Plug seedling transplanter capable of taking seedlings by multiple claws in parallel

Abstract

The invention belongs to the technical field of agricultural machinery, and particularly provides a multi-claw parallel seedling taking plug seedling transplanter which comprises a rack, a belt pulley conveying device is connected to the rack and used for conveying seedling trays to a seedling taking station in the Y direction so as to be close to a multi-claw parallel seedling taking mechanism, and the multi-claw parallel seedling taking mechanism is hung on the rack through a seedling pulling device. The seedling pulling device can lift the multi-claw parallel seedling taking mechanism to a seedling pulling station and a clamping station in the Z direction, the multi-claw parallel seedling taking mechanism clamps and pulls out seedlings in a seedling tray to be separated from the seedling tray when the multi-claw parallel seedling taking mechanism is located at the seedling pulling station, and the multi-claw parallel seedling taking mechanism can horizontally move the clamped seedlings in the seedling tray to transplanting devices on the left side and the right side of the seedling taking station. When the multi-claw parallel seedling taking mechanism is located at the seedling pulling station, the seedling trays are not stopped from being conveyed to the seedling tray recycling station along the belt pulley conveying device. According to the device, seedling tray conveying, batch seedling taking from the seedling trays and seedling loading in sequence can be completed, and finally seedling tray recycling is carried out.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and particularly relates to a plug seedling transplanter with multiple claws for parallel seedling picking. Background Art

[0002] With the growth of the demand for crops such as vegetables, flowers, and tobacco, the rapid development of plug seedling raising technology, and the rising labor cost, it has greatly promoted the development of fully automatic transplanting machinery. Mechanized transplanting can solve the contradiction of labor demand during the transplanting season, greatly reduce the labor intensity, and can eliminate the instability of plant spacing, row spacing, depth, and uprightness caused by manual transplanting, making the crop maturity period consistent, facilitating field standardized management, and increasing the yield. The fully automatic transplanting machines abroad are difficult to adapt to the domestic planting mode and planting environment, and are expensive and difficult to promote. Most domestic transplanting still uses manual transplanting or semi-automatic transplanting machines that use manual seedling picking and feeding. Semi-automatic transplanting machines have problems such as high labor intensity, low efficiency, high cost, and high seedling injury rate of workers, and are not suitable for transplanting operations in protected agriculture. At the current stage in China

[0003] The developed and used transplanting machines are mostly semi-automatic, still requiring a large amount of manual labor. The transplanting speed is limited by the speed of manual seedling feeding, and it cannot achieve the integration from automatic tray loading to transplanting. The plug seedling transplanter disclosed in ZL202211268562.5 can only pick one seedling from the plug tray at a time, and the seedling picking and loading efficiency is low. There is a need for a transplanting machine that can pick seedlings in batches and plant them one by one to perform automatic plug seedling picking, planting, picking up the plug tray, and recycling the plug tray. Summary of the Invention

[0004] Aiming at the problems that for plug seedlings of various crops such as tomatoes, cucumbers, peppers, etc., only one seedling can be picked from the plug tray at a time during the transplanting process, and the seedling picking and loading efficiency is low, the invention provides a plug seedling transplanter with multiple claws for parallel seedling picking, including a frame. A belt pulley conveying device is connected to the frame for conveying the seedling tray along the Y direction to the seedling picking station to be close to the multiple-claw parallel seedling picking mechanism. The multiple-claw parallel seedling picking mechanism is suspended on the frame by a seedling pulling device. The seedling pulling device can lift and lower the multiple-claw parallel seedling picking mechanism in the Z direction to the seedling pulling station and the clamping station respectively. When the multiple-claw parallel seedling picking mechanism is at the seedling pulling station, it clamps and pulls out the seedlings in the seedling tray until they are separated from the seedling tray. The multiple-claw parallel seedling picking mechanism can translate the seedlings in the clamped seedling tray to the transplanters on the left and right sides of the seedling picking station. When the multiple-claw parallel seedling picking mechanism is at the seedling pulling station, it does not block the seedling tray from being conveyed along the belt pulley conveying device to the seedling tray recycling station H;

[0005] The multi-claw parallel seedling picking mechanism includes a linear driving mechanism in the X direction, a linear driving mechanism in the Z direction, a fixed plate, a translation plate, and n scissor mechanisms. n Z-direction sliding grooves are equidistantly arranged on the translation plate. Each scissor mechanism includes two short rotating rods that are staggeredly hinged to the chute pins at the upper end and two long rotating rods that are staggeredly hinged to the positioning pins at the lower end. Each short rotating rod is hinged to one long rotating rod. Clamping arms are arranged at the lower ends of the two long rotating rods. Each positioning pin is close to the lower edge of the translation plate and fixed. Each chute pin is connected to a slider slidably arranged in the Z-direction sliding groove. The fixed plate is provided with a first guiding chute and a second guiding chute in the X direction. The linear driving mechanism in the Z direction can control the slider to rise relative to the positioning pin to the same height as the first guiding chute, so that the clamping arms can clamp the seedlings therebetween. The linear driving mechanism in the Z direction can also control the slider to descend to the same height as the second guiding chute, so that the clamping arms are loosened. The linear driving mechanism in the X direction can drive the translation plate to translate in the X direction. The first guiding chute is used to enable the slider, when at the same height as the first guiding chute, to move along with the translation plate and slide into the first guiding chute, and keep the chute pin moving along the X direction above the transplanter without reducing the height, and then guide the slider to descend and slide into the second guiding chute, so that the clamping arms are loosened above the transplanter. The second guiding chute is used to enable the slider to move back along the X direction along with the translation plate while maintaining the same height as the second guiding chute, so that the clamping arms remain in the loosened state and return to the picking station.

[0006] Further, the fixed plate is located on the left and right sides of the seedling picking station. The first guiding chute includes an X-direction section and an inclined downward section. The X-direction section is arranged on the side of the fixed plate close to the seedling picking station, and the inclined downward section is located at one end of the X-direction section far from the seedling picking station and extends into the second guiding chute.

[0007] Further, the linear driving mechanism in the Z direction includes an X-direction guide rail arranged between two fixed plates. The two fixed plates and the X-direction guide rail are jointly installed on an X-direction connecting member. The X-direction guide rail can move in the Z direction relative to the X-direction connecting member. The X-direction connecting member is connected to the seedling pulling device. The linear driving mechanism in the X direction is configured to keep the translation plate rising and falling synchronously with the base column and the fixed plate, and drive the translation plate to translate in the X direction. When the X-direction guide rail is aligned with the first guiding chute and the second guiding chute, the slider can slide into the X-direction guide rail.

[0008] Further, the frame is installed on the self-propelled crawler assembly for driving the transplanter.

[0009] Furthermore, a seedling tray bracket is also provided on the belt pulley conveying device. The seedling tray bracket is of a U-shaped structure and is hollowed out in the Z direction, restricting the movement of the seedling tray in the Y direction and leaving a notch in the X direction for the seedling tray after seedling picking to be pushed into the seedling tray recycling box. Above the seedling tray bracket, a seedling tray pressing frame and a seedling tray recycling device are also provided. The seedling tray pressing frame is arranged above the seedling station. The seedling tray pressing frame can press the edge of the seedling tray to keep the seedlings in the picked seedling tray stable during the X-direction translation. The seedling tray recycling device is arranged above the seedling tray recycling station. The seedling tray recycling device includes an empty seedling tray pusher plate, which is driven by an X-direction cylinder and can push the empty seedling tray into the seedling tray recycling box.

