A step-by-step circulating seedling delivery device

Abstract

This invention relates to the field of automated grafting technology and discloses a stepping circulation seedling feeding device, including a sprocket and chain assembly arranged on a base frame and multiple sets of seedling trays detachably mounted on the sprocket and chain assembly. The number of seedling trays in each set matches the number of seedlings grafted in a single grafting operation. Driven by a linear drive module, the sprocket and chain assembly switches between the loading station and the grafting station, and between the grafting station and the unloading station. A first anti-tilting component extends between pairs of finished seedlings at the grafting station, working in conjunction with a second anti-tilting component to prevent the finished seedlings from tilting forward, backward, left, or right when moving to the unloading station. This invention, by placing the seedling trays on the sprocket and chain assembly, enables the switching of multiple seedlings and grafted finished seedlings at different stations in a single operation, effectively improving the overall efficiency of the grafting machine; simultaneously, it provides anti-tilting protection, effectively ensuring the posture of the finished seedlings before unloading and improving the stability of subsequent processes.

Description

Technical Field

[0001] This invention relates to the field of automated grafting technology, specifically to a step-by-step circulating seedling delivery device. Background Technology

[0002] Existing automated grafting machines mainly consist of several modules working in tandem: a seedling supply system, a cutting execution system, a grafting clamp delivery system, a control system, and a machine body structure. First, the seedling supply system (including rootstock and scion trays) automatically transports the seedlings to the work station. Then, guided by a machine vision system, the cutting execution system (usually a precision rotating blade or laser cutting head) makes precise oblique or sleeve-type cuts on the rootstock and scion seedlings to create high-quality grafting incisions. Next, the grafting clamp delivery system automatically delivers the grafting clamps to the incision and clamps them, completing the grafting and fixing process. The entire process is coordinated and directed by a central control system, with the machine body structure providing support and protection for each component.

[0003] However, in existing automated grafting machines, the seedling supply system and the finished seedling unloading system are independent of each other. The loading, grafting, and unloading stations are arranged non-linearly, and the switching of seedlings between each station involves a lot of transmission structures and execution actions, which reduces the efficiency of the entire grafting machine. At the same time, during the process of transporting the grafted finished seedlings to the unloading station, the acceleration of the transmission system makes the finished seedlings prone to tilting due to inertia, which affects the stable and accurate seedling picking mechanism at the subsequent unloading station. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a stepping circulation seedling feeding device, which solves the problems of existing automated grafting machines where the seedling supply system and the unloading system are independent, resulting in low loading and unloading efficiency and reduced overall machine efficiency; at the same time, there is a lack of targeted protective measures for the transportation of grafted seedlings.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A step-by-step circulating seedling delivery device includes a sprocket and chain assembly arranged on a base frame and multiple sets of seedling trays detachably mounted on the sprocket and chain assembly. The number of seedling trays in each set matches the number of seedlings grafted in a single grafting operation. Driven by a linear drive module, the sprocket and chain assembly switches between the loading station and the grafting station, and between the grafting station and the unloading station. The device also includes protective components, including a first anti-tilting component and a second anti-tilting component. The first anti-tilting component moves synchronously with the linear drive module. When the finished seedlings switch from the grafting station to the unloading station, the first anti-tilting component extends between two finished seedlings at the grafting station. When switching stations again, the first anti-tilting component retracts back to its original position. The second anti-tilting component is arranged on one side of the grafting station. The first and second anti-tilting components are used to prevent the finished seedlings at the grafting station from tilting forward, backward, left, or right when moving to the unloading station.

[0007] Preferably, the seedling cup includes a seedling cup seat and two slot blocks. The seedling cup seat is used to place seedlings and is fixedly installed on the transmission chain in the sprocket and chain assembly. The two slot blocks are symmetrically arranged on both sides of the seedling cup seat.

[0008] Preferably, a positioning drive assembly is fixedly connected to both the movable end of the linear drive module and the base frame. The positioning drive assembly includes a retractable positioning pin, which can be inserted and engaged with a slot block for synchronous movement. In the driving state, the positioning pin closer to the linear drive module extends and engages with the slot block, while the positioning pin farther away from the linear drive module retracts. In the reset state, the positioning pin closer to the linear drive module retracts and disengages from the slot block, while the positioning pin farther away from the linear drive module extends and engages with the slot block.

