Transplanting device for agronomic seedling culture

Abstract

The invention relates to the technical field of agricultural intelligent transplanting equipment, in particular to a transplanting device for agricultural seedling culture. Comprising a frame, a seedling raising rotary tray arranged on the frame, a hole opening assembly and a seedling guide pipe which are arranged on the frame, and a plant lowering and conveying mechanism arranged on the seedling guide pipe, wherein bagged seedlings are uniformly stacked in the seedling raising rotary tray; and a transfer mechanism for transferring the bagged seedlings into the seedling guide pipes is also arranged on the frame. By means of the unique supporting plate type lowering conveying mechanism, bagged seedlings slowly and vertically fall in a controlled state, the phenomena of root damage and seedling falling in the planting process are effectively avoided, the planting quality is improved, and the survival rate is increased. The water and fertilizer box and the bottom sprinkling irrigation system are integrated, synchronous operation of'supplementing water and fertilizer once planting 'is achieved, water and fertilizer directly act on the root zone, the utilization rate is high, and rapid seedling recovery and initial growth of seedlings are facilitated.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent transplanting equipment technology, and in particular to a transplanting device for agronomic seedling cultivation. Background Technology

[0002] In intensive agricultural production, seedling transplanting is a crucial step in increasing crop yield, standardizing seedling conditions, saving seeds, and effectively utilizing land. Currently available automatic transplanters on the market mainly suffer from the following technical bottlenecks: 1) Problems such as seedling damage, jamming, and collapse during seedling picking and placement remain prominent; 2) Separate irrigation or fertilization is required after transplanting, leading to low water and fertilizer utilization rates and making it easy to miss the optimal time for supplementation, thus affecting seedling establishment.

[0003] Therefore, there is an urgent need to develop an integrated intelligent transplanting device that allows for convenient plant spacing adjustment, enables simultaneous transplanting and water and fertilizer application, and ensures high planting quality. Summary of the Invention

[0004] The purpose of this invention is to provide a transplanting device for agronomic seedling cultivation, which can not only realize automated and high-precision seedling picking and planting, but also flexibly adjust the planting spacing, and complete precise water and fertilizer replenishment at the same time as transplanting, thereby achieving integrated operation of water saving, efficiency improvement and increased survival rate.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides a transplanting device for agronomic seedling cultivation, including a frame, a seedling rotating tray disposed on the frame, a hole-opening component and a seedling guide tube disposed on the frame, and a plant lowering and conveying mechanism disposed on the seedling guide tube; The seedling rotating tray contains evenly stacked bagged seedlings; the frame is also equipped with a transfer mechanism to transfer the bagged seedlings into the seedling guide tube.

[0006] In this embodiment, the bottom of the vehicle frame is provided with a travel wheel, and the vehicle frame is connected to the traction device through a traction seat.

[0007] Furthermore in this embodiment, the bottom of the seedling rotating tray is mounted on the frame via a slewing bearing. The slewing bearing includes a fixed support fixed to the frame, a support outer shell mounted on the fixed support, and a support inner shell rotatably assembled within the support outer shell. The top surface of the support inner shell is coaxially connected to the bottom of the seedling rotating tray. An internal rack is provided around the inner wall of the support inner shell. A gear motor for driving the rotation of the support inner shell is also mounted on the fixed support, and an encoder controller is mounted on the gear motor.

[0008] In this embodiment, the transfer mechanism further includes a transfer bracket mounted on the vehicle frame, two guide rods mounted on the transfer bracket, a horizontal slide seat limited on the guide rods, a first telescopic cylinder mounted at the bottom of the horizontal slide seat, and an arc-shaped push plate mounted at the lower end of the telescopic extension of the first telescopic cylinder; wherein a lead screw is also mounted on the transfer bracket, the lead screw is driven by a lead screw motor, and a lead screw nut seat adapted to the lead screw for transmission is mounted on the horizontal slide seat; The horizontal slide is located directly above the seedling rotating tray. An image recognition component is also provided on the horizontal slide to detect the distribution position of the bagged seedlings on the seedling rotating tray. Encoding controllers are respectively provided on the lead screw motor and the first telescopic cylinder, and both are controlled and driven based on the detection information of the image recognition component.

