Plug seedling type full-automatic pepper transplanter

Abstract

The utility model belongs to the technical field of agricultural machinery, and particularly relates to a plug seedling type full-automatic pepper transplanter which comprises a rack main body, and a spraying device, a film mulching device, a punching device, a seedling supply device, a seedling transfer device, a seedling inserting device and a seedling tray recovery device which are arranged on the rack main body, the seedling supply device comprises a plurality of layers of partition plates used for storing seedling trays, and the partition plates are connected with a lifting device used for lifting the partition plates to the target height; a horizontal pushing device is arranged at the target height and is used for pushing a seedling tray to a clamping position of the seedling transfer device; the seedling transplanting device is provided with a birdmouth and a seedling transplanting mechanism which are in butt joint with the seedling transfer device. According to the utility model, the vertical type layered seedling tray storage mode is adopted, the space is fully utilized, and seedlings are automatically and continuously supplied for transplanting through lifting and pushing.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and particularly relates to a fully automatic plug seedling type pepper transplanter. Background Art

[0002] Peppers are often planted by transplanting method. As an important agricultural activity, pepper transplanting faces some challenges. For example, the existing pepper transplanters on the market are of single variety, and the automation degree and operation quality still need to be improved. These problems limit the development of the pepper planting industry. After investigation, it is found that there are mainly three types of pepper transplanters on the domestic and foreign markets at present, namely the duckbill type, the clamp type and the seedling tray type, each with its own advantages and disadvantages.

[0003] For the duckbill type pepper transplanter most widely used in China, its basic operation mode is that workers continuously put seedlings in the front seat, put the seedlings into the hanging cup or duckbill, then the duckbill moves downward, and while contacting the land, the duckbill slowly opens, and the seedlings fall into the land with the opening of the duckbill. Subsequently, the duckbill moves upward and closes, and at this time, a basic transplanting action is completed. The uprightness of the seedlings of this machine is relatively high, but it cannot realize automatic continuous seedling supply, and still requires labor to work on the assembly line for a long time. Moreover, the mechanism is complex and the cost is relatively high.

[0004] The seedling supply method of the clamp type pepper transplanter is similar to that of the duckbill type transplanter, both are manual continuous seedling putting, and the seedling taking method is that the seedling does a rotary motion with the transplanter. This kind of transplanter is not convenient to realize transplanting on the film, and the efficiency is relatively low. Therefore, its application is not as extensive as that of the duckbill type transplanter.

[0005] The seedling tray type pepper transplanter is small in size, and the machine itself only needs a traveling mechanism and a limit guide rail. However, it requires a special seedling tray and sufficient seedling preparation work. The seedling tray can be composed of a row of degradable material cardboard. During the seedling raising process, the cardboard is combined into a square, and during the transplanting process, the square is torn into a long strip and falls into the pre-dug ditch under the limiting action of the guide rail. Then the soil covering wheel covers the soil, and the transplanting of peppers is realized. The cost of the seedling tray of this machine is relatively low, but the seedling raising process is strict and cumbersome, and it is necessary to strictly control the agricultural machine to go straight, and the uprightness of the pepper seedlings is not high. Content of the Utility Model

[0006] The purpose of the utility model is to provide a fully automatic plug seedling type pepper transplanter to realize automatic continuous seedling supply and transplanting.

[0007] To achieve the above purpose, the utility model provides a pepper transplanter, which includes a frame main body, and a seedling supply device, a seedling transfer device and a seedling inserting device installed on the frame main body;

[0008] The seedling supply device includes several layers of partitions for storing seedling trays, and the partitions are connected with a lifting device for lifting the partitions to a target height; a horizontal pushing device is arranged at the target height for pushing the seedling trays to the clamping position of the seedling transfer device; the seedling transplanting device is provided with a receiving port docked with the seedling transfer device and a seedling transplanting mechanism.

[0009] Furthermore, a spraying device, a film covering device, a hole punching device and a seedling tray recycling device are also installed on the main body of the frame. The spraying device and the seedling transplanting device are respectively installed at both ends of the main body of the frame;

[0010] The film covering device is installed at the bottom of the main body of the frame and near one end of the spraying device;

[0011] The hole punching device is installed at the bottom of the main body of the frame and near one end of the seedling transplanting device;

[0012] The seedling supply device is installed above the main body of the frame and near one end of the spraying device;

[0013] The seedling transfer device and the seedling tray recycling device are both installed between the seedling supply device and the seedling transplanting device; and the seedling transfer device is symmetrically arranged on both sides of the main body of the frame, and a space is reserved in the middle for installing the seedling tray recycling device.

