Automatic seedling supplying device and intelligent control method of rice transplanter

Abstract

An automatic seedling supply device and intelligent control method for a rice transplanter belong to the field of intelligent agricultural machinery technology. This invention aims to solve the problem of low load capacity of the seedling storage frame in existing unmanned rice transplanters. The device includes a main frame, which forms two seedling tray storage areas on the left and right. Several seedling trays are provided in the seedling tray storage areas and are pulled by a rope mechanism. An upper follower frame that swings back and forth is provided on the front side of the main frame. Seedling tray centering plates are hinged to the left and right sides of the upper follower frame. The seedling tray centering plates are connected to the upper follower frame through return springs. The two return springs push the front end of the two seedling tray centering plates closer together and the rear end further away, respectively. This invention shortens the length of the seedling trays in the prior art to half. The seedling tray centering plates bring the two seedling trays together, achieving the supplementation of seedling tray length to match the seedling box. Lifting slide groups are set on both sides and the middle of the main frame, making the stability and structural stress of the main frame more reasonable and increasing the service life of key components.

Description

Technical Field

[0001] This invention belongs to the field of intelligent agricultural machinery technology, and in particular relates to an automatic seedling supply device and intelligent control method for a rice transplanter. Background Technology

[0002] A rice transplanter is an agricultural machine that plants rice seedlings into paddy fields. Mechanized rice planting not only greatly reduces the labor intensity of farmers, but also reduces the total cost of rice planting.

[0003] However, in terms of seedling supply during the operation of rice transplanters, a person (seedling standter) still needs to stand on the transplanter to manually supply seedlings during operation. The seedlings are manually removed from the seedling storage rack and placed on the seedling tray, thus failing to achieve true unmanned operation. Therefore, there is an urgent need for an automatic, continuous seedling supply unmanned rice transplanter to solve the above problems.

[0004] The invention patent with publication number CN120130220A discloses an unmanned automatic seedling transplanter and an intelligent control method, which can realize unmanned automatic seedling replenishment and empty seedling tray recycling of the transplanter, greatly improving the degree of automation and operation efficiency. However, the seedling tray is set according to the width of the seedling box and is relatively long. The width of the seedling storage rack for storing the seedling tray also needs to be adapted to the length of the seedling tray. In order to allow the seedling tray to enter and exit, the middle of the seedling storage rack cannot be set with a column, making the structure of the seedling storage rack thin, with poor structural performance and low load capacity, which greatly reduces the service life of the equipment. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic seedling supply device and intelligent control method for a rice transplanter, to solve the problems of flimsy seedling storage racks and low load-bearing capacity in existing unmanned rice transplanters. The technical solution adopted by this invention is as follows:

[0006] An automatic seedling supply device for a rice transplanter includes a vehicle body, a fixed support frame fixed to the vehicle body, a main frame on the fixed support frame, a rope winch mechanism on one side of the main frame, the main frame forming two seedling tray storage areas, and lifting slide groups on both sides of each seedling tray storage area. Several seedling tray support rods are slidably arranged on each lifting slide group. The seedling tray support rods on the four lifting slide groups are all at the same height. Two seedling tray support rods at the same height in the same seedling tray storage area are a pair. Two seedling trays are arranged in front and behind each pair of seedling tray support rods. Two pairs of seedling tray support rods at the same height in two seedling tray storage areas are a layer. Several layers of seedling tray support rods are connected sequentially from top to bottom by flexible ropes. The rope winch mechanism pulls the uppermost seedling tray support rod to rise and fall.

[0007] The front side of the fixed support frame is provided with a flip-plate mechanism, which includes a flip-plate base. The upper end face of the upper follower frame is hinged with seedling tray centering plates on the left and right sides respectively. The seedling tray centering plates are connected to the upper follower frame through return springs. The two return springs push the front ends of the two seedling tray centering plates closer and the rear ends further away respectively.

[0008] The upper follower frame swings back and forth between the upper and front positions of the flip-plate base. When the upper follower frame is in the upper position, it is horizontal. The bottom of the two seedling storage areas is equipped with a seedling tray pushing device. The seedling tray pushing device is used to receive the seedling trays lowered by the rope mechanism and push them onto the upper follower frame. When the seedling tray pushing device pushes the two seedling trays onto the upper follower frame simultaneously, the two seedling trays are squeezed together by the centering plate and centered. When the upper follower frame swings to the front position, it is tilted, and the seedlings on the seedling trays are unloaded onto the seedling box in front of the vehicle.

[0009] Furthermore, a tilting shaft is rotatably mounted at the front of the flip-top base, and a flip-top rotation drive shaft is rotatably mounted at the rear of the flip-top base. A flip-top drive motor is fixed to the flip-top base, and its output shaft is connected to the flip-top rotation drive shaft. The lower end of the drive arm assembly is connected to the flip-top rotation drive shaft, and the upper end of the drive arm assembly is hinged to the first optical axis. The lower end of the driven arm assembly is hinged to the tilting shaft, and the upper end of the driven arm assembly is hinged to the second optical axis. The first and second optical axes are hinged together via an optical axis connecting rod assembly. A follower screw is rotatably mounted on the optical axis connecting rod assembly, and a follower motor is fixed on the optical axis connecting rod assembly. The output shaft of the motor is connected to the follower screw, and a screw nut is threaded onto the follower screw. The first optical axis, the second optical axis, the idler shaft, the flip plate rotation drive shaft, and the follower screw are all axially arranged to the left and right. The upper follower frame is slidably engaged with the first optical axis and the second optical axis through sliding bearings and is connected to the screw nut. A second displacement sensor is provided between the optical axis connecting rod group and the upper follower frame. A first displacement sensor is provided on the back of the seedling box. The first displacement sensor identifies the real-time position of the seedling box's left and right lateral movement. The second displacement sensor controls the operating status of the follower motor, so that the upper follower frame moves laterally synchronously with the seedling box.

[0010] Furthermore, it also includes a vertical adjustment connecting frame, which is suspended on the top of the fixed support frame by several long screws and fastening nuts. Several horizontal adjustment support rods are provided on the rear side of the flip plate base, and the horizontal adjustment support rods are fixed to the vertical adjustment connecting frame by pipe clamps.

[0011] Furthermore, the seedling tray includes a tray panel, with limiting edges on the left, right, and rear sides of the tray panel. The tray panel has two dividing strips that divide the tray panel into three storage units for placing seedlings. The front end of the dividing strips has a notch, and the front end of the upper follow-up frame has four limiting posts. The two limiting posts on the left correspond one-to-one with the two notches of the seedling tray pushed on the left and the two limiting posts on the right correspond one-to-one with the two notches of the seedling tray pushed on the right.

[0012] Furthermore, it also includes an empty tray recycling device. The top of the main frame forms two empty tray storage areas, one at the front and one at the back, located above the two seedling storage areas. Connecting and fixing blocks, made of magnetic material, are installed on the dividing strips. The empty tray recycling device includes a recycling drive device and a gripping and releasing device. The recycling drive device includes a first drive assembly and a first transmission assembly. First transmission assemblies are provided on both the left and right sides of the main frame. The first drive assembly includes a recycling drive shaft rotatably mounted at the top of the rear end of the main frame. The recycling drive motor is fixed to the main frame via a worm gear reducer. The output shaft of the recycling drive motor is connected to the recycling drive shaft via the transmission shaft of the worm gear reducer. The first transmission assembly... The system includes a retrieval frame, a retrieval chain, a retrieval drive sprocket, a retrieval driven sprocket, a retrieval idler wheel, and a retrieval tension wheel. The retrieval frame is located at the front end of the main frame. The retrieval drive sprockets of the two first transmission components are respectively sleeved on the left and right ends of the retrieval drive shaft. A retrieval driven sprocket is located at the lower front end of the retrieval frame, and a retrieval idler wheel is located at the upper front end of the retrieval frame. The retrieval drive sprocket is connected to the corresponding retrieval driven sprocket and retrieval idler wheel through the retrieval chain. A retrieval tension wheel is located at the upper rear end of the retrieval frame. The retrieval tension wheel meshes with the retrieval chain. The retrieval chain forms a horizontal chain segment between the corresponding retrieval drive sprocket and the retrieval idler wheel, and a vertical chain segment between the corresponding retrieval driven sprocket and the retrieval idler wheel.

