Unmanned rice transplanter capable of automatically supplying rice seedlings

Abstract

The utility model discloses an unmanned rice transplanter capable of automatically supplying rice seedlings, belongs to the technical field of agricultural machinery, and aims to overcome the defects of the conventional unmanned rice transplanter. The lifting mechanism comprises a mechanism frame and a lifting table, four roller sets are arranged in the circumferential direction of the lifting table, each roller set comprises a rolling bearing and a bull eye bearing, four sliding grooves are formed in the mechanism frame, the rolling bearings are in rolling fit with the side walls of the corresponding sliding grooves, the bull eye bearings are in rolling fit with the groove bottoms of the corresponding sliding grooves, and a molded lead screw lifting machine is arranged at the bottom of the mechanism frame. The top end of a lead screw of the type lead screw lifter is rotationally matched with the top end of the mechanism frame, the lead screw of the type lead screw lifter penetrates through the lifting table from the middle, and a lifting nut of the type lead screw lifter is connected with the lifting table. The lifting platform and the mechanism frame are in sliding fit through the four idler wheel sets and the four sliding grooves, the lead screw of the lead screw lifter penetrates through the lifting platform from the middle, loads are evenly distributed, and the bearing capacity of the lifting platform is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, and in particular relates to an unmanned automatic rice transplanter for supplying rice seedlings. Background Art

[0002] Rice is a major grain crop in my country, ranking second in both cultivated area and yield. my country has a long history of rice cultivation. A rice transplanter is an agricultural machine that plants rice seedlings in paddies. Mechanized rice planting not only significantly reduces farmers' labor intensity but also lowers the overall cost of rice cultivation.

[0003] In the field of rice transplanting, positioning and navigation technology has enabled unmanned, automated rice transplanter operation and automated rice field path planning. Traditional rice transplanters require a human on board to manually feed seedlings. Chinese invention patent publication number CN118476359A discloses a seedling removal device for an unmanned rice transplanter with automatic and continuous seedling feeding, enabling automated and continuous seedling feeding and removal.

[0004] The unmanned rice transplanter lifting platform with publication number CN118476359A is provided with slider groups at the left and right ends of the front side, and two slides are provided on the frame. The two slider groups slide in correspondence with the two slides, but the lifting screw rod that drives the lifting platform to rise and fall is set on the rear side of the lifting platform. After implementing the prototype, it was found that the lifting platform has poor load-bearing capacity.

[0005] In addition, the rotating motor of the unmanned rice transplanter with publication number CN118476359A drives the rotating shaft to rotate through the reduction gear, thereby driving the rotating frame to rotate relative to the lifting platform. After the prototype was implemented, it was found that the meshing gap between the reduction gears could not be avoided, resulting in the rotating frame continuing to swing due to inertia after rotating into position, causing the frame to shake. Utility Model Content

[0006] The purpose of this utility model is to provide an unmanned automatic rice transplanter with seedling feeding to solve the shortcomings of existing unmanned rice transplanters. The technical solutions adopted by this utility model are as follows:

[0007] A rice transplanter with unmanned automatic seedling supply comprises a vehicle body, a vehicle frame, a seedling storage rack, a lifting mechanism and a seedling taking mechanism. The vehicle frame is arranged on the vehicle body, a seedling receiving plate is arranged on the front side of the vehicle body, the lifting mechanism is arranged on the vehicle frame, seedling storage racks are arranged on both sides of the vehicle frame, a plurality of seedling supporting racks are arranged on the seedling storage racks, the seedling taking mechanism is connected to the lifting output end of the lifting mechanism, and the seedling taking mechanism is used to remove the seedling supporting racks from the seedling storage racks and move them above the seedling receiving plate;

[0008] The lifting mechanism includes a mechanism frame and a lifting platform. Four groups of roller groups are provided on the circumference of the lifting platform. The roller groups include two rolling bearings and two bull's eye bearings arranged vertically. Four slide grooves are provided on the mechanism frame. The rolling bearings of the four groups of roller groups are in rolling cooperation with the side walls of the four slide grooves in a one-to-one correspondence. The bull's eye bearings of the four groups of roller groups are in rolling cooperation with the bottom of the four slide grooves in a one-to-one correspondence. A screw lift is provided at the bottom of the mechanism frame. The top of the screw of the screw lift is in rotation cooperation with the top of the mechanism frame. The screw of the screw lift passes through the lifting platform from the middle, and the lifting nut of the screw lift is connected to the lifting platform.

