Multi-station high-speed rotary seedling taking and planting device

Abstract

A multi-station high-speed rotating seedling picking and placing device includes a frame, a rotating mechanism, a seedling claw mechanism, and a shock absorption mechanism. The rotating mechanism includes a multi-station switching component, a radial sliding component, and a rotating transmission component. The multi-station switching component includes a support disc fixed on the frame, a disc shaft installed in the shaft hole of the support disc, and a disc fixed at one end of the disc shaft. At least one seedling picking station and at least one seedling placing station are arranged around the outer side of the disc. This multi-station high-speed rotating seedling picking and placing device achieves parallel and synchronous operation of seedling picking and placing by continuously rotating multiple seedling claw mechanisms in a circumferential array, significantly shortening the single-plant operation cycle and reducing idle travel. The seedling claw mechanism can penetrate the seedling substrate and apply a stable and adjustable clamping force, effectively avoiding seedling damage, missed picking, and placement failure, thereby significantly improving the seedling picking operation speed while ensuring and improving the seedling picking success rate.

Description

Technical Field

[0001] This invention relates to the field of agricultural transplanting machinery technology, specifically a multi-station high-speed rotating seedling picking and placing device. Background Technology

[0002] Seedling transplanting is a common agricultural practice that effectively avoids natural factors such as low temperatures and frost, reduces pests and diseases, and significantly improves crop survival rate and quality. Automated seedling loading and unloading technology is a key technology in the transplanting of tray seedlings. Currently, mechanical transplanting in my country is mostly in a semi-automated stage, relying on manual seedling loading and unloading, which is inefficient and labor-intensive, making it difficult to meet the needs of large-scale crop cultivation.

[0003] The existing fully automatic seedling picking mechanisms generally have the following problems: (1) In terms of efficiency, they mostly use truss transmission and have insufficient motion trajectory optimization, resulting in long single seedling picking cycles and many idle strokes, which seriously restricts the overall speed of transplanting operations; (2) In the process of high-speed rotation, traditional mechanisms cause vibration problems due to insufficient dynamic balance and poor rigidity of rotating parts, which seriously restricts the overall speed of transplanting operations; (3) In terms of seedling picking success rate, vibration under high-speed conditions will cause positioning accuracy drift (seedling needle deviates from the hole position of the seedling tray) and clamping mechanism shaking (clamping force fluctuation), which is very easy to cause problems such as seedling substrate breakage and missed planting; (4) During the operation, the residual substrate attached to the seedling needle not only significantly reduces the needle-seedling friction coefficient, causing the potted seedling to slip off after clamping (placement failure), but the pathogens it carries may also cause cross-infection of healthy seedlings. These problems make the existing technology have a low seedling picking success rate and a high potted seedling damage rate in practical applications, making it difficult to balance high speed, high stability and low damage seedling picking. Summary of the Invention

[0004] The purpose of this invention is to propose a multi-station high-speed rotating seedling picking and placing device. Through the continuous rotation of multiple seedling claw mechanisms in a circumferential array, the device achieves parallel and synchronous operation of picking and placing seedlings, which significantly shortens the single-plant operation cycle and reduces idle travel. The seedling claw mechanism can penetrate the seedling substrate and apply a stable and adjustable clamping force, which effectively avoids seedling damage, missed picking, and placement failure. Thus, while significantly improving the seedling picking operation speed, it also ensures and improves the seedling picking success rate.

[0005] The technical solution adopted in this invention is: a multi-station high-speed rotating seedling receiving and dispensing device, comprising a frame, a rotating mechanism, a seedling claw mechanism, and a shock absorption mechanism. The rotating mechanism includes a multi-station switching component, a radial sliding component, and a rotary transmission component; The multi-station switching component includes a support disc fixed on the frame, a disc shaft installed in the shaft hole of the support disc, and a disc fixed at one end of the disc shaft; at least one seedling picking station and at least one seedling dispensing station are arranged on the outer side of the disc along its circumference. Radial sliding components are arrayed along the circumference on the side of the disk, and multiple seedling claw mechanisms for picking up or placing seedlings are fixed on the outer movable end of each radial sliding mechanism. The rotary transmission component includes a gear shaft that is coaxially rotatably nested in the hollow cavity of the disc shaft, and a gear transmission assembly for driving the radial sliding component to reciprocate is installed at one end of the gear shaft. The driving component connects the ends of the disc shaft and the gear shaft and can drive both to rotate independently; The shock absorption mechanism is fixed on the support disc, and the seedling claw mechanism is used to perform friction braking on the disc when the seedling picking station or seedling placement station stops rotating.

