Low-damage feeding and discharging device for whole-row grafting and seedling feeding method

Abstract

The invention relates to a low-damage feeding and discharging device for whole-row grafting and a seedling feeding method, and belongs to the technical field of agricultural intelligent production. One of the problems of inaccurate positioning of seedling trays, low automation degree of empty tray collection, poor space utilization rate of equipment, insufficient operation stability, large damage to seedlings, easy loosening of soil matrix and low seedling taking efficiency in the existing equipment is solved. The device comprises a seedling tray feeding and discharging module (1), a seedling tray transferring module (2), a transplanting claw moving module (3), a transplanting claw module (4) and a seedling cup conveying belt conveying module (5). A full-automatic closed-loop operation process is formed through the modules, manual step-by-step intervention is not needed, automatic continuous operation of seedling tray feeding and discharging, seedling tray transferring, seedling whole-row grabbing and transplanting and seedling cup conveying is achieved, and the automatic seedling tray feeding and discharging device has the advantages that seedling tray positioning is accurate, the automation degree is high, the equipment space utilization rate is high, seedlings are not prone to damage, and a soil matrix is not prone to loosening.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural production technology, and in particular to a low-damage feeding and discharging device and seedling loading method for row grafting. Background Technology

[0002] Vegetables are an important pillar of my country's agricultural economy. With the rapid development of protected horticulture and intensive seedling cultivation, the problem of continuous cropping obstacles has become increasingly prominent. Grafting cultivation is the most effective means to overcome continuous cropping obstacles and improve the disease resistance and yield of vegetables. The feeding and unloading of seedling trays, seedling grabbing and transplanting, and empty seedling tray recycling are the core links of automated grafting equipment, which directly determine grafting efficiency, seedling damage rate, and grafting survival rate.

[0003] Currently, automated grafting equipment suffers from the following technical deficiencies in seedling grasping and tray transfer: Regarding seedling grasping and transplanting, existing grafting equipment mostly uses a thumb-operated gripper to hold the seedling neck individually, a rigid grip that easily damages tender stems. Simultaneously, it fails to protect the root substrate during grasping, and vibrations during transport can easily cause the substrate to loosen and fall off, significantly reducing grafting survival rates. These devices primarily handle single-sapling grafting, resulting in low operational efficiency and difficulty in matching the pace of high-speed grafting. Some equipment uses a three-axis module to drive seedling grasping, but lacks a precise tray positioning mechanism, making the tray prone to slippage and resulting in poor grafting success rate and consistency.

[0004] In terms of seedling tray conveying and empty seedling tray collection, existing equipment generally adopts a single-layer conveyor belt feeding system, with feeding and discharging on the same plane, occupying a large lateral space, resulting in low equipment integration and a large overall size. Empty seedling tray collection mostly relies on manual removal, direct conveyor belt transport, or cylinder-driven free fall, lacking a dedicated lifting, transfer, and directional collection mechanism. Empty seedling trays are prone to problems such as displacement, jamming, disordered stacking, tipping, and deformation, requiring secondary manual sorting, and exhibiting poor automation continuity. Seedling tray lifting and transfer often uses dual motors / dual cylinders, chains, belts, or cantilever structures, which suffer from unstable operation, easy tilting and swaying, poor synchronization, and low positioning accuracy. The lifting process can easily cause substrate scattering, resulting in environmental pollution.

[0005] In summary, existing automated grafting equipment generally suffers from problems such as inaccurate seedling tray positioning, low automation in empty tray collection, poor equipment space utilization, insufficient operational stability, significant seedling damage, easy substrate loosening, and low seedling extraction efficiency. The process connections are not smooth, and the failure rate is high, making it difficult to meet the requirements of modern vegetable grafting and seedling cultivation for high efficiency, high survival rate, and continuous automated operation. Summary of the Invention

[0006] Based on the above analysis, the present invention aims to provide a low-damage feeding and discharging device and seedling loading method for row grafting, in order to solve one of the problems of inaccurate seedling tray positioning, low automation of empty tray collection, poor equipment space utilization, insufficient operational stability, large seedling damage, easy loosening of substrate, and low seedling picking efficiency in existing equipment.

[0007] On one hand, the present invention provides a low-damage feeding and discharging device for row grafting, including a seedling tray feeding and discharging module, a seedling tray transfer module, a transplanting claw moving module, a transplanting claw module, and a seedling cup conveyor belt conveying module; the seedling tray feeding and discharging module includes a feeding component and a discharging component arranged vertically; the seedling tray transfer module is located at one end of the seedling tray feeding and discharging module and is used to transfer the seedling trays on the feeding component to the discharging component; the seedling cup conveyor belt conveying module is located on the side of the seedling tray feeding and discharging module and the seedling tray transfer module; the transplanting claw moving module is located above the seedling tray feeding and discharging module and the seedling cup conveyor belt conveying module, and the transplanting claw module is installed on the transplanting claw moving module and is used to transplant the seedlings in the seedling trays to the seedling cup conveyor belt conveying module.

[0008] Furthermore, the feeding assembly includes a first seedling tray pusher plate, a first seedling tray pusher cylinder, a seedling tray horizontal guide plate, and a first seedling tray support plate.

[0009] Furthermore, the seedling tray is placed on the first seedling tray support plate, and the first seedling tray pusher cylinder can drive the first seedling tray pusher plate to push the seedling tray forward to achieve feeding; the seedling tray horizontal guide plate is located on both sides of the first seedling tray support plate and is used to guide the movement of the seedling tray.

[0010] Furthermore, the discharge assembly includes a second seedling tray pusher plate, a second seedling tray pusher cylinder, and a second seedling tray support plate.

[0011] Furthermore, the first seedling tray support plate and the second seedling tray support plate are arranged parallel to each other vertically; the second seedling tray pusher cylinder can drive the second seedling tray pusher plate to push the seedling tray backward to achieve material discharge.

[0012] Furthermore, the seedling tray transfer module includes a support base plate, a scissor lift assembly, and a lead screw linear drive assembly.

[0013] Furthermore, the supporting base plate is located below one end of the seedling tray feeding and discharging module; the scissor lift assembly is disposed on the supporting base plate and is used to transfer the seedling tray from the feeding assembly to the discharging assembly; the lead screw linear drive assembly is used to drive the scissor lift assembly.