[0009] Furthermore, the seedling taking mechanism includes a support frame, a rotating arm and a power arm. Two driven rotating shafts are rotatably provided on one side of the support frame, and an insertion end is provided on the other side of the support frame. A driving rotating shaft and a driven rotating shaft are rotatably provided on the front side of the lifting platform. The driving rotating shaft and the three driven rotating shafts are all arranged vertically, and the rotating arm and the power arm are cross-arranged. One end of the rotating arm and the power arm are respectively connected to the two driven rotating shafts on the support frame, and the other end of the rotating arm is connected to the driven rotating shaft on the lifting platform. The other end of the power arm is connected to the driving rotating shaft. A rotary reduction motor is provided on the lifting platform, and the output end of the rotary reduction motor is connected to the driving rotating shaft.

[0010] Furthermore, the rotary reduction motor is a worm gear reduction motor.

[0011] Furthermore, the seedling support rack includes a main frame body, and it is defined that when the seedling support rack is placed on the seedling storage rack, the end away from the vehicle body is inner, and the end close to the vehicle body is outer, and Z-shaped fixed beams are symmetrically arranged on both sides of the bottom of the main frame body, the upper part of the Z-shaped fixed beam is located at the outer end, and the lower part is located at the inner end, and the upper and lower parts of the Z-shaped fixed beam are both provided with slider groups arranged inside and outside, and the middle part of the Z-shaped fixed beam is rotatably provided with a gear, and the outer ends of the two upper sliding frames are respectively connected to the two sides of the front seedling cage, and the upper sliding frame is provided with an upper sliding rail, and the inner ends of the two lower sliding frames are respectively connected to the two sides of the rear seedling cage The upper sliding frame is provided with an upper sliding rail, and the rear parts of the two lower sliding frames are respectively connected to the left and right ends of the rear seedling cage. The lower sliding frame is provided with a lower rail, and the upper sliding rail slides with the slider group on the upper part of the corresponding Z-shaped fixed beam, and the lower rail slides with the slider group on the lower part of the corresponding Z-shaped fixed beam. The upper sliding frame is provided with an upper rack, and the lower sliding frame is provided with a lower rack. The gears are respectively engaged with the upper rack and the lower rack on the same side. Several front trays are arranged on the front seedling cage, and several rear trays are arranged on the rear seedling cage. When the gears rotate, the front trays and the rear seedling cage approach or move away.

[0012] Furthermore, there are six front trays and six rear trays, and the six front trays and the six rear trays correspond one to one front to back.

[0013] Furthermore, the two upper racks are fixed on opposite sides of the two upper sliding frames, and the two lower racks are fixed on opposite sides of the two lower sliding frames.

[0014] Furthermore, a hanging beam is provided at the inner end of the main frame body. A plurality of groups of suspension structures are arranged vertically on the seedling storage frame of the transplanter. The suspension structure includes a first cantilever group and a second cantilever group arranged up and down. The first cantilever group consists of two upper cantilevers arranged horizontally. A groove is formed on the upper end surface of the upper cantilever. The second cantilever group consists of two lower cantilevers arranged horizontally. When the seedling storage frame suspends the seedling supporting frame, the hanging beam cooperates with the grooves of the corresponding two upper cantilevers, and the two lower cantilevers support the rear seedling cage.

[0015] Furthermore, the main frame body is in a "冂" shape. A seedling taking gap is provided between the transverse frame at the top of the main frame body and the front seedling cage and the rear seedling cage. The seedling taking mechanism of the transplanter has an insertion end, and the insertion end is in an isosceles trapezoid shape. When taking seedlings, the upper base side of the trapezoid of the insertion end extends into the seedling taking gap.

[0016] Furthermore, a hook is provided at the outer end of the front seedling cage. The hook includes a rear limiting piece and a front limiting piece arranged inside and outside. A groove is provided on the side where the front limiting piece and the rear limiting piece face each other. A sliding table is provided at the bottom of the insertion end. The output shaft of the stepping motor is connected to the lead screw of the sliding table. The nut of the sliding table is connected to the seedling taking pull rod. When the insertion end extends into the seedling taking gap, the seedling taking pull rod screws into the space between the front limiting piece and the rear limiting piece and is respectively clamped and matched with the grooves of the front limiting piece and the rear limiting piece.

