A fully automatic planting machine

Abstract

The application discloses a kind of full-automatic planting machines, it is related to agricultural planting technical field, including self-propelled vehicle body, conveying module, automatic gripper mechanism and planting assembly, self-propelled vehicle body is located in conveying module front installation has base, two supports are installed on base, support is rotatably connected with the loading plate for supporting seedling tray;Support is equipped with turnover mechanism, and turnover mechanism is used to drive loading plate to drive seedling tray to overturn half circle and be in inverted state;Loading plate is equipped with pressing mechanism, and pressing mechanism is used to press seedling in seedling tray, to prevent seedling from falling off when seedling tray is in inverted state;The application is driven by turnover mechanism and makes seedling tray overturn half circle and be in inverted state, in combination with the vibration module of base, can promote seedling root soil and seedling tray slightly separate, facilitate subsequent clamping, reduce the damage to seedling in clamping process.

Description

Technical Field

[0001] This invention relates to the field of agricultural planting technology, specifically to a fully automatic planting machine. Background Technology

[0002] Most automatic planting machines on the market include a self-propelled vehicle body that provides the power for walking, a transport module for transporting seedling trays, automatic grippers for picking up seedlings from the seedling trays, and a planting assembly for automatically planting the seedlings picked up by the automatic grippers. When the automatic gripper picks up seedlings, some seedlings are firmly rooted in the seedling tray, and the soil in the seedling tray is relatively dry, making it even more difficult for the seedlings to detach from the seedling tray. Therefore, the gripper can easily break the seedlings when picking them up. Summary of the Invention

[0003] The purpose of this invention is to provide a fully automatic planting machine to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, 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. A base is installed on the self-propelled vehicle body in front of the transport module, and two brackets are installed on the base. A feeding plate for supporting seedling trays is rotatably connected to the brackets. The support is equipped with a flipping mechanism, which is used to drive the feeding plate to rotate the seedling tray half a turn to an inverted state. The feeding plate is equipped with a pressing mechanism, which is used to press the seedlings stably in the seedling tray to prevent the seedlings from falling off when the seedling tray is inverted. The feeding plate is equipped with a driving mechanism, which is used to drive the pressing mechanism to press the seedling tray before the feeding plate is flipped and to drive the pressing mechanism to disengage from the seedling tray after the feeding plate is reset.

[0005] Preferably, the pressing mechanism includes a frame fixedly connected to the front of the feeding plate, a sliding rod slidably connected inside the frame, and multiple equally spaced pressing plates fixedly connected to the sliding rod; pressing components are symmetrically arranged on both sides of the feeding plate, and the pressing components are used to cooperate with the multiple pressing plates to press the seedlings on the seedling tray.

[0006] Preferably, the pressing assembly includes a frame two fixedly connected to the feeding plate, a slide rod two slidably connected inside the frame two, and a plurality of equally spaced pressure plates two fixedly connected to the slide rod two.

[0007] Preferably, the first pressing plate is perpendicular to the second pressing plate; the widths of the first pressing plate and the second pressing plate are equal, and the intervals between two adjacent first pressing plates are equal to the intervals between two adjacent second pressing plates; the lower surface of the second pressing plate and the upper surface of the seedling tray, as well as the upper surface of the second pressing plate and the lower surface of the second pressing plate, are respectively on the same plane; a plurality of pressing blocks are fixedly connected to the bottom of the first pressing plate, the width of the pressing block is equal to the interval between two adjacent second pressing plates, and the interval between two adjacent pressing blocks is equal to the width of the second pressing plate; the thickness of the pressing block is equal to the thickness of the second pressing plate.

[0008] Preferably, the driving mechanism includes a sleeve fixed to the frame, a cylinder slidably connected inside the sleeve, one end of the cylinder being fixedly connected to a slide rod and the other end being fixedly connected to a push plate, and driving components being symmetrically connected to the left and right positions on the push plate. The driving components are used to drive a slide rod to move relative to the frame towards the feed plate when the slide rod moves to a position close to the feed plate.

