Pot seedling replacement device and seedling removal method based on spiral seedling removal terminal mechanism

Abstract

The present invention discloses a seedling replacement device and seedling removal method based on a spiral seedling removal terminal mechanism, comprising a bracket, a transverse movement mechanism, a longitudinal movement mechanism and a seedling removal mechanism. The seedling removal mechanism drives the upper tray and the lower tray to be linked by a cylinder, and the rotary motor drives the connecting shaft through a worm gear and a turbine to drive three sets of arc-shaped racks with equidistant circumferential distribution and axial step dislocation to rotate; the end of the seedling needle is in an inward spiral shape, and is driven by the seedling claw motor to move spirally along the arc groove slide rail, and cooperates with the cylinder to achieve flexible clamping; the transverse movement mechanism controls the lateral positioning through the gear rack and the slide rail, and the longitudinal movement mechanism uses the lead screw slide rail to achieve precise longitudinal adjustment. The present invention disperses resistance through spiral progressive seedling removal, reduces root damage, adapts to seedlings of different ages and postures in pots, combines sensors and motor drive to achieve automatic replacement of good and bad seedlings, significantly improves transplant survival rate and production efficiency, has a compact structure and strong compatibility, and is suitable for a variety of hole trays and transplanting scenarios.

Description

Technical Field

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

[0002] In modern agricultural seedling cultivation, plug tray seedling cultivation is widely used due to its efficiency and convenience. The seedling screening and retrieval process in mechanical transplanting directly affects the transplant survival rate and operational efficiency.

[0003] Influenced by multiple factors, including seed characteristics, environmental conditions, and management practices, seedlings in the plug tray often exhibit significant individual differentiation. The presence of inferior seedlings not only consumes seedling cultivation resources but also affects the uniformity of the population. Currently, manual seedling replacement is often used in late-stage transplanting, failing to establish an effective mechanism for replacing superior seedlings with inferior seedlings before transplanting. This results in inferior seedlings being mixed into the transplanting system, increasing the intensity of the replacement work and directly impacting the overall transplanting success rate.

[0004] During the replacement of high-quality seedlings with low-quality ones, traditional clamping or lifting seedling removal end effectors have significant limitations in trajectory planning due to the influence of the hole layout in the plug tray and the natural growth posture of the seedlings. Furthermore, when extracting individual seedlings from densely packed plug trays, uneven force or angle deviation can easily damage the roots, stems, and leaves of the seedlings, affecting their subsequent growth recovery and survival rate. Summary of the Invention

[0005] In order to overcome the above shortcomings, the present invention provides a seedling replacement device and a seedling removal method based on a spiral seedling removal terminal mechanism, which is used to solve the problems of high labor intensity and low efficiency of existing manual seedling replacement. The terminal mechanism gradually rotates the spiral seedling needle to cut into the seedling in the pot, and has the characteristics of evenly dispersing the seedling removal resistance and adjusting the displacement. It can effectively reduce root breakage and stem and leaf damage, significantly reduce the cost of seedling replacement, shorten the seedling raising cycle, and improve the success rate of later transplanting.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is:

[0007] The seedling replacement device based on the spiral seedling removal terminal mechanism includes a seedling removal mechanism, which includes a circular top plate, a rotation drive unit and a connecting shaft. The lower end surface of the circular top plate is connected to the cylinder, and the telescopic end of the cylinder is fixed to the upper end surface of the upper tray. The rotation drive unit includes a rotary motor fixed inside the upper tray, a worm connected to the output shaft of the rotary motor, and a turbine meshed with the worm. The turbine realizes power transmission through the connecting shaft, and the lower end of the connecting shaft passes through and fixes the lower tray, the circular bottom plate and three sets of arcs in sequence. The arc rack is coaxial with the circular top plate, and the circular bottom plate and the arc rack are arranged from top to bottom along the axial direction of the connecting shaft. Each set of arc racks is correspondingly provided with a seedling claw motor, a seedling needle and a seedling claw gear. The circular bottom plate and each set of arc racks are correspondingly provided with three arc groove slides distributed along the circumference. The upper end of the seedling needle is slid and placed in the arc groove slide rail provided on the circular bottom plate, and the lower end thereof passes through the arc groove slide rail of the arc rack. The seedling claw motor drives the seedling claw gear to engage with the side of the arc rack, driving the seedling needle to move spirally along the arc groove slide rail.

