Automatic tray removing and field planting device for crop plug seedling

Abstract

The invention relates to the technical field of crop plug seedling, and discloses an automatic tray removing and planting device for crop plug seedling, which comprises a moving module and a conveying frame mounted in the middle of the moving module, a conveying belt is mounted on the conveying frame, conveying frames are mounted on two sides of the conveying frame, seedling falling holes are formed in the conveying frames, and the seedling falling holes are communicated with the conveying belt. Fourth telescopic pieces are installed on the portions, located on the two sides of the bottoms of the seedling falling holes, of the conveying frame, the telescopic ends of the fourth telescopic pieces are fixedly connected with a lifting plate, a seedling falling hopper right facing the seedling falling holes is installed on the lifting plate, the lifting plate is connected with a movable plate through an elastic assembly, and an annular frame attached to the outer wall of the seedling falling hopper in a sliding mode is installed on the movable plate. After the duckbilled piece completes field planting operation of plug seedlings, the duckbilled piece is driven by the opening and closing assembly to complete closing in the ascending and resetting process of the duckbilled piece, meanwhile, the duckbilled piece shakes up and down under the cooperation of the elastic assembly and the cleaning assembly, and then soil attached to the surface of the duckbilled piece is conveniently shaken off.

Description

Technical Field

[0001] This invention relates to the field of crop tray seedling technology, specifically an automatic tray removal and transplanting device for crop tray seedlings. Background Technology

[0002] Crop tray seedling raising is a highly efficient and intensive seedling raising technology. Its core is to use porous trays as containers and lightweight substrates as carriers to cultivate individual seedlings. After the tray seedling raising is completed, the seedlings need to be removed from the trays and transplanted.

[0003] In the existing technology, during the removal and transplanting process of crop seedlings from trays, the seedling trays are first precisely transported to the removal station by a conveyor belt. When the detection module detects that the seedling trays are in place, the clamping mechanism precisely grabs the upper part of the seedling clump and lifts it upwards, thus separating the seedling clump from the tray. The seedling clump after removal from the tray is transported to the duckbill-type transplanter by the conveyor mechanism, and then the soil transplanting operation is completed. At the same time, the soil covering wheel is used to complete the soil covering and compaction.

[0004] During transplanting, the duckbill transplanter needs to be frequently inserted into the soil, and soil easily adheres to its surface. If soil adheres to the inner wall of the duckbill or the opening and closing gap, it will prevent the seedling ball from falling smoothly, causing the seedling ball to tilt, hang in the air, or even get stuck in the duckbill, resulting in "empty holes" and "crooked seedlings," which significantly reduces the qualified planting rate. In addition, after the soil adheres and accumulates continuously, it will change the shape and depth of the hole after the duckbill is inserted into the soil, causing the planting depth of the plug seedlings to be inconsistent, and ultimately affecting the uniformity of the growth of the plug seedlings. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic tray removal and transplanting device for crop seedling tray cultivation, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automatic tray removal and transplanting device for crop seedling tray cultivation includes a moving module and a conveyor frame installed in the middle of the moving module. A conveyor belt is mounted on the conveyor frame, and transport frames are installed on both sides of the conveyor frame. Seedling dropping holes are opened on the transport frames. Fourth telescopic components are installed on both sides of the bottom of the seedling dropping holes on the transport frames. A lifting plate is fixedly connected to the telescopic end of the fourth telescopic component. A seedling dropping hopper is installed on the lifting plate, facing the seedling dropping hole. A movable plate is connected to the lifting plate via an elastic component. An annular frame that slides against the outer wall of the seedling dropping hopper is installed on the movable plate. Sliding grooves are opened on both sides of the bottom of the movable plate, and sliders are slidably connected to the sliding grooves. A duckbill frame that fits against the movable plate is connected to the slider. A duckbill plate is provided on the duckbill frame. The device also includes:

[0008] An opening and closing assembly is disposed on both sides of the movable plate and is used to drive the two duckbill plates to open and close;

[0009] A cleaning component is disposed between the lifting plate and the movable plate. It is automatically triggered during the closing of the duckbill plate to make the duckbill plate shake, thereby cleaning the adhering soil through shaking.