[0009] Preferably, the drive assembly includes a pull rope whose two ends are fixedly connected to the push plate and the slide rod 2, respectively; a guide wheel is rotatably connected to the bottom end of the feeding plate, and the pull rope is in contact with the guide wheel; two springs are fixedly connected to the slide rod 2, and the other end of the spring is fixedly connected to the feeding plate.

[0010] Preferably, the flipping mechanism includes a motor fixed on a bracket, and the output shaft of the motor is fixedly connected to both brackets.

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

[0012] Compared with the prior art, the beneficial effects of the present invention are: This invention uses a flipping mechanism to rotate the seedling tray half a turn so that it is inverted. Combined with the vibration module of the base, it can cause the soil at the roots of the seedlings to detach slightly from the seedling tray, making it easier to pick up the seedlings and reducing damage to the seedlings during the picking process.

[0013] This invention, through the ingenious design of the drive mechanism, enables the pressing and releasing actions of the pressing mechanism to precisely coordinate with the work of the flipping mechanism, eliminating the need for manual intervention, greatly reducing human involvement and labor intensity. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the rear view structure of the present invention; Figure 3 This is a schematic diagram of the disassembled structure of the present invention; Figure 4 This is a schematic diagram of the transport module in this invention; Figure 5 This is a structural schematic diagram of the transport module from a second perspective in this invention; Figure 6 This is a schematic diagram of the base structure in this invention; Figure 7 This is a schematic diagram of the pressing mechanism in this invention; Figure 8 This is a schematic diagram of the drive mechanism in this invention; Figure 9 This is a schematic diagram of the disassembled structure of the pressing mechanism in this invention; Figure 10 This is a schematic diagram of the flipping mechanism in this invention; Figure 11 This is a schematic diagram of the structure of pressure plate one and pressure plate two in this invention; Figure 12 This is a schematic diagram of the pressing state structure of the pressing mechanism in this invention; Figure 13 This is a second-view structural diagram of the pressing mechanism in the pressing state of the present invention; Figure 14 This is a schematic diagram of the driving principle of the driving mechanism in this invention.

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

[0016] Please see Figures 1-14 The present invention provides a technical solution: a fully automatic planting machine, including 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. Two supports 6 are installed on the base 5. A feeding plate 8 for supporting the seedling tray 7 is rotatably connected to the support 6. The support 6 is equipped with a flipping mechanism, which drives the feeding plate 8 to rotate the seedling tray 7 half a turn to an inverted state; The feeding plate 8 is equipped with a pressing mechanism, which is used to press the seedlings stably 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 equipped with a driving mechanism, which is used to drive the pressing mechanism to press the seedling tray 7 before the feeding plate 8 is flipped and to drive the pressing mechanism to disengage from the seedling tray 7 after the feeding plate 8 is reset. During operation, when planting seedlings, the self-propelled vehicle 1 moves and provides power, and the transport module 2 transports the seedling tray 7 containing seedlings to the clamping position. The automatic gripper mechanism 3 automatically puts the seedlings into the corresponding seedling cups, and then sends them to the planting assembly 4 for planting. The working principle of fully automatic planting machines on the market is basically based on this process. Because some seedlings are firmly rooted in the seedling tray 7 when the automatic gripper mechanism 3 picks up the seedlings, and the soil in the seedling tray 7 is relatively dry, the seedlings are even less likely to detach from the seedling tray 7. Therefore, the gripper can easily break the seedlings when picking them up. In this invention, the seedling tray 7 is placed on the feeding plate 8, and the pressing mechanism is driven by the drive mechanism to press the soil at the roots of the seedlings into the seedling tray 7. At this time, the flipping mechanism is activated, which drives the feeding plate 8 and the seedling tray 7 to flip half a turn. At this time, the seedling tray 7 is in an inverted state, and the soil at the roots of the seedlings will slightly detach from the seedling tray 7 under the action of gravity, thus making it easier for the gripper to pick up the seedlings later. After the seedlings on the seedling tray 7 transported by the transport module are planted, the drive bracket 6 slides on the base 5 to the front position of the transport module 2. At this time, the flipping mechanism is activated again to drive the feeding plate 8 to rotate to an inclined state. Then, the drive mechanism is activated to drive the pressing mechanism to disengage from the seedling tray 7. After the pressing mechanism disengages from the seedling tray 7, the seedling tray 7 automatically slides along the feeding plate 8 onto the transport module 2.