[0017] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0018] 1. Four groups of roller sets are arranged circumferentially on the lifting platform of the present utility model. The lifting platform and the mechanism frame are in sliding fit through the four groups of roller sets and four chutes, realizing full circumferential sliding limit. The fitting gap is small, the sliding is stable, and the lead screw of the type screw jack is penetrated through the lifting platform from the middle. The lifting nut of the type screw jack is almost arranged at the center of gravity position of the lifting platform, and the load distribution is uniform. Compared with the prior art, the bearing capacity of the lifting platform has been greatly improved.

[0019] 2. The driving rotating shaft is directly driven to rotate by the rotating reduction motor. Compared with the prior art, the shaking caused by the meshing gap of the reduction gear is avoided. The worm and worm gear reduction motor has a self-locking function, which can avoid the swing of the power arm without driving.

[0020] 3. When the front seedling cage is pulled forward, the upper rack drives the gear to rotate, and then drives the rear seedling cage to slide backward through the lower rack. When the front seedling cage and the rear seedling cage are against each other front and back, several seedling skins are arranged and placed on the front seedling cage and the rear seedling cage, half of the seedling skins are placed on the corresponding front tray, and the other half of the seedling skins are placed on the corresponding rear tray. When seedlings need to be taken, the seedling taking device of the transplanter pulls the front seedling cage, and the front seedling cage and the rear seedling cage are separated, so that the seedling skins on the seedling support frame can fall onto the seedling receiving board for subsequent transplanting actions. The utility model realizes the opening and closing of the front seedling cage and the rear seedling cage through the sliding cooperation of the slider group and the corresponding upper slide rail or lower slide rail. The upper slide rails on both sides have good synchronization, and the lower slide rails on both sides have good synchronization, small sliding friction, and flexible and smooth opening and closing.

[0021] 4. Compared with the seedling support rack with the upper sliding frame and the lower sliding frame arranged on both sides of the gear axis, the total length of the seedling support rack can be smaller when supporting seedlings of the same width.

[0022] 5. Compared with the existing fixing method of the seedling rack, the structural material of the seedling rack can be reduced.

[0023] 6. The size of the seedling removal gap is much larger than the size of the insertion end, which makes it easier for the seedling removal mechanism to lift the seedling support frame.

[0024] 7. The seedling removal rod is circumferentially matched with the two grooves, and has good stability after being snapped in. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural diagram of the utility model;

[0026] Figure 2 It is a structural diagram of the lifting mechanism;

[0027] Figure 3 It is a structural diagram of the lifting platform;

[0028] Figure 4 This is the axonometric drawing of the seedling support frame;

[0029] Figure 5 This is an outward view of the seedling support frame;

[0030] Figure 6 yes Figure 5 BB cross-sectional view;

[0031] Figure 7 It is a structural diagram of the seedling storage rack;

[0032] Figure 8 yes Figure 4 A magnified view of point A;

[0033] Figure 9 It is a cross-sectional view of the seedling taking mechanism;

[0034] Figure 10This is a schematic diagram of the separation state of the front seedling cage and the rear seedling cage of the seedling support rack;

[0035] Figure 11 This is a schematic diagram of the seedling receiving plate and seedling box structure;

[0036] Figure 12 This is a schematic diagram of the state of the seedling taking mechanism when it swings to take out the seedling support frame;

[0037] Figure 13 This is a schematic diagram of the seedling picking mechanism when the seedling picking rod is connected to the hook;

[0038] Figure 14 It is a schematic diagram of the initial state of the utility model;

[0039] Figure 15 This is a schematic diagram of the state of the seedling taking mechanism and the seedling supporting frame;

[0040] Figure 16 This is a schematic diagram of the state in which the seedling taking mechanism lifts the seedling support frame to above the seedling receiving plate;

[0041] Figure 17 This is a schematic diagram of the state when the seedling taking mechanism descends to a position close to the seedling receiving plate;

[0042] Figure 18 It is a schematic diagram of the state in which the seedling taking mechanism opens the seedling tray.