[0010] Furthermore, a Y-direction position sensor arranged along the Y direction is provided on the frame, which is used to send a proximity signal when each Y-direction position on the seedling tray bracket reaches the picking station and send a recycling signal when the seedling tray bracket reaches the seedling tray recycling station;

[0011] A seedling pulling position sensor is provided on the frame, which is used to send a seedling pulling signal when the multi-claw parallel seedling picking mechanism reaches the seedling pulling station and send a signal to be picked when the multi-claw parallel seedling picking mechanism reaches the picking station;

[0012] An X-direction position sensor is provided on the multi-claw parallel seedling picking mechanism, which is used to send an allowable picking signal when the translation plate is completely located at the picking station and send an allowable return signal when the scissor mechanism on the translation plate moves towards the end of the fixed plate away from the picking station and all passes through the transplanter;

[0013] A Z-direction position sensor is also provided on the multi-claw parallel seedling picking mechanism, which is used to send a signal of being clamped when the slider is at the same height as the first guiding chute and send a signal of being released when the slider is at the same height as the second guiding chute.

[0014] Furthermore, an electric control box is provided beside the frame. Inside the electric control box, there is a power supply, a PLC controller, and a driver module. The driver module is used to drive the belt pulley conveying device, the X-direction linear driving mechanism, the Z-direction linear driving mechanism, the seedling tray recycling device, and the seedling pulling device to act;

[0015] The PLC controller controls the belt pulley conveying device, the X-direction linear driving mechanism, the Z-direction linear driving mechanism, the seedling tray recycling device, and the seedling pulling device in the following way:

[0016] When the PLC controller receives the recycling signal, it controls the seedling tray recycling device to push the seedling tray into the seedling tray recycling box along the X direction;

[0017] When the PLC controller receives the proximity signal, the signal to be picked, the allowable picking signal, and the signal of being released, it controls the Z-direction linear driving mechanism to raise the X-direction guide rail to the same height as the first guiding chute;

[0018] When the PLC controller receives the approaching signal, the signal to be clamped, the signal allowing clamping, and the signal indicating that clamping is complete,

[0019] it controls the seedling pulling device to move the multi-claw parallel seedling picking mechanism to the seedling pulling station;

[0020] When the PLC controller receives the approaching signal, the seedling pulling signal, the signal allowing clamping, and the signal indicating that clamping is complete, it controls the linear drive mechanism in the X direction to move the scissor mechanism on the translation plate to the end of the fixed plate away from the clamping station and all pass through the transplanter. At the same time, it controls the belt pulley conveying device to convey the seedling tray in the Y direction until the next approaching signal is generated, and controls the linear drive mechanism in the Z direction to lower the X-direction guide rail to be at the same height as the guide chute;

[0021] When the PLC controller receives the approaching signal, the seedling pulling signal, the signal allowing return, and the signal indicating that loosening is complete, it controls the linear drive mechanism in the X direction to move all the scissor mechanisms on the translation plate to the clamping station;

[0022] When the PLC controller receives the approaching signal, the seedling pulling signal, the signal allowing clamping, and the signal indicating that loosening is complete, it controls the seedling pulling device to move the multi-claw parallel seedling picking mechanism to the seedling picking station.

[0023] Furthermore, the driver module includes a motor drive control module and a solenoid valve; the belt pulley conveying device and the linear drive mechanism in the X direction are electrically connected to the motor drive control module. The linear drive mechanism in the Z direction, the seedling tray recycling device, and the seedling pulling device are pneumatic devices and are controlled by the solenoid valve.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] (1) The present invention breaks through the inefficient mode of traditional single-plant seedling picking, combines the biological and mechanical characteristics of crops (such as elastic modulus, yield strength, etc.), and combines the agronomic requirements of crop planting to propose a multi-claw parallel stem-clamping seedling picking device. This device constructs a planar link-chute composite mechanism, that is, uses the translation plate and its seedling clamping unit as the seedling clamping component, and uses the lifting plate or the guiding slider as the seedling pulling component. Through the combination of the two, the operations of clamping and pulling seedlings are completed. By moving the two together into the chute component, a continuous process of seedling transfer, seedling placement, and return for re-operation is realized, achieving efficient grasping and separate placement of multiple seedlings within a single cycle, and at the same time providing a new technical path for low-loss and high-efficiency seedling picking.

[0026] (2) The present invention optimizes the details of the mechanism structure of the seedling picking device. Based on the lifting plate in Embodiment 1, a guiding slider and a guiding slide bar can be added to the panel of the translation plate. Alternatively, the lifting plate can be omitted, and a guiding slider and a guiding slide bar can be directly added to the panel of the translation plate. On the one hand, this can reduce the number of parts in the mechanism and simplify the entire seedling picking device. On the other hand, it can reduce the installation precision error of the clamping units in the seedling clamping assembly, that is, reduce the bolt connection form, reduce the welding process during installation, improve the overall stability and smoothness, and increase the seedling picking, transferring and planting efficiency and success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic structural view of the plug tray seedling transplanter with multi-claw parallel seedling picking of the present invention;

[0028] Figure 2 is a schematic overall structural view of the frame and belt pulley conveying device of the plug tray seedling transplanter with multi-claw parallel seedling picking of the present invention;

[0029] Figure 3 is a schematic structural view of the multi-claw parallel seedling picking mechanism of the present invention;

[0030] Figure 4 is a schematic structural view of the seedling tray bracket and seedling tray recycling device of the plug tray seedling transplanter with multi-claw parallel seedling picking of the present invention;

[0031] Figure 5 is a schematic structural view of the scissor mechanism of the multi-claw parallel seedling picking mechanism of the present invention;

[0032] Figure 6 is a schematic circuit diagram of the plug tray seedling transplanter with multi-claw parallel seedling picking;

[0033] Figure 7 is a schematic view of the clamping and tray releasing process of the multi-claw parallel seedling picking mechanism in Embodiment 2;

[0034] Figure 8 is a schematic view of the clamping and tray releasing process of the multi-claw parallel seedling picking mechanism in Embodiment 2;

[0035] Figure 9 is a schematic view of the seedling holding and conveying and fixed-point seedling planting process of the multi-claw parallel seedling picking mechanism in Embodiment 2;

[0036] Figure 10 is a schematic view of the scissor mechanism of the multi-claw parallel seedling picking mechanism in Embodiment 2;

[0037] Figure 11 is a schematic view of the scissor mechanism of the multi-claw parallel seedling picking mechanism in Embodiment 3. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of this application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances for the embodiments of this application described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0040] In this application, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe this application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation or be constructed and operated in a specific orientation.

[0041] Moreover, in addition to being used to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0042] In addition, the terms "mounted", "arranged", "provided with", "connected", "connected to", "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0043] Embodiment 1

[0044] Such as Figures 1 to 3As shown in the figure, a plug tray seedling transplanter with multi-claw parallel seedling picking includes a frame 21. The frame 21 includes upper and lower frames and columns connecting the two frames. Similar to the frame 21 in ZL202211268562.5, the frame 21 is installed on a self-propelled crawler assembly for driving the transplanter. At the first end of the lower frame of the frame 21, there is a seedling tray elevator, and the seedling tray elevator is arranged at Figure 1 and Figure 2 the left end of the frame 21 in. A belt pulley conveying device 29 is connected to the lower frame of the frame 21, which is used to convey the seedling tray 28 along the Y direction to the seedling picking station to approach the multi-claw parallel seedling picking mechanism 26. The seedling picking station is parallel to the X direction and is located on the belt pulley conveying device 29 between the second end (right end) and the first end of the lower frame. The seedling tray recycling station is located at the second end of the lower frame.