[0014] Furthermore, the scissor lift assembly includes an active lifting arm and a seedling tray lifting platform.

[0015] Furthermore, the bottom of the active lifting arm is hinged to the output end of the lead screw linear drive assembly, and the top of the active lifting arm is hinged to the seedling tray lifting platform.

[0016] Furthermore, the active lifting arm can drive the seedling tray lifting platform to move between the upper limit position and the lower limit position.

[0017] Furthermore, the seedling tray lifting platform is flush with the first seedling tray support plate at its upper limit position and flush with the second seedling tray support plate at its lower limit position.

[0018] Furthermore, the scissor lift assembly also includes a driven lifting arm.

[0019] Furthermore, the bottom of the driven lifting arm is hinged to the supporting base plate, and the top of the driven lifting arm is hinged to the middle of the active lifting arm.

[0020] Furthermore, the driven lifting arm includes two nested, relatively sliding upper and lower parts.

[0021] Furthermore, the scissor lift assembly also includes a first sliding rail and a second sliding rail. The first sliding rail is fixedly mounted on the support base plate and extends horizontally to guide the bottom of the active lifting arm. The second sliding rail is mounted on the support frame and extends vertically to guide the seedling tray lifting platform.

[0022] Furthermore, both the active lifting arm and the driven lifting arm are two symmetrically arranged arms.

[0023] Furthermore, the lead screw linear drive assembly includes a first servo motor, a first linear lead screw, and a linear nut; the linear nut is connected to a first rotating shaft, and the first rotating shaft is rotatably connected to the bottom of the active lifting arm.

[0024] On the other hand, the present invention provides a low-damage seedling loading method for row grafting, wherein the seedlings are loaded using the low-damage feeding and discharging device for row grafting described above.

[0025] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: (1) The present invention has an integrated structure consisting of a seedling tray loading and unloading module, a seedling tray transfer module, a transplanting claw moving module, a transplanting claw module, a seedling cup conveyor belt conveying module and a support frame. Each module works in coordination in the order of loading, transferring, grabbing, transplanting and conveying to form a fully automatic closed-loop operation process. No manual intervention is required. It realizes the automated and continuous operation of seedling tray loading and unloading, seedling tray transfer, seedling row grabbing and transplanting and seedling cup conveying. It has the advantages of compact structure, high integration, high degree of automation and smooth operation process.

[0026] (2) The seedling tray feeding and discharging module of the present invention adopts a feeding component and discharging component structure arranged in layers, so that feeding and discharging are carried out separately in the vertical direction and do not interfere with each other. No additional conveying channel is required in the horizontal direction, realizing independent operation of seedling tray feeding and discharging in layers, without occupying additional horizontal space, greatly improving the space utilization of the equipment, and avoiding mutual interference between feeding and discharging.

[0027] (3) The seedling tray feeding and discharging module of the present invention is equipped with a seedling tray horizontal guide plate to guide and limit the seedling tray. The seedling tray is forced to maintain a straight line during the pushing process, so that the seedling tray is accurately positioned, does not deviate or move, and the seedling picking position is always consistent, effectively improving the accuracy of seedling picking position and transplanting success rate.

[0028] (4) The seedling tray transfer module of the present invention adopts a scissor-type lifting component and a screw linear drive component in combination. The scissor support realizes uniform force and vertical lifting, and the screw drive realizes smooth low-speed drive, so as to realize the smooth vertical transfer of the seedling tray between the upper and lower material positions. The lifting process is without tilting, shaking, and impact, avoiding the loosening and falling off of the remaining substrate.

[0029] (5) The seedling tray transfer module of the present invention is provided with a bidirectional guide structure of a first sliding track and a second sliding track, which provides double guidance and constraint for the seedling tray lifting platform, so that its movement trajectory is fixed and there is no lateral sway. The platform is subjected to uniform force and runs smoothly, without jamming or misalignment. This makes the seedling tray lifting platform move smoothly, with high positioning accuracy, uniform load, strong running stability, and low failure rate.

[0030] (6) The seedling tray transfer module of the present invention adopts a single servo motor and linear screw drive scissor lifting component structure. The single servo motor and linear screw serve as a single drive source and are forced to synchronize by the mechanical structure. There is no need for multi-motor coordination control. The logic is simple, the response is consistent, the drive synchronization is good, and the repeatability positioning accuracy is high, which effectively reduces the equipment cost and maintenance difficulty.

[0031] (7) The seedling tray transfer module of the present invention adopts a nested sliding driven lifting arm and a symmetrical double lifting arm structure, which makes the lifting platform more balanced on the left and right, and stronger overall rigidity. It is not easy to deform and shake under heavy load, and can continuously carry a full tray of seedlings for a long time, thus improving the service life of the equipment.

[0032] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0033] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0034] Figure 1 A three-dimensional structural schematic diagram of a low-damage feeding and discharging device for whole-row grafting provided in an embodiment; Figure 2 A schematic diagram of the seedling tray feeding and discharging module in a low-damage feeding and discharging device for row grafting provided in an embodiment; Figure 3 A schematic diagram of the seedling tray transfer module in the low-damage feeding and discharging device for row grafting provided in the embodiment; Figure 4 This is a schematic diagram of the transplanting claw moving module in the low-damage feeding and discharging device for row grafting provided in the embodiment. Figure 5 This is a schematic diagram of the transplanting claw module in the low-damage feeding and discharging device for row grafting provided in the embodiment. Figure 6 A schematic diagram of the transplanting claw support plate in the low-damage feeding and discharging device for row grafting provided in the embodiment; Figure 7 A schematic diagram of the structure of the soil-binding cylinder and soil-binding claw limiting plate in the low-damage feeding and discharging device for whole-row grafting provided in the embodiment; Figure 8 This is a schematic diagram of the gripper cylinder and gripper structure in the low-damage feeding and discharging device for whole-row grafting provided in the embodiment. Figure 9 This is a schematic diagram of the working state of the soil-binding claw in the low-damage feeding and discharging device for whole-row grafting provided in the embodiment, where (a) is the retracted state and (b) is the extended state; Figure 10 A schematic diagram of the seedling cup conveyor belt conveyor module in the low-damage feeding and discharging device for row grafting provided in the embodiment; Figure 11 This is a schematic diagram of the seedling cup in the low-damage feeding and discharging device for row grafting provided in the embodiment.