[0008] Further optimization is carried out, the three groups of arc-shaped racks are distributed at equal intervals along the circumferential direction with the central axis of the connecting shaft as the reference, the central angle between two adjacent 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.

[0009] Further optimized, the cross section of the arc-shaped rack is a fan-shaped structure, one side of which is provided with an engaging rack, and the central angle is a hollow cylindrical structure, which is fixedly connected to the axial direction of the connecting shaft through the hollow cylindrical part.

[0010] Further optimization, the seedling needles are inward spiral shaped and made of soft rubber material. When the three groups of seedling needles move relative to each other, their ends are circular and gradually shrink. A humidity sensor is installed on the seedling needles.

[0011] Further optimization also includes a bracket and a transverse mechanism, the transverse mechanism includes a transverse rack, a transverse gear, a transverse motor, a transverse slide, a support plate and a transverse slider, the transverse rack is fixed on the top of the bracket, the transverse slide is fixed on both sides of the bracket through an L-shaped plate, the support plate is used to carry the seedling removal mechanism, and a transverse slider is provided below it that cooperates with the transverse slide, the transverse slide is parallel to the transverse rack, the transverse gear is meshed with the transverse rack, the transverse motor is fixed above the support plate, the transverse motor drives the transverse gear to rotate, and then drives the transverse motor and the support plate to move along the transverse rack.

[0012] Further optimization also includes a longitudinal movement mechanism, which includes a longitudinal movement motor, a longitudinal movement slider, a longitudinal movement slide rail, a screw, a fixed seat and a splint. The longitudinal movement motor and the fixed seat are fixed under the support plate. The screw passes through the fixed seat and one end is connected to the output shaft of the longitudinal movement motor. The longitudinal movement slide rail is fixed on both sides of the longitudinal movement motor. The longitudinal movement slide rail cooperates with the longitudinal movement slider through a groove. The upper end of the splint passes through the screw through a built-in thread and is fixed to the longitudinal movement slider. The splint is fixed to the circular top plate through screws and nuts.

[0013] The seedling removal method of the pot seedling replacement device based on the spiral seedling removal terminal mechanism specifically includes the following steps:

[0014] (1) Movement direction control: Determine the seedling position in the pot, the controller drives the transverse motor to drive the transverse gear to rotate, and the transverse gear and the transverse rack are meshed to make the longitudinal mechanism and the seedling removal mechanism move horizontally to the target position along the transverse slide rail through the transverse slider; the longitudinal motor drives the lead screw to push the splint to move, and drives the seedling removal mechanism to move longitudinally along the longitudinal slide rail through the longitudinal slider; the rotary motor drives the worm to mesh with the turbine, so that the seedling needle rotates to the top of the seedling tray seedling removal point;

[0015] (2) Clamping the seedlings in pots: The seedling claw motor drives the seedling claw gear to engage with the arc-shaped rack, so that the seedling needle moves along the arc-shaped groove in the circular bottom plate and the arc-shaped rack. At the same time, the cylinder extends, pushing the upper tray to link the seedling needle to close and clamp the seedlings in pots;

[0016] (3) Release the seedlings: After the seedlings are successfully picked up, the cylinder contracts, the horizontal and vertical motors reverse, and the seedlings are transported to the seedling release point. The seedling claw motor reverses and resets, and the seedling needle opens to release the seedlings.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention's seedling removal mechanism evenly distributes the resistance during spiral seedling removal, avoiding root breakage and mechanical damage to stems and leaves caused by traditional rigid clamping or pulling, thereby improving the growth recovery and survival rate of seedlings after transplanting.

[0019] 2. The spiral progressive seedling removal method adopted by the flexible end of this invention is suitable for seedlings in pots of different postures and ages. By controlling the rotation and extension distance, it can be used to insert the seedlings into the pots or clamp the stems, and ensure that they fall in a vertical position, which can effectively improve the success rate of later planting.