[0006] As a preferred embodiment, the radial sliding member includes a pair of linear bearing seats fixed on the disk. A slidable guide rod is provided in the shaft hole of the linear bearing seat. One end of the two guide rods in the same pair of linear bearing seats is fixedly connected by a connecting plate, and the other end of the two guide rods in the same pair of linear bearing seats is fixedly connected by a claw seat plate. The claw mechanism is fixed on the claw seat plate.

[0007] As a preferred embodiment, multiple seedling claw mechanisms are distributed along the axial direction of the disc shaft at the outer movable end of the radial sliding mechanism.

[0008] As a preferred embodiment, the gear transmission assembly includes a gear fixed to the end of the gear shaft, and a rack fixed on one of the guide rods of each radial sliding member along its sliding direction, with the gear meshing with all the racks.

[0009] As a preferred embodiment, rollers are provided on the side of the disk in pairs with the guide rod, and the guide rod is constrained between the rollers and the gear.

[0010] As a preferred embodiment, the seedling claw mechanism includes a seedling claw mounting plate fixed to the radial sliding mechanism and a linear drive mechanism. The seedling claw mounting plate has two sets of seedling needle holes, each set containing a slidable seedling-taking needle. Each set of seedling-taking needles has a first end and a second end. The first ends of both sets of seedling-taking needles are hinged to the movable actuator of the linear drive mechanism. The distance between the two first ends of the two sets of seedling-taking needles is greater than the distance between the two sets of seedling needle holes. The two second ends of the two sets of seedling-taking needles can be rotated open or closed under the drive of the linear drive mechanism. The seedling claw mechanism can adjust the extension length of the small electric push rod in real time according to the growth status of the seedlings in the seedling trays to control the clamping force, improving the success rate and reducing damage to the seedlings.

[0011] As a preferred embodiment, the seedling claw mounting plate is equipped with a seedling needle cleaning mechanism for cleaning the seedling needle.

[0012] As a preferred embodiment, the seedling needle cleaning mechanism includes an elastic element, a brush plate, and a vibrating element; one end of the elastic element is connected to the seedling claw mounting plate, and the other end of the elastic element is connected to the brush plate. The brush plate has a brush hole in the middle for the seedling needle to pass through in contact, and a vibrating element is installed on the brush plate to drive the brush plate to vibrate.

[0013] As a preferred embodiment, the support disc is equipped with a disc shaft bearing with a diamond-shaped seat for the disc shaft to pass through, and a shaft stop is provided on the side of the disc shaft bearing away from the support disc; a distributor is fixed to one side of the disc by a distributor support rod, and a spring is sleeved on the disc shaft between the distributor and the shaft stop. The spring reduces the axial movement of the disc.

[0014] As a preferred embodiment, the shock absorption mechanism includes a buffer mounting shaft fixed to the support disc, a ring plate that can rub against the disc is slidably sleeved in the middle of the buffer mounting shaft, and a miniature electric cylinder that drives the ring plate to slide is fixed on the buffer mounting shaft. The shock absorption mechanism eliminates the rotational vibration of the claw mechanism, improving stability.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. By having multiple seedling picking execution units arranged in a circular array rotate continuously at high speed with the turntable, the seedling picking and placing are fully parallelized and synchronized; multiple workstations work at different stages at the same time, eliminating the waiting time and idle stroke of the traditional truss seedling picking mechanism. Multiple seedlings can be transplanted in a single rotation, which significantly improves the working speed and meets the needs of high-speed transplanting production.

[0016] 2. The rotary design integrates the seedling picking and placing functions into a continuous and smooth circular motion trajectory. Compared with the traditional mechanism of multi-axis linear reciprocating motion, the structure is more compact, the motion trajectory is simpler and more efficient, the mechanical complexity is reduced, and the system rigidity and reliability are improved.