[0035] Figure label: 1-Seedling tray feeding / discharging module; 12-First seedling tray pusher plate; 13-Seedling tray; 14-First seedling tray pusher cylinder; 15-Seedling tray horizontal guide plate; 16-Seedling tray unloading guide plate; 17-Second seedling tray pusher plate; 18-Second seedling tray pusher cylinder; 2-Seedling tray transfer module; 21-First rotating shaft; 22-First linear screw; 23-Motor bracket; 24-First sliding rail; 25-First servo motor; 26-First bearing base; 27-Fourth rotating shaft; 28-Active lifting arm; 29-Seedling tray lifting platform; 210-Second rotating shaft; 211-Second bearing base; 212-Second sliding rail; 213-Driven lifting arm; 214-Third rotating shaft; 215-Third bearing base; 216-Support base plate; 217-Linear nut; 3-Transplanting claw moving module; 31-Horizontal servo motor; 32-Vertical servo motor; 33-Transplanting claw connecting plate; 34-Horizontal linear screw; 35-Vertical linear screw; 36-Screw connecting plate; 4-Transplanting claw module; 41-Extending cylinder; 42-Transplanting claw support plate; 421-Transplanting claw connecting part; 422-Transplanting claw support plate guide rail part; 423-Extending cylinder support part; 43-Sliding plate; 431-Gripper cylinder support plate; 432-Column; 433-Sliding plate base; 434-Soil-binding claw limiting plate; 44-Gripper cylinder; 45-Soil-binding cylinder; 46-Gripper; 461-Guide claw structure; 462-Comb-type telescopic meshing structure; 47-Soil-binding claw; 48-Connecting block; 5-Seedling cup conveyor belt module; 51-Seedling cup; 511-Open clamping groove; 512-Gear-shaped structure; 52-Limiting plate bracket; 53-Conveyor belt conveying device; 54-Limiting plate; 6-Support frame. Detailed Implementation

[0036] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0037] Example 1 Embodiment 1 of the present invention provides a low-damage feeding and discharging device for row grafting, including a seedling tray feeding and discharging module 1, a seedling tray transfer module 2, a transplanting claw moving module 3, a transplanting claw module 4, and a seedling cup conveyor belt conveying module 5. In a preferred embodiment, a support frame 6 is also included.

[0038] like Figure 1As shown, the seedling tray feeding / discharging module 1, the seedling tray transfer module 2, the transplanting claw moving module 3, and the seedling cup conveyor belt conveying module 5 are all installed on the support frame 6. The seedling tray feeding / discharging module 1 consists of two parts: an upper feeding component and a lower discharging component. The seedling tray transfer module 2 is located at one end of the seedling tray feeding / discharging module 1 and is used to transfer the seedling trays from the feeding component to the discharging component. The seedling cup conveyor belt conveying module 5 is located on the side of the seedling tray feeding / discharging module 1 and the seedling tray transfer module 2, and its height is flush with the feeding component. It is used to convey the transplanted seedling cups 51 to other positions. The transplanting claw moving module 3 is located above the seedling tray feeding / discharging module 1 and the seedling cup conveyor belt conveying module 5 and is used to transfer the transplanting claw module 4 from the seedling tray 13 to the conveyor belt conveying module 5. The transplanting claw module 4 is installed on the transplanting claw moving module 3 and is used to dig up the soil and seedlings in the seedling tray 13 and place them into the seedling cups 51 on the conveyor belt conveying module 5 to complete the transplanting.

[0039] like Figure 2 As shown, the seedling tray feeding and discharging module 1 includes a feeding component and a discharging component arranged vertically. The feeding component includes a first seedling tray pusher plate 12, a first seedling tray pusher cylinder 14, a seedling tray horizontal guide plate 15, and a first seedling tray support plate (not shown). The seedling tray 13 is placed on the first seedling tray support plate, and the first seedling tray pusher cylinder 14 can drive the first seedling tray pusher plate 12 to push the seedling tray 13 forward to achieve feeding.

[0040] To address the issue of inaccurate seedling tray positioning in existing technologies, horizontal guide plates 15 are installed on the support frame 6 and located on both sides of the first seedling tray support plate to guide the movement of the seedling tray 13. Gaps exist between the horizontal guide plates 15 and the seedling tray 13 on both sides, allowing the seedling tray 13 to slide smoothly between the two horizontal guide plates 15. By setting the horizontal guide plates 15, the seedling tray 13 is forced to maintain a straight line during the pushing process, ensuring accurate positioning, preventing deviation or shifting, and maintaining a consistent seedling retrieval position, effectively improving the accuracy of seedling retrieval and the transplanting success rate.

[0041] To address the low level of automation in empty tray collection in existing technologies, the discharge assembly includes a seedling tray guide plate 16, a second seedling tray pusher plate 17, a second seedling tray pusher cylinder 18, a second seedling tray support plate (not shown), and a photoelectric sensor (not shown). The second seedling tray pusher cylinder 18 drives the second seedling tray pusher plate 17 to push the seedling tray 13 backward to achieve discharge. Through this discharge assembly, automatic collection of empty trays is achieved.

[0042] The first seedling tray support plate and the second seedling tray support plate are arranged parallel to each other, and the width of the first seedling tray support plate and the second seedling tray support plate are adapted to the seedling tray 13 and are used to support the seedling tray 13.

[0043] The first seedling tray pushing cylinder 14 is located outside the seedling tray horizontal guide plate 15, and its piston head is fixedly connected to the first seedling tray pushing plate 12. The second seedling tray pushing cylinder 18 is mounted on the support frame 6, and its piston head is fixedly connected to the second seedling tray pushing plate 17. To save equipment space, in this embodiment, the first seedling tray pushing cylinder 14 and the second seedling tray pushing cylinder 18 are installed in opposite directions, that is, the feeding direction is opposite to the discharging direction.