[0009] In this embodiment, the cavity-opening assembly includes a vertical slide rail seat vertically mounted on the frame, a slide block slidably mounted on the vertical slide rail seat, a second telescopic cylinder mounted on the vertical slide rail seat and used to adjust the position of the slide block, and a drive motor mounted on the slide block; the lower end of the power output shaft of the drive motor is provided with a rotary drilling auger blade; The second telescopic cylinder is equipped with an encoding controller, and a position sensor for detecting the height from the ground is installed at the bottom of the slide. The encoding controller controls the extension and retraction of the second telescopic cylinder based on the detection signal from the position sensor.

[0010] Furthermore, in this embodiment, multiple positioning threaded holes are provided on the frame at different positions from the seedling guide tube, and the side wall of the vertical slide rail seat is provided with positioning seats corresponding to the positioning threaded holes, and is detachably connected by positioning bolts.

[0011] Furthermore in this embodiment, the seedling guide tube is a long tube vertically fixed to the frame, with its upper end close to the outer edge of the seedling rotating tray to facilitate receiving bagged seedlings. The lower end of the seedling guide tube extends to the bottom of the frame so that the bagged seedlings can fall into the seedling holes prepared by the hole-opening component.

[0012] In this embodiment, the plant lowering and conveying mechanism includes at least two drive wheels disposed on the top and bottom side walls and a drive belt disposed on the drive wheels; wherein the drive belt rotatably passes through the interior of the seedling guide tube, and multiple trays are evenly spaced on the drive belt, the size of the trays being adapted to the inner wall of the seedling guide tube, and the drive wheels are driven by a servo motor to support the bottom of the bag seedlings entering the seedling guide tube.

[0013] Furthermore, in this embodiment, a water and fertilizer tank is also provided on the frame, and a nozzle for spraying liquid into the seedling hole is provided on the bottom side wall of the seedling guide tube; the water and fertilizer tank is connected to the nozzle on the seedling guide tube through a conduit, and a liquid supply pump is also provided on the conduit.

[0014] Compared with the prior art, the beneficial technical effects of the present invention are as follows: 1) High adaptability and efficient seedling picking: The rotating tray carries the bagged seedlings, and the transfer mechanism, which combines visual recognition and precision servo control, realizes the automated, non-destructive, and precise grasping and transfer of loose bagged seedlings, solving the problem of the traditional equipment's strong dependence on plug tray seedlings.

[0015] 2) Flexible and convenient plant spacing adjustment: The hole-opening component can be moved back and forth on the frame through simple bolt connection, easily realizing the setting of different plant spacing, which greatly enhances the adaptability of the equipment to the agronomic requirements of different crops.

[0016] 3) Stable and reliable planting process: The unique pallet-type lowering and conveying mechanism allows the bagged seedlings to fall slowly and upright under controlled conditions, effectively avoiding root damage and seedling collapse during the planting process, thus improving planting quality and survival rate.

[0017] 4) Simultaneous water and fertilizer application, water-saving and survival-promoting: The integrated water and fertilizer tank and bottom sprinkler system realize the simultaneous operation of "water and fertilizer application upon planting". The water and fertilizer are directly applied to the root zone, with high utilization rate, which is conducive to the rapid recovery and initial growth of seedlings.

[0018] 5) High degree of automation and intelligence: From tray rotation, visual positioning for seedling picking, hole depth control, and stable placement of bagged seedlings to precise water and fertilizer replenishment, the entire process is automated and closed-loop controlled, making the operation precise and efficient, and greatly reducing manual intervention and labor intensity. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the main structure of the transplanting device for agronomic seedling cultivation according to the present invention; Figure 2 This is a schematic diagram of the seedling rotating tray structure of the agronomic seedling transplanting device of the present invention; Figure 3 This is a schematic diagram of the transfer support of the transplanting device for agronomic seedling cultivation according to the present invention; Figure 4 for Figure 3 A schematic diagram of the driving structure; Figure 5 This is a schematic diagram of the hole-opening component of the transplanting device for agronomic seedling cultivation according to the present invention.