[0010] A transfer assembly, which is mounted on a conveyor frame, is used to transfer seedlings removed from their trays.

[0011] A clamping component, which is disposed on the transfer component, is used to clamp the seedling clumps of the plug seedlings and remove them from the plug;

[0012] A conveying assembly, which is mounted on a conveying frame, is used to convey the seedlings removed from their trays to the seedling dropping holes.

[0013] As a preferred embodiment of the present invention, the opening and closing assembly includes a box body installed on both sides of the top of the movable plate, a through groove is provided at the bottom of the box body, an opening and closing block extending into the box body from the through groove is installed on the duckbill frame, and a fifth telescopic member connected to the opening and closing block is provided inside the box body.

[0014] As a preferred embodiment of the present invention, the cleaning assembly includes a fixed seat mounted on the opening and closing block, a movable shaft rotatably mounted on the fixed seat, a top plate mounted on the movable shaft, a second elastic element connected to the opening and closing block being provided on the side of the top plate facing the middle of the movable plate, a limit support rod being provided on the side of the fixed seat away from the second elastic element, and a mating block extending into the housing being mounted on the lifting plate, with a plurality of spaced arc-shaped protrusions at the bottom of the mating block.

[0015] As a preferred embodiment of the present invention, the elastic component includes a plurality of elastic cylinders installed on both sides of the bottom of the lifting plate. A sliding cavity is provided inside the elastic cylinder, and a support block is slidably arranged in the sliding cavity. A support rod that slides and cooperates with the elastic cylinder is installed at the bottom of the support block. The support rod is connected to the movable plate, and a first elastic element connected to the support block is provided at the bottom of the sliding cavity.

[0016] As a preferred embodiment of the present invention, the conveyor frame is provided with a conveying sloping plate close to the conveyor belt, and the surface of the conveying sloping plate is provided with a plurality of protruding rotating cylinders.

[0017] As a preferred embodiment of the present invention, an installation frame is provided at the bottom of the conveyor frame and on both sides of the seedling hole, and a seedling guide tube is provided on the installation frame.

[0018] As a preferred embodiment of the present invention, the transfer assembly includes a top frame installed on the top of the transfer frame, two symmetrically distributed guide rods installed inside the top frame, two transfer frames slidably arranged on the guide rods, a screw threadedly connected to the transfer frame rotatably arranged inside the top frame, and a drive component connected to the screw is installed on the outer wall of the top frame.

[0019] As a preferred embodiment of the present invention, the clamping assembly includes a first telescopic member installed at the bottom of the transfer frame. The telescopic end of the first telescopic member is fixedly connected to the clamping frame. Two symmetrically distributed limiting rods are installed on both sides of the clamping frame. An adjusting frame is slidably arranged on the limiting rods. The adjusting frame is connected to the clamping frame through a second telescopic member. Several inclined third telescopic members are provided at the bottom of the adjusting frame. Pins are installed at the telescopic ends of the third telescopic members.

[0020] As a preferred embodiment of the present invention, the conveying assembly includes a first rotating shaft and a second rotating shaft rotatably mounted on a conveying frame. A transmission cylinder is installed on both the first rotating shaft and the second rotating shaft. The two transmission cylinders are connected by a conveying chain. The conveying chain is provided with a plurality of seedling conveying cylinders that are spaced apart and fit against the surface of the conveying frame.

[0021] The present invention has the following advantages: After the duckbill plate completes the planting operation of the plug seedlings, during its upward reset process, the duckbill plate closes under the drive of the opening and closing component. At the same time, with the cooperation of the elastic component and the cleaning component, the duckbill plate shakes up and down, which facilitates the shaking off of the soil adhering to the surface of the duckbill plate. This solves the problem that soil adhering to the inner wall of the duckbill or the opening and closing gap will prevent the seedling clump from falling smoothly, causing the seedling clump to tilt, hang in the air, or even get stuck in the duckbill, resulting in "empty holes" and "crooked seedlings", which significantly reduces the planting qualification rate. In addition, after the adhering soil continues to accumulate, it will change the shape and depth of the hole after the duckbill is inserted into the soil, causing the planting depth of the plug seedlings to be inconsistent, which will ultimately affect the uniformity of the growth of the plug seedlings. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an automatic tray removal and transplanting device for crop seedling cultivation in trays.

