Tomato plug seeding machine and intelligent plug seeding method thereof

Abstract

The present application relates to the technical field of agricultural machinery seeding, and specifically relates to a tomato plug seeding machine and an intelligent plug seeding method thereof, which comprises a rack, a seeding box is installed on the rack, a seed outlet is formed at the bottom end of the seeding box, an inclined seed guide plate for guiding and conveying the tomato seed coating is installed in the inside of the seeding box, the inclined seed guide plate is arranged obliquely, a seed stop plate for stopping the tomato seed coating is installed at the bottom end of the inclined seed guide plate; a vertical mounting plate is installed in the inside of the seeding box, a linear driving block is arranged on one side of the vertical mounting plate, the linear driving block can move back and forth along the length direction of the inclined seed guide plate through the driving of a driving mechanism, a counterweight block is arranged on one side of the linear driving block, the present application realizes the automatic identification of the plug holes, the automatic grabbing and feeding of the tomato seed coating through the integration of visual detection and closed-loop seeding control, and effectively improves the seeding precision, the automation level and the seeding efficiency of the tomato factory seedling.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery sowing technology, specifically a tomato tray planter and its intelligent tray sowing method. Background Technology

[0002] Tomato tray seedling raising is an important part of modern agriculture's factory-style and intensive production. The accuracy of sowing and the level of automation directly affect the quality of seedling growth and production efficiency in the later stages. Currently, most common tray seeders use mechanical or pneumatic sowing principles when sowing. Among them, the mechanical sowing principle is disc-based tray sowing technology, while the pneumatic sowing principle includes three methods: air suction, air pressure, and air blowing.

[0003] Air-blowing seeding uses high-pressure airflow to blow seeds into the seed holes through nozzles, while pneumatic seeding uses positive pressure to force seeds into the holes. Both methods operate under high pressure and are unsuitable for seed planting with external coatings. For coated seeds, air-suction seed dispensing is typically used. This method uses negative pressure to attract seeds in conjunction with the rotation of the seed dispensing disc. When the disc reaches the seed unloading position, the negative pressure disappears, and the seeds fall into the seed holes under gravity. Then, negative pressure is used again to re-attract seeds for re-sowing, and this cycle is repeated. While this method does not damage the coating, it usually requires a multi-station re-sowing mechanism. Most importantly, during sowing, because the seed dispensing disc rotates, the seeds have an initial rotational velocity before falling under gravity. Therefore, the seed fall is not a completely free fall, and there is usually a deviation between the seed and the seed hole when the seed reaches the hole.

[0004] Therefore, developing a tomato tray planter and method capable of free fall and automatic closed-loop operation is of great significance for improving the sowing qualification rate, reducing manual intervention, and promoting the intelligent development of factory seedling production. To this end, we provide a tomato tray planter and its intelligent sowing method to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide a tomato tray planter and its intelligent tray planting method to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A tomato tray planter includes a frame, on which a seed box is mounted. The seed box has a seed outlet at its bottom. An inclined seed guide plate for guiding and conveying tomato seed coating is installed inside the seed box. The inclined seed guide plate is inclined. A seed stop plate for stopping the tomato seed coating is installed at the bottom of the inclined seed guide plate. The seed box is equipped with a vertical mounting plate. A linear drive block is provided on one side of the vertical mounting plate. The linear drive block can reciprocate linearly along the length of the inclined seed guide plate by being driven by a drive mechanism. A counterweight is provided on one side of the linear drive block. A transmission link is provided between the linear drive block and the counterweight. The two ends of the transmission link are respectively hinged to the linear drive block and the counterweight. The bottom of the counterweight is equipped with a negative pressure suction cup for adsorbing the tomato seed coating. The vertical mounting plate is provided with a guide groove, and the counterweight is equipped with a sliding rod that slides in cooperation with the guide groove. The counterweight is equipped with a negative pressure vacuum tube that is connected to the negative pressure suction cup. The negative pressure vacuum tube is equipped with a valve structure. The valve structure and the counterweight cooperate through a linkage mechanism. When the counterweight descends to the lowest height, it will trigger the valve structure to close the passage of the negative pressure vacuum tube, so that the negative pressure suction cup loses its negative pressure adsorption force, thereby releasing the tomato seed coating. The frame is equipped with a visual inspection camera and a controller.

