A greenhouse dual-purpose rice blanket seedling lifting, separating, rolling and stacking integrated machine

Abstract

The application discloses a greenhouse dual-purpose water rice blanket seedling lifting, separating, rolling and stacking integrated machine, and belongs to the technical field of agricultural machinery, which comprises a walking system, a conveying mechanism, a seedling lifting mechanism, a separating mechanism, a seedling rolling table, a seedling rolling mechanism, a seedling lowering mechanism, an output mechanism, a seedling tray recycling mechanism and a control system, electric push rods are arranged at four corners of the seedling rolling table to realize double-gear lifting, not less than one group of seedling rolling mechanisms are arranged side by side on the seedling rolling table, the seedling rolling table is lowered to a low position and inserted into a separating pressing plate to realize a separating and rolling mode, and the seedling rolling table is lifted to a high position and connected with a lifting and stacking frame assembly to realize a whole tray stacking mode, so that the machine is dual-purpose, the operation efficiency is improved, and the equipment cost is reduced.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a dual-purpose greenhouse rice seedling tray lifting, separating, rolling, and stacking machine. Background Technology

[0002] Rice seedling tray lifting is a crucial step in the mechanized rice transplanting process. Traditional manual tray lifting is inefficient and labor-intensive, failing to meet the demands of large-scale mechanized production. In recent years, with the improvement of agricultural mechanization, various rice seedling tray lifting equipment has emerged.

[0003] For example, CN119284436A (Jiamusi University) discloses a rice blanket-shaped seedling lifting, separating, and rolling machine. This device uses three bionic grippers to roll the seedlings, but it has the following shortcomings: First, the device can only roll the seedlings and cannot stack the entire tray with seedlings, so its function is limited; second, the gripping force of the three bionic grippers is unevenly distributed, which can easily damage the seedlings when rolling them; third, the device does not have a dual-purpose switching mechanism and cannot adapt to different operational needs.

[0004] For example, CN119699006B discloses a clamping seedling tray separation device. This device uses a clamping plate to directly clamp the seedling tray for separation, but the clamping force is difficult to control precisely, which can easily damage the seedling roots. Moreover, it is only suitable for separation operations and has a single function.

[0005] For example, CN121264244A discloses a friction-type seedling tray separation device. This device uses friction rollers for separation, but the separation force is uncontrollable, causing significant damage to the seedling tray and seedlings, and it also has a single function.

[0006] Furthermore, current technologies lack a solution that integrates the functions of separating seedlings from trays, rolling seedlings, and stacking seedlings into a single device. Farmers need to purchase multiple devices separately, resulting in high costs and large footprints. Therefore, there is an urgent need for a rice tray-lifting device that can achieve two functions in one machine. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies by providing a dual-purpose greenhouse rice seedling tray lifting, separating, rolling, and stacking integrated machine. By raising and lowering the rolling platform, disassembling and assembling the separating pressure plate, and connecting the lifting and stacking frame components, the machine can switch between two working modes: seedling rolling mode and whole tray stacking mode. This achieves the goal of dual-purpose machine, reducing equipment costs, and improving work efficiency.

[0008] The technical solution of the present invention is as follows: The overall architecture of the present invention is: with the conveyor belt frame as the supporting foundation, the seedling lifting mechanism, the separating mechanism, the seedling rolling platform and the output mechanism are arranged sequentially along the conveying direction. Each functional module is coordinated by the PLC control system. The seedling rolling platform is raised and lowered in two positions by four corner electric push rods to switch between two working modes: separating and rolling seedlings and whole tray stacking. A dual-purpose greenhouse rice seedling tray separating, rolling, and stacking integrated machine includes a conveyor belt frame, a linkage shaft, a drive shaft, anti-slip rubber wheels, a rolling platform, a seedling unloading hinge, a lever, a sinking plate, a control box, a rolling claw receiving groove, a rolling electric push rod, a four-claw rolling hand, seedling lifting teeth, a seedling lifting hinge, a first conveyor belt, a separating pressure plate, a pressure plate support, a seedling receiving guide plate, a second conveyor belt, a seedling basket, a seedling basket support plate, a seedling unloading opening, a driven wheel, a first conveyor belt drive roller, a pressure plate arch, anti-slip protrusions, a conveyor belt connecting component, a drive wheel, a fourth conveyor belt, a fourth drive motor, a seedling tray recovery basket, a main drive motor, an angle electric push rod, a third conveyor belt, seedling rack holes, a seedling unloading slide, a seedling unloading slide slider, an arc-shaped slide groove, a seedling unloading electric push rod, a linkage slide rod, a linkage chain, a lifting chain, a seedling rack lifting motor, a lifting sprocket, a linkage gear, a sensor bracket, a photoelectric sensor, a lifting stacking frame, a chain connector, and a seedling rack support plate.