[0017] 3. The optimized rotating mechanism design ensures that the device operates smoothly and with low vibration under high-speed continuous rotation conditions. This enables high-precision positioning and reliable clamping at high speeds, resolving the contradiction of traditional mechanisms being forced to reduce speed to maintain stability, and achieving a balance between high speed and high stability.

[0018] 4. A friction reduction mechanism is set up, which achieves radial braking by driving a linear cylinder, saving space. Both sides of the disc are equipped with shock absorption mechanisms. The stability of the device during operation is ensured by centering, clamping and friction. The shock absorption effect is obvious compared with the transmission point brake.

[0019] 5. A concentric nested shaft structure is set up, with the inner gear shaft driving the opening and closing of the claw mechanism, and the disc shaft driving the overall rotation. The dual-axis collinear design saves radial space, while balancing the radial load and suppressing high-speed rotational vibration.

[0020] 6. After the seedling collection and placement operation is completed, some substrate adheres to the seedling needles, which reduces the needle-seedling friction coefficient, causing the seedlings to slip off the pot. Furthermore, substrate carrying pathogens may spread to healthy seedlings. The seedling needle cleaning mechanism is designed to convert rotational motion into high-frequency micro-vibration of the brush plate through the dynamic coupling of an eccentric block and a spring, achieving a combined scraping and vibration cleaning of the substrate adhering to the seedling needles. Compared with traditional cleaning mechanisms that rely on pure rotational scraping, this design improves the operation efficiency through an eccentric-elastic coupling vibration mode. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is an overall isometric view of the present invention from one angle; Figure 2 This is an overall axonometric view of the present invention from another angle; Figure 3 This is an isometric view of the frame in this invention; Figure 4 This is a schematic diagram of the rotating mechanism of the present invention at an angle. Figure 5 This is a side view of the rotating mechanism in this invention at another angle; Figure 6 This is a schematic diagram showing the position of the buffer mounting shaft on the rotating mechanism of the present invention; Figure 7 This is a schematic diagram of the assembly of the disc shaft and the gear shaft in this invention; Figure 8 This is an axonometric schematic diagram of the seedling claw mechanism in this invention; Figure 9 This is a side view of the shock absorption mechanism in this invention; Figure 10 This is an isometric view of the needle cleaning mechanism in this invention; Figure 11 This is a schematic diagram of the present invention under the condition of seedling collection and placement; Figure 12 This is a schematic diagram of the timing control of the present invention.

[0023] Reference numerals: 1. Frame; 101. Right side plate; 102. Motor mounting plate; 103. Fixed shaft; 104. Aluminum profile; 105. Left side plate; 2. Rotating mechanism; 201. Disc shaft motor; 202. Drive sprocket; 203. Tensioner fixed shaft; 204. Tensioner bearing with seat; 205. Tensioner; 206. Gear shaft motor; 207. Coupling; 208. Driven sprocket; 209. Chain; 210. Support rod; 211. Disc shaft; 212. Support disc; 213. Spring; 214. Divider; 215. Divider support rod; 216. Guide rod; 217. Buffer mounting shaft; 218. Linear bearing seat; 219. Gear shaft bearing with diamond seat; 220. Disc. 221. Shaft with rhomboid bearing seat; 222. Shaft stop; 223. Roller; 224. Connecting plate; 225. Seedling claw seat plate; 226. Rack; 227. Disc; 228. Gear; 229. Gear shaft; 3. Seedling claw mechanism; 301. Small electric actuator; 302. Fixed connecting rod; 303. Linear bearing; 304. Hinge block; 305. Hinge plate; 306. Hinge column; 307. Seedling needle; 308. Seedling claw mounting plate; 4. Shock absorption mechanism; 401. Miniature electric cylinder; 402. Electric cylinder mounting base; 403. Ring plate; 5. Seedling needle cleaning mechanism; 501. Brush plate; 502. Spring column; 503. Connecting spring; 504. Eccentric block; 505. Rotating block; 506. Rotating shaft; 507. Cleaning motor. Detailed Implementation

[0024] The present invention will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0025] It should be noted that, unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "a," "an," or "the," etc., used in the specification and claims of this patent application do not express a limitation on quantity, but rather indicate the presence of at least one; the terms "first," "second," and "third," as used herein, should not be considered as a limitation on the order of components, but are merely for distinguishing different components; the terms "comprising," "including," etc., indicate that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, but do not exclude other elements or objects having the same function.