[0023] Figure 2 This is a schematic diagram of the bottom structure of an automatic tray removal and transplanting device for crop seedling cultivation.

[0024] Figure 3 This is a schematic diagram of the bottom of the seedling hole in an automatic tray removal and transplanting device for crop seedling cultivation.

[0025] Figure 4 This is a schematic diagram of the structure at the bottom of the lifting plate in an automatic tray removal and transplanting device for crop seedling cultivation.

[0026] Figure 5 This is a schematic diagram of the structure of an automatic tray removal and transplanting device for crop seedling trays, showing the combination of a seedling dropper and a duckbill plate.

[0027] Figure 6 This is a schematic diagram of the elastic component in an automatic tray removal and transplanting device for crop seedling cultivation.

[0028] Figure 7 This is a schematic diagram of the drive component and cleaning component in an automatic tray removal and transplanting device for crop seedling cultivation.

[0029] Figure 8 for Figure 7 A magnified view of a portion of point A in the middle.

[0030] Figure 9 This is a schematic diagram of the transfer component in an automatic tray removal and transplanting device for crop seedling cultivation.

[0031] Figure 10 This is a schematic diagram of the clamping component in an automatic tray removal and transplanting device for crop seedling tray cultivation.

[0032] Figure 11 This is a schematic diagram of the conveying component in an automatic tray removal and transplanting device for crop seedling cultivation.

[0033] Figure 12 for Figure 11 A magnified view of a section at point B.

[0034] In the diagram: 101. Moving module; 102. Conveyor frame; 103. Conveyor belt; 2. Transfer assembly; 201. Top frame; 202. Guide rod; 203. Transfer frame; 204. Screw; 205. Drive component; 3. Clamping assembly; 301. First telescopic component; 302. Clamping frame; 303. Limiting rod; 304. Adjusting frame; 305. Second telescopic component; 306. Third telescopic component; 307. Pin; 401. Conveying frame; 402. Seedling hole; 403. Mounting frame; 404. Seedling guide tube; 5. Conveying assembly; 501. First rotating shaft; 502. Second rotating shaft; 503. Transmission cylinder; 504. Conveying chain; 505. Seedling conveyor tube; 601. Fourth telescopic component 602. Lifting plate; 603. Seedling dropper; 604. Movable plate; 605. Circular frame; 606. Slide groove; 607. Sliding block; 608. Duckbill frame; 609. Duckbill plate; 7. Elastic component; 701. Elastic cylinder; 702. Slide cavity; 703. Support block; 704. Support rod; 705. First elastic element; 8. Opening and closing component; 801. Box body; 802. Through groove; 803. Opening and closing block; 804. Fifth telescopic component; 9. Cleaning component; 901. Fixed seat; 902. Movable shaft; 903. Top plate; 904. Second elastic element; 905. Limiting support rod; 906. Matching block; 907. Arc-shaped protrusion; 10. Conveying inclined plate; 11. Protruding rotating cylinder. Detailed Implementation

[0035] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0036] Please see Figures 1-12 An automatic tray removal and transplanting device for crop seedling tray cultivation includes a moving module 101 and a conveyor frame 102 installed in the middle of the moving module 101. A conveyor belt 103 is installed on the conveyor frame 102. A strip-shaped plate protruding towards the middle of the conveyor belt 103 is provided on the top of the conveyor frame 102. This strip-shaped plate is used to limit the edge of the seedling trays conveyed by the conveyor belt 103, thereby facilitating the removal of seedlings from the trays. Conveyor frames 401 are installed on both sides of the conveyor frame 102. Seedling dropping holes 402 are provided on the conveyor frames 401. Fourth telescopic devices are installed on both sides of the bottom of the seedling dropping holes 402 on the conveyor frames 401. Component 601, preferably, the fourth telescopic component 601 is configured as a hydraulic rod, and a lifting plate 602 is fixedly connected to the telescopic end of the fourth telescopic component 601. A seedling hopper 603 facing the seedling hole 402 is installed on the lifting plate 602. The lifting plate 602 is connected to a movable plate 604 through an elastic component 7. An annular frame 605 that slides against the outer wall of the seedling hopper 603 is installed on the movable plate 604. Sliding grooves 606 are provided on both sides of the bottom of the movable plate 604. A slider 607 is slidably connected to the sliding grooves 606. A duckbill frame 608 that fits against the movable plate 604 is connected to the slider 607. A duckbill piece 609 is provided on the duckbill frame 608. The component also includes:

[0037] The opening and closing assembly 8 is disposed on both sides of the movable plate 604 and is used to drive the two duckbill pieces 609 to open and close.