[0021] Explanation of reference numerals in the attached drawings: 1. Frame; 11. Traveling wheel; 2. Seedling rotating tray; 21. Fixed support; 22. Support outer shell; 23. Support inner shell; 24. Gear motor; 3. Bag seedlings; 4. Transfer bracket; 41. Screw motor; 42. First telescopic cylinder; 421. Arc-shaped push plate; 43. Horizontal slide; 431. Screw; 432. Guide rod; 44. Screw nut seat; 5. Hole opening assembly; 51. Second telescopic cylinder; 52. Slide; 53. Drive motor; 531. Rotary digging auger blade; 54. Vertical slide rail seat; 55. Positioning bolt; 6. Plant lowering and conveying mechanism; 61. Pallet; 62. Transmission belt; 7. Seedling guide tube; 8. Water and fertilizer tank; 81. Liquid supply pump; 82. Sprinkler head. Detailed Implementation

[0022] refer to Figure 1 This embodiment discloses an agronomic seedling transplanting device, including a frame 1, a seedling rotating tray 2 mounted on the frame 1, a hole-opening component 5 and a seedling guide tube 7 mounted on the frame 1, and a plant lowering and conveying mechanism 6 mounted on the seedling guide tube 7; wherein the seedling rotating tray 2 contains evenly stacked bag seedlings 3; and a transfer mechanism for transferring the bag seedlings 3 into the seedling guide tube 7 is also installed on the frame 1.

[0023] Working principle: First, the hole-opening component 5 is used to open holes in the ground. Then, the seedling bag 3 on the seedling rotating tray 2 is transferred to the seedling guide tube 7 using the transfer mechanism. The seedling bag 3 is automatically dropped into the hole through the seedling guide tube 7, realizing automatic seedling transplanting.

[0024] In specific implementation, the bottom of the frame 1 is equipped with travel wheels 11, and the frame 1 is connected to the traction equipment through the traction seat 12; wherein the frame 1 can be welded from steel profiles, with four rubber travel wheels 11 installed at the bottom, and a standard three-point suspension traction seat 12 at the front, which can be connected to the tractor.

[0025] In another embodiment, the bottom of the frame 1 is equipped with driving wheels 11, which are driven by servo motors, and a GPS satellite positioning system is installed on the frame 1 to facilitate remote control of driving.

[0026] refer to Figure 1 and Figure 2The bottom of the seedling rotating tray 2 is mounted on the frame 1 via a slewing bearing. The slewing bearing includes a fixed support 21 fixed to the frame 1, a support housing 22 mounted on the fixed support 21, and a support inner housing 23 rotatably assembled within the support housing 22. The top surface of the support inner housing 23 is coaxially connected to the bottom of the seedling rotating tray 2. An internal toothed rack is provided around the inner wall of the support inner housing 23. A gear motor 24 for driving the support inner housing 23 to rotate is also mounted on the fixed support 21. An encoder controller is mounted on the gear motor 24. The tray 2 is divided into multiple fan-shaped areas for stacking bagged seedlings 3. The encoder controller controls the gear motor 24 to rotate intermittently at a set angle, sequentially delivering the seedling-filled workstations to the seedling-retrieving workstations (near the upper port of the seedling guide tube 7).

[0027] refer to Figure 3 and Figure 4 The transfer mechanism includes a transfer bracket 4 mounted on the frame 1, two guide rods 432 mounted on the transfer bracket 4, a horizontal slide block 43 limited and mounted on the guide rods 432, a first telescopic cylinder 42 mounted at the bottom of the horizontal slide block 43, and an arc-shaped push plate 421 mounted at the lower end of the telescopic extension of the first telescopic cylinder 42, wherein the arc-shaped push plate 421 is adapted to the arc-shaped side of the seedling bag 3; a lead screw 431 is also mounted on the transfer bracket 4, and the lead screw 431 is driven by a lead screw motor 41. The horizontal slide 43 is equipped with a lead screw nut seat 44 that is adapted to drive the lead screw 431; wherein the horizontal slide 43 is located directly above the seedling rotating tray 2, and an image recognition component for detecting the distribution position of the bagged seedlings 3 on the seedling rotating tray 2 is also installed on the horizontal slide 43, which includes a CCD camera. The lead screw motor 41 and the first telescopic cylinder 42 (electric push rod or servo cylinder) are respectively equipped with an encoding controller, both of which are controlled and driven based on the detection information of the image recognition component.