[0045] A seedling tray bracket 30 is also provided on the belt pulley conveying device 29. The seedling tray bracket 30 is of a U-shaped structure and is hollow in the Z direction, restricting the movement of the seedling tray 28 in the Y direction and leaving a gap in the X direction for the seedling tray 28 after seedling picking to be pushed into the seedling tray recycling box 25. Above the seedling tray bracket 30, there are also a seedling tray pressing frame 31 and a seedling tray recycling device 24. The seedling tray pressing frame 31 is arranged above the seedling picking station. The seedling tray pressing frame 31 can press the edge of the seedling tray 28 to keep the seedlings in the clamped seedling tray 28 stable during translation in the X direction. The seedling tray recycling device 24 is arranged above the seedling tray recycling station. The seedling tray recycling device 24 includes an empty seedling tray deflector 32, and the empty seedling tray deflector 32 is driven by an X-direction cylinder and can push the empty seedling tray into the seedling tray recycling box 25.

[0046] The belt pulley conveying device 29 includes belt pulleys 29f arranged at the four corners of the lower frame of the frame 21. Two belt pulleys 29f at each of the second end and the first end of the lower frame are installed in a group on the output shaft of a stepping motor 29b. A belt 29e is installed on the two belt pulleys 29f at the second end and the first end of the lower frame. The seedling tray bracket 30 is installed on the belt 29e. The lower frame is also provided with a Y-direction optical axis 29a, and the Y-direction optical axis 29a is slidably connected to a slideway 29c fixed on the seedling tray bracket 30. A plurality of Y-direction position sensors 29d arranged along the Y direction are provided on the lower frame of the frame 21, which are used to send approaching signals when each Y-direction position on the seedling tray bracket 30 reaches the clamping station, and send recycling signals when the seedling tray bracket 30 reaches the seedling tray recycling station. Each Y-direction position on the seedling tray bracket 30 corresponds to a plurality of X-direction arranged seedling rows of the seedling tray 28, realizing the feeding of the seedling tray row by row as needed.

[0047] As Figure 3As shown in the figure, a multi-claw parallel seedling picking mechanism 26 is suspended on the upper frame of the rack 21 by a seedling pulling device 23. The seedling pulling device 23 can lift and lower the multi-claw parallel seedling picking mechanism 26 in the Z direction to the seedling pulling station and the clamping station respectively. When at the clamping station, the multi-claw parallel seedling picking mechanism 26 is close to the belt pulley conveying device 29, and when at the seedling pulling station, the multi-claw parallel seedling picking mechanism 26 is raised relative to the clamping station.

[0048] Therefore, when at the seedling pulling station, the multi-claw parallel seedling picking mechanism 26 clamps and pulls out the seedlings in the seedling tray 28 until they are separated from the seedling tray 28. The multi-claw parallel seedling picking mechanism 26 can translate the seedlings in the clamped seedling tray 28 to the transplanting devices 27 on both sides of the seedling picking station. When at the seedling pulling station, the multi-claw parallel seedling picking mechanism 26 does not block the seedling tray 28 from being conveyed to the seedling tray recycling station along the belt pulley conveying device 29;

[0049] As shown in the figure Figure 1 and Figure 3 As shown, the multi-claw parallel seedling picking mechanism 26 includes an X-direction linear driving mechanism 2, a Z-direction linear driving mechanism 8, a fixing plate 7, a translation plate 5, and n scissor mechanisms. n Z-direction sliding grooves 51 are equidistantly arranged on the translation plate 5. The Z-direction linear driving mechanism 8 is located on the side of the multi-claw parallel seedling picking mechanism 26 facing the seedling tray recycling station. As Figure 5 shown, each scissor mechanism includes two upper short rotating rods 12 cross-hinged on a chute pin 13 and two lower long rotating rods 11 cross-hinged on a positioning pin 14. Each short rotating rod 12 is hinged to one long rotating rod 11. Clamping arms 1 are arranged at the lower ends of the two long rotating rods 11. The clamping arms 1 are arranged in the Y direction and face the first end of the lower frame. Each positioning pin 14 is close to the lower edge of the translation plate 5 and fixed. Each chute pin 13 is connected to a slider 18 slidably arranged on the Z-direction sliding groove 51. The fixing plate 7 is provided with a first guiding chute 71 and a second X-direction guiding chute 72. The Z-direction linear driving mechanism 8 can control the slider 18 to rise relative to the positioning pin 14 to the same height as the first guiding chute 71, so that the clamping arms 1 can clamp the seedlings therebetween. The Z-direction linear driving mechanism 8 can also control the slider 18 to descend to the same height as the second guiding chute 72, so that the clamping arms 1 are loosened. The X-direction linear driving mechanism 2 can drive the translation plate 5 to translate in the X direction. The first guiding chute 71 is used to enable the slider 18, when at the same height as the first guiding chute 71, to move along with the translation plate 5 and slide into the first guiding chute 71, and keep the chute pin 13 moving in the X direction above the transplanting device 27 without reducing the height, and then guide the slider 18 to descend and slide into the second guiding chute 72, so that the clamping arms 1 are loosened above the transplanting device 27. The second guiding chute 72 is used to enable the slider 18 to move back along with the translation plate 5 in the X direction while maintaining the same height as the second guiding chute 72, so that the clamping arms 1 remain in the loosened state and return to the clamping station.

[0050] Preferably, the fixed plates 7 are located on the left and right sides of the seedling-taking station. The first guiding chute 71 includes an X-direction section and an inclined downward section. The X-direction section is arranged on the side of the fixed plate 7 close to the seedling-taking station, and the inclined downward section is located at one end of the X-direction section away from the seedling-taking station and extends into the second guiding chute 72.

[0051] The linear driving mechanism 8 in the Z direction includes an X-direction guide rail 61 arranged between the two fixed plates 7. The two fixed plates 7 and the X-direction guide rail 61 are jointly installed on the X-direction connecting member 8a. The X-direction guide rail 61 can move in the Z direction relative to the X-direction connecting member. The X-direction connecting member 8a is connected to the seedling pulling device 23. The linear driving mechanism 2 in the X direction is configured to keep the translation plate 5 rising and falling synchronously with the base column 4 and the fixed plate 7, and drive the translation plate 5 to translate in the X direction. When the X-direction guide rail 61 is aligned with the first guiding chute 71 and the second guiding chute 72, the slider 18 can slide into the X-direction guide rail 61.

[0052] Furthermore, a seedling pulling position sensor is arranged on the frame 21, which is used to send a seedling pulling signal when the multi-claw parallel seedling-taking mechanism 26 reaches the seedling pulling station, and send a signal to wait for clamping when the multi-claw parallel seedling-taking mechanism 26 reaches the seedling-taking station. The seedling pulling device can be a pneumatic device, such as a cylinder. The seedling pulling position sensor can be arranged inside the upper and lower ends of the cylinder, which are respectively used to detect that the multi-claw parallel seedling-taking mechanism 26 reaches the seedling pulling station and the seedling-taking station.