[0020] 3. All components of the seedling removal mechanism are motor-driven, resulting in a compact structure and simple operation. This mechanism can be used not only to replace high-quality seedlings with low-quality ones, but can also be used with different plug trays or transplanters depending on the actual situation.

[0021] In summary, the present invention realizes the automated and precise replacement of superior and inferior seedlings in seedling trays. Compared with the traditional manual replacement method, it can not only greatly improve production efficiency, but also significantly reduce labor intensity and production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a front view of the present invention;

[0023] Figure 2 It is a side view of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the seedling taking mechanism of the present invention;

[0025] Figure 4 Schematic diagram of the structure of the circular base plate;

[0026] Figure 5 Schematic diagram of the structure of the arc rack;

[0027] Figure 6 It is a structural diagram of the longitudinal movement mechanism;

[0028] Figure markings: 1. bracket, 2. transverse rack, 3. transverse gear, 4. transverse motor, 5. transverse slider, 6. support plate, 7. transverse slide rail, 8. seedling tray, 9. longitudinal motor, 10. longitudinal slide rail, 11. longitudinal slider, 12. screw, 13. fixed seat, 14. splint, 15. circular top plate, 16. cylinder, 17. upper tray, 18. rotating 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 DESCRIPTION

[0029] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is described in detail below in conjunction with specific embodiments. The following embodiments are implemented based on the technical solutions of the present invention, and provide detailed implementation methods and specific operating procedures. 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.

[0030] The seedling replacement device based on the spiral seedling removal terminal mechanism includes a bracket 1, a transverse mechanism, a longitudinal mechanism and a seedling removal mechanism. The transverse mechanism includes a transverse rack 2, a transverse gear 3, a transverse motor 4, a transverse slide 7, a support plate 6 and a transverse slider 5. The transverse rack 2 is fixed to the upper side of the bracket 1 by screws and nuts, the transverse motor 4 is fixed to the upper side of the support plate 6 by bolts, the output shaft of the transverse motor 4 is clamped with the transverse gear 3 through a coupling by a key, the transverse gear 3 is meshed with the transverse rack 2, the transverse slide 7 is fixed to both sides of the bracket 1 by an L-shaped plate, the support plate 6 is used to carry the seedling removal mechanism, and a transverse slider 5 is provided below it to cooperate with the transverse slide 7, the transverse slide 7 is parallel to the transverse rack 2, the transverse gear 3 is meshed with the transverse rack 2, the transverse motor 4 is fixed to the upper side of the support plate 6, the transverse motor 4 drives the transverse gear 3 to rotate, and then drives the transverse motor 4 and the support plate 6 to move along the transverse rack 2.

[0031] The longitudinal movement mechanism includes a longitudinal movement motor 9, a longitudinal movement slider 11, a longitudinal movement slide rail 10, a screw 12, a fixed seat 13 and a splint 14. The longitudinal movement motor 9 and the fixed seat 13 are fixed to the bottom of the support plate 6 by bolts. The 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 cooperates with the longitudinal movement slider 11 through a groove. The upper end of the splint 14 passes through the screw 12 through a built-in thread and is fixed to the longitudinal movement slider 11. The splint 14 is fixed to the circular top plate 15 of the seedling taking mechanism through screws and nuts.

[0032] The seedling taking mechanism includes a circular top plate 15, a rotary drive unit and a connecting shaft 22. The lower end surface of the circular top plate 15 is connected to the cylinder 16. The telescopic end of the cylinder 16 is fixed to the upper end surface of the upper tray 17. The rotary drive unit includes a rotary motor 18 fixed inside the upper tray 17, a worm 19 connected to the output shaft of the rotary motor 18, and a turbine 20 meshing with the worm 19. The turbine 20 realizes power transmission through the connecting shaft 22. The lower end of the connecting shaft 22 is fixed to the upper end surface of the upper tray 17. The lower tray 21, the circular bottom plate 23 and the three groups of arc-shaped racks 25 are sequentially passed through and fixed. 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. The seedling claw motor 24, the arc-shaped rack 25 and the seedling claw gear 27 are arranged in the lower tray 21, and the seedling claw motor 24 is fixed on the inner wall of the lower tray 21.

