Electric control pneumatic seedling taking device for transplanter

Abstract

The utility model discloses an electrically-controlled pneumatic seedling taking device for a transplanter, which comprises a transplanting frame, a seedling tray conveying mechanism for conveying seedling trays is arranged on the transplanting frame, and a seedling taking mechanism capable of reciprocating along the conveying direction of the seedling trays is arranged on the output side of the seedling tray conveying mechanism on the transplanting frame. The seedling taking mechanism is provided with a plurality of pneumatic clamping hands used for clamping seedlings in a seedling tray hole tray, and the plurality of pneumatic clamping hands can be unfolded and folded under the control of the seedling taking mechanism; the transplanting frame is further provided with a detection device used for detecting the operation condition of seedling cups of the transplanter, and the detection device, the seedling tray conveying mechanism, the seedling taking mechanism and the pneumatic clamping hands are connected with a control system. According to the utility model, an electric combined control mode is realized, electric control pneumatic seedling taking is realized, the action is accurate, the operation is reliable, the labor intensity is small, the seedling transplanting efficiency is high, the transplanting speed can be obviously improved, meanwhile, the high-intensity labor in the transplanting operation of farmers is reduced, and the investment of labor force is also reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to transplanting machine technology especially relates to a kind of electric control pneumatic seedling taking device for transplanting machine. BACKGROUND

[0002] At present, the mechanized planting technology of transplanting machine for vegetable seedling etc. has been widely developed. The mechanized planting technology uses plug tray to grow seedlings, and the grown plug seedlings are put into seedling cup of transplanting machine, and then the plug seedlings are slid into planting device from seedling cup for seedling planting, which greatly improves the efficiency and standardization of seedling growing, and effectively promotes the development of planting machinery. However, the current transplanting machine uses manual seedling throwing method to take plug seedlings from plug tray and throw them into seedling cup, which has low automation, low seedling taking and throwing efficiency, high labor intensity and low seedling transplanting efficiency. SUMMARY

[0003] The technical problem to be solved by the utility model is to provide an electric control pneumatic seedling taking device for transplanting machine, which has high seedling taking and throwing efficiency and low labor intensity.

[0004] To solve the above technical problem, the technical scheme of the utility model is as follows: an electric control pneumatic seedling taking device for transplanting machine, which comprises a transplanting frame, a plug tray conveying mechanism for conveying plug tray is arranged on the transplanting frame, a seedling taking mechanism that can reciprocate along the conveying direction of plug tray is arranged on the output side of the plug tray conveying mechanism, a plurality of pneumatic clamps for clamping seedlings in plug tray are arranged on the seedling taking mechanism, and the plurality of pneumatic clamps can be closed and opened under the control of the seedling taking mechanism; a detection device for detecting the running state of seedling cup of the transplanting machine is further arranged on the transplanting frame, and the detection device, plug tray conveying mechanism, seedling taking mechanism and pneumatic clamps are connected with a control system; the detection device transmits detection signals to the control system, and the control system analyzes and judges the detection signals to control the running of plug tray conveying mechanism, seedling taking mechanism and pneumatic clamps.

[0005] As a preferred technical scheme, the seedling taking mechanism comprises a reciprocating moving frame installed on the transplanting frame by push-pull cylinder, a seedling lifting frame is rotatably installed on the reciprocating moving frame, a seedling lifting cylinder is arranged between the seedling lifting frame and the reciprocating moving frame, a wire rail is arranged on the seedling lifting frame, each pneumatic clamp is slidably installed on the seedling lifting frame by a sliding block, a pneumatic device for controlling the closing and opening of pneumatic clamps on the seedling lifting frame is arranged between the sliding block and the seedling lifting frame, and the seedling lifting cylinder and the pneumatic device are connected with the control system.

[0006] As a preferred technical scheme, the pneumatic device comprises an opening and closing cylinder arranged on the seedling lifting frame, the sliding block at the outermost end is connected with the plunger of the opening and closing cylinder, and a sliding displacement constraint device is arranged between adjacent sliding blocks.