[0053] As Figure 3 shown, an X-direction position sensor is arranged on the multi-claw parallel seedling-taking mechanism 26, which is used to send a signal allowing clamping when the translation plate 5 is completely located at the clamping station, and send a signal allowing return when the scissor mechanism on the translation plate 5 moves towards the end of the fixed plate 7 away from the clamping station and all passes through the transplanter 27. When the translation plate 5 is directly above the clamping station, that is, at the clamping station, a group of X-direction position sensors 26a are arranged at the end of the fixed plate 7 away from the clamping station, which is used to detect that the scissor mechanism on the translation plate 5 completely passes through the transplanter 27, and a group of X-direction position sensors 26b are arranged on the base column 4, which is used to detect that the translation plate 5 is completely located at the clamping station.

[0054] A Z-direction position sensor is also arranged on the multi-claw parallel seedling-taking mechanism 26, which is used to send a signal of being clamped when the slider is at the same height as the first guiding chute 71, and send a signal of being released when the slider 18 is at the same height as the second guiding chute 72. The Z-direction position sensor is arranged inside the linear driving mechanism 8 in the Z direction, and the linear driving mechanism 8 in the Z direction is a pneumatic device.

[0055] An electric control box 22 is arranged beside the frame 21, as Figure 6As shown in the figure, inside the electric control box 22, there is a power supply, a PLC controller, and a driver module. The driver module is used to drive the belt pulley conveying device 29, the linear drive mechanism 2 in the X direction, the linear drive mechanism 8 in the Z direction, the seedling tray recycling device 24, and the seedling pulling device 23 to operate. The driver module includes a motor drive control module and a solenoid valve 22a. The belt pulley conveying device 29 and the linear drive mechanism 2 in the X direction are electrically connected to the motor drive control module. The linear drive mechanism 8 in the Z direction, the seedling tray recycling device 24, and the seedling pulling device 23 are pneumatic devices and are controlled by solenoid valves.

[0056] The PLC controller controls the belt pulley conveying device 29, the linear drive mechanism 2 in the X direction, the linear drive mechanism 8 in the Z direction, the seedling tray recycling device 24, and the seedling pulling device 23 in the following manner:

[0057] When the PLC controller receives the recycling signal, it controls the seedling tray recycling device 24 to push the seedling tray 28 into the seedling tray recycling box 25 along the X direction;

[0058] When the PLC controller receives the approaching signal, the signal to wait for clamping, the signal to allow clamping, and the signal that it has been released, it controls the linear drive mechanism 8 in the Z direction to raise the X-direction guide rail 61 to the same height as the first guiding chute 71;

[0059] When the PLC controller receives the approaching signal, the signal to wait for clamping, the signal to allow clamping, and the signal that it has been clamped,

[0060] it controls the seedling pulling device 23 to move the multi-claw parallel seedling picking mechanism 26 to the seedling pulling station;

[0061] When the PLC controller receives the approaching signal, the seedling pulling signal, the signal to allow clamping, and the signal that it has been clamped, it controls the linear drive mechanism 2 in the X direction to move the scissor mechanism on the translation plate 5 towards the end of the fixed plate 7 away from the clamping station and all pass through the transplanting device 27. At the same time, it controls the belt pulley conveying device 29 to convey the seedling tray 28 along the Y direction until the next approaching signal is generated, and controls the linear drive mechanism 8 in the Z direction to lower the X-direction guide rail 61 to the same height as the second guiding chute 72;

[0062] When the PLC controller receives the approaching signal, the seedling pulling signal, the signal to allow return, and the signal that it has been released, it controls the linear drive mechanism 2 in the X direction to move all the scissor mechanisms on the translation plate 5 to the clamping station;

[0063] When the PLC controller receives the approaching signal, the seedling pulling signal, the signal to allow clamping, and the signal that it has been released, it controls the seedling pulling device 23 to move the multi-claw parallel seedling picking mechanism 26 to the seedling picking station.

[0064] Embodiment 2

[0065] As Figure 1 and Figure 3 and Figures 7 to 10As shown in the figure, a multi-claw parallel seedling picking mechanism proposed by the present invention is arranged at the seedling picking station of a plug seedling transplanter with multi-claw parallel seedling picking. The device adopts a composite drive structure of bilateral symmetric lead screws and chutes, and includes a plurality of clamping units respectively installed on the chute combination plates on both sides. The device includes a Z-direction linear drive mechanism 8 slidably connected to an X-direction connecting member 8a. A drive mechanism is provided in the Z-direction linear drive mechanism 8 for controlling the Z-direction linear drive mechanism 8 to move up to a high position or down to a low position relative to the X-direction connecting member 8a along the Z-direction. In this embodiment, the X-direction connecting member 8a is configured as a base plate, and the Z-direction linear drive mechanism 8 is configured to include a lifting plate 8 and a cylinder. The cylinder is used to control the lifting plate 8 to move vertically up to a high position or down to a low position relative to the base plate 8a.

[0066] As Figure 3 As shown in the figure, the multi-claw parallel seedling picking mechanism includes a central base column 4, and base plates 8a symmetrically arranged on the left and right sides of the base column 4. The Z-direction edges on both sides of the base plate 8a are respectively fixedly connected to the base column 4 and the fixing plate 7, so that the fixing plate 7 is spaced apart from the base column 4. The base column 4, the fixing plate 7, and the base plate 8a are installed on the lifting plate 8. The lifting plate 8 is used to control the base plate 8a, the base column 4, and the fixing plate 7 to move up and down synchronously in the Z direction.

[0067] A bearing seat 10 is provided on the front surface of the base column 4 (the side facing away from the seedling tray recycling station). A bearing seat 10 is provided at the end of the front surface of the fixing plate 7 away from the base column 4 (the side facing away from the seedling tray recycling station). The lead screw 2 is arranged in the X direction between the 3 bearing seats 10 and is rotatably connected to the bearing seats 10, so that the lead screw 2 is arranged in the X direction on the front surfaces of the base column 4 and the fixing plate 7. The motor for driving the lead screw 2 is arranged on the side of the fixing plate 7 away from the base column 4. The spiral directions of the spiral chutes on the lead screws 2 on the left and right sides of the base column 4 are opposite. A lead screw pair 3 is respectively arranged on two spiral chutes with opposite spiral directions on the lead screw 2. The lead screw pair 3 is threadedly connected to the spiral chute on the lead screw 2. When the lead screw 2 rotates forward or reversely, the lead screw pair 3 can move away from or close to the base column 4 along the lead screw 2. When the lead screw 2 rotates, a pair of lead screw pairs 3 can approach or move away from each other.

[0068] On the front side of the fixed plate 7, there are a first guiding chute 71 and a second guiding chute 72 along the X direction. The first guiding chute 71 is located above the second guiding chute 72. The first ends of the first guiding chute 71 and the second guiding chute 72 both extend to the Z-direction edge of the fixed plate 7 close to the base column 4. The second end of the first guiding chute 71 extends obliquely downward into the second guiding chute 72, and the second end of the second guiding chute 72 extends to the Z-direction edge of the fixed plate 7 far from the base column 4. On the front side of the lifting plate 8, there is a translation chute 61 horizontally arranged and extending to the Z-direction edge of the lifting plate 8. When the lifting plate 8 is at the high working position and the low working position, the translation chute 61 is respectively aligned with the first guiding chute 71 and the second guiding chute 72; the front sides of the fixed plate 7 and the lifting plate 8 are flush with each other and parallel to the XZ plane.

