Astragalus mongholicus transplanter

Abstract

The utility model discloses an astragalus mongholicus transplanter, which comprises a seedling placing assembly, a seedling transplanting assembly and a seedling transplanting assembly, the seedling placing assembly comprises a hole tray, a lifting plate and a lifting driving mechanism, and the hole tray is detachably connected to the front end of the upper part of a walking rack; the lifting plates are in sliding connection with the interiors of the hole grooves, and astragalus membranaceus seedlings can be placed at the upper ends of the lifting plates; the lifting driving mechanism is in transmission connection with the plurality of lifting plates and controls the plurality of lifting plates to alternately lift so as to alternately eject out the plurality of astragalus membranaceus seedlings; the visual recognizer recognizes the ejected astragalus membranaceus seedlings and transmits the information to the controller, the controller controls the seedling taking and feeding mechanism to take the seedlings, and an inlet of the planting assembly corresponds to a seedling outlet of the seedling taking and feeding mechanism. According to the astragalus membranaceus transplanter, it can be guaranteed that astragalus membranaceus seedlings are independently placed, overlapping of leaves of the multiple astragalus membranaceus seedlings is avoided, the accuracy of automatic seedling taking is improved, and automation and intellectualization of astragalus membranaceus transplanting are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transplanting, and more specifically to an astragalus transplanting machine. Background Art

[0002] In the cultivation process of Chinese medicinal materials such as Astragalus, transplanting is a key and labor-intensive operation. Traditional Astragalus transplanting methods often rely on manual labor, which is not only inefficient but also labor-intensive, and is a major challenge for growers. With the development of modern agricultural mechanization, in order to improve the efficiency of Astragalus transplanting and reduce the labor burden, various Astragalus transplanting machines have gradually appeared on the market.

[0003] The existing astragalus transplanting machinery has achieved mechanized operation to a certain extent, and can complete basic processes such as planting and covering soil, but there are still significant deficiencies in the seedling picking link. Specifically, most of the existing transplanting machines use the method of manually assisted seedling throwing, that is, the operator needs to manually put the astragalus seedlings one by one into the corresponding seedling throwing device on the transplanting machine. This method not only increases the labor cost, but also easily leads to problems such as low seedling throwing speed and inaccurate seedling throwing accuracy due to human factors; to solve this problem, an automatic seedling picking device has been developed on the market. In the automatic seedling picking process, it is necessary to first clamp one of the astragalus seedlings and then clamp it into the corresponding seedling throwing device. However, due to the shape, size and other characteristics of the astragalus seedlings, when multiple astragalus seedlings are placed together, the leaves overlap and it is difficult to distinguish the individual astragalus seedlings, which makes it difficult for the automatic seedling picking device to judge when picking the seedlings, and thus it is not possible to well realize the clamping of individual astragalus seedlings each time, and the accuracy of automatic seedling picking is greatly reduced.

[0004] Therefore, how to provide an astragalus transplanter that can ensure the independent placement of astragalus seedlings, avoid overlapping of leaves of multiple astragalus seedlings, improve the accuracy of automatic seedling retrieval, and improve the automation and intelligence of astragalus transplanting is an urgent problem that technical personnel in this field need to solve. Utility Model Content

[0005] In view of this, the utility model provides an astragalus transplanter, which can ensure the independent placement of astragalus seedlings, avoid overlapping leaves of multiple astragalus seedlings, improve the accuracy of automatic seedling retrieval, and improve the automation and intelligence of astragalus transplanting.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] An astragalus transplanter, comprising:

[0008] Walking frame;

[0009] The seedling placement assembly includes a plug tray, a lifting plate and a lifting drive mechanism, wherein the plug tray is detachably connected to the front end above the walking frame; the lifting plate has the same number of plug slots as the plug tray and corresponds to each other, the lifting plate is slidably connected to the plug slots and the astragalus seedlings can be placed on the upper end thereof; the lifting drive mechanism is transmission-connected to the plurality of lifting plates and controls the plurality of lifting plates to lift up and down alternately, so as to eject the plurality of astragalus seedlings alternately;