[0009] The anti-slip rubber wheels are located at the lower part of the conveyor belt frame. The linkage shaft and the drive shaft are located on the conveyor belt frame and are used to drive the anti-slip rubber wheels. The seedling lifting teeth are located at the front end of the first conveyor belt. The seedling lifting hinges the seedling lifting teeth to the conveyor belt frame. The angle electric push rod drives the first conveyor belt to lower, and the first conveyor belt drives the seedling lifting teeth to land and insert them into the bottom of the seedling tray. The first conveyor belt and the second conveyor belt are connected and arranged. The surfaces of the first conveyor belt and the second conveyor belt are provided with anti-slip protrusions. The separating pressure plate has an arc-shaped structure and is located in the gap between the first conveyor belt and the second conveyor belt. The separating pressure plate is inserted from one side of the pressure plate arch. The two ends of the pressure plate arch are respectively installed on the seedling lifting hinge and the pressure plate support. The seedling receiving guide plate is located on the discharge side of the separating pressure plate. The seedling rolling platform is located at the discharge end of the second conveyor belt. The seedling rolling platform is provided with no less than one set of seedling rolling mechanisms, each set arranged side by side in the width direction. The seedling platform is equipped with electric push rods at its four corners, allowing for dual-level vertical lifting and lowering. The four-claw seedling roller includes four roller rods and a rotary motor. The rotary motor drives the four roller rods to rotate around their own axis, and the electric push rods drive the entire four-claw seedling roller to extend and retract. A roller receiving slot is located on the seedling platform to accommodate the two lower roller rods of the four-claw seedling roller. A seedling lowering hinge is located on the discharge side of the seedling platform, and the seedling lowering opening is located at the lowering hinge. The electric push rod for lowering the seedling is connected via a linkage slide rod. The seedling lowering slide is driven, and the slide block of the seedling lowering slide slides within the arc-shaped groove, causing the seedling lowering hinge to flip and open the seedling lowering opening; the fourth conveyor belt is located below the seedling lowering hinge, and the seedling basket and the seedling basket support plate are located at the end of the fourth conveyor belt; the third conveyor belt is located below the gap between the first and second conveyor belts, and the seedling tray collection basket is located at the end of the third conveyor belt; the control box is equipped with a PLC control system for controlling the timing of the actions of each actuator.

[0010] The lifting and stacking frame is installed on the discharge side of the fourth conveyor belt, and the seedling rack tray is installed inside the lifting and stacking frame. The photoelectric sensor is installed on the side of the lifting and stacking frame through the sensor bracket and is used to detect the loading status of the seedling tray on the seedling rack tray. The seedling rack lifting motor drives the linkage chain, the linkage chain drives the linkage gear, the linkage gear is coaxially fixed with the lifting sprocket, the lifting sprocket drives the lifting chain, and the lifting chain is connected to the seedling rack tray through the chain connector, driving the seedling rack tray to step up and down within the lifting and stacking frame.

[0011] The PLC control system is connected to the seedling rolling electric push rod, the rotary motor, the seedling lowering electric push rod, the seedling frame lifting motor, the fourth drive motor, the main drive motor, and the photoelectric sensor signal, respectively, and is used to coordinate and control the action sequence of each actuator.

[0012] Another objective of this invention is to provide a method for operating the above-mentioned greenhouse dual-purpose rice blanket seedling lifting, separating, rolling, and stacking integrated machine, comprising the following steps: S1, walking and positioning; S2, separating and conveying; S3, rolling seedlings; S4, unloading seedlings; S5, outputting.

[0013] Beneficial effects of the present invention

[0014] 1. One machine serves two purposes, reducing equipment costs.

[0015] This invention achieves dual-level lifting by using the four corner electric push rods of the seedling rolling platform. Combined with the disassembly and assembly of the separating pressure plate and the access of the lifting and stacking frame, it enables switching between seedling rolling mode and whole-tray stacking mode. One device replaces two dedicated devices, significantly reducing equipment purchase costs and floor space.

[0016] 2. The shovel-style method of lifting seedlings does not damage the seedling tray.

[0017] The electric push rod drives the first conveyor belt to lower, and the first conveyor belt drives the seedling lifting teeth to land. The passive hinge of the seedling lifting mechanism ensures that the seedling lifting teeth are flush with the ground after landing. The anti-slip rubber wheels move forward to lift the seedling tray off the ground. The shovel-type seedling lifting method avoids the damage to the seedling tray and seedling roots caused by the traditional top-support seedling lifting method, resulting in a high seedling integrity rate.

[0018] 3. Arc-shaped separation, resulting in good separation effect.

[0019] The separating pressure plate has an arc-shaped structure and is inserted from one side of the pressure plate arch. During the separation process, the arc-shaped surface guides the soft seedling tray to the third conveyor belt, while the seedlings enter the second conveyor belt under the guidance of the seedling receiving guide plate. The separation process is smooth and does not damage the seedlings.

[0020] 4. Four-claw seedling roll, high quality roll.

[0021] The four-claw seedling roller includes four seedling roller rods and a rotary motor. The two lower seedling roller rods extend into the receiving groove of the roller claw and are inserted into the bottom of the seedling, while the two upper seedling roller rods are inserted from above the seedling, forming a positioning posture of simultaneous insertion from both above and below. The rotary motor actively drives the four seedling roller rods to rotate synchronously through a transmission mechanism. The four rods rotate around their own axes, driving the seedling to complete the rolling. The rolling speed and torque can be precisely controlled, resulting in high seedling tightness and good rolling quality. The two degrees of freedom of the seedling roller electric push rod and the rotary motor are independent of each other. The extension and rotation of the rod do not interfere with each other, and the insertion depth and rolling speed can be adjusted independently. Compared with the bionic gripper in CN119284436A, which relies solely on friction to passively rotate, the active rotation rolling method of this invention can achieve seedling rolling without clamping force. It will not cause the seedling roll to unravel due to loose clamping during the rolling process, and the rolling consistency is good.