[0014] Furthermore, the lifting device includes limiting rods, racks, second gears and a first motor symmetrically arranged on both sides of the partition. The partition is sleeved in the limiting rods, and the racks are respectively meshed with the partition and the second gears; the first motor drives the second gears to rotate, thereby driving the partition to move in the height direction.

[0015] Furthermore, the horizontal pushing device includes a push rod and a second motor connected to the push rod. The push rod is facing the seedling tray on the partition;

[0016] The seedling supply device is connected to the main body of the frame through a seedling supply frame, and a first camera is installed above the seedling supply frame for determining the position of the seedlings in the seedling tray.

[0017] Furthermore, the seedling transfer device includes two groups of clamping mechanisms symmetrically arranged on both sides of the main body of the frame. Each group of clamping mechanisms includes a transfer frame connected to the main body of the frame, and a slide rail, a first clamping jaw, an inclined plate, a transfer arm, a third motor, a reducer, a fourth motor and a fifth motor installed on the transfer frame;

[0018] The sliding rail is connected to the transfer arm, and the first gripper is slidably connected to the sliding rail; the fourth motor is used to control the rotation of the transfer arm, and the third motor is used to control the opening and closing of the first gripper; the reducer and the fifth motor are used to control the up and down sliding of the first gripper on the sliding rail;

[0019] The inclined plate is installed on the transfer machine frame and is connected to the receiving port of the seedling planting device.

[0020] Further, the seedling planting device includes two seedling moving mechanisms located between the receiving port and the seedling planting mechanism; the seedling planting mechanism includes a reel, a traction rope, a third gear, a rotating shaft, a second cylinder, a second gripper, a sixth motor and a seedling planting machine frame;

[0021] The seedling planting machine frame is movably connected to the rotating shaft, the second cylinder and the second gripper are installed on the seedling planting machine frame, and the second cylinder is used to control the clamping of the first gripper;

[0022] The traction rope is respectively connected to the reel and the seedling planting machine frame; the sixth motor is used to control the rotation of the reel, and thus control the movement of the seedling planting machine frame.

[0023] Further, each seedling moving mechanism includes a first conveyor belt, a third gear and a baffle; the third gear cooperates with a motor to control the rotation of the first conveyor belt, and the baffle is arranged on both sides of the first conveyor belt;

[0024] One end of the first conveyor belt is connected to the inclined plate, and the other end is connected to the second gripper.

[0025] Further, the seedling tray recycling device includes a second conveyor belt, two rollers, a recycling box, a second camera and a seventh motor;

[0026] The second conveyor belt is wound around the rollers, and the seventh motor controls the rotation of the rollers; one end of the second conveyor belt is connected to the target height of the partition plate to receive the seedling tray on the partition plate, and the other end is connected to the recycling box to receive the seedling tray after the seedlings are transplanted;

[0027] The second camera is used to identify whether the seedlings are clamped by the second gripper.

[0028] Further, the spraying device includes a spraying machine frame connected to the main body of the machine frame and two limiting frames, two limiting connecting rods, two rockers, two nozzles, a crank connecting rod one, a crank connecting rod two, a first gear, a worm gear and a worm installed on the spraying machine frame;

[0029] The two limiting frames are respectively installed at both ends of the spraying machine frame. The two limiting connecting rods are respectively fixed on the two limiting frames. The middle parts of the two rockers are respectively sleeved on the limiting connecting rods, and nozzles are provided at one ends of the two rockers, and the other ends are respectively connected to the first crank connecting rod;

[0030] The first crank connecting rod is connected to the first gear through the second crank connecting rod. The first gear is coaxially arranged with the worm gear. The worm gear and the worm are meshed and move under the drive of the motor.

[0031] Furthermore, the film covering device includes a film covering machine frame connected to the main body of the machine frame. A soil covering wheel and a rotating rod for rolling and covering the film are installed on the film covering machine frame;

[0032] The hole punching device includes two soil punching heads, two first air cylinders, a connecting rod and two support frames; the connecting rod is arranged between the two support frames, and the two first air cylinders are respectively installed at both ends of the connecting rod; the two soil punching heads are respectively connected to the two first air cylinders.

[0033] Generally speaking, compared with the prior art by the above technical solutions conceived by the present utility model, the following technical advantages are mainly possessed:

[0034] 1. The pepper transplanter provided by the present utility model can automatically and continuously supply seedlings for transplanting without manual intervention through the vertical seedling supply device.