[0026] To more clearly describe the specific structural composition of this multi-station high-speed rotating seedling receiving and dispensing device, in conjunction with the attached... Figure 1-12 This embodiment is described as follows: like Figure 1-11As shown, a multi-station high-speed rotating seedling picking and placing device includes a frame 1, a rotating mechanism 2, a seedling claw mechanism 3, and a shock absorption mechanism 4: wherein the rotating mechanism 2 includes a multi-station switching component, a radial sliding component, and a rotating transmission component; The multi-station switching component includes a support disc 212 fixed on the frame 1, a disc shaft 211 installed in the shaft hole of the support disc 212, and a disc 226 fixed at one end of the disc shaft 211; at least one seedling picking station and at least one seedling dispensing station are arranged around the disc 226 on its outer side. Radial sliding components are arrayed along the circumferential direction on the side of the disk 226. Each radial sliding mechanism has multiple seedling claw mechanisms 3 fixed on its outer movable end for picking up or placing seedlings. The disk 226 drives the radial sliding components and seedling claw mechanisms 3 to rotate, so that each seedling claw mechanism 3 can rotate to switch between the seedling picking position and the seedling placing position. The seedlings are picked up at the seedling picking position and placed at the seedling placing position. The rotary transmission component includes a gear shaft 228 coaxially nested within the hollow cavity of the disc shaft 211. A bearing is fitted between the disc shaft 211 and the gear shaft 228 to reduce frictional interference between them. One end of the gear shaft 228 is equipped with a gear transmission assembly for driving the radial sliding component to reciprocate. At the seedling picking station, the outer movable end of the radial sliding component first moves in the centrifugal direction, bringing the seedling claw mechanism 3 close to the seedling. After the seedling claw mechanism 3 grabs the seedling, the outer movable end then moves in the centripetal direction, lifting the seedling until it moves to the seedling placement station. The radial sliding component is moved by gear transmission, which is simple in structure and allows for easy control of the running distance. The drive component connects the ends of the disc shaft 211 and the gear shaft 228, and can drive both to rotate independently; The shock absorption mechanism 4 is fixed on the support disc 212. The seedling claw mechanism 3 is used to perform friction braking on the disc 226 when the seedling picking or seedling placing station stops rotating, to suppress the vibration of the disc 226 caused by inertia and sudden stop, to ensure the stability and accuracy of the seedlings in the picking process, and to reduce the chance of damage to the seedlings.

[0027] See Figure 1-4 In one specific embodiment, the frame 1 includes a horizontally opposed right side plate 101 and a left side plate 105. An aluminum profile 104 is provided below both the right side plate 101 and the left side plate 105 as a support. The motor mounting plate 102 is fixed to the right side plate 101 by a connecting shaft 103. There are two support discs 212, which are fixed to the right side plate 101 or the left side plate 105 on the corresponding side by support rods 210 respectively. The disc 226 is located between the two support discs 212. One of the support discs 212 is equipped with a disc shaft bearing 220 through which the disc shaft 211 passes. The other support disc 212 is equipped with a gear shaft bearing 219. After the gear shaft 228 passes through the disc shaft 211, its other end extends into the gear shaft bearing 219. A shaft stop 221 is provided on the side of the disc shaft bearing 220 away from the support disc 212. A splitter 214 is fixed on one side of the disc 226 by a splitter support rod 215. A spring 213 is sleeved on the disc shaft 211 between the splitter 214 and the shaft stop 221. The spring 213 suppresses the axial movement of the disc 226 on the disc shaft 211 and improves stability. The concentric nested shaft configuration of the disc shaft 211 and gear shaft 228 enables a transmission scheme that allows for two independent rotational movements on the same axis; it can effectively save radial space and balance radial loads, reducing vibrations caused by inertia during rotation.