[0022] 5. Automatic seedling placement, high efficiency.

[0023] The aforementioned electric push rod for discharging seedlings drives the seedling hinges to rotate downwards by 45 degrees through the aforementioned linkage slide rod and the aforementioned seedling sliding plate to form a feeding slope. Multiple seedling hinges rotate synchronously, and the seedling rolls roll down automatically without manual intervention, resulting in high work efficiency.

[0024] 6. Whole-pallet palletizing, high degree of automation

[0025] In the second embodiment, the entire tray of seedlings is directly transported to the seedling rack tray of the lifting stacking frame via the fourth conveyor belt. After the photoelectric sensor detects that the layer is full, the seedling rack lifting motor drives the seedling rack tray to descend one layer through the linkage chain, linkage gear, lifting sprocket, lifting chain and chain connector, realizing automatic stacking layer by layer. After being filled, the whole tray is hoisted and transported, with a high degree of automation.

[0026] 7. Stable conveying and good anti-slip effect

[0027] Both the first and second conveyor belts have anti-slip protrusions on their surfaces, which effectively prevent the seedling trays from slipping during inclined conveying and separation, ensuring stable and reliable conveying. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention.

[0029] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0030] Figure 3 This is a left side view of Embodiment 1 of the present invention.

[0031] Figure 4 This is a right-side view of Embodiment 1 of the present invention.

[0032] Figure 5 This is a cross-sectional view of the separating pressure plate of the present invention.

[0033] Figure 6 This is a schematic diagram of the structure of the seedling lowering slide of the present invention.

[0034] Figure 7 This is a schematic diagram of the structure of the sunken plate of the present invention.

[0035] Figure 8 This is a schematic diagram of the structure of Embodiment 2 of the present invention.

[0036] Figure 9 for Figure 8 A magnified view of a section at point B.

[0037] Figure 10 This is a schematic diagram of the lifting and palletizing frame of the present invention.

[0038] In the diagram: 1. Conveyor belt frame, 2. Linkage shaft, 3. Drive shaft, 4. Anti-slip rubber wheels, 5. Seedling rolling platform, 6. Seedling lowering hinge, 7. Actuating lever, 8. Sinking plate, 9. Control box, 10. Claw receiving slot, 11. Electric seedling rolling push rod, 12. Four-claw seedling rolling hand, 13. Seedling lifting teeth, 14. Seedling lifting hinge, 15. First conveyor belt, 16. Separating pressure plate, 17. Pressure plate support, 18. Seedling receiving guide plate, 19. Second conveyor belt, 20. Seedling basket, 21. Seedling basket support plate, 22. Seedling lowering opening, 23. Driven wheel, 24. First conveyor belt drive roller, 25. Pressure plate arch, 26. Anti-slip protrusion, 27. 1. Conveyor belt connecting parts; 28. Drive wheel; 29. ​​Fourth conveyor belt; 30. Fourth drive motor; 31. Seedling tray recycling basket; 32. Main drive motor; 33. Angle electric push rod; 34. Third conveyor belt; 35. Seedling rack hole; 36. Seedling lowering slide; 361. Seedling lowering slide block; 362. Arc-shaped slide groove; 37. Seedling lowering electric push rod; 38. Linkage slide rod; 39. Linkage chain; 40. Lifting chain; 41. Seedling rack lifting motor; 42. Lifting sprocket; 43. Linkage gear; 44. Sensor bracket; 45. Photoelectric sensor; 46. Lifting stacking rack; 47. Chain connector; 48. Seedling rack support plate. Detailed Implementation

[0039] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0040] Example 1, as shown in the figure: A dual-purpose greenhouse rice blanket seedling lifting, separating, rolling, and stacking integrated machine includes a conveyor belt frame 1, a linkage shaft 2, a drive shaft 3, anti-slip rubber wheels 4, a seedling rolling platform 5, a seedling lowering hinge 6, a lever 7, a sinking plate 8, a control box 9, a rolling claw receiving groove 10, a seedling rolling electric push rod 11, a four-claw seedling rolling hand 12, seedling lifting teeth 13, seedling lifting hinge 14, a first conveyor belt 15, a separating pressure plate 16, a pressure plate support 17, a seedling receiving guide plate 18, a second conveyor belt 19, a seedling basket 20, a seedling basket support plate 21, a seedling lowering opening 22, a driven wheel 23, a first conveyor belt drive roller 24, and a pressing... 25. Arch plate component, 26. Anti-slip protrusion, 27. Conveyor belt connecting component, 28. Drive wheel, 29. Fourth conveyor belt, 30. Fourth drive motor, 31. Seedling tray recycling basket, 32. Main drive motor, 33. Angle electric push rod, 34. Third conveyor belt, 35. Seedling rack hole, 36. Seedling lowering slide plate, 361. Seedling lowering slide plate slider, 362. Arc-shaped slide groove, 37. Seedling lowering electric push rod, 38. Linkage slide rod, 39. Linkage chain, 40. Lifting chain, 41. Seedling rack lifting motor, 42. Lifting sprocket, 43. Linkage gear, 44. Sensor bracket, 45. Photoelectric sensor, 46. Lifting stacking rack, 47. Chain connector, and 48. Seedling rack support plate.