[0007] As a preferred technical scheme, the sliding displacement constraint device comprises a limiting plate arranged between two adjacent sliding blocks, the limiting plate is provided with a limiting strip hole, one of the two adjacent sliding blocks is fixedly connected with the limiting plate, and the other sliding block is provided with a limiting finger inserted into the limiting strip hole; the opening and closing cylinder is two and is arranged on both sides of the seedling lifting frame, the plungers of the two opening and closing cylinders are connected with the two ends of the sliding blocks, respectively; and the sliding blocks are respectively provided with seedling blocking plates on the side facing the seedling plate conveying mechanism.

[0008] As a preferred technical scheme, the seedling plate conveying mechanism comprises a conveying chain belt arranged on the transplanting frame and used for placing the seedling plate, the conveying chain belt is drivingly connected with a ratchet wheel, a seedling feeding force arm is arranged on the transplanting frame and located on the outer side of the ratchet wheel, the seedling feeding force arm is rotatably connected with the transplanting frame through a rotating shaft, a seedling feeding cylinder is connected between one end of the seedling feeding force arm and the transplanting frame, and a pawl matched with the ratchet wheel is hingedly connected to the other end of the seedling feeding force arm, and a locking mechanism for locking the ratchet wheel is arranged on the seedling feeding force arm and located between the pawl and the rotating shaft.

[0009] As a preferred technical scheme, the locking mechanism comprises a sleeve mounted on the seedling feeding force arm, a locking rod is sleeved and slidably arranged in the sleeve, a locking spring is arranged between the sleeve and the locking rod and drives one end of the locking rod to extend into a ratchet tooth groove on the outer circumferential side of the ratchet wheel, an end portion of the locking rod extending into the ratchet tooth groove is obliquely provided with a sliding surface away from one side of the pawl, and a sliding limiting device is further arranged between the sleeve and the locking rod. As a preferred technical scheme, a transition plate is arranged at the slot opening of the ratchet tooth groove and prevents the end portion of the locking rod from extending into the slot.

[0010] As a preferred technical scheme, the conveying chain belt comprises two parallel chains arranged on the transplanting frame through sprockets, the sprockets are drivingly connected with the ratchet wheel, limiting rods capable of being clamped between two adjacent rows of hole plates on the seedling plate are arranged between the two chains, seedling plate guide rods capable of being clamped between two adjacent rows of hole plates in the seedling plate conveying direction are arranged on the lower side of the limiting rods on the transplanting frame, and clamping plates for clamping the edge of the seedling plate in cooperation with the chains are arranged on both sides of the seedling plate output end on the transplanting frame.

[0011] As a preferred technical scheme, a plurality of seedling cups are mounted on the transplanting frame through the conveying chain belt, the conveying chain belt is drivingly connected with a seedling cup driving device, and the detection device is a counting sensor for detecting the number of seedling cups.

[0012] As a preferred technical scheme, the control system comprises a controller and an electromagnetic valve group, the controller is connected with the detection device and the electromagnetic valve group, and the electromagnetic valve group is connected with the seedling plate conveying mechanism, the seedling taking mechanism and the pneumatic gripper.

[0013] The seedling taking device for the transplanting machine comprises a transplanting frame, a seedling tray conveying mechanism for conveying seedling trays is arranged on the transplanting frame, a seedling taking mechanism that can reciprocally move along the conveying direction of the seedling trays is arranged on the transplanting frame at the output side of the seedling tray conveying mechanism, a plurality of pneumatic clamps for clamping seedlings in the holes of the seedling trays are arranged on the seedling taking mechanism, the plurality of pneumatic clamps can be folded and unfolded under the control of the seedling taking mechanism, a detection device for detecting the running state of the seedling cups of the transplanting machine is further arranged on the transplanting frame, the detection device, the seedling tray conveying mechanism, the seedling taking mechanism and the pneumatic clamps are connected with a control system, the detection device transmits a detection signal to the control system, and the control system analyzes and judges the detection signal to send a control instruction to control the seedling tray conveying mechanism, the seedling taking mechanism and the pneumatic clamps to run. BRIEF DESCRIPTION OF DRAWINGS

[0014] The following drawings merely aim to schematically illustrate and explain the present application and do not limit the scope of the present application. Among them:

[0015] Figure 1 is a schematic view of the present application;

[0016] Figure 2 is a rear side schematic view of the seedling taking mechanism of the present application;

[0017] Figure 3 is a front side schematic view of the seedling taking mechanism of the present application;

[0018] Figure 4 is a schematic view of the seedling lifting cylinder and the pneumatic clamp when the seedlings are clamped;