[0044] To address the issue of seedling tray 13 being susceptible to impact and vibration during transport, which could damage fragile seedlings, pads (not shown) can be installed between the first seedling tray pusher plate 12 and the seedling tray 13, and between the second seedling tray pusher plate 17 and the seedling tray 13, depending on the actual situation. These pads, made of rubber, can cushion the impact vibrations from the first seedling tray pusher cylinder 14 or the second seedling tray pusher cylinder 18. The pads also prevent the first seedling tray pusher plate 12 from colliding with the seedling tray horizontal guide plate 15 while the seedling tray 13 is being moved to the next position. By installing these pads, the seedling tray 13 is prevented from violently shaking due to impact vibrations during transport, thus reducing damage to fragile seedlings.

[0045] The seedling tray feeding guide plate 16 is vertically arranged on the support frame 6. The seedling tray feeding guide plate 16 is a strip structure with an L-shaped cross-section, used to guide and limit the lifting and lowering movement of the seedling tray 13. A photoelectric sensor is installed on the upper part of the seedling tray feeding guide plate 16 near the seedling tray 13 to detect whether the position of the seedling tray 13 has reached the specific position in order to execute the next action.

[0046] The seedling tray feeding module 1 uses a cylinder-driven pusher plate in conjunction with a guide plate to achieve precise pushing of the seedling tray 13. Compared with the traditional conveyor belt feeding, it has the advantages of small positioning error, fast response speed and reliable operation, ensuring the positional accuracy of the seedling tray 13 during transplanting.

[0047] like Figure 3 As shown, the seedling tray transfer module 2 includes a support base plate 216, a scissor lift assembly and a lead screw linear drive assembly mounted on the support base plate 216.

[0048] To address the instability issues of existing equipment, a scissor lift assembly includes an active lifting arm 28, a driven lifting arm 213, and a seedling tray lifting platform 29. The bottom of the active lifting arm 28 is hinged to the output end of the linear drive assembly, and the top of the active lifting arm 28 is hinged to the seedling tray lifting platform 29. The bottom of the driven lifting arm 213 is hinged to the support base plate 216, and the top of the driven lifting arm 213 is hinged to the middle of the active lifting arm 28. The active lifting arm 28 can move the seedling tray lifting platform 29 between its upper and lower limit positions. At the upper limit position, the seedling tray lifting platform 29 is flush with the first seedling tray support plate, and at the lower limit position, it is flush with the second seedling tray support plate. Through the scissor lift assembly, uniform force and vertical lifting are achieved using scissor support, enabling smooth vertical transfer of the seedling tray between the upper and lower material positions. The lifting process is tilt-free, wobbly, and with minimal impact, preventing the remaining substrate from loosening and falling off.

[0049] Furthermore, the scissor lift assembly also includes a first bearing base 26, a second bearing base 211, and a third bearing base 215.

[0050] One end of the active lifting arm 28 is rotatably connected to the first bearing base 26, and the other end is rotatably connected to the second bearing base 211. The first bearing base 26 is slidably connected to the first sliding rail 24 mounted on the support base plate 216. A seedling tray lifting platform 29 is fixedly connected to the second bearing base 211, and one side of the seedling tray lifting platform 29 is slidably connected to the second sliding rail 212 vertically fixed on the support frame 6. One end of the driven lifting arm 213 is rotatably connected to the third bearing base 215, and the other end is rotatably connected to the middle of the active lifting arm 28. The third bearing base 215 is fixedly connected to the support base plate 216.

[0051] Furthermore, the scissor lift assembly also includes a first rotating shaft 21, a second rotating shaft 210, a third rotating shaft 214, and a fourth rotating shaft 27.

[0052] The first bearing base 26, the second bearing base 211, and the third bearing base 215 are respectively rotatably connected to the first rotating shaft 21, the second rotating shaft 210, and the third rotating shaft 214 via bearings. The two ends of the first rotating shaft 21, the second rotating shaft 210, and the third rotating shaft 214 extend out of their respective bearing bases and are rotatably connected to the active lifting arm 28 or the driven lifting arm 213, thereby achieving a hinged connection between the active lifting arm 28 or the driven lifting arm 213 and the corresponding bearing base. The active lifting arm 28 and the driven lifting arm 213 are hinged together via the fourth rotating shaft 27.

[0053] like Figure 2As shown, to prevent the seedling tray lifting platform 29 from colliding with the second seedling tray pusher plate 17 during the movement, the second seedling tray pusher plate 17 is set into two separate parts, which are respectively set on both sides of the support frame 6.

[0054] To further ensure the verticality of the movement direction of the seedling tray lifting platform 29, the driven lifting arm 213 includes two nested and relatively sliding upper and lower parts. The upper part is rotatably connected to the active lifting arm 28, and the lower part is rotatably connected to the third bearing base 215. That is, the driven lifting arm 213 is telescopic. As a result, the movement direction of the seedling tray lifting platform 29 is vertical up and down, and it will not move horizontally.

[0055] The scissor lift assembly also includes a first sliding rail 24 and a second sliding rail 212. The first sliding rail 24 is fixedly mounted on the support base plate 216 and extends horizontally to guide the bottom of the active lifting arm 28. The second sliding rail 212 is mounted on the support frame 6 and extends vertically to guide the seedling tray lifting platform 29.

[0056] The first sliding rail 24 and the second sliding rail 212 both include two parallel single rails. The active lifting arm 28 and the driven lifting arm 213 are both symmetrically arranged, which makes the lifting platform more rigid and less prone to deformation and shaking under heavy load. It can continuously carry a full tray of seedlings for a long time and improve the service life of the equipment.

[0057] The linear drive assembly includes a motor bracket 23, a first servo motor 25, a coupling, a first linear lead screw 22, and a linear nut 217. The motor bracket 23 is fixedly mounted on the support base plate 216, the first servo motor 25 is fixedly mounted on the motor bracket 23, the first linear lead screw 22 is connected to the first servo motor 25 through the coupling, and the linear nut 217 is mounted on the first linear lead screw 22 and driven by the first linear lead screw 22.

[0058] The linear nut 217 is installed inside the first rotating shaft 21 and can drive the first rotating shaft 21 and the first bearing base 26 to reciprocate along the first sliding track 24, thereby realizing the transmission of the lead screw linear drive assembly and the scissor lift assembly, and thus driving the seedling tray lifting platform 29 to reciprocate between the upper limit position and the lower limit position.