[0069] As Figure 1 and Figure 3 shown, the multi-claw parallel seedling picking mechanism includes a seedling pulling device 23. The seedling pulling device 23 can control the multi-claw parallel seedling picking mechanism that has clamped the seedlings and pull the seedlings out of the seedling tray along the Z direction. There is a gap between the lead screw 2 and the fixed plate 7 and the lifting plate 8, and a translation plate 5 is arranged in the gap. The front side of the translation plate 5 is fixedly connected to the lead screw pair 3 on the lead screw 2. The lead screw 2 is used to control the lead screw pair 3 to carry the translation plate 5 to translate along the lead screw 2; there are also a plurality of Z-direction chutes 51 on the translation plate 5. The Z-direction chutes 51 are orthogonal to the translation chute 61, and the Z-direction chutes 51 penetrate through the front and back sides of the translation plate 5; the distance between the Z-direction chutes 51 is equal to the distance between the seedlings in the seedling tray.

[0070] On the front side of the translation plate 5, there is a scissor mechanism corresponding to each Z-direction chute 51. A chute pin 13 is slidably arranged in the Z-direction chute 51, and a positioning pin 14 is arranged directly below the Z-direction chute 51. As Figure 5 shown, the scissor mechanism includes two long rotating rods 11 that are cross-hinged to each other on the positioning pin 14, and two short rotating rods 12 whose upper ends are hinged to each other on the chute pin 13. The lower end of each short rotating rod 12 is hinged to the upper end of a long rotating rod 11 to form a rhombus closed loop. The lower ends of the two long rotating rods 11 are respectively connected to the clamping arms 1 perpendicular to the front side of the translation plate 5.

[0071] On the vertical front side of the base plate 8a, there is a Z-direction guide rail. The lifting plate 8 is slidably connected to the vertical guide rail of the base plate 8a. The lifting plate 8 can reciprocate in the Z direction relative to the front side of the base plate 8a. A Z-direction cylinder is arranged in the base plate 8a. The Z-direction cylinder is used to control the lifting plate 8 to rise to the high working position or descend to the low working position relative to the base plate 8a in the Z direction.

[0072] As Figure 3As shown, the translation plate 5 reciprocally slides on the front sides of the fixed plate 7 and the lifting plate 8 that are flush with each other through the horizontal guide rail 16. The X-direction guide rail 16 is installed at the lower part of the fixed plate 7. The X-direction guide rail 16 is located below the second guiding chute 72. The length of the X-direction guide rail 16 is not less than the sum of the length of the translation chute 61 on the lifting plate 8 and the length of the second guiding chute 72 on the fixed plate 7. The bottom or back surface of the translation plate 5 is nestedly installed with the X-direction guide rail 16, and the translation plate 5 can reciprocally move in the X direction on the front sides of the fixed plate 7 and the lifting plate 8 that are flush with each other.

[0073] Furthermore, the upper end of the Z-direction slideway 51 is not lower than the first guiding chute 71 of the fixed plate 7, and the lower end of the Z-direction slideway 51 is not higher than the second guiding chute 72 of the fixed plate 7. The length of the Z-direction slideway 51 is not less than the distance of the movement stroke of the lifting plate 8 when it rises to the high working position and descends to the low working position in the Z direction. On the fixed plate 7, the distance from the intersection point of the inclined section of the first guiding chute 71 and the second guiding chute 72 to the second end of the second guiding chute 72 is greater than the X-direction length of the translation plate 5.

[0074] When the lifting plate 8 is at the high working position, the chute pins 13 and the positioning pins 14 of the scissor mechanism move away from each other, and the clamping arms 1 move closer to each other respectively. When the lifting plate 8 is at the low working position, the chute pins 13 and the positioning pins 14 of the scissor mechanism move closer to each other, and the clamping arms 1 move away from each other. The clamping arms 1 are made of rubber material. And when the lifting plate 8 is at the low working position, the adjacent scissor mechanisms do not collide with each other.

[0075] Furthermore, the distance from the intersection point of the second guiding chute 72 and the inclined section of the first guiding chute 71 to the second end of the second guiding chute 72 is greater than the X-direction length of the translation plate 5.

[0076] The operation process of the multi-claw parallel seedling picking mechanism in this embodiment for picking seedlings can be divided into four steps: clamping and separating from the tray, holding and transporting the seedlings, fixed-point seedling dropping, and returning. In actual work, before the operation starts, as Figure 7 shown, the lifting plate 8 in the above multi-claw parallel seedling picking mechanism is at the low working position and the translation plate 5 is close to both sides of the base column 4, and the clamping arms 1 are separated from each other. The multi-claw parallel seedling picking mechanism is lowered to the picking position by the seedling pulling device 23. The first step is the operation process of clamping and separating from the tray. When a plurality of evenly arranged plug seedlings are placed at the seedling picking position and the seedlings in the seedling tray are between a pair of clamping arms 1, control the lifting plate 8 to move upward in the Z direction to the high working position, and drive the chute pin 13 in the Z-direction slideway of the translation plate 5 to move to the high working position (as Figure 8 shown), so that the upper end of the scissor mechanism is vertically lifted to make the clamping arms 1 move closer to each other (as Figure 8As shown, at this time, the angle between the two long rotating rods 11 or the two short rotating rods 12 is close to 0°. In this way, the seedlings are clamped without being damaged by pinching. Then, control the seedling pulling device 23 to lift the entire multi-claw parallel seedling picking mechanism, so that the entire multi-claw parallel seedling picking mechanism 26 is lifted, and the plug seedlings are separated from the plug tray. The second step is the operation process of holding and transporting the seedlings. At this time, the lifting plate 8 is at the high working position, and the translation chute 61 of the lifting plate 8 is aligned with the guiding chute 71 of the fixed plate 7. Control the lead screw 2 to start rotating (as Figure 8 shown by the rotation arrow), so that the lead screw pair 3 moves along the lead screw 2 in the direction away from the base column 4, that is, along the X direction (as Figure 9 shown by the horizontal arrow), and at the same time, the lead screw pair 3 carries the translation plate 5 to move along the X-direction guide rail 16. At the same time, the scissor mechanism on the front of the translation plate 5 also moves towards the fixed plates 7 on both sides together. The third step is the operation process of fixed-point seedling dropping. During the translation of the translation plate 5 along with the lead screw pair 3 (as Figure 9 shown by the horizontal arrow), when the chute pin 13 in the Z-direction chute 51 on the translation plate 5 slides from the guiding chute 71 to the inclined section connecting with the guiding chute 72, the chute pin 13 gradually descends from the high working position (as Figure 9 shown by the inclined arrow). At this time, the scissor mechanism is vertically compressed so that the clamping arms 1 move away from each other (as Figure 9 shown by the horizontal arrow). The transplanting device 27 for receiving the seedlings is arranged below the inclined section where the guiding chute 71 of the fixed plate 7 is connected, and can receive the seedlings clamped by each scissor mechanism. The fourth step is the operation process of the return journey. When the chute pin 13 in the Z-direction chute 51 on the translation plate 5 gradually slides from the inclined section connecting with the guiding chute 71 to the guiding chute 72, the chute pin 13 in the Z-direction chute 51 on the translation plate 5 is at the low working position. A pair of clamping arms 1 of the scissor mechanism are separated to the maximum distance. The translation plate 5 continues to move in the direction away from the base column 4, that is, along the X direction, so that all the scissor mechanisms are located on the guiding chute 72, and a pair of clamping arms 1 of all the scissor mechanisms are separated to the maximum extent. At this time, control the lifting plate 8 to lower to the low working position, so that the translation chute 61 is respectively aligned with the guiding chute 72, and at the same time, control the lead screw 2 to rotate in the opposite direction, so that the lead screw pair 3 moves towards the direction close to the base column 4 and drives the translation plate 5 to return to close to the base column 4. In this way, the next round of clamping seedlings can be carried out. During the whole process, the plug seedlings are in an upright state and move along with the clamping arms 1. It is possible to complete the batch clamping of the seedlings in the seedling tray and pull out the seedling tray, and then successively put them into the transplanting device 27, greatly improving the operation efficiency.