[0007] As described above, a tomato tray planter has a movable axle rotatably mounted on the frame, and two wheels are rotatably mounted on both ends of the movable axle.

[0008] As described above, a tomato tray planter includes a drive mechanism comprising a motor mounting base mounted on an inclined seed guide plate, a linear drive motor mounted on the motor mounting base, a push-pull rod mounted on the output end of the linear drive motor, a linear drive block mounted on the end of the push-pull rod, an auxiliary guide rod mounted on the linear drive block, and the auxiliary guide rod passing through the motor mounting base.

[0009] As described above, a tomato tray planter has a roller rotatably mounted on the sliding rod, and the roller is in rolling engagement with the guide groove.

[0010] As described above, a tomato tray planter is equipped with an air pump on the frame, and the air inlet of the air pump is connected to a negative pressure vacuum tube.

[0011] As described above, a tomato tray planter includes a valve structure comprising a venting valve body mounted on a negative pressure vacuum tube, a rotating valve rod rotatably mounted on the venting valve body, and a sealing valve core that cooperates with the venting valve body at one end of the rotating valve rod.

[0012] As described above, a tomato tray planter includes a linkage mechanism comprising a trigger swing arm mounted on the other end of a rotary valve rod, the trigger swing arm having a rectangular sliding groove, and a linkage pin mounted on the linear drive block that slides in cooperation with the rectangular sliding groove.

[0013] As described above, in a tomato tray planter: the visual inspection camera and the linear drive motor are both connected to the controller via wires.

[0014] As described above, a tomato tray planter has a limiting groove at the bottom of the motor mounting base whose inner surface size matches the outer surface size of the tomato seed coating.

[0015] A smart seeding method using the aforementioned tomato tray planter includes the following steps: S1. Move the frame above the tomato seedling tray, push the frame to move above the tomato seedling tray, start the controller and visual inspection camera, and start the vacuum pump to generate negative pressure in the negative pressure vacuum tube and negative pressure suction cup. S2, after the tomato seeds are coated into spherical shapes, they are transported in batches to the inclined seed guide plate. During the horizontal movement of the frame above the seed tray, the visual inspection camera collects the image information of the seed tray in real time and transmits it to the controller. When the visual inspection camera collects the image information that there are no seeds in the current seed hole in the seed tray and transmits it to the controller, the controller controls the linear drive motor to drive the push-pull rod to drive the linear drive block to move back and forth once along the length of the inclined seed guide plate. S3, when the linear drive block reciprocates, it will drive the counterweight block to move synchronously through the transmission linkage. The counterweight block slides with the guide groove through the sliding rod on the counterweight block. When the counterweight block moves linearly along the length of the inclined seed guide plate, it will also move up and down along the trajectory of the guide groove. When the counterweight block moves to the seed stop plate at the bottom of the inclined seed guide plate in the seed box, it first drops a small height so that the negative pressure suction cup contacts the tomato seed coating and uses negative pressure to complete the adsorption of the coating of a single tomato seed. Then it is raised and moved to the target hole of the seed tray. The counterweight block drops again. When it drops to the lowest height, the linkage mechanism triggers the valve structure to close the passage of the negative pressure vacuum tube, so that the negative pressure suction cup loses its adsorption force. The tomato seed coating falls into the hole under the action of gravity. S4. After the seeding is completed, the visual inspection camera takes another picture of the area below the negative pressure suction cup and transmits the image to the controller. The controller processes the image and determines whether the negative pressure suction cup has successfully coated the tomato seeds for sowing. If the sowing is determined to be a failure, steps S2-S3 are repeated to take seeds and sow them again. If the sowing is determined to be successful, the process proceeds to the next step. S5. After the current hole is sown, the drive mechanism drives the counterweight to rise and return to the initial seed-taking position, pushes the frame to move it to the next hole position in the seed tray, and repeats steps S2 to S5 until the entire tray is sown.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes a physical coordination system comprised of a linear drive block, transmission linkage, counterweight, and guide groove. During sowing, only the linear drive motor needs to be controlled to drive the push-pull rod for a single linear movement, which can be transformed into a composite motion of driving the negative pressure suction cup to pick up, transfer, and place the seeds. After the seeds are picked up by the counterweight and moved above the seed hole, when they descend to the lowest point, the linkage mechanism automatically triggers the valve structure to close the negative pressure vacuum tube passage, causing the negative pressure suction cup to lose its adsorption force and thus automatically releasing the seeds to complete the sowing. The sowing path is a free fall path, corresponding to the seed hole, ensuring precise seeding position. Moreover, the entire sowing process does not require complex circuit and air circuit control, effectively improving the sowing efficiency and reliability of tomato seed trays. This invention integrates a visual inspection camera and a controller. The visual inspection camera is responsible for acquiring real-time image information of the current holes in the seed tray and transmitting the image information to the controller. The controller identifies the acquired image information and analyzes whether it is an empty hole. When an empty hole is detected, it can control the linear drive motor to start. By driving the linear drive block and the counterweight block to work in conjunction with the negative pressure suction cup, the automatic seed picking and sowing is completed. After sowing, the visual inspection camera and controller can acquire images again for visual verification to ensure successful sowing. This constitutes an intelligent closed-loop control process for seed sowing, from visual detection before sowing to automatic sowing and visual verification after sowing. It realizes automatic identification of missed holes and online real-time re-sowing without manual intervention, which greatly improves the automation and intelligence level of sowing operations. Attached Figure Description