[0028] Two parallel guide rods 432 are fixed to the transfer bracket 4. A horizontal slide 43 is mounted on the guide rods 432 via linear bearings and can slide in a direction parallel to the radial direction of the tray. A lead screw 431 is mounted on the transfer bracket 4 via a bearing seat and is driven by a lead screw motor 41. A lead screw nut seat 44 is fixed to the horizontal slide 43, converting the rotational motion of the lead screw into the horizontal linear motion of the slide. An industrial camera (image recognition component) mounted on the horizontal slide 43 continuously captures images of the tray below, identifying the center coordinates (X, Y) of the seedlings to be picked. After receiving the coordinates, the control system controls the lead screw motor 41 to drive the horizontal slide 43 to the X coordinate position, then controls the first telescopic cylinder 42 to descend, aligning the arc-shaped push plate 421 with the Y coordinate height of the side of the seedling. Then, the first telescopic cylinder 42 extends horizontally, and the arc-shaped push plate 421 gently pushes the seedlings horizontally away from the tray, allowing them to fall into the upper port of the seedling guide tube 7. After the entire operation is completed, all components reset.

[0029] refer to Figure 5 The hole-opening assembly 5 includes a vertical slide rail seat 54 vertically mounted on the frame 1, a slide seat 52 slidably mounted on the vertical slide rail seat 54, a second telescopic cylinder 52 mounted on the vertical slide rail seat 54 for adjusting the position of the slide seat 52, and a drive motor 53 mounted on the slide seat 52; a rotary drilling auger blade 531 is mounted on the lower end of the power output shaft of the drive motor 53; an encoder controller is mounted on the second telescopic cylinder 52, and a position sensor for detecting the height above the ground is mounted on the bottom of the slide seat 52; the encoder controller controls the extension and retraction adjustment of the second telescopic cylinder 52 based on the detection signal of the position sensor.

[0030] In this embodiment, a row of positioning threaded holes is formed along the length of the longitudinal beam of the frame 1. A positioning seat with a through hole is welded to the side of the vertical slide rail 54. By selecting different positioning threaded holes and screwing positioning bolts 55 through the positioning seats into the threaded holes, the entire hole-opening assembly 5 can be fixed at different front and rear positions on the frame 1, thereby adjusting the distance L between the hole-opening point and the lower outlet of the seedling guide tube 7, i.e., the planting spacing. The slide 51 can slide up and down along the vertical slide rail 54. The cylinder body of the second telescopic cylinder 52 (preferably a hydraulic cylinder or a servo electric cylinder) is fixed, and its piston rod end is connected to the slide 51 for driving the slide to rise and fall. The drive motor 53 is fixed on the slide 51, and its output axis points downwards, connecting to the rotary auger blade 531. An ultrasonic or laser ranging sensor (position sensor) is installed at the bottom of the slide 51.

[0031] During operation, the control system controls the second telescopic cylinder 52 to push the slide 51 downward according to the set hole-opening depth. When the position sensor detects that the tip of the auger blade 531 is close to the ground, the drive motor 53 is started, and the auger blade 531 rotates and digs downward. At the same time, the position sensor continuously monitors the depth. After the set value is reached, the second telescopic cylinder 52 retracts, completing one hole-opening operation.

[0032] refer to Figure 1 The seedling guide tube 7 is a long tube vertically fixed to the frame 1, with its upper end close to the outer edge of the seedling rotating tray 2 to facilitate receiving the bagged seedlings 3. The lower end of the seedling guide tube 7 extends to the bottom of the frame 1 so that the bagged seedlings 3 can fall into the seedling holes prepared by the hole-opening component 5. The plant lowering and conveying mechanism 6 includes at least two drive wheels disposed on the top and bottom side walls and a drive belt 62 disposed on the drive wheels. The drive belt 62 rotatably passes through the interior of the seedling guide tube 7, and a plurality of trays 61 are evenly spaced on the drive belt 62. The size of the trays 61 is adapted to the inner wall of the seedling guide tube 7. The drive wheels are driven by a servo motor to support the bottom of the bagged seedlings 3 entering the seedling guide tube 7.