[0041] This invention relates to a dual-purpose greenhouse rice seedling tray lifting, separation, rolling, and stacking integrated machine. The core structure revolves around the main body of the equipment, with each functional module assembled in an orderly manner and powered collaboratively. The specific technical solution is as follows:

[0042] 1. Walking system

[0043] The anti-slip rubber wheels 4 are located at the lower part of the conveyor belt frame 1, and the linkage shaft 2 and the drive shaft 3 are located on the conveyor belt frame 1 to drive the anti-slip rubber wheels 4 to move. The anti-slip rubber wheels 4 adopt an anti-slip rubber walking method, which is suitable for the muddy ground inside the greenhouse, with strong grip and stable walking. The conveyor belt frame 1 is welded from Q235B rectangular steel pipes to form a rigid load-bearing frame for the whole machine.

[0044] 2. Seedling raising system

[0045] The seedling-lifting teeth 13 are located at the front end of the first conveyor belt 15, and have a multi-tooth parallel structure, with each tooth having an arc-shaped scooping surface at its end; the seedling-lifting hinge 14 hinges the seedling-lifting teeth 13 to the conveyor belt frame 1, and the seedling-lifting hinge 14 is a passive hinge structure without an active flipping function; the angle electric push rod 33 drives the first conveyor belt 15 to lower, and the first conveyor belt 15 drives the seedling-lifting teeth 13 to land, so that the seedling-lifting teeth 13 insert into the bottom of the seedling tray; when the angle electric push rod 33 lowers the seedling-lifting section, the seedling-lifting hinge 14 ensures that the seedling-lifting teeth 13 are flush with the ground after landing and do not tilt into the ground; the anti-slip rubber wheels 4 are in front of As the seedling trays detach from the ground, they enter the first conveyor belt 15. The angle-driven electric push rod 33 adjusts the discharge angle between the third conveyor belt 34 and the fourth conveyor belt 29 by changing the tilt angle of the first conveyor belt 15. When the angle-driven electric push rod 33 retracts, the upper end of the first conveyor belt 15 lowers, causing the front support structure of the conveyor belt frame 1 to descend as a whole. The relative position of the second conveyor belt 19 and the seedling rolling platform 5 changes accordingly, thereby changing the spatial relative position between the third conveyor belt 34 and the fourth conveyor belt 29, reducing the discharge angle between them, and achieving adaptive adjustment of the conveying path.

[0046] 3. Separation System

[0047] The first conveyor belt 15 and the second conveyor belt 19 are connected and arranged. The surfaces of the first conveyor belt 15 and the second conveyor belt 19 are provided with anti-slip protrusions to prevent the seedling trays from slipping during the conveying process. The separating pressure plate 16 has an arc-shaped structure and is located in the gap between the first conveyor belt 15 and the second conveyor belt 19. The separating pressure plate 16 is inserted from one side of the pressure plate arch 25 to form a detachable plug-in fit. The two ends of the pressure plate arch 25 are respectively installed on the seedling lifting hinge 14 and the pressure plate support 17. The pressure plate support 17 is located on both sides of the separating pressure plate 16. The anti-slip protrusions 26 are located on the contact surface of the separating pressure plate 16. When the seedling tray passes through the separating pressure plate 16, the seedlings enter the second conveyor belt 19 under the guidance of the seedling receiving guide plate 18. The soft seedling trays fall from the gap between the first conveyor belt 15 and the second conveyor belt 19 to the third conveyor belt 34 under the guidance of the arc-shaped surface of the separating pressure plate 16.

[0048] 4. Seedling Rolling System

[0049] The seedling rolling platform 5 is located at the discharge end of the second conveyor belt 19. The seedling rolling platform 5 is equipped with at least one set of seedling rolling mechanisms, arranged side-by-side in the width direction. Each set includes a seedling rolling assembly. The seedling rolling platform 5 has electric push rods at its four corners, allowing for dual-position lifting and lowering in the vertical direction. The electric push rods are located below the four corners of the seedling rolling platform 5, with their tops supporting the platform surface. The seedling rolling mechanism, the claw receiving groove 10, and the seedling lowering hinge 6 are all installed on the seedling rolling platform 5 and rise and fall together with it. In the first embodiment mode, the seedling rolling platform 5 is lowered to its lowest position. The four-claw seedling rolling hand 12 includes four seedling rolling rods and a rotary motor. The lower two seedling rolling rods extend into the claw receiving groove 10, while the upper two seedling rolling rods are positioned above the seedlings, forming a positioning posture where they are inserted simultaneously from both above and below. The electric push rod 11 drives the rotary motor and the four-claw seedling rolling hand 12 to extend as a whole. A rotary motor drives four seedling-rolling rods to rotate synchronously around their own axis via a transmission mechanism. The transmission mechanism is one of gear transmission, chain transmission, or belt transmission, and includes a driving gear and driven gears. The driving gear is located on the output shaft of the rotary motor, and each driven gear is fixed to each seedling-rolling rod. The driving gear simultaneously drives each driven gear to achieve synchronous rotation, and the two degrees of freedom of motion are independent of each other. Each group of seedling-rolling mechanisms operates synchronously, and each group independently completes the rolling of a corresponding row of seedlings. The electric seedling-rolling push rod 11 is responsible for the overall extension and retraction, and the rotary motor is responsible for the rotation and rolling of the seedling-rolling rods. When the seedling is transported by the second conveyor belt 19 to the position on the seedling-rolling platform 5 corresponding to the seedling inlet 22, the platform positioning sensor detects that the seedling is in place, and the first conveyor belt 15 and the second conveyor belt 19 are stopped in conjunction. Then, the electric seedling-rolling push rod 11 and the rotary motor are started to roll the seedling.