[0010] A seedling picking and sending mechanism, which is movably connected to the rear end of the corresponding plug tray of the walking frame;

[0011] A visual identifier, wherein the identification end of the visual identifier faces the plug tray to identify the top-out astragalus seedlings;

[0012] Controller; the input end of the controller is connected to the visual identifier signal, and the output end of the controller is connected to the seedling taking and sending mechanism signal;

[0013] A planting component is movably connected to the lower end of the walking frame corresponding to the seedling picking and delivering mechanism, and its entrance corresponds to the seedling outlet of the seedling picking and delivering mechanism.

[0014] Through the above technical scheme, the utility model provides an astragalus transplanter, which controls the lifting plates in multiple hole grooves to lift up and down alternately through a lifting drive mechanism, so that the astragalus seedlings in the hole tray are alternately ejected, thereby avoiding the identification problem caused by overlapping leaves; the visual identifier identifies the ejected astragalus seedlings and transmits the information to the controller, and the controller controls the seedling picking and feeding mechanism to pick up the seedlings and transport them to the seed loading component, which can realize the accurate and orderly clamping of the astragalus seedlings, improve the accuracy of seedling picking, and do not need to manually put the astragalus seedlings into the seedling thrower one by one, which greatly reduces the labor intensity, improves the working efficiency and transplanting quality, and realizes the overall automation and intelligence of the transplanter.

[0015] Preferably, the lifting drive mechanism includes an electromagnetic controller, magnetic suction components and telescopic springs of the same number and corresponding to the lifting plates, the magnetic suction components including matching electromagnets and iron sheets, the electromagnets are fixed to the bottom of the slots and their input ends are connected to the output end signals of the electromagnetic controller; a convex column is fixed to the position of the electromagnet at the lower end of the lifting plate, the iron sheet is fixed to the lower end of the convex column and can be in magnetic contact or separation with the electromagnet; the telescopic spring is sleeved on the outer surface of the convex column and its two ends are respectively fixedly connected to the lower plate surface of the lifting plate and the bottom surface of the slots, so that when the electromagnet is powered on, the telescopic spring is compressed and drives the lifting plate to descend, and when the electromagnet is powered off, the telescopic spring is extended and drives the lifting plate to rise. The arrangement of this structure can realize the alternating lifting of lifting plates in multiple slots.

[0016] Furthermore, a sliding groove is provided on the groove wall of the hole groove, and a sliding block is fixed at the position of the lifting plate corresponding to the sliding groove, and the sliding block is slidably connected in the sliding groove.

[0017] Preferably, the seedling retrieval and delivery mechanism includes a seedling retrieval component and a seedling delivery component. The seedling retrieval component includes a manipulator, a controller, a visual identifier and a manipulator driver. One end of the manipulator is movably connected to the rear end of the corresponding hole tray of the walking frame; the input end of the manipulator driver is signal-connected to the output end of the controller, and the output end of the manipulator driver is transmission-connected to the manipulator to control the manipulator to clamp the astragalus seedlings and deliver them to the seedling entrance of the seedling delivery component; the seedling exit of the seedling delivery component corresponds to the entrance of the planting component.

[0018] The seedling delivery assembly includes an annular conveyor belt, an annular plate and a seedling cup. The annular conveyor belt is fixed to the rear end of the hole tray corresponding to the walking frame; the annular plate is fixed to the bottom of the annular conveyor belt corresponding to the walking frame, and the seedling outlet is opened on the annular plate; there are multiple seedling cups and they are evenly fixed on the annular conveyor belt along the circumferential direction of the annular conveyor belt and the cup bottom is slidably connected to the upper end of the annular plate, and the cup mouth is the seedling entrance. One end of the cup bottom is hinged to the cup body of the seedling cup, so that when sliding to the seedling outlet, the other end of the cup bottom falls under the action of gravity and the astragalus seedlings in the seedling cup fall.