[0059] In this embodiment, the seedling tray feeding / discharging module 1 and the seedling tray transfer module 2 cooperate to realize the feeding and discharging of the seedling tray 13. Initially, the seedling tray lifting platform 29 is at its upper limit position, flush with the first seedling tray support plate. The seedling trays 13 are arranged sequentially on the first seedling tray support plate. The first seedling tray pushing cylinder 14 drives the first seedling tray pushing plate 12 forward. When the photoelectric sensor detects that the seedling tray 13 has reached the designated position, the first seedling tray pushing cylinder 14 stops pushing. The transplanting claw moving module 3 and the transplanting claw module 4 begin to cooperate in movement, transplanting all the seedlings in the seedling tray 13. After transplanting, the first servo motor 25 starts, driving the seedling tray lifting platform 29 to descend to its lower limit position, at which point the seedling tray lifting platform 29 is flush with the second seedling tray support plate. The second seedling tray pushing cylinder 18 drives the second seedling tray pushing plate 17 to push the empty seedling tray 13 to the left, completing the discharging.

[0060] This module uses a scissor lift assembly with a single servo motor drive to achieve smooth lifting of the seedling tray 13. The support points are evenly distributed, making it less prone to tilting and shaking during transportation. The cross structure can distribute the load, has a high load-bearing capacity, and is compact with high space utilization. Compared with multi-motor drive solutions, it is lower in cost and runs more smoothly.

[0061] like Figure 4 As shown, the transplanting claw moving module 3 includes a horizontal servo motor 31, a vertical servo motor 32, a transplanting claw connecting plate 33, a horizontal linear screw 34, a vertical linear screw 35, and a screw connecting plate 36. The horizontal servo motor 31 is connected to the horizontal linear screw 34 via a commutator (not shown). The horizontal servo motor 31 and the horizontal linear screw 34 are connected to the support frame 6 via bolts. The screw connecting plate 36 is slidably mounted on the horizontal linear screw 34. The vertical linear screw 35 is mounted on the screw connecting plate 36 via bolts. The vertical servo motor 32 is connected to the vertical linear screw 35 via a commutator. The transplanting claw connecting plate 33 is slidably mounted on the vertical linear screw 35.

[0062] Photoelectric sensors are installed at the beginning and end positions of the transverse linear lead screw 34 and the longitudinal linear lead screw 35.

[0063] The transplanting claw connecting plate 33 is used to connect the transplanting claw module 4.

[0064] Driven by the horizontal servo motor 31 and the vertical servo motor 32, and transmitted by the horizontal linear lead screw 34 and the vertical linear lead screw 35, the transplanting claw module 4 can move in the plane.

[0065] This module uses a high-precision servo motor to drive a linear lead screw, enabling precise positioning of the transplanting claw in a plane. Combined with photoelectric sensors at the beginning and end positions, it ensures that the transplanting claw accurately reaches the position of each group of seedlings, providing a guarantee for efficient transplanting of the entire row.

[0066] like Figure 5 As shown, the transplanting claw module 4 includes an extension cylinder 41, a transplanting claw support plate 42, a sliding plate 43, a gripper cylinder 44, a soil-binding cylinder 45, a gripper 46, a soil-binding claw 47, and a connecting block 48.

[0067] The transplanting claw support plate 42 includes a transplanting claw connecting part 421, a transplanting claw support plate guide rail part 422, and an extension cylinder support part 423, such as Figure 6 As shown. The transplanting claw connecting part 421 is used to connect with the transplanting claw connecting plate 33. An extension cylinder 41 is installed on the extension cylinder support part 423. A sliding plate 43 is slidably connected to the transplanting claw support plate guide rail part 422. The extension cylinder 41 is used to drive the movement of the sliding plate 43. The transplanting claw support plate guide rail part 422 and the extension cylinder support part 423 are not perpendicular to the ground, but have a certain tilt angle relative to the ground, so that the extension cylinder 41 extends in the tilt direction, preventing direct damage to the seedling when the extension cylinder 41 moves.

[0068] See Figure 7 The sliding plate 43 includes a gripper cylinder support plate 431, a column 432, a sliding plate base 433, and a soil-holding claw limiting plate 434. The sliding plate base 433 cooperates with the guide rail portion 422 of the transplanting claw support plate, and the two are filled with grease to achieve a smooth and stable sliding effect. The column 432 is located on the sliding plate base 433 and is connected to the output end of the extension cylinder 41 through a fisheye bearing. The extension cylinder 41 can drive the entire sliding plate 43 to slide along the guide rail portion 422 of the transplanting claw support plate. The gripper cylinder support plate 431 is set above the sliding plate base 433 through the support column and the connecting plate. A soil-holding cylinder 45 is provided between the gripper cylinder support plate 431 and the sliding plate base 433. The output end of the soil-holding cylinder 45 is provided with a connecting block 48 (see...). Figure 5 The connecting block 48 has hinge seats on both sides, which are connected to the soil-piercing claws 47 via rotating rods. A compression spring (not shown in the figure) is also provided between the two soil-piercing claws 47. The soil-piercing claw limiting plate 434 is located at the lower end of the sliding plate base 433 and extends forward perpendicularly to the sliding plate base 433. The soil-piercing claw limiting plate 434 is divided into left and right side plates, which are spaced apart, and each side facing each other has a comb-like arrangement of slots, which correspond one-to-one with the claw fingers of the soil-piercing claws 47.

[0069] like Figure 5 , Figure 9As shown, the soil-piercing claw 47 has multiple parallel claw fingers with a curved structure. The soil-piercing claws 47 on both sides of the connecting block 48 extend away from each other from the top to the middle inflection point, and extend closer to each other from the middle inflection point to the bottom. The farthest distance between the claw fingers of the soil-piercing claws 47 on both sides is greater than the distance between the bottoms of the comb-like gaps on the left and right sides. Furthermore, when the soil-piercing claw 47 extends downward to its limit position, the height of its middle inflection point is not lower than the height of the soil-piercing claw limiting plate 434. Thus, when the soil-piercing claw 47 extends downward, the front part is not restricted by the soil-piercing claw limiting plate 434 during its operation. Then, as the soil-piercing claw 47 continues to descend, the claw fingers are engaged in the gaps one by one. Afterward, under the action of the soil-piercing claw limiting plate 434, the two soil-piercing claws 47 move inward until the soil-piercing claw 47 extends downward to its limit position, and the bottom ends of the two soil-piercing claws 47 move inward and tighten, which can dig up the seedlings and soil.