[0043] In the figure, 1. Main frame, 2. Hanging beam, 3. Rear seedling cage, 4. Rear tray, 5. Upper sliding frame, 6. Z-shaped fixed beam, 7. Lower sliding frame, 8. Front seedling cage, 9. Front tray, 10. Seedling removal gap, 11. Slider group, 12. Upper slide rail, 13. Upper rack, 14. Lower slide rail, 15. Lower rack, 16. Gear, 17. Insertion end, 18. Upper cantilever, 19. Lower cantilever, 20. Front limit plate, 21. Rear limit plate, 22. Groove , 23. Slide, 24. Seedling pulling rod, 25. Seedling receiving plate, 26. Vehicle body, 27. Vehicle frame, 28. Seedling supporting rack, 29. Seedling storage rack, 30. Lifting mechanism, 31. Mechanism frame, 32. Lifting platform, 33. Slide, 34. Type 2 screw lift, 35. Driven shaft, 36. Rotating reduction motor, 37. Driving shaft, 38. Roller group, 39. Support frame, 40. Rotating arm, 41. Power arm, 42. Seedling taking mechanism. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below using specific embodiments illustrated in the accompanying drawings. However, it should be understood that these descriptions are merely illustrative and are not intended to limit the scope of the present invention. Furthermore, descriptions of known structures and technologies are omitted in the following description to avoid unnecessary confusion regarding the concepts of the present invention.

[0045] The connections mentioned in this utility model are divided into fixed connections and detachable connections. The fixed connection refers to a non-detachable connection, including but not limited to conventional fixed connection methods such as hem connection, rivet connection, adhesive connection, and welding connection. The detachable connection refers to but not limited to conventional detachable connection methods such as bolt connection, snap connection, pin connection, and hinge connection. When the specific connection method is not clearly specified, it is assumed that at least one connection method can be found among the existing connection methods to achieve the function. Those skilled in the art can choose according to their needs. For example, a fixed connection may be a welding connection, and a detachable connection may be a bolt connection.

[0046] The present invention will be further described in detail below with reference to the accompanying drawings. The following embodiments are provided to explain the present invention, but the present invention is not limited to the following embodiments.

[0047] Example: Figures 1 to 18 As shown, an unmanned automatic seedling supply rice transplanter includes a vehicle body 26, a vehicle frame 27, a seedling storage rack 29, a lifting mechanism 30 and a seedling taking mechanism 42. The vehicle frame 27 is arranged on the vehicle body 26, and a seedling receiving plate 25 is provided on the front side of the vehicle body 26. The lifting mechanism 30 is arranged on the vehicle frame 27. The left and right sides of the vehicle frame 27 are provided with seedling storage racks 29. The seedling storage racks 29 are provided with a plurality of seedling supporting racks 28. The seedling taking mechanism 42 is connected to the lifting output end of the lifting mechanism 30. The seedling taking mechanism 42 is used to remove the seedling supporting racks 28 from the seedling storage rack 29 and move them to the top of the seedling receiving plate 25.

[0048] The lifting mechanism 30 includes a mechanism frame 31 and a lifting platform 32. Four groups of roller groups 38 are provided on the circumference of the lifting platform 32. The roller group 38 includes two rolling bearings and two bull's eye bearings arranged vertically. Four slide grooves 33 are provided on the mechanism frame 31. The rolling bearings of the four groups of roller groups 38 are in rolling cooperation with the side walls of the four slide grooves 33 in a one-to-one correspondence. The bull's eye bearings of the four groups of roller groups 38 are in rolling cooperation with the bottom of the four slide grooves 33 in a one-to-one correspondence. A type 2 screw lift 34 is provided at the bottom of the mechanism frame 31. The top of the screw of the type 2 screw lift 34 is rotatably matched with the top of the mechanism frame 31. The screw of the type 2 screw lift 34 passes through the lifting platform 32 from the middle, and the lifting nut of the type 2 screw lift 34 is connected to the lifting platform 32.

[0049] The utility model arranges four groups of roller groups 38 on the circumference of the lifting platform 32. The lifting platform 32 and the mechanism frame 31 achieve sliding cooperation through the four groups of roller groups 38 and four slide grooves 33, and realize full-circumferential sliding limitation. The cooperation gap is small and the sliding is stable. The screw of the type 2 screw lift 34 passes through the lifting platform 32 from the middle. The lifting nut of the type 2 screw lift 34 is almost set at the center of gravity of the lifting platform. The load is evenly distributed. Compared with the existing technology, the carrying capacity of the lifting platform 32 is greatly improved.