[0038] Cleaning component 9 is disposed between lifting plate 602 and movable plate 604. It is automatically triggered during the closing of duckbill plate 609 to make duckbill plate 609 vibrate, thereby cleaning the adhering soil through vibration.

[0039] Transfer component 2, which is mounted on conveyor frame 102, is used to transfer seedlings that have been removed from their trays.

[0040] The clamping component 3 is disposed on the transfer component 2 and is used to clamp the seedling clumps of the plug seedlings and remove them from the plug.

[0041] The conveying component 5 is mounted on the conveying frame 401 and is used to convey the seedlings that have been removed from the tray to the seedling dropping hole 402.

[0042] In one instance of this embodiment, please refer to Figure 4 , Figure 5 and Figure 7The opening and closing assembly 8 includes a box 801 installed on both sides of the top of the movable plate 604. A through groove 802 is provided at the bottom of the box 801. An opening and closing block 803 extending into the box 801 from the through groove 802 is installed on the duckbill frame 608. A fifth telescopic member 804 connected to the opening and closing block 803 is provided inside the box 801. Preferably, the fifth telescopic member 804 is a hydraulic rod.

[0043] The through groove 802 is used to restrict the position of the opening and closing block 803. When the opening and closing block 803 is located at one end of the through groove 802 near the middle of the movable plate 604, the two duckbill plates 609 are in a closed state. At this time, the seedlings falling from the seedling dropper 603 will fall between the two duckbill plates 609, which makes it easy to put the seedlings into the planting pit opened by the duckbill plates 609. When the opening and closing block 803 is located at the other end of the through groove 802, the two duckbill plates 609 are in an open state. At this time, the gap between the two duckbill plates 609 is larger than the size of the seedling, so that the seedlings between the duckbill plates 609 can fall smoothly into the planting pit, thereby completing the planting operation.

[0044] Specifically, when the closed duckbill piece 609 is inserted into the soil under the drive of the fourth telescopic component 601, the fifth telescopic component 804 begins to drive the opening and closing block 803 to move along the through groove 802 to one end away from the middle of the movable plate 604, thereby causing the slider 607 on the duckbill frame 608 to slide along the slide groove 606, so that the two duckbill pieces 609 separate and open, allowing the seedling clump located between the two duckbill pieces 609 to fall into the planting pit. Then, the fourth telescopic component 601 starts in the reverse direction, causing the duckbill piece 609 to rise, and the fifth telescopic component 804 also starts in the reverse direction, pushing the opening and closing block 803 to reset, so that the duckbill piece 609 on the duckbill frame 608 also resets and closes, waiting for the next seedling to fall.

[0045] In one instance of this embodiment, please refer to Figure 5 , Figure 7 and Figure 8 The cleaning component 9 includes a fixed seat 901 mounted on the opening and closing block 803, a movable shaft 902 rotatably mounted on the fixed seat 901, a top plate 903 mounted on the movable shaft 902, a second elastic element 904 connected to the opening and closing block 803 on the side of the top plate 903 facing the middle of the movable plate 604, preferably the second elastic element 904 is a spring, a limit support rod 905 is provided on the side of the fixed seat 901 away from the second elastic element 904, a mating block 906 extending into the housing 801 is mounted on the lifting plate 602, and a number of spaced arc-shaped protrusions 907 are provided at the bottom of the mating block 906.