[0017] Figure 1 This is a first-person view schematic diagram of the overall structure of a tomato tray planter.

[0018] Figure 2 This is a schematic diagram of the overall structure of a tomato tray planter from a second perspective.

[0019] Figure 3 for Figure 1 A schematic diagram of the decomposed part of the structure.

[0020] Figure 4 for Figure 3 A schematic diagram of the decomposed part of the structure.

[0021] Figure 5 for Figure 4 A schematic diagram of the decomposed part of the structure.

[0022] Figure 6 for Figure 5 A structural diagram from another perspective.

[0023] Figure 7 for Figure 6 A schematic diagram of the decomposed part of the structure.

[0024] Figure 8 for Figure 6 A structural diagram from another perspective.

[0025] Figure 9 for Figure 8 A schematic diagram of the decomposed part of the structure.

[0026] Figure 10 for Figure 9 A schematic diagram of the decomposed part of the structure.

[0027] In the diagram: 1. Frame; 2. Seeding box; 3. Seed outlet; 4. Moving axle; 5. Walking wheel; 6. Vision inspection camera; 7. Inclined seed guide plate; 8. Tomato seed coating; 9. Seed stop plate; 10. Motor mounting base; 11. Vertical mounting plate; 12. Linear drive block; 13. Counterweight block; 14. Negative pressure suction cup; 15. Transmission connecting rod; 16. Linear drive motor; 17. Push-pull rod; 18. Auxiliary guide rod; 19. Guide groove; 20. Sliding rod; 21. Negative pressure vacuum tube; 22. Vent valve body; 23. Rotary valve stem; 24. Sealing valve core; 25. Trigger swing arm; 26. Rectangular slide groove; 27. Linkage pin; 28. Controller; 29. ​​Roller; 30. Limiting groove; 31. Feed hopper. Detailed Implementation