[0028] See Figure 4 In one specific embodiment, the driving component includes a first driving mechanism for driving the disc shaft 211 and a second driving mechanism for driving the gear shaft 228. For example, the first drive mechanism includes a disc shaft motor 201, which is fixed in a slot at the bottom of the motor mounting plate 102. A drive sprocket 202 is sleeved on the output shaft of the disc shaft motor 201. A driven sprocket 208 is sleeved on the disc shaft 211. A tension wheel bearing 204 is also installed on the motor mounting plate 102. A tension wheel fixing shaft 203 is installed inside the tension wheel bearing 204. A tension wheel 205 is connected to the tension wheel fixing shaft 203. The drive sprocket 202 and the driven sprocket 208 are driven by a chain 209. The tension wheel 205 contacts the chain 209, keeping the chain 209 in a taut state. The second drive mechanism includes a gear shaft motor 206 fixed on the surface of the motor mounting plate 102, and the output shaft of the gear shaft motor 206 is directly connected to the end of the gear shaft 228 through a coupling 207.

[0029] See Figure 4 and Figure 5 In one specific embodiment, the radial sliding member includes a pair of linear bearing seats 218 fixed on the disk 226. A slidable guide rod 216 is provided in the shaft hole of the linear bearing seat 218. One end of the two guide rods 216 in the same pair of linear bearing seats 218 is fixedly connected by a connecting plate 223. The other end of the two guide rods 216 in the same pair of linear bearing seats 218 is fixedly connected by a claw seat plate 224 (the outer movable end of the radial sliding member). The claw mechanism 3 is fixed on the claw seat plate 224. The guide rod 216 is arranged approximately along the radial direction of the disk 226, so that the guide rod 216 and the claw seat plate 224 on it can move centripetally or centrifugally. Furthermore, to improve the stability of the guide rod 216 and the claw mechanism 3 during movement, rollers 222 are provided on the side of the disc 226 in a pair with the guide rod 216, so that the guide rod 216 is constrained between the rollers 222 and the gear 227.

[0030] See Figure 1 In one specific embodiment, there are multiple seedling claw mechanisms 3 on the same radial sliding mechanism. The multiple seedling claw mechanisms 3 are arranged along the axial direction of the disc shaft 211. The multiple seedling claw mechanisms 3 can grab a row of seedlings at a time, which improves the efficiency of seedling delivery.

[0031] See Figure 5 In one specific embodiment, the gear transmission assembly includes a gear 227 fixed to the end of the gear shaft 228, and a rack 225 fixed along its sliding direction on one of the guide rods 216 of each radial sliding member, with the gear 227 meshing with all the racks 225.

[0032] The seedling needles should be made of materials such as 65Mn steel, which have a certain degree of elasticity and meet the requirements for transplanting.

[0033] See Figure 8 In one specific embodiment, the seedling claw mechanism 3 includes a seedling claw mounting plate 308 fixed on a radial sliding mechanism and a linear drive mechanism. The seedling claw mounting plate 308 has two sets of seedling needle holes, and a seedling picking needle 307 is slidably disposed within each set of seedling needle holes. Each set of seedling picking needles 307 has a first end and a second end. The first ends of the two sets of seedling picking needles 307 are hinged to the movable execution end of the linear drive mechanism. The distance between the two first ends of the two sets of seedling picking needles 307 is greater than the distance between the two sets of seedling needle holes. The two first ends of the two sets of seedling picking needles 307... The two ends can be rotated open or closed under the drive of the linear drive mechanism; the distance between the first ends of the two sets of seedling needles 307 is fixed. Under the restriction of the seedling needle hole, the linear drive mechanism pushes the first end of the seedling needle 307, causing the seedling needle 307 to slide along the seedling needle hole and flip. During the seedling picking process, the sliding of the seedling needle 307 allows it to penetrate into the substrate of the potted seedling. The synchronous flipping causes the two sets of seedling needles 307 to generate a clamping force on the substrate of the potted seedling, making it difficult for the potted seedling to fall off during the transfer process. Specifically, the linear drive mechanism includes a small electric actuator 301 and a linear bearing 303 fixed on the movable end (seedling claw mounting plate 308) on the outer side of the radial sliding mechanism. The movable end of the small electric actuator 301 is fixed to one end of the fixed connecting rod 302. The middle part of the fixed connecting rod 302 passes through the linear bearing 303, and the other end is fixed with a hinge block 304. The two ends of the hinge block 304 are rotatably connected to the hinge plate 305 through the hinge column 306. The two sets of seedling needles 307 are respectively fixed on the two hinge plates 305. For example, each group of seedling needles 307 consists of two needles. The four seedling needles 307 are used to grasp the substrate of the seedlings in the pot, and the grasping is relatively stable.

