Automatic tray supplying, seedling feeding, seedling taking and seedling dropping device of plug seedling transplanter

Abstract

The utility model discloses an automatic tray-supplying, seedling-feeding, seedling-taking and seedling-throwing device of a plug seedling transplanter, which is characterized in that a vertically-penetrating seedling outlet is arranged on the outlet side of a seedling-feeding device, a seedling-taking device is arranged above the seedling outlet, a seedling-throwing device is arranged below the seedling outlet, a tray-supplying device is arranged on the inlet side of the tray-feeding device, and independent valves are arranged at a plurality of seedling-throwing openings below the seedling-throwing device. Cam wheels with equal phase angle intervals are used for controlling sequential circulation opening and closing, a plug tray collecting frame is arranged on the front side of the seedling throwing device, a control cabinet is arranged above the plug tray collecting frame, and a pneumatic and electrical control system hardware part is arranged in the control cabinet. According to the working principle of'orderly tray supply, intermittent seedling feeding, half-row interval seedling taking and time sequence seedling putting ', automatic operation of tray supply, seedling feeding, seedling taking and seedling putting processes is achieved in a time sequence mode, staggered comb tooth type connection is designed at the connection edge of a tray of the tray supply device and a bottom plate of the seedling feeding device, and the reliability of tray supply operation is improved; the cams at equal phase angle intervals control sequential cycle opening and closing of seedling throwing opening valves, and the reliability of seedling throwing operation is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of plug seedling transplanting equipment, especially a kind of plug seedling transplanting machine automatic disc feeding seedling taking device. BACKGROUND

[0002] Mechanized transplanting equipment is the key to reduce labor intensity, improve work efficiency and reduce production cost. As the core technology of automatic transplanting machine, the research and development of disc feeding device and seedling taking and throwing mechanism has always been the bottleneck restricting the development of automatic transplanting machine. At present, the research of seedling taking and throwing mechanism of domestic full-automatic vegetable transplanting machine has achieved phased results, but there are still problems of low reliability and stability in transplanting operation. For example, the Chinese invention patent with the announcement number CN113228897A discloses "a kind of automatic disc feeding high-speed seedling taking and throwing device of plug seedling automatic transplanting machine". In the process of orderly disc feeding, the tray reaches the disc feeding position with error, which leads to the bottomless plug tray unable to be pushed into the seedling feeding bottom plate, thereby reducing the reliability of disc feeding operation. In addition, the timing cooperation of seedling throwing process and subsequent seedling receiving process of planting mechanism is poor, which is easy to cause missing planting or re-planting. UTILITY MODEL CONTENT

[0003] In order to improve the reliability and stability of disc feeding and seedling taking and throwing operation, which can be applied to full-automatic transplanting machine for operation, the utility model provides an automatic seedling taking and throwing device for plug seedling transplanting machine with orderly disc feeding, which integrates plug tray storage, automatic disc feeding, seedling feeding, seedling taking and throwing operation.

[0004] The technical scheme adopted by the utility model to solve its technical problems is: an automatic disc feeding, seedling feeding, seedling taking and throwing device for plug seedling transplanting machine, comprising a rack, a disc feeding device, a seedling feeding device, a seedling throwing device, a plug tray collecting rack control cabinet and a seedling taking device; the rack is in the form of a rectangular frame structure, the seedling feeding device outlet side is provided with an up-down through seedling outlet, the seedling taking device is arranged above the seedling outlet, and the seedling throwing device is arranged below the seedling outlet; the plug tray collecting rack is arranged at the front side of the seedling throwing device, and the control cabinet is arranged above the plug tray collecting rack; the control cabinet is internally provided with a pneumatic and electrical control system hardware part; characterized in that: the disc feeding device is arranged at the inlet side of the seedling feeding device; the front end of the tray of the disc feeding device is in a staggered comb tooth embedded type connection with the inlet side of the seedling feeding bottom plate of the seedling feeding device; the multiple seedling throwing outlets below the seedling throwing device are provided with flappers, which are cyclically opened and closed according to the phase angle interval seedling throwing control cam and spring control timing, and the plug seedlings are sequentially thrown according to the working principle of "orderly disc feeding, intermittent seedling feeding, half-row interval seedling taking and timing seedling throwing", so as to realize automatic operation of disc feeding, seedling feeding, seedling taking and throwing process, continuously throw the plug seedlings into the subsequent planting unit according to timing, and complete the planting operation.