[0035] 2. The vertical seedling supply device adopts the method of vertically storing seedling trays in layers, making full use of space. The seedling trays are transferred from the seedling supply area to the conveyor belt by rising layer by layer and cooperating with the push rod. Automatic and continuous supply of seedlings for transplanting is realized in the cooperation of rising and pushing. This automated operation method can not only reduce manual intervention, but also realize continuous operation and improve production efficiency.

[0036] 3. Through the traction type rotary seedling inserting mechanism designed based on the winch principle, the seedlings are rotated from the horizontal state to the vertical state and accurately inserted into the seedling holes close to the ground, improving the uprightness and growth survival rate of the seedlings.

[0037] 4. Through the double-crank rocker spraying mechanism designed based on the windshield wiper, synchronous watering on both sides is realized, and large-area watering operation on the land can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is the overall structural schematic diagram of the pepper transplanter provided by the present utility model;

[0039] Figure 2 is the top view of the pepper transplanter provided by the present utility model;

[0040] Figure 3 Schematic diagram of the overall structure of the rack body;

[0041] Figure 4 Schematic diagram of the overall structure of the spraying device;

[0042] Figure 5 Schematic diagram of the overall structure of the film covering device;

[0043] Figure 6 Schematic diagram of the overall structure of the hole punching device;

[0044] Figure 7 Schematic diagram of the overall structure of the seedling supply device;

[0045] Figure 8 Schematic diagram of the overall structure of the seedling transfer device;

[0046] Figure 9 Schematic diagram of the overall structure of the seedling inserting device;

[0047] Figure 10 Partial structure schematic diagram of the seedling inserting device;

[0048] Figure 11 Schematic diagram of the overall structure of the seedling tray recycling device.

[0049] Reference numerals

[0050] 100 - Rack body; 101 - Wheel; 102 - Frame;

[0051] 200 - Spraying device; 201 - Spraying rack; 202 - Limiting frame; 203 - Limiting connecting rod; 204 - Rocker; 205 - Nozzle; 206 - Crank connecting rod 1; 207 - Crank connecting rod 2; 208 - First gear; 209 - Worm gear; 210 - Worm;

[0052] 300 - Film covering device; 301 - Friction wheel; 302 - Ground film; 303 - Film covering rack; 304 - Rotating rod;

[0053] 400 - Hole punching device; 401 - Soil flushing head; 402 - First cylinder; 403 - Connecting rod; 404 - Support frame;

[0054] 500 - Seedling supply device; 501 - Seedling supply rack; 502 - Rack; 503 - Second gear; 504 - Limiting rod; 505 - Partition; 506 - Seedling tray; 507 - First motor; 508 - Second motor; 509 - Push rod; 510 - First camera;

[0055] 600 - Seedling transfer device; 601 - Transfer frame; 602 - Slide rail; 603 - First jaw; 604 - Inclined plate; 605 - Transfer arm; 606 - Third motor; 607 - Reducer; 608 - Fourth motor; 609 - Fifth motor;

[0056] 700 - Seedling planting device; 701 - Reel; 702 - Traction rope; 703 - Third gear; 704 - First conveyor belt; 705 - Baffle; 706 - Rotating shaft; 707 - Second cylinder; 708 - Second jaw; 709 - Sixth motor; 710 - Seedling planting frame;

[0057] 800 - Seedling tray recycling device; 801 - Second conveyor belt; 802 - Roller; 803 - Recycling bin; 804 - Second camera; 805 - Seventh motor. Specific embodiments

[0058] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the following further details the present utility model in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model. In addition, the technical features involved in the various embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0059] In view of the planting and growth methods and characteristics of peppers, and with the design goal of multi - process full - automation and high efficiency, the present utility model optimizes the design of each part of the pepper transplanter, which can be mainly divided into two major parts. The lower part is for preparatory work, mainly completing watering, film mulching, and hole punching, which are completed by the spraying device, film mulching device, and hole punching device; the upper part is for transplanting work, mainly completing continuous seedling supply and seedling planting, which are completed by the seedling supply device, transfer device, rotary seedling planting device, and recycling device. Specifically as follows:

[0060] Please refer to Figures 1-11 , a pepper transplanter provided by the present utility model includes a frame main body 100 and a spraying device 200, a film mulching device 300, a hole punching device 400, a seedling supply device 500, a seedling transfer device 600, a seedling planting device 700, and a seedling tray recycling device 800 installed on the frame main body 100.