[0017] See Figure 7 As a further embodiment of the present invention, the pressing mechanism includes a frame 9 fixedly connected to the front of the feeding plate 8, a slide rod 10 slidably connected inside the frame 9, and a plurality of equally spaced pressure plates 11 fixedly connected to the slide rod 10; pressing components are symmetrically provided on both sides of the feeding plate 8, and the pressing components are used to cooperate with the plurality of pressure plates 11 to press the seedlings on the seedling tray 7. During operation, just before the feeding plate 8 is about to flip, the drive mechanism first drives the slide bar 10 to slide backward relative to the frame 9. The slide bar 10 then drives all the pressure plates 11 connected to it to move backward. When the pressure plate 11 moves, it inserts between two adjacent rows of seedlings and moves backward against the surface of the seedling tray 7. When the slide bar 10 moves to the position closest to the feeding plate 8, a 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 embodiment of the present invention, the pressing assembly includes a frame 12 fixedly connected to the feeding plate 8, a sliding rod 13 slidably connected inside the frame 12, and a plurality of equally spaced pressure plates 14 fixedly connected to the sliding rod 13. Pressing plate 11 is perpendicular to pressing plate 2 14; the widths of pressing plate 11 and pressing plate 2 14 are equal, and the interval between two adjacent pressing plates 11 is equal to the interval between two adjacent pressing plates 2 14; the lower surface of pressing plate 2 14 and the upper surface of seedling tray 7, as well as the upper surface of pressing plate 2 14 and the lower surface of pressing plate 11, are respectively on the same plane; multiple pressing blocks 15 are fixedly connected to the bottom of pressing plate 11, the width of pressing block 15 is equal to the interval between two adjacent pressing plates 2 14, and the interval between two adjacent pressing blocks 15 is equal to the width of pressing plate 2 14; the thickness of pressing block 15 is equal to the thickness of pressing plate 2 14; During operation, when slide bar 10 slides to the position closest to the feeding plate 8, the drive mechanism drives slide bars 2 13 on both sides to move closer to the feeding plate 8. When slide bars 2 13 move, they drive all the pressure plates 2 14 connected to them to move. When pressure plates 2 14 move, they insert into the adjacent rows of seedlings and adhere to the surface of the seedling tray 7 and the pressure plate 11. When slide bars 2 13 on both sides move to the position closest to the feeding plate 8, all the pressure plates 2 14, together with the pressure blocks 15 on the pressure plate 11, can stably press the soil around the roots of all the seedlings in the seedling tray 7 into the seedling tray 7. This can prevent the seedlings from falling off the seedling tray 7 after the seedling tray 7 is rotated half a turn.

[0019] See Figure 8 , Figure 10 , Figure 12 , Figure 14 As a further embodiment of the present invention, the driving mechanism includes a sleeve 16 fixed on the frame 9, a cylinder 17 slidably connected inside the sleeve 16, one end of the cylinder 17 being fixedly connected to the slide rod 10 and the other end being fixedly connected to the push plate 18, and driving components being symmetrically connected to the left and right positions on the push plate 18. The driving components are used to drive the slide rod 13 to move relative to the frame 12 toward the feed plate 8 when the slide rod 10 moves to a position close to the feed plate 8. The drive assembly includes a pull rope 19 whose two ends are fixedly connected to the push plate 18 and the slide bar 13 respectively; a guide wheel 20 is rotatably connected to the bottom end of the feed plate 8, and the pull rope 19 is in contact with the guide wheel 20; two springs 21 are fixedly connected to the slide bar 13, and the other end of the spring 21 is fixedly connected to the feed plate 8. When the cylinder 17 is activated, it drives the slide bar 10 to slide backward. When the slide bar 10 slides to its rear limit position, it 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 13 through the pull rope 19 connected to it to overcome the elastic force of the spring 21 and move it closer to the feeding plate 8. When the slide bars 13 on both the left and right sides have moved to the position closest to the feeding plate 8, the multiple pressure plates 11 and multiple pressure plates 14 then complete the pressing of all the seedlings on the seedling tray 7. When it is necessary to cancel the press, simply drive the cylinder 17 to retract. When the cylinder 17 retracts, the slide bar 13 will return to its original position first under the action of the spring 21. After the slide bar 13 is fully returned to its original position, the cylinder 17 will drive the push plate 18 to move to the position where it fits against 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 return to its original position.