[0050] The seedling taking mechanism 42 includes a support frame 39, a rotating arm 40 and a power arm 41. One side of the support frame 39 is rotatably provided with two driven shafts 35, and the other side of the support frame 39 is provided with an insertion end 17. The front side of the lifting platform 32 is rotatably provided with a driving shaft 37 and a driven shaft 35. The driving shaft 37 and the three driven shafts 35 are all arranged vertically. The rotating arm 40 and the power arm 41 are arranged crosswise. The rotating arm 40 is located below the power arm 41 and there is a working gap between the rotating arm 40 and the power arm 41. One end of the rotating arm 40 and the power arm 41 is respectively connected to the two driven shafts 35 on the support frame 39. The other end of the rotating arm 40 is connected to the driven shaft 35 on the lifting platform 32, and the other end of the power arm 41 is connected to the driving shaft 37. The lifting platform 32 is provided with a rotary reduction motor 36, and the output end of the rotary reduction motor 36 is connected to the driving shaft 37. The driving shaft 37 is directly driven to rotate by the rotary reduction motor 36, which avoids the shaking caused by the meshing gap of the reduction gear compared to the prior art.

[0051] The rotation reduction motor 36 is a worm gear reduction motor. The worm gear reduction motor has a self-locking function, which can prevent the power arm 41 from swinging without being driven.

[0052] The seedling support rack 28 includes a main frame 1, and it is defined that when the seedling support rack 28 is placed on the seedling storage rack 29, the end away from the vehicle body 26 is inner, and the end close to the vehicle body 26 is outer. Z-shaped fixed beams 6 are symmetrically arranged on both sides of the bottom of the main frame 1. The upper part of the Z-shaped fixed beam 6 is located at the outer end, and the lower part is located at the inner end. The upper and lower parts of the Z-shaped fixed beam 6 are both provided with slider groups 11 arranged inside and outside. The middle part of the Z-shaped fixed beam 6 is rotatably provided with a gear 16. The outer ends of the two upper sliding frames 5 are respectively connected to the two sides of the front seedling cage 8, and the upper sliding frame 5 is provided with an upper slide rail 12. The inner ends of the two lower sliding frames 7 are respectively connected to the two sides of the rear seedling cage 3, and the upper sliding frame 5 is provided with a There is an upper slide rail 12, and the rear parts of the two lower slide frames 7 are respectively connected to the left and right ends of the rear seedling cage 3. The lower slide frame 7 is provided with a lower slide rail 14. The upper slide rail 12 slides with the slider group 11 on the upper part of the corresponding Z-shaped fixed beam 6, and the lower slide rail 14 slides with the slider group 11 on the lower part of the corresponding Z-shaped fixed beam 6. The upper slide frame 5 is provided with an upper rack 13, and the lower slide frame 7 is provided with a lower rack 15. The gear 16 is respectively engaged with the upper rack 13 and the lower rack 15 on the same side. A number of front trays 9 are arranged on the front seedling cage 8, and a number of rear trays 4 are arranged on the rear seedling cage 3. When the gear 16 rotates, the front tray 9 and the rear seedling cage 3 approach or move away.

[0053] When the front seedling cage 8 is pulled outwards, the upper rack 13 drives the gear 16 to rotate, and then drives the rear seedling cage 3 to slide backwards through the lower rack 15. When the front seedling cage 8 and the rear seedling cage 3 are in contact with each other front and back, a number of seedling skins are arranged on the front seedling cage 8 and the rear seedling cage 3. Half of the seedling skin is placed on the corresponding front tray 9, and the other half of the seedling skin is placed on the corresponding rear tray 4. When seedlings need to be taken, the seedling-taking mechanism of the transplanter pulls the front seedling cage 8, and the front seedling cage 8 and the rear seedling cage 3 are separated, so that the seedling skin on the seedling support frame can fall onto the seedling receiving plate 25 for subsequent transplanting operations. The utility model realizes the opening and closing of the front seedling cage 8 and the rear seedling cage 3 through the sliding fit of the slider group 11 and the corresponding upper slide rail 12 or lower slide rail 14. The upper slide rails 12 on both sides have good synchronism, and the lower slide rails 14 on both sides have good synchronism, with small sliding friction and flexible and smooth opening and closing.