[0013] The grasping and releasing device includes a chain connecting rod. The left and right ends of the chain connecting rod are respectively connected to two corresponding recovery chains via chain joints. The upper ends of two rotating rods are rotatably connected to the chain connecting rod. The two rotating rods are connected via a synchronization rod. The lower ends of the rotating rods are connected to the middle of a magnetic fixing rod. Electromagnets are vertically slidably mounted on both the left and right ends of the lower side of the magnetic fixing rod. A buffer spring is provided between the electromagnet and the magnetic fixing rod. The grasping and releasing device moves along the vertical chain segment and the horizontal chain segment. When the grasping and releasing device is at the lower end of the vertical chain segment, the four electromagnets are connected to the four connecting rods of the two seedling trays on the flipping mechanism. With the fixed blocks corresponding to each other, when the gripping and releasing device moves along the horizontal chain segment, the seedling tray lifted by the gripping and releasing device moves above the two empty tray storage areas. The chain connecting rod is provided with two limiting V-shaped frames, which correspond one-to-one with the two rotating rods. The limiting V-shaped frames are at right angles, and the rotating rods are located between the right angles of the corresponding limiting V-shaped frames. When the gripping and releasing device is on the vertical chain segment, the front side of the limiting V-shaped frame is vertically set and restricts the corresponding rotating rod from flipping forward. When the gripping and releasing device is on the horizontal chain segment, the rear side of the limiting V-shaped frame is vertically set and restricts the corresponding rotating rod from flipping backward.

[0014] Furthermore, the recycling drive device also includes horizontal adjustment sprockets. Adjustment frames are provided at the top of both the left and right sides of the empty disc storage area. Two adjustment shafts are vertically slidably mounted on the two adjustment frames and fixed by nuts. Two horizontal adjustment sprockets are respectively sleeved on the two adjustment shafts and mesh with the two recycling chains.

[0015] Furthermore, the recycling rack is provided with two first elongated oval holes arranged in the front and back and two second elongated oval holes arranged in the top and bottom. The main frame is provided with two first round holes. The two first elongated oval holes and the two first round holes are connected to each other by bolts. The recycling tension wheel is rotatably mounted on the bolt shaft through a bearing. The bolt shaft passes through the second elongated oval hole and is fixed.

[0016] Furthermore, the rope-winding mechanism includes a rope-winding connecting frame, a rope-winding shaft rotatably mounted on the rope-winding connecting frame, the rope-winding shaft being axially arranged front and rear, the rope-winding connecting frame being connected to the main frame, a rope-winding drive motor being connected to the rope-winding connecting frame, the output shaft of the rope-winding drive motor being connected to the rope-winding shaft through a worm gear reducer, eight rope-winding wheels being sleeved on the rope-winding shaft, and ropes being wound on the rope-winding wheels, the lower ends of the ropes on the front four rope-winding wheels being connected to the front ends of the four seedling tray support rods on the uppermost layer, and the lower ends of the ropes on the rear four rope-winding wheels being connected to the rear ends of the four seedling tray support rods on the uppermost layer, the bottom of the main frame forming a support rod stacking area, and the seedling tray support rods that are lowered onto the seedling tray pushing device falling into the support rod stacking area.

[0017] Furthermore, the seedling tray pushing device includes a second drive assembly and four sets of pushing assemblies. Two sets of pushing assemblies are installed at the bottom of each of the two seedling storage areas. Each pushing assembly includes a pushing drive sprocket and a pushing tension idler wheel. The second drive assembly includes a pushing drive shaft rotatably mounted at the rear end of each of the two seedling storage areas. A pushing drive motor is fixed to the main frame, and the output shaft of the pushing drive motor is connected to the pushing drive shaft. Each pushing drive sprocket is sleeved on the pushing drive shaft, and the pushing tension idler wheel is rotatably sleeved on the pushing driven shaft. Both ends of the pushing driven shaft are connected to the driven shaft via swivel bolts. The front end of the main frame is threaded, and the push drive sprocket and the corresponding push tension idler are connected by a push chain. The push chain is equipped with two push posts. The seedling tray plate has a limiting block on the rear side of the limiting edge. The two seedling trays that abut against each other form a gap in the middle through the limiting block. When the seedling tray push device receives a layer of seedling trays lowered by the rope mechanism, each push post abuts against the rear side of the limiting edge of the corresponding seedling tray. A support bar is provided between the push drive sprocket and the push tension idler. The upper side of the push chain slides on the corresponding support bar. The upper edge of the push chain is the bearing plane.

[0018] This invention also provides an intelligent control method for an automatic seedling supply device of a rice transplanter, which is based on the aforementioned automatic seedling supply device of the rice transplanter, and includes the following steps:

[0019] Step 1: Install a first position sensor at the top of the support rod stacking area, so that the probe of the first position sensor is facing the lifting path of several seedling tray support rods on any set of lifting slides.

[0020] Step 2: A second position sensor is installed at the front of any push component;

[0021] Step 3: Set a third position sensor on the flip plate base and a trigger rod on the drive arm assembly. When the upper follower frame is in the upper position, the trigger rod triggers the third position sensor. Set a fourth position sensor and a fifth position sensor at the front end of the upper follower frame. The probe of the fourth position sensor is set upward. When the notches of the two seedling trays cooperate with the four limiting posts, the seedling trays trigger the fourth position sensor. The probe of the fifth position sensor is set forward. When the flip plate mechanism swings forward to the front position, the seedling box triggers the fifth position sensor.

[0022] Step 4: Install a sixth position sensor at the top of the recycling rack and a seventh position sensor at the bottom of the recycling rack. Make the probe of the seventh position sensor face the lower end of the movement path of the gripping and releasing device on the vertical chain segment, and make the probe of the sixth position sensor face the upper end of the movement path of the gripping and releasing device on the vertical chain segment. Mark the position of the sixth position sensor as the zero point position of the gripping and releasing device.

[0023] Step 5: Install an eighth position sensor at the rear end of the empty tray storage area on the rear side, and install a ninth position sensor at the rear end of the empty tray storage area on the front side. The heights of the eighth and ninth position sensors are set according to the height of the seedling tray when the gripping and releasing device moves along the horizontal chain segment.

[0024] Step 6: Install several pressure sensors on the upper part of the seedling box. When there is seedling skin on the upper part of the seedling box, the seedling skin will trigger several pressure sensors.

[0025] Step 7: Connect the first position sensor, second position sensor, third position sensor, fourth position sensor, fifth position sensor, sixth position sensor, seventh position sensor, eighth position sensor, ninth position sensor, several pressure sensors, first displacement sensor, second displacement sensor, flip plate drive motor, follow-up motor, retraction drive motor, rope drive motor and push drive motor to the PLC of the rice transplanter central control system respectively.

[0026] Step 8: When the second position sensor does not detect a seedling tray, the PLC controls the winch drive motor to run, causing several seedling tray support rods to descend synchronously. When the first position sensor is triggered by the corresponding seedling tray support rod, the winch drive motor stops.

[0027] Step 9: When the trigger lever triggers the third position sensor and the fourth position sensor is not triggered, and the seedling tray triggers the second position sensor, the PLC controls the push drive motor to run, pushing the four seedling trays that fall on the four push components to move forward synchronously.

[0028] Step 10: When the two seedling trays on the front slide onto the upper follower frame and trigger the fourth position sensor, the PLC controls the push drive motor to stop and simultaneously controls the flip-plate drive motor to run, causing the upper follower frame to swing forward.

[0029] Step 11: When the upper follower frame swings to the front position, the seedling box triggers the fifth position sensor. The upper follower frame remains tilted for three seconds, and the seedling tray on the seedling skin tray is unloaded onto the seedling box to complete the replenishment of the seedling skin.