[0050] 5. Seedling system

[0051] The seedling release hinge 6 is located on the discharge side of the seedling rolling platform 5, and the seedling release opening 22 is located at the seedling release hinge 6. The seedling release electric push rod 37 drives the seedling release slide 36 through the linkage slide rod 38. The seedling release slide block 361 slides in the arc-shaped slide groove 362, causing the seedling release hinge 6 to rotate downwards by 45 degrees to form a feeding slope. After the seedling roll is completed, the rotary motor stops, and the seedling rolling electric push rod 11 drives the four-claw seedling rolling hand 12 to retract and detach from the seedling roll. Then, the PLC control system controls the seedling release electric push rod 37 to move, driving the seedling release hinge 6 to rotate downwards by 45 degrees, and the seedling roll rolls down. Multiple seedling release hinges 6 rotate synchronously, and each time a seedling roll is completed, each seedling release hinge 6 rotates synchronously once.

[0052] 6. Output System

[0053] The fourth conveyor belt 29 is located below the seedling hinge 6, and the seedling basket 20 and the seedling basket support plate 21 are located at the end of the fourth conveyor belt 29. After the seedling rolls roll down, they are transported to the seedling basket 20 via the fourth conveyor belt 29. The fourth drive motor 30 drives the fourth conveyor belt 29. The angle electric push rod 33 adjusts the discharge angle between the third conveyor belt 34 and the fourth conveyor belt 29 by changing the tilt angle of the first conveyor belt 15. When the angle electric push rod 33 retracts, the upper end of the first conveyor belt 15 lowers, causing the front end support structure of the conveyor belt frame 1 to drop as a whole. The relative position of the second conveyor belt 19 and the seedling rolling platform 5 changes accordingly, thereby changing the spatial relative position between the third conveyor belt 34 and the fourth conveyor belt 29, reducing the discharge angle between them, and realizing adaptive adjustment of the conveying path.

[0054] 7. Seedling tray recycling system

[0055] The third conveyor belt 34 is located below the gap between the first conveyor belt 15 and the second conveyor belt 19, and the seedling tray collection basket 31 is located at the end of the third conveyor belt 34; the soft seedling tray falls from the gap onto the third conveyor belt 34 and is transported by the third conveyor belt 34 to the seedling tray collection basket 31; the drive wheel 28 is located at the drive end of the second conveyor belt 19, and the main drive motor 32 drives the drive wheel 28, and the drive wheel 28 is linked to the third conveyor belt 34 for drive.

[0056] 8. Control System

[0057] The control box 9 is equipped with a PLC control system, which is connected to the seedling rolling electric push rod 11, the rotary motor, the seedling lowering electric push rod 37, the seedling rack lifting motor 41, the fourth drive motor 30, the main drive motor 32, and the photoelectric sensor 45. The PLC control system is used to coordinate and control the action sequence of each actuator, including the extension of the seedling rolling electric push rod 11 → the start of the rotary motor → rolling → the stop of the rotary motor → the retraction of the seedling rolling electric push rod 11 → the action of the seedling lowering electric push rod 37 → the flipping of the seedling lowering hinge 6.

[0058] 9. Platform lifting system

[0059] The seedling rolling platform 5 has four electric push rods located at its four corners, with their tops supporting the platform surface. These electric push rods are concealed inside the conveyor belt frame 1 and drive the seedling rolling platform 5 to move vertically in two gears. The lower end of each electric push rod is fixed to the bottom crossbeam of the conveyor belt frame 1, and the upper end is connected to the bottom surface of the seedling rolling platform 5 via a hinged joint. Each of the four corners of the seedling rolling platform 5 has a vertical guide post, and the conveyor belt frame 1 has corresponding guide sleeves. When the four electric push rods extend and retract synchronously, the guide posts… The guide sleeve slides within the guide sleeve to ensure the horizontality and stability of the seedling rolling platform 5 during its lifting and lowering process. The seedling rolling mechanism, the claw receiving groove 10, and the seedling lowering hinge 6 are all installed on the surface of the seedling rolling platform 5 and rise and fall together with the seedling rolling platform 5. In the low position, the seedling rolling platform 5 is lowered to the working position, and seedling rolling operations can be performed in Embodiment 1. In the high position, the seedling rolling platform 5 is raised to make way for the straight passage below, and in Embodiment 2, the entire tray of seedlings with seedlings can be directly transported from the second conveyor belt 19 through the seedling rolling platform 5 to the fourth conveyor belt 29.

[0060] Example 2, as shown in the figure: Example 2 is a whole tray with seedlings collected and stacked, without separation or rolling of seedlings.