[0019] Figure 5 is a schematic view of the seedling lifting cylinder and the pneumatic clamp when the seedlings are taken out from the hole tray;

[0020] Figure 6 is a schematic view of the arrangement of the pneumatic clamp of the present application;

[0021] Figure 7 is a schematic view of the arrangement of the seedling tray conveying mechanism of the present application;

[0022] Figure 8 is a front view of the arrangement of the seedling tray conveying mechanism of the present application;

[0023] Figure 9 is the structure diagram of seedling tray conveying mechanism of the utility model;

[0024] Figure 10 is the schematic diagram of pneumatic seedling taking working process of the utility model.

[0025] In the figure: 1 - seedling blocking plate; 2 - transplanting frame; 3 - pneumatic clamping hand; 4 - detection device; 5 - controller; 6 - electromagnetic valve group; 7 - seedling cup; 8 - conveying chain belt; 9 - push-pull air cylinder; 10 - reciprocating moving frame; 11 - seedling lifting frame; 12 - seedling lifting air cylinder; 13 - sliding block; 14 - opening and closing air cylinder; 15 - limiting plate; 16 - limiting strip hole; 17 - limiting finger; 18 - ratchet wheel; 19 - seedling feeding arm; 20 - rotating shaft; 21 - seedling feeding air cylinder; 22 - ratchet pawl; 23 - locking mechanism; 231 - sleeve; 232 - locking rod; 233 - limiting groove; 234 - limiting pin shaft; 235 - locking spring; 236 - sliding surface; 237 - transition plate; 24 - chain; 25 - transmission shaft; 26 - limiting rod; 27 - seedling tray guide rod; 28 - clamping plate; 29 - seedling. DETAILED DESCRIPTION

[0026] In order to have a clearer understanding of the technical features, purposes and effects of the utility model, the specific implementation mode of the utility model will be explained by referring to the drawings.

[0027] As shown in Figure 1 , the electric control pneumatic seedling taking device for transplanting machine comprises a transplanting frame 2, a seedling tray conveying mechanism for conveying seedling tray is arranged on the transplanting frame 2, a seedling taking mechanism that can reciprocate along the seedling tray conveying direction is arranged on the output side of the seedling tray conveying mechanism of the transplanting frame 2, a plurality of pneumatic clamping hands 3 for clamping seedlings 29 in the holes of the seedling tray are arranged on the seedling taking mechanism, the holes of the seedling tray are generally arranged in rows, so the number of the pneumatic clamping hands 3 is generally corresponding to the number of the holes arranged in a row on the seedling tray, so that the purpose of clamping the seedlings 29 on the seedling tray row by row by the pneumatic clamping hands 3 during the seedling tray advancing can be realized, the plurality of pneumatic clamping hands 3 can be folded and unfolded under the control of the seedling taking mechanism; the detection device 4 for detecting the running state of the seedling cup 7 of the transplanting machine is further arranged on the transplanting frame 2, the detection device 4, the seedling tray conveying mechanism, the seedling taking mechanism and the pneumatic clamping hands 3 are connected with a control system; the detection device 4 transmits the detection signal to the control system, and the control system analyzes and judges to send instructions to control the seedling tray conveying mechanism, the seedling taking mechanism and the pneumatic clamping hands 3 to run.