[0054] There are six front trays 9 and six rear trays 4, and the six front trays 9 and the six rear trays 4 correspond to each other one by one front and back.

[0055] Two upper racks 13 are fixed on the opposite sides of the corresponding two upper slide frames 5, and two lower racks 15 are fixed on the opposite sides of the corresponding two lower slide frames 7. With this setting, the upper rack 13 and the lower rack 15 on the same side are arranged parallel to each other up and down, and the corresponding upper slide frame 5 and lower slide frame 7 are also arranged parallel to each other up and down. Compared with the seedling support frame in which the upper slide frame and the lower slide frame are arranged on both sides of the gear axis, when supporting the seedling skin of the same width, the total length of the seedling support frame can be smaller.

[0056] A suspension beam 2 is provided at the inner end of the main frame body 1. A number of suspension structures are vertically arranged on the seedling storage frame of the transplanter. The suspension structure includes a first cantilever group and a second cantilever group arranged up and down. The first cantilever group consists of two upper cantilevers 18 arranged horizontally, and grooves are provided on the upper end surfaces of the upper cantilevers 18. The second cantilever group consists of two lower cantilevers 19 arranged horizontally. When the seedling storage frame suspends the seedling support frame, the suspension beam 2 cooperates with the grooves of the corresponding two upper cantilevers 18, and the two lower cantilevers 19 support the rear seedling cage 3. Compared with the fixing method of the existing seedling support frame, the structural material of the seedling storage frame can be reduced.

[0057] [[ID=1,2]]主架体1呈“冂”字形,主架体1顶部的横框架与前苗笼8和后苗笼3之间设有取苗间隙10,所述插秧机的取苗机构设有插入端17,插入端17呈等腰梯形,取苗时,插入端17的梯形上底侧探入所述取苗间隙10内。取苗间隙10的尺寸远大于插入端17的尺寸,便于取苗机构提起托苗架。

[0058] The outer end of the front seedling cage 8 is provided with a hook, which includes a rear limit piece 21 and a front limit piece 20 arranged inside and outside. A groove 22 is provided on the opposite side of the front limit piece 20 and the rear limit piece 21. A slide 23 is provided at the bottom of the insertion end 17. The output shaft of the stepping motor is connected to the screw rod of the slide 23. The nut of the slide 23 is connected to the seedling pulling rod 24. When the insertion end 17 is inserted into the seedling taking gap 10, the seedling pulling rod 24 is screwed into between the front limit piece 20 and the rear limit piece 21 and respectively engaged with the grooves 22 of the front limit piece 20 and the rear limit piece 21. The seedling pulling rod 24 is circumferentially matched with the two grooves 22, and has good stability after being engaged.

[0059] like Figure 13 As shown, after the seedling taking mechanism 42 swings to both sides and is in place, the insertion end 17 probes into the corresponding seedling taking gap 10, and at the same time, the seedling taking pull rod 24 is respectively engaged with the grooves 22 on the front limiting piece 20 and the rear limiting piece 21.

[0060] The seedling retrieval mechanism 42 lifts the seedling supporting frame 28 and moves it above the seedling receiving plate 25. The slide 23 is a motor-driven slide. The slide 23 drives the seedling retrieval rod 24 to move, which can pull the front seedling cage 8 and the rear seedling cage 3 apart. The rice seedling skins placed on the front tray 9 and the rear tray 4 of the seedling supporting frame can fall onto the seedling receiving plate 25.

[0061] Engineering flow chart as follows Figures 14-18 shown.

[0062] First, the initial state of the rice transplanter when working is as follows Figure 14 As shown, the seedling support frame 28 is filled with rice seedling skins, and the seedling taking mechanism 42 is located in the middle position of the uppermost part.

[0063] Secondly, the seedling taking mechanism 42 rotates to the right, and the insertion end 17 is inserted into the seedling taking gap 10 of the corresponding seedling support frame 28. At this time, the hook formed by the front limiting piece 20 and the rear limiting piece 21 cooperates with the seedling taking pull rod 24, as shown in FIG. Figure 15 shown.