[0061] Please refer to Figure 3 , the frame main body 100 includes four wheels 101 and a rectangular frame 102, as well as motors for driving corresponding functions.

[0062] Please refer to Figure 1 and 2, the spraying device 200 and the seedling transplanting device 700 are respectively installed at both ends of the vehicle frame 102 (defined as the front and rear directions of the vehicle frame 102); the film covering device 300 is installed at the bottom of the vehicle frame 102 and close to one end of the spraying device 200; the hole punching device 400 is installed at the bottom of the vehicle frame 102 and close to one end of the seedling transplanting device 700; the seedling supply device 500 is installed above the vehicle frame 102 and close to one end of the spraying device 200; the seedling transfer device 600 and the seedling tray recycling device 800 are both installed between the seedling supply device 500 and the seedling transplanting device 700; and the seedling transfer device 600 is symmetrically arranged on the vehicle frames 102 on both sides (defined as the left and right sides of the vehicle frame 102), and a space is reserved in the middle for installing the seedling tray recycling device 800.

[0063] Specifically, please refer to Figure 4 , the spraying device 200 includes a spraying frame 201 connected to the frame body 100, and two limiting frames 202, two limiting link rods 203, two rocker arms 204, two nozzles 205, a crank link rod one 206, a crank link rod two 207, a first gear 208, a worm gear 209 and a worm 210 installed on the spraying frame 201.

[0064] The two limiting frames 202 are respectively installed at both ends of the spraying frame 201, the two limiting link rods 203 are respectively vertically fixed on the two limiting frames 202, the middle parts of the two rocker arms 204 are respectively sleeved on the upper parts of the limiting link rods 203, and one end of each of the two rocker arms 204 is provided with a nozzle 205, and the other ends are respectively connected to the crank link rod one 206. The crank link rod one 206 is connected to the first gear 208 through the crank link rod two 207. The first gear 208 is coaxially arranged with the worm gear 209, and the worm gear 209 and the worm 210 are meshed and move under the drive of the motor. Thereby driving the rotation of the two rocker arms 204, and at the same time the nozzles sprinkle water. This mechanism can achieve large-area spraying, so there is no need to strictly control the rod length dimension. Chili peppers have a relatively high demand for water during the growth process, so a watering device is needed to provide an appropriate amount of water to ensure the normal growth and development of chili peppers. In addition, the watering device can control the soil humidity, and appropriate soil humidity is helpful for the growth of chili peppers and the healthy development of the root system.

[0065] Please refer to Figure 5 , the film covering device 300 includes a film covering frame 301 connected to the frame body 100, and a friction wheel 302 and a rotating rod 304 for rolling and covering the film 303 are installed on the film covering frame 301.

[0066] Before planting peppers, it is often necessary to cover the ground with plastic film, which can play roles such as heat preservation and moisture retention, inhibiting the growth of weeds, reducing the occurrence of pests and diseases, advancing planting, and extending the production season. Therefore, a film covering device is required. Currently, the widely used film covering device in transplanters and film covering machines consists of two soil covering wheels and soil pressing pieces. In this application, a similar film covering device 300 is adopted. One end of the plastic film is laid at the end of the planting land and fixed with stones or soil. Then, through the movement of the transplanter, the film covering device 300 can slowly move on the surface of the planting land. The plastic film roll rotates continuously as the film covering device 300 moves, so that the plastic film 303 is continuously pulled out. The plastic film is leveled and compacted by the two friction wheels 302 on both sides. At the same time, the two side scrapers (not shown) cover the soil on both sides of the plastic film and press it tightly, thereby realizing the film covering operation on the planting land.

[0067] For the convenience of the seedling transplanting process, a hole punching device is needed to punch holes of appropriate size. Please refer to Figure 6 , the hole punching device 400 includes two soil punching heads 401, two first cylinders 402, a connecting rod 403, and two support frames 404; the connecting rod 403 is arranged between the two support frames 404, and the two first cylinders 402 are respectively installed at both ends of the connecting rod 403; the two soil punching heads 401 are respectively connected to the two first cylinders 402.

[0068] According to the center distance of the pepper seedlings, the center distance of the two soil punching heads 401 is determined. The hole punching method can choose the linear motion of the hole puncher or the spiral motion of the drill bit. Since the soil is covered with plastic film, using the spiral motion of the drill bit may damage the plastic film on a large area. Therefore, the linear motion of the hole puncher is selected and driven by the first cylinder 402. Through the pneumatic system, the cylinder is quickly pushed forward, so that the lower soil punching head 401 contacts the plastic film and breaks through it and inserts into the soil. Then the cylinder quickly retracts, and the lower soil punching head rises, leaving the soil and the surface of the plastic film 303, leaving corresponding holes on the plastic film 303 and the soil, completing the hole punching action.