[0028] The utility model discloses a control system includes controller 5 and electromagnetic valve group 6, controller 5 connects detection device 4 and electromagnetic valve group 6, electromagnetic valve group 6 connects seedling tray conveying mechanism, takes seedling mechanism and pneumatic clamping hand 3, and the high pressure gas source of this electric control pneumatic seedling taking device can be provided by high pressure gas pump, and controller 5 is arranged in the control cabinet on the transplanting frame 2, and the power of controller 5 and detection device 4 can also be provided by the engine or battery on the transplanting machine. Thus the detection device 4, seedling tray conveying mechanism, seedling taking mechanism and pneumatic clamping hand 3 etc. of this seedling taking device adopt electric control pneumatic mode, and control is convenient and sensitive, and seedling taking efficiency is high. The arrangement of the utility model seedling cup 7 can adopt multiple seedling cups 7 installed on the transplanting frame 2 through the transmission chain belt 8, the transmission chain belt 8 is drivenly connected with seedling cup driving device, and when the seedling cup 7 is driven by the transmission chain belt 8 and runs, the part of seedling cup 7 on the output side of seedling tray conveying mechanism and located at the lower side of pneumatic clamping hand 3 can correspond with pneumatic clamping hand 3 one by one, and it is convenient for pneumatic clamping hand 3 to take seedling 29 and throw seedling, the seedling cup driving device can adopt the output power on the equipment such as tractor by hanging and is drivenly connected with transmission chain belt 8 through transmission mechanism such as gearbox, these are all common knowledge, and detailed description is not carried out here, and the detection device 4 is the counting sensor for detecting the number of seedling cup 7, the counting of seedling cup 7 in the march is carried out through the counting sensor, and the detection information is transmitted to controller 5, after controller 5 receives the information, compares and analyzes with the preset value in the program, then sends out the instruction and controls electromagnetic valve group 6 to work, and pneumatic clamping hand 3 takes and puts seedling 29 into seedling cup 7.

[0029] As Figures 2-6As shown, the seedling taking mechanism comprises a reciprocating moving frame 10 installed on the transplanting frame 2 through a push-pull cylinder 9, a seedling lifting frame 11 rotatably installed on the reciprocating moving frame 10, a seedling lifting cylinder 12 arranged between the seedling lifting frame 11 and the reciprocating moving frame 10, a wire rail arranged on the seedling lifting frame 11, and each of the pneumatic clamping hands 3 is slidably installed on the wire rail of the seedling lifting frame 11 through a sliding block 13, and a position detection device such as a stroke switch for detecting the reciprocating moving stroke of the reciprocating moving frame 10 can be arranged on the transplanting frame 2, and the position detection device is connected to a controller 5 for controlling the reciprocating moving stroke of the reciprocating moving frame 10; a pneumatic device for controlling the sliding expansion and folding of the pneumatic clamping hand 3 on the seedling lifting frame 11 is arranged between the sliding block 13 and the seedling lifting frame 11, and the seedling lifting cylinder 12 and the pneumatic device are connected to a control system. Under the control of the controller 5, after the pneumatic clamping hand 3 clamps the seedling 29 in the tray hole, the seedling lifting cylinder 12 drives the seedling lifting frame 11 to swing to make the pneumatic clamping hand 3 swing and lift, and the seedling 29 is lifted out of the tray hole, then the push-pull cylinder 9 drives the reciprocating moving frame 10 to move to move the pneumatic clamping hand 3 to the upper side of the seedling cup 7, then the seedling lifting cylinder 12 drives the seedling lifting frame 11 to swing back to make the pneumatic clamping hand 3 swing and fall back, and then the pneumatic clamping hand 3 opens to drop the seedling 29 into the seedling cup 7. Each of the sliding blocks 13 is provided with a seedling blocking plate 1 towards the seedling tray conveying mechanism, so that when the pneumatic clamping hand 3 clamps the seedling 29, the upper leaves of the seedling 29 are blocked by the seedling blocking plate 1, which not only protects the seedling 29, but also facilitates the smooth sliding of the seedling 29 into the seedling cup 7.