[0019] Preferably, the planting assembly includes a duckbill-type hole-opening seedling planting device and a seedling planting drive motor. The duckbill-type hole-opening seedling planting device is slidably connected to the lower end of the walking frame corresponding to the seedling outlet in a direction perpendicular to the ground, and its inlet corresponds to the seedling outlet; the input end of the seedling planting drive motor is signal-connected to the output end of the controller, and the output end of the seedling planting drive motor is transmission-connected to the duckbill-type hole-opening seedling planting device. The duckbill-type hole-opening seedling planting device is controlled to slide in a direction perpendicular to the ground by the seedling planting drive motor, and the planting of astragalus seedlings is achieved by the duckbill-type hole-opening seedling planting device.

[0020] Furthermore, a guide tube is included, which is fixed to the lower end of the annular plate and has an inlet corresponding to the seedling outlet, and an outlet corresponding to the inlet of the duckbill type hole-opening seedling planting device. The arrangement of this structure can further improve the accurate correspondence between the seedling outlet and the duckbill type hole-opening seedling planting device.

[0021] Preferably, it also includes a soil covering device, which is fixed to the rear end of the walking frame corresponding to the duckbill type hole-opening seedling planting device.

[0022] Preferably, it also includes an irrigation pipe, one end of which is fixed to the rear end of the soil cover corresponding to the walking frame, and the other end of which is directed toward the ground to water the planted astragalus seedlings.

[0023] It can be seen from the above technical scheme that compared with the prior art, the utility model discloses an astragalus transplanter. Compared with the prior art, the utility model controls the alternate lifting and lowering of lifting plates in multiple hole grooves through a lifting drive mechanism, so that the astragalus seedlings in the hole tray are alternately ejected, thereby avoiding the identification problem caused by overlapping leaves; through the cooperation of the seedling retrieval component and the seedling placement component, the astragalus seedlings can be accurately and orderly placed, the accuracy of seedling retrieval is improved, and there is no need to manually put the astragalus seedlings into the seedling thrower one by one, which greatly reduces the labor intensity, improves the working efficiency and transplanting quality, and realizes the overall automation and intelligence of the transplanter. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0025] Figure 1 This is a schematic structural diagram of an astragalus transplanter from the first perspective of the utility model.

[0026] Figure 2 This is a schematic structural diagram of an astragalus transplanter from a second viewing angle of the utility model.

[0027] Figure 3 This is a cross-sectional view of the lifting drive mechanism provided by the utility model.

[0028] Figure 4 This is a structural schematic diagram of the seedling delivery component provided by the utility model.

[0029] Among them, 1 is a walking frame;

[0030] 2 is a seedling placement assembly; 21 is a plug tray; 211 is a plug slot; 212 is a sliding slot; 22 is a lifting plate; 23 is a lifting drive mechanism; 231 is an electromagnet; 232 is an iron sheet; 233 is a telescopic spring; 24 is a convex column; 25 is a slider;

[0031] 3 is a seedling taking and delivering mechanism; 31 is a manipulator; 32 is an annular conveyor belt; 33 is an annular plate; 34 is a seedling outlet; 35 is a seedling cup; 351 is the cup bottom;

[0032] 4 is a planting assembly; 41 is a duckbill type hole-opening seedling planting device; 42 is a seedling planting drive motor;

[0033] 5 is a guide tube; 6 is a soil cover; 7 is an irrigation tube; 8 is a visual identifier. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the utility model are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] See attached Figure 1-4 The utility model embodiment discloses an astragalus transplanter, comprising:

[0036] Walking frame 1;