[0070] The size of the soil-piercing claw 47 is smaller than the size of the seedling tray 13 used to prevent damage to the seedling tray 13 during the soil-piercing process. Each soil-piercing claw 47 preferably has 8 claws arranged in a comb-like pattern at its front end, which can easily penetrate into the soil in the seedling tray 13, and the claws are slender and sparse, so as not to damage the seedling roots. After installation, the angle of the soil-piercing claw 47 is aligned with the angle of the hole wall of the seedling tray 13.

[0071] like Figure 8 As shown, a gripper cylinder 44 is fixedly mounted on the gripper cylinder support plate 431, and the piston head of the gripper cylinder 44 is fixedly connected to a gripper 46. Two grippers 46 are provided, spaced apart, and can move towards or away from each other. Each gripper 46 includes a guide claw structure 461 and a comb-type telescopic meshing structure 462. The guide claw structure 461 extends outward in an arc shape, and the guide claw structures 461 of the two grippers 46 together form a semi-circular structure with an outward opening. The inner side of the guide claw structure 461 is chamfered and the surface is smooth to prevent damage to the seedling. The guide claw structure 461 is used to guide the direction of the seedling's neck, allowing the seedling's neck to be guided into the central cavity between the two grippers 46.

[0072] The meshing teeth of the comb-type telescopic meshing structure 462 are arranged in a comb-like pattern with small spacing and dense arrangement. The two left and right grippers 46 can slide towards the middle to achieve complete meshing of the meshing teeth, or slide to the sides to achieve separation. Each meshing tooth has a chamfer to prevent damage to the seedlings.

[0073] The two grippers 46 on the left and right can close or open under the action of the gripper cylinder 44. When closed, the middle cavity is reduced. Even when the middle cavity is at its smallest, it will not squeeze the neck of the seedling. Therefore, the grippers 46 only have the function of reducing the shaking of the seedling during transportation, but do not actually make contact with the seedling. The actual gripping part is the cooperation between the soil-binding cylinder 45, the soil-binding claw 47 and the sliding plate 43.

[0074] like Figure 9 As shown, during operation, the extending cylinder 41 drives the sliding plate 43 to move forward and downward until the soil-piercing claw limiting plate 434 abuts against the seedling tray 13. Simultaneously, the seedling neck is guided into the central cavity of the two left and right claws 46 by the guide claw structure 461 of the clamping claw 46. Then, the clamping claw cylinder 44 drives the two left and right claws 46 to close. After the claws 46 close, the central cavity of the claws 46 does not clamp the seedling neck tightly; a gap exists between them. Finally, the soil-piercing cylinder 45 drives the soil-piercing claw 47 to move downward. The claws on both sides pass through the soil-piercing claw limiting plate 434 and pierce the soil from the far root ends of the seedling on both sides within the seedling tray 13. As the piercing deepens, the soil-piercing claws 47 on both sides gradually move towards the center and tighten under the action of the soil-piercing claw limiting plate 434, clamping the soil-covered plant roots, thus completing the seedling clamping process.

[0075] Next, the extended cylinder 41 drives the sliding plate 43 to retract, digging the seedlings and soil out of the seedling tray 13, and then moving them to the target position through the transplanting claw moving module 3.

[0076] This module features a row of transplanting claws, allowing for the simultaneous grasping of multiple seedlings and significantly improving transplanting efficiency. During the grasping process, the soil-piercing claws 47 penetrate the soil from both sides and clamp firmly, achieving a non-damaging grasp of the seedling roots and avoiding direct contact with the seedling neck. Simultaneously, the clamping claws 46 only limit the position of the seedling neck without applying clamping force, further reducing the risk of damage. The slender claws of the soil-piercing claws 47 can easily penetrate the soil without damaging the root system, and the closing action of the soil-piercing claw limiting plate 434 ensures reliable gripping of the soil, effectively preventing the soil substrate from loosening and falling off during transportation, protecting the integrity of the seedling roots, and improving the survival rate after transplanting.

[0077] like Figure 10 As shown, the seedling cup conveyor belt conveyor module 5 includes seedling cups 51, a limiting plate bracket 52, a conveyor belt conveyor device 53, and a limiting plate 54. The seedling cups 51 are placed on the conveyor belt conveyor device 53. The limiting plate 54 is fixedly connected to the limiting plate bracket 52 by bolts, and the limiting plate bracket 52 is fixed to the support frame 6 by bolts. A photoelectric sensor is installed at the end of the limiting plate 54 to detect the conveying position of the seedling cups 51.

[0078] like Figure 11As shown, the seedling cup 51 has an open clamping groove 511 at the top and middle, and a gear-shaped structure 512 at the bottom. The open clamping grooves 511 at the top and middle are designed to facilitate the subsequent use of a robotic arm to grip the seedling cup 51 on the conveyor belt 53 and send it into the grafting machine for grafting. For most grafting methods such as top grafting, top cleft grafting, and insert grafting, it is necessary to ensure that the cutting direction of the blade is perpendicular to the extension direction of the seedling cotyledons. Therefore, it is necessary to adjust the posture of the grafted seedling. The gear-shaped structure 512 at the bottom of the seedling cup 51 can be rotated by the gear, thereby adjusting the posture of the seedling in the seedling cup 51 to the required state. Therefore, the seedling cup 51 is convenient for subsequent transportation and posture adjustment.

[0079] This module continuously transports the seedling cups 51 via a conveyor belt 53, and, in conjunction with a limiting plate 54 and a photoelectric sensor, achieves precise positioning of the seedling cups 51, ensuring that the transplanted seedlings fall accurately into the seedling cups 51, and providing a stable transport and positioning foundation for subsequent grafting operations.