[0033] The three groups of arc-shaped racks 25 are distributed equidistantly along the circumferential direction with the central axis of the connecting shaft 22 as the reference. The central angle between two adjacent groups of arc-shaped racks 25 is 120 degrees. 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 a fan-shaped structure, one side of which is provided with a meshing rack. The central angle is a hollow cylindrical structure. The hollow cylindrical structure is fixedly connected to the axial direction of the connecting shaft 22 by 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 mounted in the arc-shaped groove slide rail corresponding to the circular base plate 23, and its lower end passes through the built-in arc-shaped groove slide rail of the arc-shaped rack 25 to form a dual guide structure. When the seedling claw motor 24 drives the seedling claw gear 27 to mesh with the rack side of the arc-shaped rack 25 for transmission, the seedling needle 26 synchronously performs spiral motion under the constraint of the slide rail, thereby realizing the precise operation of three-station collaborative seedling removal and replacement of good and bad seedlings. This structure significantly improves the operating efficiency and stability of the terminal mechanism through the combination of spatial spiral arrangement and mechanical transmission.

[0034] The seedling needles 26 are in an inward spiral shape. When the three groups of seedling needles 26 move relative to each other, their ends are circular and gradually shrink. A humidity sensor is installed and the whole is made of soft rubber material.

[0035] The seedling taking method of the pot seedling replacement device based on the spiral seedling taking terminal mechanism is characterized in that it specifically includes the following steps:

[0036] (1) Movement direction control: To determine the seedling position in the pot, the controller drives the transverse motor 4 to drive the transverse gear 3 to rotate, and the transverse gear 3 and the transverse rack 2 are meshed to make the longitudinal mechanism and the seedling removal mechanism move transversely to the target position along the transverse slide rail 7 through the transverse slider 5; the longitudinal motor 9 drives the lead screw 12 to push the clamping plate 14 to move, and drives the seedling removal mechanism to move longitudinally along the longitudinal slide rail 10 through the longitudinal slider 11; the rotary motor 18 drives the worm 19 to mesh with the turbine 20, so that the seedling needle 26 rotates to the top of the seedling removal point on the seedling tray 8;

[0037] (2) Clamping the seedlings in the pot: the seedling claw motor 24 drives the seedling claw gear 27 to engage with the arc-shaped rack 25, so that the seedling needle 26 moves along the arc-shaped groove in the circular bottom plate 23 and the arc-shaped rack 25. At the same time, the cylinder 16 extends, pushing the upper tray 17 to link the seedling needle 26 to close and clamp the seedlings in the pot;

[0038] (3) Place the seedlings in the pot: After the seedlings are successfully picked up, the cylinder 16 contracts, the transverse motor 4 and the longitudinal motor 9 reverse, and the seedlings are transported to the seedling placement point. The seedling claw motor 24 reverses and resets, and the seedling needle 26 opens to release the seedlings.

[0039] The present invention can also change the movement distance or length of the seedling needle 26. When facing low-quality seedlings, the movement distance or length of the seedling needle 26 can be increased to allow the needle body to be inserted into the root area of young seedlings or low-quality seedlings with short stems and leaves; when facing high-quality seedlings, the stroke of the seedling needle 26 can be shortened, such as when the shape is uniform or the plant height is neat, so that the stem of the high-quality seedling can be accurately clamped; the humidity sensor at the end of the seedling needle can also be used to control the insertion depth, so that the seedlings can be taken out by inserting into the pot and clamping the stem at the same time.

