motor (9) drives the lead screw (12) to push the clamping plate (14) to move, driving the seedling picking mechanism to move longitudinally along the longitudinal movement slide rail (10) through the longitudinal movement slider (11). The rotation motor (18) drives the worm (19) to mesh with the turbine (20), so that the seedling needle (26) rotates to directly above the seedling picking point of the seedling tray (8); (2) Clamping the pot seedlings: The seedling claw motor (24) drives the seedling claw gear (27) to mesh with the arc rack (25), so that the seedling needle (26) moves along the arc grooves in the circular bottom plate (23) and the arc rack (25). At the same time, the cylinder (16) extends, pushing the upper tray (17) to drive the seedling needle (26) to close and clamp the pot seedlings; (3) Releasing the pot seedlings: After the pot seedlings are successfully clamped, the cylinder (16) contracts, and the transverse movement motor (4) and the longitudinal movement motor (9) reverse, transporting the pot seedlings to the seedling throwing point. The seedling claw motor (24) reverses and resets, and the seedling needle (26) opens to release the pot seedlings.

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