[0005] The automatic tray feeding, seedling feeding, seedling taking and seedling throwing device of the plug seedling transplanting machine needs to be matched with a bottomless plug, which is derived from an embodiment of the bottomless plug described in the invention patent with the application number 202411821967.6 and the name "A pneumatic downward pressing type full-automatic high-speed transplanting machine". The hole is vertically through, the hole shape is rectangular, regular polygon or circular, and has a taper of small upper and large lower along the hole axis to prevent the plug seedling inside from falling off under the action of gravity.

[0006] The automatic tray feeding, seedling feeding, seedling taking and seedling throwing device of the plug seedling transplanting machine, the tray feeding device is derived from an improved embodiment of the tray feeding device described in the invention patent with the application number 202110196721.4 and the name "An automatic tray feeding, high-speed seedling taking and throwing device of an automatic plug seedling transplanting machine". The tray feeding device includes a tray rail frame, a tray feeding motor, a tray feeding driving sprocket, a plurality of trays, a hanging line, a tray feeding chain, a guide positioning bearing, a tray feeding cylinder and a tray feeding driven sprocket. The two sides of each tray are provided with four guide positioning bearings arranged in a rectangular shape to constrain the tray to be in a horizontal posture and vertically movable in the tray rail frame. The plurality of trays are connected in series by the hanging line to form a flexible layer frame structure in parallel and at equal distances. The two sides of the uppermost tray are connected to the tray feeding chain. The front edges of the trays are uniformly provided with comb-shaped rectangular grooves with consistent depth and uniform spacing. The tray feeding cylinder is installed directly behind the tray feeding position.

[0007] The automatic tray feeding, seedling feeding, seedling taking and seedling throwing device of the plug seedling transplanting machine, the seedling feeding device is derived from an improved embodiment of the seedling feeding device described in the invention patent with the application number 202110196721.4 and the name "An automatic tray feeding, high-speed seedling taking and throwing device of an automatic plug seedling transplanting machine". The seedling feeding device includes a seedling feeding sprocket shaft, a plurality of seedling feeding levers, a seedling feeding motor, a seedling feeding bottom plate and a seedling feeding chain. The seedling feeding bottom plate has a rectangular hollow seedling outlet directly below the M E-shaped seedling lifting heads and the M ∃-shaped seedling lifting heads of the seedling taking device. The rear side of the seedling feeding bottom plate is the entrance side, which is flush with the tray feeding position of the tray feeding device. The entrance side edge of the seedling feeding bottom plate is uniformly provided with comb-shaped rectangular teeth with consistent depth and uniform spacing. The width of the comb-shaped rectangular teeth is less than the width of the rectangular grooves at the front end of the tray. The comb-shaped rectangular teeth can be horizontally and vertically inserted into the rectangular grooves of the tray to form a misaligned comb-shaped connection, which can reduce the difficulty and precision requirement of pushing the tray to the tray feeding position. Specifically, during the orderly tray feeding process, when the actual tray feeding position is lower than the theoretical tray feeding position of the seedling feeding bottom plate, the front end of the bottomless plug on the tray has already been placed on the rectangular teeth at the entrance of the seedling feeding bottom plate, and the tray can still be smoothly fed into the seedling feeding bottom plate, avoiding the problem that the bottomless plug cannot be pushed into the seedling feeding bottom plate due to the negative deviation of the tray from the tray feeding position, and improving the reliability of the tray feeding operation.

[0008] The automatic tray feeding, seedling feeding and taking device of the plug seedling transplanting machine is an improved embodiment of the taking device in the invention patent with the application number 202110196721.4 and the title of "Automatic tray feeding and high-speed seedling taking and feeding device of automatic plug seedling transplanting machine". The taking device comprises a cylinder mounting plate, a seedling taking cylinder, an E-shaped seedling lifting device and an ∃-shaped seedling lifting device. The E-shaped seedling lifting device is provided with M E-shaped seedling lifting heads below, and the ∃-shaped seedling lifting device is provided with M ∃-shaped seedling lifting heads below. The lateral spacing between adjacent seedling lifting heads of the same seedling lifting device is twice the spacing between the holes. The seedling lifting heads of the E-shaped seedling lifting device and the ∃-shaped seedling lifting device can be connected in a staggered comb tooth mode. After connection, the lateral spacing between adjacent seedling lifting heads of different seedling lifting devices is equal to the spacing between the holes. The M E-shaped seedling lifting heads of the E-shaped seedling lifting device correspond to the center lines of the seedling taking positions of the odd-numbered column holes of the bottomless plug tray, and the seedlings in the odd-numbered column holes of the bottomless plug tray are taken by pressing down. The M ∃-shaped seedling lifting heads of the ∃-shaped seedling lifting device correspond to the center lines of the seedling taking positions of the even-numbered column holes of the bottomless plug tray, and the seedlings in the even-numbered column holes of the bottomless plug tray are taken by pressing down.