[0030] As Figure 2 , 3As shown in Fig. 6, the pneumatic device comprises an opening and closing cylinder 14 arranged on the seedling lifting frame 11, the outermost slide block 13 of the slide blocks 13 is connected with the plunger of the opening and closing cylinder 14, and a sliding displacement constraint device is arranged between the adjacent slide blocks 13. The opening and closing cylinder 14 is controlled by the controller 5 to fold to facilitate the alignment of the pneumatic gripper 3 with the position of the seedling 29 in the seedling tray hole and to clamp the seedling 29 and to unfold to align with the seedling cup 7 to drop the seedling 29. The sliding displacement constraint device can constrain the position of the pneumatic gripper 3 sliding, folding and unfolding to facilitate the alignment with the position of the seedling 29 and the seedling cup 7. The sliding displacement constraint device comprises a limiting plate 15 arranged between the two adjacent slide blocks 13, the limiting plate 15 is provided with a limiting strip hole 16, one of the two adjacent slide blocks 13 is fixedly connected with the limiting plate 15, and the other slide block 13 is provided with a limiting finger 17 inserted into the limiting strip hole 16. The opening and closing cylinder 14 is two and is arranged on both sides of the seedling lifting frame 11, and the limiting plate 15 is also distributed on both sides of the seedling lifting frame 11 to facilitate arrangement. The plungers of the two opening and closing cylinders 14 are respectively connected with the outermost slide blocks 13. The slide blocks 13 arranged in the middle of each slide block 13 are fixedly connected with the seedling lifting frame 11 for positioning, and the slide blocks 13 arranged on both sides of the slide block 13 are connected in sequence through the limiting strip hole 16 on the limiting plate 15 and the limiting finger 17. In this way, the two opening and closing cylinders 14 control the synchronous unfolding and folding of the pneumatic gripper 3 on both sides, and the stroke of the pneumatic gripper 3 sliding is reduced. When the opening and closing cylinder 14 is one, the plunger of the opening and closing cylinder 14 is connected with the slide block 13 at one end, the slide block 13 at one end is fixedly connected with the seedling lifting frame 11 for positioning, and the slide blocks 13 are connected in sequence through the limiting strip hole 16 on the limiting plate 15 and the limiting finger 17. Under the cooperation of the limiting strip hole 16 and the limiting finger 17, the pneumatic gripper 3 is aligned with the seedling 29 in the seedling tray hole when it is folded and is aligned with the seedling cup 7 when it is unfolded. Of course, the sliding displacement constraint device can also adopt a scissor frame, the slide blocks 13 on which the pneumatic gripper 3 is arranged are uniformly arranged on the scissor frame, and the plunger of the opening and closing cylinder 14 is connected with the scissor frame.

[0031] As Figure 1 , 7As shown in Figure 8, the seedling tray conveying mechanism includes a conveyor chain on the transplanting frame 2 for placing seedling trays. The conveyor chain is connected to a ratchet 18. A seedling feeding arm 19 is provided on the outside of the ratchet 18 on the transplanting frame 2. The seedling feeding arm 19 is rotatably connected to the transplanting frame 2 via a rotating shaft 20. One end of the seedling feeding arm 19 is connected to the transplanting frame 2 by a seedling feeding cylinder 21, and the other end is hinged to a pawl 22 that cooperates with the ratchet 18. A torsion spring can be provided between the pawl 22 and the seedling feeding arm 19 so that the pawl 22 presses against the ratchet 18. A locking mechanism 23 for locking the ratchet 18 is provided on the seedling feeding arm 19 between the pawl 22 and the rotating shaft 20. The seedling tray is placed on the conveyor chain of the seedling tray conveying mechanism. Under the control of the controller 5, the working plunger of the seedling delivery cylinder 21 extends and pushes the seedling delivery lever 19 to swing around the rotating shaft 20, driving the pawl 22 forward. The ratchet 18 rotates in a circular motion, driving the conveyor chain to move the seedling tray forward. Then, the locking mechanism 23 locks the ratchet 18, stopping its circular motion and fixed travel distance, thus realizing the seedling tray conveying. This also keeps the seedling tray in a stopped state when the pneumatic gripper 3 picks up the seedling 29, making it easier to pick up the seedling 29. This process is repeated to complete the seedling delivery action and realize the intermittent and gradual delivery of the seedling tray.

[0032] like Figure 9 As shown, the locking mechanism 23 includes a sleeve 231 mounted on the seedling feeding arm 19. A locking rod 232 is slidably fitted inside the sleeve 231. A locking spring 235 is provided between the sleeve 231 and the locking rod 232 to drive one end of the locking rod 232 into the ratchet groove on the outer periphery of the ratchet wheel 18. The end of the locking rod 232 that extends into the ratchet groove is inclined with a sliding surface 236 on the side away from the pawl 22. The sliding surface 236 allows the end of the locking rod 232 to smoothly slide over the top of the ratchet teeth on the rotating ratchet wheel 18. Then it falls into the ratchet groove and locks the ratchet 18 by engaging with the ratchet teeth at the end of the locking rod 232 near the pawl 22. A sliding limiting device is also provided between the sleeve 231 and the locking rod 232. The sliding limiting device can be provided by setting a limiting groove 233 on the sleeve 231 along the center line of the sleeve, and setting a limiting pin 234 through the limiting groove 233 to connect with the locking rod. The sliding displacement of the locking rod 232 is constrained and limited by the cooperation of the limiting groove 233 and the limiting pin 234. When conveying the seedling tray, the pawl 22 pushes the ratchet 18 to rotate in a circular motion. The ratchet 18 drives the conveyor belt to move the seedling tray. When the ratchet 18 rotates, the end of the locking rod 232 falls into the ratchet groove under the drive of the locking spring 235 to lock the ratchet 18 in a circular motion, and travels a fixed stroke to realize the intermittent and gradual conveying of the seedling tray.