[0069] Please refer to Figure 7 , the seedling supply device 500 includes several layers of partitions 505 for storing seedling trays 506. The partitions 505 are connected with a lifting device for lifting the partitions 505 to the target height; at the target height, there is a horizontal pushing device for pushing the seedling trays 506 to the clamping position of the seedling transfer device 600; the seedling planting device 700 is provided with a receiving port for docking with the seedling transfer device 600 and a seedling planting mechanism. With such a setting, the seedling supply device 500 can continuously move several layers of partitions 505 upward in sequence, then the seedling trays 506 are pushed out, the seedlings are clamped and then planted into the corresponding holes by the seedling planting mechanism.

[0070] Among them, the lifting device includes limit rods 504, racks 502, second gears 503, and first motors 507 symmetrically arranged on both sides of the partition plate 505. The partition plate 505 is sleeved within the two limit rods 504. The racks 502 are respectively meshed with the partition plate 505 and the second gears 503. The first motor 507 drives the second gear 503 to rotate, thereby driving the partition plate 505 to move in the height direction. The racks 502 are arranged along the height direction and are respectively meshed with the edges of each partition plate 505. The height of the two limit rods 504 is greater than or equal to 2 times the total height of several layers of partition plates 505. When the seedling tray 506 on the uppermost partition plate 505 is pushed out, it continues to move upward along the limit rod 504, and then the next layer of partition plate 505 rises to the target height. By operating in this way, until the last layer of partition plate 505 rises to the target height, and then it moves downward. The number of layers of the partition plates 505 can be 2 - 6 layers, etc., and preferably 4 layers.

[0071] The horizontal pushing device includes a push rod 509 and a second motor 508 connected to the push rod 509. The push rod 509 faces the seedling tray 506 on the partition plate 505. The seedling supply device 500 is connected to the vehicle frame 101 of the frame body 100 through a seedling supply frame 501. Above the seedling supply frame 501, a first camera 510 is installed for determining the position of the seedlings in the seedling tray 506.

[0072] To realize the automation of the chili transplanting process, for simplicity and mechanization, whole - tray seedlings in plug trays are adopted instead of irregular loose seedlings. Therefore, a large - scale seedling warehouse is required to store a large number of seedlings, and automatic seedling supply is achieved through some technological actions. Most of the current transplanting machines on the market are semi - automatic transplanting machines, which achieve continuous seedling supply through manual feeding of seedlings. Therefore, the plug - tray type full - automatic chili transplanting machine of the present utility model designs a vertical seedling supply device 500, stores and manages the seedling trays in layers, and cooperates with the push rod 509 to push out the seedling trays 506 layer by layer to complete the seedling supply action.

[0073] Please refer to Figure 8 , the seedling transfer device 600 includes two sets of clamping mechanisms symmetrically arranged on both sides of the vehicle frame 101. Each set of clamping mechanisms includes a transfer frame 601 connected to the vehicle frame 102, and a slide rail 602, a first clamping jaw 603, an inclined plate 604, a transfer arm 605, a third motor 606, a speed reducer 607, a fourth motor 608, and a fifth motor 609 installed on the transfer frame 601.

[0074] The inclined plate 604 is installed at the lower part of the transfer frame 601 and is connected to the receiving port of the seedling inserting device 700. The transfer arm 605 is installed at the upper part of the transfer frame 601. The slide rail 602 is fixedly connected to the transfer arm 605, and the first jaw 603 is slidably connected to the slide rail 602. The fourth motor 608 is used to control the rotation of the transfer arm 605, and the third motor 606 is used to control the opening and closing of the first jaw 603; the reducer 607 and the fifth motor 609 are used to control the up and down sliding of the first jaw 603 on the slide rail 602. With such a setting, the transfer arm 605 realizes the horizontal rotation degree of freedom through the rotation of the fourth motor 608, and then drives the first jaw 603 to move in the horizontal direction; the rotation of the fifth motor 609 cooperates with the reducer 607 to realize the vertical movement degree of freedom of the first jaw 603. Then, in cooperation with the second conveyor belt 801, the clamping of the seedlings in three degrees of freedom is realized. The first jaw 603 places the clamped seedlings on the inclined plate 604, and then the seedlings are transported and planted by the seedling inserting device 700 (see the description of the seedling inserting device 700 for details). The inclined plate 604 is wide at the top and narrow at the bottom and is limited by the side plates to prevent the seedlings from sliding out. Specifically, a chain is installed under the inclined plate 604 to transfer the seedlings into the seedling inserting device 700, which reduces the control accuracy on the one hand and eliminates the adverse effects caused by the inconsistent speeds of the transfer arm 805 for picking up seedlings and the seedling inserting device 700 for inserting seedlings on the other hand.

