Full-automatic planter

Abstract

The invention discloses a full-automatic planting machine, and relates to the technical field of agricultural planting, the full-automatic planting machine comprises a self-propelled vehicle body, a conveying module, an automatic clamping jaw mechanism and a planting assembly, the self-propelled vehicle body is provided with a base in front of the conveying module, the base is provided with two supports, and the supports are rotatably connected with a feeding plate for bearing a seedling raising tray; an overturning mechanism is arranged on the bracket and is used for driving the feeding plate to drive the seedling raising trays to overturn for half a circle to be in an inverted state; a pressing mechanism is arranged on the feeding plate and is used for stably pressing the seedlings in the seedling raising trays so as to prevent the seedlings from falling off when the seedling raising trays are in an inverted state; according to the seedling raising device, the seedling raising plate is driven by the turnover mechanism to turn over for half a circle to be in an inverted state, soil at the root of a seedling can be slightly separated from the seedling raising plate in combination with the vibration module of the base, follow-up clamping is facilitated, and damage to the seedling in the clamping process is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural planting, in particular to a fully automatic planting machine. Background Art

[0002] The automatic planting machines currently available on the market basically include a self-propelled vehicle body to provide walking power, a transport module for transporting seedling trays, an automatic gripper for gripping the seedlings on the seedling trays, and a planting assembly for automatically planting the seedlings gripped by the automatic gripper. When the automatic gripper is clamping the seedlings, some of the seedlings are firmly rooted in the seedling tray, and the soil in the seedling tray is relatively dry, so the seedlings are more difficult to separate from the seedling tray. Therefore, when clamping the seedlings, the gripper can easily pull the seedlings apart. Summary of the Invention

[0003] The object of the present invention is to provide a fully automatic planting machine to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solution: a fully automatic planting machine, comprising a self-propelled vehicle body, a transport module, an automatic gripper mechanism, and a planting assembly, wherein a base is mounted on the self-propelled vehicle body in front of the transport module, and two brackets are mounted on the base, and a loading plate for supporting a seedling tray is rotatably connected to the brackets; The bracket is provided with a turning mechanism, which is used to drive the feeding plate to turn the seedling tray half a circle in an inverted state; The feeding plate is provided with a pressing mechanism, which is used to stably press the seedlings in the seedling tray to prevent the seedlings from falling off when the seedling tray is in an inverted state; A driving mechanism is provided on the loading plate, and the driving mechanism is used to drive the pressing mechanism to press the seedling tray before the loading plate is turned over, and to drive the pressing mechanism to separate from the seedling tray after the loading plate is reset.

[0005] Preferably, the pressing mechanism includes a frame body fixedly connected to the front position of the loading plate, a slide rod is slidably connected to the frame body, and a plurality of equally spaced pressure plates are fixedly connected to the slide rod; pressing components are symmetrically provided on both sides of the loading plate, and the pressing components are used to cooperate with the plurality of pressure plates to press the seedlings on the seedling tray.

[0006] Preferably, the pressing assembly includes a frame body 2 fixedly connected to the loading plate, a slide rod 2 is slidably connected inside the frame body 2, and a plurality of equally spaced pressing plates 2 are fixedly connected to the slide rod 2.

[0007] Preferably, the pressure plate 1 is perpendicular to the pressure plate 2; the widths of the pressure plate 1 and the pressure plate 2 are equal and the interval between two adjacent pressure plates 1 is equal to the interval between two adjacent pressure plates 2; the lower surface of the pressure plate 2 and the upper surface of the seedling tray and the upper surface of the pressure plate 2 and the lower surface of the pressure plate are respectively in the same plane; a plurality of pressure blocks are fixedly connected to the bottom of the pressure plate 1, the width of the pressure blocks is equal to the interval between two adjacent pressure plates 2 and the interval between two adjacent pressure blocks is equal to the width of the pressure plate 2; the thickness of the pressure blocks is equal to the thickness of the pressure plate 2.