[0046] In the initial state, due to the limiting effect of the elastic component 7, the position of the movable plate 604 relative to the lifting plate 602 is fixed, and the movable plate 604 is continuously subjected to an elastic force towards the lifting plate 602. When the duckbill piece 609 is in the closed state, the opening and closing block 803 is located at one end of the through groove 802 near the middle of the movable plate 604, and the top plate 903 is located on the side of the mating block 906 near the middle of the movable plate 604. Due to the elastic force of the second elastic component 904 on the top plate 903, the top plate 903 is pressed against the limiting support rod 905. At this time, the top plate 903 is in a vertical state, and the top of the top plate 903 is flush with the highest end of the arc-shaped protrusion 907.

[0047] When the opening and closing assembly 8 drives the two duckbill pieces 609 to open, the opening and closing block 803 moves along the through groove 802 towards the end away from the center of the movable plate 604. During this process, the top plate 903 will come into contact with several arc-shaped protrusions 907 one by one. Because the elastic force applied by the elastic assembly 7 to the movable plate 604 is greater than the elastic force of the second elastic element 904 supporting the top plate 903 to maintain its vertical position, the top plate 903 is subjected to arc-shaped protrusions 907 during the process of contacting them one by one. The convex protrusion 907 pushes and rotates around the movable axis 902 toward one side of the second elastic element 904, so that the top plate 903 can pass over the convex protrusion 907 one by one. In this way, when the duckbill plate 609 opens and the plug seedling falls into the planting pit, the presence of the convex protrusion 907 will not cause the duckbill plate 609 to shake up and down, so that the duckbill plate 609 can open stably and the plug seedling falls smoothly, avoiding shaking that will affect the smooth falling of the plug seedling into the planting pit.

[0048] When the opening and closing assembly 8 drives the two duckbill plates 609 to close, the opening and closing block 803 moves along the through groove 802 towards one end near the middle of the movable plate 604. During this process, because the top plate 903 contacts the arc-shaped protrusion 907, and the limiting support rod 905 limits the surface of the top plate 903, the top plate 903 can push the mating block 906 relative to the movable plate 604 through the arc-shaped surface of the arc-shaped protrusion 907, causing the movable plate 604 to separate from the lifting plate 602, that is, the movable plate 604... 04 moves downwards, and when the top plate 903 passes the arc-shaped protrusion 907, the movable plate 604 will return to its original position under the action of the elastic component 7. As the top plate 903 passes several arc-shaped protrusions 907, the movable plate 604 will repeatedly move up and down, causing the duckbill piece 609 at the bottom of the movable plate 604 to continuously shake up and down. This facilitates shaking off the soil attached to the duckbill piece 609, preventing the soil from affecting the smooth falling of the seedling and the uniformity of the seedlings in the later stage of planting.

[0049] In one instance of this embodiment, please refer to Figure 5 and Figure 6The elastic component 7 includes a plurality of elastic cylinders 701 installed on both sides of the bottom of the lifting plate 602. A sliding cavity 702 is provided in the elastic cylinder 701. A support block 703 is slidably arranged in the sliding cavity 702. A support rod 704 that slides and cooperates with the elastic cylinder 701 is installed at the bottom of the support block 703. The support rod 704 is connected to the movable plate 604. A first elastic element 705 connected to the support block 703 is provided at the bottom of the sliding cavity 702. Preferably, the first elastic element 705 is a spring.

[0050] In this configuration, the first elastic element 705 is in a compressed state, causing the support block 703 to be continuously subjected to an upward elastic force. Thus, in the initial state, due to the elastic force of the first elastic element 705 on the support block 703, the support block 703 is located at the top of the sliding cavity 702. Thus, the support rod 704 can continuously apply an elastic force toward the lifting plate 602 to the movable plate 604. In conjunction with the cleaning component 9, the duckbill piece 609 can be shaken and cleaned.

[0051] In one instance of this embodiment, please refer to Figure 11 and Figure 12 The conveyor frame 102 is provided with a conveying inclined plate 10 close to the conveyor belt 103, and the surface of the conveying inclined plate 10 is provided with a plurality of protruding rotating cylinders 11.

[0052] As the seedling tray slides down the conveyor inclined plate 10, the raised rotating cylinder 11 will rotate due to friction with the seedling tray. The protrusions on the surface of the raised rotating cylinder 11 can collide with the seedling tray, causing the seedling tray to bounce slightly, thus making the seedling tray vibrate slightly, which facilitates the subsequent separation of the seedling clump from the seedling tray.