[0033] like Figure 7 , 8As shown in Figure 9, a transition plate 237 is provided at the opening of the ratchet groove to prevent the end of the locking rod 232 from extending into the groove. Under normal circumstances, the seedling trays all have edges. Thus, after the seedling trays are placed on the seedling tray conveying mechanism and run automatically, there will usually be a row of empty seedling trays at the overlap of the edges of the second seedling tray and the first seedling tray. That is, when it runs to the seedling clamping position, a row of empty seedlings will be generated. At this time, the ratchet 18 needs to rotate two ratchet teeth to reach the seedling clamping position. Therefore, in this case, the seedling tray conveying mechanism and the seedling picking mechanism can operate normally. When the ratchet 18 rotates to the seedling clamping position at the overlap of the second seedling tray and the first seedling tray, the ratchet 18 is locked, and the end of the locking rod 232 enters the ratchet groove to lock the ratchet 18 in circumferential movement. The mechanism can either generate one row of empty seedlings, or it can use a transition plate 237 at the opening of a ratchet groove to prevent the end of the locking rod 232 from extending into the groove. In this case, the number of ratchet teeth on the ratchet 18 is generally one more than the number of rows of seedling trays on the seedling tray. When the seedling tray is placed on the seedling tray conveying mechanism, the locking rod 232 is positioned at the ratchet groove with the transition plate 237 when the second seedling tray reaches the seedling clamping position at the overlap point with the first seedling tray. The transition plate 237 lifts the end of the locking rod 232, and the ratchet 18 continues to rotate. After rotating two ratchet teeth, the locking spring 235 presses down to drive the end of the locking rod 232 into the ratchet groove to lock the rotation of the ratchet 18, so that the second tray of seedlings reaches the seedling clamping position.

[0034] like Figure 7 and 8 As shown, the conveyor belt includes two parallel chains 24 mounted on the transplanter frame 2 via sprockets. The sprockets are connected to ratchet 18, and the two sprockets and ratchet 18 can be mounted on the same drive shaft 25 at the same end. A limiting rod 26 is arranged between the two chains 24, which can engage between adjacent rows of seedling trays. The chains 24 drive the limiting rod 26, which in turn drives the seedling trays. A seedling tray guide is located below the limiting rod 26 on the transplanter frame 2, allowing it to engage between adjacent rows of seedling trays along the seedling tray conveying direction. The guide rod 27 prevents the seedling tray from shifting during movement and serves to position the seedling tray during movement. The transplanting frame 2 is provided with clamping plates 28 on both sides of the seedling tray output end, which cooperate with the chain 24 to clamp the edge of the seedling tray. Under the clamping of the clamping plates 28 and the chain 24, the seedling tray bends downward at the output end of the seedling tray conveying mechanism. In the bending state, the seedling tray is in an expanded state and separates from the nutrient block at the root of the seedling 29, which is conducive to the clamping of the seedling 29. At the same time, it is also convenient for the seedling tray after the seedling is taken to slide smoothly into the seedling tray collection chamber below.

[0035] The seedling tray conveying mechanism of this utility model uses a seedling delivery cylinder 21 and a seedling delivery lever arm 19 to drive a pawl 22 to drive a ratchet 18 to rotate, and the ratchet 18 to drive a conveyor chain to move forward to convey the seedling tray. This realizes an electro-pneumatic conveying method for the seedling tray. Compared with the existing method of using an engine to drive a conveyor chain via a drive shaft and gearbox to convey the seedling tray, the seedling tray conveying mechanism of this utility model is greatly simplified and its volume is also greatly reduced, making it easier to arrange the seedling tray conveying mechanism on the transplanting frame 2.

