Automatic pepper seedling transplanter

Abstract

An automatic pepper seedling transplanter comprises a frame body, a pepper seedling clamping system, a pepper seedling tray distributing system, a pepper seedling feeding system, a walking system, a soil covering mechanism, a seedling raising tray and a main control board, and the pepper seedling clamping system, the pepper seedling tray distributing system, the pepper seedling feeding system and the walking system are all connected with the main control board. The frame body comprises an upper frame, a lower frame, an upper layer plate, a middle layer plate, a left side plate and a right side plate, the pepper seedling clamping system is installed on the upper layer plate, and the pepper seedling tray dividing system is installed on the middle layer plate and located in the upper frame; the pepper seedling feeding system is mounted on the inner sides of the left side plate and the right side plate and located in the lower frame; the soil covering mechanism is mounted on the rear side of the lower frame; the seedling raising plate is placed in the center of the upper-layer plate; the walking system is installed at the bottom of the frame body. The automatic pepper seedling transplanter is simple in structure, convenient to operate, high in adaptability and reasonable in cost.

Description

Technical Field

[0001] The utility model relates to the field of transplanting machinery, in particular to an automatic transplanting machine for pepper seedlings. Background Art

[0002] Peppers are a widely cultivated cash crop. In recent years, policies such as rural revitalization have supported my country's vegetable industry and vigorously developed factory-based seedling cultivation. my country has initially established a technical system for factory-based seedling cultivation. This standardized seedling cultivation system can assist in the transplanting of peppers and other vegetables. Traditionally, transplanting pepper seedlings has relied heavily on manual labor, which is labor-intensive, inefficient, and has inconsistent transplanting quality. In recent years, with the advancement of agricultural mechanization, various types of agricultural machinery have emerged, and pepper seedling transplanters have gradually become popular among farmers. However, most existing pepper seedling transplanters on the market suffer from low automation, low transplanting efficiency, and poor transplanting quality. Summary of the Invention

[0003] In order to overcome the defects of the existing technology, the utility model provides an automatic pepper seedling transplanter with simple structure, convenient operation, strong adaptability and reasonable cost, which effectively improves the transplanting efficiency of pepper seedlings.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A pepper seedling automatic transplanter includes a frame body, a pepper seedling clamping system, a pepper seedling separation system, a pepper seedling lowering system, a walking system, a soil covering mechanism, a seedling raising tray, and a main control panel, wherein the pepper seedling clamping system, the pepper seedling separation system, the pepper seedling lowering system, and the walking system are all connected to the main control panel;

[0006] The frame body includes an upper frame, a lower frame, an upper plate, a middle plate and left and right side plates, the upper plate is installed at the rear of the upper frame, the middle plate is located below the upper plate and is installed on the lower frame, the left and right side plates are located below the middle plate and are installed on the left and right sides of the lower frame; the pepper seedling clamping system is installed on the upper plate, the pepper seedling tray system is installed on the middle plate and is located in the upper frame; the pepper seedling lowering system is installed on the inner sides of the left and right side plates and is located in the lower frame; the soil covering mechanism is installed on the rear side of the lower frame; the seedling tray is placed in the center of the upper plate; the walking system is installed at the bottom of the frame body;

[0007] The pepper seedling clamping system includes a horizontal moving mechanism, a vertical moving mechanism, a cam groove equidistant mechanism and a clamping mechanism, wherein the horizontal moving mechanism is mounted on the upper plate, the vertical moving mechanism is mounted on the horizontal moving mechanism, the cam groove equidistant mechanism is mounted on the vertical moving mechanism, and the clamping mechanism is located above the upper plate and is mounted below the distance-varying mechanism.

[0008] The pepper seedling tray separation system includes an intermittent mechanism and a chute. The chute is installed below the clamping mechanism of the pepper seedling clamping system and leaves a certain distance. The intermittent mechanism is installed inside the upper frame and is located below the chute and leaves a certain distance.

[0009] The pepper seedling planting system includes two seedling planting units, which are symmetrically installed on the left and right side panels of the frame body. Each seedling planting unit includes a reciprocating falling mechanism and a seedling mechanism. The reciprocating falling mechanism is installed on the side panel of the lower frame, and the seedling mechanism is installed on the slider V of the reciprocating falling mechanism and is located inside the lower frame.

[0010] Furthermore, the horizontal movement mechanism includes two sets of screw slider guide rail groups I, which are symmetrically installed on the left and right sides of the upper plate. Each set of screw slider guide rail group I includes a screw rod I, a screw rod nut I, a slider I, a slide rail I and a stepper motor I. The screw rod I is arranged front to back and is rotatably installed on the upper plate. The output shaft of the stepper motor I is connected to the screw rod I through a coupling. The slide rail I is arranged below the screw rod I, the slider I is installed at the bottom of the screw rod nut I, and the slider I cooperates with the slide rail I to form a front and back sliding pair.

[0011] The vertical moving mechanism includes two groups of screw slider guide rail groups II, and the two groups of screw slider guide rail groups II are respectively installed on the screw nut I of the horizontal moving mechanism through a vertical rod. Each group of screw slider guide rail group II includes a screw rod II, a screw nut II, a slider II, a slide rail II and a stepper motor II. The screw rod II is arranged up and down and is rotatably installed on the vertical rod. The output shaft of the stepper motor II is connected to the screw rod II through a coupling. The slide rail II is set and installed on the vertical rod. The slider II is installed at the bottom of the screw nut II, and the slider II cooperates with the slide rail II to form an upper and lower sliding pair; the cam groove equidistant mechanism is installed on the screw nut II of the two groups of screw slider guide rail groups II through a cross bar.