[0075] The position of the seedlings on the second conveyor belt 801 is determined by the first camera 510 on the seedling supply frame 501, and then the first jaw 603 is adjusted to the corresponding position. The third motor 606 controls the opening and closing of the first jaw 603 to clamp the seedlings. After the seedling tray 506 on the second conveyor belt 801 is emptied, it is transferred to the recycling box 803 by the second conveyor belt 801 (see the description of the seedling tray recycling device 800 for this part).

[0076] Please refer to Figure 11 , the seedling tray recycling device 800 includes a second conveyor belt 801, two rollers 802, a recycling box 803, a second camera 804, and a seventh motor 805. The second conveyor belt 801 is wrapped around the two rollers 802, and the seventh motor 805 controls the rotation of the rollers 802, thereby driving the movement of the second conveyor belt 801. The second conveyor belt 801 is located between the two clamping mechanisms of the seedling transfer device 600. One roller 802 is near the target height of the partition plate 505, and the other is near the recycling box 803. The recycling box 803 is near the seedling inserting mechanism, so that the second conveyor belt 801 can not only receive the seedling tray 506 pushed out by the push rod 509 and horizontally move it to the corresponding clamping position, but also transport the empty seedling tray after transplantation in the recycling box 803.

[0077] The second camera 804 is used to identify whether the seedling has been clamped by the first clamping jaw 603. After all the seedlings in the seedling tray have been clamped, the second conveyor belt 801 operates, driving the seedling tray to move into the recycling bin 803 through friction, completing the action of recycling the seedling tray. This avoids interfering with the next round of transplanting operations, and for the sake of green environmental protection, the used seedling trays are recycled, facilitating subsequent centralized processing or recycling.

[0078] Please refer to Figure 9 and 10 , the seedling transplanting device 700 includes two seedling moving mechanisms located between the receiving interface and the seedling transplanting mechanism; each seedling moving mechanism includes a first conveyor belt 704, a third gear 703, and a baffle 705; the third gear 703 cooperates with the motor to control the rotation of the first conveyor belt 704, and the two baffles 705 are arranged on both sides of the first conveyor belt 704 to enable the seedlings to be transported to the designated position along the specified path; one end of the first conveyor belt 704 is located at the receiving interface of the inclined plate 604, and the other end is located at the clamping position of the seedling transplanting mechanism, for transporting the seedlings to the clamping position of the seedling transplanting mechanism, and then completing the clamping and planting.

[0079] The seedling transplanting mechanism includes a reel 701, a traction rope 702, a third gear 703, a rotating shaft 706, a second cylinder 707, a second clamping jaw 708, a sixth motor 709, and a seedling transplanting frame 710. The seedling transplanting frame 710 is movably connected to the rotating shaft 706, and the second cylinder 707 and the second clamping jaw 708 are installed on the seedling transplanting frame 710, and the second cylinder 707 is used to control the clamping of the second clamping jaw 708. The seedling transplanting frame 710 can rotate around the rotating shaft 706, thereby driving the second clamping jaw 708 to rotate, enabling the seedlings to vertically fall into the holes in the ground.

[0080] The traction rope 702 is respectively connected to the reel 701 and the seedling transplanting frame 710; the sixth motor 709 is used to control the rotation of the reel 701, so that the traction rope 702 is relaxed or tightened, and then control the movement of the seedling transplanting frame 710. When tightened, the second clamping jaw 708 rises with the seedling transplanting frame 710, then approaches the clamping position of the first conveyor belt 704 to clamp the seedlings, and then the traction rope 702 is relaxed, and the seedlings rotate from the horizontal state to the vertical state and are inserted into the already dug holes, completing the seedling transplanting action.

[0081] This mechanism places the seedlings on the horizontal soil surface by rotating, and ensures that the seedlings remain upright when inserted into the seedling holes. This design takes into account the growth requirements of the seedlings, maximally protects the seedlings, and improves the uprightness and survival rate of the seedlings.