[0008] Preferably, the driving mechanism includes a sleeve fixed on the frame body 1, a cylinder is slidably connected in the sleeve, one end of the cylinder is fixedly connected to the slide rod 1 and the other end is fixedly connected to the push plate, and the push plate is symmetrically connected to the left and right positions of the driving components. The driving component is used to drive the slide rod 2 to move relative to the frame body 2 toward the loading plate when the slide rod 1 moves to a position close to the loading plate.

[0009] Preferably, the driving assembly includes a pull rope whose two ends are fixedly connected to the push plate and the second slide bar respectively; the bottom end of the loading plate is rotatably connected to a guide wheel, and the pull rope is in contact with the guide wheel; two springs are fixedly connected to the second slide bar, and the other end of the spring is fixedly connected to the loading plate.

[0010] Preferably, the flipping mechanism includes a motor fixed on the bracket, and the output shaft of the motor is fixedly connected to the two frames at the same time.

[0011] Preferably, the two brackets are slidably mounted on the base, and a vibration module is provided inside the base.

[0012] Compared with the prior art, the present invention has the following beneficial effects: The present invention drives the seedling tray to flip half a circle through the flipping mechanism to put it in an inverted state. Combined with the vibration module of the base, it can cause the soil at the roots of the seedlings to be slightly separated from the seedling tray, which is convenient for subsequent clamping and reduces damage to the seedlings during the clamping process.

[0013] Through the ingenious design of the driving mechanism, the present invention enables the pressing and disengaging actions of the pressing mechanism to accurately coordinate with the work of the flipping mechanism without manual intervention, greatly reducing manual participation and lowering labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a rear view structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the split structure of the present invention; Figure 4 It is a structural schematic diagram of the transport module in the present invention; Figure 5 This is a schematic structural diagram of the transport module of the present invention from a second perspective; Figure 6 Schematic diagram of the structure of the base in the present invention; Figure 7 Schematic diagram of the structure of the pressing mechanism in the present invention; Figure 8 Schematic diagram of the structure of the driving mechanism of the present invention; Figure 9 Schematic diagram of the disassembled structure of the pressing mechanism in the present invention; Figure 10 Schematic diagram of the structure of the turning mechanism in the present invention; Figure 11 Schematic diagram of the structure of the pressing plate 1 and the pressing plate 2 in the present invention; Figure 12 Schematic diagram of the pressing state structure of the pressing mechanism of the present invention; Figure 13 A schematic structural diagram of the pressing mechanism of the present invention in a pressing state from a second viewing angle; Figure 14 Schematic diagram of the driving principle of the driving mechanism in the present invention.

[0015] In the attached figure: 1. Self-propelled vehicle body; 2. Transport module; 3. Automatic gripper mechanism; 4. Planting assembly; 5. Base; 6. Bracket; 7. Seedling tray; 8. Loading plate; 9. Frame one; 10. Slide bar one; 11. Pressing plate one; 12. Frame two; 13. Slide bar two; 14. Pressing plate two; 15. Pressing block; 16. Sleeve; 17. Cylinder; 18. Push plate; 19. Pull rope; 20. Guide wheel; 21. Spring; 22. Motor. DETAILED DESCRIPTION