[0009] The automatic tray feeding, seedling feeding and taking device of the plug seedling transplanting machine is an improved embodiment of the taking device in the invention patent with the application number 202110196721.4 and the title of "Automatic tray feeding and high-speed seedling taking and feeding device of automatic plug seedling transplanting machine". The taking device comprises a cylinder mounting plate, a seedling taking cylinder, an E-shaped seedling lifting device and an ∃-shaped seedling lifting device. The E-shaped seedling lifting device is provided with M E-shaped seedling lifting heads below, and the ∃-shaped seedling lifting device is provided with M ∃-shaped seedling lifting heads below. The lateral spacing between adjacent seedling lifting heads of the same seedling lifting device is twice the spacing between the holes. The seedling lifting heads of the E-shaped seedling lifting device and the ∃-shaped seedling lifting device can be connected in a staggered comb tooth mode. After connection, the lateral spacing between adjacent seedling lifting heads of different seedling lifting devices is equal to the spacing between the holes. The M E-shaped seedling lifting heads of the E-shaped seedling lifting device correspond to the center lines of the seedling taking positions of the odd-numbered column holes of the bottomless plug tray, and the seedlings in the odd-numbered column holes of the bottomless plug tray are taken by pressing down. The M ∃-shaped seedling lifting heads of the ∃-shaped seedling lifting device correspond to the center lines of the seedling taking positions of the even-numbered column holes of the bottomless plug tray, and the seedlings in the even-numbered column holes of the bottomless plug tray are taken by pressing down.

[0010] The timing seedling feeding principle is that the convex part of the seedling feeding control cam contacts the roller to overcome the spring force and close the valve. When the concave part of the seedling feeding control cam contacts the roller, the spring force opens the valve. The continuous rotation of the seedling feeding control cam and the cooperation with the spring control the timing opening and closing cycle of the valve.

[0011] The principle of planting time or planting timing is explained as follows: when the seedling receiving part of the subsequent planting unit moves to the advanced position below the flap, the planting control cam recess part contacts the roller, the spring opens the flap, and the plug tray seedling falls into the seedling receiving part of the planting unit; when the seedling receiving part of the planting unit is away from below the flap after receiving the seedling, the planting control cam convex part contacts the roller, overcomes the spring force to close the flap.

[0012] The automatic plug tray feeding, seedling taking and planting device of the plug tray seedling transplanting machine has the following advantages: the hardware part of the control system is mainly installed in the control cabinet, and includes a power supply, control buttons, a microcontroller, an optocoupler relay drive module, a seedling taking cylinder electromagnetic valve, a plug tray feeding cylinder electromagnetic valve, a pressure reducing valve, a bus plate and a voltage reducing module; the control system further includes a tray reset sensor, a plug tray position sensor, a tray disengagement sensor, an encoder, a seedling taking position sensor and a seedling planting state sensor, which are installed in the plug tray feeding device, the seedling feeding device and the seedling planting device, and detect corresponding signals and input the signals into the control system.

[0013] The plug tray and the seedling feeding bottom plate are designed as staggered comb tooth type connection at the connection position of the plug tray and the seedling feeding bottom plate in the plug tray feeding device, so that the plug tray operation reliability is improved. One cylinder is used to take the seedlings in half rows, so that the seedling taking device is more convenient. Multiple flaps are designed at the outlet of the seedling planting device, and the flaps are opened and closed in a time sequence, so that the time sequence planting operation reliability and stability are improved. BRIEF DESCRIPTION OF DRAWINGS

[0014] The utility model discloses the following drawings:

[0015] Figure 1 It is a kind of plug tray seedling transplanting machine automatic plug tray feeding, seedling taking and planting device left and right two isogonal view;

[0016] Figure 2 It is a kind of plug tray seedling transplanting machine automatic plug tray feeding, seedling taking and planting device side view;

[0017] Figure 3 It is automatic plug tray principle schematic diagram;

[0018] Figure 4 It is tray and seedling feeding bottom plate connection structure schematic diagram;

[0019] Figure 5 It is seedling taking device isogonal view;

[0020] Figure 6 (a) is seedling feeding, seedling taking principle front view;

[0021] Figure 6 (b) is the sectional view along A-A line of figure 6 (a);

[0022] Figure 7 It is seedling planting device isogonal view;

[0023] Figure 8 The control system hardware composition connection diagram.