[0012] Furthermore, the cam groove equidistant mechanism includes a fixed plate, a horizontal limit slide rail, four sliders IV, four limit rods, a cam limit slot plate, an active screw slider guide rail group and a driven screw slider guide rail group, the fixed plate is installed on the cross bar, the horizontal limit slide rail is installed on the fixed plate, the slider IV can be installed on the horizontal limit slide rail so as to slide horizontally left and right, the driven screw slider guide rail group and the active screw slider guide rail group are respectively located on the left and right sides of the fixed plate and are vertically installed on the cross bar; the rear side of the upper end of each limit rod is connected to the corresponding slider IV, the cam limit slot plate is located on the front side of the limit rod, and its left and right ends are respectively connected to the front sides of the slider connectors of the driven screw slider guide rail group and the active screw slider guide rail group through the cam limit slot plate connector, and the rear side of the slider connector is connected to the screw nut of the corresponding screw slider guide rail group;

[0013] The cam limit slot plate is provided with four symmetrically distributed guide limit slots, and the front side of the upper part of each limit rod is provided with a cylindrical cam that cooperates with the guide limit slot on the cam limit slot plate, so that the limit rod can move horizontally at equal intervals according to the inclination dimensions of the four symmetrically distributed guide limit slots under the limitation of the cam limit slot plates and the horizontal limit slide rails on the front and rear sides.

[0014] Furthermore, the clamping mechanism includes four clamping jaws, which are respectively mounted on the lower ends of the corresponding limit rods of the cam groove equidistant mechanism, and each clamping jaw includes a clamping jaw fixing frame, an active clamping jaw gear, a driven clamping jaw gear, a steering gear I, an active connecting rod, a driven connecting rod, an active clamping jaw arm and a driven clamping jaw arm. The clamping jaw fixing frame is mounted on the lower end of the corresponding limit rod, and the steering gear I is mounted on the rear side of the clamping jaw fixing frame. The rotating shaft of the steering gear I passes through the circular hole on the clamping jaw fixing frame and is connected to the active clamping jaw gear. The active clamping jaw gear is provided with a protruding short arm I, and The short arm I is connected to the active clamp arm, and the inner side of the lower end of the active clamp arm is a rough surface with a groove. The upper and lower ends of the active connecting rod are respectively hinged to the clamp fixing frame and the middle part of the active clamp arm; the driven clamp gear is installed on the clamp fixing frame and is engaged with the active clamp gear. The driven clamp gear is provided with an extended short arm II, and the short arm II is connected to the driven clamp arm; the inner side of the lower end of the driven clamp arm is a rough surface with a groove, and the upper and lower ends of the driven connecting rod are respectively hinged to the clamp fixing frame and the middle part of the driven clamp arm.

[0015] Furthermore, the intermittent mechanism includes a cylindrical pin, a groove wheel, a stepper motor IV, an upper disc and a lower disc, the cylindrical pin is located between the upper disc and the lower disc, the stepper motor IV is installed on the lower surface of the middle plate, the rotating shaft of the stepper motor IV passes through the middle plate, the lower disc and is connected to the cylindrical pin in sequence, the groove wheel is fixed to the lower surface of the upper disc and cooperates with the cylindrical pin through the groove structure on the surface, the rotation of the rotating shaft of the stepper motor IV drives the rotation of the cylindrical pin, and under the cooperation of the cylindrical pin and the groove wheel, the upper disc connected to the groove wheel is driven to rotate unidirectionally with pauses; the upper disc has 10 identical cylindrical through holes evenly distributed around the circumference, and a movable baffle is hinged at each cylindrical through hole on the lower surface of the upper disc, and the lower disc has two through slots symmetrically distributed, the size of which is slightly larger than the movable baffle, so that the movable baffle above the through slot can fall naturally under the action of gravity;

[0016] There are four chutes, each of which includes an upper chute and a lower chute. The inner wall of the upper chute has a certain inclination angle and is funnel-shaped. The lower chute is a U-shaped chute, and the lower end of the U-shaped chute is located above the cylindrical through hole of the upper disc.

[0017] Furthermore, the reciprocating falling mechanism includes a disc crank, a slide connecting rod, two up and down sliding mechanisms, and a stepper motor V. The two up and down sliding mechanisms are symmetrically installed on the inner side of the side plate of the lower frame in a front-to-back manner, and the disc crank is arranged between the two up and down sliding mechanisms; each up and down sliding mechanism includes a slide rail V and a slider V, the slide rail V is vertically installed on the side plate of the lower frame, the slider V is installed on the slide rail V and can move linearly up and down along the slide rail V, and the stepper motor V is installed on the outer side of the side plate of the lower frame The output shaft of the stepper motor V passes through the circular hole on the side plate and is connected to the disc crank. The front and rear ends of the slide connecting rod are respectively connected to the sliders V of the two upper and lower sliding mechanisms. A cylindrical roller is provided on the upper surface of the disc crank near the edge. A sliding space is provided in the middle of the slide connecting rod. The sliding space cooperates with the cylindrical roller of the disc crank. The upper and lower surfaces of the sliding space are in line contact with the cylindrical roller, so that the rotation of the disc crank drives the cylindrical roller to slide back and forth linearly relative to the sliding space of the slide connecting rod.

[0018] Furthermore, the seedling mechanism includes a servo II, a long connecting rod, two seedling lowering funnel arms and a seedling lowering funnel. The seedling lowering funnel is vertically divided into two half funnels. The servo II is installed on the slide connecting rod of the reciprocating falling mechanism. The rotating shaft of the servo II passes through the plane extended by the slide connecting rod and is connected to the middle part of the long connecting rod. The two ends of the long connecting rod are respectively connected to one end of the corresponding seedling lowering funnel arm through a short connecting rod, and the other end of the seedling lowering funnel arm is fixedly connected to the corresponding half funnel. One end of the seedling lowering funnel arm has an inverted trapezoidal groove, which can be engaged with the trapezoidal groove on the lower side of the plane extended by the slide connecting rod of the reciprocating falling mechanism. The seedling lowering funnel is a cone as a whole. The rotation of the servo II eventually drives the horizontal movement of the seedling lowering funnel to realize the opening and closing of the seedling lowering funnel.

[0019] Furthermore, the covering mechanism includes two covering units, which correspond to the two lower seedling units one by one. Each covering unit includes two covering wheels and a mounting frame. The upper end of the mounting frame is fixed on the rear side of the lower frame, and the two covering wheels are mounted at 90 degrees on the lower end of the mounting frame.