[0040] The above shows and describes the main features, methods of use, basic principles, and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention based on actual circumstances without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A seedling replacement device based on a spiral seedling removal terminal mechanism, characterized in that: The invention comprises a seedling taking mechanism, wherein the seedling taking mechanism comprises a circular top plate (15), a rotation drive unit and a connecting shaft (22), wherein the lower end surface of the circular top plate (15) is connected to the 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 comprises a rotary motor (18) fixed inside the upper tray (17), a worm (19) connected to the output shaft of the rotary motor (18), and a turbine (20) meshed with the worm (19), wherein the turbine (20) realizes power transmission through the connecting shaft (22), and the lower end of the connecting shaft (22) sequentially passes through and fixes the lower tray (21), the circular bottom plate (23) and three sets of arc-shaped racks (25), wherein the lower tray ( 21) is coaxially arranged with the circular top plate (15), the circular bottom plate (23) and the arc-shaped rack (25) are arranged from top to bottom along the axial direction of the connecting shaft (22), and each set of arc-shaped racks (25) is correspondingly provided with a seedling claw motor (24), a seedling needle (26) and a seedling claw gear (27), and the circular bottom plate (23) and each set of arc-shaped racks (25) are provided with three arc-shaped groove slides distributed along the circumference. The upper end of the seedling needle (26) is slidably placed in the arc-shaped groove slide provided on the circular bottom plate (23), and the lower end thereof 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 engage 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 seedling replacement device based on the spiral seedling removal terminal mechanism according to claim 1 is characterized in that: The three groups of arc-shaped racks (25) are distributed at equal intervals along the circumferential direction with the central axis of the connecting shaft (22) as the reference, and the central angle between two adjacent 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 seedling replacement device based on the spiral seedling removal terminal mechanism according to claim 1 is characterized in that: The cross section of the arc-shaped rack (25) is a fan-shaped structure, one side of which is provided with a meshing rack, and the central angle is a hollow columnar structure, and the hollow columnar structure is axially fixedly connected to the connecting shaft (22) through a bearing.

4. The seedling replacement device based on the spiral seedling removal terminal mechanism according to claim 1, characterized in that: The seedling needles (26) are in an inward spiral shape and are made of soft rubber material. When the three groups of seedling needles (26) move relative to each other, their ends are circular and gradually shrink. A humidity sensor is installed on the seedling needles (26).

5. The seedling replacement device based on the spiral seedling removal terminal mechanism according to claim 1 is characterized in that: The invention also includes a bracket (1) and a transverse movement mechanism, wherein the transverse movement mechanism includes a transverse movement rack (2), a transverse movement gear (3), a transverse movement motor (4), a transverse movement rail (7), a support plate (6) and a transverse movement slider (5), wherein the transverse movement rack (2) is fixed on the top of the bracket (1), and the transverse movement rail (7) is fixed on both sides of the bracket (1) through an L-shaped plate. The support plate (6) is used to carry the seedling removal mechanism, and a transverse movement slider (5) is provided below the support plate to cooperate with the transverse movement rail (7). The transverse movement rail (7) is parallel to the transverse movement rack (2), and the transverse movement gear (3) is meshed with the transverse movement rack (2). The transverse movement motor (4) is fixed on the top of 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).

6. The seedling replacement device based on the spiral seedling removal terminal mechanism according to claim 5, characterized in that: The invention also includes a longitudinal movement mechanism, which includes a longitudinal movement motor (9), a longitudinal movement 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 below 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 rail (10) is fixed to both sides of the longitudinal movement motor (9). The longitudinal movement 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 seedling-picking pot replacement device based on the spiral seedling-picking terminal mechanism according to claim 5, characterized in that: The specific steps include: (1) Movement direction control: Determine the seedling position in the pot, the controller drives the transverse motor (4) to drive the transverse gear (3) to rotate, and utilizes the meshing action of the transverse gear (3) and the transverse rack (2) to make the longitudinal movement mechanism and the seedling removal mechanism move transversely to the target position along the transverse slide rail (7) through the transverse slider (5); the longitudinal movement motor (9) drives the lead screw (12) to push the clamping plate (14) to move, and drives the seedling removal mechanism to move longitudinally along the longitudinal slide rail (10) through the longitudinal movement slider (11); the rotary motor (18) drives the worm (19) to mesh with the turbine (20), so that the seedling needle (26) rotates to the top of the seedling removal point of the seedling tray (8); (2) Clamping the seedlings in the pot: the seedling claw motor (24) drives the seedling claw gear (27) to engage 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), and at the same time the cylinder (16) stretches and pushes the upper tray (17) to close the linkage seedling needle (26) to clamp the seedlings in the pot; (3) Putting the seedlings in the pot: After the seedlings are successfully picked up, the cylinder (16) contracts, the transverse motor (4) and the longitudinal motor (9) are reversed, and the seedlings are transported to the seedling placement point. The seedling claw motor (24) is reversed and reset, and the seedling needle (26) opens to release the seedlings in the pot.

Images