[0030] Step 12: The PLC controls the flip-plate drive motor to rotate in the opposite direction. When the upper follower frame swings to the upper position, the trigger rod triggers the third position sensor again, the flip-plate drive motor stops, and the retraction drive motor runs at the same time.

[0031] Step 13: The retrieval drive motor first drives the gripping and releasing device to descend from the zero point position to the bottom of the vertical chain segment. The gripping and releasing device triggers the seventh position sensor and shuts down the retrieval drive motor. The four electromagnets are energized and attract the corresponding connecting and fixing blocks of the two seedling trays on the flipping mechanism. The retrieval drive motor then rotates in the opposite direction and drives the gripping and releasing device to move sequentially along the vertical chain segment and the horizontal chain segment. When the seedling tray triggers the eighth or ninth position sensor, the four electromagnets are simultaneously de-energized, and the two empty seedling trays fall into the empty tray storage area, completing the retrieval of the empty seedling trays.

[0032] Step Fourteen: Repeat steps one through thirteen until all seedling skin replenishment and empty seedling skin tray recycling are completed. When the empty tray recycling device recycles empty seedling skin trays multiple times, in step thirteen, the empty seedling skin tray alternately triggers the first position sensor and the second position sensor. When the seedling skin tray triggers the eighth position sensor, the seedling skin tray is placed in the empty tray storage area located at the rear. When the seedling skin tray triggers the ninth position sensor, the seedling skin tray is placed in the empty tray storage area located at the front.

[0033] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0034] 1. This invention shortens the length of the seedling trays in existing technology by half and sets up two parallel seedling tray storage areas to hold two sets of seedling trays. A seedling tray centering plate pushes the two trays, which are then aligned on the upper follow-up frame, achieving supplementary seedling tray length to match the seedling box. Lifting slide assemblies are installed on both sides and in the middle of the main frame. These assemblies not only provide guidance but also bear structural load, making the stability and stress distribution of the main frame more rational and increasing the service life of key components. The seedling trays are more compact, made of nylon, significantly reducing weight and making them easier to manufacture. The overall structure of this invention is simpler, and the total weight is reduced by more than 30% compared to existing structures.

[0035] 2. The second displacement sensor is used to detect the relative position of the upper follower frame and the optical axis connecting rod group in real time. When the seedling box moves left and right to the middle position of the rice transplanter, the first displacement sensor feeds back the position of the seedling box. The second displacement sensor is in sync with the first displacement sensor, and the follower motor starts to work, driving the upper follower frame to keep the movement of the seedling box basically consistent, ensuring that the seedling skin can be accurately replenished on the seedling box.

[0036] 3. Several seedling trays are arranged on each seedling tray. A rope mechanism is responsible for placing the seedling trays from the support rods onto the seedling tray pushing device in sequence. The seedling tray pushing device pushes the seedling trays onto the flip-plate follow-up frame. The flip-plate mechanism unloads the seedling trays onto the seedling box, realizing the seedling placement operation. The empty tray recycling device is responsible for recycling the empty seedling trays and placing them in the empty tray storage area. This invention can realize a complete process of unmanned automatic seedling retrieval. The whole machine is lightweight, the load on each mechanism is small, the operation is stable and reliable, and the degree of automation and intelligence is high. Through the cooperation of various sensors and PLC, execution actions can be issued for each process. It can automatically replenish seedling trays and recycle seedling trays during the movement of the rice transplanter, without any operation by the driver. The degree of automation and intelligence is high. Attached Figure Description

[0037] Figure 1 This is an isometric view of the automatic seedling feeding device of the present invention;

[0038] Figure 2 This is an isometric view of the automatic seedling feeding device of the present invention from another perspective;

[0039] Figure 3 The main view of the main frame;

[0040] Figure 4 This is a schematic diagram of the structure of the seedling tray;

[0041] Figure 5 A schematic diagram of a rope mechanism pulling several seedling trays;

[0042] Figure 6 This is a schematic diagram of the rope winch mechanism;

[0043] Figure 7 A schematic diagram of the rope winch mechanism excluding the seedling tray support rod;

[0044] Figure 8 This is a schematic diagram showing the connection between the flap structure and the fixed support frame.

[0045] Figure 9 This is an isometric view of the flap structure;

[0046] Figure 10 for Figure 9 Enlarged view of point A;

[0047] Figure 11 Another perspective isometric view of the flap structure;

[0048] Figure 12 A schematic diagram showing the connection of the follower motor driving the upper follower frame to move laterally.

[0049] Figure 13 A schematic diagram of the seedling tray pushing device;

[0050] Figure 14 This is a structural diagram of the push component;

[0051] Figure 15 This is a schematic diagram of the empty disk recycling device;

[0052] Figure 16 This is a schematic diagram of the recycling rack structure;

[0053] Figure 17 for Figure 15 Enlarged view of point B;

[0054] Figure 18 This is a partial schematic diagram of the gripping and releasing device.

[0055] In the diagram, 1. Vehicle body; 11. Seedling box; 12. First displacement sensor; 2. Seedling tray; 21. Storage unit; 22. Divider strip; 23. Limiting edge; 24. Limiting block; 25. Connecting fixing block; 26. Notch; 3. Grabbing and releasing device; 31. Chain connecting rod; 32. Limiting V-shaped frame; 33. Rotating rod; 34. Magnet fixing rod; 35. Electromagnet; 36. Synchronizing rod; 4. Main frame; 41. Seedling tray storage area; 42. Empty tray storage area; 43. Support rod stacking area; 44. Lifting slide assembly; 5. Recycling drive device; 51. Recycling drive... 52. Drive motor; 53. Retrieval drive shaft; 54. Retrieval drive sprocket; 55. Retrieval chain; 56. Retrieval idler wheel; 57. Retrieval tension wheel; 58. Retrieval driven sprocket; 59. Horizontal adjustment sprocket; 510. Adjustment frame; 511. First oblong hole; 512. Second oblong hole; 513. Sixth position sensor; 514. Seventh position sensor; 515. Ninth position sensor; 516. Eighth position sensor; 6. Rope winding mechanism; 61. Rope connecting frame; 62. Rope shaft; 63. Rope wheel; 64. Rope drive motor; 6 5. Seedling tray support rod; 6. First position sensor; 7. Flipping mechanism; 71. Vertical adjustment connecting frame; 72. Horizontal adjustment support rod; 73. Flipping base; 74. Drive arm assembly; 75. Driven arm assembly; 76. Upper follower frame; 77. Long screw; 78. Pipe clamp; 79. Third position sensor; 710. Trigger rod; 711. Fourth displacement sensor; 712. Fifth position sensor; 713. Second optical axis; 714. First optical axis; 715. Idler shaft; 716. Flipping rotation drive shaft; 717. Follower motor; 718. Seedling tray 719. Centering plate; 720. Flip plate drive motor; 721. Limiting post; 722. Lead screw nut; 723. Follower lead screw; 724. Optical axis connecting rod assembly; 725. Second displacement sensor; 8. Fixed support frame; 9. Seedling tray pushing device; 91. Pushing drive motor; 92. Pushing drive shaft; 93. First position sensor; 94. Pushing assembly; 95. Second position sensor; 96. Pushing chain; 97. Support bar; 98. Pushing column; 99. Pushing driven shaft; 910. Pushing tension idler wheel; 911. Union bolt; 912. Second position sensor. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0057] The connections mentioned in this invention are divided into fixed connections and detachable connections. Fixed connections, also known as non-detachable connections, include but are not limited to conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include but are not limited to conventional disassembly methods such as bolted connections, snap-fit ​​connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can be found to achieve this function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a bolted connection can be chosen for detachable connections.