[0020] Furthermore, the walking system includes four DC reduction motors, four wheels and four couplings. The four DC reduction motors are respectively installed at the lower ends of the four vertical 5050 aluminum profiles of the frame body, and the output shafts of the DC reduction motors are connected to the corresponding wheels through the couplings.

[0021] Furthermore, the main control board is connected to the mobile phone APP via a Bluetooth module.

[0022] The beneficial effects of the utility model are mainly manifested in: the use of the cam groove equidistant mechanism can adapt to different seedling pot spacings, the clamping mechanism can adapt to different varieties of pepper seedlings by replacing different types of clamping arms, and the vertical moving mechanism can adapt to different pepper seedling heights by changing the rising distance, and has a wider applicability; the pepper seedling separation system adopts an intermittent mechanism, which mechanically controls the separation time to ensure the stability and reliability of the mechanism; the utility model improves the continuous process from seedling pots to completed planting, and improves the efficiency of pepper seedling transplanting. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural diagram of the present utility model.

[0024] Figure 2 It is the main view of the present utility model.

[0025] Figure 3 It is a side view of the present utility model.

[0026] Figure 4 It is a top view of the utility model.

[0027] Figure 5 It is a structural diagram of the frame body and walking system.

[0028] Figure 6 This is a structural diagram of the pepper seedling clamping system.

[0029] Figure 7 It is a structural schematic diagram of the clamping mechanism and the cam slot equidistant mechanism.

[0030] Figure 8 It is a structural diagram of the horizontal moving mechanism and the vertical moving mechanism.

[0031] Figure 9 This is a structural diagram of the pepper seedling tray system.

[0032] Figure 10 This is the front view of the pepper seedling tray system.

[0033] Figure 11 Schematic diagram of the structure of the lower disc.

[0034] Figure 12 This is a structural diagram of the pepper seedling planting system.

[0035] Figure 13 It is a structural diagram of the soil covering mechanism. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] Reference Figures 1 to 13 A pepper seedling automatic transplanter includes a frame body, a pepper seedling clamping system, a pepper seedling tray system, a pepper seedling lowering system, a walking system, a soil covering mechanism, a seedling tray and a main control board. The pepper seedling clamping system, the pepper seedling tray system, the pepper seedling lowering system and the walking system are all connected to the main control board; the main control board is connected to a mobile phone APP through a Bluetooth module.

[0038] The frame body includes an upper frame, a lower frame, an upper plate 2, a middle plate 14 and two left and right side plates 15, 7. The upper frame includes two longer 5050 aluminum profiles 1, 12 and two shorter 5050 aluminum profiles 5, 18. The four 5050 aluminum profiles 1, 12, 5, 18 are installed in a rectangular shape. The lower frame includes two longer 5050 aluminum profiles 4, 13, two shorter 5050 aluminum profiles 6, 17 and four vertical 5050 aluminum profiles 3, 11, 16, 19. The four 5050 aluminum profiles 4, 13, 6, 17 are installed in a rectangular shape. The four vertical 5050 aluminum profiles 3, 11, 16, 19 are installed in the four At the vertex, the upper plate 2 is installed at the rear of the upper frame, the middle plate 14 is located below the upper plate 2 and is installed on the lower frame, the left and right side plates 15 and 7 are located below the middle plate and are installed on the left and right sides of the lower frame; the pepper seedling clamping system is installed on the upper plate 2; the pepper seedling tray system is installed on the middle plate 14 and is located in the upper frame; the pepper seedling lowering system is installed on the inner side of the left and right side plates 15 and 7 and is located in the lower frame; the soil covering mechanism is installed on the rear side of the lower frame; the seedling tray 93 is placed in the center of the upper plate 2; the walking system is installed at the bottom of the frame body.

[0039] like Figure 5 As shown, the travel system includes four DC reduction motors 10, four wheels 8, and four couplings 9. The four DC reduction motors 10 are respectively mounted at the lower ends of the four vertical 5050 aluminum profiles 3, 11, 16, and 19 of the frame body. One end of each coupling 9 is connected to the output shaft of the DC reduction motor 10, and the other end is connected to the rotating shaft of the wheel 8. The wheels have a herringbone pattern to adapt to the complex environment of the field.

[0040] like Figures 6 to 8 As shown, the pepper seedling clamping system includes a horizontal moving mechanism, a vertical moving mechanism, a cam groove equidistant mechanism and a clamping mechanism. The horizontal moving mechanism is installed on the upper plate 2, close to the two 5050 aluminum profiles 1 and 12; the vertical moving mechanism is installed on two vertical rods, which include 5050 aluminum profiles 46 and 62, and are vertically installed on the screw nuts I47 and 54 of the horizontal moving mechanism together with the two aluminum profiles 46 and 62; the cam groove equidistant mechanism is installed on a cross bar, which is a 5050 aluminum profile 20, and the two ends of the 5050 aluminum profile 20 are fixed on the two screw nuts II 61 of the vertical moving mechanism; the clamping mechanism is located above the upper plate 2 and is installed at the lower part of the pitch changing mechanism.

[0041] like Figure 8As shown, the horizontal movement mechanism includes two sets of screw slider guide rail groups I, which are symmetrically installed on the left and right sides of the upper plate 2. Each set of screw slider guide rail group I includes a screw rod I, a screw nut I, a slider I, a slide rail I, a support seat, a coupling, a base I and a stepper motor I. The sliders I48 and 53 installed on the screw nuts I47 and 54 respectively cooperate with the slide rails I50 and 51 to form a front and rear sliding pair. The stepper motors I63 and 57 are respectively installed on one end of the base I94 and 95, and the output shafts are respectively connected to one end of the couplings 64 and 56, and the other ends of the couplings 64 and 56 are respectively connected to the Screw rods Ⅰ49 and 52 are connected, and the two ends of screw rods Ⅰ49 and 52 are respectively installed on support seats 65 and 55 and bases Ⅰ94 and 95. The rotation of stepper motors Ⅰ63 and 57 drives the rotation of screw rods Ⅰ49 and 52 respectively. Screw nuts Ⅰ47 and 54 convert the rotating pair into a moving pair, so that the rotation of stepper motors Ⅰ63 and 57 drives the sliders Ⅰ48 and 53 connecting parts installed on screw nuts Ⅰ47 and 54 to move linearly. Bases Ⅰ94 and 95 are installed on the upper plate 2 through the positioning holes at the bottom. 5050 aluminum profiles 46 and 62 are respectively vertically installed on the screw nuts Ⅰ47 and 54 of the screw slider guide rail group Ⅰ.