[0009] Preferably, the positioning drive assembly further includes two first telescopic modules mounted on the base. The movable end of the first telescopic module is synchronously driven with the positioning pin shaft through a synchronous frame. A sensing plate is fixedly connected to one side of the synchronous frame, and a photoelectric switch matching the sensing plate is provided on the base.

[0010] Preferably, a third telescopic module is fixedly connected to the lower end face of the base, and a limiting seat is fixedly connected to the movable end of the third telescopic module. One end of the positioning pin is provided with a protruding handle that engages with the limiting seat. When the limiting seat and the protruding handle are engaged, the positioning pin cannot extend or retract.

[0011] Preferably, the positioning drive assembly further includes a retractable lower pressure frame, the movement direction of the lower pressure frame is consistent with that of the positioning pin, when the positioning pin extends, the lower pressure frame presses down to clamp the slot block; when the positioning pin retracts, the lower pressure frame rises and disengages from the slot block.

[0012] Preferably, the movable end of the linear drive module is fixedly connected to a movable base, the movable base includes a connecting plate, at least two sliders are arranged on the connecting plate, a guide rail matching the sliders is provided on the base frame, and a positioning drive component is arranged on the connecting plate.

[0013] Preferably, the first anti-tilt component includes a synchronizing rod and a base plate frame. Both ends of the synchronizing rod are connected to a gear and rack mechanism. A sliding base is fixedly connected to the rack in the gear and rack mechanism. The sliding base and the base plate frame are slidably limited. A mounting bracket is fixedly connected to the sliding base. At least two mounting shafts are staggered in the vertical direction between the two mounting brackets. Multiple anti-tilt shafts are fixedly connected to the mounting shafts along the central axis direction. Each pair of anti-tilt shafts is used to protect one finished seedling.

[0014] Preferably, the second anti-tilt component includes a pair of fourth telescopic modules fixedly connected to the base frame. The movable end of the fourth telescopic module is fixedly connected to a protective plate, and the length of the protective plate covers the length of the loading station, the grafting station, and the unloading station.

[0015] The present invention has the following beneficial effects:

[0016] This stepping circulating seedling feeding device integrates the feeding station, grafting station, and unloading station onto a circulating conveyor line composed of a sprocket and chain assembly and seedling cups. A linear drive module enables synchronous switching between stations with a single drive, effectively improving feeding and unloading efficiency and further ensuring the overall efficiency of the automated grafting machine. The first and second anti-tilting components effectively provide all-around anti-tilting protection during seedling transport, preventing breakage or bending due to transport inertia and ensuring stable seedling posture at the unloading station for precise subsequent unloading. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the layout structure of the positioning drive component of the present invention;

[0019] Figure 3 This is a schematic diagram of the disassembled structure of the main components of the present invention;

[0020] Figure 4 This is a schematic diagram of the positioning drive component structure of the present invention;

[0021] Figure 5 This is a schematic diagram of the working state of the limiting seat of the present invention;

[0022] Figure 6 This is a schematic diagram of the cavity cup seat layout structure of the present invention;

[0023] Figure 7 This is a schematic diagram of the first anti-tilt component structure of the present invention.

[0024] In the diagram: 1. Base frame; 2. Sprocket and chain assembly; 21. Transmission sprocket; 22. Transmission chain; 3. Seedling cup; 31. Seedling cup seat; 32. Slot block; 4. Seedling; 5. Positioning drive assembly; 50. Base; 51. Positioning pin; 52. First telescopic module; 53. Synchronizing frame; 54. Induction plate; 55. Photoelectric switch; 56. Second telescopic module; 57. Lowering frame; 58. Third telescopic module; 59. Limiting seat; 6. Moving base; 61. Slider; 62. Connecting plate; 7. Linear drive module; 8. Protective assembly; 81. First anti-tilt assembly; 810. Base plate frame; 811. Gear and rack mechanism; 812. Synchronizing rod; 813. Sliding base; 814. Mounting frame; 815. Mounting shaft; 816. Anti-tilt shaft; 82. Second anti-tilt assembly; 821. Fourth telescopic module; 822. Protective plate. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1