[0020] See Figure 6 As a further embodiment of the present invention, the flipping mechanism includes a motor 22 fixed on the bracket 6, and the output shaft of the motor 22 is simultaneously fixedly connected to two bracket bodies 12. Two brackets 6 are slidably mounted on the base 5, and the base 5 is equipped with a vibration module; During operation, the frame can be rotated by starting the motor 22. When a new seedling tray 7 is placed on the horizontal feeding plate 8, multiple pressure plates 11 and 14 are driven to press and stabilize the seedlings on the tray 7. Then, the motor 22 is started to rotate the feeding plate 8 and the seedling tray 7 half a turn, so that the seedling tray 7 is in an inverted state. The inverted seedlings can effectively avoid direct sunlight and prevent water loss. In addition, under the action of gravity, the soil at the roots of the seedlings will slightly separate from the seedling tray 7, making it easier to pick up the seedlings later. When the seedling tray 7 needs to be filled, the seedling tray 7 can be moved by the electric drive base 5. While the seedling tray 7 is moving, the vibration module in the base 5 is activated to vibrate the seedling tray 7, which can further promote the 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 gripper mechanism (3), and a planting assembly (4), characterized in that: The self-propelled vehicle body (1) is equipped with a base (5) in front of the transport module (2). Two brackets (6) are installed on the base (5). A feeding plate (8) for supporting the seedling tray (7) is rotatably connected to the brackets (6). The support (6) is provided with a flipping mechanism, which is used to drive the feeding plate (8) to rotate the seedling tray (7) half a turn to an inverted state; The feeding plate (8) is provided with a pressing mechanism, which is used to press the seedlings stably in 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 flipped and to drive the pressing mechanism to disengage from the seedling tray (7) after the feeding plate (8) is reset. The pressing mechanism includes a frame (9) fixedly connected to the front of the feeding plate (8), a sliding rod (10) slidably connected inside the frame (9), and multiple equally spaced pressing plates (11) fixedly connected to the sliding rod (10); pressing components are symmetrically arranged on both sides of the feeding plate (8), and the pressing components are used to cooperate with the multiple pressing plates (11) to press the seedlings on the seedling tray (7); The pressing assembly includes a frame two (12) fixedly connected to the feeding plate (8), a slide rod two (13) slidably connected inside the frame two (12), and a plurality of equally spaced pressure plates two (14) fixedly connected on the slide rod two (13). The driving mechanism includes a sleeve (16) fixed on the frame (9), a cylinder (17) is slidably connected inside the sleeve (16), one end of the cylinder (17) is fixedly connected to the slide rod (10) and the other end is fixedly connected to the push plate (18), and driving components are symmetrically connected to the left and right positions on the push plate (18). The driving components are used to drive the slide rod (13) to move relative to the frame (12) towards the feed plate (8) when the slide rod (10) moves to a position close to the feed plate (8); The drive assembly includes a pull rope (19) whose two ends are fixedly connected to the push plate (18) and the slide bar (13) respectively; the bottom end of the feed 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 slide bar (13), and the other end of the spring (21) is fixedly connected to the feed plate (8).

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

3. The fully automatic planting machine according to claim 1, characterized in that: The flipping mechanism includes a motor (22) fixed on a bracket (6), and the output shaft of the motor (22) is simultaneously fixedly connected to two frame bodies (12).

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

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