[0053] In one instance of this embodiment, please refer to Figures 1-3 The bottom of the conveyor frame 401 and on both sides of the seedling hole 402 are provided with mounting frames 403, and seedling guide tubes 404 are provided on the mounting frames 403.

[0054] The seedlings falling from the seedling hole 402 will enter the seedling guide tube 404, and the seedlings will be transported to the seedling hopper 603 through the seedling guide tube 404. This can realize the directional transport of the seedlings and prevent the falling seedlings from deviating.

[0055] In one instance of this embodiment, please refer to Figure 1 and Figure 9The transfer assembly 2 includes a top frame 201 mounted on top of the transfer frame 102. Two symmetrically distributed guide rods 202 are installed inside the top frame 201. Two transfer frames 203 are slidably arranged on the guide rods 202. A screw 204 threadedly connected to the transfer frame 203 is rotatably arranged inside the top frame 201. The threads on both sides of the screw 204 are symmetrically distributed. A drive component 205 connected to the screw 204 is installed on the outer wall of the top frame 201. Preferably, the drive component 205 is a motor.

[0056] When it is necessary to transfer the gripping component 3 between the conveyor belt 103 and the conveying component 5 to facilitate the transfer of the seedlings from the plug tray, the drive component 205 is activated. The drive component 205 drives the screw 204 to rotate, and the screw 204 drives the transfer frame 203 to move synchronously along the guide rod 202. This drives the gripping components 3 on the two transfer frames 203 to move back and forth between the conveyor belt 103 and the conveying component 5, thereby facilitating the transfer of the seedlings from the plug tray to the conveying component 5.

[0057] In one instance of this embodiment, please refer to Figure 1 , Figure 9 and Figure 10 The clamping assembly 3 includes a first telescopic member 301 installed at the bottom of the transfer frame 203. The telescopic end of the first telescopic member 301 is fixedly connected to the clamping frame 302. Two symmetrically distributed limiting rods 303 are installed on both sides of the clamping frame 302. An adjusting frame 304 is slidably arranged on the limiting rods 303. The adjusting frame 304 is connected to the clamping frame 302 through a second telescopic member 305. Several inclined third telescopic members 306 are provided at the bottom of the adjusting frame 304. The telescopic end of the third telescopic member 306 is equipped with a pin 307. Preferably, the first telescopic member 301, the second telescopic member 305 and the third telescopic member 306 can be set as hydraulic rods.

[0058] Specifically, the transfer frame 203 moves to the top of the seedling tray under the drive of the transfer component 2, and several sets of pins 307 at the bottom of the transfer frame 203 are aligned with several seedlings in the seedling tray. Then, under the drive of the first telescopic component 301, the clamping frame 302 descends to above the seedling clump near the seedling in the seedling tray. Then, the third telescopic component 306 drives the pins 307 to tilt and insert into the seedling clump. Then, the first telescopic component 301 drives the clamping frame 302 to rise. The pins 307 can carry the seedling clump up and complete the separation from the seedling tray. Then, the transfer component 2 transfers the clamped seedling in the seedling tray to above the conveying component 5. The clamping component 3 descends to a suitable height, and the third telescopic component 306 reverses and drives the pins 307 to exit the seedling in the seedling tray, so that the seedling in the seedling tray can fall onto the conveying component 5, so that the conveying component 5 can transport the seedling in the seedling tray to the seedling dropping hole 402.

[0059] Furthermore, the position of the adjusting frame 304 on the limiting rod 303 can be adjusted by extending and retracting the second telescopic member 305, thereby changing the spacing between the pins 307 on both sides of the clamping frame 302, so as to make it convenient to adjust the position of the pins 307 inserted into the seedling according to the needs.

[0060] In one instance of this embodiment, please refer to Figure 1 and Figure 11 The conveying assembly 5 includes a first rotating shaft 501 and a second rotating shaft 502 rotatably mounted on the conveying frame 401. A transmission cylinder 503 is installed on both the first rotating shaft 501 and the second rotating shaft 502. The two transmission cylinders 503 are connected by a conveying chain 504. A plurality of seedling conveying cylinders 505 are provided on the conveying chain 504, which are spaced apart and attached to the surface of the conveying frame 401.