[0036] The solenoid valve assembly 6 of this utility model is connected to the controller 5 and the high-pressure air source. The cylinders of the pneumatic gripper 3, including the push-pull cylinder 9, the seedling lifting cylinder 12, the opening and closing cylinder 14, and the seedling delivery cylinder 21, are connected to the solenoid valve assembly 6. Under the control of the controller 5, the cylinders work together to achieve electro-pneumatic coordination of actions such as seedling tray delivery, seedling 29 clamping, seedling 29 transfer, and seedling 29 placement. The entire equipment realizes a control method that combines mechanics, electricity, and pneumatics, with a high degree of automation, accurate action, reliable operation, and a significantly improved transplanting rate. At the same time, it reduces the high-intensity labor of farmers in transplanting operations and also reduces labor input.

[0037] like Figure 10 As shown, when using this utility model, the transplanter 2 is attached to the rear of equipment such as a tractor. The high-pressure air pump and the conveyor belt 8 on the transplanter 2 are connected to the rear power output of the tractor through the gearbox and drive shaft to provide high-pressure air and drive the seedling cups 7 to run. When the equipment is running, the seedling tray is placed on the seedling tray conveying mechanism. The limiting rod 26 between the two chains 24 is engaged between two adjacent rows of seedling trays. The seedling tray guide rod 27 is engaged between two adjacent rows of seedling trays along the seedling tray conveying direction. Under the control of the controller 5, the seedling delivery cylinder 21 works to realize the intermittent conveying of the seedling tray. The counting sensor senses the number of seedling cups 7 and transmits the information to the controller 5 for analysis and judgment. When the number of seedling cups 7 reaches the preset clamping value, the controller 5 issues a command to the solenoid valve group 6 to ventilate. The pneumatic gripper 3 closes to clamp the seedling 29, the plunger of the seedling lifting cylinder 12 extends, and the pneumatic gripper 3 swings. The seedling 29 is lifted and removed from the seedling tray. Then, the plunger of the push-pull cylinder 9 extends, and the reciprocating frame 10 moves the seedling 29 to the top of the seedling cup 7. At the same time, the plunger of the lifting cylinder 12 retracts, and the pneumatic gripper 3 swings back down. The plunger of the opening and closing cylinder 14 extends, and the pneumatic gripper 3 unfolds to await seedling placement. When the number of seedling cups 7 reaches the preset seedling placement value, the controller 5 issues a command, and the pneumatic gripper 3 opens, allowing the seedling 29 to fall into the seedling cup 7. Afterward, the plunger of the opening and closing cylinder 14 retracts, and the pneumatic gripper 3 closes. The plunger of the push-pull cylinder 9 retracts, and the reciprocating frame 10 moves to the output side of the seedling tray conveyor mechanism for the next seedling 29 picking. Meanwhile, the seedling 29 in the seedling cup 7 is moved by the conveyor belt 8 to the top of the planter for planting.

[0038] In the description of the utility model, need understanding is the term indicating the position or positional relation in the utility model is based on the position or positional relation shown in the drawing, is only for the convenience of describing the utility model and simplifying the description, and is not indicating or implying that the indicated device or element must have a particular orientation, a particular orientation configuration and operation, therefore can not be understood as a limitation on the utility model. It should be noted that, unless otherwise expressly specified and limited, the terms "mounting", "connection", "connection" should be broadly understood, for example, can be fixedly connected, can also be detachably connected, or integrally connected;Can be mechanical connection, can also be electrical connection;Can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0039] The above only describes the specific embodiments of the utility model, and is not used to limit the scope of the utility model. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the utility model shall fall within the scope of protection of the utility model.

Claims

1. An electro-pneumatic seedling picking device for a transplanter, comprising a transplanting frame, wherein the transplanting frame is provided with a seedling tray conveying mechanism for conveying seedling trays, characterized in that: The transplanting frame is equipped with a seedling retrieval mechanism located on the output side of the seedling tray conveying mechanism. This mechanism can reciprocate along the seedling tray conveying direction. The seedling retrieval mechanism has multiple pneumatic grippers for gripping seedlings in the seedling trays. These pneumatic grippers can close and open under the control of the seedling retrieval mechanism. The transplanting frame is also equipped with a detection device for detecting the operating status of the seedling cups in the transplanting machine. The detection device, the seedling tray conveying mechanism, the seedling retrieval mechanism, and the pneumatic grippers are connected to a control system. The detection device transmits detection signals to the control system, which analyzes and judges the signals before issuing commands to control the operation of the seedling tray conveying mechanism, the seedling retrieval mechanism, and the pneumatic grippers.