[0058] The present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0059] Example 1: As Figures 1 to 18 As shown, an automatic seedling supply device for a rice transplanter includes a vehicle body 1, a fixed support frame 8 fixed on the vehicle body 1, a main frame 4 on the fixed support frame 8, a rope winch mechanism 6 on one side of the main frame 4, the main frame 4 forms two seedling storage areas 41 on the left and right, each seedling storage area 41 has a lifting slide group 44 on both the left and right sides, each lifting slide group 44 has a number of seedling tray support rods 65 slidably arranged on each lifting slide group 44, the number of seedling tray support rods 65 on the four lifting slide groups 44 are of equal height, two seedling tray support rods 65 of equal height in the same seedling storage area 41 are a pair, each pair of seedling tray support rods 65 has two seedling trays 2 arranged in front and behind, the two pairs of seedling tray support rods 65 of equal height in the two seedling storage areas 41 are a layer, the number of layers of seedling tray support rods 65 are connected sequentially from top to bottom by flexible ropes, and the rope winch mechanism 6 pulls the uppermost seedling tray support rod 65 up and down;

[0060] The front side of the fixed support frame 8 is provided with a flip plate mechanism 7. The flip plate mechanism 7 includes a flip plate base 73. The upper end face of the upper follower frame 76 is hinged with seedling tray centering plates 718 on the left and right sides respectively. The seedling tray centering plates 718 are connected to the upper follower frame 76 through return springs. The two return springs push the front end of the two seedling tray centering plates 718 closer and the rear end away respectively.

[0061] The upper follower frame 76 swings back and forth between the upper and front positions of the flip plate base 73. When the upper follower frame 76 is in the upper position, it is horizontal. The bottom of the two seedling storage areas 41 is provided with a seedling tray pushing device 9. The seedling tray pushing device 9 is used to receive the seedling tray 2 lowered by the rope mechanism 6 and push it onto the upper follower frame 76. When the seedling tray pushing device 9 pushes the two seedling trays 2 onto the upper follower frame 76 at the same time, the two seedling tray centering plate 718 squeezes the two seedling trays 2 together in the center. When the upper follower frame 76 swings to the front position, it is tilted. The seedlings on the seedling trays 2 are unloaded onto the seedling box 11 in front of the vehicle body 1.

[0062] This invention shortens the length of the seedling trays in the prior art to half and sets up two parallel seedling tray storage areas 41 to store two sets of seedling trays 2. The two seedling trays 2, pushed to the upper follower frame 76 by the seedling tray centering plate 718, are brought together to achieve the supplementary seedling tray length adapted to the seedling box 11. Lifting slide groups 44 are set on both sides and in the middle of the main frame 4. In addition to their guiding function, the lifting slide groups 44 also bear the structural load, making the stability and structural stress of the main frame 4 more reasonable and increasing the service life of key components. The seedling trays 2 are more compact, made of nylon material, greatly reducing weight and making them easier to process and manufacture. The overall structure of this invention is simpler, and the total weight is reduced by more than 30% compared to existing structures.

[0063] A tilting base 73 has an idler shaft 715 rotatably mounted at its front and a tilting rotation drive shaft 716 rotatably mounted at its rear. A tilting drive motor 719 is fixed to the tilting base 73, and its output shaft is connected to the tilting rotation drive shaft 716. The lower end of the drive arm assembly 74 is connected to the tilting rotation drive shaft 716, and the upper end of the drive arm assembly 74 is hinged to the first optical axis 714. The lower end of the driven arm assembly 75 is hinged to the idler shaft 715, and the upper end of the driven arm assembly 75 is hinged to the first optical axis 714. The second optical axis 713 is hinged, and the first optical axis 714 and the second optical axis 713 are hinged together via an optical axis connecting rod assembly 723. A follower screw 722 is rotatably mounted on the optical axis connecting rod assembly 723, and a follower motor 717 is fixed on the optical axis connecting rod assembly 723. The output shaft of the follower motor 717 is connected to the follower screw 722, and a screw nut 721 is threaded onto the follower screw 722. The first optical axis 714, the second optical axis 713, the idler shaft 715, the flip plate rotation drive shaft 716, and the follower screw are also included. All 722 components are axially arranged to the left and right. The upper follower frame 76 is slidably engaged with the first optical axis 714 and the second optical axis 713 through sliding bearings and connected to the lead screw nut 721. A second displacement sensor 724 is provided between the optical axis connecting rod group 723 and the upper follower frame 76. A first displacement sensor 12 is provided on the back of the seedling box 11. The first displacement sensor 12 identifies the real-time lateral position of the seedling box 11. The second displacement sensor 724 controls the running state of the follower motor 717, so that the upper follower frame 76 moves synchronously with the seedling box 11. The second displacement sensor 724 is used to detect the relative position of the upper follower frame 76 and the optical axis connecting rod group 723 in real time. When the seedling box 11 moves to the middle position of the rice transplanter, the first displacement sensor 12 feeds back the position of the seedling box 11. The second displacement sensor 724 is in sync with the first displacement sensor 12, and the follower motor 717 starts to work, driving the upper follower frame 76 to move in basically the same direction as the seedling box 11, ensuring that the seedling skin can be accurately replenished onto the seedling box 11.

[0064] It also includes a vertical adjustment connecting frame 71, which is suspended on the top of the fixed support frame 8 by several long screws 77 and fastening nuts. Several horizontal adjustment support rods 72 are provided on the rear side of the flip base 73. The horizontal adjustment support rods 72 are fixed to the vertical adjustment connecting frame 71 by pipe clamps 78. By adjusting the relative position of the fastening nuts and long screws 77, the vertical height of the vertical adjustment connecting frame 71 can be adjusted. By tightening the position of the horizontal adjustment support rods 72 by pipe clamps 78, the horizontal position of the flip base 73 can be adjusted, thereby adjusting the horizontal and vertical positions of the upper follower frame 76, so that the upper follower frame 76 can be accurately installed in a suitable position.

[0065] The seedling tray 2 includes a tray panel with limiting edges 23 on the left, right, and rear sides. The tray panel has two dividing strips 22, which divide the tray panel into three storage units 21 for placing seedlings. The front end of the dividing strips 22 has a notch 26. The front end of the upper follower frame 76 has four limiting posts 720. The two limiting posts 720 on the left correspond to the two notches 26 of the seedling tray 2 pushed on the left and limit their movement. The two limiting posts 720 on the right correspond to the two notches 26 of the seedling tray 2 pushed on the right and limit their movement, so as to realize the automatic pushing of the seedling tray 2 and automatic stopping when it is pushed into place.

[0066] It also includes an empty tray recycling device. The top of the main frame 4 forms two empty tray storage areas 42, which are located above the two seedling storage areas 41. A connecting and fixing block 25 is provided on the separator 22. The connecting and fixing block 25 is a magnetic material component. The empty tray recycling device includes a recycling drive device 5 and a gripping and releasing device 3. The recycling drive device 5 includes a first drive assembly and a first transmission assembly. The first transmission assembly is provided on both the left and right sides of the main frame 4. The first drive assembly includes a recycling drive shaft 52 rotatably set at the top of the rear end of the main frame 4. The recycling drive motor 51 is fixed to the main frame 4 through a worm gear reducer. The output shaft of the recycling drive motor 51 is connected to the recycling drive shaft 52 through the transmission shaft of the worm gear reducer. The first transmission assembly includes a recycling frame 57, a recycling chain 54, a recycling drive sprocket 53, a recycling driven sprocket 58, a recycling idler wheel 55, and a recycling tension wheel 56. The recycling frame 57 is set at the front end of the main frame 4. The recycling drive sprockets 53 of the two first transmission assemblies are respectively fitted with Connected to the left and right ends of the recovery drive shaft 52, the lower front end of the recovery frame 57 is equipped with a recovery driven sprocket 58, and the upper front end of the recovery frame 57 is equipped with a recovery idler wheel 55. The recovery drive sprocket 53 is connected to the corresponding recovery driven sprocket 58 and recovery idler wheel 55 via a recovery chain 54. The upper rear part of the recovery frame 57 is equipped with a recovery tension wheel 56, which meshes with the recovery chain 54. The recovery chain 54 forms a horizontal chain segment between the corresponding recovery drive sprocket 53 and recovery idler wheel 55. The chain 54 forms a vertical chain segment between the corresponding driven sprocket 58 and idler sprocket 55; the driving sprocket 53, driven sprocket 58 and idler sprocket 55 are within the closed loop of the recycling chain 54, and the tensioner 56 is outside the closed loop of the recycling chain 54. The idler sprocket 55 causes the recycling chain 54 to turn. In addition to tensioning the recycling chain 54, the tensioner 56 can also change the position of the recycling chain 54 to avoid interference between the recycling chain 54 and other components.