[0028] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0029] Please see Figures 1-10 As an embodiment of the present invention, a tomato tray planter includes a frame 1, a seed box 2 is installed on the frame 1, a seed outlet 3 is opened at the bottom of the seed box 2, an inclined seed guide plate 7 is installed inside the seed box 2 for guiding and conveying tomato seed coating 8, the inclined seed guide plate 7 is inclined, and a seed stop plate 9 is installed at the bottom of the inclined seed guide plate 7 for stopping the tomato seed coating 8. The seed box 2 is equipped with a vertical mounting plate 11. A linear drive block 12 is provided on one side of the vertical mounting plate 11. The linear drive block 12 can be driven by a drive mechanism to move back and forth in a linear direction along the length of the inclined seed guide plate 7. A counterweight block 13 is provided on one side of the linear drive block 12. A transmission link 15 is provided between the linear drive block 12 and the counterweight block 13. The two ends of the transmission link 15 are respectively hinged to the linear drive block 12 and the counterweight block 13. The bottom of the counterweight 13 is equipped with a negative pressure suction cup 14 for adsorbing the tomato seed coating 8. A guide groove 19 is provided on the vertical mounting plate 11. A sliding rod 20 that slides in cooperation with the guide groove 19 is installed on the counterweight 13. A negative pressure vacuum tube 21 connected to a negative pressure suction cup 14 is installed on the counterweight 13. A valve structure is installed on the negative pressure vacuum tube 21. The valve structure and the counterweight 13 are connected by a linkage mechanism. When the counterweight 13 descends to the lowest height, it will trigger the valve structure to close the passage of the negative pressure vacuum tube 21, so that the negative pressure suction cup 14 loses the negative pressure adsorption force, thereby releasing the tomato seed coating 8. A vision inspection camera 6 and a controller 28 are mounted on rack 1.

[0030] In this embodiment, a feeding hopper 31 is installed inside the seeding box 2. One end of the inclined seed guide plate 7 extends into the feeding hopper 31. The top opening of the feeding hopper 31 is large, and the bottom opening is small and adapted to the inclined seed guide plate 7, so that the tomato seed coating 8 can only enter the inclined seed guide plate 7 one by one at the bottom of the feeding hopper 31. In use, the seeds are first wrapped into spherical tomato seed coating 8 and then poured into the feeding hopper 31 in batches. After being guided by the feeding hopper 31, they are transported to the inclined seed guide plate 7. When sowing, the frame 1 is moved above the seed tray. The visual inspection camera 6 collects the image information of the seed holes in the seed tray below in real time and transmits the image information to the controller 28. When the controller 28 recognizes that the current seed hole is empty, it issues a command to start the drive mechanism. The drive mechanism then drives the linear drive block 12 to move linearly along the length direction of the inclined seed guide plate 7. The linear drive block 12 drives the counterweight block 13 to move together through the transmission link 15. During the movement, the sliding rod 20 installed on the counterweight 13 slides along the guide groove 19 opened on the vertical mounting plate 11. This trajectory allows the counterweight 13 to complete the lifting and lowering action according to a predetermined path while moving horizontally. The counterweight 13 first moves to the bottom of the inclined seed guide plate 7 inside the seeding box 2. Under the action of negative pressure, the negative pressure suction cup 14 at its bottom adsorbs a tomato seed coating 8 located at the seed stop plate 9. Subsequently, the counterweight 13 carries the tomato seed coating 8 and lifts it slightly and moves horizontally to the position where it has been placed. The target hole is identified as an empty hole. Then, the counterweight 13 will descend again under its own weight. When it descends to the lowest height, it will trigger the valve structure through the linkage mechanism, instantly closing the passage of the negative pressure vacuum tube 21. As a result, the negative pressure suction cup 14 loses its negative pressure adsorption force. The tomato seed coating 8 falls freely under the action of gravity and falls accurately into the hole below, completing a single sowing. After that, the equipment resets and waits for the next instruction from the controller 28. The detection and sowing are repeated until the entire tray operation is completed.

[0031] As a further embodiment of the present invention, a movable wheel axle 4 is rotatably mounted on the frame 1, and a traveling wheel 5 is rotatably mounted on both ends of the movable wheel axle 4.