[0061] First, raise the seedling tray 5 to a high position to make way for the straight passage below; then, pull the separating pressure plate 16 out from the pressure plate arch 25; connect the lifting stacking frame 46, the lifting chain 40, the seedling rack lifting motor 41, the linkage chain 39, the linkage gear 43, the lifting sprocket 42, the chain connector 47, the seedling rack support plate 48, and the photoelectric sensor 45.

[0062] The lifting and stacking frame 46 is located on the discharge side of the fourth conveyor belt 29, the seedling rack tray 48 is located inside the lifting and stacking frame 46, and the photoelectric sensor 45 is located on the side of the lifting and stacking frame 46 through the sensor bracket 44, for detecting the loading status of the seedling trays on the seedling rack tray 48; the feed inlet of the lifting and stacking frame 46 and the discharge end of the fourth conveyor belt 29 are positioned by a positioning pin and a slot structure.

[0063] The workflow is as follows:

[0064] The electric push rod 33 drives the first conveyor belt 15 to lower, the first conveyor belt 15 drives the seedling lifting tooth 13 to land, and the seedling lifting hinge 14 passively hinges to ensure that the seedling lifting tooth 13 is horizontally attached to the ground; the seedling lifting tooth 13 scoops up the hard seedling tray with seedlings; the anti-slip rubber walking wheel 4 moves forward, and the seedling tray leaves the ground and enters the first conveyor belt 15.

[0065] The first conveyor belt 15 transports the seedling trays through the anti-slip protrusions on its surface; the separating pressure plate 16 has been removed and does not separate the seedling trays, allowing them to pass directly through.

[0066] The second conveyor belt 19 transports the seedling trays, with anti-slip protrusions on its surface dragging the trays; the entire tray carrying seedlings passes under the seedling rolling platform 5.

[0067] The seedlings arrive at the fourth conveyor belt 29; the fourth conveyor belt 29 outputs the seedlings into the external seedling tray frame;

[0068] The photoelectric sensor 45 detects that the current layer is full; the seedling rack lifting motor 41 drives the linkage chain 39; the linkage chain 39 drives the linkage gear 43; the linkage gear 43 is coaxially fixed with the lifting sprocket 42; the lifting sprocket 42 drives the lifting chain 40; the lifting chain 40 drives the seedling rack support plate 48 to descend one layer inside the lifting stacking frame 46 through the chain connector 47; layers are loaded one by one, and after being filled, the lifting stacking frame 46 is hoisted and transported as a whole.

[0069] Finally, it should be noted that the above embodiments were selected and described in detail to better illustrate the technical solution of this invention, and are not intended to limit the scope to the details shown. Modifications or equivalent substitutions made by those skilled in the art to the technical solution of this invention without departing from the spirit and scope of this invention should be covered within the scope of the claims of this invention.

Claims

1. A dual-purpose greenhouse rice seedling tray lifting, separating, rolling, and stacking machine, characterized in that: The system includes a frame, a walking mechanism, a seedling lifting mechanism, a conveying mechanism, a separating mechanism, a seedling rolling platform, a seedling rolling mechanism, a seedling unloading mechanism, an output mechanism, a seedling tray recycling mechanism, and a control system. The frame is a conveyor belt frame (1). The walking mechanism includes anti-slip rubber wheels (4), which are located at the lower part of the conveyor belt frame (1). The seedling lifting mechanism includes seedling lifting teeth (13) and an angled electric push rod (33). The seedling lifting teeth (13) are located at the front end of the first conveyor belt (15). The angled electric push rod (33) drives the first conveyor belt (15) to lower, and the first conveyor belt (15) drives the seedling lifting teeth (13) to fall. The seedling tray is inserted into the bottom of the seedling tray; the conveying mechanism includes a first conveyor belt (15) and a second conveyor belt (19), the first conveyor belt (15) and the second conveyor belt (19) are connected and arranged; the separation mechanism includes a separation pressure plate (16) and a pressure plate arch (25), the separation pressure plate (16) is an arc structure, located in the gap between the first conveyor belt (15) and the second conveyor belt (19), the separation pressure plate (16) is inserted from one side of the pressure plate arch (25), the two ends of the pressure plate arch (25) are respectively installed on the seedling lifting hinge (14) and the pressure plate support (17); the seedling rolling platform (5) is located on the second conveyor belt. The discharge end with (19) is provided with electric push rods at the four corners of the seedling rolling platform (5), which can be raised and lowered in two gears in the vertical direction. The electric push rods are located below the four corners of the seedling rolling platform (5) and support the seedling rolling platform (5) at the top. The seedling rolling mechanism, the claw receiving groove (10) and the seedling lowering hinge (6) are all installed on the seedling rolling platform (5) and are raised and lowered as a whole with the seedling rolling platform (5). The seedling rolling platform (5) is provided with at least one set of seedling rolling mechanism, each set is arranged side by side in the width direction. Each set of seedling rolling mechanism includes a four-claw seedling rolling hand (12) and a seedling rolling electric push rod (11). The seedling rolling mechanism of each set moves synchronously, and each set corresponds to the rolling of one row of seedlings. The four-claw seedling roller (12) includes four seedling rollers and a rotary motor. The rotary motor drives the four seedling rollers to rotate around their own axis. The seedling roller electric push rod (11) drives the four-claw seedling roller (12) to extend and retract as a whole. The seedling feeding mechanism includes a seedling feeding hinge (6) and a seedling feeding opening (22). The seedling feeding hinge (6) is located on the discharge side of the seedling roller platform (5), and the seedling feeding opening (22) is located at the seedling feeding hinge (6). The output mechanism includes a fourth conveyor belt (29) and a seedling basket (20). The fourth conveyor belt (29) is located below the seedling feeding hinge (6), and the seedling basket (20) is located at the end of the fourth conveyor belt (29).The seedling tray recycling mechanism includes a third conveyor belt (34) and a seedling tray recycling basket (31). The third conveyor belt (34) is located below the gap between the first conveyor belt (15) and the second conveyor belt (19), and the seedling tray recycling basket (31) is located at the end of the third conveyor belt (34). The control system includes a control box (9), which is equipped with a PLC control system for controlling the timing of the actions of each actuator. The dual-gear lifting of the seedling rolling platform (5) enables the integrated machine to have two working states: a seedling separation rolling mode and a whole-tray stacking mode.