[0016] See also Figures 1-14 The present invention provides a technical solution: a fully automatic planting machine, comprising a self-propelled vehicle body 1, a transport module 2, an automatic gripper mechanism 3, and a planting assembly 4. A base 5 is installed on the self-propelled vehicle body 1 in front of the transport module 2, and two brackets 6 are installed on the base 5. A loading plate 8 for supporting a seedling tray 7 is rotatably connected to the bracket 6; The bracket 6 is provided with a turning mechanism, which is used to drive the loading plate 8 to drive the seedling tray 7 to turn half a circle in an inverted state; A pressing mechanism is provided on the feeding plate 8, which is used to stably press the seedlings into the seedling tray 7 to prevent the seedlings from falling off when the seedling tray 7 is in an inverted state; The feeding plate 8 is provided with a driving mechanism, which is used to drive the pressing mechanism to press the seedling tray 7 before the feeding plate 8 is turned over, and to drive the pressing mechanism to disengage the seedling tray 7 after the feeding plate 8 is reset; During operation, when planting seedlings, the self-propelled vehicle body 1 moves and provides power, the transport module 2 transports the seedling tray 7 with seedlings to the clamping position, and the seedlings are automatically placed into the corresponding seedling cups through the automatic clamping mechanism 3, and then sent to the planting assembly 4 through the seedling cups for planting. The working principle of the fully automatic planting machines currently on the market basically works according to this process; When the seedlings are taken out, the seedlings are more likely to be rooted in the seedling tray 7 and the soil in the seedling tray 7 is relatively dry, so the seedlings are more likely to be separated from the seedling tray 7. Therefore, when the seedlings are taken out, the seedlings are easily broken by the clamping claws. When the seedlings on the seedling tray 7 transported by the transport module are planted, the driving bracket 6 slides on the base 5 to the front position of the transport module 2. At this time, the flip mechanism is started again to drive the loading plate 8 to rotate to an inclined state, and then the driving mechanism is started to drive the pressing mechanism to disengage from the seedling tray 7; after the pressing mechanism is disengaged from the seedling tray 7, the seedling tray 7 automatically slides along the loading plate 8 onto the transport module 2.

[0017] See Figure 7 As a further solution of the present invention, the pressing mechanism includes a frame 9 fixedly connected to the front position of the loading plate 8, a slide rod 10 is slidably connected to the frame 9, and a plurality of equally distributed pressing plates 11 are fixedly connected to the slide rod 10; pressing components are symmetrically provided on both sides of the loading plate 8, and the pressing components are used to cooperate with the plurality of pressing plates 11 to press the seedlings on the seedling tray 7; During operation, before the loading plate 8 is about to flip over, the driving mechanism first drives the slide bar 10 to slide backward relative to the frame 9, and the slide bar 10 drives all the pressure plates 11 connected thereto to move backward; when moving, the pressure plate 11 is inserted between two adjacent rows of seedlings and moves backward along the surface of the seedling tray 7; when the slide bar 10 moves to the position closest to the loading plate 8, the single pressure plate 11 completes the initial pressing of the roots of the two adjacent rows of seedlings.

[0018] See Figure 7-11 As a further solution of the present invention, the pressing assembly includes a frame body 12 fixedly connected to the loading plate 8, a slide rod 13 is slidably connected to the frame body 12, and a plurality of equally spaced pressing plates 14 are fixedly connected to the slide rod 13; The pressing plate 11 is perpendicular to the pressing plate 2 14; the widths of the pressing plate 11 and the pressing plate 2 14 are equal, and the interval between the two adjacent pressing plates 11 and the interval between the two adjacent pressing plates 2 14 are equal; the lower surface of the pressing plate 2 14 and the upper surface of the seedling tray 7 and the upper surface of the pressing plate 2 14 and the lower surface of the pressing plate 11 are respectively in the same plane; a plurality of pressing blocks 15 are fixedly connected to the bottom of the pressing plate 11, the width of the pressing block 15 is equal to the interval between the two adjacent pressing plates 2 14 and the interval between the two adjacent pressing blocks 15 is equal to the width of the pressing plate 2 14; the thickness of the pressing block 15 is equal to the thickness of the pressing plate 2 14; During operation, when the slide bar 10 slides to the position closest to the loading plate 8, the driving mechanism drives the slide bars 2 13 on the left and right sides to move toward the position close to the loading plate 8. When the slide bar 2 13 moves, it drives all the pressure plates 2 14 connected to it to move. When the pressure plate 2 14 moves, the seedlings are inserted from the two adjacent rows and fit in with the surface of the seedling tray 7 and the pressure plate 1 11; when the slide bars 2 13 on the left and right sides are moved to the position closest to the loading plate 8, all the pressure plates 2 14 cooperate with the pressure blocks 15 on the pressure plate 1 11 to stably press the root soil of all the seedlings on the seedling tray 7 into the seedling tray 7, and then, after the subsequent seedling tray 7 is flipped half a circle, the seedlings can be prevented from falling from the seedling tray 7.