[0033] The seedling guide tube 7 is a vertical cylinder, firmly fixed to the frame 1, with its upper and lower ends aligned with the transfer station and the seedling hole, respectively. The plant lowering and conveying mechanism 6 includes two drive wheels (one upper and one lower) and a drive belt 62 tensioned on them. The drive belt can be a chain belt or a synchronous belt. Multiple arc-shaped trays 61 are vertically fixed on the drive belt 62, with their outer arc surfaces slidingly engaging with the inner wall of the seedling guide tube 7. A servo motor drives one of the drive wheels. When the bagged seedling 3 is pushed into the upper end of the seedling guide tube 7, it falls precisely onto a tray 61 that has moved to the top. Subsequently, the servo motor drives the drive belt 62 downward at a set speed, and the tray 61, supporting the bagged seedling 3, descends slowly and smoothly. When the tray 61 moves to the bottom of the seedling guide tube 7, the bagged seedling 3 is gently placed in the seedling hole, and then the empty tray 61 rises from the other side with the drive belt 62, and the cycle continues.

[0034] In this embodiment, a water and fertilizer tank 8 is also installed on the frame 1, and a nozzle 82 for spraying liquid into the seedling hole is provided on the bottom side wall of the seedling guide tube 7; the water and fertilizer tank 8 is connected to the nozzle 82 on the seedling guide tube 7 through a conduit, and a liquid supply pump 81 is also installed on the conduit.

[0035] The nozzle 82 sprays downwards, pointing towards the center of the seedling hole. The control system is connected to the switch (such as a relay) of the liquid supply pump 81. When it is detected that the bagged seedling has fallen into the seedling hole (which can be determined by the signal of the tray 61 reaching the bottom or by a timer), the control system delays for a very short time (such as 0.3 seconds), and then starts the liquid supply pump 81 to work for a few seconds, spraying a measured amount of water and fertilizer solution onto the soil around the seedling roots.

[0036] This embodiment also includes a programmable logic controller (PLC) or industrial computer, which receives signals from the image recognition component, each encoding controller, and position sensor, and sends control commands to the actuators such as the gear motor 24, lead screw motor 41, first telescopic cylinder 42, second telescopic cylinder 52, drive motor 53, lowering servo motor, and liquid supply pump 81 according to a preset program, to coordinate the sequence and rhythm of the entire transplanting process and ensure synchronization with the forward speed of the traction equipment.

[0037] Work process: According to crop requirements, the front and rear positions of the seedling opening component 5 are adjusted using positioning bolts 55 to set the plant spacing L. The bagged seedlings 3 are placed on the rotating tray 2, the traction equipment is connected, and the device is started. The traction equipment pulls the tractor frame 1 forward at a constant speed. When the travel distance reaches L, the seedling opening component 5 is activated, digging a seedling hole at the predetermined position. Simultaneously, guided by image recognition, the transfer mechanism picks up a bagged seedling from the current position of the rotating tray 2 and pushes it into the seedling guide tube 7. The bagged seedling falls onto the pallet 61 and is smoothly transported to the bottom of the seedling guide tube, falling into the newly dug seedling hole. Then, the liquid supply pump 81 is activated, spraying water and fertilizer solution onto the roots of the seedling in the seedling hole. The rotating tray 2 rotates one position under coded control, preparing for the next seedling retrieval. The above steps are repeated to achieve continuous automated transplanting.

[0038] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A transplanting device for agronomic seedling cultivation, characterized in that: It includes a frame (1), a seedling rotating tray (2) set on the frame (1), a hole-opening assembly (5) and a seedling guide tube (7) set on the frame (1), and a plant lowering and conveying mechanism (6) set on the seedling guide tube (7). The seedling rotating tray (2) contains evenly stacked bagged seedlings (3); the frame (1) is also equipped with a transfer mechanism to transfer the bagged seedlings (3) into the seedling guide tube (7).

2. The transplanting device for agronomic seedling raising according to claim 1, characterized in that: The bottom of the frame (1) is provided with a travel wheel (11), and the frame (1) is connected to the traction device through a traction seat (12).