[0061] The seedlings gripped by the clamping component 3 will move to the top of the seedling conveying cylinder 505, so that the gripped seedlings can fall into the corresponding seedling conveying cylinder 505. The first rotating shaft 501 is driven to rotate by an external drive device (such as a motor), which causes the transmission cylinder 503 connected to it to rotate. In conjunction with the conveying chain 504, the seedling conveying cylinder 505 can be realized until the seedlings in the seedling conveying cylinder 505 are conveyed to the seedling dropping hole 402 for discharge.

[0062] This invention uses an external traction device to move the device. During the moving and planting process, the seedling tray is placed on the conveyor inclined plate 10 and slides down the conveyor inclined plate 10 onto the conveyor belt 103. During the descent, the raised rotating cylinder 11 rotates due to friction with the seedling tray. The protrusions on the surface of the raised rotating cylinder 11 allow the seedling tray to bounce slightly, causing it to jolt slightly, which facilitates the separation of the seedling clump from the seedling tray.

[0063] Under the conveyor belt 103, the seedling tray moves to the unpacking position. When the vision detection module (not shown in the figure) detects that the seedling tray is in place, the clamping component 3 will begin to descend and clamp the upper part of the seedling and lift it upward, so that the seedling is separated from the seedling tray. Then, driven by the transfer component 2, the seedling clamped by the clamping component 3 will move to the conveying component 5, so that the seedling clamped by the clamping component 3 can fall into the conveying tube 505 of the conveying component 5. Thus, the seedling in the conveying tube 505 can be moved to the seedling dropping hole 402 as the conveying component 5 conveys, and fall into the seedling dropping hopper 603 along the seedling guide tube 404, and then fall from the seedling dropping hopper 603 into the closed duckbill plate 609, thus completing the conveying of the seedling.

[0064] During the transplanting of plug seedlings, driven by the fourth telescopic component 601, the lifting plate 602 descends, which in turn drives the movable plate 604 to descend via the elastic component 7. This allows the closed duckbill plate 609 to be inserted into the transplanting soil. Then, driven by the opening and closing component 8, the two duckbill plates 609 separate, allowing the seedling clump inside the duckbill plate 609 to fall into the pit through the gap between the two duckbill plates 609, completing the transplanting. Furthermore, a soil-covering wheel can be installed at the bottom of the moving module 101 to cover and compact the transplanted plug seedlings with soil. Afterward, the fourth telescopic component 601 reverses its direction, and the lifting plate 602... 02 Reset, and the duckbill plate 609 also rises synchronously. After rising, the duckbill plate 609 will close again under the action of the opening and closing component 8. During the movement and closing process of the duckbill plate 609, the cleaning component 9 and the elastic component 7 will cause the duckbill plate 609 on the movable plate 604 to shake up and down. The shaking can effectively clean the soil adhering to the surface of the duckbill plate 609, thereby preventing the duckbill plate 609 from blocking the smooth fall of the seedling ball due to soil adhesion and from changing the shape and depth of the hole after the duckbill plate 609 is inserted into the soil due to continuous soil accumulation, thus improving the planting effect of the plug seedling.

[0065] The power supply and control of the electrical equipment in this application are all existing technologies and will not be elaborated upon here. The control of each component can be achieved using a PLC controller disclosed in the prior art, and the model and circuit connection of each component are not specifically limited. All electrical equipment involved are existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The scope of protection of this invention does not involve improvements to the software and methods.