[0080] The low-damage feeding and discharging device for whole-row grafting in this embodiment works in concert with each module in the order of feeding, transferring, grabbing, transplanting and conveying to form a fully automatic closed-loop operation process. No manual intervention is required, and the automated continuous operation of seedling tray feeding, seedling tray transfer, whole-row grabbing and transplanting of seedlings and seedling cup conveying is realized. It has the advantages of compact structure, high integration, high degree of automation and smooth operation process.

[0081] Example 2 Embodiments of the present invention also provide a low-damage seedling loading method for row grafting, wherein the seedlings are loaded using the low-damage feeding and discharging device for row grafting described in Embodiment 1. The following description uses a 6×12 seedling tray with 72 holes as an example.

[0082] S1: Seedling tray loading and initial positioning.

[0083] S11: Place the seedling trays 13 containing the seedlings into the feeding station of the seedling tray feeding module 1 in sequence.

[0084] S12: Feeding new seedlings into trays.

[0085] The first seedling tray pusher cylinder 14 is activated, which drives the first seedling tray pusher plate 12, which is fixedly connected to it, to move forward and push the new seedling tray 13 forward; the squeezing action between the seedling trays 13 causes the middle seedling tray 13 to be pushed to the frontmost working position.

[0086] S13: The first seedling tray push cylinder 14 is reset, completing the seedling tray replenishment action containing seedlings.

[0087] S2: Limiting and digging up the entire row of seedlings.

[0088] S21: The transplanting claw moving module drives the transplanting claw module to move to the gripping position.

[0089] After the new seedling tray 13 is in place, the transplanting claw moving module 3 starts to move; the horizontal servo motor 31 drives the horizontal linear screw 34 to rotate through the commutator, realizing the horizontal movement of the transplanting claw module 4, and the vertical servo motor 32 drives the vertical linear screw 35 to rotate through the commutator, realizing the vertical movement of the transplanting claw module 4. First, it moves to the position of the first group of seedlings to be grabbed in the lower right corner of the seedling tray 13.

[0090] S22: Transplanting claw module 4 action, realizes the limiting and digging of the whole row of seedlings.

[0091] S221: Pressing down on the soil at the base of the seedling: The extension cylinder 41 of the transplanting claw module 4 actuates, pushing the connected sliding plate 43 to slide along the guide rail portion 422 of the transplanting claw support plate, so that the sliding plate 43, carrying the soil-binding cylinder 45, connecting block 48 and soil-binding claw 47, continuously approaches the seedling tray 13; after reaching the limit position, the soil-binding claw limiting plate 434 approaches the base of the seedling and presses down on the soil at the base of the seedling. Through this step, soil can be prevented from falling and causing environmental pollution during the digging of the seedling.

[0092] S222: Limiting the neck of the seedling: The guide claw structure 461 of the gripper 46 introduces the neck of the seedling into the middle cavity of the gripper 46. The gripper cylinder 44 actuates to reduce the middle cavity of the gripper 46 and puts the guide claw structure 461 in a closed state, so that the seedling cannot be detached from the middle cavity and the range of motion is reduced to reduce the shaking amplitude.

[0093] S223: Digging up seedlings and soil: Subsequently, the soil-piercing cylinder 45 operates, pushing the connecting block 48 and the soil-piercing claw 47 closer to the seedling tray 13. The claws of the soil-piercing claw 47 gradually penetrate the soil-piercing claw limiting plate 434 and pierce into the soil. As the depth of penetration into the soil increases, the outer side of the soil-piercing claw 47 is gradually squeezed by the soil-piercing claw limiting plate 434, and the two sides of the soil-piercing claw 47 continuously move inward, forming a clamping force on the soil, until the soil-piercing cylinder 45 operates to its limit position, completing the clamping action.

[0094] S3: Seedling removal and transportation.

[0095] S31: Seedling removal in a row: The soil-binding cylinder 45 remains in its extreme position, the extension cylinder 41 returns to its original position, and the sliding plate 43 slides in the opposite direction along the guide rail part 422 of the transplanting claw support plate, so that the sliding plate 43 carries the soil-binding cylinder 45, the connecting block 48, the soil-binding claw 47 and the clamped seedlings away from the seedling tray 13, thereby realizing the removal of the seedlings.

[0096] S32: Seedling transportation: The transplanting claw moving module 3 moves again, the horizontal servo motor 31 drives the horizontal linear screw 34 to rotate through the commutator, and the vertical servo motor 32 drives the vertical linear screw 35 to rotate through the commutator, transporting the transplanting claw module 4 holding six seedlings to the seedling cup conveyor belt conveyor module 5.

[0097] After reaching the top of the seedling cup conveyor belt 5, the extended cylinder 41 actuates again, causing the sliding plate 43 to slide along the guide rail 422 of the transplanting claw support plate, so that the sliding plate 43 carries the soil-binding cylinder 45, the connecting block 48, the soil-binding claw 47 and the clamping seedling closer and closer to the seedling cup 51; after reaching the limit position, the soil-binding claw limit plate is located directly above the seedling cup 51, and the soil and the soil-binding claw 47 are both inside the seedling cup 51, completing the seedling transportation action.

[0098] S4: Seedling release and transportation.

[0099] S41: Seedling Release: The gripper cylinder 44 actuates, enlarging the central cavity of the gripper 46 and opening the guide claw structure 461, facilitating the removal of the seedling neck from the central cavity of the gripper 46. Simultaneously, the soil-binding cylinder 45 returns to its original position, and the soil-binding claw 47, no longer subject to the action of the soil-binding claw limiting plate 434, gradually loosens under the action of the return spring, and the soil clamping force gradually decreases; when the soil-binding cylinder 45 returns to a certain extent, the soil-binding claw 47 releases the soil, and the seedling is placed in the seedling cup 51, completing the seedling placement action.

[0100] S42: Seedling transport: The conveyor belt transport device 53 delivers the seedling cups 51 containing the seedlings to the grafting system for subsequent operations; the photoelectric sensor installed on the limit plate 54 detects the position of the seedling cups. When a group of seedling cups are all in their respective sensor positions, the conveyor belt stops running to ensure the seedling position is accurate.

[0101] S5: Complete the transplanting of the entire tray in a cyclical operation.