2. The integrated machine for separating, rolling, and stacking rice seedlings in a tray, suitable for both greenhouse and paddy fields, as described in claim 1, is characterized in that: It also includes a seedling lifting hinge (14), which hinges the seedling lifting tooth (13) to the conveyor belt frame (1). The seedling lifting hinge (14) is a passive hinge structure, which ensures that the seedling lifting tooth (13) is flush with the ground after landing when the angle electric push rod (33) lowers the seedling section. The seedling lifting tooth (13) is a multi-tooth parallel structure, and each tooth end is provided with an arc-shaped shovel-in surface.

3. The integrated machine for separating, rolling, and stacking rice seedlings in a tray, suitable for both greenhouse and paddy fields, as described in claim 1, is characterized in that: It also includes a linkage shaft (2), a drive shaft (3), a driven wheel (23), a first conveyor belt drive roller (24), a drive wheel (28), and a main drive motor (32); the linkage shaft (2) and the drive shaft (3) are mounted on the conveyor belt frame (1) and are used to drive the anti-slip rubber walking wheel (4) to walk; the first conveyor belt drive roller (24) is mounted on the drive end of the first conveyor belt (15), the driven wheel (23) is mounted on the driven end of the first conveyor belt (15), the drive wheel (28) is mounted on the drive end of the second conveyor belt (19), the main drive motor (32) drives the drive wheel (28), and the drive wheel (28) is driven in conjunction with the third conveyor belt (34).

4. The greenhouse dual-purpose rice blanket seedling lifting, separating, rolling, and stacking integrated machine according to claim 1, characterized in that: It also includes a pressure plate support (17), a seedling guide plate (18), and anti-slip protrusions (26); the pressure plate support (17) is located on both sides of the separating pressure plate (16), the seedling guide plate (18) is located on the discharge side of the separating pressure plate (16), and the anti-slip protrusions (26) are located on the contact surface of the separating pressure plate (16); the surfaces of the first conveyor belt (15) and the second conveyor belt (19) are both provided with anti-slip protrusions.

5. The greenhouse dual-purpose rice blanket seedling lifting, separating, rolling, and stacking integrated machine according to claim 1, characterized in that: It also includes a claw receiving groove (10), which is located on the seedling rolling platform (5); the lower two seedling rolling rods of the four seedling rolling hand (12) extend into the claw receiving groove (10), and the upper two seedling rolling rods are placed above the seedlings. The rotary motor drives the four seedling rolling rods to rotate synchronously through a transmission mechanism. The transmission mechanism includes a drive gear and a driven gear. The drive gear is located on the output shaft of the rotary motor, and each driven gear is fixed on each seedling rolling rod. The drive gear drives each driven gear to rotate synchronously. The seedling rolling electric push rod (11) drives the rotary motor and the four-claw seedling rolling hand (12) to extend and retract as a whole. The two degrees of freedom of motion are independent of each other.

6. The integrated machine for separating, rolling, and stacking rice seedlings in a tray, suitable for both greenhouse and commercial use, as described in claim 1, is characterized in that: It also includes a sinking plate (8), a toggle rod (7), a seedling electric push rod (37), a linkage slide rod (38), a seedling sliding piece (36), a seedling sliding piece slider (361), and an arc-shaped slide groove (362); the seedling electric push rod (37) drives the seedling sliding piece (36) through the linkage slide rod (38), and the seedling sliding piece slider (361) slides in the arc-shaped slide groove (362), causing the seedling hinge (6) to flip downwards by 45 degrees to form a feeding slope; multiple seedling hinges (6) flip synchronously, and flip once synchronously after each seedling roll is rolled up.

7. The greenhouse dual-purpose rice blanket seedling lifting, separating, rolling, and stacking integrated machine according to claim 1, characterized in that: The angle electric push rod (33) adjusts the discharge angle between the third conveyor belt (34) and the fourth conveyor belt (29) by changing the tilt angle of the first conveyor belt (15); it also includes a fourth drive motor (30), a conveyor belt connector (27) and a seedling basket tray (21). The fourth drive motor (30) drives the fourth conveyor belt (29). The seedling basket tray (21) is located at the end of the fourth conveyor belt (29). The conveyor belt connector (27) is used to connect the first conveyor belt (15) and the second conveyor belt (19).