[0042] The vertical movement mechanism includes two sets of screw slider guide rail groups II, and the two sets of screw slider guide rail groups II are respectively installed on the screw nut I of the horizontal movement mechanism through a vertical rod. Each set of screw slider guide rail group II includes a screw rod II 59, a screw nut II 61, a slider II, a slide rail II 60, a base II 96 and a stepper motor II. The slider II installed on the screw nut II 61 cooperates with the slide rail II 60 to form an upper and lower sliding pair; the stepper motors II 58 and 45 are installed at one end of the base II 96, and the output shaft is connected to the screw rod II 59. The rotation of the stepper motors II 58 and 45 drives the screw rod II 59 With the rotation of the screw nut II 61, the rotating pair is converted into a moving pair, so that the rotation of the stepper motors II 58 and 45 drives the 5050 aluminum profile 20 installed on the screw nut II 61 to make a linear motion. The base II 96 is installed on the vertical 5050 aluminum profiles 46 and 62 through the positioning holes at the bottom. The screw nuts II 61 of the two sets of screw slider guide rail groups II are connected by a cross bar, that is, the 5050 aluminum profile 20. The screw nuts II 61 on the left and right sides move synchronously, so that the 5050 aluminum profile 20 always remains in a horizontal state and moves vertically up and down with the movement of the screw nut II 61.

[0043] like Figure 7As shown, the cam groove equidistant mechanism includes a fixed plate 44, a horizontal limit rail 42, four sliders IV 43, four limit rods 24, a cam limit groove plate 21, cam limit groove plate connectors 23, 33, slider connectors 22, 34, an active screw slider guide rail group and a driven screw slider guide rail group. The fixed plate 44 is mounted on the 5050 aluminum profile 20, and a hole for mounting the horizontal limit rail 42 is reserved on the surface.

[0044] The horizontal limit rail 42 is mounted on the fixed plate 44 and is close to the upper end; the slider IV 43 is mounted on the horizontal limit rail 42 and can slide horizontally left and right on the horizontal limit rail 42, and a hole is provided on the surface for fixing with the limit rod 24; the driven screw slider guide rail group and the active screw slider guide rail group are respectively located on the left and right sides of the fixed plate 44 and are vertically mounted on the cross bar; the rear side of the upper end of each limit rod 24 is connected to the corresponding slider IV 43, the cam limit slot plate 21 is located on the front side of the limit rod 24, and its left and right ends are respectively connected to the slider connectors 22 and 34 of the driven screw slider guide rail group and the active screw slider guide rail group through the cam limit slot plate connectors 23 and 33 on both sides;

[0045] The front side of the upper part of each limiting rod 24 is provided with a cylindrical cam 41 that cooperates with the guide limiting groove on the cam limiting slot plate 21; the cam limiting slot plate 21 is provided with four symmetrically distributed guide limiting grooves, and the four guide limiting grooves respectively cooperate with the cylindrical cams 41 on the four limiting rods, so that the limiting rod 24 is simultaneously limited by the cam limiting slot plates 21 and the horizontal limiting slide rails 42 on the front and rear sides, and moves horizontally at equal distances according to the inclination dimensions of the four symmetrically distributed guide limiting grooves on the surface of the cam limiting slot plate 21; the cam limiting slot plate connecting parts 23 and 33 are "U"-shaped, and holes are left on the surface for installation with the cam limiting slot plate 21 and the slider connecting parts 22 and 34; the rear sides of the slider connecting parts 22 and 34 are connected to the screw nut III 38 of the corresponding screw slider guide rail group, and the front sides are connected to the cam limiting slot plate connecting parts 23 and 33 Connection; the active screw slider guide rail group includes a screw rod III36, a screw nut III38, a slider III39, a slide rail III37, a base III40 and a stepper motor III35. The slider III39 installed on the screw nut III38 cooperates with the slide rail III37. The stepper motor III35 is installed at one end of the base 40Ⅲ, and its output shaft is connected to the screw rod 36Ⅲ. The rotation of the stepper motor III35 drives the rotation of the screw rod 36Ⅲ, and the screw nut III38 converts the rotating pair into a moving pair, so that the rotation of the stepper motor III35 drives the slider connector 22 and 34 installed on the screw nut III38 to move up and down linearly. The base III40 is installed on the horizontal 5050 aluminum profile 20 on the vertical moving mechanism through the positioning hole at the bottom; the driven screw slider guide rail group is not installed with a stepper motor III35, and the rest of the structure is the same as the active screw slider guide rail group.