[0067] The grasping and releasing device 3 includes a chain connecting rod 31. The left and right ends of the chain connecting rod 31 are respectively connected to two recycling chains 54 via chain joints. The upper ends of two rotating rods 33 are rotatably connected to the chain connecting rod 31. The two rotating rods 33 are connected via a synchronization rod 36. The lower ends of the rotating rods 33 are connected to the middle of a magnet fixing rod 34. Electromagnets 35 are vertically slidably mounted on the left and right ends of the lower side of the magnet fixing rod 34. A buffer spring is provided between the electromagnets 35 and the magnet fixing rod 34. The grasping and releasing device 3 moves along the vertical chain segment and the horizontal chain segment. When the grasping and releasing device 3 is at the lower end of the vertical chain segment, the four electromagnets 35 are connected to the four... The connecting fixing blocks 25 are aligned one-to-one. When the gripping and releasing device 3 moves along the horizontal chain segment, the seedling tray 2 lifted by the gripping and releasing device 3 moves above the two empty tray storage areas 42. The chain connecting rod 31 is provided with two limiting V-shaped frames 32, which correspond one-to-one with the two rotating rods 33. The limiting V-shaped frames 32 are at right angles, and the rotating rods 33 are located between the right angles of the corresponding limiting V-shaped frames 32. When the gripping and releasing device 3 is on the vertical chain segment, the front side of the limiting V-shaped frame 32 is vertically set and restricts the corresponding rotating rod 33 from flipping forward. When the gripping and releasing device 3 is on the horizontal chain segment, the rear side of the limiting V-shaped frame 32 is vertically set and restricts the corresponding rotating rod 33 from flipping backward.

[0068] The function of the buffer spring is to ensure that the electromagnet 35 is reliably connected to the corresponding connecting and fixing block 25 and to avoid impact damage. The purpose of rotating the rod 33 and the chain connecting rod 31 is to keep the rotating rod 33 vertically downward in both the horizontal and vertical chain sections, so as to facilitate the lifting of the seedling tray 2. The function of the limiting V-shaped frame 32 is to prevent the rotating rod 33 from swinging in both the horizontal and vertical chain sections.

[0069] The recycling drive device 5 also includes a horizontal adjustment sprocket 59. Adjustment frames 510 are provided at the top of both the left and right sides of the empty disc storage area 42. Two adjustment shafts are vertically slidably mounted on the two adjustment frames 510 and fixed by nuts. The two horizontal adjustment sprockets 59 are respectively sleeved on the two adjustment shafts. The two horizontal adjustment sprockets 59 are meshed with the two recycling chains 54.

[0070] By changing the vertical relative position of the adjusting shaft and the adjusting frame 510, the vertical pressing degree of the horizontal adjusting sprocket 59 on the recovery chain 54 can be changed, thereby bringing the recovery chain 54, which is located between the horizontal adjusting sprocket 59 and the recovery idler wheel 55, to a horizontal state, which facilitates the movement of the grabbing and releasing device 3.

[0071] The recycling rack 57 has two first elongated oval holes 511 arranged front to back and two second elongated oval holes 512 arranged vertically. The main frame 4 has two first round holes. The two first elongated oval holes 511 and the two first round holes are connected by bolts. The recycling tension wheel 56 is rotatably mounted on the bolt shaft via a bearing. The bolt shaft passes through the second elongated oval hole 512 and is fixed. The front-to-back position of the recycling rack 57 relative to the main frame 4 can be adjusted through the first elongated oval holes 511, and the installation position of the recycling tension wheel 56 can be adjusted through the second elongated oval holes 512.

[0072] The rope-winding mechanism 6 includes a rope-winding connecting frame 61, a rope-winding shaft 62 rotatably mounted on the rope-winding connecting frame 61, and the rope-winding shaft 62 is axially arranged front and rear. The rope-winding connecting frame 61 is connected to the main frame 4, and the rope-winding drive motor 64 is connected to the rope-winding connecting frame 61. The output shaft of the rope-winding drive motor 64 is connected to the rope-winding shaft 62 through a worm gear reducer. Eight rope-winding wheels 63 are sleeved on the rope-winding shaft 62, and ropes are wound on the rope-winding wheels 63. The lower ends of the ropes on the front four rope-winding wheels 63 are connected to the front ends of the four seedling tray support rods 65 at the top layer, and the lower ends of the ropes on the rear four rope-winding wheels 63 are connected to the rear ends of the four seedling tray support rods 65 at the top layer. The bottom of the main frame 4 forms a support rod stacking area 43, and the seedling tray support rods 65 that are lowered onto the seedling tray pushing device 9 fall into the support rod stacking area 43.

[0073] The seedling tray 2 is lowered by the rope mechanism 6. Compared with the lifting mechanism of the automatic seedling transplanter with publication number CN120130220A, it has a simple structure, light weight, is easy to process, manufacture and install, and has low cost.

[0074] The seedling tray pushing device 9 includes a second drive assembly and four sets of pushing assemblies 94. Two sets of pushing assemblies 94 are installed at the bottom of each of the two seedling storage areas 41. Each pushing assembly 94 includes a pushing drive sprocket 95 and a pushing tension idler wheel 910. The second drive assembly includes a pushing drive shaft 92 rotatably mounted at the rear end of each of the two seedling storage areas 41. A pushing drive motor 91 is fixed to the main frame 4, and the output shaft of the pushing drive motor 91 is connected to the pushing drive shaft 92. Each pushing drive sprocket 95 is sleeved on the pushing drive shaft 92, and the pushing tension idler wheel 910 is rotatably sleeved on the pushing driven shaft 99. Both ends of the pushing driven shaft 99 are connected to the main frame via live bolts 911. The front threaded connection of 4, the push drive sprocket 95 and the corresponding push tension idler 910 are both connected by the push chain 96, the push chain 96 is provided with two push posts 98, the limiting edge 23 of the seedling tray plate is provided with a limiting block 24, the two seedling trays 2 that abut against each other form a middle gap through the limiting block 24, when the seedling tray push device 9 receives a layer of seedling tray 2 lowered by the rope mechanism 6, each push post 98 abuts against the limiting edge 23 of the corresponding seedling tray 2, a support bar 97 is provided between the push drive sprocket 95 and the push tension idler 910, the upper side of the push chain 96 slides on the corresponding support bar 97, and the upper edge of the push chain 96 is the bearing plane.

[0075] The seedling tray is pushed directly by the push chain 96. Compared with the translation mechanism of the automatic seedling picker and transplanter with publication number CN120130220A, it has a simple structure, light weight, is easy to process, manufacture and install, and has low cost.

[0076] Example 2: Figures 1-10 As shown, an intelligent control method for an automatic seedling supply device of a rice transplanter, based on the automatic seedling supply device of a rice transplanter described in Embodiment 1, includes the following steps:

[0077] Step 1: Install a first position sensor 66 on the top of the support rod stacking area 43, so that the probe of the first position sensor 66 is oriented toward the lifting path of several seedling tray support rods 65 on any set of lifting slide groups 44.

[0078] Step 2: A second position sensor 93 is provided at the front of any push component 94;

[0079] Step 3: A third position sensor 79 is set on the flip plate base 73, and a trigger rod 710 is set on the drive arm assembly 74. When the upper follower frame 76 is in the upper position, the trigger rod 710 triggers the third position sensor 79. A fourth position sensor 711 and a fifth position sensor 712 are set at the front end of the upper follower frame 76. The probe of the fourth position sensor 711 is set upward. When the notches 26 of the two seedling trays 2 cooperate with the four limiting posts 720, the seedling trays 2 trigger the fourth position sensor 711. The probe of the fifth position sensor 712 is set forward. When the flip plate mechanism 7 swings forward to the front position, the seedling box 11 triggers the fifth position sensor 712.