2. The electro-pneumatic seedling-retrieving device for transplanters as described in claim 1, characterized in that: The seedling retrieval mechanism includes a reciprocating moving frame mounted on a transplanting frame via a push-pull cylinder. A seedling lifting frame is rotatably mounted on the reciprocating moving frame. A seedling lifting cylinder is provided between the seedling lifting frame and the reciprocating moving frame. A linear guide is provided on the seedling lifting frame. Each of the pneumatic grippers is slidably mounted on the seedling lifting frame via a slider. A pneumatic device is provided between the slider and the seedling lifting frame to control the opening and closing of the pneumatic grippers on the seedling lifting frame. The seedling lifting cylinder and the pneumatic device are connected to a control system.

3. The electro-pneumatic seedling-retrieving device for transplanters as described in claim 2, characterized in that: The pneumatic device includes an opening and closing cylinder on the seedling lifting frame, and the outermost slider of the slider is connected to the plunger of the opening and closing cylinder. A sliding displacement constraint device is provided between adjacent sliders.

4. The electro-pneumatic seedling-retrieving device for transplanters as described in claim 3, characterized in that: The sliding displacement constraint device includes a limiting plate between two adjacent sliders, the limiting plate having a limiting strip hole, one of the two adjacent sliders being fixedly connected to the limiting plate and the other slider having a limiting finger for inserting into the limiting strip hole; there are two opening and closing cylinders located on both sides of the seedling lifting frame, and the plungers of the two opening and closing cylinders are respectively connected to the sliders at both ends; each slider has a seedling baffle plate facing the seedling tray conveying mechanism.

5. The electro-pneumatic seedling-retrieving device for transplanters as described in claim 1, characterized in that: The seedling tray conveying mechanism includes a conveyor chain belt on a transplanting frame for placing seedling trays. The conveyor chain belt is connected to a ratchet. A seedling feeding arm is located outside the ratchet on the transplanting frame. The seedling feeding arm is rotatably connected to the transplanting frame via a rotating shaft. One end of the seedling feeding arm is connected to the transplanting frame by a seedling feeding cylinder, and the other end is hinged to a pawl that cooperates with the ratchet. A locking mechanism for locking the ratchet is provided on the seedling feeding arm between the pawl and the rotating shaft.

6. The electro-pneumatic seedling-retrieving device for transplanters as described in claim 5, characterized in that: The locking mechanism includes a sleeve installed on the seedling feeding arm, a locking rod slidably fitted inside the sleeve, a locking spring provided between the sleeve and the locking rod to drive one end of the locking rod into the ratchet groove on the outer periphery of the ratchet, and a sliding surface inclined on the side away from the pawl at the end of the locking rod that extends into the ratchet groove. A sliding limiting device is also provided between the sleeve and the locking rod.

7. The electro-pneumatic seedling-retrieving device for transplanters as described in claim 6, characterized in that: A transition plate is provided at the opening of the ratchet groove to prevent the end of the locking rod from extending into the groove.

8. The electro-pneumatic seedling-retrieving device for transplanters as described in claim 5, characterized in that: The conveyor belt includes two parallel chains mounted on a transplanting frame via sprockets. The sprockets are connected to ratchet drives. Between the two chains are limiting rods that can engage between adjacent rows of seedling trays. The transplanting frame has seedling tray guide rods located below the limiting rods that can engage between adjacent rows of seedling trays along the seedling tray conveying direction. The transplanting frame has clamping plates on both sides of the seedling tray output end for cooperating with the chains to hold the edges of the seedling trays.

9. The electro-pneumatic seedling-retrieving device for transplanters as described in claim 1, characterized in that: Multiple seedling cups are mounted on the transplanting frame via a conveyor belt, and the conveyor belt is connected to a seedling cup drive device. The detection device is a counting sensor used to detect the number of seedling cups.

10. The electro-pneumatic seedling-retrieving device for a transplanter as described in any one of claims 1-9, characterized in that: The control system includes a controller and a solenoid valve group. The controller is connected to the detection device and the solenoid valve group. The solenoid valve group is connected to the seedling tray conveying mechanism, the seedling picking mechanism and the pneumatic gripper.

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