[0046] The clamping mechanism includes four independent clamping jaws, which are respectively mounted on the lower ends of the corresponding limit rods of the cam groove equidistant mechanism. Each clamping jaw includes a clamping jaw fixing frame 28, an active clamping jaw gear 25, a driven clamping jaw gear 29, a steering gear I 32, an active connecting rod 27, a driven connecting rod 30, an active clamping jaw arm 26 and a driven clamping jaw arm 31. The clamping jaw fixing frame 28 is mounted on the lower end of the corresponding limit rod 24 of the cam groove equidistant mechanism, and the steering gear I 32 is mounted on the rear side of the clamping jaw fixing frame 28. The rotating shaft of the steering gear I 32 The active gripper gear 25 is connected to the circular hole 28 on the gripper fixing frame, and the active gripper gear 25 is provided with a protruding short arm Ⅰ, and the short arm Ⅰ is connected to the active gripper arm 26. One end of the short arm Ⅰ has a cylindrical protrusion for connecting to the active gripper arm 26. The inner side of the lower end of the active gripper arm 26 is a rough surface with a groove, and the upper end thereof has a circular hole connected to the short arm of the active gripper gear 25. The middle part of the active gripper arm 26 has a circular hole connected to the active connecting rod 27. The upper and lower ends of the active connecting rod 27 are connected to the active gripper arm 26. Both ends are provided with cylindrical protrusions for connection, the cylindrical protrusion at the upper end is used to cooperate with the circular hole on the clamping jaw fixing frame 28, and the cylindrical protrusion at the lower end is used to cooperate with the circular hole in the middle of the active clamping jaw arm 26; the driven clamping jaw gear 29 is mounted on the clamping jaw fixing frame 28, and is engaged with the active clamping jaw gear 25. The rotation of the active clamping jaw gear 25 drives the rotation of the driven clamping jaw gear 29. The driven clamping jaw gear 29 has a short arm II extending therefrom, and the short arm II is connected to the driven clamping jaw arm 31. One end of the short arm II is left with a A cylindrical protrusion for connecting to the driven clamp arm 31; the inner side of the lower end of the driven clamp arm 31 is a rough surface with a groove, and a circular hole is reserved at the upper end for connecting to the short arm II of the driven clamp gear 29, and a circular hole is reserved in the middle of the driven clamp arm 31 for connecting to the driven connecting rod 30. The upper and lower ends of the driven connecting rod 30 have cylindrical protrusions for connection, the cylindrical protrusion at the upper end is used to cooperate with the circular hole on the clamp fixing frame 28, and the cylindrical protrusion at the lower end is used to cooperate with the circular hole in the middle of the driven clamp arm 31.

[0047] like Figures 9 to 11As shown, the pepper seedling separation system includes an intermittent mechanism and a chute. The chute is installed below the clamping mechanism of the pepper seedling clamping system with a certain distance. The intermittent mechanism is installed inside the upper frame and is located below the chute with a certain distance. The intermittent mechanism includes a cylindrical pin 78, a groove wheel 79, a stepper motor IV76, an upper disc 70 and a lower disc 71. The groove wheel 79 is fixed to the lower surface of the upper disc 70 and cooperates with the cylindrical pin 78 through the groove structure on the surface. The cylindrical pin 78 is connected to the rotating shaft of the stepper motor 76 IV and is located between the upper disc 70 and the lower disc 71. The stepper motor IV76 is installed on the lower surface of the middle plate 14. The rotating shaft of the stepper motor IV76 passes through the holes on the middle plate 14 and the lower disc in turn and is connected to the cylindrical pin 78. The rotation of the rotating shaft of the stepper motor IV76 drives the rotation of the cylindrical pin 78. The cylindrical pin 78 cooperates with the groove wheel 79 to drive the upper disc 70 connected to the groove wheel 79 to rotate unidirectionally with pauses; the upper disc 70 has 10 identical cylindrical through holes evenly distributed around the circumference, and a movable baffle 77 is hinged at each cylindrical through hole on the lower surface of the upper disc 70, and a rectangular protrusion is left next to the cylindrical through hole, and a cylindrical through hole is provided on the side of the protrusion for connection with the movable baffle 77. The lower disc 71 has two through slots symmetrically distributed, which are slightly larger than the movable baffle 77, so that the movable baffle 77 above the through slot can fall naturally under the action of gravity.

[0048] like Figure 9 As shown, there are four chutes, each of which includes an upper chute and a lower chute. The inner walls of the upper chutes 66, 68, 74, and 73 have a certain inclination angle and are funnel-shaped. The lower chutes 67, 69, 75, and 72 are U-shaped chutes, and the lower ends of the four U-shaped chutes are respectively located above the four cylindrical through holes of the upper disc 70; the movable baffle 77 is a circular movable baffle, and has two rectangular protrusions at one end, and each side of the rectangular protrusion has a cylindrical through hole for connecting with the cylindrical through hole on the lower surface of the upper disc 70.

[0049] like Figure 12As shown, the pepper seedling lowering system has two lowering units, and the two lowering units are symmetrically mounted on the left and right side panels of the frame body. Each lowering unit includes a reciprocating lowering mechanism and a seedling mechanism. The reciprocating lowering mechanism is mounted on the side panel of the lower frame. The seedling mechanism is mounted on the slider V81 of the reciprocating lowering mechanism and is located inside the lower frame. The reciprocating lowering mechanism includes a disc crank 86, a slide connecting rod 82 and a stepping motor V. The two up and down sliding mechanisms are symmetrically mounted on the inner side of the side panel of the lower frame. Each up and down sliding mechanism includes a slide rail V80 and a slider V81. The slide rail V81 is vertically mounted on the side panel of the lower frame. The slider V81 is mounted on the slide rail V80 and can move linearly up and down along the slide rail V80. The upper surface of the slider V81 has a connecting hole for connecting with the slide connecting rod 82; the two The two slide rails V80 are located on the front and rear sides of the disc crank 86; the disc crank 86 is located on the inner side of the side plate of the lower frame and below the middle plate 14. A connection hole for connecting with the stepper motors V97 and 98 is opened at the center of the disc crank; the stepper motors V97 and 98 are installed on the outer sides of the side plates 7 and 15 of the lower frame, and the output shafts of the stepper motors V97 and 98 pass through the circular holes on the side plates 7 and 15 respectively to connect with the disc crank 86; the front and rear sides of the slide connecting rod 82 are connected to the disc crank 86. The ends are respectively connected to the sliders V80 of the two upper and lower sliding mechanisms. The disc crank 86 is cylindrical as a whole, and a cylindrical roller 87 is provided near the edge of the upper surface. A sliding space is provided in the middle of the chute connecting rod 82. The sliding space cooperates with the cylindrical roller 87 of the disc crank 86. The upper and lower surfaces of the sliding space are in line contact with the cylindrical roller 87, so that the rotation of the disc crank 86 drives the cylindrical roller 87 to slide back and forth linearly relative to the sliding space of the chute connecting rod 82. The front and rear ends of the rod 82 have holes for connecting with the slider V80; the rotation of the output shafts of the stepper motors V97 and 98 drives the rotation of the disc crank 86, and the cylindrical roller 87 on the disc crank 86 makes a circular motion, causing the cylindrical roller 87 to make a reciprocating linear motion in the sliding space of the connecting rod. Since the vertical position of the cylindrical roller 87 on the disc crank 86 changes periodically, and under the constraints of the sliders V81 on the left and right sides, the slide connecting rod 82 makes a vertical up and down reciprocating periodic motion.