[0027] A step-by-step circulating seedling delivery device includes a sprocket and chain assembly 2 arranged on a base frame 1 and multiple sets of seedling trays 3 detachably mounted on the sprocket and chain assembly 2. The number of seedling trays 3 in each set matches the number of seedlings 4 grafted in a single grafting operation. The sprocket and chain assembly 2, driven by a linear drive module 7, switches between the loading station and the grafting station, and between the grafting station and the unloading station. The device also includes a protective assembly 8, which includes a first anti-tilting assembly 81 and a second anti-tilting assembly 82. The first anti-tilting assembly 81 moves synchronously with the linear drive module 7. When the finished seedlings are switched from the grafting station to the unloading station, the first anti-tilting assembly extends between the two finished seedlings at the grafting station. When the station is switched again, the first anti-tilting assembly retracts back to its original position. The second anti-tilting assembly 82 is arranged on one side of the grafting station. The first anti-tilting assembly 81 and the second anti-tilting assembly 82 are used to prevent the finished seedlings at the grafting station from tilting forward, backward, left, or right when they move to the unloading station.

[0028] like Figure 1 , Figure 2 and Figure 3As shown, in the above technical solution, by integrating the feeding station, grafting station, and unloading station into a circulating conveyor line composed of the same sprocket and chain assembly 2 and the seedling cup 3, the linear drive module 7 can drive the synchronous switching of each station in a single drive, effectively improving the feeding and unloading efficiency and further ensuring the working efficiency of the entire automated grafting machine. The first anti-tilting component 81 and the second anti-tilting component 82 can effectively provide all-round anti-tilting protection when conveying finished seedlings, avoiding damage such as breakage or bending of finished seedlings due to conveying inertia, and ensuring the stability of the finished seedling posture at the unloading station, which is convenient for subsequent accurate unloading.

[0029] In this embodiment, the seedling cup 3 includes a seedling cup seat 31 and two slot blocks 32. The seedling cup seat 31 is used to hold the seedlings 4. The seedling cup seat 31 is fixedly installed on the transmission chain 22 in the sprocket and chain assembly 2. The two slot blocks 32 are symmetrically arranged on both sides of the seedling cup seat 31. In practical applications, the transmission sprocket 21 in the sprocket and chain assembly 2 is rotatably arranged on the base frame 1, and a large U-shaped circulating seedling conveying line is formed between the transmission sprocket 21 and the transmission chain 22.

[0030] The movable end of the linear drive module 7 and the base frame 1 are both fixedly connected to a positioning drive component 5. The positioning drive component 5 includes a retractable positioning pin 51. The positioning pin 51 can be inserted and engaged with the slot block 32 for synchronous movement. In the driving state, the positioning pin 51 closer to the linear drive module 7 extends and engages with the slot block 32, while the positioning pin 51 further away from the linear drive module 7 retracts. In the reset state, the positioning pin 51 closer to the linear drive module 7 retracts and disengages from the slot block 32, while the positioning pin 51 further away from the linear drive module 7 extends and engages with the slot block 32.

[0031] like Figure 4 and Figure 6 As shown, in the above technical solution, the extendable positioning pin 51 arranged on the linear drive module 7 facilitates the stepping drive of the seedling cup holder 31. Simultaneously, since there is a positioning drive component 5 at the moving end of the linear drive module 7 and another positioning drive component 5 at the fixed end of the base frame 1, by controlling the positioning pin 51 in both positioning drive components 5 to be in an extended and retracted state, it can be ensured that at any state, one positioning pin 51 is always inserted and engaged with the seedling cup holder 31. In the event of an emergency failure, the zero-position state of the entire sprocket and chain assembly 2 can be quickly located, thereby rapidly restarting the entire seedling delivery system.