[0024] The figure marks are:

[0025] In the figure: 1. frame, 2. tray feeding device, 3. seedling feeding device, 4. seedling throwing device, 5. plug tray collecting frame, 6. control cabinet, 7. seedling taking device, 201. tray rail frame, 202. tray feeding motor, 203. tray feeding driving sprocket, 204. tray, 205. wire, 206. tray feeding chain, 207. guide positioning bearing, 208. tray feeding cylinder, 209. tray feeding driven sprocket, 301. seedling feeding sprocket shaft, 302. seedling feeding push rod, 303. seedling feeding motor, 304. seedling feeding bottom plate, 305. seedling feeding chain, 401. seedling throwing hopper, 402. seedling throwing timing shaft, 403. seedling throwing control cam, 404. adjustable timing driven sprocket, 405. mounting seat, 406. spring seat, 407. roller, 408. spring, 409. spring fixing rod, 410. hinge, 411. valve, 412. seedling throwing state sensor, 413. seedling throwing cavity, 701. cylinder mounting plate, 702. seedling taking cylinder, 703. E-shaped seedling lifting device, 704. ∃-shaped seedling lifting device, 40301. seedling throwing control cam convex part, 40302. seedling throwing control cam concave part, 70202. No. 1 seedling taking cylinder, 70202. No. 2 seedling taking cylinder, 70301. E-shaped seedling lifting device lifting head, 70401. ∃-shaped seedling lifting device lifting head, 901. bottomless plug tray, 902. plug seedling. DETAILED DESCRIPTION

[0026] Example 1

[0027] An automatic plug seedling feeding, feeding, taking and throwing device of plug seedling transplanting machine comprises a frame 1, a tray feeding device 2, a seedling feeding device 3, a seedling throwing device 4, a plug tray collecting frame 5, a control cabinet 6 and a seedling taking device 7. The frame 1 is a rectangular frame structure. The seedling feeding device 3 is provided with an up-down through seedling outlet on the outlet side. The seedling taking device 7 is arranged above the seedling outlet. The seedling throwing device 4 is arranged below the seedling taking device 7. The plug tray collecting frame 5 is arranged on the front side of the seedling throwing device 4. The control cabinet 6 is arranged above the plug tray collecting frame 5. The control cabinet 6 is internally provided with a pneumatic and electrical control system hardware part. The seedling feeding device 3 is provided with the tray feeding device 2 on the inlet side. The front end of the tray 204 of the tray feeding device 2 is in a staggered comb tooth embedded type connection with the inlet side of the seedling feeding bottom plate 304 of the seedling feeding device 3. The seedling throwing device 4 is provided with a plurality of seedling throwing openings with valves 411 below. The seedling throwing openings are controlled by the seedling throwing control cam 403 and the spring 408 with equal phase angle interval to realize the time sequence cycle opening and closing. The plug seedling 902 is sequentially thrown according to the working principle of "ordered tray feeding, intermittent seedling feeding, half-row interval seedling taking and time sequence seedling throwing". The automatic operation of the tray feeding, seedling feeding, seedling taking and seedling throwing process is realized. The plug seedling 902 is sequentially thrown into the subsequent planting unit to complete the planting operation.

[0028] The tray supply device 2 comprises a tray track frame 201, a tray motor 202, a tray driving sprocket 203, a plurality of trays 204, a hanging line 205, a tray chain 206, a guide positioning bearing 207, a tray cylinder 208, a tray driven sprocket 209; each of the two sides of the tray 204 is provided with four guide positioning bearings 207 arranged in a rectangle, which constrain the tray 204 to be in a horizontal posture in the tray track frame 201 and can be vertically moved up and down, a plurality of the trays 204 are connected in series by the hanging line 205 into a flexible shelf type structure with equal distance and parallel, the uppermost tray 204 is connected on the tray chain 206 on both sides, the front end edge of the tray 204 is uniformly provided with a comb tooth type rectangular groove with consistent depth and uniform interval, and the tray cylinder 208 is installed at the rear of the tray position.