[0050] The seedling mechanism includes a steering engine II 83, a long connecting rod 89, two seedling lowering funnel arms 84 and a seedling lowering funnel. The seedling lowering funnel is vertically divided into two half funnels 85. The steering engine II 83 is installed on the chute connecting rod 82 of the reciprocating falling mechanism. The rotating shaft of the steering engine II 83 passes through the plane from which the chute connecting rod 82 extends and is connected to the middle part of the long connecting rod 89, so that the rotation of the rotating shaft of the steering engine II 83 drives the rotation of the long connecting rod 89; the two ends of the long connecting rod 89 are respectively connected to one end of the corresponding seedling lowering funnel arm 84 through a short connecting rod 88, and the other end of the seedling lowering funnel arm 84 is connected to the corresponding half funnel 85. The two ends of the long connecting rod 89 are provided with cylindrical protrusions , used to connect with the circular hole of the short connecting rod 88; both ends of the short connecting rod 88 have cylindrical through holes, the through hole at one end is used to connect with the long connecting rod 89, and the through hole at the other end is used to connect with the lower seedling funnel arm 84; one end of the lower seedling funnel arm 84 has an inverted trapezoidal groove, which can be engaged with the trapezoidal groove on the lower side of the plane from which the slide connecting rod 82 of the reciprocating falling mechanism extends, and the other end of the lower seedling funnel arm 84 is fixed to the half funnel 85; the lower seedling funnel is a cone as a whole, and is connected to the lower seedling funnel arm 84 at one-third of the distance from the upper end. The rotation of the servo II 83 ultimately drives the horizontal movement of the lower seedling funnel, thereby realizing the opening and closing of the lower seedling funnel.

[0051] like Figure 13 As shown, the covering mechanism includes two covering units, which correspond to the two lower seedling units one by one. Each covering unit includes two covering wheels 91, 92 and a mounting frame 90. The upper end of the mounting frame 90 is fixed on the rear side of the lower frame and fixed below the horizontal 5050 aluminum profile 6; the two covering wheels 91, 92 are installed at 90 degrees at the lower end of the mounting frame 90.

[0052] The working process of the present utility model is as follows: the user places the seedling pot 93 with the pepper seedlings on the fixed position of the upper plate 2, presses the switch, and the two stepper motors Ⅰ63 and 57 of the horizontal moving mechanism move synchronously, driving the vertical moving mechanism and the clamping mechanism to move horizontally, so that the clamping claws of the clamping mechanism are aligned with the pepper seedlings in the first row of the seedling tray 93, and the stepper motor Ⅲ35 of the cam groove equidistant mechanism also starts to move until the four clamping claws are aligned with each pepper seedling in the first row of the seedling tray 93, and then the two stepper motors Ⅱ45 and 58 of the vertical moving mechanism move synchronously, driving the clamping claw mechanism and the cam groove equidistant mechanism to move vertically downward. After descending to the fixed position, the four servos Ⅰ32 of the clamping claw mechanism start to rotate, driving the active clamping claw arm 26 and the driven The clamping arms 31 approach each other and clamp the stems of the pepper seedlings. Then the two stepper motors II45 and 58 of the vertical moving mechanism move synchronously in opposite directions, driving the clamping mechanism and the cam slot equidistant mechanism to move vertically upward until the roots of the pepper seedlings exceed the highest point of the seedling pot. While the two stepper motors I63 and 57 of the horizontal moving mechanism move synchronously, the stepper motor III35 of the cam slot equidistant mechanism also starts to move, so that the four clamping jaws of the clamping mechanism are respectively aligned with the center of the upper chutes 66, 68, 74, and 73 of the pepper seedling tray system. Then the servo I32 of the clamping mechanism rotates in the opposite direction, the active clamping arm 26 and the driven clamping arm 31 move away from each other, and the four pepper seedlings fall into the corresponding four upper chutes 66, 68, 74, and 73 respectively. Due to the gravity of the pepper seedlings themselves, they are guided to the corresponding positions by the sliding grooves 67, 69, 75, and 72, and then fall into the cylindrical through holes of the upper disc 70 at the corresponding positions. Due to the obstruction of the movable baffle 77 between the upper disc 70 and the lower disc 71, the pepper seedlings that fall into the cylindrical through holes will temporarily remain on the upper disc 70. The intermittent mechanism of the pepper seedling separation system causes the upper disc 70 to rotate unidirectionally with pauses under the rotation of the stepping motor IV 76. During the intermittent rotation of the upper disc 70 in one direction, when the pepper seedlings are above the through slots of the lower disc 71, the movable baffle 77 falls into the through slots due to gravity, and the pepper seedlings pass through the through slots of the lower disc 71 and fall into the closed lower seedling funnel. The lower seedling funnel containing the pepper seedlings is in the reciprocating falling mechanism. Stepper motors V97 and 98 rotate to move vertically downward. When the seedling funnel 85 drops to the lowest point, the servo II 83 of the seedling mechanism rotates to open the seedling funnel. While the seedling funnel stretches the surrounding soil, the pepper seedlings inside fall into the stretched soil. Then the stepper motors V97 and 98 of the reciprocating falling mechanism continue to rotate, driving the seedling funnel to move vertically upward to the highest point. The servo II 83 of the seedling mechanism rotates in the opposite direction, causing the seedling funnel to close again, waiting for the next pepper seedling. The DC reduction motor 10 of the walking system starts to move, causing the device to move forward. The covering wheels 91 and 92 of the covering mechanism at the rear end of the frame body flatten the soil around the pepper seedlings that have just been planted to ensure the stability of the pepper seedling roots.