[0032] Specifically, during an emergency stop, when the positioning pin 51 of the moving end engages with the seedling cup holder 31, the system only needs to determine whether the linear drive module 7 is in its initial state or in motion. If it is in the initial state, it can be determined that the current state is the zero position of the cyclic seedling delivery; if it is in motion, simply resetting it to the initial state ensures that the entire seedling delivery system is in the zero position. When the system stops, the positioning pin 51 of the fixed end engages with the seedling cup holder 31, indicating that the current state is the zero position of the seedling delivery system. Furthermore, as... Figure 6 As shown, in practical applications, it is only necessary to ensure that the two cup seats 31 of each set of cups 3 are equipped with slot blocks 32 to meet the positioning or driving requirements of the positioning pin shaft 51.

[0033] Specifically, the first telescopic module, the second telescopic module, and the third telescopic module are all fixed on the base 50, and the base is fixedly connected to the base frame or the movable base.

[0034] Example 2

[0035] In this embodiment, the positioning drive assembly 5 also includes two first telescopic modules 52 mounted on the base. The movable end of the first telescopic module 52 is synchronously driven with the positioning pin shaft 51 through the synchronous frame 53. A sensing plate 54 is fixedly connected to one side of the synchronous frame 53, and a photoelectric switch 55 matching the sensing plate 54 is provided on the base.

[0036] A third telescopic module 58 is fixedly connected to the lower end face of the base. A limiting seat 59 is fixedly connected to the movable end of the third telescopic module 58. One end of the positioning pin 51 is provided with a protruding handle that engages with the limiting seat 59. When the limiting seat and the protruding handle are engaged, the positioning pin 51 cannot extend or retract. Figure 5 As shown, in this technical solution, the extendable limiting seat 59 can further lock the positioning pin 51 when it is in the retracted state, thereby preventing the positioning pin 51 from accidentally extending due to the failure of the first telescopic module 52, which would seriously damage the entire sprocket and chain conveyor line.

[0037] Example 3

[0038] In this embodiment, the positioning drive assembly 5 further includes a retractable lower pressure frame 57. The movement direction of the lower pressure frame 57 is consistent with that of the positioning pin 51. When the positioning pin 51 extends, the lower pressure frame 57 presses down to clamp the retaining groove block 32; when the positioning pin 51 retracts, the lower pressure frame 57 rises and disengages from the retaining groove block 32. Figure 5 and Figure 6As shown, the pressure frame 57 further ensures the stable positioning and driving assembly 5 for the cavity cup seat 31, thereby guaranteeing the stability of subsequent stepping drive. The pressure frame 57 can be driven by the second telescopic module 56, which can be a traditional drive cylinder, a linear motor, or a commonly used linear module.

[0039] Furthermore, the movable end of the linear drive module 7 is fixedly connected to a movable base 6, which includes a connecting plate 62. At least two sliders 61 are arranged on the connecting plate 62. A guide rail matching the sliders 61 is provided on the base frame 1. A positioning drive component 5 is arranged on the connecting plate 62.

[0040] Example 4

[0041] The first anti-tilt assembly 81 includes a synchronizing rod 812 and a base plate frame 810. Both ends of the synchronizing rod 812 are connected to a gear and rack mechanism 811. A sliding base 813 is fixedly connected to the rack in the gear and rack mechanism 811. The sliding base 813 and the base plate frame 810 are slidably limited. A mounting bracket 814 is fixedly connected to the sliding base 813. At least two mounting shafts 815 are staggered vertically between the two mounting brackets 814. Multiple anti-tilt shafts 816 are fixedly connected to the mounting shafts 815 along the central axis. Each pair of anti-tilt shafts 816 is used to protect a finished seedling. Figure 6 and Figure 7 As shown, in this technical solution, the gear and rack mechanism 811 can drive the anti-tilt shaft 816 to extend and retract, thereby coordinating with the positioning drive component 5 located at the moving end to prevent tipping during the transportation of the finished seedlings.