[0019] See Figure 8 、 Figure 10 、 Figure 12 、 Figure 14 As a further solution of the present invention, the driving mechanism includes a sleeve 16 fixed on the frame 19, a cylinder 17 is slidably connected in the sleeve 16, one end of the cylinder 17 is fixedly connected to the slide bar 10 and the other end is fixedly connected to the push plate 18, and the left and right positions of the push plate 18 are symmetrically connected to the driving components. The driving component is used to drive the slide bar 2 13 to move closer to the loading plate 8 relative to the frame 2 12 when the slide bar 10 moves to a position close to the loading plate 8; The driving assembly includes a pull rope 19 fixedly connected to the push plate 18 and the second slide bar 13 at both ends; the bottom end of the loading plate 8 is rotatably connected to a guide wheel 20, and the pull rope 19 is in contact with the guide wheel 20; two springs 21 are fixedly connected to the second slide bar 13, and the other end of the spring 21 is fixedly connected to the loading plate 8; When the cylinder 17 is started, the cylinder 17 drives the slide bar 10 to slide backward. When the slide bar 10 slides to the limit position on the rear side, the slide bar 10 can no longer move. As the cylinder 17 continues to extend, the front end of the cylinder 17 begins to drive the push plate 18 to move forward. When the push plate 18 moves forward, it pulls the slide bar 2 13 through the pull rope 19 connected to it to overcome the elastic force of the spring 21 and move to a position close to the loading plate 8; when the slide bars 2 13 on both sides move to the position closest to the loading plate 8, the multiple pressing plates 11 and the multiple pressing plates 2 14 complete the pressing of all the seedlings on the seedling tray 7; When the pressing needs to be canceled, it is only necessary to drive the cylinder 17 to retract. When the cylinder 17 retracts, under the action of the spring 21, the slide bar 13 will be reset first. When the slide bar 13 is completely reset, the cylinder 17 just drives the push plate 18 to move to a position that fits with the sleeve 16. Under the limiting action of the push plate 18, when the cylinder 17 continues to retract, it will drive the slide bar 10 to reset.

[0020] See Figure 6 As a further solution of the present invention, the flip mechanism includes a motor 22 fixed to the bracket 6, and the output shaft of the motor 22 is fixedly connected to the two frames 12 at the same time; The two brackets 6 are slidably mounted on the base 5, and a vibration module is provided inside the base 5; When working, the frame can be driven to rotate by starting the motor 22; when a new seedling tray 7 is placed on the loading plate 8 in the horizontal state, the seedlings on the seedling tray 7 are pressed and stabilized by driving multiple pressing plates 11 and 2 14, and then the motor 22 is started to drive the loading plate 8 and the seedling tray 7 to flip half a circle, so that the seedling tray 7 is in an inverted state; the seedlings in the inverted state can effectively avoid direct sunlight exposure and can prevent their water loss; in addition, under the action of gravity, the soil at the roots of the seedlings will be slightly separated from the seedling tray 7, which is convenient for subsequent clamping of the seedlings; when the seedling tray 7 needs to be loaded, the seedling tray 7 can be driven to move by the electric drive base 5. When the seedling tray 7 moves, the vibration module in the base 5 is started to vibrate the seedling tray 7, which can promote the further separation of the soil at the roots of the seedlings from the seedling tray 7.