[0053] This utility model is simple to operate, easy to use, and highly efficient. Currently, the scale of transplanting peppers and other vegetables in my country is on the rise. This utility model can effectively improve the efficiency of pepper seedling transplanting and is highly practical. It also improves the continuous process from seedling pots to completed planting, improving the continuity of pepper seedling transplanting. It has a wide range of applications and can accommodate seedling pots of different sizes. Its overall structure is simple, compact, and inexpensive, meeting the needs of most pepper farmers. Furthermore, this utility model also has the potential to generate more possibilities, such as adapting to other vegetable seedlings by adjusting the spacing of the device's seedling lowering mechanism, thus showing great development potential.

[0054] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. The structure described in the specification and drawings of the present invention, directly or indirectly applied to other related technical fields, should be included in the patent protection scope of the present invention.

Claims

1. An automatic pepper seedling transplanter, characterized by: It includes a frame body, a pepper seedling clamping system, a pepper seedling separation system, a pepper seedling lowering system, a walking system, a soil covering mechanism, a seedling raising tray and a main control board, wherein the pepper seedling clamping system, the pepper seedling separation system, the pepper seedling lowering system and the walking system are all connected to the main control board; The frame body includes an upper frame, a lower frame, an upper plate, a middle plate and left and right side plates, the upper plate is installed at the rear of the upper frame, the middle plate is located below the upper plate and is installed on the lower frame, the left and right side plates are located below the middle plate and are installed on the left and right sides of the lower frame; the pepper seedling clamping system is installed on the upper plate, the pepper seedling tray system is installed on the middle plate and is located in the upper frame; the pepper seedling lowering system is installed on the inner sides of the left and right side plates and is located in the lower frame; the soil covering mechanism is installed on the rear side of the lower frame; the seedling tray is placed in the center of the upper plate; the walking system is installed at the bottom of the frame body; The pepper seedling clamping system includes a horizontal moving mechanism, a vertical moving mechanism, a cam groove equidistant mechanism and a clamping mechanism, wherein the horizontal moving mechanism is mounted on the upper plate, the vertical moving mechanism is mounted on the horizontal moving mechanism, the cam groove equidistant mechanism is mounted on the vertical moving mechanism, and the clamping mechanism is located above the upper plate and is mounted below the distance-varying mechanism. The pepper seedling tray separation system includes an intermittent mechanism and a chute. The chute is installed below the clamping mechanism of the pepper seedling clamping system and leaves a certain distance. The intermittent mechanism is installed inside the upper frame and is located below the chute and leaves a certain distance. The pepper seedling planting system includes two seedling planting units, which are symmetrically installed on the left and right side panels of the frame body. Each seedling planting unit includes a reciprocating falling mechanism and a seedling mechanism. The reciprocating falling mechanism is installed on the side panel of the lower frame, and the seedling mechanism is installed on the slider V of the reciprocating falling mechanism and is located inside the lower frame.

2. The automatic pepper seedling transplanter according to claim 1, characterized in that: The horizontal movement mechanism includes two sets of screw slider guide rail groups I, which are symmetrically installed on the left and right sides of the upper plate. Each set of screw slider guide rail groups I includes a screw rod I, a screw rod nut I, a slider I, a slide rail I and a stepper motor I. The screw rod I is arranged front to back and is rotatably installed on the upper plate. The output shaft of the stepper motor I is connected to the screw rod I through a coupling. The slide rail I is arranged below the screw rod I, and the slider I is installed at the bottom of the screw rod nut I. The slider I and the slide rail I cooperate to form a front and back sliding pair. The vertical moving mechanism includes two groups of screw slider guide rail groups II, and the two groups of screw slider guide rail groups II are respectively installed on the screw nut I of the horizontal moving mechanism through a vertical rod. Each group of screw slider guide rail group II includes a screw rod II, a screw nut II, a slider II, a slide rail II and a stepper motor II. The screw rod II is arranged up and down and is rotatably installed on the vertical rod. The output shaft of the stepper motor II is connected to the screw rod II through a coupling. The slide rail II is set and installed on the vertical rod. The slider II is installed at the bottom of the screw nut II, and the slider II cooperates with the slide rail II to form an upper and lower sliding pair; the cam groove equidistant mechanism is installed on the screw nut II of the two groups of screw slider guide rail groups II through a cross bar.

3. The automatic pepper seedling transplanter according to claim 1 or 2, characterized in that: The cam groove equidistant mechanism includes a fixed plate, a horizontal limit slide rail, four sliders IV, four limit rods, a cam limit slot plate, an active screw slider guide rail group and a driven screw slider guide rail group. The fixed plate is installed on the cross bar, the horizontal limit slide rail is installed on the fixed plate, and the slider IV can be installed on the horizontal limit slide rail so as to slide horizontally left and right. The driven screw slider guide rail group and the active screw slider guide rail group are respectively located on the left and right sides of the fixed plate and are vertically installed on the cross bar; the rear side of the upper end of each limit rod is connected to the corresponding slider IV, the cam limit slot plate is located on the front side of the limit rod, and its left and right ends are respectively connected to the front sides of the slider connectors of the driven screw slider guide rail group and the active screw slider guide rail group through the cam limit slot plate connector, and the rear side of the slider connector is connected to the screw nut of the corresponding screw slider guide rail group; The cam limit slot plate is provided with four symmetrically distributed guide limit slots, and the front side of the upper part of each limit rod is provided with a cylindrical cam that cooperates with the guide limit slot on the cam limit slot plate, so that the limit rod can move horizontally at equal intervals according to the inclination dimensions of the four symmetrically distributed guide limit slots under the limitation of the cam limit slot plates and the horizontal limit slide rails on the front and rear sides.