[0042] In this embodiment, the second anti-tilting component 82 includes a pair of fourth telescopic modules 821 fixedly connected to the base frame 1. A protective plate 822 is fixedly connected to the movable end of each fourth telescopic module 821. The length of the protective plate 822 covers the lengths of the loading station, the grafting station, and the unloading station. Figure 6 As shown, in this technical solution, the fourth telescopic module 821 and the protective plate 822 can raise the protective plate 822 when the finished seedling is transported to the unloading station, so as to effectively prevent the finished seedling from tilting backward. Together with the first anti-tilting component 81, the finished seedling can be protected against tilting in all directions.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A step-by-step circulating seedling delivery device, characterized in that, The system includes a sprocket and chain assembly mounted on a base frame, and multiple sets of seedling trays detachably mounted on the sprocket and chain assembly. The number of seedling trays in each set matches the number of seedlings grafted in a single grafting operation. Driven by a linear drive module, the sprocket and chain assembly switches between the loading station and the grafting station, and between the grafting station and the unloading station. It also includes protective components, including a first anti-tilt component and a second anti-tilt component. The first anti-tilt component moves synchronously with the linear drive module. When the finished seedlings are switched from the grafting station to the unloading station, the first anti-tilt component extends between the two finished seedlings at the grafting station. When switching stations again, the first anti-tilt component retracts back to its original position. The second anti-tilt component is located on one side of the grafting station. The first and second anti-tilt components are used to protect the finished seedlings at the grafting station. The seedling tilts forward, backward, left, and right when it is moved to the unloading station; the first anti-tilting component includes a synchronizing rod and a base frame. Both ends of the synchronizing rod are connected to a gear and rack mechanism. A sliding base is fixedly connected to the rack in the gear and rack mechanism. The sliding base and the base frame slide and limit each other. A mounting frame is fixedly connected to the sliding base. There are at least two mounting shafts staggered in the vertical direction between the two mounting frames. Multiple anti-tilting shafts are fixedly connected to the mounting shafts along the central axis direction. Two anti-tilting shafts are used to protect one finished seedling; the second anti-tilting component includes a pair of fourth telescopic modules fixedly connected to the base frame. A protective plate is fixedly connected to the movable end of the fourth telescopic module. The length of the protective plate covers the length of the loading station, the grafting station, and the unloading station.

2. The stepping circulation seedling delivery device according to claim 1, characterized in that: The seedling cup includes a seedling cup seat and two slot blocks. The seedling cup seat is used to place seedlings and is fixedly installed on the transmission chain in the sprocket and chain assembly. The two slot blocks are symmetrically arranged on both sides of the seedling cup seat.

3. The stepping circulation seedling delivery device according to claim 2, characterized in that: The movable end of the linear drive module and the base frame are both fixedly connected to a positioning drive component. The positioning drive component includes a retractable positioning pin, which can be inserted and engaged with a slot block for synchronous movement. In the driving state, the positioning pin closer to the linear drive module extends and engages with the slot block, while the positioning pin farther away from the linear drive module retracts. In the reset state, the positioning pin closer to the linear drive module retracts and disengages from the slot block, while the positioning pin farther away from the linear drive module extends and engages with the slot block.

4. The stepping circulation seedling delivery device according to claim 3, characterized in that: The positioning drive assembly also includes two first telescopic modules mounted on the base. The movable end of the first telescopic module is synchronously driven with the positioning pin shaft through a synchronous frame. A sensing plate is fixedly connected to one side of the synchronous frame, and a photoelectric switch matching the sensing plate is provided on the base.

5. The stepping circulation seedling delivery device according to claim 4, characterized in that: The lower end face of the base is fixedly connected to a third telescopic module. The movable end of the third telescopic module is fixedly connected to a limiting seat. One end of the positioning pin is provided with a protruding handle that engages with the limiting seat. When the limiting seat and the protruding handle are engaged, the positioning pin cannot extend or retract.

6. The stepping circulation seedling delivery device according to claim 3, characterized in that: The positioning drive assembly also includes a retractable lower pressure frame. The movement direction of the lower pressure frame is consistent with that of the positioning pin. When the positioning pin extends, the lower pressure frame presses down to clamp the slot block; when the positioning pin retracts, the lower pressure frame rises and disengages from the slot block.

7. The stepping circulation seedling delivery device according to claim 6, characterized in that: The movable end of the linear drive module is fixedly connected to a movable base. The movable base includes a connecting plate, on which at least two sliders are arranged. A guide rail matching the sliders is provided on the base frame, and a positioning drive component is arranged on the connecting plate.

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