[0029] Automatic tray supply process:

[0030] ①Press the start button, the tray motor 202 reverses to drive the tray 204 to rise, when the tray reset sensor detects the uppermost tray 204, the tray 204 reaches the reset position; the operator places the bottomless hole tray 901 on the tray 204. Press the start button again, the first tray supply starts: the tray motor 202 rotates forward to drive the tray 204 to descend;

[0031] ②When the tray position sensor detects that a tray 204 reaches the tray position level with the seedling conveying bottom plate 304, the tray motor 202 stops, the tray cylinder 208 pushes the bottomless hole tray 901 into the seedling conveying bottom plate 304 and then retracts, as shown in Figure 3

[0032] ③When the tray is about to separate sensor detects that the bottomless hole tray 901 is about to separate from the tray 204, the tray motor 202 starts to drive the subsequent tray 204 to descend. The descending speed V 供盘 of the tray 204 and the seedling conveying speed V 送苗 satisfy the following relationship:

[0033]

[0034] In the formula, L tj is the tray spacing; L jl is the distance from the tray to the position where the seedling tray moves to the space left for the next tray supply.

[0035] ​The seedling feeding device 3 comprises a seedling feeding sprocket shaft 301, a plurality of seedling feeding push rods 302, a seedling feeding motor 303, a seedling feeding bottom plate 304 and a seedling feeding chain 305; the seedling feeding bottom plate 304 is provided with a rectangular hollow seedling outlet directly below M E-shaped seedling lifting heads 70301 and M ∃-shaped seedling lifting heads 70401 of the seedling taking device 7; the rear side of the seedling feeding bottom plate 304 is an inlet side, which is flush with the seed tray position of the seed tray feeding device 2; the seedling feeding bottom plate 304 is uniformly provided with comb-shaped rectangular convex teeth at the edges of the inlet side, the width of which is less than the width of the rectangular groove at the front end of the tray 204, the depth is consistent, and the spacing is uniform, which can be inserted into the horizontal gap and vertical gap of the rectangular groove of the tray 204 to form a staggered comb-shaped connection, thereby reducing the difficulty and precision requirement of pushing the tray 204 to the seed tray position. Specifically, during the orderly seed tray feeding process, when the actual seed tray position of the tray 204 is lower than the theoretical seed tray position of the seedling feeding bottom plate 304, the front end of the bottomless plug 901 on the tray 204 has been placed on the rectangular convex teeth at the inlet of the seedling feeding bottom plate 304, and the tray 204 can still be smoothly fed into the seedling feeding bottom plate 304, thereby avoiding the problem that the bottomless plug 901 cannot be pushed into the seedling feeding bottom plate 304 due to the negative deviation of the tray 204 from the seed tray position, and improving the reliability of the seed tray feeding operation.

[0036] Intermittent seedling feeding process:

[0037] ①After pressing the start button, the seedling feeding motor 303 starts to drive the seedling feeding push rod 302 to drive the side rib of the plug to convey the bottomless plug 901 to the seedling taking position, as shown by arrow c in FIG. 6(a). After the seedling taking sensor senses that a certain row of hole holes of the bottomless plug 901 reaches the seedling taking position, the seedling feeding motor 303 stops;

[0038] ②When all the hole holes in a certain row are finished, the seedling feeding motor 303 starts again.

[0039] The seedling taking device 7 comprises a cylinder mounting plate 701, a seedling taking cylinder 702, an E-shaped seedling lifter 703 and a ∃-shaped seedling lifter 704; the E-shaped seedling lifter 703 is provided with M E-shaped seedling lifting heads 70301 below, and the ∃-shaped seedling lifter 704 is provided with M ∃-shaped seedling lifting heads 70401 below; the horizontal spacing between adjacent seedling lifting heads of the same seedling lifter is twice the spacing between hole holes; the E-shaped seedling lifting heads 70301 and the ∃-shaped seedling lifting heads 70401 can be connected in a staggered comb-shaped manner, and the horizontal spacing between adjacent seedling lifting heads of different seedling lifters after connection is equal to the spacing between hole holes; the M E-shaped seedling lifting heads 70301 of the E-shaped seedling lifter 703 correspond to the center lines of the odd-numbered column hole hole taking positions of the bottomless plug 901, and complete the lower pressure seedling taking of the odd-numbered column plug seedling 902; the M ∃-shaped seedling lifting heads 70401 of the ∃-shaped seedling lifter 704 correspond to the center lines of the even-numbered column hole hole taking positions of the bottomless plug 901, and complete the lower pressure seedling taking of the even-numbered column plug seedling 902.