[0037] The seedling placement component 2 includes a plug tray 21, a lifting plate 22 and a lifting drive mechanism 23. The plug tray 21 is detachably connected to the front end above the walking frame 1; the lifting plate 22 has the same number of plug grooves 211 as the plug tray 21 and corresponds to each other. The lifting plate 22 is slidably connected to the plug grooves 211 and the upper end of the lifting plate 22 can be placed on the astragalus seedlings; the lifting drive mechanism 23 is transmission-connected to the plurality of lifting plates 22 and controls the plurality of lifting plates 22 to alternately lift and lower, so as to alternately eject the plurality of astragalus seedlings;

[0038] A visual identifier 8, wherein the identification end of the visual identifier 8 faces the plug tray 21 to identify the ejected astragalus seedlings;

[0039] A seedling picking and sending mechanism 3, which is movably connected to the rear end of the walking frame 1 corresponding to the plug tray 21;

[0040] Controller; the input end of the controller is connected to the visual identifier 8 signal, and the output end of the controller is connected to the seedling sending mechanism 3 signal;

[0041] The planting component 4 is movably connected to the lower end of the walking frame 1 corresponding to the seedling picking and delivering mechanism 3, and its entrance corresponds to the seedling outlet 34 of the seedling picking and delivering mechanism 3.

[0042] In some specific implementation examples, the lifting drive mechanism 23 includes an electromagnetic controller, magnetic suction components and telescopic springs 233 of the same number and corresponding to the lifting plate 22, the magnetic suction components including matching electromagnets 231 and iron sheets 232, the electromagnet 231 is fixed to the bottom of the slot 211 and its input end is signal-connected to the output end of the electromagnetic controller; a boss 24 is fixed at the position of the electromagnet 231 at the lower end of the lifting plate 22, the iron sheet 232 is fixed to the lower end of the boss 24 and it can be magnetically contacted or separated from the electromagnet 231; the telescopic spring 233 is sleeved on the outer surface of the boss 24 and its two ends are respectively fixedly connected to the lower plate surface of the lifting plate 22 and the bottom surface of the slot 211, so that when the electromagnet 231 is energized, the telescopic spring 233 is compressed and drives the lifting plate 22 to descend, and when the electromagnet 231 is de-energized, the telescopic spring 233 is extended and drives the lifting plate 22 to rise.

[0043] Furthermore, a sliding groove 212 is formed on the groove wall of the hole groove 211 , and a sliding block 25 is fixed to the position of the lifting plate 22 corresponding to the sliding groove 212 , and the sliding block 25 is slidably connected in the sliding groove 212 .

[0044] In other specific implementation examples, the seedling retrieval and delivery mechanism 3 includes a seedling retrieval component and a seedling delivery component. The seedling retrieval component includes a manipulator 31 and a manipulator driver. One end of the manipulator 31 is movably connected to the rear end of the corresponding hole tray 21 of the walking frame 1; the input end of the manipulator driver is signal-connected to the output end of the controller, and the output end of the manipulator driver is transmission-connected to the manipulator 31 to control the manipulator 31 to clamp the astragalus seedlings and deliver them to the seedling entrance of the seedling delivery component; the seedling exit 34 of the seedling delivery component corresponds to the entrance of the planting component 4.

[0045] Furthermore, the seedling delivery assembly includes an annular conveyor belt 32, an annular plate 33 and a seedling cup 35. The annular conveyor belt 32 is fixed to the rear end of the hole tray 21 of the walking frame 1; the annular plate 33 is fixed to the lower side of the walking frame 1 corresponding to the annular conveyor belt 32, and a seedling outlet 34 is opened on the annular plate 33; there are multiple seedling cups 35 and they are evenly fixed on the annular conveyor belt 32 along the circumferential direction of the annular conveyor belt 32 and the cup bottom 351 thereof is slidably connected to the upper end of the annular plate 33, and the cup mouth thereof is the seedling entrance, and one end of the cup bottom 351 is hinged to the cup body of the seedling cup 35 so that when sliding to the seedling outlet 34, the other end of the cup bottom 351 falls under the action of gravity and the astragalus seedlings in the seedling cup 35 fall.