[0077] Embodiment 3

[0078] This embodiment is a further improvement on the basis of Embodiment 2.

[0079] Such as Figure 10As shown, considering that when the translation plate 5 of Embodiment 2 moves, the middle chute pin 13 inclines relative to the translation plate 5 in the Z-direction chute 51, generating a sliding frictional force with the inner Z-direction chute 51, and only the place where the entire chute pin 13 is hinged to the short rotating rod 12 bears the force, causing the entire scissor mechanism to get stuck during the lifting and lowering process of the lifting plate 5. In addition, due to the installation error in the processing of the fixing method using bolts and nuts during the assembly of the scissor mechanism, there are errors in the Y direction at multiple hinged joints, and the chute pin 13 has a deflection at point O, which also causes the chute pin 13 not to be completely perpendicular to the XZ plane when the end of the chute pin 13 cooperates with the Z-direction chute 51 in motion, resulting in the operation of the entire scissor mechanism getting stuck.

[0080] On the other hand, the material strength of the chute pin 13 is low and its compressive capacity is insufficient, resulting in easy bending. The hinged end can only restrict displacement or even cannot restrict it completely, and cannot effectively limit rotation, resulting in the chute pin 13 being prone to rotation or lateral instability under the action of load. Compared with the fixed end, the flexural stiffness of the hinged support is significantly reduced, especially prone to structural deformation when bearing a bending moment.

[0081] At the same time, to solve the above problems, this embodiment improves the translation plate 5.

[0082] In this embodiment, as Figure 1 and Figure 3 and Figures 7 to 10 shown, a multi-claw parallel seedling picking mechanism proposed by the present invention is provided. This device is arranged at the seedling picking station of a plug seedling transplanter with multi-claw parallel seedling picking. This device adopts a composite drive structure of a screw rod and a chute with bilateral symmetry, and includes a plurality of clamping units respectively installed on the chute combination plates on both sides. This device includes a Z-direction linear drive mechanism 8 slidably connected to an X-direction connecting member 8a. A drive mechanism is provided in the Z-direction linear drive mechanism 8 for controlling the Z-direction linear drive mechanism 8 to rise to a high position or descend to a low position relative to the X-direction connecting member 8a along the Z direction. In this embodiment, the X-direction connecting member 8a is configured as a base plate, and the Z-direction linear drive mechanism 8 is configured to include a lifting plate 8 and a cylinder, and the cylinder is used to control the lifting plate 8 to rise vertically to a high position or descend to a low position relative to the base plate 8a.

[0083] See Figure 11 For the improvement of Figure 3 the multi-claw parallel seedling picking mechanism includes a central base column 4, and base plates 8a symmetrically arranged on the left and right sides of the base column 4. The two Z-direction edges on both sides of the base plate 8a are respectively fixedly connected to the base column 4 and the fixed plate 7, so that the fixed plate 7 is spaced apart from the base column 4. The base column 4, the fixed plate 7, and the base plate 8a are installed on the lifting plate 8, and the lifting plate 8 is used to control the base plate 8a, the base column 4, and the fixed plate 7 to synchronously lift and lower in the Z direction.

[0084] On the front side of the base column 4 (the side facing away from the seedling tray recycling station), there is a bearing seat 10. On the front side of the fixed plate 7, at the end far from the base column 4 (the side facing away from the seedling tray recycling station), there is a bearing seat 10. The lead screw 2 is arranged between the 3 bearing seats 10 along the X direction and is rotatably connected to the bearing seats 10, so that the lead screw 2 is arranged on the front sides of the base column 4 and the fixed plate 7 along the X direction. The motor for driving the lead screw 2 is arranged on the side of the fixed plate 7 far from the base column 4. The spiral directions of the spiral chutes on the lead screws 2 on the left and right sides of the base column 4 are opposite. On each of the two spiral chutes with opposite spiral directions on the lead screw 2, there is a lead screw pair 3 configured. The lead screw pair 3 is threadedly connected to the spiral chute on the lead screw 2. When the lead screw 2 rotates forward or reversely, the lead screw pair 3 can move away from or close to the base column 4 along the lead screw 2. When the lead screw 2 rotates, a pair of lead screw pairs 3 can move closer to or away from each other.

[0085] On the front side of the fixed plate 7, there is a first guide chute 71 along the X direction and a second guide chute 72 along the X direction. The first guide chute 71 is located above the second guide chute 72. The first ends of the first guide chute 71 and the second guide chute 72 both extend to the Z-direction edge of the fixed plate 7 close to the base column 4. The second end of the first guide chute 71 extends obliquely downward into the second guide chute 72. The second end of the second guide chute 72 extends to the Z-direction edge of the fixed plate 7 far from the base column 4. On the front side of the lifting plate 8, there is a translation chute 61 horizontally arranged and extending to the Z-direction edge of the lifting plate 8. When the lifting plate 8 is at the high position and the low position, the translation chute 61 is aligned with the first guide chute 71 and the second guide chute 72 respectively; the front sides of the fixed plate 7 and the lifting plate 8 are flush with each other and parallel to the XZ plane.

[0086] As Figure 1 and see Figure 11 For Figure 3 An improvement on

[0087] On the front side of the translation plate 5, there is a scissor mechanism corresponding to each Z-direction slide bar 51. A positioning pin 14 is arranged directly below the Z-direction slide bar 51 or immediately below the side of the Z-direction slide bar 51. As Figure 5As shown, the scissor mechanism includes two long rotating rods 11 that are cross-hinged to each other on the positioning pin 14, and two short rotating rods 12 whose upper ends are hinged to each other on the chute pin 13. The lower end of each short rotating rod 12 is hinged to the upper end of a long rotating rod 11 to form a rhombus closed loop. The lower ends of the two long rotating rods 11 are respectively connected to the clamping arms 1 perpendicular to the front surface of the translation plate 5. The chute pin 13 is rotatably arranged on the slider 18 or the extended end of the left / right side surface of the slider 18. The slider 18 is slidably connected to the Z-direction slide rod 51, and a protrusion that can be embedded in the translation chute 61 is provided on the back surface of the slider 18.

[0088] The vertical front surface of the base plate 8a is provided with a Z-direction guide rail, and the lifting plate 8 is slidably connected to the vertical guide rail of the base plate 8a. The lifting plate 8 can reciprocate in the Z-direction relative to the front surface of the base plate 8a. A Z-direction cylinder is arranged in the base plate 8a, and the Z-direction cylinder is used to control the lifting plate 8 to rise to the high working position or descend to the low working position relative to the base plate 8a in the Z-direction.

[0089] As Figure 3 As shown, the translation plate 5 reciprocates and slides on the front surfaces of the fixed plate 7 and the lifting plate 8 that are flush with each other through the horizontal guide rail 16. The X-direction guide rail 16 is installed at the lower part of the fixed plate 7. The X-direction guide rail 16 is located below the guide chute two 72. The length of the X-direction guide rail 16 is not less than the sum of the length of the translation chute 61 on the lifting plate 8 and the length of the guide chute two 72 on the fixed plate 7. The bottom or the back surface of the translation plate 5 is nested and installed with the X-direction guide rail 16, and the translation plate 5 can reciprocate in the X-direction on the front surfaces of the fixed plate 7 and the lifting plate 8 that are flush with each other along the X-direction guide rail 16.