Claims

1. A fully automatic planting machine, comprising a self-propelled vehicle body (1), a transport module (2), an automatic gripping mechanism (3) and a planting assembly (4), characterized in that: A base (5) is installed on the self-propelled vehicle body (1) in front of the transport module (2), two brackets (6) are installed on the base (5), and a loading plate (8) for supporting the seedling tray (7) is rotatably connected to the bracket (6); The bracket (6) is provided with a turning mechanism, which is used to drive the loading plate (8) to drive the seedling tray (7) to turn half a circle and be in an inverted state; The loading plate (8) is provided with a pressing mechanism, and the pressing mechanism is used to stably press the seedlings into the seedling tray (7) to prevent the seedlings from falling off when the seedling tray (7) is in an inverted state; The loading plate (8) is provided with a driving mechanism, which is used to drive the pressing mechanism to press the seedling tray (7) before the loading plate (8) is turned over, and to drive the pressing mechanism to disengage the seedling tray (7) after the loading plate (8) is reset.

2. A fully automatic planting machine according to claim 1, characterized in that: The pressing mechanism comprises a frame (9) fixedly connected to the front of the loading plate (8), a slide bar (10) slidably connected inside the frame (9), and a plurality of equally spaced pressing plates (11) fixedly connected to the slide bar (10); pressing components are symmetrically provided on both sides of the loading plate (8), and the pressing components are used to cooperate with the plurality of pressing plates (11) to press the seedlings on the seedling tray (7).

3. The fully automatic planting machine according to claim 2, characterized in that: The pressing assembly includes a frame body 2 (12) fixedly connected to the loading plate (8), a slide rod 2 (13) slidably connected inside the frame body 2 (12), and a plurality of equally spaced pressing plates 2 (14) fixedly connected to the slide rod 2 (13).

4. The fully automatic planting machine according to claim 3, characterized in that: The pressure plate 1 (11) is perpendicular to the pressure plate 2 (14); the widths of the pressure plate 1 (11) and the pressure plate 2 (14) are equal, and the interval between two adjacent pressure plates 1 (11) and the interval between two adjacent pressure plates 2 (14) are equal; the lower surface of the pressure plate 2 (14) and the upper surface of the seedling tray (7) and the upper surface of the pressure plate 2 (14) and the lower surface of the pressure plate 1 (11) are respectively in the same plane; a plurality of pressure blocks (15) are fixedly connected to the bottom of the pressure plate 1 (11), the width of the pressure blocks (15) is equal to the interval between two adjacent pressure plates 2 (14), and the interval between two adjacent pressure blocks (15) is equal to the width of the pressure plate 2 (14); the thickness of the pressure blocks (15) is equal to the thickness of the pressure plate 2 (14).

5. The fully automatic planting machine according to claim 3, characterized in that: The driving mechanism includes a sleeve (16) fixed on the frame body 1 (9), a cylinder (17) is slidably connected in the sleeve (16), one end of the cylinder (17) is fixedly connected to the slide bar 1 (10) and the other end is fixedly connected to the push plate (18), and the push plate (18) is symmetrically connected to the left and right positions. The driving assembly is used to drive the slide bar 2 (13) to move relative to the frame body 2 (12) toward the loading plate (8) when the slide bar 1 (10) moves to a position close to the loading plate (8).

6. The fully automatic planting machine according to claim 5, characterized in that: The driving assembly includes a pull rope (19) whose two ends are fixedly connected to the push plate (18) and the second slide bar (13); the bottom end of the loading plate (8) is rotatably connected to a guide wheel (20), and the pull rope (19) is in contact with the guide wheel (20); two springs (21) are fixedly connected to the second slide bar (13), and the other end of the spring (21) is fixedly connected to the loading plate (8).

7. The fully automatic planting machine according to claim 3, characterized in that: The flip mechanism comprises a motor (22) fixed on a bracket (6), and an output shaft of the motor (22) is fixedly connected to two second frames (12) at the same time.

8. The fully automatic planting machine according to claim 1, characterized in that: The two brackets (6) are slidably mounted on the base (5), and a vibration module is provided inside the base (5).

Images