[0064] Again, the lifting mechanism 30 drives the seedling taking mechanism 42 to lift through the lifting platform 32, and drives the seedling supporting frame 28 to separate from the seedling storage frame 29, and the seedling taking mechanism 42 rotates forward to return to the initial state, and the seedling receiving plate 25 is lifted. Figure 16 shown.

[0065] Then, the seedling taking mechanism 42 descends to the position close to the seedling receiving plate 25, as shown in FIG. Figure 17 shown.

[0066] Finally, the slide 23 drives the seedling pulling rod 24 to move, which can pull the front seedling cage 8 and the rear seedling cage 3 apart, and the rice seedling skins placed on the front tray 9 and the rear tray 4 of the seedling support frame can fall onto the seedling receiving plate 25. Figure 18 As shown, a seedling removal operation is completed.

[0067] Get final product according to the position of each seedling supporting frame 28.

[0068] The present utility model is a further improvement of the unmanned automatic rice seedling supply transplanter by the applicant whose publication number is CN118476359A. Other technical solutions are basically consistent with those given in the application with publication number CN118476359A, and will not be repeated here.

[0069] The above embodiments are merely illustrative of the present invention and do not limit its scope of protection. Those skilled in the art may make partial changes thereto, which are within the scope of protection of the present invention as long as they do not exceed the spirit of the present invention.

Claims

1. An unmanned automatic rice transplanter with rice seedling supply, characterized by: The vehicle comprises a vehicle body (26), a vehicle frame (27), a seedling storage rack (29), a lifting mechanism (30) and a seedling taking mechanism (42), wherein the vehicle frame (27) is arranged on the vehicle body (26), a seedling receiving plate (25) is arranged on the front side of the vehicle body (26), the lifting mechanism (30) is arranged on the vehicle frame (27), seedling storage racks (29) are arranged on the left and right sides of the vehicle frame (27), a plurality of seedling supporting racks (28) are arranged on the seedling storage racks (29), and the seedling taking mechanism (42) is connected to the lifting output end of the lifting mechanism (30), and the seedling taking mechanism (42) is used to remove the seedling supporting racks (28) from the seedling storage rack (29) and move them to the top of the seedling receiving plate (25); The lifting mechanism (30) includes a mechanism frame (31) and a lifting platform (32). Four roller groups (38) are provided on the circumference of the lifting platform (32). The roller group (38) includes two rolling bearings and two bull's eye bearings arranged vertically. Four slide grooves (33) are provided on the mechanism frame (31). The rolling bearings of the four roller groups (38) are rolling-matched with the side walls of the four slide grooves (33) in a one-to-one correspondence. The bull's eye bearings of the four roller groups (38) are rolling-matched with the groove bottoms of the four slide grooves (33) in a one-to-one correspondence. A type 2 screw lift (34) is provided at the bottom of the mechanism frame (31). The top of the screw of the type 2 screw lift (34) is rotationally matched with the top of the mechanism frame (31). The screw of the type 2 screw lift (34) passes through the lifting platform (32) from the middle. The lifting screw nut of the type 2 screw lift (34) is connected to the lifting platform (32).

2. The unmanned automatic rice transplanter according to claim 1, characterized in that: The seedling taking mechanism (42) comprises a support frame (39), a rotating arm (40) and a power arm (41). One side of the support frame (39) is rotatably provided with two driven rotating shafts (35). The other side of the support frame (39) is provided with an insertion end (17). The front side of the lifting platform (32) is rotatably provided with a driving rotating shaft (37) and a driven rotating shaft (35). The driving rotating shaft (37) and the three driven rotating shafts (35) are all vertically arranged. The rotating arm (40) and the power arm (41) are cross-arranged. One end of the rotating arm (40) and the power arm (41) are respectively connected to the two driven rotating shafts (35) on the support frame (39). The other end of the rotating arm (40) is connected to the driven rotating shaft (35) on the lifting platform (32). The other end of the power arm (41) is connected to the driving rotating shaft (37). A rotary reduction motor (36) is provided on the lifting platform (32). The output end of the rotary reduction motor (36) is connected to the driving rotating shaft (37).

3. The unmanned automatic rice transplanter according to claim 2, characterized in that: The rotary reduction motor (36) is a worm gear reduction motor, which has a self-locking function and can prevent the power arm (41) from swinging without being driven.