[0040] Half row seedling taking process:

[0041] ① The first half row seedling taking timing: after pressing the start button, when the seedling taking position sensor senses that a certain row of hole holes of the bottomless plug 901 reaches the seedling taking position, the No. 1 seedling taking cylinder 70201 drives the M E-shaped seedling lifting heads 70301 of the E-shaped seedling lifting device 703 to align and press down the plug seedlings 902 in the odd-numbered column hole holes, as shown in FIG. 6(b), and then reset.

[0042] ② The second half row seedling taking timing: after the seedling throwing state sensor 412 is all set to 0, the No. 2 seedling taking cylinder 70202 drives the M E-shaped seedling lifting heads 70401 on the E-shaped seedling lifting device 704 to align and press down the plug seedlings 902 in the even-numbered column hole holes, and then reset.

[0043] The seedling throwing device 4 comprises a seedling throwing hopper 401, a seedling throwing timing shaft 402, a seedling throwing control cam 403, an adjustable timing driven sprocket 404, a mounting seat 405, a spring seat 406, a roller 407, a spring 408, a spring fixing rod 409, a hinge 410, a valve 411, a seedling throwing state sensor 412 and a seedling throwing cavity 413; the mounting seat 405 is fixed on the machine frame 1, the seedling throwing timing shaft 402 and the spring fixing rod 409 are installed on the mounting seat, the adjustable timing driven sprocket 404 is installed on the left shaft end of the seedling throwing timing shaft 402, which is used to connect with the ground wheel transmission system of the transplanting machine through chain transmission, so that the rotation of the ground wheel can drive the seedling throwing timing shaft 402 to rotate synchronously; the inside of the seedling throwing hopper 401 is divided into multiple seedling throwing cavities 413 by a partition, and the number N of the seedling throwing cavities 413 is equal to the number M of the E-shaped seedling lifting heads 70301 of the seedling taking device 7, and each seedling throwing cavity 413 below the seedling throwing opening is provided with an openable and closable valve 411, the outer middle upper part of the valve 411 is fixed with a spring seat 406, the front end of the spring seat 406 is installed with a roller 407, the spring seat 406 is connected to the spring fixing rod 409 by the spring 408, the spring 408 has a tendency to open the valve 411 by the contraction elastic force, the seedling throwing timing shaft 402 is provided with seedling throwing control cams 403 corresponding in position and equal in number to the valves 411, the seedling throwing control cams 403 are uniformly distributed in equal phase angles on the axial projection circumference of the seedling throwing timing shaft 402, and under the tendency of the spring 408 to close the valve 411, the seedling throwing control cams 403 are in contact with the rollers 407 on the spring seat 406.

[0044] Timing principle: the convex part 40301 of the seedling throwing control cam 403 contacts the roller 407 to overcome the spring 408 force, and the shutter 411 is closed. When the concave part 40302 of the seedling throwing control cam 403 contacts the roller 407, the spring 408 force opens the shutter 411. The seedling throwing control cam 403 continuously rotates, and the spring 408 cooperates to control the timing opening and closing cycle of the shutter 411.

[0045] Seedling throwing timing principle: when the seedling receiving part of the subsequent planting unit moves to the advanced position below the shutter 411, the concave part 40302 of the seedling throwing control cam 403 contacts the roller 407, and the spring 408 opens the shutter 411, and the plug tray 902 falls into the seedling receiving part of the planting unit. When the seedling receiving part of the planting unit receives the seedling and moves away from below the shutter 411, the convex part 40301 of the seedling throwing control cam 403 contacts the roller 407 to overcome the spring 408 force and closes the shutter 411.

[0046] Timing seedling throwing process:

[0047] The machine advances, and the ground wheels of the transplanting machine drive the seedling throwing timing shaft 402 to rotate through chain transmission. The seedling throwing control cam 403 and the spring 408 control the timing opening and closing cycle of the corresponding shutter 411.