[0090] Furthermore, the upper end of the Z-direction slide rod 51 is not lower than the guide chute one 71 of the fixed plate 7, and the lower end of the Z-direction slide rod 51 is not higher than the guide chute two 72 of the fixed plate 7. The length of the Z-direction slide rod 51 is not less than the distance of the movement stroke of the lifting plate 8 from rising to the high working position to descending to the low working position in the Z-direction. On the fixed plate 7, the distance from the intersection point of the inclined section of the guide chute one 71 and the guide chute two 72 to the second end of the guide chute two 72 is greater than the X-direction length of the translation plate 5.

[0091] When the lifting plate 8 is at the high working position, the chute pin 13 and the positioning pin 14 of the scissor mechanism are far away from each other until the clamping arms 1 approach each other respectively. When the lifting plate 8 is at the low working position, the chute pin 13 and the positioning pin 14 of the scissor mechanism are close to each other until the clamping arms 1 are far away from each other. The clamping arms 1 are made of rubber material. And when the lifting plate 8 is at the low working position, adjacent scissor mechanisms do not collide with each other.

[0092] Furthermore, the distance from the intersection point of the guide chute two 72 and the inclined section of the guide chute one 71 to the second end of the guide chute two 72 is greater than the X-direction length of the translation plate 5.

[0093] As Figure 11Both the left and right sides of this embodiment are improvements compared to Embodiment 2, but are not limited thereto. Figure 11 On the right side of this embodiment, the Z-direction slideway of the original translation plate 5 is cancelled. There are still multiple Z-direction slide bars 51 provided on the translation plate 5. The Z-direction slide bars 51 are orthogonal to the translation slide grooves 61, and the translation plate 5 on both the left and right sides of the Z-direction slide bars 51 is penetrated through the front and back. The distance between the Z-direction slideways 51 is equal to the distance between the seedlings in the seedling tray. A positioning pin 14 is provided directly below the right side of the Z-direction slide bar 51. The chute pin 13 is rotatably provided at the extended end of the right side surface of the slider 18. The slider 18 is slidably connected to the Z-direction slide bar 51, and a protruding portion capable of being embedded in the translation slide groove 61 is provided on the back surface of the slider 18. Similarly, the positioning pin 14 can also be provided directly below the Z-direction slide bar 51, the chute pin 13 is rotatably provided on the slider 18, and a protruding portion capable of being embedded in the translation slide groove 61 is provided on the back surface of the slider 18.

[0094] Such as Figure 11 On the left side of this embodiment, the Z-direction slideway of the original translation plate 5 is not cancelled. A Z-direction slide bar 51 is provided on the left side of the Z-direction slideway, and the translation plate 5 on both the left and right sides of the Z-direction slide bar 51 is penetrated through the front and back. The distance between the Z-direction slideways 51 is equal to the distance between the seedlings in the seedling tray. A positioning pin 14 is provided directly below the original Z-direction slideway. The chute pin 13 is rotatably provided at the extended end of the right side surface of the slider 18. The slider 18 is slidably connected to the Z-direction slide bar 51, and a protruding portion capable of being embedded in the translation slide groove 61 is provided on the back surface of the slider 18.

[0095] The operation process of the multi-claw parallel seedling picking mechanism in this embodiment for clamping seedlings is the same as that in Embodiment 2, and can also be divided into four steps: clamping and removing from the tray, holding the seedlings and transporting, fixed-point seedling throwing, and returning. It can complete the batch clamping of the seedlings in the seedling tray and pulling out the seedling tray, and then successively inputting them into the transplanter 27, greatly improving the operation efficiency.

[0096] In this embodiment, by rotatably providing the chute pin 13 on the slider 18 or on one side of the slider 18, the contact area and welding strength between the slider 18 and the Z-direction slide bar 51 are increased, and the axial displacement constraint ability of the chute pin is improved by 50%-70%. The surface of the Z-direction slideway in the translation plate is coated with metal lubricating oil, and the friction coefficient is reduced through the solid lubricating film. Experimental tests show that this scheme can reduce the lateral movement resistance of the chute pin by 40%, and the transfer effect of the lubricating film can partially compensate for the friction fluctuation caused by insufficient installation accuracy. The Z-direction slide bar 51 forms a "quasi-guide rail" effect through geometric constraints. Combined with the Y-direction fixation of the slider, the lateral offset of the chute pin under the action of the load is reduced to 1 / 3 of that before improvement. After the multi-claw parallel seedling picking mechanism is optimized, the dynamic parameters of the motion mechanism are tested. The slider 18 slides smoothly along the Z-direction slide bar 51 and the translation slide groove 61, and each mechanism works normally.

[0097] As described above, this is only a preferred embodiment of the present invention and does not impose any limitation on the technical scope of the present invention. Therefore, any minor modifications, equivalent changes, and decorations made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A plug seedling transplanter with multi-claw parallel seedling picking, comprising a frame (21), wherein a belt pulley conveying device (29) is connected to the frame (21) for conveying a seedling tray (28) along the Y direction to a seedling picking station to approach a multi-claw parallel seedling picking mechanism (26), characterized in that, On the frame (21), a multi-claw parallel seedling picking mechanism (26) is suspended by a seedling pulling device (23). The seedling pulling device (23) can lift and lower the multi-claw parallel seedling picking mechanism (26) in the Z direction to the seedling pulling station and the clamping station respectively. When the multi-claw parallel seedling picking mechanism (26) is at the seedling pulling station, it clamps and pulls out the seedlings in the seedling tray (28) until they are separated from the seedling tray (28). The multi-claw parallel seedling picking mechanism (26) can translate the seedlings in the clamped seedling tray (28) to the transplanting devices (27) on the left and right sides of the seedling picking station. When the multi-claw parallel seedling picking mechanism (26) is at the seedling pulling station, it does not block the seedling tray (28) from being conveyed to the seedling tray recycling station H along the belt pulley conveying device (29). The multi-claw parallel seedling picking mechanism (26) includes an X-direction linear drive mechanism (2), a Z-direction linear drive mechanism (8), a fixing plate (7), a translation plate (5), and n scissor mechanisms. n Z-direction sliding grooves (51) are equidistantly arranged on the translation plate (5). Each scissor mechanism includes two short rotating rods (12) that are staggeredly hinged to a chute pin (13) at the upper end and two long rotating rods (11) that are staggeredly hinged to a positioning pin (14) at the lower end. Each short rotating rod (12) is hinged to one long rotating rod (11). Clamping arms (1) are arranged at the lower ends of the two long rotating rods (11). Each positioning pin (14) is close to the lower edge of the translation plate (5) and fixed. Each chute pin (13) is connected to a slider that is slidably arranged on the Z-direction sliding groove (51). The fixing plate (7) is provided with a first guiding chute (71) in the Z direction and a second guiding chute (72) in the X direction. The Z-direction linear drive mechanism (8) can control the slider to rise relative to the positioning pin (14) to the same height as the first guiding chute (71), so that the clamping arms (1) can clamp the seedlings therebetween. The Z-direction linear drive mechanism (8) can also control the slider to descend to the same height as the second guiding chute (72), so that the clamping arms (1) are loosened. The X-direction linear drive mechanism (2) can drive the translation plate (5) to translate in the X direction. The first guiding chute (71) is used to enable the slider, when it is at the same height as the first guiding chute (71), to move with the translation plate (5) and slide into the first guiding chute (71), and keep the chute pin (13) moving in the X direction above the transplanting device (27) without reducing its height, and then guide the slider to descend and slide into the second guiding chute (72), so that the clamping arms (1) are loosened above the transplanting device (27). The second guiding chute (72) is used to enable the slider to move back along the X direction with the translation plate (5) while maintaining the same height as the second guiding chute (72), so that the clamping arms (1) return to the clamping station in a loosened state.