[0080] Step 4: Install a sixth position sensor 513 on the top of the recycling rack 57 and a seventh position sensor 514 on the bottom of the recycling rack 57. Make the probe of the seventh position sensor 514 face the lower end of the movement path of the gripping and releasing device 3 on the vertical chain segment, and make the probe of the sixth position sensor 513 face the upper end of the movement path of the gripping and releasing device 3 on the vertical chain segment. Mark the position of the sixth position sensor as the zero point position of the gripping and releasing device 3.

[0081] Step 5: Install an eighth position sensor 516 at the rear end of the empty tray storage area 42 located at the rear side, and install a ninth position sensor 515 at the rear end of the empty tray storage area 42 located at the front side. The heights of the eighth position sensor 516 and the ninth position sensor 515 are set according to the height of the seedling tray 2 when the gripping and releasing device 3 moves along the horizontal chain segment.

[0082] Step 6: Install several pressure sensors on the upper part of the seedling box 11. When there is seedling skin on the upper part of the seedling box 11, the seedling skin triggers several pressure sensors.

[0083] Step 7: Connect the first position sensor 66, the second position sensor 93, the third position sensor 79, the fourth position sensor 711, the fifth position sensor 712, the sixth position sensor 513, the seventh position sensor 514, the eighth position sensor 516, the ninth position sensor 515, several pressure sensors, the first displacement sensor 12, the second displacement sensor 724, the flip-plate drive motor 719, the follow-up motor 717, the recovery drive motor 51, the rope winding drive motor 64, and the push drive motor 91 to the PLC of the rice transplanter central control system respectively.

[0084] Step 8: When the second position sensor 93 does not detect a seedling tray, the PLC controls the winch drive motor 64 to run, causing several seedling tray support rods 65 to descend synchronously. When the first position sensor 66 is triggered by the corresponding seedling tray support rod 65, the winch drive motor 64 is turned off.

[0085] Step 9: When the trigger lever 710 triggers the third position sensor 79 and the fourth position sensor 711 is not triggered, and the seedling tray 2 triggers the second position sensor 93, the PLC controls the push drive motor 91 to run, pushing the four seedling trays 2 that fall on the four push components 94 to move forward synchronously.

[0086] Step 10: When the two seedling trays 2 on the front side slide onto the upper follower frame 76 and trigger the fourth position sensor 711, the PLC controls the push drive motor 91 to stop and simultaneously controls the flip drive motor 719 to run, causing the upper follower frame 76 to swing forward.

[0087] Step 11: When the upper follower frame 76 swings to the front position, the seedling box 11 triggers the fifth position sensor 712. The upper follower frame 76 remains tilted for three seconds, and the seedling tray on the seedling skin tray 2 is unloaded onto the seedling box 11 to complete the replenishment of the seedling skin.

[0088] Step 12: The PLC controls the flip-plate drive motor 719 to rotate in the opposite direction. When the upper follower frame 76 swings to the upper position, the trigger rod 710 triggers the third position sensor 79 again, the flip-plate drive motor 719 stops, and the retraction drive motor 51 runs at the same time.

[0089] Step 13: The recovery drive motor 51 first drives the gripping and releasing device 3 to descend from the zero point position to the bottom of the vertical chain segment. The gripping and releasing device 3 triggers the seventh position sensor 514 and shuts down the recovery drive motor 51. The four electromagnets 35 are energized and attract the connecting fixing blocks 25 corresponding to the two seedling trays 2 on the flipping mechanism 7. The recovery drive motor 51 then rotates in the opposite direction and drives the gripping and releasing device 3 to move along the vertical chain segment and the horizontal chain segment in sequence. When the seedling tray 2 triggers the eighth position sensor 516 or the ninth position sensor 515, the four electromagnets 35 are simultaneously de-energized, and the two empty seedling trays 2 fall into the empty tray storage area 42, completing the recovery of the empty seedling trays 2.

[0090] Step Fourteen: Repeat steps one through thirteen until all seedling skin replenishment and empty seedling skin trays 2 are completed. When the empty tray recycling device recycles empty seedling skin trays 2 multiple times, in step thirteen, the empty seedling skin tray 2 alternately triggers the first position sensor 66 and the second position sensor 93. When the seedling skin tray 2 triggers the eighth position sensor 516, the seedling skin tray 2 is placed in the empty tray storage area 42 located at the rear. When the seedling skin tray 2 triggers the ninth position sensor 515, the seedling skin tray 2 is placed in the empty tray storage area 42 located at the front.

[0091] Several seedling trays are arranged on each seedling tray 2. The rope mechanism 6 is responsible for placing the seedling trays 2 on the seedling tray support rods 65 one by one onto the seedling tray pushing device 9. The seedling tray pushing device 9 is responsible for pushing the seedling trays 2 onto the flip-plate follow-up frame 76. The flip-plate mechanism 7 is responsible for unloading the seedling trays 2 onto the seedling box 11 to realize the seedling placement operation. The empty tray recycling device is responsible for recycling the empty seedling trays and placing them in the empty tray storage area 42. This invention can realize a complete process of unmanned automatic seedling retrieval. The whole machine is lightweight, the load on each mechanism is small, the operation is stable and reliable, and the degree of automation and intelligence is high. Through the cooperation of various sensors and PLC, execution actions can be issued for each process. The seedling trays can be replenished and the seedling trays 2 can be recycled automatically during the movement of the rice transplanter, without the need for any operation by the driver. The degree of automation and intelligence is high.

[0092] The above embodiments are merely illustrative examples of the present invention and do not limit its scope of protection. Those skilled in the art can make partial changes to them, as long as they do not exceed the spirit and essence of the present invention, they are all within the scope of protection of the present invention.

Claims

1. An automatic seedling feeding device for a rice transplanter, characterized in that: The system includes a vehicle body (1), a fixed support frame (8) fixed to the vehicle body (1), a main frame (4) on the fixed support frame (8), a rope mechanism (6) on one side of the main frame (4), the main frame (4) forming two seedling storage areas (41) on the left and right, each seedling storage area (41) having a lifting slide group (44) on both the left and right sides, each lifting slide group (44) having several seedling tray support rods (65) slidably mounted on each lifting slide group (44), and the four lifting slide groups (44) on Several seedling tray support rods (65) are of equal height. Two seedling tray support rods (65) of equal height in the same seedling storage area (41) are a pair. Two seedling trays (2) are set on each pair of seedling tray support rods (65). Two pairs of seedling tray support rods (65) of equal height in two seedling storage areas (41) are a layer. Several layers of seedling tray support rods (65) are connected in sequence from top to bottom by flexible ropes. The rope mechanism (6) pulls the uppermost seedling tray support rod (65) up and down. The front side of the fixed support frame (8) is provided with a flip plate mechanism (7). The flip plate mechanism (7) includes a flip plate base (73). The upper end face of the upper follower frame (76) is hinged with seedling tray centering plates (718) on the left and right sides respectively. The seedling tray centering plates (718) are connected to the upper follower frame (76) through return springs. The two return springs push the front end of the two seedling tray centering plates (718) closer and the rear end away respectively. The upper follower frame (76) swings back and forth between the upper and front positions of the flip plate base (73). When the upper follower frame (76) is in the upper position, it is horizontal. The bottom of the two seedling storage areas (41) is provided with a seedling tray pushing device (9). The seedling tray pushing device (9) is used to receive the seedling tray (2) lowered by the rope mechanism (6) and push it onto the upper follower frame (76). When the seedling tray pushing device (9) pushes the two seedling trays (2) onto the upper follower frame (76) at the same time, the two seedling tray centering plate (718) squeezes the two seedling trays (2) together in the center. When the upper follower frame (76) swings to the front position, it is tilted. The seedlings on the seedling trays (2) are unloaded onto the seedling box (11) in front of the vehicle body (1).