[0048] ① The first round of seedling throwing timing: the first half-row seedling taking timing takes out the odd-numbered column plug seedlings 902 in the plug tray 901 without bottom into the three seedling throwing cavities 413 in the seedling throwing hopper 401, and the three corresponding seedling throwing state sensors 412 are set to 1. When the shutter 411 at the outlet of the seedling throwing cavity 413 is opened, the plug seedling 902 is thrown out, and the three corresponding seedling throwing state sensors 412 are set to 0. The three shutters 411 are opened in turn under the control of the seedling throwing control cam 403. After the plug seedling 902 is thrown out in sequence, the seedling throwing state sensor 412 is set to 0, and the second half-row seedling taking timing begins.

[0049] ② The second round of seedling throwing timing: the second half-row seedling taking timing takes out the even-numbered column plug seedlings 902 in the plug tray 901 without bottom into the three seedling throwing cavities 413 in the seedling throwing hopper 401, and the three corresponding seedling throwing state sensors 412 are set to 1. The second round of seedling throwing timing begins.

[0050] The control system is arranged on the upper side of the front part of the whole machine, a hardware part of the control system is mainly installed in the control cabinet 6, and includes a power supply, control buttons, a microcontroller, an optocoupler relay drive module, a seedling taking cylinder electromagnetic valve, a seedling supplying cylinder electromagnetic valve, a pressure reducing valve, a busbar, a voltage reducing module; the control system further includes a tray resetting sensor, a seedling supplying position sensor, a tray about to be separated sensor, an encoder, a seedling taking position sensor and a seedling throwing state sensor 412, which are installed in the seedling supplying device 2, the seedling sending device 3 and the seedling throwing device 4, and detect corresponding signals and input the signals to the control system.

Claims

1. A kind of automatic tray seedling transplanting machine is supplied to tray seedling transplanting machine, including frame (1), tray device (2), send seedling device (3), seedling device (4), tray collection frame (5), control cabinet (6) and take seedling device (7);Frame (1) is rectangular frame structure, and the outlet side of seedling device (3) is equipped with up and down through seedling outlet, and the seedling outlet is equipped with take seedling device (7) above, and it is equipped with seedling device (4) below, and the front side of seedling device (4) is equipped with tray collection frame (5), and the upper portion of tray collection frame (5) is equipped with control cabinet (6), and the inside of control cabinet (6) is equipped with pneumatic and electrical control system hardware part;Its characterized in that: The tray device (2) is provided with a tray (204) whose front end is in staggered comb tooth embedded type connection with the seedling feeding bottom plate (304) of the seedling feeding device (3).

2. The automatic plug delivery, seedling taking and seedling throwing device of the plug seedling transplanting machine according to claim 1, characterized in that, A bottomless hole tray (901) is needed to be used in combination, the hole is vertically penetrated, the hole shape is rectangular, regular polygon or circular, and has a taper of small upper and large lower along the hole axis to prevent the seedling (902) in the hole from falling off under the action of gravity.

3. The automatic plug delivery, seedling taking and seedling throwing device of the plug seedling transplanting machine according to claim 2, characterized in that, The tray device comprises a tray rail frame (201), a tray motor (202), a tray driving sprocket (203), a plurality of trays (204), a hanging line (205), a tray chain (206), a guide positioning bearing (207), a tray cylinder (208), and a tray driven sprocket (209). The tray (204) is provided with four guide positioning bearings (207) arranged in a rectangle on both sides, which constrain the tray (204) to be in a horizontal posture in the tray rail frame (201) and can be vertically moved up and down. The plurality of trays (204) are connected in series by the hanging line (205) to form a flexible layer frame structure with equal distances in parallel. The uppermost tray (204) is connected to the tray chain (206) on both sides. The front end edge of the tray (204) is uniformly provided with comb tooth type rectangular grooves with consistent depth and uniform spacing. The tray cylinder (208) is installed at the back of the tray position.

4. The automatic plug delivery, seedling taking and seedling throwing device of the plug seedling transplanting machine according to claim 3, characterized in that, The seedling feeding device comprises a seedling feeding sprocket shaft (301), a plurality of seedling feeding push rods (302), a seedling feeding motor (303), a seedling feeding bottom plate (304), and a seedling feeding chain (305). The seedling feeding bottom plate (304) is provided with a rectangular hollow seedling outlet below the M E-shaped seedling lifting heads (70301) and M ∃-shaped seedling lifting heads (70401) of the seedling taking device (7). The rear side of the seedling feeding bottom plate (304) is the inlet side, which is flush with the tray position of the tray device (2). The seedling feeding bottom plate (304) is provided with comb tooth type rectangular teeth on the inlet side edge, which have consistent depth and uniform spacing, and the width is smaller than the width of the front end rectangular groove of the tray (204). The rectangular groove of the tray (204) can be horizontally spaced and vertically embedded to form a staggered comb tooth type connection.