4. The unmanned automatic rice transplanter according to claim 3, characterized in that: The seedling supporting frame (28) includes a main frame body (1). When the seedling supporting frame (28) is placed on the seedling storage frame (29), the end far from the vehicle body (26) is defined as the inner end, and the end close to the vehicle body (26) is defined as the outer end. On both sides of the bottom of the main frame body (1), Z-shaped fixing beams (6) are symmetrically arranged. The upper part of the Z-shaped fixing beam (6) is located at the outer end, and the lower part is located at the inner end. On both the upper and lower parts of the Z-shaped fixing beam (6), slider groups (11) arranged inside and outside are provided. A gear (16) is rotatably arranged in the middle of the Z-shaped fixing beam (6). The outer ends of the two upper sliding frames (5) are respectively connected to the two sides of the front seedling cage (8) correspondingly. An upper sliding rail (12) is provided on the upper sliding frame (5). The inner ends of the two lower sliding frames (7) are respectively connected to the two sides of the rear seedling cage (3) correspondingly. A lower sliding rail (14) is provided on the lower sliding frame (7). The upper sliding rail (12) is in sliding fit with the slider group (11) on the upper part of the corresponding Z-shaped fixing beam (6), and the lower sliding rail (14) is in sliding fit with the slider group (11) on the lower part of the corresponding Z-shaped fixing beam (6). An upper rack (13) is provided on the upper sliding frame (5), and a lower rack (15) is provided on the lower sliding frame (7). The gear (16) is respectively meshed with the upper rack (13) and the lower rack (15) on the same side. A number of front trays (9) are arranged on the front seedling cage (8), and a number of rear trays (4) are arranged on the rear seedling cage (3). When the gear (16) rotates, the front trays (9) and the rear seedling cage (3) approach or move away from each other.

5. The unmanned automatic rice transplanter with rice seedling supply according to claim 4, characterized in that: Both the front trays (9) and the rear trays (4) are six in number, and the six front trays (9) and the six rear trays (4) correspond to each other one by one in the front and rear.

6. The unmanned automatic rice transplanter with rice seedling supply according to claim 4, characterized in that: The two upper racks (13) are fixed on the opposite sides of the corresponding two upper sliding frames (5), and the two lower racks (15) are fixed on the opposite sides of the corresponding two lower sliding frames (7).

7. The unmanned automatic rice transplanter with rice seedling supply according to claim 4, characterized in that: A suspension beam (2) is provided at the inner end of the main frame body (1). On the seedling storage frame (29) of the transplanter, a number of groups of suspension structures are arranged vertically. The suspension structure includes an upper cantilever group and a lower cantilever group arranged up and down. The upper cantilever group consists of two horizontally arranged upper cantilevers (18). Grooves are provided on the upper end surfaces of the upper cantilevers (18). The lower cantilever group consists of two horizontally arranged lower cantilevers (19). When the seedling storage frame (29) suspends the seedling supporting frame (28), the suspension beam (2) is engaged with the grooves of the corresponding two upper cantilevers (18), and the two lower cantilevers (19) support the rear seedling cage (3).

8. The unmanned automatic rice transplanter with rice seedling supply according to claim 4, characterized in that: The main frame body (1) is in a "冂" shape. A seedling taking gap (10) is provided between the transverse frame at the top of the main frame body (1) and the front seedling cage (8) and the rear seedling cage (3). The seedling taking mechanism (42) of the transplanter has an insertion end (17). The insertion end (17) is in an isosceles trapezoid shape. When taking seedlings, the upper base side of the trapezoid of the insertion end (17) extends into the seedling taking gap (10).

9. The unmanned automatic rice transplanter with rice seedling supply according to claim 8, characterized in that: The outer end of the front seedling cage (8) is provided with a hook, and the hook includes a rear limiting piece (21) and a front limiting piece (20) arranged inside and outside, and a groove (22) is provided on the opposite side of the front limiting piece (20) and the rear limiting piece (21), and a slide (23) is provided at the bottom of the insertion end (17), the output shaft of the stepper motor is connected to the screw rod of the slide (23), and the nut of the slide (23) is connected to the seedling pulling rod (24), and when the insertion end (17) is inserted into the seedling taking gap (10), the seedling taking pulling rod (24) is screwed into between the front limiting piece (20) and the rear limiting piece (21), and is respectively engaged with the grooves (22) of the front limiting piece (20) and the rear limiting piece (21).

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