[0082] In particular, by applying the model trained based on Yolov5 big data, it is also possible to achieve real-time detection of people and obstacles, preventing mechanical injuries. At the same time, based on the model obtained from training seedlings and seedling trays, combined with the transfer mechanism, full-automatic transplanting can be realized, improving the operation efficiency and accuracy. By learning a large amount of training data, the obtained model can quickly and accurately identify people and obstacles in the scene. When a person is detected approaching or an obstacle appears, the automatic recognition alarm system will immediately trigger an alarm, and the transplanting machine will stop moving, notifying relevant personnel to take corresponding safety measures. This real-time automatic recognition and response ability greatly improves the safety of the workplace. At the same time, combined with the transfer mechanism, full-automatic transplanting is realized. The combination of vision system and machinery improves safety, operation efficiency and accuracy, bringing more convenience and opportunities for sustainable development to the production process.

[0083] Through user-friendly panel supervision and remote management control, the normal operation of the transplanting machine is ensured, and the automatic operation and remote management of pepper transplanting are realized. The traditional pepper planting process usually requires manual operation and on-site supervision, while the user-friendly remote panel is a user-friendly control interface that can be connected to various devices and sensors in the planting area through the Internet, monitor and control the operation of the transplanting machine in real time. Growers can supervise and manage the pepper transplanting process anytime and anywhere without having to go to the site in person, greatly improving the convenience and efficiency of planting.

[0084] To sum up, the utility model greatly improves the production efficiency by automating the whole process of pepper transplanting; and since there is no pepper transplanting machine with automatic continuous seedling supply and high seedling uprightness on the market at present, this machine can fill the market gap; at the same time, it promotes the innovation of mechanical design, visual recognition, artificial intelligence algorithms, etc., drives the development of the pepper transplanting industry, and promotes agricultural modernization and intelligentization.

[0085] It is easy for those skilled in the art to understand that the above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A plug seedling type fully automatic pepper transplanter, characterized in that: It comprises a frame body (100), and a seedling supply device (500), a seedling transport device (600), and a seedling transplanting device (700) installed on the frame body (100); The seedling supply device (500) comprises a plurality of layers of partitions (505) for storing seedling trays (506); the partitions (505) are connected to a lifting device for lifting the partitions (505) to a target height; a horizontal pushing device is provided at the target height for pushing the seedling trays (506) to a clamping position of the seedling transport device (600); and the seedling transplanting device (700) is provided with a receiving interface for docking with the seedling transport device (600) and a seedling transplanting mechanism.

2. The plug tray seedling type fully automatic pepper transplanter according to claim 1 is characterized in that: The frame body (100) is also equipped with a spraying device (200), a film covering device (300), a hole punching device (400) and a seedling tray recovery device (800); The spraying device (200) and the seedling transplanting device (700) are respectively installed at two ends of the frame body (100); The film coating device (300) is installed at the bottom of the frame body (100) and close to one end of the spraying device (200); The hole punching device (400) is installed at the bottom of the frame body (100) and close to one end of the seedling transplanting device (700); The seedling supply device (500) is installed above the frame body (100) and close to one end of the spraying device (200); The seedling transport device (600) and the seedling tray recovery device (800) are both installed between the seedling supply device (500) and the seedling transplanting device (700); and the seedling transport device (600) is symmetrically arranged on both sides of the frame body (100), with a space reserved in the middle for installing the seedling tray recovery device (800).

3. The plug tray seedling type fully automatic pepper transplanter according to claim 1, characterized in that: The lifting device comprises a limiting rod (504), a rack (502), a second gear (503) and a first motor (507) symmetrically arranged on both sides of the partition (505); the partition (505) is sleeved in the limiting rod (504); the rack (502) is respectively meshed with the partition (505) and the second gear (503); the first motor (507) drives the second gear (503) to rotate, thereby driving the partition (505) to move in a height direction.

4. The plug tray seedling type fully automatic pepper transplanter according to claim 1, characterized in that: The horizontal pushing device comprises a push rod (509) and a second motor (508) connected to the push rod (509), wherein the push rod (509) is directly opposite to the seedling tray (506) on the partition (505); The seedling supply device (500) is connected to the frame body (100) via a seedling supply frame (501); a first camera (510) is installed above the seedling supply frame (501) for determining the position of the seedlings in the seedling tray (506).