4. The automatic pepper seedling transplanter according to claim 1 or 2, characterized in that: The clamping mechanism includes four clamping jaws, which are respectively mounted on the lower ends of the corresponding limit rods of the cam groove equidistant mechanism. Each clamping jaw includes a clamping jaw fixing frame, an active clamping jaw gear, a driven clamping jaw gear, a steering gear I, an active connecting rod, a driven connecting rod, an active clamping jaw arm and a driven clamping jaw arm. The clamping jaw fixing frame is mounted on the lower end of the corresponding limit rod, the steering gear I is mounted on the rear side of the clamping jaw fixing frame, and the rotating shaft of the steering gear I passes through the circular hole on the clamping jaw fixing frame and is connected to the active clamping jaw gear. The active clamping jaw gear is provided with a protruding short arm I, and the short arm Ⅰ is connected to the active clamping jaw arm, the inner side of the lower end of the active clamping jaw arm is a rough surface with a groove, and the upper and lower ends of the active connecting rod are respectively hinged to the clamp fixing frame and the middle part of the active clamping jaw arm; the driven clamping jaw gear is installed on the clamp fixing frame, and it is engaged with the active clamping jaw gear, and the driven clamping jaw gear is provided with a protruding short arm Ⅱ, and the short arm Ⅱ is connected to the driven clamping jaw arm; the inner side of the lower end of the driven clamping jaw arm is a rough surface with a groove, and the upper and lower ends of the driven connecting rod are respectively hinged to the clamp fixing frame and the middle part of the driven clamping jaw arm.

5. The automatic pepper seedling transplanter according to claim 1 or 2, characterized in that: The intermittent mechanism includes a cylindrical pin, a groove wheel, a stepper motor IV, an upper disc and a lower disc, the cylindrical pin is located between the upper disc and the lower disc, the stepper motor IV is installed on the lower surface of the middle plate, the rotating shaft of the stepper motor IV passes through the middle plate, the lower disc and is connected to the cylindrical pin in sequence, the groove wheel is fixed to the lower surface of the upper disc and cooperates with the cylindrical pin through the groove structure on the surface, the rotation of the rotating shaft of the stepper motor IV drives the rotation of the cylindrical pin, and under the cooperation of the cylindrical pin and the groove wheel, the upper disc connected to the groove wheel is driven to rotate unidirectionally with pauses; the upper disc has 10 identical cylindrical through holes evenly distributed around the circumference, and a movable baffle is hinged at each cylindrical through hole on the lower surface of the upper disc, and the lower disc has two through slots symmetrically distributed, the size of which is slightly larger than the movable baffle, so that the movable baffle above the through slot can fall naturally under the action of gravity; There are four chutes, each of which includes an upper chute and a lower chute. The inner wall of the upper chute has a certain inclination angle and is funnel-shaped. The lower chute is a U-shaped chute, and the lower end of the U-shaped chute is located above the cylindrical through hole of the upper disc.

6. The automatic pepper seedling transplanter according to claim 1 or 2, characterized in that: The reciprocating falling mechanism includes a disc crank, a slide connecting rod, two up and down sliding mechanisms, and a stepper motor V. The two up and down sliding mechanisms are symmetrically installed on the inner side of the side plate of the lower frame in front and back directions. The disc crank is arranged between the two up and down sliding mechanisms; each up and down sliding mechanism includes a slide rail V and a slider V. The slide rail V is vertically installed on the side plate of the lower frame. The slider V is installed on the slide rail V and can move linearly up and down along the slide rail V. The stepper motor V is installed on the outer side of the side plate of the lower frame. The output shaft of the stepping motor V passes through the circular hole on the side plate and is connected to the disc crank. The front and rear ends of the slide connecting rod are respectively connected to the sliders V of the two upper and lower sliding mechanisms. A cylindrical roller is provided on the upper surface of the disc crank near the edge. A sliding space is provided in the middle of the slide connecting rod. The sliding space cooperates with the cylindrical roller of the disc crank. The upper and lower surfaces of the sliding space are in line contact with the cylindrical roller, so that the rotation of the disc crank drives the cylindrical roller to slide back and forth linearly relative to the sliding space of the slide connecting rod.

7. The automatic pepper seedling transplanter according to claim 1 or 2, characterized in that: The seedling mechanism includes a servo II, a long connecting rod, two seedling lowering funnel arms and a seedling lowering funnel. The seedling lowering funnel is vertically divided into two half funnels. The servo II is installed on the slide connecting rod of the reciprocating falling mechanism. The rotating shaft of the servo II passes through the plane extended by the slide connecting rod and is connected to the middle part of the long connecting rod. The two ends of the long connecting rod are respectively connected to one end of the corresponding seedling lowering funnel arm through a short connecting rod, and the other end of the seedling lowering funnel arm is fixedly connected to the corresponding half funnel. One end of the seedling lowering funnel arm has an inverted trapezoidal groove, which can be engaged with the trapezoidal groove on the lower side of the plane extended by the slide connecting rod of the reciprocating falling mechanism. The seedling lowering funnel is a cone as a whole. The rotation of the servo II eventually drives the horizontal movement of the seedling lowering funnel to realize the opening and closing of the seedling lowering funnel.

8. The automatic pepper seedling transplanter according to claim 1 or 2, characterized in that: The covering mechanism includes two covering units, which correspond to the two lower seedling units one by one. Each covering unit includes two covering wheels and a mounting frame. The upper end of the mounting frame is fixed on the rear side of the lower frame, and the two covering wheels are mounted at 90 degrees on the lower end of the mounting frame.

9. The automatic pepper seedling transplanter according to claim 1 or 2, characterized in that: The walking system includes four DC reduction motors, four wheels and four couplings. The four DC reduction motors are respectively installed at the lower ends of four vertical 5050 aluminum profiles of the frame body, and the output shafts of the DC reduction motors are connected to the corresponding wheels through the couplings.

10. The automatic pepper seedling transplanter according to claim 1 or 2, characterized in that: The main control board is connected to the mobile phone APP via a Bluetooth module.

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