[0034] See Figure 9 In one specific embodiment, the shock absorption mechanism 4 includes a buffer mounting shaft 217 fixed on the support disk 212. The buffer mounting shaft 217 is along the axial direction of the support disk 212. A ring plate 403 that can rub against the disk 226 is slidably sleeved in the middle of the buffer mounting shaft 217. An electric cylinder mounting seat 402 is fixed on the buffer mounting shaft 217. A miniature electric cylinder 401 that drives the ring plate 403 to slide is fixed on the electric cylinder mounting seat 402. The ring plate 403 rubs and squeezes the disk 226, which can make the disk 226 stop rotating stably, while suppressing the vibration of the disk 226 caused by rotational inertia.

[0035] See Figure 8 After frequently grabbing the substrate of the seedlings, a certain amount of substrate will be attached to the seedling needle 307, which will affect the insertion of the seedling needle 307 into the substrate of the seedlings and the removal of the seedling needle from the substrate. Therefore, a seedling needle cleaning mechanism 5 for cleaning the seedling needle 307 is installed on the seedling claw mounting plate 308. See Figure 10 In one specific embodiment, the seedling needle cleaning mechanism 5 includes an elastic element, a brush plate 501, and a vibrating element; one end of the elastic element is connected to the seedling claw mounting plate 308, and the other end of the elastic element is connected to the brush plate 501. The brush plate 501 has a brush hole in the middle for the seedling needle 307 to pass through in contact. A vibrating element is installed on the brush plate 501 to drive the brush plate 501 to vibrate; for the seedling claw mechanism 3 in a non-grabbing state, the vibrating element drives the brush plate 501 to vibrate, and the vibration is transmitted to the seedling needle 307 through the brush hole of the brush plate 501, causing the substrate attached to the seedling needle 307 to fall off. For example, the elastic element specifically includes a spring post 502 and a connecting spring 503. The bottom end of the spring post 502 is welded and fixed to the claw mounting plate 308. The spring 503 is sleeved on the spring post 502. The two ends of the spring 503 are respectively connected to the top end of the spring post 502 and the brush plate 501. The vibrating component includes a rotating shaft 506 and a cleaning motor 507. The rotating shaft 506 is installed in the opening in the middle of the brush plate 501. One end of the rotating shaft 506 is fixedly connected to the output shaft of the cleaning motor 507. Rotating blocks 505 are fixed at both ends of the rotating shaft 506. An eccentric block 504 is fastened on the rotating block 505. The cleaning motor 507 drives the rotating shaft 506 to rotate, which in turn drives the rotating block 505 and the eccentric block 504 to rotate. The eccentric block 504 generates a periodic excitation force, which is transmitted to the brush plate 501 through the rotating block 505. Under the constraint of the spring 503, the brush plate 501 achieves substrate peeling by high-frequency micro-vibration along the axial direction of the seedling needle 307.

[0036] It is worth noting that a conductive slip ring (not shown in the figure) is fitted on the disc shaft 211. The conductive slip ring supplies power to the small electric push rod 301 rotating on the disc 226 and the cleaning motor 507. This connection method facilitates wiring.