8. The integrated machine for separating, rolling, and stacking rice seedlings in a tray, suitable for both greenhouse and commercial use, as described in claim 1, is characterized in that: It also includes a lifting stacking frame (46), a seedling rack tray (48), a photoelectric sensor (45), and a sensor bracket (44); the lifting stacking frame (46) is detachably connected to the discharge side of the fourth conveyor belt (29), the seedling rack tray (48) is located inside the lifting stacking frame (46), and the photoelectric sensor (45) is located on the side of the lifting stacking frame (46) through the sensor bracket (44) to detect the loading status of the seedling trays on the seedling rack tray (48); the separating pressure plate (16) and the pressure plate arch (25) are detachably plugged in; the lifting stroke of the seedling rolling platform (5) satisfies the following: when it is raised to the high position, a straight conveying channel without separating components is formed between the second conveyor belt (19) and the fourth conveyor belt (29).

9. The dual-purpose greenhouse rice seedling tray lifting, separating, rolling, and stacking integrated machine according to claim 8, characterized in that: It also includes a seedling rack lifting motor (41), a linkage chain (39), a linkage gear (43), a lifting sprocket (42), a lifting chain (40), a chain connector (47), and a seedling rack hole (35); the seedling rack lifting motor (41) drives the linkage chain (39), the linkage chain (39) drives the linkage gear (43), the linkage gear (43) is coaxially fixed with the lifting sprocket (42), the lifting sprocket (42) drives the lifting chain (40), the lifting chain (40) is connected to the seedling rack tray (48) through the chain connector (47), and drives the seedling rack tray (48) to step up and down within the lifting stacking rack (46).

10. A method for operating rice blanket seedlings using the integrated machine for separating, rolling, and stacking rice blanket seedlings in greenhouses as described in any one of claims 1-9, characterized in that: It includes two operating modes: separate seedling roll mode and whole-tray stacking mode; The following steps are included in the separated seedling roll mode: S1. Walking and positioning: The anti-slip rubber walking wheel (4) drives the whole machine to move above the seedling tray. The angle electric push rod (33) drives the first conveyor belt (15) to lower. The first conveyor belt (15) drives the seedling tooth (13) to land. The seedling hinge (14) passively hinges to ensure that the seedling tooth (13) is horizontally attached to the ground. The seedling tooth (13) is inserted into the bottom of the seedling tray. The anti-slip rubber walking wheel (4) moves forward to make the seedling tray leave the ground and enter the first conveyor belt (15). S2, Separation and Conveying: The seedling tray is conveyed along the first conveyor belt (15). When the seedling tray passes the separation plate (16), the seedlings are separated from the seedling tray. The seedlings enter the second conveyor belt (19) through the seedling receiving guide plate (18). The seedling tray falls from the gap between the first conveyor belt (15) and the second conveyor belt (19) onto the third conveyor belt (34) and is conveyed by the third conveyor belt (34) to the seedling tray recycling basket (31). S3, rolling seedlings: The seedlings are transported to the position corresponding to the lower seedling opening (22) on the seedling rolling platform (5) via the second conveyor belt (19). The seedling rolling electric push rod (11) drives the four-claw seedling rolling hand (12) to extend as a whole, and the two seedling rolling rods below extend into the seedling claw receiving groove (10). The rotary motor drives the four seedling rolling rods to rotate synchronously to roll the seedlings into seedling rolls. S4. Seedling removal: After the seedling roll is completed, the rotary motor stops, the seedling roll electric push rod (11) drives the four-claw seedling roll hand (12) to retract as a whole, and the seedling removal electric push rod (37) drives the seedling removal slide (36) through the linkage slide rod (38), so that the seedling removal hinge (6) flips down 45 degrees to form a feeding slope, and the seedling roll rolls down. S5. Output: The seedling rolls are transported to the seedling baskets (20) via the fourth conveyor belt (29); In the whole pallet palletizing mode, the following steps are included: S1, Mode switching: Raise the seedling rolling platform (5) to a high position to make room for the straight passage below; remove the separating pressure plate (16) from the pressure plate arch (25); connect it to the lifting stacking frame (46). S2, Walking and Positioning: The anti-slip rubber walking wheels (4) drive the whole machine to move above the seedling tray. The angle electric push rod (33) drives the first conveyor belt (15) to lower. The first conveyor belt (15) drives the seedling lifting teeth (13) to land. The seedling lifting hinge (14) passively hinges to ensure that the seedling lifting teeth (13) are horizontally attached to the ground. The seedling lifting teeth (13) are inserted into the bottom of the seedling tray. The anti-slip rubber walking wheels (4) move forward to make the seedling tray leave the ground and enter the first conveyor belt (15). S3, direct conveying: the seedling trays are directly conveyed to the lifting stacking rack (46) via the first conveyor belt (15), the second conveyor belt (19) and the fourth conveyor belt (29). S4, Layer-by-layer stacking: The seedling rack tray (48) receives the seedling tray. After the photoelectric sensor (45) detects that the current layer is full, the seedling rack lifting motor (41) drives the seedling rack tray (48) to descend one layer. S2 to S4 are repeated. After the seedling rack is full, the lifting stacking rack (46) is hoisted and transported as a whole.

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