5. The automatic plug delivery, seedling taking and seedling throwing device of the plug seedling transplanting machine according to claim 4, characterized in that, The seedling taking device (7) comprises a cylinder mounting plate (701), a seedling taking cylinder (702), an E-shaped seedling lifting device (703) and an ∃-shaped seedling lifting device (704); the E-shaped seedling lifting device (703) is provided with M E-shaped seedling lifting heads (70301) below, the ∃-shaped seedling lifting device (704) is provided with M ∃-shaped seedling lifting heads (70401) below, the lateral spacing between adjacent seedling lifting heads of the same seedling lifting device is 2 times the spacing between holes, the E-shaped seedling lifting heads (70301) and the ∃-shaped seedling lifting heads (70401) can be connected in a staggered comb tooth mode, the lateral spacing between adjacent seedling lifting heads of different seedling lifting devices after connection is equal to the spacing between holes, the M E-shaped seedling lifting heads (70301) of the E-shaped seedling lifting device (703) correspond to the center lines of the seedling taking positions of the odd-numbered column holes of the bottomless hole tray (901), and the odd-numbered column hole tray seedlings (902) are pressed down for taking; the M ∃-shaped seedling lifting heads (70401) of the ∃-shaped seedling lifting device (704) correspond to the center lines of the seedling taking positions of the even-numbered column holes of the bottomless hole tray (901), and the even-numbered column hole tray seedlings (902) are pressed down for taking.

6. The automatic plug delivery, seedling taking and seedling throwing device of the plug seedling transplanting machine according to claim 5, characterized in that, The seedling throwing device (4) comprises a seedling throwing hopper (401), a seedling throwing timing shaft (402), a seedling throwing control cam (403), an adjustable timing driven sprocket (404), a mounting seat (405), a spring seat (406), a roller (407), a spring (408), a spring fixing rod (409), a hinge (410), a valve (411), a seedling throwing state sensor (412) and a seedling throwing cavity (413); the mounting seat (405) is fixed on the frame (1), the seedling throwing timing shaft (402) and the spring fixing rod (409) are mounted on the mounting seat (405), the seedling throwing hopper (401) is divided into multiple seedling throwing cavities (413) by a partition plate, the number N of the seedling throwing cavities (413) is equal to the number M of the E-shaped seedling lifting heads (70301) of the seedling taking device (7), each seedling throwing cavity (413) is provided with a valve (411) below a seedling throwing opening, the spring seat (406) is fixed to the outer middle upper part of the valve (411), the roller (407) is mounted at the front end of the spring seat (406), the spring seat (406) is connected to the spring fixing rod (409) by the spring (408), the contraction elastic force of the spring (408) has a tendency to open the valve (411), the seedling throwing timing shaft (402) is provided with seedling throwing control cams (403) corresponding in position to the number of the valves (411), the seedling throwing control cams (403) are uniformly distributed at equal phase angles on the axial projection circle of the seedling throwing timing shaft (402), and the seedling throwing control cams (403) are in contact with the rollers (407) on the spring seats (406) under the tendency of the spring (408) to close the valves (411).

7. The automatic plug delivery, seedling taking and seedling throwing device of the plug seedling transplanting machine according to claim 6, characterized in that, 1 said seedling throwing device (4) is used for corresponding 1 row planting unit, the adjustable timing driven sprocket (404) is installed on the left shaft end of the seedling throwing timing shaft (402), the adjustable timing driven sprocket (404) is used for being connected with the ground wheel transmission system of transplanting machine through chain transmission, to drive the seedling throwing timing shaft (402) rotation by the rotation of ground wheel.

8. The automatic plug delivery, seedling taking and seedling throwing device of the plug seedling transplanting machine according to claim 7, characterized in that, The hardware part of the control system is mainly installed in the control cabinet (6), including power supply, control button, microcontroller, optocoupler relay drive module, seedling taking cylinder solenoid valve, disc feeding cylinder solenoid valve, pressure reducing valve, busbar, voltage reducing module; the control system further includes tray reset sensor, disc feeding position sensor, tray about to separate sensor, encoder, seedling taking position sensor, seedling throwing state sensor (412), which is installed in the disc feeding device (2), seedling feeding device (3), seedling throwing device (4), and the corresponding signals are detected and input to the control system.

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