[0037] This invention is applicable to fully automatic transplanting machines. First, sensors and a PLC detect the position information of the seedling trays, then transmit this information to a controller. The controller then controls the device to perform the operation. The specific usage process of the multi-station high-speed rotating seedling receiving and dispensing device is as follows: The controller starts the disc shaft motor 201, driving the drive sprocket 202 to rotate. This rotation is transmitted via chain 209 to the driven sprocket 208, which in turn drives the disc shaft 211 to rotate. The disc shaft 211 then rotates the disc 226 and all components mounted on its surface. Simultaneously, the gear shaft motor 206 starts, driving the gear shaft 228 and gear 227 to rotate via coupling 207. This maintains the synchronous rotation of gear 227 and disc 226, ensuring their relative angular velocities remain constant. When the first station rotates to the seedling-picking position... The disc shaft motor 201 pauses, and the gear shaft motor 206 operates independently, causing a difference in angular velocity between the gear 227 and the disc 226. The rack 225 meshing with the gear 227 and the guide rod 216 on the opposite side move linearly, driving the seedling claw seat plate 224 and the seedling claw mechanism 3 mounted on the seedling claw seat plate 224 to approach the seedling in the tray. Immediately afterwards, the small electric push rod 301 starts, pushing the fixed connecting rod 302 to drive the seedling picking needle 307 to descend. Through the hinge plate 305, hinge block 304, and hinge column 306, the seedling picking needle 307 changes position. 7. The tilt angle is adjusted to perfectly match the tilt angle of the seedling holes in the seedling tray. The seedling-taking needle 307 descends and inserts into the potted seedling to clamp the substrate. Then, the gear shaft motor 206 reverses, driving the seedling claw seat plate 224 and the seedling-taking mechanism mounted on the seedling claw seat plate to reset, removing the seedling from the tray. The disc shaft motor 201 and the gear shaft motor 206 continue to rotate synchronously, driving the disc 226 and the parts mounted on the surface of the disc 226 to rotate. When it rotates to the seedling placement position, the small electric actuator 301 is activated, driving the connecting rod 302 and the seedling-taking needle 307 to rise and reset. Through the hinge plate 305, hinge block 304, and hinge column 306, the seedling needle 307 returns to its initial state, releasing the potted seedlings, which fall into the seedling cup, completing the seedling placement action. At this time, the seedling claw seat plate 224 and seedling claw mechanism 3 on the second station reach the seedling picking position and repeat the seedling picking operation. After the seedling picking is completed, the disc shaft motor 201 continues to rotate, and the second station reaches the seedling placement position to perform the seedling placement operation. The third station reaches the seedling picking position to perform the seedling picking operation, and so on until the entire tray of seedlings is taken out and placed into the seedling cup. After each seedling placement operation is completed, the cleaning motor 507 starts, and the spring 503 and brush plate 501 remove the substrate attached to the surface of the seedling needle 307, completing the cleaning operation of the seedling needle 307. Each time the disc 226 stops, the miniature electric cylinder 401 pushes the ring plate 403 to slide along the buffer mounting shaft 217. The ring plate 403 presses against the flat part of the end face of the disc 226, stabilizing the disc 226. When the disc 226 starts again, the ring plate 403 separates from the disc 226 first.

[0038] The parts not described in detail in the above embodiments are existing technologies.

[0039] It should be noted that although the present invention has been described through the above embodiments, the present invention may have many other embodiments. Without departing from the spirit and scope of the present invention, those skilled in the art can obviously make various corresponding changes and modifications to the present invention, but all such changes and modifications should fall within the scope of protection of the appended claims and their equivalents.