[0032] In this embodiment, the movable axle 4 and the traveling wheel 5 constitute the moving mechanism of the frame 1. Through the rolling contact between the traveling wheel 5 and the ground, the entire frame 1 can be driven by human power or an external traction device to move along a predetermined path above the seed tray, thereby realizing continuous alignment and sowing operations at different seed hole positions.

[0033] As a further embodiment of the present invention, the driving mechanism includes a motor mounting base 10 mounted on an inclined seed guide plate 7, a linear drive motor 16 mounted on the motor mounting base 10, a push-pull rod 17 mounted on the output end of the linear drive motor 16, a linear drive block 12 mounted on the end of the push-pull rod 17, an auxiliary guide rod 18 mounted on the linear drive block 12, and the auxiliary guide rod 18 passing through the motor mounting base 10.

[0034] In this embodiment, starting the linear drive motor 16 can drive the push-pull rod 17 to move linearly, thereby driving the linear drive block 12 connected to the push-pull rod 17 to move linearly along the length direction of the inclined seed guide plate 7. The auxiliary guide rod 18 is in through-fit with the motor mounting base 10, providing auxiliary support and guidance for the linear movement of the linear drive block 12, ensuring that the movement trajectory of the linear drive block 12 is stable and avoiding positional deviation.

[0035] As a further embodiment of the present invention, a roller 29 is rotatably mounted on the sliding rod 20, and the roller 29 rolls into contact with the guide groove 19.

[0036] In this embodiment, by installing rollers 29 on the sliding rod 20, the sliding friction between the sliding rod 20 and the guide groove 19 can be transformed into rolling friction, which can effectively reduce the frictional resistance encountered by the sliding rod 20 during its movement in the guide groove 19, making the movement smoother and more stable, reducing component wear, and improving the smoothness and stability of the counterweight 13 during movement.

[0037] As a further embodiment of the present invention, a vacuum pump is installed on the frame 1, and the air inlet of the vacuum pump is connected to the negative pressure vacuum tube 21.

[0038] In this embodiment, the vacuum pump continuously draws air from the vacuum tube 21 to generate negative pressure inside the vacuum tube 21. The negative pressure generated by the vacuum tube 21 is transmitted to the negative pressure suction cup 14 to generate negative pressure, thereby providing adsorption force for the negative pressure suction cup 14 to adsorb the tomato seed coating 8.

[0039] As a further embodiment of the present invention, the valve structure includes a vent valve body 22 mounted on a negative pressure vacuum tube 21, a rotating valve stem 23 rotatably mounted on the vent valve body 22, and a sealing valve core 24 that cooperates with the vent valve body 22 mounted at one end of the rotating valve stem 23.

[0040] In this embodiment, the sealing valve core 24 can rotate synchronously under the rotation of the rotating valve rod 23. When the sealing valve core 24 rotates, it can open and close the passage of the negative pressure vacuum tube 21. When the sealing valve core 24 blocks the passage of the ventilation valve body 22, the passage of the negative pressure vacuum tube 21 will be cut off, causing the negative pressure at the negative pressure suction cup 14 to disappear. The seeds will lose their adsorption force and fall and be released under gravity.

[0041] As a further embodiment of the present invention, the linkage mechanism includes a trigger swing arm 25 installed at the other end of the rotary valve stem 23, a rectangular slide groove 26 is provided on the trigger swing arm 25, and a linkage pin 27 that slides with the rectangular slide groove 26 is installed on the linear drive block 12.

[0042] In this embodiment, the counterweight 13 moves along the trajectory of the guide groove 19 via the sliding rod 20. When the counterweight 13 drives the negative pressure suction cup 14 to descend to the lowest height point, the linkage pin 27 on the linear drive block 12 slides relative to the rectangular slide groove 26 of the trigger swing arm 25. This sliding displacement forces the trigger swing arm 25 to swing, thereby driving the rotary valve rod 23 to rotate, driving the sealing valve core 24 to rotate and closing the passage of the ventilation valve body 22, so that the negative pressure in the negative pressure vacuum tube 21 and the negative pressure suction cup 14 is cut off instantaneously and reliably, and the action is synchronized with the falling position of the counterweight 13, with high precision.