2. The automatic seedling feeding device for a rice transplanter according to claim 1, characterized in that: An idler shaft (715) is rotatably mounted on the front of the flip-plate base (73), and a flip-plate rotation drive shaft (716) is rotatably mounted on the rear of the flip-plate base (73). A flip-plate drive motor (719) is fixed on the flip-plate base (73), and the output shaft of the flip-plate drive motor (719) is connected to the flip-plate rotation drive shaft (716). The lower end of the drive arm assembly (74) is connected to the flip-plate rotation drive shaft (716), and the upper end of the drive arm assembly (74) is connected to the first The optical axis (714) is hinged, and the lower end of the boom assembly (75) is hinged to the idler shaft (715). The upper end of the boom assembly (75) is hinged to the second optical axis (713). The first optical axis (714) and the second optical axis (713) are hinged together through the optical axis connecting rod assembly (723). A follower screw (722) is rotatably mounted on the optical axis connecting rod assembly (723). A follower motor (717) is fixed on the optical axis connecting rod assembly (723). The output shaft of 717 is connected to the follower screw (722). The follower screw (722) is threaded with a screw nut (721). The first optical axis (714), the second optical axis (713), the idler shaft (715), the flip plate rotation drive shaft (716) and the follower screw (722) are all axially arranged to the left and right. The upper follower frame (76) is slidably engaged with the first optical axis (714) and the second optical axis (713) through sliding bearings and is connected to the screw nut (721). A second displacement sensor (724) is provided between the optical axis connecting rod group (723) and the upper follower frame (76). A first displacement sensor (12) is provided on the back of the seedling box (11). The first displacement sensor (12) identifies the real-time position of the left and right lateral movement of the seedling box (11). The second displacement sensor (724) controls the running state of the follower motor (717) so that the upper follower frame (76) moves synchronously with the seedling box (11).

3. The automatic seedling feeding device for a rice transplanter according to claim 2, characterized in that: It also includes a vertical adjustment connecting frame (71), which is suspended on the top of the fixed support frame (8) by several long screws (77) and fastening nuts. The rear side of the flip plate base (73) is provided with several horizontal adjustment support rods (72) arranged in front and behind. The several horizontal adjustment support rods (72) are fixed on the vertical adjustment connecting frame (71) by pipe clamps (78).

4. The automatic seedling feeding device for a rice transplanter according to claim 3, characterized in that: The seedling tray (2) includes a tray panel. The left and right sides and the rear side of the tray panel are provided with limiting edges (23). The tray panel is provided with two dividing strips (22). The two dividing strips (22) divide the tray panel into three storage units (21) for placing seedlings. The front end of the dividing strips (22) is provided with a notch (26). The front end of the upper follower frame (76) is provided with four limiting posts (720). The two limiting posts (720) on the left side correspond to the two notches (26) of the seedling tray (2) pushed on the left side and limit them. The two limiting posts (720) on the right side correspond to the two notches (26) of the seedling tray (2) pushed on the right side and limit them.

5. The automatic seedling supply device for a rice transplanter according to claim 4, characterized in that: It also includes an empty tray recycling device. The top of the main frame (4) forms two empty tray storage areas (42) at the front and back. The empty tray storage area (42) is located above the two seedling storage areas (41). A connecting fixing block (25) is provided on the separator (22). The connecting fixing block (25) is a magnetic material component. The empty tray recycling device includes a recycling drive device (5) and a gripping and releasing device (3). The recycling drive device (5) includes a first drive assembly and a first transmission assembly. The first transmission assembly is provided on both the left and right sides of the main frame (4). The first drive assembly includes a recycling drive shaft (52) rotatably set at the top of the rear end of the main frame (4). The recycling drive motor (51) is fixed on the main frame (4) through a worm gear reducer. The output shaft of the recycling drive motor (51) is connected to the recycling drive shaft (52) through the transmission shaft of the worm gear reducer. The first transmission assembly includes a recycling frame (57), a recycling chain (54), and a recycling drive sprocket (53). The system includes a recovery driven sprocket (58), a recovery idler wheel (55), and a recovery tension wheel (56). The recovery frame (57) is located at the front end of the main frame (4). The recovery drive sprockets (53) of the two first transmission components are respectively sleeved on the left and right ends of the recovery drive shaft (52). The lower front end of the recovery frame (57) is provided with a recovery driven sprocket (58), and the upper front end of the recovery frame (57) is provided with a recovery idler wheel (55). The recovery drive sprocket (53) and the corresponding recovery driven sprocket... The wheel (58) and the recycling idler wheel (55) are connected by the recycling chain (54). The upper rear part of the recycling frame (57) is provided with a recycling tension wheel (56). The recycling tension wheel (56) meshes with the recycling chain (54). The recycling chain (54) forms a horizontal chain segment between the corresponding recycling drive sprocket (53) and the recycling idler wheel (55). The recycling chain (54) forms a vertical chain segment between the corresponding recycling driven sprocket (58) and the recycling idler wheel (55). The grasping and releasing device (3) includes a chain connecting rod (31). The left and right ends of the chain connecting rod (31) are respectively connected to two recycling chains (54) through chain joints. The upper ends of two rotating rods (33) are rotatably connected to the chain connecting rod (31). The two rotating rods (33) are connected through a synchronizing rod (36). The lower ends of the rotating rods (33) are connected to the middle of the magnet fixing rod (34). Electromagnets (35) are vertically slidably provided on the left and right ends of the lower side of the magnet fixing rod (34). A buffer spring is provided between the electromagnets (35) and the magnet fixing rod (34). The grasping and releasing device (3) moves along the vertical chain segment and the horizontal chain segment. When the grasping and releasing device (3) is at the lower end of the vertical chain segment, the four electromagnets (35) are connected to the four seedling trays (2) on the flipping mechanism (7). Each connecting and fixing block (25) is in a one-to-one correspondence with the other. When the grasping and releasing device (3) moves along the horizontal chain segment, the seedling tray (2) lifted by the grasping and releasing device (3) moves above the two empty tray storage areas (42). The chain connecting rod (31) is provided with two limiting V-shaped frames (32). The two limiting V-shaped frames (32) correspond one-to-one with the two rotating rods (33). The limiting V-shaped frames (32) are at right angles. The rotating rods (33) are located between the right angles of the corresponding limiting V-shaped frames (32). When the grasping and releasing device (3) is on the vertical chain segment, the front side of the limiting V-shaped frame (32) is set vertically and restricts the corresponding rotating rod (33) from flipping forward. When the grasping and releasing device (3) is on the horizontal chain segment, the rear side of the limiting V-shaped frame (32) is set vertically and restricts the corresponding rotating rod (33) from flipping backward.

6. The automatic seedling feeding device for a rice transplanter according to claim 5, characterized in that: The recycling drive device (5) also includes a horizontal adjustment sprocket (59). Adjustment frames (510) are provided at the top of the left and right sides of the empty disc storage area (42). Two adjustment shafts are vertically slidably mounted on the two adjustment frames (510) and fixed by nuts. The two horizontal adjustment sprockets (59) are respectively sleeved on the two adjustment shafts. The two horizontal adjustment sprockets (59) are meshed with the two recycling chains (54).

7. The automatic seedling feeding device for a rice transplanter according to claim 6, characterized in that: The recycling rack (57) is provided with two first elongated holes (511) arranged in front and behind and a second elongated hole (512) arranged in the top and bottom. The main frame (4) is provided with two first round holes. The two first elongated holes (511) and the two first round holes are connected by bolts. The recycling tension wheel (56) is rotatably mounted on the bolt shaft through a bearing. The bolt shaft passes through the second elongated hole (512) and is fixed.