5. The plug tray seedling type fully automatic pepper transplanter according to claim 2, characterized in that: The seedling transport device (600) comprises two groups of clamping mechanisms symmetrically arranged on both sides of the frame body (100), each group of clamping mechanisms comprising a transport frame (601) connected to the frame body (100) and a slide rail (602), a first clamping claw (603), an inclined plate (604), a transport arm (605), a third motor (606), a reducer (607), a fourth motor (608) and a fifth motor (609) installed on the transport frame (601); The slide rail (602) is connected to the transport arm (605), and the first clamping claw (603) is slidably connected to the slide rail (602); the fourth motor (608) is used to control the rotation of the transport arm (605), and the third motor (606) is used to control the opening and closing of the first clamping claw (603); the reducer (607) and the fifth motor (609) are used to control the first clamping claw (603) to slide up and down on the slide rail (602); The inclined plate (604) is mounted on the transfer frame (601) and is connected to a receiving interface of the seedling transplanting device (700).

6. The plug tray seedling type fully automatic pepper transplanter according to claim 5, characterized in that: The seedling transplanting device (700) comprises two seedling moving mechanisms located between the receiving interface and the seedling transplanting mechanism; the seedling transplanting mechanism comprises a reel (701), a traction rope (702), a third gear (703), a rotating shaft (706), a second cylinder (707), a second clamping claw (708), a sixth motor (709) and a seedling transplanting frame (710); The seedling transplanting frame (710) is movably connected to the rotating shaft (706); the second cylinder (707) and the second clamping claw (708) are installed on the seedling transplanting frame (710); the second cylinder (707) is used to control the clamping of the second clamping claw (708); The traction rope (702) is connected to the reel (701) and the seedling transplanting frame (710) respectively; the sixth motor (709) is used to control the rotation of the reel (701), thereby controlling the movement of the seedling transplanting frame (710).

7. The plug tray seedling type fully automatic pepper transplanter according to claim 6, characterized in that: Each of the seedling moving mechanisms comprises a first conveyor belt (704), a third gear (703) and a baffle (705); the third gear (703) cooperates with a motor to control the rotation of the first conveyor belt (704), and the baffle (705) is arranged on both sides of the first conveyor belt (704); One end of the first conveyor belt (704) is connected to the inclined plate (604), and the other end is connected to the second clamping claw (708).

8. The plug tray seedling type fully automatic pepper transplanter according to claim 7, characterized in that: The seedling tray recovery device (800) comprises a second conveyor belt (801), two rollers (802), a recovery box (803), a second camera (804) and a seventh motor (805); The second conveyor belt (801) is wrapped around the roller (802), and the seventh motor (805) controls the rotation of the roller (802); one end of the second conveyor belt (801) is connected to the target height of the partition (505) for receiving the seedling tray (506) on the partition (505), and the other end is connected to the recovery box (803) for receiving the seedling tray after the seedlings are transplanted; The second camera (804) is used to identify whether the seedling is clamped by the first clamp (603).

9. The plug tray seedling type fully automatic pepper transplanter according to claim 2, characterized in that: The spraying device (200) comprises a spraying frame (201) connected to the frame body (100), two limit frames (202) installed on the spraying frame (201), two limit connecting rods (203), two rocker arms (204), two spray heads (205), a crank connecting rod 1 (206), a crank connecting rod 2 (207), a first gear (208), a worm wheel (209) and a worm (210); The two limit frames (202) are respectively mounted on the two ends of the sprayer frame (201); the two limit connecting rods (203) are respectively fixed on the two limit frames (202); the middle parts of the two rockers (204) are respectively sleeved on the limit connecting rods (203); and one end of the two rockers (204) is provided with a spray head (205), and the other end is respectively connected to a crank connecting rod 1 (206); The crank connecting rod 1 (206) is connected to the first gear (208) via the crank connecting rod 2 (207); the first gear (208) is coaxially arranged with the worm wheel (209); the worm wheel (209) and the worm (210) are meshed and move under the drive of the motor.

10. The plug tray seedling type fully automatic pepper transplanter according to claim 2, characterized in that: The film coating device (300) comprises a film coating frame (301) connected to the frame body (100), and a friction wheel (302) and a rotating rod (304) for rolling up the ground film (303) are installed on the film coating frame (301); The punching device (400) comprises two punching heads (401), two first cylinders (402), a connecting rod (403) and two support frames (404); the connecting rod (403) is arranged between the two support frames (404), and the two first cylinders (402) are respectively installed at both ends of the connecting rod (403); and the two punching heads (401) are respectively connected to the two first cylinders (402).

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