3. The transplanting device for agronomic seedling raising according to claim 1, characterized in that: The bottom of the seedling rotating tray (2) is mounted on the frame (1) via a slewing bearing. The slewing bearing includes a fixed support (21) fixed on the frame (1), a support shell (22) mounted on the fixed support (21), and a support inner shell (23) rotatably mounted inside the support shell (22). The top surface of the support inner shell (23) is coaxially connected to the bottom of the seedling rotating tray (2). An internal rack is provided around the inner wall of the support inner shell (23). A gear motor (24) for driving the support inner shell (23) to rotate is also provided on the fixed support (21). An encoder controller is provided on the gear motor (24).

4. The transplanting device for agronomic seedling raising according to claim 1, characterized in that: The transfer mechanism includes a transfer bracket (4) mounted on the frame (1), two guide rods (432) mounted on the transfer bracket (4), a horizontal slide (43) limited on the guide rods (432), a first telescopic cylinder (42) mounted at the bottom of the horizontal slide (43), and an arc-shaped push plate (421) mounted at the lower end of the telescopic extension of the first telescopic cylinder (42). A lead screw (431) is also mounted on the transfer bracket (4), which is driven by a lead screw motor (41). A lead screw nut seat (44) adapted to the lead screw (431) is mounted on the horizontal slide (43). The horizontal slide (43) is located directly above the seedling rotating tray (2). An image recognition component is also provided on the horizontal slide (43) to detect the distribution position of the bagged seedlings (3) on the seedling rotating tray (2). An encoding controller is provided on the lead screw motor (41) and the first telescopic cylinder (42), and both are controlled and driven based on the detection information of the image recognition component.

5. The transplanting device for agronomic seedling raising according to claim 1, characterized in that: The hole-opening assembly (5) includes a vertical slide rail seat (54) vertically mounted on the frame (1), a slide seat (52) slidably mounted on the vertical slide rail seat (54), a second telescopic cylinder (52) mounted on the vertical slide rail seat (54) and used to adjust the position of the slide seat (52), and a drive motor (53) mounted on the slide seat (52); the lower end of the power output shaft of the drive motor (53) is provided with a rotary drilling auger blade (531); The second telescopic cylinder (52) is equipped with an encoding controller, and a position sensor for detecting the height from the ground is provided at the bottom of the slide (52). The encoding controller controls the extension and retraction adjustment of the second telescopic cylinder (52) based on the detection signal of the position sensor.

6. The transplanting device for agronomic seedling raising according to claim 5, characterized in that: Multiple positioning threaded holes are provided on the frame (1) at different positions from the seedling guide tube (7). The side wall of the vertical slide rail seat (54) is provided with a positioning seat corresponding to the positioning threaded hole, and is detachably connected by positioning bolts (55).

7. The transplanting device for agronomic seedling raising according to claim 1, characterized in that: The seedling guide tube (7) is a long tube that is vertically fixed on the frame (1). Its upper end is close to the outer edge of the seedling rotating tray (2) to facilitate receiving bag seedlings (3). The lower end of the seedling guide tube (7) extends to the bottom of the frame (1) so that the bag seedlings (3) can fall into the seedling holes opened by the hole opening component (5).

8. The transplanting device for agronomic seedling raising according to claim 7, characterized in that: The plant lowering and conveying mechanism (6) includes at least two drive wheels on the top side wall and the bottom side wall, and a drive belt (62) on the drive wheels; wherein the drive belt (62) rotatably passes through the interior of the seedling guide tube (7), and multiple trays (61) are evenly spaced on the drive belt (62), the size of the trays (61) is adapted to the inner wall of the seedling guide tube (7), and the drive wheels are driven by a servo motor to support the bottom of the bag seedlings (3) entering the seedling guide tube (7).

9. The transplanting device for agronomic seedling raising according to claim 8, characterized in that: A water and fertilizer tank (8) is also provided on the frame (1), and a nozzle (82) for spraying liquid into the seedling hole is provided on the bottom side wall of the seedling guide tube (7); the water and fertilizer tank (8) is connected to the nozzle (82) on the seedling guide tube (7) through a conduit, and a liquid supply pump (81) is also provided on the conduit.

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