[0043] As a further embodiment of the present invention, the visual inspection camera 6 and the linear drive motor 16 are both electrically connected to the controller 28 via wires.

[0044] In this embodiment, the visual inspection camera 6 can collect image information of the current acupoints on the acupoint plate in real time and transmit the collected image signals to the controller 28. The controller 28 processes and analyzes the image signals and generates control commands based on the analysis results. When it is determined that the current acupoint is empty, the controller sends the control signal to the linear drive motor 16 through the wire to control its start and stop, thereby realizing intelligent control of the sowing operation based on visual feedback.

[0045] As a further embodiment of the present invention, the bottom end of the motor mounting base 10 is provided with a limiting groove 30 whose inner surface size is adapted to the outer surface size of the tomato seed coating 8.

[0046] In this embodiment, when the tomato seed coating 8 is conveyed to the inclined seed guide plate 7 for sowing, the falling path of the tomato seed coating 8 will pass through the limiting groove 30. The inner surface of the limiting groove 30 plays a temporary guiding and positioning role for the falling tomato seed coating 8, which can correct the slight deviation of the tomato seed coating 8 caused by the falling airflow or inertia, ensuring that it can only fall to the bottom of the inclined seed guide plate 7 individually, which is convenient for sowing.

[0047] Furthermore, a vehicle-mounted power supply is installed on the rack 1. The linear drive motor 16, vision inspection camera 6, controller 28, and air pump are all electrically connected to the vehicle-mounted power supply through wires. The vehicle-mounted power supply provides power to the above-mentioned equipment, and the inconvenience of wiring outdoor wired power supply lines is solved by setting up a vehicle-mounted power supply.

[0048] The working principle of this invention is as follows: Before sowing, the tomato seeds are coated into spherical pellets. Specifically, a special seed coating agent containing fungicides, insecticides, trace elements, plant growth regulators and other ingredients is coated on the surface of the seeds to prevent diseases and pests and promote growth.The seeds are then transported in batches to the inclined seed guide plate 7. The tomato seed coatings 8 slide down naturally under gravity, and the seed stop plate 9 at the bottom of the inclined seed guide plate 7 blocks them. This moves and positions the frame 1 above the seed trays to be sown. The controller 28, vision inspection camera 6, and vacuum pump are activated, creating a working negative pressure in the negative pressure vacuum tube 21 and negative pressure suction cup 14. During the sowing process, the vision inspection camera 6 continuously acquires images of the seed trays and transmits them to the controller 28 in real time. The image processing unit inside the controller 28 analyzes the images and accurately identifies whether there are seeds in the target seed holes. If an empty hole is detected, the controller 28 generates a control command, and the command issued by the controller 28 activates... A linear drive motor 16 drives a linear drive block 12 to move along the length of the inclined seed guide plate 7 toward the bottom of the seeding box 2 via a push-pull rod 17 at its output end. The linear drive block 12 drives the counterweight block 13 to move synchronously via a transmission link 15. During this process, the sliding rod 20 on the counterweight block 13 slides along a guide groove 19 of a specific shape on the vertical mounting plate 11. This trajectory forces the counterweight block 13 to complete a cycle of lifting and lowering while moving horizontally. When the counterweight block 13 moves to the bottom of the inclined seed guide plate 7, the negative pressure suction cup 14 at its bottom just descends and makes close contact with the single tomato seed coating 8 located at the seed stop plate 9. Under the action of negative pressure, the seed is reliably adsorbed by the negative pressure suction cup 14. 4. After seed collection is completed, the linear drive motor 16 continues to work, and the linear drive block 12 moves in the opposite direction, carrying the counterweight block 13 and the adsorbed tomato seed coating 8, first lifting it with a small displacement, and then moving horizontally above the previously identified target hole. At this time, guided by the trajectory of the guide groove 19, the counterweight block 13 begins to descend for the second time, sending the tomato seed coating 8 to the position closest to the hole. When the counterweight block 13 descends to the lowest point of the movement trajectory, the linkage pin 27 on the linear drive block 12 slides in the rectangular slide groove 26 of the trigger swing arm 25, forcing the trigger swing arm 25 to swing. The trigger swing arm 25 drives the rotating valve rod 23 to rotate, causing the sealing valve core 24 to instantly close the air passage of the vent valve body 22. This mechanical linkage action cuts off the air supply during seeding. The negative pressure at the suction cup 14 immediately disappears as the negative pressure in the vacuum tube 21 is opened. The tomato seed coating 8 falls vertically and accurately into the bottom of the seeding box 2 under gravity, passing through the moving wheel axle 4 at the bottom of the seeding box 2 and entering the seed hole to complete the sowing. After a single sowing is completed, the drive mechanism resets the counterweight 13, preparing for the next operation. Simultaneously, the visual inspection camera 6 takes a second picture of the newly sown seed hole. The controller 28 verifies and analyzes the image to determine if the sowing was successful. If successful, the device can be moved to the next seed hole and the above detection and sowing process can be repeated. If the sowing fails, the controller 28 marks the seed hole and repeats the above steps to re-sow it. This cycle continues until the automated and intelligent sowing operation of the entire seed tray is completed.