[0066] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0067] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic tray removal and transplanting device for crop seedling cultivation, comprising a moving module and a conveyor frame installed in the middle of the moving module, a conveyor belt mounted on the conveyor frame, and conveyor racks mounted on both sides of the conveyor frame, the conveyor racks having seedling dropping holes, characterized in that, The conveyor frame is equipped with fourth telescopic components on both sides of the bottom of the seedling dropping hole. A lifting plate is fixedly connected to the telescopic end of the fourth telescopic component. A seedling dropping hopper facing the seedling dropping hole is installed on the lifting plate. The lifting plate is connected to a movable plate via an elastic component. An annular frame that slides against the outer wall of the seedling dropping hopper is installed on the movable plate. Sliding grooves are provided on both sides of the bottom of the movable plate, and sliders are slidably connected to the sliding grooves. A duckbill frame that fits against the movable plate is connected to the sliders. A duckbill blade is provided on the duckbill frame. The system also includes: An opening and closing assembly is disposed on both sides of the movable plate and is used to drive the two duckbill plates to open and close; A cleaning component is disposed between the lifting plate and the movable plate. It is automatically triggered during the closing of the duckbill plate to make the duckbill plate shake, thereby cleaning the adhering soil through shaking. A transfer assembly, which is mounted on a conveyor frame, is used to transfer seedlings removed from their trays. A clamping component, which is disposed on the transfer component, is used to clamp the seedling clumps of the plug seedlings and remove them from the plug; A conveying assembly, which is mounted on a conveying frame, is used to convey the seedlings removed from their trays to the seedling dropping holes.

2. The automatic tray removal and transplanting device for crop seedling tray cultivation according to claim 1, characterized in that, The opening and closing assembly includes a box body installed on both sides of the top of the movable plate. A through groove is provided at the bottom of the box body. An opening and closing block extending into the box body from the through groove is installed on the duckbill frame. A fifth telescopic component connected to the opening and closing block is provided inside the box body.

3. The automatic tray removal and transplanting device for crop seedling tray cultivation according to claim 2, characterized in that, The cleaning assembly includes a fixed seat mounted on the opening and closing block, a movable shaft rotatably mounted on the fixed seat, a top plate mounted on the movable shaft, a second elastic element connected to the opening and closing block on the side of the top plate facing the middle of the movable plate, a limit support rod on the side of the fixed seat away from the second elastic element, and a mating block extending into the housing mounted on the lifting plate, with several spaced arc-shaped protrusions at the bottom of the mating block.

4. The automatic tray removal and transplanting device for crop seedling tray cultivation according to claim 3, characterized in that, The elastic component includes several elastic cylinders installed on both sides of the bottom of the lifting plate. Each elastic cylinder has a sliding cavity, and a support block is slidably arranged in the sliding cavity. A support rod that slides with the elastic cylinder is installed at the bottom of the support block. The support rod is connected to the movable plate, and a first elastic element connected to the support block is provided at the bottom of the sliding cavity.

5. The automatic tray removal and transplanting device for crop seedling tray cultivation according to claim 1, characterized in that, The conveyor frame is equipped with a conveyor sloping plate close to the conveyor belt, and the surface of the conveyor sloping plate is provided with several protruding rotating cylinders.

6. The automatic tray removal and transplanting device for crop seedling tray cultivation according to claim 1, characterized in that, The bottom of the conveyor frame is provided with mounting frames on both sides of the seedling dropping hole, and seedling guide tubes are provided on the mounting frames.

7. The automatic tray removal and transplanting device for crop seedling tray cultivation according to claim 1, characterized in that, The transfer assembly includes a top frame installed on top of the conveyor frame, two symmetrically distributed guide rods installed inside the top frame, two transfer frames slidably mounted on the guide rods, a screw threadedly connected to the transfer frame rotatably mounted inside the top frame, and a drive component connected to the screw mounted on the outer wall of the top frame.

8. The automatic tray removal and transplanting device for crop seedling tray cultivation according to claim 7, characterized in that, The clamping assembly includes a first telescopic member installed at the bottom of the transfer frame. The telescopic end of the first telescopic member is fixedly connected to the clamping frame. Two symmetrically distributed limiting rods are installed on both sides of the clamping frame. An adjusting frame is slidably arranged on the limiting rods. The adjusting frame is connected to the clamping frame through a second telescopic member. Several inclined third telescopic members are provided at the bottom of the adjusting frame. Pins are installed at the telescopic ends of the third telescopic members.

9. An automatic tray removal and transplanting device for crop seedling tray cultivation according to claim 8, characterized in that, The conveying assembly includes a first rotating shaft and a second rotating shaft rotatably mounted on the conveying frame. Both the first rotating shaft and the second rotating shaft are equipped with transmission cylinders, and the two transmission cylinders are connected by a conveying chain. The conveying chain is provided with a number of spaced-apart seedling cylinders that are in contact with the surface of the conveying frame.

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