Claims

1. A multi-station high-speed rotating seedling receiving and dispensing device, characterized in that: Includes a frame (1), a rotating mechanism (2), a claw mechanism (3), and a shock-absorbing mechanism (4): The rotating mechanism (2) includes a multi-station switching component, a radial sliding component, and a rotary transmission component; The multi-station switching component includes a support disc (212) fixed on the frame (1), a disc shaft (211) installed in the shaft hole of the support disc (212), and a disc (226) fixed at one end of the disc shaft (211); at least one seedling picking station and at least one seedling dispensing station are arranged on the outer side of the disc (226) in the circumferential direction. Radial sliding components are arranged in an array along the circumferential direction on the side of the disk (226), and multiple seedling claw mechanisms (3) for picking up or placing seedlings are fixed on the outer movable end of each radial sliding mechanism. The rotary transmission component includes a gear shaft (228) that is coaxially rotatably nested in the hollow cavity of the disc shaft (211), and one end of the gear shaft (228) is equipped with a gear transmission assembly for driving the radial sliding component to reciprocate. The drive component connects the ends of the disc shaft (211) and the gear shaft (228) and can drive both to rotate independently; The shock absorption mechanism (4) is fixed on the support disc (212), and the seedling claw mechanism (3) is used to perform friction braking on the disc (226) when the seedling picking station or seedling placement station stops rotating. The radial sliding component includes a pair of linear bearing seats (218) fixed on the disc (226). A slidable guide rod (216) is provided in the shaft hole of the linear bearing seat (218). One end of the two guide rods (216) in the same pair of linear bearing seats (218) is fixedly connected by a connecting plate (223). The other end of the two guide rods (216) in the same pair of linear bearing seats (218) is fixedly connected by a claw seat plate (224). The claw mechanism (3) is fixed on the claw seat plate (224). The gear transmission assembly includes a gear (227) fixed at the end of the gear shaft (228). A rack (225) is fixed on one of the guide rods (216) of each radial sliding component along its sliding direction. The gear (227) meshes with all the racks (225).

2. The multi-station high-speed rotating seedling receiving and dispensing device according to claim 1, characterized in that: The seedling claw mechanism (3) is distributed in multiple parts along the axial direction of the disc shaft (211) at the outer movable end of the radial sliding mechanism.

3. The multi-station high-speed rotating seedling receiving and dispensing device according to claim 1, characterized in that: Rollers (222) are provided on the side of the disk (226) in pair with the guide rod (216), and the guide rod (216) is constrained between the rollers (222) and the gear (227).

4. The multi-station high-speed rotating seedling receiving and dispensing device according to claim 1, characterized in that: The seedling claw mechanism (3) includes a seedling claw mounting plate (308) fixed on the radial sliding mechanism and a linear drive mechanism. The seedling claw mounting plate (308) is provided with two sets of seedling needle holes. Each set of seedling needle holes is slidably provided with a seedling needle (307). Each set of seedling needles (307) has a first end and a second end. The first ends of the two sets of seedling needles (307) are hinged to the active execution end of the linear drive mechanism. The distance between the two first ends of the two sets of seedling needles (307) is greater than the distance between the two sets of seedling needle holes. The two second ends of the two sets of seedling needles (307) can be rotated open or rotated closed under the drive of the linear drive mechanism.

5. The multi-station high-speed rotating seedling receiving and dispensing device according to claim 4, characterized in that: The seedling claw mounting plate (308) is equipped with a seedling needle cleaning mechanism (5) for cleaning the seedling needle (307).

6. The multi-station high-speed rotating seedling receiving and dispensing device according to claim 5, characterized in that: The seedling needle cleaning mechanism (5) includes an elastic element, a brush plate (501) and a vibrating element; one end of the elastic element is connected to the seedling claw mounting plate (308), and the other end of the elastic element is connected to the brush plate (501). The brush plate (501) has a brush hole in the middle for the seedling needle (307) to pass through in contact. A vibrating element is installed on the brush plate (501) to drive the brush plate (501) to vibrate.

7. The multi-station high-speed rotating seedling receiving and dispensing device according to claim 1, characterized in that: The support disc (212) is equipped with a disc shaft bearing (220) through which the disc shaft (211) passes. A shaft stop (221) is provided on the side of the disc shaft bearing (220) away from the support disc (212). A splitter (214) is fixed on one side of the disc (226) by a splitter support rod (215). A spring (213) is sleeved on the disc shaft (211) between the splitter (214) and the shaft stop (221).

8. The multi-station high-speed rotating seedling receiving and dispensing device according to claim 1, characterized in that: The shock absorption mechanism (4) includes a buffer mounting shaft (217) fixed on the support disc (212). A ring plate (403) that can rub against the disc (226) is slidably sleeved in the middle of the buffer mounting shaft (217). A miniature electric cylinder (401) that drives the ring plate (403) to slide is fixed on the buffer mounting shaft (217).

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