[0049] The above embodiments are exemplary and not restrictive. Therefore, any technical solutions that can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention are included within the scope of the present invention.

Claims

1. A tomato tray planter, comprising a frame (1), characterized in that, The frame (1) is equipped with a seed box (2), and the bottom of the seed box (2) is provided with a seed outlet (3). The inside of the seed box (2) is equipped with an inclined seed guide plate (7) for guiding and conveying tomato seed coating (8). The inclined seed guide plate (7) is inclined, and the bottom of the inclined seed guide plate (7) is equipped with a seed stop plate (9) for stopping the tomato seed coating (8). The seed box (2) is equipped with a vertical mounting plate (11). A linear drive block (12) is provided on one side of the vertical mounting plate (11). The linear drive block (12) can be driven by a drive mechanism to move back and forth in a straight line along the length of the inclined seed guide plate (7). A counterweight block (13) is provided on one side of the linear drive block (12). A transmission link (15) is provided between the linear drive block (12) and the counterweight block (13). The two ends of the transmission link (15) are respectively hinged to the linear drive block (12) and the counterweight block (13). The counterweight (13) is equipped with a negative pressure suction cup (14) for adsorbing the tomato seed coating (8) at the bottom. The vertical mounting plate (11) is provided with a guide groove (19). The counterweight (13) is equipped with a sliding rod (20) that slides in cooperation with the guide groove (19). The counterweight (13) is equipped with a negative pressure vacuum tube (21) that communicates with the negative pressure suction cup (14). The negative pressure vacuum tube (21) is equipped with a valve structure. The valve structure and the counterweight (13) are connected by a linkage mechanism. When the counterweight (13) descends to the lowest height, the valve structure will be triggered to close the passage of the negative pressure vacuum tube (21), so that the negative pressure suction cup (14) loses its negative pressure adsorption force, thereby releasing the tomato seed coating (8). A visual inspection camera (6) and a controller (28) are mounted on the rack (1).

2. The tomato tray planter according to claim 1, characterized in that, The frame (1) is rotatably mounted with a movable axle (4), and two ends of the movable axle (4) are respectively rotatably mounted with walking wheels (5).

3. A tomato tray planter according to claim 1, characterized in that, The drive mechanism includes a motor mounting base (10) mounted on an inclined seed guide plate (7), a linear drive motor (16) mounted on the motor mounting base (10), a push-pull rod (17) mounted on the output end of the linear drive motor (16), a linear drive block (12) mounted on the end of the push-pull rod (17), an auxiliary guide rod (18) mounted on the linear drive block (12), and the auxiliary guide rod (18) passing through the motor mounting base (10).