2. The plug seedling transplanter with multi-claw parallel seedling picking according to claim 1, characterized in that The fixing plate (7) is located on the left and right sides of the seedling picking station. The first guiding chute (71) includes an X-direction section and an inclined downward section. The X-direction section is arranged on the side of the fixing plate (7) close to the seedling picking station, and the inclined downward section is located at one end of the X-direction section away from the seedling picking station and extends into the second guiding chute (72).

3. The plug seedling transplanter with multi-claw parallel seedling picking according to claim 2, characterized in that, The linear drive mechanism (8) in the Z direction includes an X-direction guide rail (61) disposed between two fixed plates (7). The two fixed plates (7) and the X-direction guide rail (61) are jointly mounted on an X-direction connecting member. The X-direction guide rail (61) can move in the Z direction relative to the X-direction connecting member. The X-direction connecting member is connected to the seedling pulling device (23). The linear drive mechanism (2) in the X direction is configured to keep the translation plate (5) lift and lower synchronously with the base column (4) and the fixed plates (7), and drive the translation plate (5) to translate in the X direction. When the X-direction guide rail (61) is aligned with the first guide chute (71) and the second guide chute (72), the slider can slide into the X-direction guide rail.

4. The plug seedling transplanter with multi-claw parallel seedling picking according to claim 1, characterized in that, The frame (21) is mounted on the self-propelled crawler assembly for driving the transplanter.

5. The plug seedling transplanter with multi-claw parallel seedling picking according to claim 1, characterized in that, A seedling tray bracket (30) is further provided on the belt pulley conveying device (29). The seedling tray bracket (30) has a U-shaped structure and is hollow in the Z direction, restricting the movement of the seedling tray (28) in the Y direction, and leaving a notch in the X direction for the seedling tray (28) after seedling picking to be pushed into the seedling tray recycling box (25). Above the seedling tray bracket (30), there are also a seedling tray pressing frame (31) and a seedling tray recycling device (24). The seedling tray pressing frame (31) is arranged above the seedling station. The seedling tray pressing frame (31) can press the edge of the seedling tray (28) to keep the seedlings in the clamped seedling tray (28) stable during translation in the X direction. The seedling tray recycling device (24) is arranged above the seedling tray recycling station. The seedling tray recycling device (24) includes an empty seedling tray push plate (32). The empty seedling tray push plate (32) is driven by an X-direction cylinder and can push the empty seedling tray into the seedling tray recycling box (25).

6. The plug seedling transplanter with multi-claw parallel seedling picking according to claim 3, characterized in that, The frame (21) is provided with a Y-direction position sensor arranged along the Y direction, which is used to send a proximity signal when each Y-direction position on the seedling tray bracket (30) reaches the clamping station, and send a recycling signal when the seedling tray bracket (30) reaches the seedling tray recycling station; The frame (21) is provided with a seedling pulling position sensor, which is used to send a seedling pulling signal when the multi-claw parallel seedling picking mechanism (26) reaches the seedling pulling station, and send a signal to be clamped when the multi-claw parallel seedling picking mechanism (26) reaches the seedling picking station; The multi-claw parallel seedling picking mechanism (26) is provided with an X-direction position sensor, which is used to send an allowable clamping signal when the translation plate (5) is completely located at the clamping station, and send an allowable return signal when the scissor mechanism on the translation plate (5) moves towards the end of the fixed plate (7) away from the clamping station and all passes through the transplanter (27); The multi-claw parallel seedling picking mechanism (26) is further provided with a Z-direction position sensor, which is used to send a clamped signal when the slider is at the same height as the first guide chute (71), and send a released signal when the slider is at the same height as the second guide chute (72).

7. The plug seedling transplanter with multi-claw parallel seedling picking according to claim 6, characterized in that, An electric control box (22) is provided beside the frame (21). The electric control box (22) is provided with a power supply, a PLC controller, and a driver module. The driver module is used to drive the belt pulley conveying device (29), the linear drive mechanism (2) in the X direction, the linear drive mechanism (8) in the Z direction, the seedling tray recycling device (24), and the seedling pulling device (23) to act; The PLC controller controls the belt pulley conveying device (29), the linear driving mechanism (2) in the X direction, the linear driving mechanism (8) in the Z direction, the seedling tray recycling device (24), and the seedling pulling device (23) in the following manner: When the PLC controller receives the recycling signal, it controls the seedling tray recycling device (24) to push the seedling tray (28) into the seedling tray recycling box (25) along the X direction; When the PLC controller receives the approaching signal, the signal to be clamped, the signal allowing clamping, and the signal of having been released, it controls the linear driving mechanism (8) in the Z direction to raise the X-direction guide rail (61) to the same height as the first guiding chute (71); When the PLC controller receives the approaching signal, the signal to be clamped, the signal allowing clamping, and the signal of having been clamped, it controls the seedling pulling device (23) to move the multi-claw parallel seedling picking mechanism (26) to the seedling pulling station; When the PLC controller receives the approaching signal, the seedling pulling signal, the signal allowing clamping, and the signal of having been clamped, it controls the linear driving mechanism (2) in the X direction to move the scissor mechanism on the translation plate (5) towards the end of the fixed plate (7) away from the clamping station and all pass by the transplanter (27), and at the same time controls the belt pulley conveying device (29) to convey the seedling tray (28) in the Y direction until the next approaching signal is generated, and controls the linear driving mechanism (8) in the Z direction to lower the X-direction guide rail (61) to the same height as the second guiding chute (72); When the PLC controller receives the approaching signal, the seedling pulling signal, the signal allowing return, and the signal of having been released, it controls the linear driving mechanism (2) in the X direction to move all the scissor mechanisms on the translation plate (5) to the clamping station; When the PLC controller receives the approaching signal, the seedling pulling signal, the signal allowing clamping, and the signal of having been released, it controls the seedling pulling device (23) to move the multi-claw parallel seedling picking mechanism (26) to the seedling picking station.

8. The plug seedling transplanter with multi-claw parallel seedling picking according to claim 7, characterized in that, The driver module includes a motor drive control module and a solenoid valve; the belt pulley conveying device (29) and the linear driving mechanism (2) in the X direction are electrically connected to the motor drive control module, and the linear driving mechanism (8) in the Z direction, the seedling tray recycling device (24), and the seedling pulling device (23) select pneumatic devices and are controlled by solenoid valves.

9. The plug seedling transplanter with multi-claw parallel seedling picking according to claim 7, characterized in that, The belt pulley conveying device (29) includes belt pulleys arranged at four diagonals. Every two belt pulleys are concentrically installed on the output shaft of the stepping motor. Belts are installed on the belt pulley at one end of the output shaft and the belt pulley at the same end of the other output shaft. The seedling tray bracket (30) is installed on the belt. A Y-direction optical axis is also provided on the frame (21), and the optical axis is slidably connected to the slideway fixed on the seedling tray bracket (30).

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