[0102] The transplanting claw module 4 returns via the transplanting claw moving module 3 and continues to grab the next row of six seedlings; each seedling tray has a specification of 6×12 and 72 holes, and a total of 12 grabs are needed to complete the transplanting of the entire tray of 72 seedlings.

[0103] When the horizontal linear screw 34 and the vertical linear screw 35 of the transplanting claw moving module 3 move to the upper left corner limit position, it indicates that the seedlings in the current seedling tray 13 have been transplanted. The photoelectric sensor at this limit position is triggered, causing the seedling tray transfer module 2 to start.

[0104] S6: Transfer of empty seedling trays.

[0105] The first servo motor 25 actuates, driving the first linear screw 22 to rotate via the coupling, thereby causing the linear nut 217 to move linearly, so that the first bearing base 26 connected to it slides at a constant speed along the first sliding track 24; the first rotating shaft 21, the second rotating shaft 210, the third rotating shaft 214 and the fourth rotating shaft 27 rotate accordingly, so that the angle between the active lifting arm 28 and the driven lifting arm 213 gradually changes from an acute angle to an obtuse angle, and the guide rail slider embedded in the driven lifting arm 213 slides, causing the seedling tray lifting platform 29 to descend along the second sliding track 212; when the seedling tray lifting platform 29 descends to the second seedling tray push plate 17, the photoelectric sensor at that point is blocked, the first servo motor 25 stops operating, and the empty seedling trays that have been transplanted are transferred to the lower discharge station.

[0106] S7: Empty seedling tray discharge collection.

[0107] After the first servo motor 25 stops, the second seedling tray pusher cylinder 18 is activated, driving the second seedling tray pusher plate 17 to pull the empty seedling tray backward as a whole; the squeezing action between the seedling trays causes the last empty seedling tray 11 to fall into the collection area, and then the second seedling tray pusher cylinder 18 is reset, completing the collection action of the empty seedling tray.

[0108] S8: The seedling tray lifting platform is reset.

[0109] After the second seedling tray pushing cylinder 18 resets, the first servo motor 25 of the seedling tray transfer module 2 rotates in the reverse direction, driving the first linear screw 22 to rotate in the reverse direction via the coupling, thereby driving the linear nut 217 to move in the reverse linear direction, and simultaneously driving the first bearing base 26 to slide in the reverse direction along the first sliding track 24; the angle between the active lifting arm 28 and the driven lifting arm 213 gradually changes from an obtuse angle back to an acute angle, and the guide rail slider embedded in the driven lifting arm 213 slides in the reverse direction, causing the seedling tray lifting platform 29 to rise along the second sliding track 212. When the seedling tray lifting platform 29 rises to the position of the photoelectric sensor inside the seedling tray unloading guide plate 16, the photoelectric sensor is blocked, transmitting a signal to stop the first servo motor 25, and the seedling tray transfer module 2 completes the reset.

[0110] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A low-damage feeding and discharging device for whole-row grafting, characterized in that, The system includes a seedling tray feeding / discharging module (1), a seedling tray transfer module (2), a transplanting claw moving module (3), a transplanting claw module (4), and a seedling cup conveyor belt conveying module (5). The seedling tray feeding / discharging module (1) includes a feeding component and a discharging component arranged vertically. The seedling tray transfer module (2) is located at one end of the seedling tray feeding / discharging module (1) and is used to transfer the seedling tray (13) on the feeding component to the discharging component. The seedling cup conveyor belt conveying module (5) is located on the side of the seedling tray feeding / discharging module (1) and the seedling tray transfer module (2). The transplanting claw moving module (3) is located above the seedling tray feeding / discharging module (1) and the seedling cup conveyor belt conveying module (5). The transplanting claw module (4) is installed on the transplanting claw moving module (3) and is used to transplant the seedlings in the seedling tray (13) to the seedling cup conveyor belt conveying module (5).

2. The low-damage feeding and discharging device for whole-row grafting according to claim 1, characterized in that, The feeding assembly includes a first seedling tray pusher plate (12), a first seedling tray pusher cylinder (14), a seedling tray horizontal guide plate (15), and a first seedling tray support plate.

3. The low-damage feeding and discharging device for whole-row grafting according to claim 2, characterized in that, The seedling tray (13) is placed on the first seedling tray support plate. The first seedling tray push cylinder (14) can drive the first seedling tray pusher plate (12) to push the seedling tray (13) forward to achieve feeding. The seedling tray horizontal guide plate (15) is located on both sides of the first seedling tray support plate and is used to guide the movement of the seedling tray (13).

4. The low-damage feeding and discharging device for whole-row grafting according to claim 2 or 3, characterized in that, The discharge assembly includes a second seedling tray pusher plate (17), a second seedling tray pusher cylinder (18), and a second seedling tray support plate.

5. The low-damage feeding and discharging device for whole-row grafting according to claim 4, characterized in that, The first seedling tray support plate and the second seedling tray support plate are arranged parallel to each other vertically; the second seedling tray pusher cylinder (18) can drive the second seedling tray pusher plate (17) to push the seedling tray (13) to move backward to achieve material discharge.

6. The low-damage feeding and discharging device for whole-row grafting according to claim 5, characterized in that, The seedling tray transfer module (2) includes a support base plate (216), a scissor lift assembly, and a lead screw linear drive assembly.

7. The low-damage feeding and discharging device for whole-row grafting according to claim 6, characterized in that, The support base plate (216) is located below one end of the seedling tray feeding and discharging module (1); the scissor lift assembly is disposed on the support base plate (216) and is used to transfer the seedling tray (13) from the feeding assembly to the discharging assembly; the lead screw linear drive assembly is used to drive the scissor lift assembly.

8. The low-damage feeding and discharging device for whole-row grafting according to claim 7, characterized in that, The scissor lift assembly includes an active lifting arm (28) and a seedling tray lifting platform (29).

9. The low-damage feeding and discharging device for row grafting according to claim 8, characterized in that, The bottom of the active lifting arm (28) is hinged to the output end of the lead screw linear drive assembly, and the top of the active lifting arm (28) is hinged to the seedling tray lifting platform (29).

10. A low-damage seedling placement method for row grafting, characterized in that, Seedlings are fed using the low-damage feeding and discharging device for row grafting as described in any one of claims 1-9.

Images