8. The automatic seedling feeding device for a rice transplanter according to claim 7, characterized in that: The rope winding mechanism (6) includes a rope connecting frame (61), a rope shaft (62) rotatably mounted on the rope connecting frame (61), the rope shaft (62) being axially arranged front and rear, the rope connecting frame (61) being connected to the main frame (4), a rope drive motor (64) being connected to the rope connecting frame (61), the output shaft of the rope drive motor (64) being connected to the rope shaft (62) via a worm gear reducer, and eight rope wheels (63) being sleeved on the rope shaft (62). (63) is wrapped with ropes. The lower ends of the ropes on the four front rope wheels (63) are connected to the front ends of the four seedling tray support rods (65) at the top layer. The lower ends of the ropes on the four rear rope wheels (63) are connected to the rear ends of the four seedling tray support rods (65) at the top layer. The bottom of the main frame (4) forms a support rod stacking area (43). The seedling tray (2) is lowered onto the seedling tray pushing device (9) and the seedling tray support rod (65) falls into the support rod stacking area (43).

9. An automatic seedling feeding device for a rice transplanter according to claim 8, characterized in that: The seedling tray pushing device (9) includes a second drive assembly and four sets of pushing assemblies (94). Two sets of pushing assemblies (94) are provided at the bottom of each of the two seedling storage areas (41). Each pushing assembly (94) includes a pushing drive sprocket (95) and a pushing tension idler wheel (910). The second drive assembly includes a pushing drive shaft (92) rotatably disposed at the rear end of each of the two seedling storage areas (41). The pushing drive motor (91) is fixed on the main frame (4). The output shaft of the pushing drive motor (91) is connected to the pushing drive shaft (92). Each pushing drive sprocket (95) is sleeved on the pushing drive shaft (92). The pushing tension idler wheel (910) is rotatably sleeved on the pushing driven shaft (99). Both ends of the pushing driven shaft (99) are connected to the main frame (4) via live bolts (911). The front end of the push chain is threaded, and the push drive sprocket (95) and the corresponding push tension idler wheel (910) are connected by the push chain (96). The push chain (96) is provided with two push posts (98). The limit edge (23) of the plate panel is provided with a limit block (24). The two seedling trays (2) that abut against each other form a gap in the middle through the limit block (24). When the seedling tray push device (9) receives a layer of seedling trays (2) lowered by the rope mechanism (6), each push post (98) abuts against the limit edge (23) of the corresponding seedling tray (2). A support bar (97) is provided between the push drive sprocket (95) and the push tension idler wheel (910). The upper side of the push chain (96) slides on the corresponding support bar (97). The upper edge of the push chain (96) is a bearing plane.

10. An intelligent control method for an automatic seedling supply device of a rice transplanter, based on the automatic seedling supply device of a rice transplanter as described in claim 9, characterized in that, Includes the following steps: Step 1: Set a first position sensor (66) on the top of the support rod stacking area (43) so that the probe of the first position sensor (66) is oriented toward the lifting path of several seedling tray support rods (65) on any set of lifting slide groups (44); Step 2: A second position sensor (93) is provided at the front of any push component (94); Step 3: Set a third position sensor (79) on the flip plate base (73) and a trigger rod (710) on the drive arm assembly (74). When the upper follower frame (76) is in the upper position, the trigger rod (710) triggers the third position sensor (79). Set a fourth position sensor (711) and a fifth position sensor (712) at the front end of the upper follower frame (76). The probe of the fourth position sensor (711) is set upward. When the notch (26) of the two seedling trays (2) cooperates with the four limiting posts (720), the seedling tray (2) triggers the fourth position sensor (711). The probe of the fifth position sensor (712) is set forward. When the flip plate mechanism (7) swings forward to the aforementioned front position, the seedling box (11) triggers the fifth position sensor (712). Step 4: Set a sixth position sensor (513) on the top of the recycling rack (57) and a seventh position sensor (514) on the bottom of the recycling rack (57). Make the probe of the seventh position sensor (514) face the lower end of the moving path of the gripping and releasing device (3) on the vertical chain segment, and make the probe of the sixth position sensor (513) face the upper end of the moving path of the gripping and releasing device (3) on the vertical chain segment. Mark the position of the sixth position sensor as the zero point position of the gripping and releasing device (3). Step 5: Set an eighth position sensor (516) at the rear end of the empty tray storage area (42) located on the rear side, and set a ninth position sensor (515) at the rear end of the empty tray storage area (42) located on the front side. The heights of the eighth position sensor (516) and the ninth position sensor (515) are set according to the height of the seedling tray (2) when the gripping and releasing device (3) suctions the seedling tray (2) and moves along the horizontal chain segment. Step 6: Install several pressure sensors on the upper part of the seedling box (11). When there is seedling skin on the upper part of the seedling box (11), the seedling skin triggers several pressure sensors. Step 7: Connect the first position sensor (66), the second position sensor (93), the third position sensor (79), the fourth position sensor (711), the fifth position sensor (712), the sixth position sensor (513), the seventh position sensor (514), the eighth position sensor (516), the ninth position sensor (515), several pressure sensors, the first displacement sensor (12), the second displacement sensor (724), the flip-plate drive motor (719), the follow-up motor (717), the recovery drive motor (51), the rope drive motor (64), and the push drive motor (91) to the PLC of the rice transplanter central control system respectively; Step 8: When the second position sensor (93) does not recognize the seedling tray, the PLC controls the twisted rope drive motor (64) to run, so that several seedling tray support rods (65) descend synchronously. When the first position sensor (66) is triggered by the corresponding seedling tray support rod (65), the twisted rope drive motor (64) is turned off. Step 9: When the trigger lever (710) triggers the third position sensor (79) and the fourth position sensor (711) is not triggered, and the seedling tray (2) triggers the second position sensor (93), the PLC controls the push drive motor (91) to run, pushing the four seedling trays (2) that fall on the four push components (94) to move forward synchronously. Step 10: When the two seedling trays (2) on the front side slide onto the upper follower frame (76) and trigger the fourth position sensor (711), the PLC controls the push drive motor (91) to stop and controls the flip drive motor (719) to run, so that the upper follower frame (76) swings forward. Step 11: When the upper follower frame (76) swings to the front position, the seedling box (11) triggers the fifth position sensor (712). The upper follower frame (76) remains tilted for three seconds, and the seedling tray on the seedling skin tray (2) is unloaded onto the seedling box (11) to complete the replenishment of the seedling skin. Step 12: The PLC controls the flip-board drive motor (719) to rotate in the opposite direction, so that when the upper follower frame (76) swings to the upper position, the trigger rod (710) triggers the third position sensor (79) again, the flip-board drive motor (719) stops, and the retraction drive motor (51) runs at the same time. Step 13: The recovery drive motor (51) first drives the grabbing and releasing device (3) to descend from the zero point position to the bottom of the vertical chain segment. The grabbing and releasing device (3) triggers the seventh position sensor (514) and shuts down the recovery drive motor (51). The four electromagnets (35) are energized and attract the corresponding connecting fixing blocks (25) of the two seedling trays (2) on the flip plate mechanism (7). The recovery drive motor (51) then rotates in the opposite direction and drives the grabbing and releasing device (3) to move along the vertical chain segment and the horizontal chain segment in sequence. When the seedling tray (2) triggers the eighth position sensor (516) or the ninth position sensor (515), the four electromagnets (35) are simultaneously de-energized, and the two empty seedling trays (2) fall into the empty tray storage area (42), completing the recovery of the empty seedling trays (2). Step 14: Repeat steps 1 to 13 until all seedling skin replenishment and empty seedling skin trays (2) are completed. When the empty tray recycling device recycles empty seedling skin trays (2) multiple times, in step 13, the empty seedling skin trays (2) alternately trigger the first position sensor (66) and the second position sensor (93). When the seedling skin tray (2) triggers the eighth position sensor (516), the seedling skin tray (2) is placed in the empty tray storage area (42) located on the rear side. When the seedling skin tray (2) triggers the ninth position sensor (515), the seedling skin tray (2) is placed in the empty tray storage area (42) located on the front side.

Images