[0046] In other specific implementation examples, the planting component 4 includes a duckbill type hole-opening seedling planting device 41 and a seedling planting drive motor 42. The duckbill type hole-opening seedling planting device 41 is slidably connected to the lower end of the walking frame 1 corresponding to the seedling outlet 34 in a direction perpendicular to the ground, and its entrance corresponds to the seedling outlet 34; the input end of the seedling planting drive motor 42 is signal-connected to the output end of the controller, and the output end of the seedling planting drive motor 42 is transmission-connected to the duckbill type hole-opening seedling planting device 41 to drive the duckbill type hole-opening seedling planting device 41 to slide in a direction perpendicular to the ground.

[0047] Furthermore, it also includes a guide tube 5, which is fixed to the lower end of the annular plate 33 and whose inlet corresponds to the seedling outlet 34, and whose outlet corresponds to the inlet of the duckbill type hole-opening seedling planting device 41.

[0048] In some other specific implementation examples, a soil covering device 6 is also included, and the soil covering device 6 is fixed to the rear end of the walking frame 1 corresponding to the duckbill type hole-opening seedling planting device 41.

[0049] In some other specific implementation examples, an irrigation pipe 7 is further included, one end of which is fixed to the rear end of the traveling frame 1 corresponding to the soil cover 6, and the other end of the irrigation pipe 7 is directed toward the ground to water the planted astragalus seedlings.

[0050] The astragalus transplanter designed according to the utility model controls the alternate lifting and lowering of lifting plates in a plurality of hole grooves through a lifting drive mechanism, so that the astragalus seedlings in the hole tray are alternately ejected, thereby avoiding the identification problem caused by overlapping leaves; through the cooperation of the seedling retrieval component and the seedling placement component, the astragalus seedlings can be accurately and orderly placed, the accuracy of seedling retrieval is improved, and there is no need to manually put the astragalus seedlings into the seedling thrower one by one, which greatly reduces the labor intensity, improves the working efficiency and transplanting quality, and realizes the overall automation and intelligence of the transplanter.

[0051] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0052] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An astragalus transplanter, characterized in that: include: Walking frame (1); A seedling placement component (2), the seedling placement component (2) comprising a plug tray (21), a lifting plate (22) and a lifting drive mechanism (23), the plug tray (21) being detachably connected to the front end above the walking frame (1); the lifting plate (22) and the plug tray (21) have the same number of plug grooves (211) and are in one-to-one correspondence, the lifting plate (22) is slidably connected in the plug grooves (211) and the upper end of the lifting plate (22) can be used to place astragalus seedlings; the lifting drive mechanism (23) is drivingly connected to the plurality of lifting plates (22) and controls the plurality of lifting plates (22) to alternately lift and lower, so as to alternately eject the plurality of astragalus seedlings; A visual identifier (8), wherein the identification end of the visual identifier (8) faces the plug tray (21) to identify the ejected astragalus seedlings; A seedling picking and sending mechanism (3), wherein the seedling picking and sending mechanism (3) is movably connected to the rear end of the walking frame (1) corresponding to the plug tray (21); A controller; the input end of the controller is connected to the visual identifier (8) by signal, and the output end of the controller is connected to the seedling taking and delivering mechanism (3) by signal; A planting component (4), wherein the planting component (4) is movably connected to the walking frame (1) corresponding to the lower end of the seedling picking and delivering mechanism (3), and its entrance corresponds to the seedling outlet (34) of the seedling picking and delivering mechanism (3).