4. A tomato tray planter according to claim 1, characterized in that, A roller (29) is rotatably mounted on the sliding rod (20), and the roller (29) rolls into contact with the guide groove (19).

5. A tomato tray planter according to claim 1, characterized in that, An air pump is installed on the frame (1), and the air inlet of the air pump is connected to the negative pressure vacuum tube (21).

6. A tomato tray planter according to claim 1, characterized in that, The valve structure includes a vent valve body (22) installed on a negative pressure vacuum tube (21), a rotating valve stem (23) is rotatably mounted on the vent valve body (22), and a sealing valve core (24) that cooperates with the vent valve body (22) is installed at one end of the rotating valve stem (23).

7. A tomato tray planter according to claim 6, characterized in that, The linkage mechanism includes a trigger swing arm (25) installed at the other end of the rotary valve stem (23), a rectangular slide groove (26) is provided on the trigger swing arm (25), and a linkage pin (27) that slides with the rectangular slide groove (26) is installed on the linear drive block (12).

8. A tomato tray planter according to claim 3, characterized in that, The visual inspection camera (6) and the linear drive motor (16) are both electrically connected to the controller (28) via wires.

9. A tomato tray planter according to claim 1, characterized in that, The bottom end of the motor mounting base (10) is provided with a limiting groove (30) whose inner surface size is adapted to the outer surface size of the tomato seed coating (8).

10. A method for intelligent seeding using a tomato tray seeder as described in any one of claims 1-9, characterized in that, Includes the following steps, S1, move the frame (1) above the tomato seedling tray, push the frame (1) to move above the tomato seedling tray, start the controller (28), visual inspection camera (6), and start the vacuum pump to generate negative pressure in the negative pressure vacuum tube (21) and negative pressure suction cup (14); S2, after the tomato seeds are coated (8) into spherical shapes, they are transported in batches to the inclined seed guide plate (7). During the horizontal movement of the frame (1) above the seed tray, the visual inspection camera (6) collects the seed tray image information in real time and transmits it to the controller (28). When the visual inspection camera (6) collects the image information that there are no seeds in the current seed hole in the seed tray and transmits it to the controller (28), the controller (28) controls the linear drive motor (16) to drive the push-pull rod (17) to drive the linear drive block (12) to move back and forth once along the length direction of the inclined seed guide plate (7). S3, when the linear drive block (12) reciprocates, it will drive the counterweight block (13) to move synchronously through the transmission link (15), and through the sliding rod (20) on the counterweight block (13) and the guide groove (19) to slide together, the counterweight block (13) will also move up and down along the trajectory of the guide groove (19) when it reciprocates in a straight line along the length of the inclined seed guide plate (7), and when the counterweight block (13) moves to the seed stop plate (9) at the bottom of the inclined seed guide plate (7) in the seed box (2). When the negative pressure suction cup (14) is lowered to a small height so that it contacts the tomato seed coating (8) and uses negative pressure to adsorb the coating (8) of a single tomato seed. Then it is raised and moved to the top of the target hole of the seed tray. The counterweight (13) is lowered again. When it is lowered to the lowest height, the valve structure is triggered by the linkage mechanism to close the passage of the negative pressure vacuum tube (21) so that the negative pressure suction cup (14) loses its adsorption force and the tomato seed coating (8) falls into the hole under the action of gravity. S4. After the seeding is completed, the visual inspection camera (6) takes another picture of the area below the negative pressure suction cup (14) and transmits the image to the controller (28). The controller (28) processes the image and determines whether the negative pressure suction cup (14) has successfully coated the tomato seeds (8) for hole sowing. If the hole sowing is determined to be a failure, steps S2-S3 are repeated to take seeds and sow them again. If the hole sowing is determined to be successful, the next step is entered. S5. After the current hole is sown, the drive mechanism drives the counterweight (13) to rise and return to the initial seed-taking position, pushes the frame (1) to move it to the next hole position in the seed tray, and repeats steps S2 to S5 until the whole tray is sown.

Images