2. The astragalus transplanter according to claim 1, characterized in that: The lifting drive mechanism (23) comprises an electromagnetic controller, a number of magnetic attraction components and a telescopic spring (233) which are the same as and corresponding to the number of the lifting plates (22); the magnetic attraction components comprise a matching electromagnet (231) and an iron sheet (232); the electromagnet (231) is fixed to the bottom of the hole groove (211) and its input end is connected to the output end of the electromagnetic controller by signal; a convex column (24) is fixed at the lower end of the lifting plate (22) at a position corresponding to the electromagnet (231); the iron sheet (232 ... the output end of the electromagnet (231) is connected to the output end of the electromagnetic controller by signal; The lower end of the convex column (24) can be magnetically contacted or separated from the electromagnet (231); the telescopic spring (233) is sleeved on the outer surface of the convex column (24) and its two ends are respectively fixedly connected to the lower plate surface of the lifting plate (22) and the bottom surface of the groove (211), so that when the electromagnet (231) is energized, the telescopic spring (233) is compressed and drives the lifting plate (22) to descend, and when the electromagnet (231) is de-energized, the telescopic spring (233) is extended and drives the lifting plate (22) to rise.

3. An astragalus transplanter according to claim 1 or 2, characterized in that: A sliding groove (212) is provided on the groove wall of the hole groove (211), and a sliding block (25) is fixed to the lifting plate (22) at a position corresponding to the sliding groove (212), and the sliding block (25) is slidably connected in the sliding groove (212).

4. The astragalus transplanter according to claim 1, characterized in that: The seedling picking and delivering mechanism (3) comprises a seedling picking component and a seedling delivering component, the seedling picking component comprises a manipulator (31) and a manipulator driver, one end of the manipulator (31) is movably connected to the rear end of the walking frame (1) corresponding to the plug tray (21); the input end of the manipulator driver is signal-connected to the output end of the controller, and the output end of the manipulator driver is transmission-connected to the manipulator (31) to control the manipulator (31) to clamp the astragalus seedlings and deliver them to the seedling entrance of the seedling delivering component; the seedling exit (34) of the seedling delivering component corresponds to the entrance of the planting component (4).

5. The astragalus transplanter according to claim 4, characterized in that: The seedling delivery assembly comprises an annular conveyor belt (32), an annular plate (33) and a seedling cup (35); the annular conveyor belt (32) is fixed to the rear end of the walking frame (1) corresponding to the plug tray (21); the annular plate (33) is fixed to the lower part of the walking frame (1) corresponding to the annular conveyor belt (32); the seedling outlet (34) is arranged on the annular plate (33); the seedling cup (35) is in plurality and is evenly fixed on the annular conveyor belt (32) along the circumferential direction of the annular conveyor belt (32); the cup bottom (351) is slidably connected to the upper end of the annular plate (33), and the cup mouth is the seedling inlet; one end of the cup bottom (351) is hinged to the cup body of the seedling cup (35), so that when sliding to the seedling outlet (34), the other end of the cup bottom (351) falls under the action of gravity and the astragalus seedlings in the seedling cup (35) fall.

6. The astragalus transplanter according to claim 5, characterized in that: The planting assembly (4) includes a duckbill-type hole-opening seedling planting device (41) and a seedling planting drive motor (42); the duckbill-type hole-opening seedling planting device (41) is slidably connected to the lower end of the walking frame (1) corresponding to the seedling outlet (34) in a direction perpendicular to the ground, and its entrance corresponds to the seedling outlet (34); the input end of the seedling planting drive motor (42) is signal-connected to the output end of the controller, and the output end of the seedling planting drive motor (42) is transmission-connected to the duckbill-type hole-opening seedling planting device (41).

7. The astragalus transplanter according to claim 6, characterized in that: It also includes a guide tube (5), which is fixed to the lower end of the annular plate (33) and has an inlet corresponding to the seedling outlet (34) and an outlet corresponding to the inlet of the duckbill type hole-opening seedling planting device (41).

8. The astragalus transplanter according to claim 6, characterized in that: It also includes a soil covering device (6), which is fixed to the rear end of the walking frame (1) corresponding to the duckbill type hole-opening seedling planting device (41).

9. The astragalus transplanter according to claim 8, characterized in that: It also comprises an irrigation pipe (7), one end of which is fixed to the rear end of the walking frame (1) corresponding to the soil cover (6), and the other end of which is directed toward the ground to water the planted astragalus seedlings.

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